add rudimentary MuJoCo mjcf xml to ROS URDF file, based on

pybullet_utils.urdfEditor

examples/pybullet/gym/pybullet_utils/examples/mjcf2urdf.py

@@ -0,0 +1,21 @@
+#rudimentary MuJoCo mjcf to ROS URDF converter using the UrdfEditor
+
+import pybullet_utils.bullet_client as bc
+import pybullet_data as pd
+
+import pybullet_utils.urdfEditor as ed
+import argparse
+parser = argparse.ArgumentParser(formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+parser.add_argument('--mjcf', help='MuJoCo xml file to be converted to URDF', default='mjcf/humanoid.xml')
+args = parser.parse_args()
+
+p = bc.BulletClient()
+p.setAdditionalSearchPath(pd.getDataPath())
+objs = p.loadMJCF(args.mjcf, flags=p.URDF_USE_IMPLICIT_CYLINDER)
+
+for o in objs:
+	print("o=",o, p.getBodyInfo(o), p.getNumJoints(o))
+	humanoid = objs[o]
+	ed0 = ed.UrdfEditor()
+	ed0.initializeFromBulletBody(humanoid, p._client)
+	ed0.saveUrdf(p.getBodyInfo(0)[1]+"_"+p.getBodyInfo(o)[0]+".urdf")