mjcf-urdf-simple-converter 0.1

Minimal script to convert MuJoCo MJCF robot model files to URDF files usable in ROS

mjcf_urdf_simple_converter

A minimal and simple script to convert limited elements of MJCF (MuJoCo modeling format) robot model files to URDF. Developed from a need to visualize MJCF robots in ROS environments like Rviz, it only converts a limited subset of the robot model elements to URDF. I do not intend to expand this into a full-fledged transclation script from MJCF to URDF.

usage

from mjcf_urdf_simple_converter import convert
convert("model.xml", "model.urdf")

This converts the model.xml (and any associated MJCF files loaded from within model.xml) to model.urdf. Mesh geoms are also converted to STL files, and saved to converted_*.stl files within the same directory. The converted files can be checked in Rviz, or online tools like https://gkjohnson.github.io/urdf-loaders/javascript/example/bundle/index.html .

what are converted

what are NOT converted

TODOs

• support multiple geoms in one body

comments

• A similar tool exists to convert from MJCF to URDF (mjcf2urdf), but the pybullet import that it uses did not work for our case so this tool was created.
• for converting from URDF to MJCF, the ./compile program bundled with standard MuJoCo installations can be used.