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Fixes to the urdf to mjcf conversion #5

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merged 6 commits into from
Dec 12, 2024
Merged

Fixes to the urdf to mjcf conversion #5

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babb43f
add base body and other fixes to conversion
alik-git Dec 11, 2024
62234cb
type check for lint
alik-git Dec 11, 2024
268f323
update num dofs in test_conversion
alik-git Dec 11, 2024
3d279e8
add stats, "base" body and correct num-dofs in robot_test.xml
alik-git Dec 11, 2024
d5d5f4c
remove hardcoded base values and statistics from GT test xml file
alik-git Dec 12, 2024
67d8ea3
remove hardcoded intertial values and statistics
alik-git Dec 12, 2024
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142 changes: 72 additions & 70 deletions tests/sample/robot_test.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -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

<site name="imu" size="0.01" pos="0 0 0" />
<geom type="mesh" mesh="trunk" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
<geom type="mesh" rgba="" mesh="trunk" />
<geom pos="0 0.255 0.45" quat="2.67949e-08 -1 0 0" type="mesh" mesh="clav" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
<geom type="mesh" rgba="" mesh="clav" pos="0 0.255 0.45" quat="2.67949e-08 -1 0 0" />
<geom pos="0 0.255 0.45" type="mesh" mesh="scap" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
<geom type="mesh" rgba="" mesh="scap" pos="0 0.255 0.45" />
<geom pos="0 0.255 0.45" type="mesh" mesh="uarm" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
<geom type="mesh" rgba="" mesh="uarm" pos="0 0.255 0.45" />
<geom pos="0 0.255 0.22" type="mesh" mesh="farm" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
<geom type="mesh" rgba="" mesh="farm" pos="0 0.255 0.22" />
<geom pos="0 -0.255 0.45" quat="1 0 0 0" type="mesh" mesh="clav" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
<geom type="mesh" rgba="" mesh="clav" pos="0 -0.255 0.45" quat="1 0 0 0" />
<geom pos="0 -0.255 0.45" type="mesh" mesh="scap" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
<geom type="mesh" rgba="" mesh="scap" pos="0 -0.255 0.45" />
<geom pos="0 -0.255 0.45" type="mesh" mesh="uarm" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
<geom type="mesh" rgba="" mesh="uarm" pos="0 -0.255 0.45" />
<geom pos="0 -0.255 0.22" type="mesh" mesh="farm" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
<geom type="mesh" rgba="" mesh="farm" pos="0 -0.255 0.22" />
<body name="L_buttock" pos="0 0.1577 0">
<inertial pos="0.00129183 -0.00184328 2.27946e-05" quat="0.706341 0.707841 -0.00498313 -0.00434939" mass="1.29909" diaginertia="0.00209325 0.00150009 0.00131174" />
<joint name="L_hip_y" pos="0 0 0" axis="0 1 0" range="-3.14 3.14" />
<geom quat="2.67949e-08 1 0 0" type="mesh" mesh="buttock" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
<geom type="mesh" rgba="" mesh="buttock" quat="2.67949e-08 1 0 0" />
<body name="L_leg">
<inertial pos="0.000708602 -2.24355e-05 -0.110352" quat="0.706876 0.0329943 0.0330587 0.705794" mass="1.33983" diaginertia="0.00375341 0.00352246 0.00184361" />
<joint name="L_hip_x" pos="0 0 0" axis="1 0 0" range="-0.523 2.093" />
<geom type="mesh" mesh="leg" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
<geom type="mesh" rgba="" mesh="leg" />
<body name="L_thigh">
<inertial pos="-0.000407357 0.00130538 -0.291653" quat="0.711843 -0.00549725 0.000501512 0.702317" mass="1.93995" diaginertia="0.00607631 0.0044935 0.00293511" />
<joint name="L_hip_z" pos="0 0 0" axis="0 0 1" range="-3.14 3.14" />
<geom type="mesh" mesh="mthigh" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
<geom type="mesh" rgba="" mesh="mthigh" />
<body name="L_calf" pos="0 0 -0.3">
<inertial pos="-0.00195352 -0.00434338 -0.134048" quat="0.599799 -0.00402307 0.025204 0.799743" mass="1.54477" diaginertia="0.00986297 0.00971929 0.00143814" />
<joint name="L_knee" pos="0 0 0" axis="0 1 0" range="-1.919 1.919" />
<geom type="mesh" mesh="mcalf" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
<geom type="mesh" rgba="" mesh="mcalf" />
<body name="L_foot" pos="0 0 -0.3">
<inertial pos="0.0233665 0.014827 -0.0165314" quat="-0.00182247 0.713608 0.0126839 0.700428" mass="0.542373" diaginertia="0.00215059 0.00196588 0.000256086" />
<joint name="L_ankle_y" pos="0 0 0" axis="0 1 0" range="-0.698 0.698" frictionloss="0.01" />
<geom size="0.11 0.04 0.0075" pos="0.03 -0.011 -0.02" type="box" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
<geom type="box" rgba="" size="0.11 0.04 0.0075" pos="0.03 -0.011 -0.02" />
<body name="base" pos="0 0 0" quat="1 0 0 0">
<geom type="mesh" mesh="trunk" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
<geom type="mesh" rgba="" mesh="trunk" />
<geom pos="0 0.255 0.45" quat="2.67949e-08 -1 0 0" type="mesh" mesh="clav" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
<geom type="mesh" rgba="" mesh="clav" pos="0 0.255 0.45" quat="2.67949e-08 -1 0 0" />
<geom pos="0 0.255 0.45" type="mesh" mesh="scap" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
<geom type="mesh" rgba="" mesh="scap" pos="0 0.255 0.45" />
<geom pos="0 0.255 0.45" type="mesh" mesh="uarm" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
<geom type="mesh" rgba="" mesh="uarm" pos="0 0.255 0.45" />
<geom pos="0 0.255 0.22" type="mesh" mesh="farm" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
<geom type="mesh" rgba="" mesh="farm" pos="0 0.255 0.22" />
<geom pos="0 -0.255 0.45" quat="1 0 0 0" type="mesh" mesh="clav" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
<geom type="mesh" rgba="" mesh="clav" pos="0 -0.255 0.45" quat="1 0 0 0" />
<geom pos="0 -0.255 0.45" type="mesh" mesh="scap" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
<geom type="mesh" rgba="" mesh="scap" pos="0 -0.255 0.45" />
<geom pos="0 -0.255 0.45" type="mesh" mesh="uarm" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
<geom type="mesh" rgba="" mesh="uarm" pos="0 -0.255 0.45" />
<geom pos="0 -0.255 0.22" type="mesh" mesh="farm" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
<geom type="mesh" rgba="" mesh="farm" pos="0 -0.255 0.22" />
<body name="L_buttock" pos="0 0.1577 0">
<inertial pos="0.00129183 -0.00184328 2.27946e-05" quat="0.706341 0.707841 -0.00498313 -0.00434939" mass="1.29909" diaginertia="0.00209325 0.00150009 0.00131174" />
<joint name="L_hip_y" pos="0 0 0" axis="0 1 0" range="-3.14 3.14" />
<geom quat="2.67949e-08 1 0 0" type="mesh" mesh="buttock" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
<geom type="mesh" rgba="" mesh="buttock" quat="2.67949e-08 1 0 0" />
<body name="L_leg">
<inertial pos="0.000708602 -2.24355e-05 -0.110352" quat="0.706876 0.0329943 0.0330587 0.705794" mass="1.33983" diaginertia="0.00375341 0.00352246 0.00184361" />
<joint name="L_hip_x" pos="0 0 0" axis="1 0 0" range="-0.523 2.093" />
<geom type="mesh" mesh="leg" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
<geom type="mesh" rgba="" mesh="leg" />
<body name="L_thigh">
<inertial pos="-0.000407357 0.00130538 -0.291653" quat="0.711843 -0.00549725 0.000501512 0.702317" mass="1.93995" diaginertia="0.00607631 0.0044935 0.00293511" />
<joint name="L_hip_z" pos="0 0 0" axis="0 0 1" range="-3.14 3.14" />
<geom type="mesh" mesh="mthigh" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
<geom type="mesh" rgba="" mesh="mthigh" />
<body name="L_calf" pos="0 0 -0.3">
<inertial pos="-0.00195352 -0.00434338 -0.134048" quat="0.599799 -0.00402307 0.025204 0.799743" mass="1.54477" diaginertia="0.00986297 0.00971929 0.00143814" />
<joint name="L_knee" pos="0 0 0" axis="0 1 0" range="-1.919 1.919" />
<geom type="mesh" mesh="mcalf" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
<geom type="mesh" rgba="" mesh="mcalf" />
<body name="L_foot" pos="0 0 -0.3">
<inertial pos="0.0233665 0.014827 -0.0165314" quat="-0.00182247 0.713608 0.0126839 0.700428" mass="0.542373" diaginertia="0.00215059 0.00196588 0.000256086" />
<joint name="L_ankle_y" pos="0 0 0" axis="0 1 0" range="-0.698 0.698" frictionloss="0.01" />
<geom size="0.11 0.04 0.0075" pos="0.03 -0.011 -0.02" type="box" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
<geom type="box" rgba="" size="0.11 0.04 0.0075" pos="0.03 -0.011 -0.02" />
</body>
</body>
</body>
</body>
</body>
</body>
<body name="R_buttock" pos="0 -0.1577 0">
<inertial pos="0.00129183 0.00184328 2.27946e-05" quat="0.707841 0.706341 0.00434939 0.00498313" mass="1.29909" diaginertia="0.00209325 0.00150009 0.00131174" />
<joint name="R_hip_y" pos="0 0 0" axis="0 1 0" range="-3.14 3.14" />
<geom type="mesh" mesh="buttock" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
<geom type="mesh" rgba="" mesh="buttock" />
<body name="R_leg">
<inertial pos="0.000708602 2.24355e-05 -0.110352" quat="0.705794 0.0330587 0.0329943 0.706876" mass="1.33983" diaginertia="0.00375341 0.00352246 0.00184361" />
<joint name="R_hip_x" pos="0 0 0" axis="1 0 0" range="-2.093 0.523" />
<geom type="mesh" mesh="leg" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
<geom type="mesh" rgba="" mesh="leg" />
<body name="R_thigh">
<inertial pos="-0.000407357 -0.00130538 -0.291653" quat="0.702317 0.000501512 -0.00549725 0.711843" mass="1.93995" diaginertia="0.00607631 0.0044935 0.00293511" />
<joint name="R_hip_z" pos="0 0 0" axis="0 0 1" range="-3.14 3.14" />
<geom type="mesh" mesh="thigh" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
<geom type="mesh" rgba="" mesh="thigh" />
<body name="R_calf" pos="0 0 -0.3">
<inertial pos="-0.00195352 0.00434338 -0.134048" quat="0.799743 0.025204 -0.00402307 0.599799" mass="1.54477" diaginertia="0.00986297 0.00971929 0.00143814" />
<joint name="R_knee" pos="0 0 0" axis="0 1 0" range="-1.919 1.919" />
<geom type="mesh" mesh="calf" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
<geom type="mesh" rgba="" mesh="calf" />
<body name="R_foot" pos="0 0 -0.3">
<inertial pos="0.0233665 0.014827 -0.0165314" quat="-0.00182247 0.713608 0.0126839 0.700428" mass="0.542373" diaginertia="0.00215059 0.00196588 0.000256086" />
<joint name="R_ankle_y" pos="0 0 0" axis="0 1 0" range="-0.698 0.698" frictionloss="0.01" />
<geom size="0.11 0.04 0.0075" pos="0.03 0.011 -0.02" type="box" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
<geom type="box" rgba="" size="0.11 0.04 0.0075" pos="0.03 0.011 -0.02" />
<body name="R_buttock" pos="0 -0.1577 0">
<inertial pos="0.00129183 0.00184328 2.27946e-05" quat="0.707841 0.706341 0.00434939 0.00498313" mass="1.29909" diaginertia="0.00209325 0.00150009 0.00131174" />
<joint name="R_hip_y" pos="0 0 0" axis="0 1 0" range="-3.14 3.14" />
<geom type="mesh" mesh="buttock" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
<geom type="mesh" rgba="" mesh="buttock" />
<body name="R_leg">
<inertial pos="0.000708602 2.24355e-05 -0.110352" quat="0.705794 0.0330587 0.0329943 0.706876" mass="1.33983" diaginertia="0.00375341 0.00352246 0.00184361" />
<joint name="R_hip_x" pos="0 0 0" axis="1 0 0" range="-2.093 0.523" />
<geom type="mesh" mesh="leg" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
<geom type="mesh" rgba="" mesh="leg" />
<body name="R_thigh">
<inertial pos="-0.000407357 -0.00130538 -0.291653" quat="0.702317 0.000501512 -0.00549725 0.711843" mass="1.93995" diaginertia="0.00607631 0.0044935 0.00293511" />
<joint name="R_hip_z" pos="0 0 0" axis="0 0 1" range="-3.14 3.14" />
<geom type="mesh" mesh="thigh" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
<geom type="mesh" rgba="" mesh="thigh" />
<body name="R_calf" pos="0 0 -0.3">
<inertial pos="-0.00195352 0.00434338 -0.134048" quat="0.799743 0.025204 -0.00402307 0.599799" mass="1.54477" diaginertia="0.00986297 0.00971929 0.00143814" />
<joint name="R_knee" pos="0 0 0" axis="0 1 0" range="-1.919 1.919" />
<geom type="mesh" mesh="calf" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
<geom type="mesh" rgba="" mesh="calf" />
<body name="R_foot" pos="0 0 -0.3">
<inertial pos="0.0233665 0.014827 -0.0165314" quat="-0.00182247 0.713608 0.0126839 0.700428" mass="0.542373" diaginertia="0.00215059 0.00196588 0.000256086" />
<joint name="R_ankle_y" pos="0 0 0" axis="0 1 0" range="-0.698 0.698" frictionloss="0.01" />
<geom size="0.11 0.04 0.0075" pos="0.03 0.011 -0.02" type="box" contype="1" conaffinity="0" density="0" group="1" class="visualgeom" />
<geom type="box" rgba="" size="0.11 0.04 0.0075" pos="0.03 0.011 -0.02" />
</body>
</body>
</body>
</body>
Expand Down Expand Up @@ -169,6 +171,6 @@
</sensor>

<keyframe>
<key name="default" qpos="0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0" />
<key name="default" qpos="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" />
</keyframe>
</mujoco>
2 changes: 1 addition & 1 deletion tests/test_conversion.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -31,7 +31,7 @@ def test_conversion_no_frc_limit(tmpdir: Path) -> None:
mjcf_path=mjcf_path,
no_frc_limit=True,
copy_meshes=False,
default_position=[0.0] * 10,
default_position=[0.0] * 17,
)

# Compare the outputted MJCF with the expected XML
Expand Down
55 changes: 44 additions & 11 deletions urdf2mjcf/convert.py
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -205,12 +205,23 @@ def add_root_body(root: ET.Element) -> None:
},
)

# Move existing bodies and geoms under root_body
# Create base body
base_body = ET.SubElement(
root_body,
"body",
attrib={
"name": "base",
"pos": "0 0 0",
"quat": "1 0 0 0",
},
)

# Move existing bodies and geoms under base_body
elements_to_move = list(worldbody)
for elem in elements_to_move:
if elem.tag in {"body", "geom"}:
worldbody.remove(elem)
root_body.append(elem)
base_body.append(elem)
worldbody.append(root_body)


Expand Down Expand Up @@ -449,21 +460,43 @@ def add_visual_geom_logic(root: ET.Element) -> None:
body.insert(index + 1, new_geom)


def calculate_dof_from_xml(root: ET.Element) -> int:
"""Calculate the total DOF (qpos size) of a robot based on the XML tree.

Free joints add 7 DOFs, and joints with a 'range' attribute add 1 DOF each.

Args:
root: Root element of the MJCF XML.

Returns:
Total DOF (qpos size).
"""
dof = 0

# Count free joints
for _ in root.iter("freejoint"):
dof += 7

# Count joints with a 'range' attribute
for joint in root.iter("joint"):
if "range" in joint.attrib:
dof += 1

return dof


def add_default_position(root: ET.Element, default_position: List[float]) -> None:
"""Add a keyframe to the root element.
"""Add a keyframe to the root element with the default start position.

Args:
root: The root element of the MJCF file.
default_position: The default position of the robot.
default_position: The default positions of the robot.
"""
actuators = root.find("actuator")
if actuators is None:
raise ValueError("No actuators found in the MJCF file.")

num_actuators = len(list(actuators.iter("motor")))
if len(default_position) != num_actuators:
raise ValueError(f"Default position must have {num_actuators} values, got {len(default_position)}.")
num_dof = calculate_dof_from_xml(root)
if len(default_position) != num_dof:
raise ValueError(f"Default position must have {num_dof} values, got {len(default_position)}.")

# Add the keyframe with the default position
keyframe = ET.Element("keyframe")
key = ET.SubElement(keyframe, "key")
key.set("name", "default")
Expand Down
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