# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
from __future__ import annotations
from typing import Literal
from isaaclab.sim.converters.asset_converter_base_cfg import AssetConverterBaseCfg
from isaaclab.utils.configclass import configclass
[docs]
@configclass
class MjcfConverterCfg(AssetConverterBaseCfg):
"""The configuration class for MjcfConverter.
Maps to :class:`~isaacsim.asset.importer.mjcf.MJCFImporterConfig` from the Isaac Sim
MJCF importer. All post-import USD edits (fix-base, density override, actuator gain
overrides, self-collision, mesh merging, asset transformer profile) are performed by
the Isaac Sim importer — this config just forwards the user's choices.
.. note::
From Isaac Sim 5.0 onwards, the MJCF importer was rewritten to use the
``mujoco-usd-converter`` library. The :attr:`AssetConverterBaseCfg.make_instanceable`
setting from the base class is not supported by the new MJCF importer and is ignored.
"""
merge_mesh: bool = False
"""Merge meshes where possible to optimize the model. Defaults to False."""
collision_from_visuals: bool = False
"""Generate collision geometry from visual geometries. Defaults to False."""
collision_type: Literal["Convex Hull", "Convex Decomposition", "Bounding Sphere", "Bounding Cube"] = "Convex Hull"
"""Type of collision geometry to use. Defaults to ``"Convex Hull"``.
Supported values match the ``collision_type`` field of
:class:`~isaacsim.asset.importer.mjcf.MJCFImporterConfig`.
"""
self_collision: bool = False
"""Activate self-collisions between links of the articulation. Defaults to False."""
import_physics_scene: bool = False
"""Import the physics scene (time step per second, gravity, etc.) from the MJCF file. Defaults to False."""
fix_base: bool = False
"""Add a fixed joint from the world to the root rigid-body link. Defaults to False.
When enabled, :class:`~isaacsim.asset.importer.mjcf.MJCFImporter` inserts a ``FixedJoint``
between the world and the articulation root and relocates ``ArticulationRootAPI`` onto the
appropriate ancestor prim so PhysX treats the articulation as fixed-base.
"""
link_density: float = 0.0
"""Default density in ``kg/m^3`` for links whose ``"inertial"`` properties are missing.
Defaults to 0.0.
A value of ``0.0`` leaves density unchanged.
"""
robot_type: str = "Default"
"""Robot type applied by the USD robot schema. Defaults to ``"Default"``.
Supported types are: ``Default``, ``End Effector``, ``Manipulator``, ``Humanoid``, ``Wheeled``,
``Holonomic``, ``Quadruped``, ``Mobile Manipulators``, ``Aerial``.
Forwarded to :class:`~isaacsim.asset.importer.mjcf.MJCFImporterConfig`.
"""
override_gain_type: str | None = None
"""MuJoCo actuator gain type override (e.g. ``"fixed"``). Defaults to ``None``.
``None`` leaves the value parsed from the MJCF file unchanged. See
:func:`isaacsim.asset.importer.utils.impl.asset_utils.apply_mjc_actuator_gains` for
the supported encodings.
"""
override_bias_type: str | None = None
"""MuJoCo actuator bias type override (e.g. ``"affine"``). Defaults to ``None``.
``None`` leaves the value parsed from the MJCF file unchanged.
"""
override_gain_prm: list[float] | None = None
"""MuJoCo actuator gain parameter array override. Defaults to ``None``.
Mujoco models actuators using an affine transformation, which is a linear combination of the
gain parameters, control, and bias.
The affine transformation is defined as:
tau = gain @ control + bias
``None`` leaves the value parsed from the MJCF file unchanged. Example for position
control: ``[kp, 0, 0, 0, 0, 0, 0, 0, 0, 0]``.
"""
override_bias_prm: list[float] | None = None
"""MuJoCo actuator bias parameter array override. Defaults to ``None``.
``None`` leaves the value parsed from the MJCF file unchanged. Example for position
control: ``[0, -kp, -kd, 0, 0, 0, 0, 0, 0, 0]``.
"""
run_asset_transformer: bool = True
"""Run the asset transformation profile to convert the flattened USD into a layered USD asset. Defaults to True.
After running this profile, the USD asset will be a layered USD asset with the following structure:
- robot_name.usda (interface usd)
- payloads/base.usda (base usd with links, meshes, and materials)
- payloads/instances.usda (usd with visual and collision geometry)
- payloads/geometry.usd (binary usd with meshes)
- payloads/materials.usda (materials)
- payloads/Physics/physics.usda (neutral physics format)
- payloads/Physics/physX.usda (PhysX attributes)
- payloads/Physics/mujoco.usda (MuJoCo attributes)
"""
run_multi_physics_conversion: bool = True
"""Enable to convert compatible MuJoCo attributes to PhysX attributes, such as actuator gains. Defaults to True."""
debug_mode: bool = False
"""Enable debug mode in the underlying MJCF importer. Defaults to False.
When enabled, the importer writes intermediate conversion artifacts next to the output
USD for inspection instead of using a temporary scratch directory.
"""
