mujoco-usd-converter
A MuJoCo to OpenUSD Data Converter
Decision gist · record as of 2026-08-14
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.AI-flagged interpretation of the facts on this page — verify before relying
Before you install
- Requires Python 3.10 or later; USD support in target applications may require a USD-enabled build.
- Low friction installation as a pure Python wheel.
- Active maintenance with a recent release and steady commits.
License · maintenance · safety
Apache-2.0 (permissive) — Apache-2.0 permissive license allows commercial and private use without restriction, making it suitable for proprietary robotics projects.
last release 2026-08-05 (9 days) · last repo commit 2026-08-05 · 73 stars
0 known vulnerabilities (OSV.dev, 2026-08-14) · 83,640 downloads/mo, #14,059 on PyPI
Alternatives
Verify before relying
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")- 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.
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 on it.
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
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.
Requires Python 3.10 or later; USD support in target applications may require a USD-enabled build.
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")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
| License | Apache-2.0 permissive |
| Python support | Capped below the current Python release <3.13,>=3.10 |
| Install friction | Low. Pure-Python wheel |
| Runtime dependencies | 5 packagesmujoconewton-usd-schemasnumpy-stltinyobjloaderusd-exchange |
| Maintenance | Actively maintained 9 days since the last release |
| Last repo commit | |
| First released | |
| Downloads | 83,640 / month, #14,059 on PyPI 30-day window, as of 2026-08-14 |
| Known vulnerabilities | None known OSV.dev, checked 2026-08-14 |
Evidence: mujoco_usd_converter-0.5.0-py3-none-any.whl
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See also FMPy · newton-usd-schemas · urdf-usd-converter · usd-exchange · usd-core · robot_descriptions · mujoco-mjx · mujoco-warp · CurrencyConverter · mjviser