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franka_sim
franka_sim
 
 
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README.md
README.md
 
 
requirements.txt
requirements.txt
 
 
setup.py
setup.py
 
 

README.md

Intro:

This package provide a simple Franka arm and Robotiq Gripper simulator written in Mujoco. It includes a state-based and a vision-based Franka lift cube task environment.

Installation:

  • From serl folder, cd into franka_sim.
  • In your serl conda environment, run pip install -e . to install this package.
  • run pip install -r requirements.txt to install sim dependencies.

Explore the Environments

  • Run python franka_sim/test/test_gym_env_human.py to launch a display window and visualize the task.

Credits:

  • This simulation is initially built by Kevin Zakka.
  • Under Kevin's permission, we adopted a Gymnasium environment based on it.

Notes:

  • Error due to egl when running on a CPU machine:
export MUJOCO_GL=egl
conda install -c conda-forge libstdcxx-ng