MJCF and URDF model viewer

This is simple MuJoCo XML file(MJCF) and URDF XML fileviewer using Roboschool.

How to use

MuJoCo XML file

Please edit bottom of mjcf_viewer.py.

model_xml is path of MJCF model file
robot_name is root body
foot_list is body of contacting to the ground.

    foot_list = ['front_left_foot', 'front_right_foot', 'left_back_foot', 'right_back_foot']
    run(model_xml="samples/ant.xml", robot_name="torso", foot_list=foot_list)

URDF XML file

Please edit bottom of urdf_viewer.py.

model_urdf is path of URDF model file
robot_name is root body
foot_list is body of contacting to the ground.

    foot_list = []
    run(model_urdf=os.path.join(os.path.dirname(os.path.abspath(__file__)), "samples/pi_robot.urdf"),
        robot_name="base_link", footlist=foot_list, servo=True)

LICENSE

The MIT License

Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

gym_forward_walker_servo.py

See header of file.

samples/ant.xml

https://github.com/openai/roboschool/blob/911f7cd55e6169097fad8735e5424cf436e3c0ad/roboschool/mujoco_assets/ant.xml

This work is derived from MuJuCo models used under
the following license:

This file is part of MuJoCo.     
Copyright 2009-2015 Roboti LLC.	
Mujoco		:: Advanced physics simulation engine
Source		: www.roboti.us
Version		: 1.31
Released 	: 23Apr16
Author		:: Vikash Kumar
Contacts 	: kumar@roboti.us

samples/pi_robot.urdf

https://www.pirobot.org/blog/0014/ https://www.pirobot.org/blog/0014/pi_robot_urdf.xml

ikeyasu/mjcf_viewer