├── .DS_Store ├── .gitignore ├── .idea ├── .gitignore ├── codeStyles │ └── codeStyleConfig.xml ├── inspectionProfiles │ └── profiles_settings.xml ├── modules.xml ├── vcs.xml └── wiki-mjcf.iml ├── LICENSE ├── README.en.md ├── README.md ├── models ├── .DS_Store └── N1 │ ├── meshes │ ├── base_link.STL │ ├── camera_link.STL │ ├── imu_link.STL │ ├── left_end_effector_link.STL │ ├── left_foot_pitch_link.STL │ ├── left_foot_roll_link.STL │ ├── left_hand_yaw_link.STL │ ├── left_lower_arm_pitch_link.STL │ ├── left_shank_pitch_link.STL │ ├── left_thigh_pitch_link.STL │ ├── left_thigh_roll_link.STL │ ├── left_thigh_yaw_link.STL │ ├── left_upper_arm_pitch_link.STL │ ├── left_upper_arm_roll_link.STL │ ├── left_upper_arm_yaw_link.STL │ ├── right_end_effector_link.STL │ ├── right_foot_pitch_link.STL │ ├── right_foot_roll_link.STL │ ├── right_hand_yaw_link.STL │ ├── right_lower_arm_pitch_link.STL │ ├── right_shank_pitch_link.STL │ ├── right_thigh_pitch_link.STL │ ├── right_thigh_roll_link.STL │ ├── right_thigh_yaw_link.STL │ ├── right_upper_arm_pitch_link.STL │ ├── right_upper_arm_roll_link.STL │ ├── right_upper_arm_yaw_link.STL │ ├── torso_link.STL │ └── waist_yaw_link.STL │ ├── mjcf │ └── N1_raw.xml │ ├── scene │ ├── N1_raw_refine.xml │ └── scene.xml │ └── urdf │ ├── N1_raw.urdf │ └── N1_rotor.urdf ├── pictures └── N1.png ├── scripts └── urdf2mjcf ├── setup.py └── src └── urdf2mjcf ├── __init__.py ├── app.py ├── cli.py ├── core.py ├── default_elements ├── __init__.py ├── ground.py └── lighting.py └── utils.py /.DS_Store: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/FFTAI/Wiki-GRx-MJCF/3079af890e8db4d243e5729abfa9860ecf7487f6/.DS_Store -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- 1 | # Byte-compiled / optimized / DLL files 2 | __pycache__/ 3 | *.py[cod] 4 | *$py.class 5 | 6 | # C extensions 7 | *.so 8 | 9 | # Distribution / packaging 10 | .Python 11 | build/ 12 | develop-eggs/ 13 | dist/ 14 | downloads/ 15 | eggs/ 16 | .eggs/ 17 | lib/ 18 | lib64/ 19 | parts/ 20 | sdist/ 21 | var/ 22 | wheels/ 23 | share/python-wheels/ 24 | *.egg-info/ 25 | .installed.cfg 26 | *.egg 27 | MANIFEST 28 | 29 | # PyInstaller 30 | # Usually these files are written by a python script from a template 31 | # before PyInstaller builds the exe, so as to inject date/other infos into it. 32 | *.manifest 33 | *.spec 34 | 35 | # Installer logs 36 | pip-log.txt 37 | pip-delete-this-directory.txt 38 | 39 | # Unit test / coverage reports 40 | htmlcov/ 41 | .tox/ 42 | .nox/ 43 | .coverage 44 | .coverage.* 45 | .cache 46 | nosetests.xml 47 | coverage.xml 48 | *.cover 49 | *.py,cover 50 | .hypothesis/ 51 | .pytest_cache/ 52 | cover/ 53 | 54 | # Translations 55 | *.mo 56 | *.pot 57 | 58 | # Django stuff: 59 | *.log 60 | local_settings.py 61 | db.sqlite3 62 | db.sqlite3-journal 63 | 64 | # Flask stuff: 65 | instance/ 66 | .webassets-cache 67 | 68 | # Scrapy stuff: 69 | .scrapy 70 | 71 | # Sphinx documentation 72 | docs/_build/ 73 | 74 | # PyBuilder 75 | .pybuilder/ 76 | target/ 77 | 78 | # Jupyter Notebook 79 | .ipynb_checkpoints 80 | 81 | # IPython 82 | profile_default/ 83 | ipython_config.py 84 | 85 | # pyenv 86 | # For a library or package, you might want to ignore these files since the code is 87 | # intended to run in multiple environments; 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We also recommend that a 185 | file or class name and description of purpose be included on the 186 | same "printed page" as the copyright notice for easier 187 | identification within third-party archives. 188 | 189 | Copyright [yyyy] [name of copyright owner] 190 | 191 | Licensed under the Apache License, Version 2.0 (the "License"); 192 | you may not use this file except in compliance with the License. 193 | You may obtain a copy of the License at 194 | 195 | http://www.apache.org/licenses/LICENSE-2.0 196 | 197 | Unless required by applicable law or agreed to in writing, software 198 | distributed under the License is distributed on an "AS IS" BASIS, 199 | WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 200 | See the License for the specific language governing permissions and 201 | limitations under the License. 202 | -------------------------------------------------------------------------------- /README.en.md: -------------------------------------------------------------------------------- 1 | [简体中文](README.md) | English 2 | 3 | # Wiki-GRx-MJCF 4 | 5 | 6 | 7 | This repository provides a tool to transfer from URDF file to MJCF. It is developed for converting the Fourier GRx robot URDF files to MJCF files. 8 | However, it can also be used for other URDF files. 9 | 10 | ## User Guide 11 | 12 | 1. Install the package using pip 13 | 14 | ```shell 15 | pip install -e . 16 | ``` 17 | 18 | 2. Test the package installation 19 | 20 | ```shell 21 | urdf2mjcf --help 22 | ``` 23 | 24 | ``` 25 | usage: urdf2mjcf [-h] [-s SENSOR_CONFIG] [-m MUJOCO_NODE] [--ground] [--lighting] [--version] [-l] [urdf] [mjcf] 26 | 27 | Copyright (c) 2022 Fraunhofer IPA; use option '-l' to print license. 28 | 29 | Parse a URDF model into MJCF format 30 | 31 | positional arguments: 32 | urdf the URDF file to convert (default: <_io.TextIOWrapper name='' mode='r' encoding='utf-8'>) 33 | mjcf the converted MJCF file (default: <_io.TextIOWrapper name='' mode='w' encoding='utf-8'>) 34 | 35 | optional arguments: 36 | -h, --help show this help message and exit 37 | -s SENSOR_CONFIG the XML file of the sensor configuration (default: None) 38 | -m MUJOCO_NODE the XML file defining the global MuJoCo configuration (default: None) 39 | --ground whether to add the default ground plane to the MuJoCo model (default: False) 40 | --lighting whether to add the default lighting to the MuJoCo model (default: False) 41 | --version show program's version number and exit 42 | -l print license information (default: False) 43 | ``` 44 | 45 | 3. Convert a URDF file to MJCF 46 | 47 | ```shell 48 | urdf2mjcf /path/to/models /path/to/mjcf 49 | ``` 50 | 51 | ```shell 52 | # Convert N1 example 53 | urdf2mjcf ./models/N1/urdf/N1_raw.urdf ./models/N1/mjcf/N1_raw.xml 54 | ``` 55 | 56 | 4. Change base height of the robot: 57 | 58 | ``` 59 | # 编辑 MJCF 文件中的 60 | 61 | ``` 62 | 63 | 5. Refine the MJCF file: 64 | - The MJCF file generated by the tool is a basic version. You can manually refine the MJCF file according to your requirements. 65 | - The refined MJCF file should be placed in the `./models/N1/scene/` directory. 66 | 67 | ## Verification 68 | 69 | 1. Start Mujoco Viewer 70 | 71 | ``` 72 | python -m mujoco.viewer 73 | ``` 74 | 75 | 2. Drag the generated MJCF file into the Mujoco Viewer window to check if the model is correct. 76 | 77 | ## Thanks 78 | 79 | - https://github.com/balandbal/urdf2mjcf 80 | 81 | --- 82 | 83 | Thank you for your interest in the Fourier Intelligence N1 robot project! 84 | We hope this resource will provide strong support for your robotics development! 85 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | [English](README.en.md) | 简体中文 2 | 3 | # Wiki-GRx-MJCF 4 | 5 | 6 | 7 | 本代码仓库提供将 URDF 文件转换为 MJCF 格式的工具。该工具专为 Fourier GRx 系列机器人 URDF 文件转换而开发，同时也适用于其他 URDF 文件的转换。 8 | 9 | ## 安装指南 10 | 11 | 1. 安装依赖库 12 | 13 | ```shell 14 | pip install -e . 15 | ``` 16 | 17 | 2. 测试工具包是否安装成功 18 | 19 | ```shell 20 | urdf2mjcf --help 21 | ``` 22 | 23 | ``` 24 | usage: urdf2mjcf [-h] [-s SENSOR_CONFIG] [-m MUJOCO_NODE] [--ground] [--lighting] [--version] [-l] [urdf] [mjcf] 25 | 26 | Copyright (c) 2022 Fraunhofer IPA; use option '-l' to print license. 27 | 28 | Parse a URDF model into MJCF format 29 | 30 | positional arguments: 31 | urdf the URDF file to convert (default: <_io.TextIOWrapper name='' mode='r' encoding='utf-8'>) 32 | mjcf the converted MJCF file (default: <_io.TextIOWrapper name='' mode='w' encoding='utf-8'>) 33 | 34 | optional arguments: 35 | -h, --help show this help message and exit 36 | -s SENSOR_CONFIG the XML file of the sensor configuration (default: None) 37 | -m MUJOCO_NODE the XML file defining the global MuJoCo configuration (default: None) 38 | --ground whether to add the default ground plane to the MuJoCo model (default: True) 39 | --lighting whether to add the default lighting to the MuJoCo model (default: True) 40 | --version show program's version number and exit 41 | -l print license information (default: False) 42 | ``` 43 | 44 | 3. 转换 URDF 文件为 MJCF 格式 45 | 46 | ```shell 47 | urdf2mjcf /path/to/models /path/to/mjcf 48 | ``` 49 | 50 | ```shell 51 | # 转换 N1 机器人示例 52 | urdf2mjcf ./models/N1/urdf/N1_raw.urdf ./models/N1/mjcf/N1_raw.xml 53 | ``` 54 | 55 | 4. 调整机器人基座高度 56 | 57 | ``` 58 | # 编辑 MJCF 文件中的 59 | 60 | ``` 61 | 62 | 5. 优化 MJCF 文件： 63 | - 工具生成的 MJCF 文件为基础版本，您可以根据需求手动优化。 64 | - 优化完的 MJCF 文件放置于 `./models/N1/scene/` 目录下。 65 | 66 | ## 模型验证 67 | 68 | 1. 启动 Mujoco Viewer 69 | 70 | ``` 71 | python -m mujoco.viewer 72 | ``` 73 | 74 | 2. 把生成的 MJCF 文件拖到 Mujoco Viewer 窗口中，查看模型是否正确。 75 | 76 | ## 感谢 77 | 78 | - https://github.com/balandbal/urdf2mjcf 79 | 80 | --- 81 | 82 | 感谢您对傅利叶智能 N1 机器人项目的关注！ 83 | 希望本资源能为您的机器人开发提供有力支持！ 84 | -------------------------------------------------------------------------------- /models/.DS_Store: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/FFTAI/Wiki-GRx-MJCF/3079af890e8db4d243e5729abfa9860ecf7487f6/models/.DS_Store -------------------------------------------------------------------------------- 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https://raw.githubusercontent.com/FFTAI/Wiki-GRx-MJCF/3079af890e8db4d243e5729abfa9860ecf7487f6/pictures/N1.png -------------------------------------------------------------------------------- /scripts/urdf2mjcf: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | import os 3 | from sys import stdout 4 | from pathlib import Path 5 | 6 | from urdf2mjcf import __version__ 7 | from urdf2mjcf.cli import cli 8 | from urdf2mjcf.app import full_pipeline 9 | from urdf2mjcf.core import parse_element as parse_stream, tostring 10 | 11 | from lxml import etree 12 | 13 | 14 | def xml_format(input_file, output_file): 15 | """ 16 | Format the XML file using lxml 17 | """ 18 | parser = etree.XMLParser(remove_blank_text=True) 19 | tree = etree.parse(input_file, parser) 20 | 21 | with open(output_file, 'wb') as f: 22 | tree.write( 23 | f, 24 | pretty_print=True, 25 | xml_declaration=True, 26 | encoding='UTF-8', 27 | ) 28 | 29 | 30 | def app(args): 31 | """ 32 | App for URDF-2-MJCF conversion 33 | """ 34 | 35 | # Check if the URDF file exists 36 | urdf_abs_path = os.path.abspath(args.urdf.name) 37 | mjcf_abs_path = os.path.abspath(args.mjcf.name) 38 | 39 | if not os.path.exists(urdf_abs_path): 40 | raise FileNotFoundError(f"URDF file not found: {urdf_abs_path}") 41 | 42 | print(f"Input URDF file: {urdf_abs_path}") 43 | print(f"Output MJCF file: {mjcf_abs_path}") 44 | 45 | # Convert the URDF file to MJCF format 46 | result = full_pipeline( 47 | urdf_file_path=urdf_abs_path, 48 | urdf=parse_stream(args.urdf), 49 | sensor_config=parse_stream(args.sensor_config), 50 | mujoco_node=parse_stream(args.mujoco_node), 51 | default_ground=args.default_ground, 52 | default_lighting=args.default_lighting, 53 | ) 54 | 55 | # Write the MJCF result to the specified output file 56 | args.mjcf.write(tostring(result, encoding="unicode")) 57 | 58 | # Close the input and output files 59 | args.urdf.close() 60 | args.mjcf.close() 61 | 62 | if args.mujoco_node is not None: 63 | args.mujoco_node.close() 64 | 65 | if args.sensor_config is not None: 66 | args.sensor_config.close() 67 | 68 | if args.mjcf != stdout: 69 | stdout.write(args.mjcf.name) 70 | 71 | # Format the MJCF file 72 | if args.default_format: 73 | xml_format(args.mjcf.name, args.mjcf.name) 74 | 75 | 76 | if __name__ == "__main__": 77 | # Get default arguments from environment variables 78 | parser = cli() 79 | 80 | parser.add_argument( 81 | "--version", 82 | action="version", 83 | version=__version__ 84 | ) 85 | 86 | args = parser.parse_args() 87 | 88 | app(args) 89 | -------------------------------------------------------------------------------- /setup.py: -------------------------------------------------------------------------------- 1 | from setuptools import find_packages 2 | from distutils.core import setup 3 | 4 | setup( 5 | name="urdf2mjcf", 6 | version="1.0.0", 7 | description="Convert URDF to MJCF", 8 | author="Jason Chen", 9 | author_email="xin.chen@fftai.com", 10 | license="Apache-2.0", 11 | packages=find_packages(), 12 | package_dir={"": "src"}, 13 | python_requires='>=3.7', 14 | scripts=[ 15 | "scripts/urdf2mjcf" 16 | ], 17 | install_requires=[ 18 | "mujoco>=3.0.0", 19 | "defusedxml==0.7.1", 20 | 21 | # 文件格式整理 22 | "lxml", 23 | ] 24 | ) 25 | -------------------------------------------------------------------------------- /src/urdf2mjcf/__init__.py: -------------------------------------------------------------------------------- 1 | __version__ = "1.0.0" -------------------------------------------------------------------------------- /src/urdf2mjcf/app.py: -------------------------------------------------------------------------------- 1 | import os 2 | 3 | from .core import Element 4 | from .core import ( 5 | resolve_uris, 6 | add_mujoco_node, 7 | pass_through_mujoco, 8 | populate_sensors, 9 | ) 10 | from .default_elements.ground import add_ground 11 | from .default_elements.lighting import add_lighting 12 | 13 | 14 | def full_pipeline( 15 | urdf_file_path: str, 16 | urdf: Element, 17 | 18 | mujoco_node: Element = None, 19 | 20 | # 传感器配置 21 | sensor_config: Element = None, 22 | 23 | # 默认加入地面 24 | default_ground: bool = True, 25 | 26 | # 默认加入光源 27 | default_lighting: bool = True, 28 | ) -> Element: 29 | """ 30 | Convert URDF object to MJCF 31 | """ 32 | 33 | urdf_file_folder_abs_path = urdf_file_path.replace(os.path.basename(urdf_file_path), "") 34 | 35 | resolve_uris(urdf, base_path=urdf_file_folder_abs_path) 36 | 37 | # 把所有相对路径的文件名转换为绝对路径 38 | add_mujoco_node(urdf, mujoco_node) 39 | 40 | # URDF -> MUJOCO -> MJCF 41 | mjcf = pass_through_mujoco(urdf) 42 | 43 | if sensor_config is not None: 44 | populate_sensors(mjcf, sensor_config) 45 | mjcf = pass_through_mujoco(mjcf) 46 | 47 | if default_ground: 48 | add_ground(mjcf) 49 | 50 | if default_lighting: 51 | add_lighting(mjcf) 52 | 53 | return mjcf 54 | -------------------------------------------------------------------------------- /src/urdf2mjcf/cli.py: -------------------------------------------------------------------------------- 1 | from sys import stdin, stdout 2 | from argparse import ( 3 | ArgumentParser, 4 | ArgumentDefaultsHelpFormatter, 5 | RawDescriptionHelpFormatter, 6 | FileType, 7 | ) 8 | 9 | 10 | class ArgFormatter(ArgumentDefaultsHelpFormatter, RawDescriptionHelpFormatter): 11 | pass 12 | 13 | 14 | def cli(parser: ArgumentParser = None): 15 | """CLI for URDF-2-MJCF conversion""" 16 | parser = ( 17 | ArgumentParser( 18 | prog="urdf2mjcf", 19 | description=""" 20 | Copyright (c) 2022 Fraunhofer IPA; use option '-l' to print license. 21 | Parse a URDF model into MJCF format 22 | """, 23 | formatter_class=ArgFormatter, 24 | ) 25 | if parser is None else parser 26 | ) 27 | 28 | parser.add_argument( 29 | "urdf", 30 | nargs="?", 31 | type=FileType("r"), 32 | default=stdin, 33 | help="the URDF file to convert", 34 | ) 35 | parser.add_argument( 36 | "mjcf", 37 | nargs="?", 38 | type=FileType("w"), 39 | default=stdout, 40 | help="the converted MJCF file", 41 | ) 42 | 43 | parser.add_argument( 44 | "--sensor_config", 45 | dest="sensor_config", 46 | type=FileType("r"), 47 | default=None, 48 | help="the XML file of the sensor configuration", 49 | ) 50 | parser.add_argument( 51 | "--mujoco_node", 52 | dest="mujoco_node", 53 | type=FileType("r"), 54 | default=None, 55 | help="the XML file defining the global MuJoCo configuration", 56 | ) 57 | parser.add_argument( 58 | "--ground", 59 | dest="default_ground", 60 | action="store_true", 61 | help="whether to add the default ground plane to the MuJoCo model", 62 | ) 63 | parser.add_argument( 64 | "--lighting", 65 | dest="default_lighting", 66 | action="store_true", 67 | help="whether to add the default lighting to the MuJoCo model", 68 | ) 69 | parser.add_argument( 70 | "--format", 71 | dest="default_format", 72 | action="store_false", 73 | help="format the MJCF file" 74 | ) 75 | 76 | return parser 77 | -------------------------------------------------------------------------------- /src/urdf2mjcf/core.py: -------------------------------------------------------------------------------- 1 | """ TODO: add module description """ 2 | 3 | # Copyright (c) 2022 Fraunhofer IPA; see bottom of this file for full license 4 | 5 | from xml.etree.ElementTree import Element, tostring, SubElement 6 | from pathlib import Path 7 | from typing import Union, IO, AnyStr, Dict 8 | from os import fdopen, unlink 9 | from tempfile import mkstemp 10 | from urllib.parse import urlparse 11 | 12 | from defusedxml.ElementTree import parse 13 | from mujoco import MjModel, mj_saveLastXML 14 | 15 | 16 | def resolve_uris(urdf: Element, base_path: str = None) -> None: 17 | """ 18 | Resolve all collision mesh URIs to absolute paths 19 | """ 20 | 21 | for mesh_node in urdf.findall(".//collision/*/mesh[@filename]"): 22 | uri = mesh_node.get("filename", None) 23 | assert ( 24 | uri is not None 25 | ), f"Mesh node without filename: '{mesh_node.tag}' : {mesh_node.attrib}" 26 | 27 | absolute_path = base_path + uri if base_path is not None else uri 28 | 29 | mesh_node.set("filename", str(absolute_path)) 30 | 31 | 32 | def parse_element(source: Union[str, Path, IO[AnyStr], None], **kwargs) -> Element: 33 | """ 34 | Parse source into a Python XML element object, safely 35 | """ 36 | 37 | return None if source is None else parse(source, **kwargs).getroot() # type: ignore 38 | 39 | 40 | def pass_through_mujoco(model_xml: Element) -> Element: 41 | """ 42 | Load and export XML element object through MuJoCo 43 | """ 44 | 45 | parsed_model = MjModel.from_xml_string(tostring(model_xml, encoding="unicode")) 46 | 47 | tmp_file_descriptor, tmp_file_name = mkstemp(prefix="tmp_mjcf_", suffix=".xml") 48 | mj_saveLastXML(tmp_file_name, parsed_model) 49 | 50 | with fdopen(tmp_file_descriptor, "r") as tmp_file: 51 | backloaded_model_xml = parse_element(tmp_file) 52 | 53 | unlink(tmp_file_name) 54 | 55 | return backloaded_model_xml 56 | 57 | 58 | def add_mujoco_node(urdf: Element, mujoco_node: Element = None) -> None: 59 | """ 60 | Add the mujoco node to a URDF object 61 | """ 62 | 63 | mujoco_node = Element("mujoco") if mujoco_node is None else mujoco_node 64 | present_mujoco_node = urdf.find("./mujoco") 65 | if present_mujoco_node is None: 66 | present_mujoco_node = Element("mujoco") 67 | else: 68 | urdf.remove(present_mujoco_node) 69 | 70 | compiler_attrib = { 71 | "strippath": "false", 72 | "fusestatic": "false", 73 | "discardvisual": "true", 74 | } 75 | lengthrange_attrib: Dict[str, str] = {} 76 | option_attrib: Dict[str, str] = {} 77 | flag_attrib: Dict[str, str] = {} 78 | size_attrib: Dict[str, str] = {} 79 | 80 | attribs = [ 81 | compiler_attrib, 82 | lengthrange_attrib, 83 | option_attrib, 84 | flag_attrib, 85 | size_attrib, 86 | ] 87 | mujoco_node_scheme = [ 88 | "./compiler", 89 | "./compiler/lengthrange", 90 | "./option", 91 | "./option/flag", 92 | "./size", 93 | ] 94 | 95 | for node_attrib, xpath in zip(attribs, mujoco_node_scheme): 96 | for node in present_mujoco_node.findall(xpath): 97 | node_attrib.update(node.attrib) 98 | for node in mujoco_node.findall(xpath): 99 | node_attrib.update(node.attrib) 100 | 101 | new_mujoco_node = SubElement(urdf, "mujoco") 102 | 103 | compiler_node = SubElement(new_mujoco_node, "compiler", compiler_attrib) 104 | lengthrange_node = SubElement(compiler_node, "lengthrange", lengthrange_attrib) 105 | 106 | option_node = SubElement(new_mujoco_node, "option", option_attrib) 107 | flag_node = SubElement(option_node, "flag", flag_attrib) 108 | 109 | size_node = SubElement(new_mujoco_node, "size", size_attrib) 110 | 111 | 112 | def populate_sensors(mjcf: Element, sensor_config: Element) -> None: 113 | """ 114 | Add sites and sensors to an MJCF object 115 | """ 116 | 117 | for body_node in sensor_config.findall("./body"): 118 | body_name = body_node.get("name", None) 119 | assert ( 120 | body_name is not None 121 | ), f"Bad sensor configuration; body node has no name ({body_node.attrib})" 122 | 123 | body_in_mjcf = mjcf.find(f".//body[@name='{body_name}']") 124 | assert body_in_mjcf is not None, f"No body in MJCF with name '{body_name}'" 125 | 126 | body_in_mjcf.extend(body_node.findall("./site")) 127 | 128 | mjcf.extend(sensor_config.findall("./sensor")) 129 | 130 | # Copyright (c) 2022 Fraunhofer IPA 131 | # 132 | # Redistribution and use in source and binary forms, with or without modification, are permitted 133 | # provided that the following conditions are met: 134 | # 135 | # 1. Redistributions of source code must retain the above copyright notice, this list of conditions 136 | # and the following disclaimer. 137 | # 138 | # 2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions 139 | # and the following disclaimer in the documentation and/or other materials provided with the distribution. 140 | # 141 | # 3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse 142 | # or promote products derived from this software without specific prior written permission. 143 | # 144 | # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED 145 | # WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A 146 | # PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR 147 | # ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT 148 | # LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 149 | # INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR 150 | # TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF 151 | # ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 152 | -------------------------------------------------------------------------------- /src/urdf2mjcf/default_elements/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/FFTAI/Wiki-GRx-MJCF/3079af890e8db4d243e5729abfa9860ecf7487f6/src/urdf2mjcf/default_elements/__init__.py -------------------------------------------------------------------------------- /src/urdf2mjcf/default_elements/ground.py: -------------------------------------------------------------------------------- 1 | from typing import Dict 2 | 3 | from ..core import Element, SubElement 4 | from ..utils import _update_with_defaults 5 | 6 | 7 | DEFAULT_GROUND_TEXTURE = { 8 | "name": "texplane", 9 | "builtin": "checker", 10 | "height": "512", 11 | "width": "512", 12 | "rgb1": ".2 .3 .4", 13 | "rgb2": ".1 .15 .2", 14 | "type": "2d", 15 | } 16 | """TODO: docstring 17 | """ 18 | 19 | DEFAULT_GROUND_MATERIAL = { 20 | "name": "MatPlane", 21 | "reflectance": "0.5", 22 | "shininess": "0.01", 23 | "specular": "0.1", 24 | "texrepeat": "1 1", 25 | "texture": "texplane", 26 | "texuniform": "true", 27 | } 28 | """TODO: docstring 29 | """ 30 | 31 | DEFAULT_GROUND_GEOM = { 32 | "name": "ground_plane", 33 | "type": "plane", 34 | "size": "5 5 10", 35 | "material": "MatPlane", 36 | "rgba": "1 1 1 1", 37 | } 38 | """TODO: docstring 39 | """ 40 | 41 | 42 | def add_ground( 43 | mjcf: Element, 44 | texture_attrib: Dict[str, str] = None, 45 | material_attrib: Dict[str, str] = None, 46 | geom_attrib: Dict[str, str] = None, 47 | ) -> None: 48 | """_summary_ 49 | 50 | Parameters 51 | ---------- 52 | mjcf : Element 53 | _description_ 54 | texture_attrib : Dict[str, str], optional 55 | _description_, by default None 56 | material_attrib : Dict[str, str], optional 57 | _description_, by default None 58 | geom_attrib : Dict[str, str], optional 59 | _description_, by default None 60 | """ # TODO: docstring 61 | asset = SubElement(mjcf, "asset") 62 | 63 | texture_attrib = _update_with_defaults(DEFAULT_GROUND_TEXTURE, texture_attrib) 64 | SubElement(asset, "texture", texture_attrib) 65 | 66 | material_attrib = _update_with_defaults(DEFAULT_GROUND_MATERIAL, material_attrib) 67 | SubElement(asset, "material", material_attrib) 68 | 69 | worldbody = mjcf.find("./worldbody") 70 | worldbody = SubElement(mjcf, "worldbody") if worldbody is None else worldbody 71 | 72 | geom_attrib = _update_with_defaults(DEFAULT_GROUND_GEOM, geom_attrib) 73 | SubElement(worldbody, "geom", geom_attrib) 74 | -------------------------------------------------------------------------------- /src/urdf2mjcf/default_elements/lighting.py: -------------------------------------------------------------------------------- 1 | from typing import Dict 2 | 3 | from ..core import Element, SubElement 4 | from ..utils import _update_with_defaults 5 | 6 | DEFAULT_LIGHT = { 7 | "pos": "0 0 1000", 8 | "castshadow": "true", 9 | } 10 | """TODO: docstring 11 | """ 12 | 13 | 14 | def add_lighting(mjcf: Element, light_attrib: Dict[str, str] = None) -> None: 15 | """_summary_ 16 | 17 | Parameters 18 | ---------- 19 | mjcf : Element 20 | _description_ 21 | light_attrib : Dict[str, str] 22 | _description_ 23 | """ # TODO: docstring 24 | worldbody = mjcf.find("./worldbody") 25 | worldbody = SubElement(mjcf, "worldbody") if worldbody is None else worldbody 26 | 27 | light_attrib = _update_with_defaults(DEFAULT_LIGHT, light_attrib) 28 | SubElement(worldbody, "light", light_attrib) 29 | -------------------------------------------------------------------------------- /src/urdf2mjcf/utils.py: -------------------------------------------------------------------------------- 1 | from typing import TypeVar, Dict 2 | 3 | K = TypeVar("K") 4 | V = TypeVar("V") 5 | 6 | 7 | def _update_with_defaults( 8 | dictionary: Dict[K, V] = None, defaults: Dict[K, V] = None 9 | ) -> Dict[K, V]: 10 | updated_dict = {} if defaults is None else dict(defaults.items()) 11 | updated_dict.update(dictionary if dictionary is not None else {}) 12 | return updated_dict 13 | --------------------------------------------------------------------------------