MuJoCo Franka Panda – Pick & Place Demo with Cartesian Control (Python, GUI)
Github Repo: https://github.com/MAHAFIZS/mujoco-panda-p...
This video demonstrates a Pick & Place system for the Franka Emika Panda robot in MuJoCo.
The controller uses:
• Cartesian impedance control (end-effector position & orientation tracking)
• Jacobian-based control for smooth motion
• Automatic object detection in the MuJoCo scene
• Linear Cartesian trajectories (hover → pre-grasp → grasp → lift → place)
• A Tkinter-based GUI to set parameters (down distance, settle time, place XY, etc.)
Project GitHub Repository:
https://github.com/MAHAFIZS/mujoco-panda-p...
Main Features:
• Robust top-surface detection for the target object
• Accurate grasping with adjustable descend/ascend timings
• Clean pick-only, place-only, and full pick-and-place modes
• Smooth and stable Cartesian tracking
• Works with the Franka Panda MuJoCo model (7DOF arm + gripper)
This project is part of my robotics and simulation work focusing on MuJoCo, robot control, and autonomous manipulation.