Direct planner - Githubissues

google-deepmind / mujoco_mpc

Real-time behaviour synthesis with MuJoCo, using Predictive Control

https://github.com/deepmind/mujoco_mpc

Apache License 2.0

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Direct planner #195

Closed thowell closed 7 months ago

thowell commented 11 months ago

Builds on #193

Todo:

[ ] Resample qpos trajectory
[ ] Recover ctrl from qfrc

thowell commented 7 months ago

Implemented in direct_planner_v2 branch. Seems challenging to tune weights for both costs as well as inverse dynamics. Lack of constraints for qpos and ctrl in the current implementation makes this even more challenging.