This repository provides a MuJoCo-based simulation environment for robotic manipulators, developed using the MjSpec model construction and eliminate dm_control dependency. It is inspired by the original Manipulator-MuJoCo project, but avoids the use of dm_control, offering a lighter and more flexible setup.
The environment is designed with modularity in mind, allowing easy customization and extension of robot arms, grippers, control schemes, and simulation scenes.
- UR5e
- Robotiq 2F-85
- MjSpec-based model construction (no
dm_control) - Gymnasium-compatible environment
- Operational Space Controller implementation
- Easily extendable architecture for custom robots, arenas, and tasks
To get started, follow these steps to install the repository:
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Clone this repository to your local machine:
git clone https://github.com/abuibaid/Manipulator-Mujoco-Env
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Navigate to the root directory of the repository:
cd Manipulator-Mujoco-Env -
Install the repository in editable mode:
pip install -e .
Explore the capabilities of Manipulator-Mujoco with the provided demos located in the /demo folder:
To run the demo for the UR5e arm, execute:
python ur5e_demo.pyThis repository drew inspiration from the following repositories: