From asi
Convert URDF robot descriptions to MJCF format for MuJoCo simulation. Handles meshes, joints, actuators, and collision geometries.
npx claudepluginhub plurigrid/asi --plugin asiThis skill uses the workspace's default tool permissions.
**Trit**: -1 (MINUS - analysis/transformation)
Indexes K-Scale Labs robotics skills for humanoid robot development, RL training, sim-to-real transfer, and deployment. Organizes 9 skills in GF(3) triadic structure.
Generates 3D CAD models from text prompts using AI coding agents with build123d/OpenCascade. Exports STEP/STL/URDF and previews in local React/Vite CAD Explorer viewer.
Guides Next.js Cache Components and Partial Prerendering (PPR): 'use cache' directives, cacheLife(), cacheTag(), revalidateTag() for caching, invalidation, static/dynamic optimization. Auto-activates on cacheComponents: true.
Share bugs, ideas, or general feedback.
Trit: -1 (MINUS - analysis/transformation) Color: #4615B7 (Deep Violet) URI: skill://urdf2mjcf#4615B7
Convert URDF (Unified Robot Description Format) files to MJCF (MuJoCo XML Format) for simulation in MuJoCo and MJX. Handles meshes, joints, actuators, and collision geometries.
# CLI conversion
urdf2mjcf robot.urdf --output robot.mjcf
# With options
urdf2mjcf robot.urdf \
--output robot.mjcf \
--mesh-dir ./meshes \
--add-actuators \
--collision-margin 0.001
from urdf2mjcf import convert
# Programmatic conversion
mjcf_xml = convert(
urdf_path="robot.urdf",
mesh_dir="./meshes",
add_actuators=True,
collision_margin=0.001,
)
# Save to file
with open("robot.mjcf", "w") as f:
f.write(mjcf_xml)
┌─────────────┐ ┌─────────────┐ ┌─────────────┐
│ URDF File │───▶│ urdf2mjcf │───▶│ MJCF File │
│ (ROS/SDF) │ │ Converter │ │ (MuJoCo) │
└─────────────┘ └─────────────┘ └─────────────┘
│ │ │
▼ ▼ ▼
Meshes STL Link transforms Physics props
Joint limits Mass/inertia Actuator defs
Visual geom Collision geom Sensor defs
urdf2mjcf (-1) ⊗ kos-firmware (+1) ⊗ mujoco-scenes (0) = 0 ✓
ksim-rl (-1): Uses converted MJCF for trainingkos-firmware (+1): Robot firmwaremujoco-scenes (0): Scene compositionkbot-humanoid (-1): K-Bot robot model@misc{urdf2mjcf2024,
title={URDF to MJCF Converter},
author={K-Scale Labs},
year={2024},
url={https://github.com/kscalelabs/urdf2mjcf}
}