如何使用 urdf2mjcf 将 URDF 转换为 Mujoco
步骤 1：安装 urdf2mjcf
install_urdf2mjcf.sh
pip install -U urdf2mjcf==0.2.2特定版本很重要，以避免 https://github.com/kscalelabs/urdf2mjcf/issues/18（ModuleNotFoundError: No module named ‘urdf2mjcf.postprocess’）
步骤 2：转换你的 URDF
convert_urdf.sh
urdf2mjcf myrobot.urdf --output myrobot.mujoco.xml示例输出
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