https://github.com/kevinzakka/mujoco_cube
A 3x3x3 puzzle cube model for MuJoCo.
https://github.com/kevinzakka/mujoco_cube
mujoco rubiks-cube simulation
Last synced: 4 months ago
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A 3x3x3 puzzle cube model for MuJoCo.
- Host: GitHub
- URL: https://github.com/kevinzakka/mujoco_cube
- Owner: kevinzakka
- License: apache-2.0
- Created: 2023-05-09T13:51:43.000Z (about 2 years ago)
- Default Branch: main
- Last Pushed: 2024-01-02T18:17:46.000Z (over 1 year ago)
- Last Synced: 2025-03-19T01:11:21.981Z (4 months ago)
- Topics: mujoco, rubiks-cube, simulation
- Language: Python
- Homepage:
- Size: 2.44 MB
- Stars: 29
- Watchers: 2
- Forks: 2
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
README
# MuJoCo 3x3x3 Puzzle Cube
[![build][tests-badge]][tests]
[![build][mujoco-version]][MuJoCo]
[tests-badge]: https://github.com/kevinzakka/mujoco_cube/actions/workflows/ci.yml/badge.svg
[tests]: https://github.com/kevinzakka/mujoco_cube/actions/workflows/ci.yml
[mujoco-version]: https://img.shields.io/badge/MuJoCo-v2.3.3-blue
[MuJoCo] model of a 3x3x3 puzzle cube, along with a script to procedurally generate it. Inspired by the [Rubik's Cube].
## Requirements
You will need MuJoCo version 2.3.3 or greater to run the model. If you want to use an older version, replace the `implicitfast` integrator with `Euler`.
## Play with the model
Just drag and drop the `cube_3x3x3.xml` file into the simulate window.
## Generate the model
First install the dependencies:
```bash
pip install -r requirements.txt
```
Then run the following to generate the assets and XML file:
```bash
python build_textures.py # Creates the assets/ dir.
python build_mjcf.py # Creates cube_3x3x3.xml.
```
## Cubelet design
Solidworks was used to design `cubelet.stl`. It has a dimension of 1.9 cm with chamfered edges of length 1.425 mm. The cube was exported as an STL file and processed with `process_mesh.py` to obtain the vertices for the `mesh` attribute in the MJCF file.
[MuJoCo]: https://github.com/deepmind/mujoco
[Rubik's Cube]: https://en.wikipedia.org/wiki/Rubik%27s_Cube