Single-file pedagogical implementations of common robotics controllers in MuJoCo.
MuJoCo is the only dependency required to run the controllers.
pip install "mujoco>=3.1.0"| File | Video | Description |
|---|---|---|
diffik.py |
Differential IK on a 6-DOF UR5e. | |
diffik_nullspace.py |
Differential IK with nullspace control on a 7-DoF Panda. | |
opspace.py |
Operational space control on a 7-DOF KUKA iiwa14. |
Robot models are taken from MuJoCo Menagerie.
- Samuel R. Buss 2009. Introduction to Inverse Kinematics with Jacobian Transpose, Pseudoinverse and Damped Least Squares methods. PDF
- Oussama Khatib 1987. A Unified Approach for Motion and Force Control of Robot Manipulators: the Operational Space Formulation. PDF
- Russ Tedrake, 2023. Robotic Manipulation: Perception, Planning, and Control. PDF