URDF & MJCF

This repository contains PNDbotics model files for simulation and control, including URDF/MJCF descriptions, mesh assets, and more.

• Link: PND Models GitHub

---

⚠️ Link Orientation Notice (Toe Link Flip Issue)

If you're using the reinforcement learning (RL) examples provided in our Wiki documentation, please double-check the following to ensure correct simulation behavior:

✅ URDF Configuration

In the toe_left and toe_right link definitions, make sure the following configuration is set:

<collision name="toe_*">
  <origin rpy="1.57 0 0" xyz="0 0 0"/>
</collision>

This orientation ensures the correct alignment of toe links in simulation.

✅ Isaac Gym Configuration

In the corresponding *_config.py file used for Isaac Gym training, be sure to set:

flip_visual_attachments = True

The default value is False, which may cause visual misalignment of the toe components in some models.

---

Models

model name	mujoco image
adam_inspire
adam_lite
adam_lite_agx
adam_sp
adam_sp_agx_ir
adam_standard
adam_u

FAQ