mujoco apirate is removed in the most recent releases

[skr3178]

mujoco_usd_converter/home/skr/Downloads/piano/robopianist/robopianist/models/piano/assets/piano.xml /home/skr/Downloads/piano/robopianist/robopianist/models/piano/assets/

[Warning] [mujoco_usd_converter._impl.cli.run] Conversion failed: 'mujoco._specs.MjOption' object has no attribute 'apirate'
piano.xml

Originally posted by @skr3178 in #1 (comment)

[andrewkaufman]

This is a breaking change introduced in mujoco 3.3.7 (apirate was removed). Once the next mujoco release is out we can patch the converter accordingly.

A quick workaround is to lock to mujoco 3.3.5 if possible, as that version still included apirate.

[skr3178]

That worked. The files outputs (usd) were successfully generated but the joints were not imported properly. I had a shadow hand which on conversion came out as a single fixed joint. I guess there are some limitation on what is possible currently.