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yunho-c/urdf2mjcf.py

Created August 9, 2025 18:41
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Convert URDF to MJCF
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urdf2mjcf.py
import argparse
import mujoco
from pathlib import Path
def main():
parser = argparse.ArgumentParser(description="Convert a URDF file to a MuJoCo XML file.")
parser.add_argument("input_file", help="The input URDF file path.")
# parser.add_argument("output_file", help="The output XML file path.")
args = parser.parse_args()
model = mujoco.MjModel.from_xml_path(args.input_file)
# mujoco.mj_saveLastXML(args.output_file, model)
mujoco.mj_saveLastXML(args.input_file.replace(".urdf", ".xml"), model)
if __name__ == "__main__":
main()
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