OMPL-Motion-Planner-for-mujoco210

Mujoco210 library integration and removed errors

Requirements

OMPL

Install from here: https://ompl.kavrakilab.org/installation.html (If you install it from source, make sure to run 'make install'.)

MuJoCo

• Download mujoco210 here: https://www.roboti.us/index.html
• Unpack libraries to ~/.mujoco/mujoco210

Eigen3

OpenGL

GLEW

• Install all the above

Build

cmake .
make

Run

MacOS requires to include the mujoco bin directory in the DYLD_LIBRARY_PATH:

DYLD_LIBRARY_PATH=/Users/$USER/.mujoco/mujoco210/bin

To create a plan file:

./plan -o plan.out problems/reacher_prob.yaml

To visualize a plan as a graph:

python3 plot_plan.py plan.out problems/reacher_info.yaml

To rollout a plan in MuJoCo with OpenGL rendering:

./render_plan problems/reacher.xml plan.out