MJPC for parallel manipulators

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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MJPC for parallel manipulators #310

Closed ahip88 closed 7 months ago

ahip88 commented 8 months ago

I recall that Mujoco wasn't made with the intent for parallel manipulators. Is this still true? Stewart platforms with MJPC take a very long time for converging to a certain pose/acceleration. Model-free RL works fine however (with Mujoco) so I'm unsure if it's something with my setup (cost etc.) or something more inherent to the simulator when using MPC. Advice appreciated. Thank you!

thowell commented 7 months ago

Can you please link to your fork of MJPC and the task you have defined?