How to convert CAD to Mujoco model?

[ThomasVuNguyen]

Intro

Hi!

I am a Robotics Hobbyest, I use MuJoCo to train different types of animal designs.

My setup

I use MuJoCo on my Ubuntu server with Python.

My question

Hey guys, I have been trying to convert my CAD file into Mujoco, so I can realistically simulate and train the exact robot.

It's been difficult because step file doesnt have all the information Mujoco needs, and the whole process is very manual & frustrating.

Is there another way to do this right?

Thanks.

For context, I'm using Onshape, but open to other workflow suggestions as I will be building and training robots a lot. I want to prioritize for iteration speed.

Minimal model and/or code that explain my question

No response

Confirmations

• I searched the latest documentation thoroughly before posting.
• I searched previous Issues and Discussions, I am certain this has not been raised before.

[NadeenElh]

CAD (save parts as .obj) -> mesh decomposition -> decomposed.obj (mesh) -> xml file -> mujoco

[dragonblade316]

I use onshape-to-robot. It works well but has some limitations.