Motion planning on mujoco #2092
Description
The feature, motivation and pitch
Hello, First of all, thanks for the great work and sharing this with everyone!
I am doing research in motion planning with collision avoidance. I have been using Bullet and OMPL to simulate robots. I want to switch to mujoco, so I wondered how to achieve a similar setup.
I found this repository, but it seems to be old (before mujoco was open-sourced) so probably there should be a lot of work in adapting it to the current mujoco version.
I am searching for information. What I need is the following:
- IK: which I know it is available in dm_control
- Collision check: I think mujoco already has the contacts available;
- Motion planning algorithms: for example, RRT, RRT*, and others;
Making an OMPL wrapper that works with mujoco would be the best.
Alternatives
I could not find many resources on this topic.
I know that mujoco_mpc exists, but it does not satisfy my requirements.
Additional context
No response