urdf2any 0.1.0__tar.gz

urdf2any-0.1.0/.gitattributes

@@ -0,0 +1,12 @@
+# Binary robot assets are stored via Git LFS to keep the repo small.
+# (URDF/MJCF/JSON/OBJ stay as normal text so they remain diffable.)
+*.stl filter=lfs diff=lfs merge=lfs -text
+*.STL filter=lfs diff=lfs merge=lfs -text
+*.dae filter=lfs diff=lfs merge=lfs -text
+*.fbx filter=lfs diff=lfs merge=lfs -text
+*.glb filter=lfs diff=lfs merge=lfs -text
+*.ply filter=lfs diff=lfs merge=lfs -text
+*.usdz filter=lfs diff=lfs merge=lfs -text
+*.png filter=lfs diff=lfs merge=lfs -text
+*.jpg filter=lfs diff=lfs merge=lfs -text
+*.jpeg filter=lfs diff=lfs merge=lfs -text

urdf2any-0.1.0/.github/workflows/ci.yml

@@ -0,0 +1,47 @@
+name: CI
+
+on:
+  push:
+    branches: [main]
+  pull_request:
+
+jobs:
+  test:
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        python-version: ["3.11", "3.12"]
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          lfs: true # parity test loads vendored LFS meshes (tests/assets/franka)
+      - name: Set up uv
+        uses: astral-sh/setup-uv@v5
+        with:
+          python-version: ${{ matrix.python-version }}
+          enable-cache: true
+      - name: Install dependencies
+        run: uv sync --locked
+      - name: Lint
+        run: uv run ruff check --output-format=github .
+      - name: Test
+        run: uv run pytest
+
+  build:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+      - name: Set up uv
+        uses: astral-sh/setup-uv@v5
+        with:
+          python-version: "3.12"
+          enable-cache: true
+      - name: Build wheel and sdist
+        run: uv build
+      - name: Check that the wheel is installable
+        run: uv run --no-project --with dist/*.whl python -c "import urdf2any; print(urdf2any.__name__)"
+      - name: Upload distributions
+        uses: actions/upload-artifact@v4
+        with:
+          name: dist
+          path: dist/

urdf2any-0.1.0/.github/workflows/release.yml

@@ -0,0 +1,73 @@
+name: Release
+
+# Publish to PyPI on version tags (e.g. v0.1.0).
+# Uses PyPI Trusted Publishing (OIDC) — no API token needed. Configure the
+# trusted publisher on PyPI: project urdf2any, workflow release.yml, env pypi.
+on:
+  push:
+    tags: ["v*"]
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          persist-credentials: false
+      - name: Set up uv
+        uses: astral-sh/setup-uv@v5
+        with:
+          python-version: "3.12"
+      - name: Build wheel and sdist
+        run: uv build
+      - name: Upload distributions
+        uses: actions/upload-artifact@v4
+        with:
+          name: dist
+          path: dist/
+
+  publish-to-pypi:
+    needs: build
+    runs-on: ubuntu-latest
+    environment:
+      name: pypi
+      url: https://pypi.org/p/urdf2any
+    permissions:
+      id-token: write # mandatory for trusted publishing
+    steps:
+      - uses: actions/download-artifact@v4
+        with:
+          name: dist
+          path: dist/
+      - name: Publish to PyPI
+        uses: pypa/gh-action-pypi-publish@release/v1
+
+  github-release:
+    needs: publish-to-pypi
+    runs-on: ubuntu-latest
+    permissions:
+      contents: write # mandatory for creating the GitHub Release
+      id-token: write # mandatory for sigstore signing
+    steps:
+      - uses: actions/download-artifact@v4
+        with:
+          name: dist
+          path: dist/
+      - name: Sign distributions with Sigstore
+        uses: sigstore/gh-action-sigstore-python@v3.0.0
+        with:
+          inputs: >-
+            ./dist/*.tar.gz
+            ./dist/*.whl
+      - name: Create GitHub Release
+        env:
+          GITHUB_TOKEN: ${{ github.token }}
+        run: >-
+          gh release create "$GITHUB_REF_NAME"
+          --repo "$GITHUB_REPOSITORY"
+          --title "$GITHUB_REF_NAME"
+          --notes ""
+      - name: Upload signed artifacts to the release
+        env:
+          GITHUB_TOKEN: ${{ github.token }}
+        run: gh release upload "$GITHUB_REF_NAME" dist/** --repo "$GITHUB_REPOSITORY"

urdf2any-0.1.0/.gitignore

@@ -0,0 +1,19 @@
+# Python
+__pycache__/
+*.py[cod]
+*.egg-info/
+.pytest_cache/
+.ruff_cache/
+
+# Build
+dist/
+build/
+*.usd
+*.usda
+*.usdc
+
+# Env
+.venv/
+
+# implementation memo
+docs/

urdf2any-0.1.0/AGENTS.md

@@ -0,0 +1,27 @@
+# urdf2any
+
+A pure-Python tool that converts URDF to USD / MJCF, independent of Isaac Sim and Omniverse.
+
+## Architecture
+
+URDF → parser (`src/urdf2any/urdf/parser.py`) → simulator-agnostic IR
+(`src/urdf2any/ir.py`) → backends (`src/urdf2any/backends/usd.py`,
+`src/urdf2any/backends/mjcf.py`). Generic IR preprocessing (fixed-joint merging,
+drive injection, geometry exclusion) lives in `src/urdf2any/config.py`.
+
+## Rules
+
+- The IR uses SI units and radians. Unit conversion is the backend's
+  responsibility (USD uses degrees).
+- Keep robot-specific policy (link name literals, part removal, gain values) out
+  of the core; provide only generic, declarative mechanisms. Callers mutate the
+  IR via `parse_urdf` → `convert_robot`.
+- Long-lived knowledge belongs in code, not documents: module docstrings state
+  conventions and known divergences; the parity suites encode verified behavior.
+  Do not add documentation files beyond the README.
+- Compatibility claims must be backed by a parity test. After changing
+  conversion behavior, run `uv run pytest` — `tests/test_golden_parity.py`
+  compares against IsaacLab importer goldens (`tests/golden/`) and
+  `tests/test_mjcf_parity.py` compares live against MuJoCo's native URDF loader.
+- Regenerating USD goldens requires an IsaacLab container:
+  `scripts/generate_reference.py` (see its docstring; the import needs no GPU).

urdf2any-0.1.0/CLAUDE.md

@@ -0,0 +1 @@
+AGENTS.md

urdf2any-0.1.0/LICENSE

@@ -0,0 +1,202 @@
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urdf2any-0.1.0/PKG-INFO

@@ -0,0 +1,138 @@
+Metadata-Version: 2.4
+Name: urdf2any
+Version: 0.1.0
+Summary: Convert URDF robot descriptions to USD and MJCF without Isaac Sim or Omniverse
+Project-URL: Homepage, https://github.com/syundo0730/urdf2any
+Project-URL: Repository, https://github.com/syundo0730/urdf2any
+Project-URL: Issues, https://github.com/syundo0730/urdf2any/issues
+Author: Shundo Kishi
+License-Expression: Apache-2.0
+License-File: LICENSE
+Keywords: mjcf,mujoco,openusd,robotics,simulation,urdf,usd
+Classifier: Development Status :: 3 - Alpha
+Classifier: Intended Audience :: Science/Research
+Classifier: Operating System :: OS Independent
+Classifier: Programming Language :: Python :: 3
+Classifier: Programming Language :: Python :: 3.11
+Classifier: Programming Language :: Python :: 3.12
+Classifier: Topic :: Scientific/Engineering
+Requires-Python: >=3.11
+Requires-Dist: numpy>=1.24
+Requires-Dist: scipy>=1.10
+Requires-Dist: trimesh>=4.0
+Requires-Dist: usd-core>=24.5
+Provides-Extra: mjcf-validate
+Requires-Dist: mujoco>=3.0; extra == 'mjcf-validate'
+Description-Content-Type: text/markdown
+
+# urdf2any
+
+[![CI](https://github.com/syundo0730/urdf2any/actions/workflows/ci.yml/badge.svg)](https://github.com/syundo0730/urdf2any/actions/workflows/ci.yml)
+[![PyPI](https://img.shields.io/pypi/v/urdf2any)](https://pypi.org/project/urdf2any/)
+[![Python](https://img.shields.io/pypi/pyversions/urdf2any)](https://pypi.org/project/urdf2any/)
+[![License](https://img.shields.io/badge/license-Apache--2.0-green)](LICENSE)
+
+Convert URDF robot descriptions to **USD** (OpenUSD / Isaac Sim) and **MJCF**
+(MuJoCo) — in pure Python, with no Isaac Sim, Omniverse, or GPU required.
+
+- **Self-contained** — runs anywhere `pip` works (`usd-core`, `trimesh`, `numpy`)
+- **One source of truth** — a single simulator-agnostic intermediate
+  representation drives both backends, so USD and MJCF describe the same
+  physical robot
+- **Verified** — output is checked in CI against the real reference
+  implementations: the IsaacLab URDF importer (golden comparison) and MuJoCo's
+  native URDF loader (live comparison)
+
+## Installation
+
+```bash
+pip install urdf2any
+```
+
+## Quick start
+
+The output format is inferred from the file extension:
+
+```bash
+urdf2any robot.urdf -o robot.usd   # USD (UsdPhysics articulation)
+urdf2any robot.urdf -o robot.xml   # MJCF (with actuators)
+```
+
+Or from Python:
+
+```python
+from urdf2any import convert, ConvertConfig, JointDriveCfg
+
+convert(
+    "robot.urdf",
+    "robot.usd",
+    ConvertConfig(joint_drive=JointDriveCfg(stiffness=100.0, damping=1.0)),
+)
+```
+
+By default every URDF link becomes one body and no lossy transformation is
+applied — the same config yields the same robot in both formats.
+
+## Compatibility presets
+
+To reproduce the behavior of an existing converter, start from a preset;
+individual flags still override it:
+
+```bash
+urdf2any robot.urdf -o robot.usd --preset isaaclab   # IsaacLab URDF importer defaults
+urdf2any robot.urdf -o robot.xml --preset mujoco     # MuJoCo native URDF conversion
+```
+
+| Preset | Matches | Effect |
+|---|---|---|
+| `isaaclab` | IsaacLab `UrdfConverter` defaults | merges all fixed-joint links |
+| `mujoco` | MuJoCo's built-in URDF loader | merges fixed-joint links and derives missing link masses from collision geometry (needs `pip install "urdf2any[mjcf-validate]"`) |
+
+The same presets are available in Python as `ConvertConfig.isaaclab()` /
+`ConvertConfig.mujoco()`, and their definitions are what the parity test suites
+validate against the real implementations.
+
+## Feature support
+
+| | |
+|---|---|
+| Joints | revolute, continuous, prismatic, fixed (optional merging with inertia composition) |
+| Geometry | box, sphere, cylinder, capsule, mesh (STL / OBJ / DAE via trimesh) |
+| Inertials | authored mass/inertia/COM; optional geometry-derived backfill via MuJoCo |
+| Drives | position / velocity PD gains → USD DriveAPI / MJCF actuators |
+| Materials | URDF colors → UsdPreviewSurface / MJCF materials |
+| Not yet | mimic joints, sensors, `package://` ROS package resolution beyond a search root |
+
+Robot-specific preprocessing (renaming links, removing parts) is deliberately
+out of scope: parse with `parse_urdf`, mutate the IR, then emit with
+`convert_robot`.
+
+## Development
+
+```bash
+uv sync
+uv run pytest        # includes the parity suites (CPU only)
+uv run ruff check .
+```
+
+Releases are published to PyPI by pushing a `vX.Y.Z` tag
+(Trusted Publishing via `.github/workflows/release.yml`).
+
+### Parity testing
+
+- **USD vs IsaacLab importer** — `tests/test_golden_parity.py` diffs urdf2any's
+  output against committed golden summaries (`tests/golden/`) generated by the
+  real importer. Regenerate them inside an IsaacLab container with
+  `scripts/generate_reference.py` (the import itself needs no GPU).
+- **MJCF vs MuJoCo** — `tests/test_mjcf_parity.py` compiles both urdf2any's MJCF
+  and the source URDF with MuJoCo and compares the resulting models live; no
+  golden files needed.
+
+Sample robots under `tests/assets/` are vendored from
+[IsaacLab](https://github.com/isaac-sim/IsaacLab) (BSD-3-Clause) and
+[Isaac Sim](https://github.com/isaac-sim/IsaacSim) (Apache-2.0); see the
+`NOTICE` file next to each.
+
+## License
+
+[Apache-2.0](LICENSE)

urdf2any-0.1.0/README.md

@@ -0,0 +1,111 @@
+# urdf2any
+
+[![CI](https://github.com/syundo0730/urdf2any/actions/workflows/ci.yml/badge.svg)](https://github.com/syundo0730/urdf2any/actions/workflows/ci.yml)
+[![PyPI](https://img.shields.io/pypi/v/urdf2any)](https://pypi.org/project/urdf2any/)
+[![Python](https://img.shields.io/pypi/pyversions/urdf2any)](https://pypi.org/project/urdf2any/)
+[![License](https://img.shields.io/badge/license-Apache--2.0-green)](LICENSE)
+
+Convert URDF robot descriptions to **USD** (OpenUSD / Isaac Sim) and **MJCF**
+(MuJoCo) — in pure Python, with no Isaac Sim, Omniverse, or GPU required.
+
+- **Self-contained** — runs anywhere `pip` works (`usd-core`, `trimesh`, `numpy`)
+- **One source of truth** — a single simulator-agnostic intermediate
+  representation drives both backends, so USD and MJCF describe the same
+  physical robot
+- **Verified** — output is checked in CI against the real reference
+  implementations: the IsaacLab URDF importer (golden comparison) and MuJoCo's
+  native URDF loader (live comparison)
+
+## Installation
+
+```bash
+pip install urdf2any
+```
+
+## Quick start
+
+The output format is inferred from the file extension:
+
+```bash
+urdf2any robot.urdf -o robot.usd   # USD (UsdPhysics articulation)
+urdf2any robot.urdf -o robot.xml   # MJCF (with actuators)
+```
+
+Or from Python:
+
+```python
+from urdf2any import convert, ConvertConfig, JointDriveCfg
+
+convert(
+    "robot.urdf",
+    "robot.usd",
+    ConvertConfig(joint_drive=JointDriveCfg(stiffness=100.0, damping=1.0)),
+)
+```
+
+By default every URDF link becomes one body and no lossy transformation is
+applied — the same config yields the same robot in both formats.
+
+## Compatibility presets
+
+To reproduce the behavior of an existing converter, start from a preset;
+individual flags still override it:
+
+```bash
+urdf2any robot.urdf -o robot.usd --preset isaaclab   # IsaacLab URDF importer defaults
+urdf2any robot.urdf -o robot.xml --preset mujoco     # MuJoCo native URDF conversion
+```
+
+| Preset | Matches | Effect |
+|---|---|---|
+| `isaaclab` | IsaacLab `UrdfConverter` defaults | merges all fixed-joint links |
+| `mujoco` | MuJoCo's built-in URDF loader | merges fixed-joint links and derives missing link masses from collision geometry (needs `pip install "urdf2any[mjcf-validate]"`) |
+
+The same presets are available in Python as `ConvertConfig.isaaclab()` /
+`ConvertConfig.mujoco()`, and their definitions are what the parity test suites
+validate against the real implementations.
+
+## Feature support
+
+| | |
+|---|---|
+| Joints | revolute, continuous, prismatic, fixed (optional merging with inertia composition) |
+| Geometry | box, sphere, cylinder, capsule, mesh (STL / OBJ / DAE via trimesh) |
+| Inertials | authored mass/inertia/COM; optional geometry-derived backfill via MuJoCo |
+| Drives | position / velocity PD gains → USD DriveAPI / MJCF actuators |
+| Materials | URDF colors → UsdPreviewSurface / MJCF materials |
+| Not yet | mimic joints, sensors, `package://` ROS package resolution beyond a search root |
+
+Robot-specific preprocessing (renaming links, removing parts) is deliberately
+out of scope: parse with `parse_urdf`, mutate the IR, then emit with
+`convert_robot`.
+
+## Development
+
+```bash
+uv sync
+uv run pytest        # includes the parity suites (CPU only)
+uv run ruff check .
+```
+
+Releases are published to PyPI by pushing a `vX.Y.Z` tag
+(Trusted Publishing via `.github/workflows/release.yml`).
+
+### Parity testing
+
+- **USD vs IsaacLab importer** — `tests/test_golden_parity.py` diffs urdf2any's
+  output against committed golden summaries (`tests/golden/`) generated by the
+  real importer. Regenerate them inside an IsaacLab container with
+  `scripts/generate_reference.py` (the import itself needs no GPU).
+- **MJCF vs MuJoCo** — `tests/test_mjcf_parity.py` compiles both urdf2any's MJCF
+  and the source URDF with MuJoCo and compares the resulting models live; no
+  golden files needed.
+
+Sample robots under `tests/assets/` are vendored from
+[IsaacLab](https://github.com/isaac-sim/IsaacLab) (BSD-3-Clause) and
+[Isaac Sim](https://github.com/isaac-sim/IsaacSim) (Apache-2.0); see the
+`NOTICE` file next to each.
+
+## License
+
+[Apache-2.0](LICENSE)