Tips and tricks

How to convert the SVH urdf to a MuJoCo model

  1. run xacro to create the urdf, e.g.

    xacro /home/stefan/src/ros2_workspaces/svh/src/schunk_svh_ros_driver/schunk_svh_driver/urdf/schunk_svh_driver.xacro control:=right_hand plugin:=schunk_svh_simulation/Simulator device_file:=unused mujoco_model:=/home/stefan/src/ros2_workspaces/svh/src/schunk_svh_ros_driver/schunk_svh_simulation/etc/svh_mujoco.xml mesh_directory:=/home/stefan/src/ros2_workspaces/svh/src/schunk_svh_ros_driver/schunk_svh_simulation/meshes >> svh.urdf

  2. add a

    <mujoco> <compiler discardvisual="false"/> </mujoco>

    to the <robot> tag.

  3. Inside the generated .urdf, replace the .dae with .stl files

  4. Convert the actual .dae files into binary .stl with Blender

  5. Put all .stl files into MuJoCo’s compile executable binary

  6. Compile with compile svh.urdf svh.xml

  7. Copy the content inside the <worldbody> tag

  8. Remove lines with duplicate meshes that don’t have contype or coaffinity. They will lead to constant collisions and destabilize the engine.