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Import MJCF

Learning Objectives

After completing this tutorial, you will have learned:

  • How to import MJCF (MuJoCo) model files into Isaac Sim
  • How to import using both GUI and Python scripting
  • How to configure articulations after import

Getting Started

Prerequisites

  • Complete the Quick Tutorials in Isaac Sim.

Estimated Time

Approximately 5-10 minutes.

Overview

In this tutorial, you will learn how to import MJCF (MuJoCo XML) model files into Isaac Sim and convert them to USD format. Two methods are covered: interactive GUI import and programmatic Python scripting.

GUI Import

  1. Enable the MJCF Importer extension from Window > Extensions.

    MJCF import dialog

  2. Open the file selection dialog via File > Import.

  3. Navigate to the extension assets folder (/data/mjcf) and select a file such as nv_humanoid.xml.

  4. Configure import settings and click Import.

    Imported humanoid

Python Scripting Import

You can also import programmatically using the Script Editor (Window > Script Editor):

  1. Create import configuration with MJCFCreateImportConfig command
  2. Set options such as fix_base() and make_default_prim()
  3. Create the asset with MJCFCreateAsset command
  4. Initialize the physics scene (gravity settings)
  5. Add lighting

Key Configuration Options

Option Description
fix_base Whether to fix the robot base
make_default_prim Whether to set as default prim

Post-Import Configuration

  • Imported robots are converted to articulations within the simulation
  • Sensors, materials, and joint configurations can be modified after import
  • Articulation stability can be tuned by referring to the stability guide

Summary

This tutorial covered the following topics:

  1. GUI import of MJCF files
  2. Python scripting for programmatic import
  3. Post-import articulation configuration

Next Steps