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Model definitions and Python API for controlling a Franka Emika Panda robot in the mujoco physics simulator.

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Mujoco Panda

  • 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.

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Model definitions and Python API for controlling a Franka Emika Panda robot in the mujoco physics simulator.

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