Mujoco Panda

Warning

Archived -- superseded by mujoco_robot.

This repo targets the deprecated mujoco_py bindings and is Panda-specific. It is no longer maintained.

The successor, mujoco_robot, is a ground-up rewrite on the official mujoco bindings: generic (any robot via robot_descriptions), with a cleaner state/control API, Jacobian/mink-based IK, native FT sensors, rich contact info, and step hooks. It's a MuJoCo counterpart to pybullet_robot.

Use mujoco_robot for new work. This repo stays up for reference only.

• Franka Emika Panda Robot model definitions for Mujoco.
• MuJoCo-based robot simulator.
• Python 3 API for controlling and monitoring the simulated Franka Emika Panda Robot.
• Low-level controllers: direct position and torque control.
• Higher-level controller: task-space hybrid force motion controller (torque-based).

Robot models are in mujoco_panda/models.

Requirements

To use all functionalities of the provided library, the following dependencies have to be met.

• mujoco_py
• numpy (pip install numpy)
• scipy (pip install scipy)
• quaternion (pip install numpy-quaternion)
• tkinter (apt-get install python3-tk) (only for visualised debugging)

Setup Instructions

Once mujoco_py is correctly installed, this library can be used by sourcing the set_env.sh file.

source set_env.sh

Usage

See examples for controller and API usage. See MujocoRobot and PandaArm for full documentation.