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Rebased - Add MuJoCo Robot Modeling Guide to Simulation Wiki (Team C) #265

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Rebased - Add MuJoCo Robot Modeling Guide to Simulation Wiki (Team C) #265

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e10e464
Add guide for creating custom robot models in MuJoCo
FD-Shubham May 9, 2026
fd1c5be
Add link for custom robot models in MuJoCo
FD-Shubham May 9, 2026
7d332eb
Add guide for creating custom robot models in MuJoCo
FD-Shubham May 9, 2026
5b1ed85
Fix URL formatting in navigation.yml
FD-Shubham May 9, 2026
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2 changes: 2 additions & 0 deletions _data/navigation.yml
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Expand Up @@ -250,6 +250,8 @@ wiki:
url: /wiki/simulation/an-introduction-to-isaac-sim/
- title: Simulating UGVs in Unity
url: /wiki/simulation/simulating-ugvs-in-unity/
- title: Creating Custom Robot Models for MuJoCo
url: /wiki/simulation/mujoco-robot-modeling/
- title: Interfacing
url: /wiki/interfacing/
children:
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3 changes: 3 additions & 0 deletions wiki/simulation/index.md
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Expand Up @@ -30,6 +30,9 @@ This section focuses on **simulation tools, techniques, and environments** for r
- **[Spawning and Controlling Vehicles in CARLA](/wiki/simulation/spawning-and-controlling-vehicles-in-carla/)**
A hands-on tutorial for spawning and controlling vehicles in the CARLA simulator. Covers connecting to the CARLA server, visualizing waypoints, spawning vehicles, and using PID controllers for motion control. Demonstrates waypoint tracking with visual aids and includes example scripts for quick implementation.

- **[Creating Custom Robot Models for MuJoCo](/wiki/simulation/mujoco-robot-modeling/)**
A end-to-end guide for building simulation-ready robot models in MuJoCo, from CAD export through physics tuning. Covers the full CAD-to-MJCF pipeline, link geometry and joint design, inertial parameter estimation, and actuator selection. Includes annotated URDF and MJCF authoring examples, contact/friction tuning, tendon constraints, mesh simplification, and a troubleshooting reference for common simulation instabilities.

## Resources

### General Simulation Tools
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