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Franka RL

Mujoco simulation of Franka B in INB0104 for use in sim to real RL training. The package contains two environments, a cartesian velocity control and joint velocity control for performing a pushing task.

Installation:

Requires: mujoco, gymnasium

clone the repository cd rl_franka/gym-INB0104 pip3 install -e .

Example:

python /rl_franka/gym-INB0104/gym_INB0104/test/cartesian_reach.py

editing and adding to the simulation:

  • The gymnasium simulation environments are found in /rl_franka/gym-INB0104/gym_INB0104/envs
  • The mujoco xml files are in /rl_franka/gym-INB0104/gym_INB0104/envs/xmls