If you would like to see a new model added to the Menagerie collection, please provide us with the following information before sending a pull request. (Ideally, before you start working on converting or tuning the model for MuJoCo.)
URL for the existing model source (e.g. URDF)
dvrk_mode, this repo contains the URDF for all the components of the dVRK, I think that the most useful part to start is the Patient Side Manipulator (PSM).
License terms of the upstream model
MIT license
What do you think is required to convert and tune this model for MuJoCo?
Convert the XACRO URDF using ros to XML, then I imagine revising the actuators for the joints, and reviewing correct inertia and mass values finishing with any cosmetic changes needed to look like the actual robot.
Are you proposing to help develop and maintain the new model?
Yes, I am willing to develop and maintain the model.
If you would like to see a new model added to the Menagerie collection, please provide us with the following information before sending a pull request. (Ideally, before you start working on converting or tuning the model for MuJoCo.)
URL for the existing model source (e.g. URDF)
dvrk_mode, this repo contains the URDF for all the components of the dVRK, I think that the most useful part to start is the Patient Side Manipulator (PSM).
License terms of the upstream model
MIT license
What do you think is required to convert and tune this model for MuJoCo?
Convert the XACRO URDF using ros to XML, then I imagine revising the actuators for the joints, and reviewing correct inertia and mass values finishing with any cosmetic changes needed to look like the actual robot.
Are you proposing to help develop and maintain the new model?
Yes, I am willing to develop and maintain the model.