A utility tool to convert models of the URDF to that of MJCF.
Install the Python dependencies that rosdep can not resolve from the requirements.txt
pip install -r $(rospack find urdf2mjcf)/requirements.txtThe package comes with command-line applications; use their help arguments for usage information.
urdf2mjcf --helpusage: urdf2mjcf [-h] [-s SENSOR_CONFIG] [-m MUJOCO_NODE] [--ground] [--lighting] [--version] [-l] [urdf] [mjcf]
Copyright (c) 2022 Fraunhofer IPA; use option '-l' to print license.
Parse a URDF model into MJCF format
positional arguments:
urdf the URDF file to convert (default: <_io.TextIOWrapper name='<stdin>' mode='r' encoding='utf-8'>)
mjcf the converted MJCF file (default: <_io.TextIOWrapper name='<stdout>' mode='w' encoding='utf-8'>)
optional arguments:
-h, --help show this help message and exit
-s SENSOR_CONFIG the XML file of the sensor configuration (default: None)
-m MUJOCO_NODE the XML file defining the global MuJoCo configuration (default: None)
--ground whether to add the default ground plane to the MuJoCo model (default: False)
--lighting whether to add the default lighting to the MuJoCo model (default: False)
--version show program's version number and exit
-l print license information (default: False)