OpenArm Simulation

NOTE: This repository is archived. Because we've created separated repositories for each simulator. For examples:

• https://github.com/enactic/openarm_isaac_lab
• https://github.com/enactic/openarm_mujoco
• https://github.com/enactic/openarm_ros2

Examples of OpenArm simulation for inverse kinematics and physics simulation.

openarm-simulation.mp4

Getting started

1. Clone the repository:

git clone --recurse-submodules https://github.com/enactic/openarm_simulation.git

2. Run a supported simulator:

• MuJoCo
• Genesis
• Moveit2

Updating Submodules (openarm_mjcf)

git submodule update --init --recursive

To Do:

• Real2Sim

  • Teleop simulation robot with real arms

• Simulators:

  • Gazebo with MoveIt2

• Demos:

  • TD-MPC2 (MuJoCo)
  • PPO (All)
  • ManiSkill