URDF to MJCF Mujoco Notes
1. urdf to mjcf
Follow this link to convert urdf to mjcf: https://github.com/wangcongrobot/dual_ur5_husky_mujoco
2. mjcf modifications
reference path:
x-robot-mjpy/assets/robot.xml
add mujoco option
add default tag (can copy from reference)
add floor (can copy from reference)
make sure the root body is base, and base has a free joint
add inertial to base body (can copy from reference)
values: position take from urdf, the interia tag of link=base value
mujoco inertia order:
manually pick the collision parts, add class="collision" attribute
add actuator motor
add sensor
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