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kevinzakka / mujoco_cube

A 3x3x3 puzzle cube model for MuJoCo.
Apache License 2.0
21 stars 2 forks source link

Potential rubik's cube URDF format #3

Closed cypypccpy closed 4 months ago

cypypccpy commented 4 months ago

Hi @kevinzakka ,

Great job! I would like to ask if you have tried the URDF version of rubik's cube? Or do you think we can implement a cube with the same functions as your repo in URDF format?

Many thanks.

kevinzakka commented 4 months ago

Hi @cypypccpy, I don't really work with URDFs but I believe @RussTedrake has a version that works in Drake, albeit it might have Drake-specific directives that might not work in other simulators.

RussTedrake commented 4 months ago

I generated it programmatically for sdf, not urdf, but it doesn't have any drake-specific directives: https://github.com/RussTedrake/manipulation/blob/bb9d3844da27f48ce4ede39b6bacb4d216829a22/manipulation/models/rubiks_cube.sdf

cypypccpy commented 4 months ago

Thanks @kevinzakka and @RussTedrake !

I feel like I can refer to https://github.com/RussTedrake/manipulation/blob/bb9d3844da27f48ce4ede39b6bacb4d216829a22/manipulation/models/rubiks_cube.sdf to generate a URDF format of rubik's cube.

Very helpful!