This repository contains a set of manipulation environments that are compatible with OpenAI Gym and simulated in pybullet. In particular, we have a set of environments with a simulated version of our lab’s mobile manipulator, the Thing, containing a UR10 mounted on a Ridgeback base, as well as a set of environments using a table-mounted Franka Emika Panda. The package currently contains variations of the following tasks: Reach Lift Stack Pick and Place Sort Insert Pick and Insert Door Open […]