URDF to MJCF Migration

Key Insight

A robot's URDF defines its visual and kinematic structure but often lacks the precise inertia properties, contact parameters, and clean collision meshes needed for dynamic simulation. Migrating to MJCF allows MuJoCo's physics solver to accurately compute contact forces, joint limits, and friction. Converting and auditing these files ensures that simulation behaviors match reality, preventing simulator instabilities or phantom forces.