https://github.com/kevinzakka/obj2mjcf

A CLI for processing composite Wavefront OBJ files for use in MuJoCo.
https://github.com/kevinzakka/obj2mjcf

mujoco robotics simulation wavefront-obj

Last synced: 3 days ago
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A CLI for processing composite Wavefront OBJ files for use in MuJoCo.

• Host: GitHub
• URL: https://github.com/kevinzakka/obj2mjcf
• Owner: kevinzakka
• License: mit
• Created: 2022-06-07T17:58:38.000Z (over 2 years ago)
• Default Branch: main
• Last Pushed: 2024-10-15T16:56:20.000Z (3 months ago)
• Last Synced: 2024-12-29T16:09:17.431Z (10 days ago)
• Topics: mujoco, robotics, simulation, wavefront-obj
• Language: Python
• Homepage:
• Size: 7.24 MB
• Stars: 196
• Watchers: 6
• Forks: 22
• Open Issues: 11
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

        
# 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]:



  

  



## 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