Converts URDF robot descriptions into MJCF format for high-performance MuJoCo and MJX physics simulations.
This skill streamlines the robotics simulation workflow by automating the transformation of Unified Robot Description Format (URDF) files into MuJoCo-compatible XML (MJCF). It handles the heavy lifting of mesh scaling, joint mapping, and convex decomposition of collision geometries while automatically fixing common inertia errors often found in standard URDF exports. This is particularly useful for robotics engineers and researchers looking to migrate robot models from ROS or CAD environments into MuJoCo for reinforcement learning, control verification, or hardware-accelerated simulation in MJX.
Key Features
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02Automatic generation of position and velocity actuators based on joint definitions
03Automated mesh handling and scaling for STL and OBJ geometry files
04Advanced collision geometry processing including convex decomposition and margin adjustment
05Seamless conversion from URDF to MJCF for MuJoCo and MJX compatibility
06Intelligent mapping of revolute and prismatic joints to hinge and slide equivalents
Use Cases
01Optimizing URDF inertia and collision properties for more stable physics calculations
02Migrating ROS-based robot descriptions to MJX for massive parallel physics simulation
03Preparing robot models for reinforcement learning training in MuJoCo environments
