Steps to Simulate Ridgeback Robot with Omni-Wheels in MuJoCo

[sinaqahremani]

Hi, I’m currently working on simulating the Ridgeback robot from Clearpath Robotics using MuJoCo. I have the STL files for the wheels and the URDF file for the robot, but the URDF does not include the omni-wheels configuration.

Could you please guide me on the steps required to integrate and simulate the Ridgeback robot with omni-wheels in MuJoCo? Specifically, I’m looking for advice on how to:

• Add omni-wheels to the URDF or MuJoCo model.
• Set up the proper kinematics and wheel-actuation for omni-directional movement.
• Any additional considerations for using MuJoCo for this type of simulation.

Thank you for your help!