mujoco-usd-converter

What it is and what it does

This package bridges MuJoCo's MJCF robot model format and the OpenUSD ecosystem by converting MJCF files into self-contained USD layers. It parses robot geometry, materials, collision shapes, joints, and actuators from MJCF and authors them as USD Prims with both UsdPhysics and MjcPhysics schemas, enabling the same model to be visualized in USD viewers or simulated in Newton or other USD-aware physics engines.

The converter works as both a command-line tool and a Python module, producing atomic, standalone USD assets that require no connection to the original MJCF or mesh files. It is part of the Newton physics project and implements a conceptual data mapping developed collaboratively by Google DeepMind and NVIDIA. The package is currently in alpha with known limitations; it depends on mujoco, usd-exchange, numpy-stl, tinyobjloader, and newton-usd-schemas.

Use it for:

• Export a robot model from MuJoCo to USD for visualization and inspection in usdview or other USD viewers.
• Convert MJCF datasets into USD for use in Newton simulations.
• Prepare robot assets for rendering in NVIDIA Omniverse by converting from MuJoCo's native format.
• Integrate MuJoCo-trained robot models into other applications via USD import.
• Generate USD physics assets with both UsdPhysics and MjcPhysics schemas for multi-engine compatibility.
• Automate batch conversion of MJCF robot libraries into a unified USD asset repository.

Worth the install?

AI-flagged interpretation of the facts on this page — verify before relying

Converts MuJoCo MJCF robot model files into OpenUSD layers for visualization, rendering, and simulation in USD-compatible applications.

Yes, if you work with MuJoCo models and need to export them to the USD ecosystem. The package is actively maintained, has low install friction, and solves a specific interoperability problem between two major physics and graphics standards. Be aware it is in alpha—review the changelog for known limitations before relying on it for production workflows. No security vulnerabilities are known.

Install

mujoco-usd-converter on PyPI

pip install mujoco-usd-converter

uv add mujoco-usd-converter

poetry add mujoco-usd-converter

Installing mujoco-usd-converter

Before you install

Low friction installation as a pure Python wheel. Active maintenance with a recent release and steady commits. Requires Python 3.10 or later; no compiled dependencies beyond what the runtime packages provide.

License in practice

Apache-2.0 permissive license allows commercial and private use without restriction, making it suitable for proprietary robotics projects.

Quickstart

pip install mujoco-usd-converter
mujoco_usd_converter /path/to/robot.xml /path/to/usd_robot

# Or via Python:
import mujoco_usd_converter
converter = mujoco_usd_converter.Converter()
asset = converter.convert("/path/to/robot.xml", "/path/to/usd_robot")

Requires Python 3.10 or later; USD support in target applications may require a USD-enabled build.

Verify before relying

• Completeness of MJCF feature coverage beyond the documented known limitations in alpha phase.
• Performance and scalability on large or complex robot models.
• Compatibility with USD versions older than 25.11 for nested rigid body structures.

Package facts

Evidence: mujoco_usd_converter-0.5.0-py3-none-any.whl

Tags

More Scientific/Engineering packages