High-fidelity mujoco simulator for bimanual manipulation tasks.
This repo has been designed to operate with minimal packages, and so installation is as simple as installing the 3 python packages below.
pip install mujoco, numpy, pygame
In this repo we provide three bimanual manipulation setups with different robotic arm configurations. In all scenarios, the first agent, Bob, is denoted by the 7-DOF robotic arm with a california gold base and the second agent, Alice, is denoted by the 7-DOF robotic arm with the blue base.
The first scenario involves two Kinova Gen3 7-DOF robotic arms, as illustrated in the figure below.
Our second scenario involves both a Ufactory xArm7 7-DOF robotic arm and a Kinova Gen3 7-DOF arm, as illustrated in the figure.
Our final scenario involves two Ufactory xArm7 7-DOF robotic arms as illustrated in the figure below.
