Mujoco XML

[maxspahn]

I really enjoy this tool here. In the recent past, especially since the opening of mujoco to the public, mujoco xmls have gained popularity. Did anybody here knows a similar tool for xml parsing? @mahaarbo

Best, @maxspahn

[mahaarbo]

I haven't used MuJoCo during my work, but the xml schema seems to be much more extensive than the URDF xml schema. I'm guessing it wouldn't be too hard to make a MuJoCoXML to URDF XML converter for simple kinematic trees or chains, the parsing might even be simpler due to MuJoCo's schema nesting bodies into each other. You'd need to ensure that each body that is involved in a kinematic chain has a defined inertia though.