mjcf.md

MJCF Generation

Run commands from the package root.

The generated mjcf/ directory should contain only the selected MJCF XML and shared mesh assets:

• galbot_one_golf.xml
• galbot_one_golf_fixed_base.xml when generating the fixed-base variant
• meshes/

Joint parameters, actuators, joint sensors, and MJCF-only extra joints are configured through config/mjcf/joint_data*.json. Shared MJCF appendices such as option and contact are configured through config/mjcf/appendix.xml. The old default*.json, actuator*.json, and metadata*.json inputs are no longer used for the standard generation commands.

Wheeled Base

This is the default model used by the package.

urdf-to-mjcf urdf/galbot_one_golf.urdf \
  --output mjcf/galbot_one_golf.xml \
  --joint-data config/mjcf/joint_data.json \
  --appendix config/mjcf/appendix.xml \
  --collision-type mesh

Planar Base

Use this when the model needs virtual planar base joints: base_x_joint, base_y_joint, and base_yaw_joint.

urdf-to-mjcf urdf/galbot_one_golf_fixed_base.urdf \
  --output mjcf/galbot_one_golf_planar_base.xml \
  --no-freejoint \
  --joint-data config/mjcf/joint_data.json config/mjcf/joint_data_planar_base.json \
  --appendix config/mjcf/appendix.xml \
  --collision-type mesh

Fixed Base

Use this when the model should not have a floating base or virtual planar base joints.

urdf-to-mjcf urdf/galbot_one_golf_fixed_base.urdf \
  --output mjcf/galbot_one_golf_fixed_base.xml \
  --no-freejoint \
  --joint-data config/mjcf/joint_data.json \
  --appendix config/mjcf/appendix.xml \
  --collision-type mesh

Collision Only

Use this when visual meshes are unnecessary.

urdf-to-mjcf urdf/galbot_one_golf.urdf \
  --output mjcf/galbot_one_golf.xml \
  --joint-data config/mjcf/joint_data.json \
  --appendix config/mjcf/appendix.xml \
  --collision-type mesh \
  --collision-only