GUI for adjusting the geometry of Mujoco models
Use mouse right button to select a geometry of a bone or just the bone itself when it has no geometry. Then you can rotate, translate, change the size of it. And you can also add new geometry to the bone or delete existing geometry. Currently it supports two types of geometry in Mujoco: capsule and ellipsoid.
You can also use the script mujoco_view.py to view the model in Mujoco.
| Key | Functionality |
|---|---|
| q w e a s d | rotate the geometry |
| u i o j k l | translate the geometry |
| U I O J K L | change the radius of ellipsoid (only works for ellipsoid) |
| up down | change the radius of the capsule (only works for capsule) |
| left right | change the length of the capsule (only works for capsule) |
| r | create a new capsule for the bone |
| f | create a new capsule from the bone |
| t | create a new ellipsoid for the bone |
| c | clone currently selected geometry |
| d | delete currently selected geometry |
| z | select the root bone |
| v | export modified model to xml file |
| ` | quit the program |
| 1 | toggle render skeleton |
| 2 | toggle render geometry |