<p>I love space exploration, but I also want to continue improving my modeling
skills in MuJoCo. One day, I saw on Twitter that the Ingenuity Mars helicopter
completed its last flight on Mars. This is the first time a helicopter has
flown on another planet, and I find it fascinating. That's why I thought,
"why not create a MuJoCo version of it?" I found the official URDF models and
assets of the Ingenuity and Perseverance rover. So, I created this MJCF version
based on the original version, which you can see <a href="https://github.com/nasa-jpl/m2020-urdf-models">here</a>.</p>
<p>I would like to express my gratitude to the engineers at NASA JPL and Zareh
Gorjian, who designed the textures and models for creating this project.</p>
<h2>Features</h2>
<ul>
<li>IMU sensor</li>
<li>Laser rangefinder sensor</li>
<li>1 navigation camera</li>
<li>2 actuators for each blade and 2 more XY movement</li>
</ul>
<h2>Resources</h2>
<p>Some of the resources that I have used to create this project are:</p>
<ul>
<li><a href="https://github.com/nasa-jpl/m2020-urdf-models">Oficial Nasa-jpl urdf</a></li>
<li><a href="https://github.com/google-deepmind/mujoco_menagerie">MuJoCo menagerie examples</a></li>
<li><a href="https://mars.nasa.gov/technology/helicopter/#Quick-Facts">Nasa Helicopter Highlights</a></li>
<li><a href="https://es.wikipedia.org/wiki/Mars_Helicopter_Ingenuity">Ingenuity wikipedia</a></li>
</ul>
<p>If you want to know more about this project, please check my <a href="https://github.com/alefram/ingenuity-mujoco"><em>GitHub</em></a></p>

A MuJoCo model of the Nasa Mars Helicopter

Ingenuity MuJoCo

Features

Resources