horizonrobotics/embodiedgen/asset-converter

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)

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

Pre-checks

1. Run from repository root with embodiedgen environment active.
2. Confirm input URDF path(s) exist.
3. For USD conversion, ensure IsaacLab/IsaacSim conversion dependencies are available.
4. 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

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