Dual-Arm Torso Screw Driving Gym Environment
Screw Driving for the Dual-Arm Torso — a Gymnasium training environment. Captured/authored with joint encoders in the loop and validated against real Dual-Arm Torso kinematics. Drop-in ready for training, sim-to-real transfer, or on-robot deployment.
Demonstration clipfree preview
Left: real-world source footage. Right: a signal derived from it (inter-frame motion field or edge/feature map). Source & license are credited in the clip.
Preview
Free preview — no purchase requiredDeployment
Runs on Jetson Xavier NX; 12GB VRAM required.
Frameworks
- PyTorchROS 1TensorFlow
Hardware
- Jetson Xavier NXIntel RealSense D435i
Sensors
- joint encodersdepth camera
Specs
- GPU: 12GB VRAM
- Size: 971 KB
- Duration: 10s
- Validation loss 0.0581 after 312 epochs
- ROS compatible
- Jetson compatible
Tags
Free
MIT license
dual-arm-torso-screw-driving-gym-environment.zip · 971 KB
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