45 lines
1.7 KiB
Markdown
45 lines
1.7 KiB
Markdown
# Robotis OP3 Description (MJCF)
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Requires MuJoCo 2.2.2 or later.
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## Overview
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This package contains a simplified robot description (MJCF) of the [Robotis
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OP3](https://emanual.robotis.com/docs/en/platform/op3/introduction/) developed
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by [Robotis](https://robotis.com/). It is derived from the [publicly
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available](https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Common/tree/master/op3_description/urdf)
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URDF description.
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<p float="left">
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<img src="op3.png" width="400">
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</p>
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## URDF → MJCF derivation steps
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The meshes in `assets/simplified_convex` are simplified convex hulls of the
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original STL meshes from Robotis. Filenames with suffix `_subN` (where `N` is a
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number) represent meshes that have been decomposed into multiple parts before
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convexification.
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1. Load original STL files into [MeshLab](https://meshlab.net/).
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2. If the mesh has protruding parts that are not well-captured by single
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convex hull, right-click on the loaded mesh layer and select
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**Split in Connected Components**, then flatten things back into component
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groupings as appropriate. (Note that the split will only work if the
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original STL contains disconnected components, rather than a single
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joined-up one.)
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3. Filters -> Remeshing, Simplification and Reconstruction -> **Convex Hull**
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4. Filters -> Remeshing, Simplification and Reconstruction -> **Simplification:
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Quadric Edge Collapse Decimation**
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5. Adjust the target number of faces. For the OP3, around 300 faces seem to
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capture things fairly well.
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6. The options **Preserve Boundary of the Mesh**, **Preserve Normal**,
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**Preserve Topology**, and **Planar Simplification** were enabled. These may
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or may not be necessary.
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## License
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This model is released under an [Apache-2.0 License](LICENSE).
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