Requires MuJoCo 2.2.2 or later.
This package contains a simplified robot description (MJCF) of the Robotis OP3 developed by Robotis. It is derived from the publicly available URDF description.
The meshes in assets/simplified_convex are simplified convex hulls of the
original STL meshes from Robotis. Filenames with suffix _subN (where N is a
number) represent meshes that have been decomposed into multiple parts before
convexification.
- Load original STL files into MeshLab.
- If the mesh has protruding parts that are not well-captured by single convex hull, right-click on the loaded mesh layer and select Split in Connected Components, then flatten things back into component groupings as appropriate. (Note that the split will only work if the original STL contains disconnected components, rather than a single joined-up one.)
- Filters -> Remeshing, Simplification and Reconstruction -> Convex Hull
- Filters -> Remeshing, Simplification and Reconstruction -> Simplification: Quadric Edge Collapse Decimation
- Adjust the target number of faces. For the OP3, around 300 faces seem to capture things fairly well.
- The options Preserve Boundary of the Mesh, Preserve Normal, Preserve Topology, and Planar Simplification were enabled. These may or may not be necessary.
This model is released under an Apache-2.0 License.