Any plans of integrating with Gazebo/Mujoco for standardised testing?

quimortiz / dynoplan

https://quimortiz.github.io/idbastar

MIT License

41 stars 9 forks source link

Any plans of integrating with Gazebo/Mujoco for standardised testing? #14

Open dt1729 opened 6 months ago

dt1729 commented 6 months ago

Perhaps a moveit plugin? Interested in testing it for manipulation projects.

quimortiz commented 5 months ago

Hi! Unfortunately, a moveit plugin or ros integration is not in our plans for the next six months. Which robotic manipulation application are you interested in? Dynoplan is mainly for kinodynamic motion planning. If you are interested geometric planning (e.g, RRT, PRM) we have this project (still in alpha stage) https://github.com/quimortiz/dynoRRT. Thanks!

dt1729 commented 5 months ago

Thank you for the response, I am interested in industrial tasks like wire handling, connecting wires, peg insertion and handling screws which would require dynamics-aware handling of objects and dynoRRT and dynoPlan seemed like great projects to apply those. A Moveit plugin using OMPL-based implementation can be integrated with these simulators, I think you have OMPL implementations so I'll start to work from there.