Asset Converter

Documents

asset-converter

Asset Converter is an Agent Skill for documents published in the HorizonRobotics/EmbodiedGen repository on GitHub: a SKILL.md instruction file an AI agent can load to do this task.

Convert EmbodiedGen URDF assets to simulator-specific formats (USD/MJCF/URDF) using embodied_gen.data.asset_converter APIs. Use this skill whenever users ask to export assets for IsaacSim, MuJoCo, Genesis, IsaacGym, PyBullet, or SAPIEN, batch-convert URDF assets, or choose the correct converter/source_type per simulator.

View on GitHub ↗

QUICK START

How to use this skill

Bring this guide into your coding agent with a prompt tailored to the tool you use.

Open your project in Codex.
Copy and paste the prompt below.
Review files and risks before approving any action.

Prompt to paste

Inspect the Agent Skill at https://github.com/HorizonRobotics/EmbodiedGen/blob/HEAD/embodied_gen/skills/asset-converter/SKILL.md and all supporting files. Report provenance, permissions, scripts, dependencies, and security risks. Propose an exact installation into .agents/skills/asset-converter, but wait for my approval before writing files or running scripts.

Copying this prompt does not install or run the skill. Review third-party files before use.

Asset Converter

Unified entry for simulator-targeted asset conversion using embodied_gen.data.asset_converter.

When To Use

Use this skill when users want to:

Convert EmbodiedGen assets for IsaacSim (USD) or MuJoCo/Genesis (MJCF).
Batch-convert multiple URDF assets into simulator-ready outputs.
Map simulator names to the correct target format and conversion strategy.
Decide when conversion is unnecessary (URDF can be used directly).

Routing Rules (Core)

IsaacSim -> convert to USD.
MuJoCo / Genesis -> convert to MJCF (.xml).
SAPIEN / IsaacGym / PyBullet -> use EmbodiedGen .urdf directly (no conversion required).

Pre-checks

Run from repository root with embodiedgen environment active.
Confirm input URDF path(s) exist.
For USD conversion, ensure IsaacLab/IsaacSim conversion dependencies are available.
Prefer list inputs for urdf_files and target_dirs (same length, aligned by index).

Standard Python API Template

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

simulator_name = "mujoco"  # isaacsim / mujoco / genesis / sapien / isaacgym / pybullet

asset_paths = cvt_embodiedgen_asset_to_anysim(
    urdf_files=[
        "outputs/demo_assets/remote_control/result/remote_control.urdf",
    ],
    target_dirs=[
        "outputs/demo_assets/remote_control/mjcf",
    ],
    target_type=SimAssetMapper[simulator_name],
    source_type=AssetType.URDF,
    overwrite=True,
)
print(asset_paths)

Source Type Guidance

For MJCF target: prefer source_type=AssetType.URDF.
For USD target: use source_type=AssetType.MESH by default; AssetType.URDF path is also supported when needed.
For direct-URDF simulators (sapien, isaacgym, pybullet): skip conversion.

Direct Converter Template (Advanced)

from embodied_gen.data.asset_converter import AssetConverterFactory
from embodied_gen.utils.enum import AssetType

converter = AssetConverterFactory.create(
    target_type=AssetType.USD,
    source_type=AssetType.MESH,
)

with converter:
    converter.convert(
        "outputs/demo_assets/remote_control/result/remote_control.urdf",
        "outputs/demo_assets/remote_control/usd/remote_control.usd",
    )

Output Conventions

MJCF: <target_dir>/<asset_name>.xml
USD: <target_dir>/<asset_name>.usd
API return: {<input_urdf_path>: <converted_output_path>}

Failure Handling and Retry

Unsupported conversion pair: verify target_type + source_type mapping.
Missing dependencies (USD path): install/activate IsaacLab + required USD stack.
Missing output file: verify parent output directory permissions and path correctness.
Batch mismatch: ensure len(urdf_files) == len(target_dirs).