Building with latest deepmind/mujoco (2.3.0) and OMPL (1.5.0)

[zkytony]

Thank you for creating this awesome package!

MuJoCo is now open source and maintained by Deepmind. I modified the CMakeLists.txt a bit to allow building this repo with the latest release of deepmind/mujoco (2.3.0) and OMPL (1.5.0).

I also updated the README instructions for building and using this package. Please check whether it works for you and for correctness. Also, I have only tried the new build on Ubuntu 20.04. If necessary, please verify this with Mac.

Consider advancing this repo by merging this PR. Thanks!

[aravindsiv]

Hi @zkytony,

I was also trying to get the library to work with the deepmind/mujoco repository, so thanks for this pull request!

Are you planning to add any other changes or need any help with them?

[zkytony]

Hi @aravindsiv that's awesome. Not really, but I just wanted to see if this works with mujoco_menagerie models. I am not proficient with mujoco or OMPL. Still learning. Help would be great if you could test this with menagerie as well!

[zkytony]

I merged the changes here to the master branch of my fork: https://github.com/zkytony/mujoco-ompl

[aravindsiv]

Hi @zkytony I compiled with mujoco 2.3.0 using your fork. Some of the mujoco menagerie models are free joints - which currently look like they are not supported in this library.

@mpflueger Was there a reason behind this design choice?