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[isaacsim.asset.importer.mjcf.ui] Omniverse MJCF Importer UI#

Version: 1.4.3

Overview#

The MJCF Importer UI extension adds a graphical import workflow for MuJoCo MJCF files in Isaac Sim. Use it from File > Import to convert an MJCF XML file into USD and place the model on the stage. Core parsing and conversion are handled by the companion isaacsim.asset.importer.mjcf extension.

MJCF Importer UI

Dependencies#

  • isaacsim.asset.importer.mjcf — converts MJCF files to USD

Usage#

Accessing the MJCF Importer#

  1. In Window > Extensions, enable isaacsim.asset.importer.mjcf.ui if it is not already loaded.

  2. Choose File > Import and select an MJCF .xml file.

  3. Adjust settings in the panel on the right side of the import window.

  4. Click Import to add the model to the stage.

Import settings#

The options panel is organized into three sections you can expand or collapse:

Output#

  • USD Output — Where to save the generated USD. The default Same as Imported Model (Default) saves next to your MJCF file. Click Select File to pick another folder.

Colliders#

  • Collision From Visuals — Builds collision shapes from visual meshes instead of collision geometry in the MJCF. When checked, Collision Type appears below.

  • Collision Type — How to approximate collision when generating from visuals:

    • Convex Hull

    • Convex Decomposition

    • Bounding Sphere

    • Bounding Cube

  • Allow Self-Collision — Lets parts of the model collide with each other. Turn this off if the simulation becomes unstable or parts interpenetrate at rest.

Options#

  • Robot Type — Category label for the imported robot (for example Manipulator, Humanoid, or Quadruped). Choose Default if unsure.

  • Base Type — Whether the model is fixed in the world or free to move:

    • Source — Keep the MJCF as authored.

    • Fixed — Bolt the base to the world.

    • Mobile — Allow the base to move and rotate.

  • Import Scene — Includes MJCF simulation settings with the model. Enabled by default.

  • Merge Mesh — Combines meshes where possible for a lighter, faster asset.

  • Debug Mode — Keeps extra output files and log detail for troubleshooting imports.

Preview

Enable Extension#

The extension can be enabled (if not already) in one of the following ways:

Define the next entry as an application argument from a terminal.

APP_SCRIPT.(sh|bat) --enable isaacsim.asset.importer.mjcf.ui

Define the next entry under [dependencies] in an experience (.kit) file or an extension configuration (extension.toml) file.

[dependencies]
"isaacsim.asset.importer.mjcf.ui" = {}

Open the Window > Extensions menu in a running application instance and search for isaacsim.asset.importer.mjcf.ui. Then, toggle the enable control button if it is not already active.

MJCF Importer UI Extension [isaacsim.asset.importer.mjcf.ui]#

MJCF Import UI Workflow#

Enable the MJCF UI extension to import MJCF assets through the asset importer UI. The UI uses the same configuration object as the core importer.

Deprecated Commands#

The following commands are deprecated and provided for backward compatibility only. New code should use MJCFImporter and MJCFImporterConfig directly.

class isaacsim.asset.importer.mjcf.ui.impl.command.MJCFCreateImportConfig#

Deprecated command to create an ImportConfig object.

Should be used with the MJCFCreateAsset command.

Deprecated since version Use: MJCFImporterConfig() directly instead.

do() → MJCFImporterConfig#

Execute the command to create an import configuration.

Returns:

New MJCFImporterConfig instance.

undo() → None#

Undo the command (no-op).

class isaacsim.asset.importer.mjcf.ui.impl.command.MJCFCreateAsset(
mjcf_path='',
import_config=MJCFImporterConfig(),
prim_path='',
dest_path='',
)#

Deprecated command to parse and import an MJCF file.

Parameters:

  • mjcf_path (str) – The absolute path to the MJCF file.

  • import_config (MJCFImporterConfig) – Import configuration.

  • prim_path (str) – Path to the robot on the USD stage.

  • dest_path (str) – Destination path for robot USD. Default is “” which will load the robot in-memory on the open stage.

Deprecated since version Use: MJCFImporter() directly instead.

do() → str#

Execute the command to import the MJCF file.

Returns:

Path to the imported USD file.

undo() → None#

Undo the command (no-op).