Codebase for Kinova Gen3 training in Isaac Lab, sim2real transfer and ROS deployment.

Using Mujoco and Gymansium, RL Training of Kinova robot arm to move from random start position to goal position in the absence of obstacles. Trained on PPO for 50 million and 20 million timesteps.

Kinova arm simulation in Rviz for DDPGfD physical testing.

A digital-twinning simulation platform for intelligent industrial manufacturing