urdf2mjcf 0.0.4

The urdf2mjcf project

urdf2mjcf

This script converts URDF files to MJCF files, with some nice options.

Installation

pip install urdf2mjcf

Usage

Command Line

To run the conversion script from the command line, use:

urdf2mjcf path/to/your/robot.urdf

This will save the MJCF file in the same directory as the URDF file.

To see all the options, use:

urdf2mjcf -h

Python

To run the conversion script from Python, use:

from urdf2mjcf import run

run(
    urdf_path="path/to/your/robot.urdf",
    mjcf_path="path/to/save/robot.mjcf",
    copy_meshes=True,
)