Is the output compatible with JAX-based MJX?

Absolutely. The generated MJCF files follow standard MuJoCo XML conventions, making them fully compatible with both CPU-based MuJoCo and GPU-accelerated MJX.

Can I automatically add actuators to my robot model?

Yes, the skill includes options to auto-generate position and velocity actuators based on the joint limits and types defined in the original URDF.

What mesh file formats does urdf2mjcf support?

The skill supports common mesh formats including STL and OBJ, handling the scaling and path referencing required for MuJoCo.

Does this skill help with physics stability?

Yes, it performs inertia cleanup and convex decomposition of collision geometries to prevent common simulation artifacts and crashes.

URDF to MJCF Converter

Name: URDF to MJCF Converter
Author: plurigrid

byplurigrid

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Data Science & ML

Converts URDF robot descriptions into MJCF format for high-performance MuJoCo and MJX physics simulations.

About

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

2 GitHub stars
Automatic generation of position and velocity actuators based on joint definitions
Automated mesh handling and scaling for STL and OBJ geometry files
Advanced collision geometry processing including convex decomposition and margin adjustment
Seamless conversion from URDF to MJCF for MuJoCo and MJX compatibility
Intelligent mapping of revolute and prismatic joints to hinge and slide equivalents

Use Cases

Optimizing URDF inertia and collision properties for more stable physics calculations
Migrating ROS-based robot descriptions to MJX for massive parallel physics simulation
Preparing robot models for reinforcement learning training in MuJoCo environments

About

Key Features

2 GitHub stars
Automatic generation of position and velocity actuators based on joint definitions
Automated mesh handling and scaling for STL and OBJ geometry files
Advanced collision geometry processing including convex decomposition and margin adjustment
Seamless conversion from URDF to MJCF for MuJoCo and MJX compatibility
Intelligent mapping of revolute and prismatic joints to hinge and slide equivalents

Use Cases

Optimizing URDF inertia and collision properties for more stable physics calculations
Migrating ROS-based robot descriptions to MJX for massive parallel physics simulation
Preparing robot models for reinforcement learning training in MuJoCo environments