Urdf to mjcf #34
Urdf to mjcf #34
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…ble with 3.8 python
sim/scripts/create_mjcf.py
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| new_root_body.append(item) | ||
| # # Add joints to all the movement of the base | ||
| # Define the joints as individual elements | ||
| joints = [ |
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use free joint since it's a default mujoco logic
sim/scripts/create_mjcf.py
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| if add_reference_position: | ||
| if joint_name in default_standing.keys(): | ||
| joint.set("ref", str(default_standing[joint_name])) |
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We don't use keyframe then?
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gonna remove this - it seems like adding a reference position doesn't do anything
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actually i am going to make it so that it manually sets the keypose object based on a hyperparameter and the default positiosn from joints.py
…reejoint, example fixed urdf and xml
sim/scripts/create_fixed_torso.py
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| # Save the modified URDF to a new file | ||
| tree.write("sim/stompy_legs/robot_fixed.urdf") | ||
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| if __name__ == "__main__": | ||
| update_urdf() | ||
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| path = Path("sim/stompy_legs/robot.urdf") |
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move this to a separate file that will use create_mjcf and create_urdf
| # Locate actual root body inside of worldbody | ||
| root_body = worldbody.find(".//body") | ||
| # Make position and orientation of the root body | ||
| root_body.set("pos", "0 0 0") |
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If we use freejoint this will need to be changed to 0 0 HEIGHT probably
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we set height in the default keypose - i think its better that way since we place the robot at 0 0 HEIGHT in isaac as well so its consistent
Updating urdf to mjcf to have all the components in ksim, as well as updating some stuff to be python 3.8 compatible