i2rt

Align a MuJoCo MJCF robot model with a URDF source while preserving kinematics, geometry, masses, centers of mass, and inertia tensors. Runs a staged pipeline: normalize the raw ONShape URDF (fix mesh filenames, canonicalize/rename joints, remove the synthetic root) with normalize_onshape_urdf.py, visually inspect it against world axes with view_urdf.py, apply the user-specified heading rotation with apply_urdf_heading.py (base mesh AND inertia rotate together), regenerate the arm MJCF with urdf_to_arm_mjcf.py, then re-sync every gripper config's per-arm mount with sync_gripper_mounts.py. Use when comparing or synchronizing .urdf and .xml robot descriptions, aligning URDF link frames or mesh headings with world axes, changing a robot root or base orientation without moving downstream links unintentionally, fixing mesh paths or joint names, matching home-pose link frames and link lengths, converting URDF inertias to MuJoCo principal inertias, keeping an arm model at a specified DOF count without embedding grip

Normalize a raw ONShape-exported YAM-family URDF into the aligned, world-referenced form used across i2rt robot models, as a two-stage pipeline around a human inspection checkpoint. Use when importing a fresh ONShape URDF export (robot named "urdf_top_assembly", package:// mesh paths, a synthetic "root" link, dof_joint* names, and duplicate *_1 links wired by 分组/紧固 fixed joints); when removing a synthetic root link and baking its rotation into the base while keeping every downstream link in place; when applying a world-axis heading correction that rotates the base mesh AND inertia together and rigidly rotates the whole arm; when fixing mesh filename case/paths; or when re-running such a transform idempotently. Runs normalize_onshape_urdf.py (stage 1) and apply_urdf_heading.py (stage 3), with view_urdf.py as the checkpoint in between.

Align a MuJoCo MJCF robot model with a URDF source while preserving kinematics, geometry, masses, centers of mass, and inertia tensors. Use when comparing or synchronizing .urdf and .xml robot descriptions, aligning URDF link frames or mesh headings with world axes, changing a robot root or base orientation without moving downstream links unintentionally, fixing mesh paths or joint names, matching home-pose link frames and link lengths, converting URDF inertias to MuJoCo principal inertias, keeping an arm model at a specified DOF count without embedding gripper or tip bodies, or standardizing terminal mounts across linear, crank, flexible, no-gripper, and teaching-handle variants while preserving each end effector's physical placement.