MuJoCo: Realistic Simulation with Mesh-Based Models (STL/CAD to XML)

🔧 In this video, we dive into how to use mesh-based 3D models in MuJoCo—a powerful way to simulate complex and realistic mechanical parts like a pneumatic cylinder. After working with primitive shapes in earlier tutorials, we're now stepping into the real world of simulation using CAD-generated mesh files. 🎯 Key steps covered: Setting up a mesh directory and STL files Defining mesh assets in the MuJoCo XML Assembling bodies with mesh-based geometries Disabling unwanted collisions between visual parts Adding custom collision meshes for realistic interaction Implementing sliding joints and joint limits Scaling meshes to match real-world units Adding damping, actuators, and collision sensors 💡 Whether you're a robotics enthusiast, a simulation engineer, or just exploring MuJoCo’s full potential, this hands-on walkthrough will give you the foundation to bring CAD models to life in your simulations. 📌 If you missed the previous videos where we introduced MuJoCo and built models from primitives, be sure to check those out too! 📁 Files – https://github.com/felixokolo/MuJoCo_tutorials #MuJoCo #CAD #Simulation #Robotics #PneumaticCylinder #PhysicsEngine #STL #SolidWorks #Actuators #Sensors #3DModeling #DigitalTwin #EngineeringSimulation #MujocoTutorial #MechanicalSimulation