URDF to Mujoco Converter

urdf2mjcf is a tool for converting URDF models to Mujoco XML.

Here is an example, with the input URDF on the right and the output MJCF on the left:

Installation

You can install the package using pip:

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

As of urdf2mjcf==0.2.16, the options are:

usage: urdf2mjcf [-h] [--output OUTPUT] [--copy-meshes] [--metadata METADATA] [--metadata-file METADATA_FILE] urdf_path

Convert a URDF file to an MJCF file.

positional arguments:
  urdf_path             The path to the URDF file.

options:
  -h, --help            show this help message and exit
  --output OUTPUT       The path to the output MJCF file.
  --copy-meshes         Copy mesh files to the output MJCF directory.
  --metadata METADATA   A JSON string containing conversion metadata (joint params and sensors).
  --metadata-file METADATA_FILE
                        A JSON file containing conversion metadata (joint params and sensors).

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,
)