.xacro → .xml
Xacro to MJCF
Convert a robot description from Xacro 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
Drop your Xacro here
Include the files it pulls in — select them all at once, or drop the whole folder.
Files are read on our server and deleted after a day. Nothing is published.
Reading the Xacro
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, as with any conversion into MJCF.
Two steps in one
The macros are expanded first, then the robot underneath is written as MJCF. Upload the top file and its includes together and nothing else is needed.
The two formats
- Xacro .xacro
- URDF with macros, properties and includes — expanded before anything can read it.
- MJCF .xml
- MuJoCo's own format: the same robot, plus everything a solver needs to simulate it.
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.