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ogroth / geeco

Official Tensorflow implementation of 'Goal-Conditioned End-to-End Visuomotor Control for Versatile Skill Primitives'
GNU General Public License v3.0
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KUKA IIWA #1

Closed Kastellos closed 2 years ago

Kastellos commented 2 years ago

Hello,

I have a question. Is it possible to change the robot from the gym environment and use a different one? I use a Kuka IIWA in my project. I searched in the mujoco documentation and there is not a model like that. Or is there a way to create my own robot and use it with your pipeline.

Thank you.

ogroth commented 2 years ago

Hi Kastellos, using a different robot is absolutely possible. The Fetch robot used in the simulation is defined here. The file was adapted from the OpenAI gym package. If you can provide an MJCF description of your robot including the 3D assets (and possibly textures), you should be able to use that as a drop-in replacement. The robot file is included in the environments like shown here. Additionally, meshes, textures and materials pertaining to the robot also need to be registered in the defaults file. I hope this helps!

Kastellos commented 2 years ago

Great thank you for your answer.