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

- Source: Guyuehome
- Published: 2026-10-12T04:14:00.000Z
- RoboHot: https://robohot.news/en/items/jr1mzwypp91k0bwxnnmu8y156
- Original: https://www.guyuehome.com/detail?id=2103278874252046338

## Summary

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.