Franka MuJoCo Control Tutorial

This comprehensive tutorial demonstrates how to build a modular robot control system using Dora's dataflow architecture with the dora-mujoco simulation node and robot-specific control logic.

Tutorial Structure

01. Basic Simulation

Load and run a Franka Panda simulation using the dora-mujoco node.

Learn the fundamentals of MuJoCo simulation in Dora
Understand the simulation node architecture
See how robot descriptions are loaded automatically

02. Target Pose Control

Add robot-specific control logic with programmatic pose commands.

Implement Cartesian space control with inverse kinematics
Create a dedicated Franka controller node
Send target poses programmatically

03. Gamepad Control

Connect a gamepad for real-time interactive control.

Integrate with the existing gamepad node
Process raw gamepad input into robot commands
Demonstrate real-time teleoperation

Quick Start

cd examples/franka-mujoco-control

# 1. Basic simulation
cd 01_basic_simulation
dora build basic.yml
dora run basic.yml

# 2. Target pose control  
cd ../02_target_pose_control
dora build target_pose_control.yml
dora run target_pose_control.yml

# 3. Gamepad control
cd ../03_gamepad_control
dora build gamepad_control.yml
dora run gamepad_control.yml

Next Steps

After completing this tutorial, you'll understand how to:

Build modular robotics applications with Dora
Create robot-specific controllers
Design scalable dataflow architectures

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