URDF to Mujoco Converter

pip install urdf2mjcf

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

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,
)