MuJoCo Model / environment creation

[gautam1858]

Hi I just want to know how to create environment or models ? Is it recommended to use CAD software, design robotic arm and then convert to XML file ? I want to create a environment like having a table where the robotic arm can do certain things like pick and place etc. Is it possible to create xml file directly ? please advice on this.

[vikashplus]

I'll recommend directing the Model creation questions to MuJoCo forms.

• MuJoCo's documentation is excellent. I'll recommend going through the documentation. I also hear that there's a Blender to MuJoCo exporter that will help you to create models in Blender and export it into Mujoco's importable format.
• The most common way to start is to take one of the existing models and modify it as per your needs.

For environments

• There are quite a few environments in RoboHive quite close to what you are looking for. Please checkout the Arm suite as a starting point.