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https://github.com/kevinzakka/mjctrl

Minimal, clean, single-file implementations of common robotics controllers in MuJoCo.
https://github.com/kevinzakka/mjctrl

franka-emika inverse-kinematics kuka-lbr-iiwa mujoco operational-space-control ur5e

Last synced: about 2 months ago
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Minimal, clean, single-file implementations of common robotics controllers in MuJoCo.

Host: GitHub
URL: https://github.com/kevinzakka/mjctrl
Owner: kevinzakka
License: apache-2.0
Created: 2023-10-26T18:32:03.000Z (about 1 year ago)
Default Branch: main
Last Pushed: 2024-04-16T18:06:51.000Z (8 months ago)
Last Synced: 2024-04-21T05:00:10.987Z (8 months ago)
Topics: franka-emika, inverse-kinematics, kuka-lbr-iiwa, mujoco, operational-space-control, ur5e
Language: Python
Homepage:
Size: 19.1 MB
Stars: 149
Watchers: 4
Forks: 5
Open Issues: 0
Metadata Files:
- Readme: README.md
- License: LICENSE

Awesome Lists containing this project

awesome-ai-robotics - **mjctrl** - Minimal, clean, single-file implementations of common robotics controllers in MuJoCo. (Learning Source / Dev Tools)
awesome-ai-robotics - **mjctrl** - Minimal, clean, single-file implementations of common robotics controllers in MuJoCo. (Learning Source / Dev Tools)

README

        # MuJoCo Controllers

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

## Installation

MuJoCo is the *only dependency* required to run the controllers.

```bash

pip install "mujoco>=3.1.0"

```

## Usage

| File | Video | Description |

|------|-------|-------------|

|`diffik.py`|![image info](./images/ur5e.gif)|Differential IK on a 6-DOF UR5e.|

|`diffik_nullspace.py`|![image info](./images/panda.gif)|Differential IK with nullspace control on a 7-DoF Panda.|

|`opspace.py`|![image info](./images/iiwa.gif)|Operational space control on a 7-DOF KUKA iiwa14.|

## Acknowledgements

Robot models are taken from [MuJoCo Menagerie](https://github.com/google-deepmind/mujoco_menagerie).

## References

- Samuel R. Buss 2009. Introduction to Inverse Kinematics with Jacobian Transpose, Pseudoinverse and Damped Least Squares methods. [PDF](https://www.cs.cmu.edu/~15464-s13/lectures/lecture6/iksurvey.pdf)

- Oussama Khatib 1987. A Unified Approach for Motion and Force Control of Robot Manipulators: the Operational Space Formulation. [PDF](https://khatib.stanford.edu/publications/pdfs/Khatib_1987_RA.pdf)

- Russ Tedrake, 2023. Robotic Manipulation: Perception, Planning, and Control. [PDF](http://manipulation.mit.edu)