Principle:Google deepmind Mujoco Model XML Export
| Knowledge Sources | |
|---|---|
| Domains | Model_IO, Serialization |
| Last Updated | 2026-02-15 06:00 GMT |
Overview
Process of regenerating MJCF XML from a compiled model to produce a canonical, fully-resolved representation.
Description
Model XML Export converts a compiled mjModel back into MJCF XML format. The output XML is a fully-resolved representation where all defaults have been expanded, all includes have been inlined, and all computed values are explicit. This is useful for model normalization, debugging (comparing the model MuJoCo actually compiled vs. what was written), and converting URDF to MJCF.
Usage
Use when converting between formats (URDF to MJCF), normalizing model files, or debugging compilation issues by comparing input and output XML.
Theoretical Basis
The export reverses the compilation by writing the internal spec tree back to XML:
- Retrieve the stored specification from the last mj_loadXML call
- Update the spec with any values that changed during compilation
- Serialize the spec tree to MJCF XML format
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