icub mujoco

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

Requrements

pip install mujoco

Usage

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

Test

python example.py

Maintainers

This repository is maintained by:

	Siddharth Deore