This repository is inspired by panda-gym and Fetch environments and is developed with the Franka Emika Panda arm in MuJoCo Menagerie on the MuJoCo physics engine. Three open-source environments corresponding to three manipulation tasks, FrankaPush, FrankaSlide, and FrankaPickAndPlace, where each task follows the Multi-Goal Reinforcement Learning framework. DDPG, SAC, and TQC with HER are implemented to validate the feasibility of each environment. Benchmark results are obtained with stable-baselines3 and shown below.

There is still a lot of work to be done on this repo, so please feel free to raise an issue and share your idea!

FrankaPushSparse-v0	FrankaSlideSparse-v0	FrankaPickAndPlaceSparse-v0

FrankaPushSparse-v0	FrankaSlideSparse-v0	FrankaPickAndPlaceSparse-v0

All essential libraries with corresponding versions are listed in requirements.txt.

import sys
import time
import gymnasium as gym
import panda_mujoco_gym

if __name__ == "__main__":
    env = gym.make("FrankaPickAndPlaceSparse-v0", render_mode="human")

    observation, info = env.reset()

    for _ in range(1000):
        action = env.action_space.sample()
        observation, reward, terminated, truncated, info = env.step(action)

        if terminated or truncated:
            observation, info = env.reset()

        time.sleep(0.2)

    env.close()

If you use this repo in your work, please cite:

@misc{xu2023opensource,
      title={Open-Source Reinforcement Learning Environments Implemented in MuJoCo with Franka Manipulator}, 
      author={Zichun Xu and Yuntao Li and Xiaohang Yang and Zhiyuan Zhao and Lei Zhuang and Jingdong Zhao},
      year={2023},
      eprint={2312.13788},
      archivePrefix={arXiv},
      primaryClass={cs.RO}
}