URDF → MJCF conversion via API handles inertia, collision geometry, and actuator generation

[Ravindar10]

I've been following the various URDF→MJCF conversion discussions here
(#3176, #1176, #1569, #273) and noticed the recurring pain points:

1. Off-diagonal inertia terms silently ignored
2. Fixed base links getting merged into worldbody
3. Mesh path resolution breaking
4. No automatic actuator generation
5. ./compile output needs manual editing

I built an API that addresses these issues:

POST /api/urdf/convert-format?target=mjcf

It generates a complete MJCF file with:

• Nested body tree (respects URDF kinematic chain)
• Full inertia tensors (not just diagonal)
• Visual + collision geometry (separate groups)
• Auto-generated motor actuators for all movable joints
• Floor plane, lighting, default friction/damping
• Half-extent box conversion (URDF full-size → MuJoCo half-size)

Python SDK: pip install roboinfra-sdk
Free 14-day trial: https://roboinfra-dashboard.azurewebsites.net/

Happy to hear feedback what conversion edge cases should I handle?