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Fixes to the urdf to mjcf conversion #5

Merged
merged 6 commits into from
Dec 12, 2024
Merged

Fixes to the urdf to mjcf conversion #5

merged 6 commits into from
Dec 12, 2024

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alik-git
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@alik-git alik-git commented Dec 11, 2024 •
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Changes:

  • Add a "base" body to the root. TODO: how to correctly compute the inertial values

  • Correct the DOF caclulation

This should be run with

python urdf2mjcf/convert.py \
              ../sim/sim/resources/gpr/robot_fixed.urdf \
              --output ../sim/sim/resources/gpr/robot_fixed.xml \
              --no-frc-limit \
              --default-position ""0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0""

budzianowski
budzianowski reviewed Dec 11, 2024
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urdf2mjcf/convert.py Outdated
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# Add inertial properties to base body
ET.SubElement(
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remove this - this should be automatically computed

@budzianowski budzianowski self-requested a review December 12, 2024 00:42
budzianowski
budzianowski approved these changes Dec 12, 2024
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tests/sample/robot_test.xml
@@ -39,79 +39,81 @@
<body name="root" pos="0 0 0.63" quat="1 0 0 0">
<freejoint name="root" />
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this was created with new code but old urdf right?

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correct. the input was

urdf2mjcf/tests/sample/robot.urdf

@codekansas
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lgtm

@alik-git alik-git merged commit 706532c into master Dec 12, 2024
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@alik-git alik-git deleted the conversion_fixes branch December 12, 2024 01:11
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@budzianowski budzianowski budzianowski approved these changes

@codekansas codekansas Awaiting requested review from codekansas

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3 participants
@alik-git @codekansas @budzianowski