How to Validate URDF Files in GitHub Actions Without Installing ROS

1. The Problem (3 paragraphs)

   • MuJoCo is the fastest-growing robotics simulator
   • Converting URDF to MJCF is painful (./compile is buggy, urdf2mjcf ignores off-diagonal inertia, mesh paths break)
   • You just want to convert and start training your RL agent

2. The Solution (show curl + Python code)
   curl -X POST .../api/urdf/convert-format?target=mjcf \
   -H "X-Api-Key: rk_..." -F "file=@robot.urdf"

import roboinfra
client = roboinfra.Client("rk_...")
result = client.urdf.convert_format("robot.urdf", "mjcf")
with open("robot.xml", "w") as f:
f.write(result.converted_xml)

1. Real Example (use your preview_test_arm.urdf)

   • Show the input URDF (6 links, 5 joints)
   • Show the output MJCF (with actuators, floor, lighting)
   • "This would take 2-3 hours manually. API did it in 200ms."

2. Also Converts to Gazebo SDF

   • Same API, just change target=sdf
   • Show the SDF output

3. Bonus: Validate + Convert in CI

   • GitHub Action YAML (6 lines)
   • Validate URDF + convert to MJCF on every push

4. Free 14-day Pro trial, no credit card
   Link: https://roboinfra-dashboard.azurewebsites.net