Franka Kitchen PyBullet

This repository contains code to load and run the Franka Kitchen environment in PyBullet.

Running the Code

Clone the repository and run the main.py file to load and run the Franka Kitchen simulation environment.

git clone https://github.com/kwonathan/franka-kitchen-pybullet.git;
cd franka-kitchen-pybullet;
python main.py

Further Details

Franka Kitchen

The Franka Kitchen simulation environment was adapted from the MuJoCo XML files available here and here.

The kitchen_env_model.xml file was modified from the XML file available here and here. The kitchen_env_model_modified.xml file was created by combining the XML files in item_assets and kitchen_env_model.xml. The franka_kitchen_desk.urdf and franka_kitchen_kettle.urdf files were created by running the mjcf2urdf.py script on kitchen_env_model_modified.xml. The URDF files in item_assets were created from the franka_kitchen_desk.urdf and franka_kitchen_kettle.urdf files. Finally, these URDF files were combined into the kitchen_env_model.urdf file which can be loaded and run in the PyBullet simulation environment.

Franka Panda Robot

This repository only contains rudimentary code to load the Franka Kitchen environment, without any capabilities for the robot to move or capture camera images. For more details on implementing these, please refer to this repository.

PyBullet

More information on PyBullet can be found here. The GitHub page can be found here. A useful quickstart guide can be found here.