Integration with MuJoCo

[ducmngx]

Hi,

Our team from George Mason University is trying to build planning system for our robot in MuJoCo. While we have an idea on how to control the arm, we are still looking for solution to mimic Nav2 on mobile robot. Looking at your repo, is there a good way we can read data from MuJoCo and run these planners. We have a DifferentialDrive and PID done, we just need to get to the point where we know the cmd_vel for the robot.

[omigeft]

You can try using MuJoCo's Python libraries to get simulation data and convert it into formats compatible with Python. Then, you can pass this data to the planners in python_motion_planning. The required data formats for the planners are written in the documentation. Moreover, currently there are only 2D planners available. Planners for arms are planned to be launched in future versions, but not in the short term.

[ducmngx]

Yes, thank you. I am thinking about navigation. For the arm, with IK ready, I am thinking about modifying your code for my arm planning task. I would love to contribute the the repo if it works well. Anyway, thank you again for your amazing work