.sdf → .xml
SDF to MJCF
Convert a robot description from SDF to MJCF in the browser. Nothing is installed and nothing is queued: the file is read, written in the other format, and handed back with a list of anything that could not be carried across.
Convert a file
SDF .sdf MJCF .xml
Drop your SDF here
Drop the folder too if the model references meshes.
Files are read on our server and deleted after a day. Nothing is published.
Reading the SDF
Writing the MJCF
Look at the file first
What this conversion costs
These are the things MJCF has no place for. They are reported on the converted file as well, as a comment at the top, so the file itself says what is missing from it.
- Joint velocity limits, for the same reason as URDF: MuJoCo puts speed in the actuator, not the joint.
Gazebo plugins do not travel
Controllers, sensors and physics plugins are Gazebo's own. What crosses is the robot: links, joints, geometry, inertia.
The two formats
- SDF .sdf
- Gazebo's format, which describes a whole world rather than a single robot. SDFormat, explained
- MJCF .xml
- MuJoCo's own format: the same robot, plus everything a solver needs to simulate it. MJCF, explained
Converting is rarely the whole job. Once you have the MJCF, the viewer shows what actually came across — collision geometry against visual, joint limits, where the mass sits — and the physics lab answers the question a file cannot: whether the robot stands up when gravity is switched on.