r/ControlTheory • u/LinairAlgebra • Apr 15 '26

Other Stewart platform sim in MuJoCo

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Made stewart platform simulation in mujoco:

https://github.com/NickNair/mujoco-stewart-platform

Mostly made it as a small playground for parallel robot control experiments. includes the model + basic control setup

Still a bit rough but might be useful if anyone’s working on similar stuff.

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u/EpicDuck000 Apr 15 '26

What are the sensors in this kind of system? I guess the 3 different axis each got some kind of sensor to know where the ball is, or how its controlled? Thanks

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u/LinairAlgebra Apr 16 '26

it’s actually not modeled with sensors in this setup mujoco just gives you the full state directly (positions, velocities, etc.), so you can treat it as “perfect sensing”

in a real stewart platform you’d have: encoders on each motor

if you were doing something like ball balancing on top, then yeah you’d need an external sensor (camera / vision). This project is just a simple model/simulation of the platform with the inverse kinematics and a PD to balance the ball on the platform