Yet another thread that I learned so much from. I did not know there were so many URDF exporters available and was under the impression most did it by hand. Im just now completing the design of my first robot in F360 and looking forward to getting in the sim.
it seems the key aspects of a good URDF to get the most out of a sim is to get the Masses, Centers of Masses, and inertia diagonals correct while keeping the collision geometry simple to optimize performance, as mentioned in Alex Hatori’s excellent blog: Stride - Wheeled Biped: Mujoco Sim — ALEX HATTORI
Also. slightly off topic but.. the evaluation phase always takes the longest.
As mentioned, id like to complete a primer in gazebo and move through the F3D to URDF authoring pipeline, but long term id like to look into MuJoco as they have a very cool unity plugin and “live” in editor tutorial… GitHub - Balint-H/mj-unity-tutorial: Introductory set of tutorials for using the Unity plugin of MuJoCo with the ML-Agents framework.
works with URDFs but aparently also has their own mjcf format that offers a little more flexibility.