https://github.com/hiroishida/mujoco-xml-editor

Utils for editing mujoco xml
https://github.com/hiroishida/mujoco-xml-editor

mujoco mujoco-python

Last synced: 4 months ago
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Utils for editing mujoco xml

• Host: GitHub
• URL: https://github.com/hiroishida/mujoco-xml-editor
• Owner: HiroIshida
• License: mit
• Created: 2025-01-21T17:27:30.000Z (12 months ago)
• Default Branch: master
• Last Pushed: 2025-02-03T01:44:35.000Z (11 months ago)
• Last Synced: 2025-03-21T12:48:50.932Z (10 months ago)
• Topics: mujoco, mujoco-python
• Language: Python
• Homepage:
• Size: 21.5 KB
• Stars: 0
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

          
## mujoco-xml-utils

Utilities for working with MuJoCo XML files.

Install with:

```bash

sudo apt-get update

sudo apt-get install libspatialindex-dev freeglut3-dev libsuitesparse-dev libblas-dev liblapack-dev

pip install .[examples] -v

```

Write mujoco xml as follows:

```python

hand_xml_path = Path(PACKAGE_PATH) / "2f85.xml"

editor = MujocoXmlEditor.load(hand_xml_path)

mesh_path = ycb_utils.resolve_path("019_pitcher_base")

editor.add_mesh(

    mesh_path, "pitcher_base", convex_decomposition=True, pos=[0.3, 0, 0], euler=[0, 0, 2.3704]

)

editor.add_ground()

editor.add_sky()

editor.add_light()

editor.add_mocap("mocap", "base_mount")  # base_mount is the root body of the robotiq hand

xmlstr = editor.to_string()

```