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operational-space-controller

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ian-chuang / homestri-ur5e-rl

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A Mujoco Gymnasium Environment for manipulating flexible objects with a UR5e robot arm and Robotiq 2F-85 gripper. Experiment with joint effort, velocity, position, and operational space controllers. Teleoperate in task space and visualize in GUI. Note: Experimental, not actively maintained.

gymnasium teleoperation mujoco ur5e robotiq-2f-85-gripper operational-space-controller joint-position-controller joint-velocity-controller joint-effort-controller
  • Updated Aug 26, 2023
  • Python

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