Comment convertir un URDF en Mujoco en utilisant urdf2mjcf
Étape 1 : Installer urdf2mjcf
install_urdf2mjcf.sh
pip install -U urdf2mjcf==0.2.2La version spécifique est importante pour éviter https://github.com/kscalelabs/urdf2mjcf/issues/18 (ModuleNotFoundError: No module named ‘urdf2mjcf.postprocess’)
Étape 2 : Convertir votre URDF
convert_urdf.sh
urdf2mjcf myrobot.urdf --output myrobot.mujoco.xmlExemple de sortie
urdf2mjcf_warnings.txt
WARNING 2025-02-11 21:49:44 [urdf2mjcf.convert] Warning: off-diagonal inertia terms for link 'base' are nonzero and will be ignored.
WARNING 2025-02-11 21:49:44 [urdf2mjcf.convert] Warning: off-diagonal inertia terms for link 'shoulder' are nonzero and will be ignored.
WARNING 2025-02-11 21:49:44 [urdf2mjcf.convert] Warning: off-diagonal inertia terms for link 'upperarm' are nonzero and will be ignored.
WARNING 2025-02-11 21:49:44 [urdf2mjcf.convert] Warning: off-diagonal inertia terms for link 'elbow' are nonzero and will be ignored.
WARNING 2025-02-11 21:49:44 [urdf2mjcf.convert] Warning: off-diagonal inertia terms for link 'forearm' are nonzero and will be ignored.
WARNING 2025-02-11 21:49:44 [urdf2mjcf.convert] Warning: off-diagonal inertia terms for link 'wrist_1' are nonzero and will be ignored.
INFO 2025-02-11 21:49:44 [urdf2mjcf.convert] Auto-detected base offset: -0.085 (min z = 0.085)If this post helped you, please consider buying me a coffee or donating via PayPal to support research & publishing of new posts on TechOverflow