Robotic Manipulation

Perception, Planning, and Control

Russ Tedrake

© Russ Tedrake, 2020-2023
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Note: These are working notes used for a course being taught at MIT. They will be updated throughout the Fall 2023 semester.

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DrakeGym Environments

DrakeGym makes it easy to wrap Drake Systems in Gymnasium environments. This is perhaps the simplest way to explore Drake simulations, and is the natural way to interface Drake simulations with machine learning libraries like Stable Baselines 3.

I've curated a number of manipulation-related environments in these notes, and will be adding more regularly.

Box Flipup


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