parol6-sim
A MuJoCo model of the arm that runs on Apple Silicon
2026-08
Built a MuJoCo simulation of the arm that runs on Apple Silicon without CUDA, converted from the official PAROL6 assets and verified against them to 2.1e-08 m. Added Gymnasium environments, domain randomisation and offscreen rendering, and trained an ACT policy that picks and lifts a cube from pixels in 50 of 50 held-out episodes.
- Simulator
- MuJoCo on Apple Silicon
- Verification
- FK parity with the PAROL6 control API to 2.1e-08 m
- Environments
- Reach and pick-and-lift
- Policy
- ACT from pixels; 50/50 held-out episodes