Robots¶

The toolkit allows you to add various robots to your training environment. Here are presented the implemented robots. You can also add custom robot by placing its model and URDF file into envs/robots directory. For details about how myGym works with robots in the simulation, see Robot.

Robot	Type	Gripper	DOF	Parameter value
Kuka IIWA	arm	magnetic	7	kuka
Franka-Emica	arm	two finger	6	panda
Jaco arm	arm	two finger	6	jaco
UR-3	arm	tactile gripper	6	ur3
UR-5	arm	tactile gripper	6	ur5
UR-10	arm	tactile gripper	6	ur10
Gummiarm	arm	passive palm	6	gummi
Reachy	arm	passive palm	8	reachy
Leachy	arm	passive palm	8	leachy
ReachyLeachy	dualarm	passive palms	16	reachy_and_leachy
ABB Yumi	dualarm	two finger	24	yummi
Pepper	humanoid	–	–	–
Thiago	humanoid	–	–	–
Atlas	humanoid	–	–	–