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:

• https://github.com/gazebosim/gz-mujoco/pull/43
• https://github.com/gazebosim/gz-mujoco/pull/42
• https://github.com/gazebosim/gz-mujoco/pull/48
• https://github.com/gazebosim/gz-mujoco/pull/49
• https://github.com/gazebosim/gz-mujoco/pull/55
• https://github.com/gazebosim/gz-mujoco/pull/56