How to export mjcf xml?

[Bearil]

Hello, and thanks for the tutorial!

I am going to use mujoco unity to modify mjcf XML file. But can't understand how to export the model after making modifications using unity. In the contextual menu "assets", I see the option to import mjcf xml, but no way to export it. How it can be done?

Thanks

[Balint-H]

Hello,

One potential way to do it is in the MjGlobalSettings object (if your scene is missing one you can add it as a component on an object). If you add string to the "Debug File Name", then run the scene, it will save the XML generated for the MuJoCo scene in that file, usually stored somewhere in "AppData/Local/Temp". The exact path will be printed out on the Debug Console.

It would be a nicer feature to have an explicit UI element to export with, as constructing scenes in Unity is a likely use case. One slight drawback currently in the export function is that the XML doesn't use any defaults, every property is defined explicitly leading to challenging to read XMLs.

However I've used this feature in the past with success to transfer scenes out from Unity.

[Bearil]

Thanks for advice

The export feature is definitely a likely use case, especially considering that there is no visual interface to work with mjcf file instead of editing xml