Some good pyhon snipets to generate Mujoco MJCF files for ergoCub and iCub descriptions. goal is to keep it compatible with original *cub repos.
Supported Models:
iCubGazeboV2_6, iCubGazeboV2_5, iCubGazeboV2_7, iCubGenova09
ergoCubGazeboV1, ergoCubGazeboV1_1, ergoCubSN000, ergoCubSN001
Unsupported:
following models do not load out of the box; Mujoco does not support DAE mesh. Please replace or convert the DAE mesh file to STL for compatibility.
iCubGenova03, iCubParis01, iCubLisboa01, iCubParis02, iCubNancy01
ergoCubGazeboV1_1_minContacts ergoCubGazeboV1_minContacts
pip install mujoco
Download the repository and submodules
git clone https://github.com/siddharthdeore/icub_mujoco.git --recursive
cd icub_mujoco
Generate model $python generate.py <model_name>
python generate.py iCubGazeboV2_6
python example.py
This repository is maintained by:
Siddharth Deore |
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