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dojo-sim / Dojo.jl

A differentiable physics engine for robotics
MIT License
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Question about loading a robot and an object #86

Open crtie opened 1 year ago

crtie commented 1 year ago

Hi ! I'm using Dojo to build my simulation task. I need to create an environment with atlas robot and an object (.obj file). But in your documents, you just mention how to load a urdf file or some meshes, how can I simultaneously load atlas (.urdf) and an object(.obj) into Dojo? Thanks for your reply !

janbruedigam commented 1 year ago

There isn't a super elegant way for this, but maybe check how the mechanisms are created in DojoEnvironments. First, a URDF is parsed, then the bodies, joints, origins, are extracted from the mechanism. You could now add an object to the bodies vector, and then recreate the mechanism. So basically copy this file and add the object somewhere before line 100: https://github.com/dojo-sim/Dojo.jl/blob/main/DojoEnvironments/src/mechanisms/atlas/mechanism.jl