- 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.
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)
Once mujoco_py is correctly installed, this library can be used by sourcing the set_env.sh file.
source set_env.shSee examples for controller and API usage. See MujocoRobot and PandaArm for full documentation.