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Contact Forces in MuJoCo - Franka Panda

Example of how to read contact forces during a grasp with the Franka Panda hand model from the MuJoCo Menagerie. The original MJCF was adapted slightly:

  • control range changed from [0, 255] to [0, 0.045]
  • fingers close independently (removed tendons and equality constraint)
  • add names for the finger's collision pads
  • add visuals, e.g. the ground plane, and lighting
  • add grasping object

Instructions

Run franka.py. If with_vis=False, the grasp is executed and the resulting force trajectory is plotted. Set it to True to see the grasp.

Oscillating Forces

On the oscillations branch of this repo lies a version of the gripper producing unstable contact force readings during the grasp.

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