MuJoCo Control Interface

Location: examples/control_with_mujoco/

Interactive MuJoCo viewer for i2rt robots. Visualises the robot in real time and lets you move it by dragging a target marker via inverse kinematics — no hardware required in simulation mode.

Hardware Required

• None for simulation (--sim flag)
• 1× YAM / YAM Pro / YAM Ultra / big_yam arm + CANable adapter for real hardware

Overview

The interface has two modes toggled with SPACE:

VIS mode (default):
  Robot joint states  ──►  MuJoCo viewer  (gravity comp active on real hw)

CONTROL mode (press SPACE):
  Drag target marker  ──►  IK solver  ──►  Command arm

Running

Simulation

# YAM arm + linear_4310 gripper (default)
python examples/control_with_mujoco/control_with_mujoco.py --sim

# big_yam arm
python examples/control_with_mujoco/control_with_mujoco.py --arm big_yam --gripper linear_4310 --sim

# Arm only, no gripper
python examples/control_with_mujoco/control_with_mujoco.py --arm yam --gripper no_gripper --sim

Real Hardware

python examples/control_with_mujoco/control_with_mujoco.py --channel can0
python examples/control_with_mujoco/control_with_mujoco.py --arm big_yam --gripper linear_4310 --channel can0

Arguments

Argument	Default	Description
--arm	yam	Arm type: yam, yam_pro, yam_ultra, big_yam
--gripper	linear_4310	Gripper: linear_4310, linear_3507, crank_4310, yam_teaching_handle, no_gripper
--channel	can0	CAN interface name (real hardware only)
--sim	off	Use simulation instead of real hardware
--dt	0.02	Control loop timestep in seconds
--site	grasp_site	MuJoCo site name used as end-effector

Viewer Controls

1. Press SPACE to enter CONTROL mode (marker turns red)
2. Double-click the red target sphere to select it
3. Ctrl + right-drag — translate the target
4. Ctrl + left-drag — rotate the target
5. Press SPACE again to return to VIS mode

Supported Arms and Grippers

All YAM-family arm × gripper combinations are supported:

Arm	Grippers
yam	linear_4310, linear_3507, crank_4310, yam_teaching_handle, no_gripper
yam_pro	same as yam
yam_ultra	same as yam
big_yam	same as yam