Abstract: For the field of embodied intelligence, iRobotCAM fully supports the design of serial and parallel robots, supports URDF output and MuJoCo XML output, and supports various simulation and training software such as MuJoCo and ISAAC SIM. For URDF exported from third-party software such as Solidworks 3D software, iRobotCAM has released a super-simplified URDF function. Based on its proprietary dynamics simulation engine architecture, simulation speed can be increased by up to 10 times without compromising accuracy.
The introduction of iRobotCAM’s super-simplification feature is driven by the need to improve the toolchain for embodied intelligent design interaction with upstream and downstream systems. For pre-processing URDF files exported from various 3D software, iRobotCAM can quickly reduce the mesh count by up to 90%, resulting in a 10-fold improvement in simulation efficiency. But how does iRobotCAM achieve this model simplification?
1. Supports calculating the number of meshes in the model. When creating a rigid body, after selecting the component, clicking the “Number of Meshes” button will calculate the number of meshes in the model.
2. Supports inputting target mesh parameters and simplifying the model with one click. Click “Model Simplify,” and in the model simplification interface, enter the target mesh number to directly simplify the model mesh to the input value.
3. Supports simplifying the model by ignoring hidden entities. Enter the model node, uncheck some entities, and in the Create Rigid Body interface, you can ignore the unchecked parts, reducing the number of meshes in the model.
4. Supports simplifying component models by ignoring small volumes. Check “Ignore Small Volumes”, enter the volume value to be ignored, and components with volumes lower than the input value will be ignored and not calculated.
Taking the URDF file exported from Solidworks as an example, how does iRobotCAM implement the super simplified functions of the URDF step by step and perform MuJoCo simulation verification?
- Export URDF files from Solidworks;
- Import the URDF file into IROBOTCAM, view the rigid body properties, perform model simplification operations, and export the simplified model.
- Replace the original model file and quickly import it into Mujoco simulation.
https://www.bilibili.com/video/BV19CA9zYENK?share_source=copy_web
About Nanjing Yueqing Information Technology Co., Ltd.
Nanjing Yueqing Technology is committed to creating the open iRobotCAM embodied intelligent robot design and simulation platform, which is an integrated solution for embodied intelligent design, electromechanical design, offline programming, and virtual debugging.
iRobotCAM website: www.iRobotCAM.com, contact email: cooperation@iRobotCAM.com
