29 lines
946 B
Python
29 lines
946 B
Python
#rudimentary MuJoCo mjcf to ROS URDF converter using the UrdfEditor
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import pybullet_utils.bullet_client as bc
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import pybullet_data as pd
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import pybullet_utils.urdfEditor as ed
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import argparse
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parser = argparse.ArgumentParser(formatter_class=argparse.ArgumentDefaultsHelpFormatter)
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parser.add_argument('--mjcf', help='MuJoCo xml file to be converted to URDF', default='mjcf/humanoid.xml')
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args = parser.parse_args()
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p = bc.BulletClient()
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p.setAdditionalSearchPath(pd.getDataPath())
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objs = p.loadMJCF(args.mjcf, flags=p.URDF_USE_IMPLICIT_CYLINDER)
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for o in objs:
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#print("o=",o, p.getBodyInfo(o), p.getNumJoints(o))
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humanoid = objs[o]
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ed0 = ed.UrdfEditor()
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ed0.initializeFromBulletBody(humanoid, p._client)
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robotName = str(p.getBodyInfo(o)[1],'utf-8')
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partName = str(p.getBodyInfo(o)[0], 'utf-8')
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print("robotName=",robotName)
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print("partName=",partName)
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saveVisuals=False
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ed0.saveUrdf(robotName+"_"+partName+".urdf", saveVisuals)
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