Mujoco to Real Robot Transfer?

[bk-poudel]

Intro

Hi!

I am a undergrad at NYUAD, I use MuJoCo for my research on FR3 imitation Learning.

My setup

Mujoco 3.1.3, Python, Ubuntu 22.04

My question

I want to control the real robot using the simulated values from the MUJOCO. i.e get the simulated torque values and send the torque values to the real Franka robot. How can I do that?

Minimal model and/or code that explain my question

No response

Confirmations

• I searched the latest documentation thoroughly before posting.
• I searched previous Issues and Discussions, I am certain this has not been raised before.

[HoangGiang93]

I suggest that you simulate the robot in MuJoCo and use the joint position to control the real robot using joint position as the command value. You should never trust the torque value to match from simulation to reality and it's unsafe to do so.