22 lines
779 B
Python
22 lines
779 B
Python
#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")
|