A utility tool to convert models of the URDF to that of MJCF.

1. The tool utilizes the MuJoCo engine during conversion, so make sure it is installed on your machine.

2. The tool interfaces the MuJoCo engine through its official python bindings.

   • You can install the bindings via

     pip install mujoco

   • Alternatively, the repository comes with a rosdep.yaml, to which you can point rosdep to automatically resolve the installation.

     On Ubuntu, this could mean

     echo "yaml file:https:///PATH/TO/urdf2mjcf/rosdep.yaml" >> /etc/ros/rosdep/sources.list.d/urdf2mjcf.list
     rosdep update

     If everything is in order, running

     rosdep resolve python3-mujoco

     should give back

     #pip
     mujoco

The package comes with command-line applications; use their help arguments for usage information.

urdf2mjcf --help
rd2mjcf --help