Robots

We used the Panda robot with Robotiq-2F85 gripper for all of our official experiments. However, we are open sourcing code for a handful of other embodiments that we implemented. Specifically, we support the UR5e and YAM. For more details, see the mesa/sim/envs/robots folder.

The dual-arm BiMESA benchmark uses two reverse-mounted YAM arms (ReverseMountedYam ReverseMountedYam) with the YAM gripper. Each arm has 6 joints and is controlled in joint_pos, addressed as robot0 (left) and robot1 (right); each arm’s 7-D action (6 joint targets + 1 gripper) is concatenated into a 14-D action. See mounted_yam.py, reverse_mounted_yam.py, and yam_gripper.py under mesa/sim/envs/robots.