obj2mjcf 0.0.23

A CLI for processing composite Wavefront OBJ files for use in MuJoCo

obj2mjcf

obj2mjcf is a CLI for proccessing composite Wavefront OBJ files for use in MuJoCo. It automatically:

• Splits an OBJ file into sub-meshes that are grouped by the materials referenced in the OBJ's MTL file
• Generates an MJCF XML file that is pre-filled with materials, meshes and geom elements referencing these OBJ files
• Optionally generates a collision mesh by performing a convex decomposition of the OBJ using V-HACD

obj2mjcf was used to process model meshes for MuJoCo Menagerie:

Motivation

As of June 2022, MuJoCo does not support composite OBJ files consisting of groups or objects (o or g OBJ tags) and only 1 material can be assigned per mesh. This means that you have to manually split your OBJ file into sub-meshes, a process that is tedious and error-prone. This tool is meant to automate this process.

Installation

The recommended way to install this package is via PyPI:

pip install --upgrade obj2mjcf

Extra: V-HACD 4.0

We recommend installing V-HACD v4.0. If available, obj2mjcf will leverage it to create better collision geometry for your OBJ file.

# For macOS and Linux.
bash install_vhacd.sh

Usage

Type the following at the command line for a detailed description of available options:

obj2mjcf --help