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Simulate the Humanoid robot legs as a URDF/MJCF-xml file.
URDF files can be used directly in IsaacLab while MJCF xml files are used for MuJoCo and ManiSkill
Solutions
Solution 1: Export each mesh as a .STL file from Fusion360/Solidworks (wherever the assembly is stored), perform mesh clean up for collisions, and define the urdf with joints properly placed.
Solution 2: Reformat assembly in STL to use automatic exporting tools (my suggestion is to go with solution 1 due to having to model linkage of the ankle)
Steps to Implement
Solution 1:
Export each link of the robot leg as an STL file. It will take some time to select which parts end up as one link, but the main idea is to export the entire section between joints as one link. The links have to be exported relative to a coordinate frame so that when you spawn the stl files in simulation, they spawn assembled.
Compute the joint positions in Fusion360/Solidworks of the assembly relative to the same coordinate frame as above.
Define the URDF file with the exported STL files and joint positions. This will take more time due to modeling the linkage of the ankle.
Timeline: 1 week
Feature Overview
Simulate the Humanoid robot legs as a URDF/MJCF-xml file.
URDF files can be used directly in IsaacLab while MJCF xml files are used for MuJoCo and ManiSkill
Solutions
Solution 1: Export each mesh as a .STL file from Fusion360/Solidworks (wherever the assembly is stored), perform mesh clean up for collisions, and define the urdf with joints properly placed.
Solution 2: Reformat assembly in STL to use automatic exporting tools (my suggestion is to go with solution 1 due to having to model linkage of the ankle)
Steps to Implement
Solution 1:
Export each link of the robot leg as an STL file. It will take some time to select which parts end up as one link, but the main idea is to export the entire section between joints as one link. The links have to be exported relative to a coordinate frame so that when you spawn the stl files in simulation, they spawn assembled.
Compute the joint positions in Fusion360/Solidworks of the assembly relative to the same coordinate frame as above.
Define the URDF file with the exported STL files and joint positions. This will take more time due to modeling the linkage of the ankle.
Optionally you can start with creating a .xml file for ensuring the linkage of the ankle works as intended. References: https://www.reddit.com/r/robotics/comments/1hhkjb6/how_to_handle_fourbar_linkages_when_creating_urdf/
Hand-E Robotiq Gripper in MuJoCo - Control of Position and Force google-deepmind/mujoco#1660
https://www.youtube.com/watch?v=bXJw07xjkkY
https://www.youtube.com/watch?v=G-R2CrsFC-I
Solution 2: Use automatic export tools like https://github.com/syuntoku14/fusion2urdf, https://github.com/SpaceMaster85/fusion2urdf, or https://wiki.ros.org/sw_urdf_exporter
Testing
Use urdf-viz to examine movement of joints easily with a urdf file. Use MuJoCo sim locally to examine MJCF-xml files.
Notes
Contact Darin for further details and help on implementation.