- 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.
Python dependencies can be installed by conda:
conda env create -f environment.yml
conda activate mujoco
To update the dependencies:
conda env update --f environment.yml
Once mujoco_py is correctly installed, this library can be used by sourcing the set_env.sh
file.
source set_env.sh
See examples
for controller and API usage. See MujocoRobot and PandaArm for full documentation.