MuJoCo Robotics Lab
A 9-lab hands-on series building a complete robotics control pipeline from 2-link planar arms to VLA-controlled humanoid manipulation.
MuJoCo Robotics Lab — Part 1: Setup and Modeling a 2-Link Robot
Setting up a MuJoCo simulation environment and defining a 2-link planar manipulator in MJCF from scratch.
MuJoCo Robotics Lab — Part 2: Forward Kinematics, Workspace, and Jacobians
Deriving the geometry of motion: FK equations, workspace analysis, and the Jacobian matrix for a 2-link planar arm.
MuJoCo Robotics Lab — Part 3: Inverse Kinematics — Analytic, Pseudo-inverse, and DLS
Solving the inverse problem: comparing closed-form IK with numerical Jacobian methods and handling singularities.
MuJoCo Robotics Lab — Part 4: Trajectory Generation and PD Control
Generating smooth motion profiles with quintic polynomials and tracking them with PD control and gravity compensation.
MuJoCo Robotics Lab — Part 5: Computed Torque Control — Drawing a Cartesian Square
The grand finale: cancelling nonlinear dynamics with computed torque control to draw a precise Cartesian square in MuJoCo.
MuJoCo Robotics Lab — Part 6: UR5e Industrial Robot Arm
Scaling from a 2-link toy arm to a real 6-DOF industrial manipulator — UR5e kinematics, dynamics, and sub-millimeter cube-drawing demo.
MuJoCo Robotics Lab — Part 7: Dynamics & Force Control
RNEA/CRBA dynamics, gravity compensation, Cartesian impedance control, and hybrid force/position control on UR5e.
MuJoCo Robotics Lab — Part 8: Motion Planning & Collision Avoidance
RRT* sampling-based planning, HPP-FCL collision checking, path shortcutting, and TOPP-RA time-optimal trajectory parameterization.
MuJoCo Robotics Lab — Part 9: Grasping & Manipulation
Custom parallel-jaw gripper design, contact physics, DLS inverse kinematics, and a complete pick-and-place state machine.
MuJoCo Robotics Lab — Part 10: Dual-Arm Coordination
Bimanual coordination with two UR5e arms — independent control, synchronized approach, cooperative box carrying.
MuJoCo Robotics Lab — Part 11: Locomotion Fundamentals
From standing balance to walking — LIPM, ZMP, preview control, and humanoid locomotion on Unitree G1.
MuJoCo Robotics Lab — Part 12: Whole-Body Loco-Manipulation
Task-priority QP control for simultaneous walking and manipulation — the humanoid picks up objects while moving.
MuJoCo Robotics Lab — Part 13: VLA Integration — Series Capstone
Vision-Language-Action model controlling a humanoid robot — from natural language instructions to autonomous task execution.