dora/examples/franka-mujoco-control/01_basic_simulation

• 01. Basic Simulation
• • Architecture
  • Running the Example
  • What's Happening
  • Configuration Details

01. Basic Simulation

This example demonstrates the simplest possible setup: loading and running a Franka Panda robot simulation using the dora-mujoco node.

• Understand how the dora-mujoco node works
• See how robot models are loaded from robot-descriptions
• Learn the basic dataflow for physics simulation

Architecture

[Timer] → [MuJoCo Sim] → [Joint Positions, Velocities, Sensor Data]

The simulation runs at 500Hz and outputs:

• Joint positions for all robot joints
• Joint velocities
• Sensor data (if available)
• Current simulation time

Running the Example

cd 01_basic_simulation
dora build basic.yml
dora run basic.yml

You should see:

1. MuJoCo viewer window opens with Franka Panda robot
2. Robot is effected by gravity (enabled by default)
3. Console output showing node activity

What's Happening

1. Model Loading: The dora-mujoco node loads the Franka model using load_robot_description("panda_mj_description")
2. Physics Loop: Timer triggers simulation steps at 500Hz (This is default step time for Mujoco)
3. Data Output: Joint states are published
4. Visualization: MuJoCo viewer shows real-time simulation

Configuration Details

The basic.yml configures:

• Model name: "panda" (resolved to panda_mj_description)
• Update rate: 2ms (500Hz)
• Outputs: Joint positions, velocities, and sensor data