Franka Gazebo Panda conversion for MuJoCo

[melfm]

Is it possible to load the franka panda model into the mujoco environment? MuJoCo can load XML model files in MJCF format, as well as URDF format. The Gazebo models are described using .dae , .xacro files and .stl meshes. I was wondering if there's an easy way to convert these to URDF format. I already looked at collada_urdf package, but I think these two formats need to be combined?

Update :

• I ended up using modified version of the URDF meshes from here and then converted to MJCF, and then loaded the model into the openai gym robotics environment.

[vipinpaul1990]

Hi, have you tried to convert Mujoco file to gazebo?