Prototype

[ahcorde]

🎉 New feature

Summary

This draft PR holds a prototype to convert from mjcf to sdformat and viceversa.

Test it

git clone https://github.com/gazebosim/gz-mujoco/ -b ahcorde/mjcf2sdformat
cd gz-mujoco
pip install -e sdformat_to_mjcf
pip install -e mjcf_to_sdformat
pip install -e sdformat_mjcf_utils
python -m mjcf_to_sdformat.mjcf2sdformat <path_to_dm_control>/dm_control/suite/pendulum.xml | tee output.sdf
python -m sdforma_to_mjcf.dformat2mjcf <gzim>/examples/worlds/<name>.sdf | tee output.xml

Checklist

• Signed all commits for DCO
• Added tests
• Added example and/or tutorial
• Updated documentation (as needed)
• Updated migration guide (as needed)
• Consider updating Python bindings (if the library has them)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
• While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

[ahcorde]

This PR was splitted in smalls PRs:

• MJCF to SDF: Added geometry defaults #43
• MJCF to SDF: Add Material #42
• MJCF to SDF: Improved inertia #48
• MJCF to SDF: Added camera sensor #49
• MJCF 2 SDF: Support prismatic and revolute joints #55
• MJCF to SDF: Added gravity, wind and magnetic field #56