LeKiwi-sim

Usage

1. pip install mujoco
2. python -m mujoco.viewer --mjcf=mjcf_lcmm_robot.xml

Converting from Fusion to MuJoCo

• Using this plugin: https://github.com/bionicdl-sustech/ACDC4Robot
• For AttributeError: module 'time' has no attribute 'stop' use bionicdl-sustech/ACDC4Robot#1
• Make sure to remove all nested components in CAD
• Simplify large meshes(like omniwheels) using a mesh simplifier if mujoco complains about too many faces