A MuJoCo and Gym based Reinforcement Learning environment using Rethink Sawyer robot for various manipulation tasks.
This is a research code. A lot can change, break or never work.
Reqiurements:
- MuJoCo
- mujoco-py
- OpenAI Gym
- spinup (if you want to train a model)
- hid (if you want to control Sawyer's end-effector with SpaceNavigator)
Note: MuJoCo requires a license, follow the instructions here. Anaconda 3.6 is highly recommended before you install the packages above.
Reaching Environment:
from envs.sawyer_env import SawyerReachEnv
env = SawyerReachEnv(n_substeps=1)
env.reset()
Grasping Environment:
from envs.sawyer_env import SawyerGraspEnv
env = SawyerGraspEnv(n_substeps=1)
env.reset()
SawyerGraspEnv:
- Add camera
- Fix grasp reward function
- Fix friction and penetration issues
SawyerReachEnv: