Article

Complete Derivation of Navigation and Grasping for an Autonomous Tidying Robot Based on MuJoCo

Centered on the autonomous tidying task of a mobile manipulator, this tutorial presents a complete derivation chain covering occupancy grid log-odds mapping, A* global path planning, model predictive trajectory tracking, and grasp-and-place control. The author reproduces the full workflow of mapping, navigation, grasping, and transport in a MuJoCo four-room scenario.

Part of the event: Guyuehome releases MuJoCo autonomous tidying robot tutorial

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