MuJoCo Controllers

Single-file pedagogical implementations of common robotics controllers in MuJoCo.

Installation

MuJoCo is the only dependency required to run the controllers.

pip install "mujoco>=3.1.0"

Usage

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.

Acknowledgements

Robot models are taken from MuJoCo Menagerie.

References

• 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