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[isaacsim.asset.importer.mjcf] MJCF Importer#

Version: 3.10.0

Overview#

../../../../_images/preview11.png

To enable this extension, go to the Extension Manager menu and enable isaacsim.asset.importer.mjcf extension.

High Level Code Overview#

Python#

The MJCF Importer extension uses MJCFImporterConfig, a dataclass that stores configuration settings for MJCF import operations. The UI extension allows users to modify these settings through a graphical interface. Configuration fields can be set directly on the dataclass instance.

The main entry point is the MJCFImporter class in python/impl/converter.py, which takes an optional MJCFImporterConfig instance. The importer uses the mujoco-usd-converter library to convert MJCF files to USD format.

Example usage:

.. code-block:: python

from isaacsim.asset.importer.mjcf import MJCFImporter, MJCFImporterConfig

# Create configuration
config = MJCFImporterConfig(
    mjcf_path="/path/to/robot.xml",
    usd_path="/path/to/output",
    merge_mesh=True,
    collision_from_visuals=True
)

# Create importer and import
importer = MJCFImporter(config)
output_path = importer.import_mjcf()

Note: The commands MJCFCreateAsset and MJCFCreateImportConfig in python/impl/command.py are deprecated and should not be used in new code. Use MJCFImporter and MJCFImporterConfig directly instead.

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

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

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

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

Commands#

Public command API for module isaacsim.asset.importer.mjcf:

MJCFCreateAsset (deprecated)#

.. deprecated:: Use MJCFImporter() directly instead.

This command parses and imports a given mjcf file. It is deprecated and will be removed in a future version.

Arguments#

  • mjcf_path

  • import_config

  • prim_path

  • dest_path

MJCFCreateImportConfig (deprecated)#

.. deprecated:: Use MJCFImporterConfig() directly instead.

Returns an ImportConfig object that can be used while parsing and importing. It is deprecated and will be removed in a future version.

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

MJCF Import Workflow#

Use the MJCF importer configuration and converter classes to import MJCF files into USD. Below is a sample demonstrating how to import the Ant MJCF included with this extension.

 1import omni.usd
 2from isaacsim.asset.importer.mjcf import MJCFImporter, MJCFImporterConfig
 3from isaacsim.asset.importer.utils import stage_utils
 4
 5# Get path to extension data:
 6ext_manager = omni.kit.app.get_app().get_extension_manager()
 7ext_id = ext_manager.get_enabled_extension_id("isaacsim.asset.importer.mjcf")
 8extension_path = ext_manager.get_extension_path(ext_id)
 9
10# setting up import configuration:
11config = MJCFImporterConfig(mjcf_path=extension_path + "/data/mjcf/nv_ant.xml")
12
13# import MJCF
14importer = MJCFImporter(config)
15output_path = importer.import_mjcf()
16
17# open the resulting USD for inspection
18stage = stage_utils.open_stage(output_path)