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This calls the RobotEnv's ik function internally.
juelg
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Aug 4, 2025
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juelg
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Thanks @tenfoldpaper for the integration of OMPL into RCS, a milestone for automatic path planning. I also like your documentation and the type hints. Great work :)
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Added the file
mj_ompl.pyunderpython/rcs/ompl, which provides OMPL-based planner in MuJoCo environment.Dependency has been updated accordingly.
The planner is in joint space, and the sample space validity is done by running a kinematic (joint position) simulation in MuJoCo for possible collisions between the robot and a user-defined list of MuJoCo mjOBJ_GEOM and/or mjOBJ_BODY. If no collisions are detected, the planner can progress forward.
An example on how to use this will be provided in the RCSToolBox.