To change your units to meters, go to Model Info > Length Units > 0.0m.Ī common starting point for modeling is that you have a 3D model of the full robot. ABR Control uses metres, and things generally are easiest when everyone is using the same units. Mujoco uses the units specified in your STL models. Skechup Settings – Set model units for export If you import your object and cannot see it, it is likely that the units selected during the import were incorrect and the object is simply too small to see. Select the units that the model was defined in. Shout out to my colleague Pawel Jaworski who worked through this process and wrote up the first of this document! Sketchup Settings – Set model units on importīefore opening your STL, in the open file window select your file and click on the Options button next to Import. We’re not going to cover any 3D modeling how-to here. If you don’t have the 3D modeling aleady completed, it’s worth doing a quick search around online to see if someone else has already made it because there are a lot out there not posted officially on any model repo. We’ll then walk through how to set up the STL files for the individual components of the robot model (assuming that you already have the 3D modeling completed), steps for generating a Mujoco XML robot description file, and go over a couple of the more common problems that come up in the process. This post will start by going over some settings in SketchUp assuming you haven’t used it before. For STL manipulation, we use the program SketchUp because it is freely available with both offline and online versions. ![]() There are two parts to defining a model: 1) The STL files, which are 3D models of the robot components, and 2) the XML file, which specifies the kinematic and dynamic relationships in the model. ![]() It turns out this is relatively easy in Mujoco. There is a growing model repository, but it’s not unlikely you’re going to want to build your own model. It’s especially useful for simulating robotic arms and gripping tasks. If you’re not familiar with it, you should check it out! Mujoco provides super fast dynamics simulation with a focus on contact dynamics. You’re probably familiar with it from it’s use in the OpenAI gym, or from it featuring in articles and videos on model predictive control and robots learning to walk research.
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