urdf2mjcf

URDF to MJCF conversion tool with support for STL, OBJ, DAE formats, automatic recognition of mimic tags in URDF, configurable joint actuators, and one-click generation of sim-ready MJCF files.

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🚀 Installation

Installation Steps

git clone https://github.com/TATP-233/urdf2mjcf.git
cd urdf2mjcf
pip install .

📖 Usage

Basic Conversion

cd /path/to/your/robot-description/
urdf2mjcf input.urdf --output mjcf/output.xml
# Note: Do not place the generated .xml file in the same directory as the urdf, you can add mjcf/output.xml as shown above

Command Line Arguments

urdf2mjcf <urdf_path> [options]

Required Arguments

• urdf_path: Path to the input URDF file

Optional Arguments

• -o, --output: Output MJCF file path (default: same as input file but with .mjcf extension)
• -m, --metadata: Path to JSON file containing conversion metadata (joint parameters and sensor configurations)
• -dm, --default-metadata: Default metadata JSON files, multiple files can be specified, later files override earlier settings
• -am, --actuator-metadata: Actuator metadata JSON files, multiple files can be specified, later files override earlier settings
• -a, --appendix: Appendix XML files, multiple files can be specified and applied in order
• --collision-only: Use collision geometry only without visual appearance for visual representation
• --no-convex-decompose: Disable mesh convex decomposition processing
• --log-level: Logging level (default: INFO level)
• --max-vertices: Maximum number of vertices in the mesh (default: 1000000)

Metadata Files Description

• metadata: Main conversion configuration file, contains height offset, angle units, whether to add floor, etc.
• default-metadata: Default joint parameter configuration, defines default properties for joints
• actuator-metadata: Actuator configuration, defines actuator types and parameters for each joint
• appendix: Additional XML content that will be directly added to the generated MJCF file

Usage Examples

# agilex-piper robot
cd examples/agilex-piper
urdf2mjcf piper.urdf \
  -o mjcf/piper.xml \
  -m metadata/metadata.json \
  -am metadata/actuator.json \
  -dm metadata/default.json \
  -a metadata/appendix.xml \
  --no-convex-decompose
# View the generated model
python -m mujoco.viewer --mjcf=mjcf/piper.xml

# realman-rm65 robotic arm
cd examples/realman-rm65
urdf2mjcf rm65b_eg24c2_description.urdf \
  -o mjcf/rm65.xml \
  -m metadata/metadata.json \
  -am metadata/actuator.json \
  -dm metadata/default.json \
  -a metadata/appendix.xml \
  --no-convex-decompose
# View the generated model
python -m mujoco.viewer --mjcf=mjcf/rm65.xml

🤝 Acknowledgments

This project builds upon these excellent open-source projects:

• kscalelabs/urdf2mjcf: Core conversion framework
• kevinzakka/obj2mjcf: OBJ file processing inspiration

Thanks to the original authors for their outstanding contributions!

📄 License

MIT License