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.
serl
folder, cd into franka_sim
.serl
conda environment, run pip install -e .
to install this package.pip install -r requirements.txt
to install sim dependencies.python franka_sim/test/test_gym_env_human.py
to launch a display window and visualize the task.egl
when running on a CPU machine:
export MUJOCO_GL=egl
conda install -c conda-forge libstdcxx-ng