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"

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