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darshmenon / ur-arm-rl

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Reinforcement learning environment for UR5e arms with MuJoCo 3 — SAC training for reach, pick-and-place, and symmetric multi-arm cooperative tasks. Includes a ROS 2 policy node for Gazebo deployment.

pythonreinforcement-learningroboticsdeep-reinforcement-learninguniversal-robotsgazebomanipulationrobot-armsacgymnasiumrobot-learningros2mujocorobotiq-gripperpick-and-placeur5emulti-armsim-to-realstable-baselines3contact-rich
  • Updated Jul 27, 2026
  • Python

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