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

pybullet_utils.urdfEditor

examples/pybullet/gym/pybullet_utils/urdfEditor.py

@@ -1,7 +1,6 @@
 import pybullet as p
 import time
 
-
 class UrdfInertial(object):
 	def __init__(self):
 		self.mass = 1
@@ -201,6 +200,10 @@ class UrdfEditor(object):
 		file.write("\t\t</inertial>\n")
 
 	def writeVisualShape(self,file,urdfVisual, precision=5):
+		#we don't support loading capsule types from visuals, so auto-convert from collision shape
+		if urdfVisual.geom_type == p.GEOM_CAPSULE:
+			return
+                
 		file.write("\t\t<visual>\n")
 		str = '\t\t\t<origin rpy="{:.{prec}f} {:.{prec}f} {:.{prec}f}" xyz="{:.{prec}f} {:.{prec}f} {:.{prec}f}"/>\n'.format(\
 			urdfVisual.origin_rpy[0],urdfVisual.origin_rpy[1],urdfVisual.origin_rpy[2],
@@ -276,8 +279,13 @@ class UrdfEditor(object):
 		file.write("\">\n")
 
 		self.writeInertial(file,urdfLink.urdf_inertial)
+		hasCapsules = False
 		for v in urdfLink.urdf_visual_shapes:
-			self.writeVisualShape(file,v)
+			if (v.geom_type == p.GEOM_CAPSULE):
+				hasCapsules = True
+		if (not hasCapsules):
+			for v in urdfLink.urdf_visual_shapes:
+				self.writeVisualShape(file,v)
 		for c in urdfLink.urdf_collision_shapes:
 			self.writeCollisionShape(file,c)
 		file.write("\t</link>\n")