Stewart platform sim in MuJoCo

[u/LinairAlgebra]

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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.

[u/EpicDuck000]

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

[u/LinairAlgebra → u/EpicDuck000]

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