I briefly converted bruce.urdf to bruce.xml by using compile option that MuJoCo provides.
There are some differences between the urdf and converted xml, which are
URDF uses full inertia, and MuJoCo uses Diagonal Inertia ( I have tried to set full inertia matrix; but, there are some error occurs during the inertia conversion )
Link Collision Issue ( I have modified the contact option of the geometry of hip yaw and roll links.)
I have made the scene based on the options provided by mujoco_menagerie
TL;DR
I have briefly converted it to my taste, and it is now able to use the Bruce model as MJCF. However, some improvements are still needed to satisfy the mujoco_menagerie model quality, maybe grade A~B.
Updates
I briefly converted bruce.urdf to bruce.xml by using compile option that MuJoCo provides.
There are some differences between the urdf and converted xml, which are
TL;DR
I have briefly converted it to my taste, and it is now able to use the Bruce model as MJCF. However, some improvements are still needed to satisfy the mujoco_menagerie model quality, maybe grade A~B.
Simple joint pd controlled bruce.
https://github.com/Westwood-Robotics/BRUCE_simulation_models/assets/50351712/85a74990-25fa-4865-b767-066dc97043e2