🎮 Use EmbodiedGen in Any Simulator

Leverage EmbodiedGen-generated assets with accurate physical collisions and consistent visual appearance across major simulation engines — IsaacSim, MuJoCo, Genesis, PyBullet, IsaacGym, and SAPIEN.

Universal Compatibility

EmbodiedGen assets follow standardized URDF semantics with physically consistent collision meshes, enabling seamless loading across multiple simulation frameworks — no manual editing needed.

🧩 Supported Simulators

Simulator	Conversion Class
IsaacSim	`MeshtoUSDConverter`
MuJoCo / Genesis	`MeshtoMJCFConverter`
SAPIEN / IsaacGym / PyBullet	`.urdf` generated by EmbodiedGen can be used directly

Simulator Integration Overview

This table summarizes the compatibility of EmbodiedGen assets with various simulators:

Simulator	Supported Format	Notes
IsaacSim	USD / .usda	Use `MeshtoUSDConverter` to convert mesh to USD format.
MuJoCo	MJCF (.xml)	Use `MeshtoMJCFConverter` for physics-ready assets.
Genesis	MJCF (.xml)	Same as MuJoCo; fully compatible with Genesis scenes.
SAPIEN	URDF (.urdf)	Can directly load EmbodiedGen `.urdf` assets.
IsaacGym	URDF (.urdf)	Directly usable.
PyBullet	URDF (.urdf)	Directly usable.

🧱 Example: Conversion to Target Simulator

from embodied_gen.data.asset_converter import cvt_embodiedgen_asset_to_anysim
from embodied_gen.utils.enum import AssetType, SimAssetMapper
from typing import Literal

simulator_name: Literal[
    "isaacsim",
    "isaacgym",
    "genesis",
    "pybullet",
    "sapien3",
    "mujoco",
] = "mujoco"

dst_asset_path = cvt_embodiedgen_asset_to_anysim(
    urdf_files=[
        "path1_to_embodiedgen_asset/asset.urdf",
        "path2_to_embodiedgen_asset/asset.urdf",
    ],
    target_dirs=[
        "path1_to_target_dir/asset.usd",
        "path2_to_target_dir/asset.usd",
    ],
    target_type=SimAssetMapper[simulator_name],
    source_type=AssetType.MESH,
    overwrite=True,
)

simulators_collision

Collision and visualization mesh across simulators, showing consistent geometry and material fidelity.