| Name | obj2mjcf JSON |
| Version |
0.0.25
JSON |
| download |
| home_page | https://github.com/kevinzakka/obj2mjcf |
| Summary | A CLI for processing composite Wavefront OBJ files for use in MuJoCo |
| upload_time | 2024-03-17 18:55:07 |
| maintainer | Kevin Zakka |
| docs_url | None |
| author | Kevin Zakka |
| requires_python | >=3.8 |
| license | MIT |
| keywords |
|
| VCS |
 |
| bugtrack_url |
|
| requirements |
No requirements were recorded.
|
| Travis-CI |
No Travis.
|
| coveralls test coverage |
No coveralls.
|
# obj2mjcf
[![PyPI Python Version][pypi-versions-badge]][pypi]
[![PyPI version][pypi-badge]][pypi]
[pypi-versions-badge]: https://img.shields.io/pypi/pyversions/obj2mjcf
[pypi-badge]: https://badge.fury.io/py/obj2mjcf.svg
[pypi]: https://pypi.org/project/obj2mjcf/
`obj2mjcf` is a CLI for proccessing composite Wavefront [OBJ] files for use in [MuJoCo]. It automatically:
* Splits an OBJ file into sub-meshes that are grouped by the materials referenced in the OBJ's MTL file
* Generates an MJCF XML file that is pre-filled with materials, meshes and geom elements referencing these OBJ files
* Optionally generates a collision mesh by performing a convex decomposition of the OBJ using [CoACD]
`obj2mjcf` was used to process model meshes for [MuJoCo Menagerie]:
<p float="left">
<img src="https://raw.githubusercontent.com/deepmind/mujoco_menagerie/main/anybotics_anymal_c/anymal_c.png" height="200">
<img src="https://raw.githubusercontent.com/deepmind/mujoco_menagerie/main/franka_emika_panda/panda.png" height="200">
</p>
## Motivation
As of June 2022, MuJoCo does not support composite OBJ files consisting of groups or objects (`o` or `g` OBJ tags) and only 1 material can be assigned per mesh. This means that you have to manually split your OBJ file into sub-meshes, a process that is tedious and error-prone. This tool is meant to automate this process.
## Installation
**Important.** MuJoCo support for OBJ files is only available in versions 2.1.2 and above. Make sure you upgrade to the latest version via the [Releases page](https://github.com/deepmind/mujoco/releases).
The recommended way to install this package is via [PyPI](https://pypi.org/project/obj2mjcf/):
```bash
pip install --upgrade obj2mjcf
```
## Usage
Type the following at the command line for a detailed description of available options:
```bash
obj2mjcf --help
```
[OBJ]: https://en.wikipedia.org/wiki/Wavefront_.obj_file
[MuJoCo]: https://github.com/deepmind/mujoco
[CoACD]: https://github.com/SarahWeiii/CoACD
[MuJoCo Menagerie]: https://github.com/deepmind/mujoco_menagerie
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