Motion planning on mujoco

[gabrielpeixoto-cvai]

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

[yuvaltassa]

Regarding IK, you should probably look into @kevinzakka's mink, the dm_control stuff is not great.

Regarding an OMPL wrapper for MuJoCo, that would great! If you decide to write it, we will be happy to help 🙂

[gabrielpeixoto-cvai]

@yuvaltassa Thanks for the quick response!
I will check @kevinzakka repo for IK and I will evaluate the mujoco-ompl repository I mentioned on the post,
I will update this discussion when I have updates on the progress.

[jf514]

@gabrielpeixoto-cvai Just curious, why is Mujoco a better solution for you than others, such as MoveIt?

[gabrielpeixoto-cvai]

@jf514 In short, speed, Python support, and soft body simulation.

I have ROS1 and pybullet environments with the capabilities mentioned in my post. ROS needs too much boilerplate and cannot simulate soft bodies (I am not sure about the gazebo; I never used it because it was too cumbersome to set up). Pybullet softbody simulation is somewhat broken.

I will eventually setup a ROS2 + Moveit system for controlling real robots, but I still want to prototype with Mujoco at first.

[ProNeverFake]

I'm also looking for mujoco motion planning solutions for my simulation data pipeline. If you want to write an OMPL wrapper I would be glad to help ;)

[shaoyifei96]

Also happy to help if this is gonna be a thing