64 lines
2.5 KiB
Markdown
64 lines
2.5 KiB
Markdown
# 🎮 Use EmbodiedGen in Any Simulator
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Leverage **EmbodiedGen-generated assets** with *accurate physical collisions* and *consistent visual appearance* across major simulation engines — **IsaacSim**, **MuJoCo**, **Genesis**, **PyBullet**, **IsaacGym**, and **SAPIEN**.
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!!! tip "Universal Compatibility"
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EmbodiedGen assets follow **standardized URDF semantics** with **physically consistent collision meshes**,
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enabling seamless loading across multiple simulation frameworks — no manual editing needed.
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---
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## 🧩 Supported Simulators
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| Simulator | Conversion Class |
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|------------|------------------|
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| [IsaacSim](https://github.com/isaac-sim/IsaacSim) | `MeshtoUSDConverter` |
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| [MuJoCo](https://github.com/google-deepmind/mujoco) / [Genesis](https://github.com/Genesis-Embodied-AI/Genesis) | `MeshtoMJCFConverter` |
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| [SAPIEN](https://github.com/haosulab/SAPIEN) / [IsaacGym](https://github.com/isaac-sim/IsaacGymEnvs) / [PyBullet](https://github.com/bulletphysics/bullet3) | `.urdf` generated by EmbodiedGen can be used **directly** |
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!!! note "Simulator Integration Overview"
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This table summarizes the compatibility of EmbodiedGen assets with various simulators:
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| Simulator | Supported Format | Notes |
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|-----------|-----------------|-------|
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| IsaacSim | USD / .usda | Use `MeshtoUSDConverter` to convert mesh to USD format. |
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| MuJoCo | MJCF (.xml) | Use `MeshtoMJCFConverter` for physics-ready assets. |
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| Genesis | MJCF (.xml) | Same as MuJoCo; fully compatible with Genesis scenes. |
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| SAPIEN | URDF (.urdf) | Can directly load EmbodiedGen `.urdf` assets. |
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| IsaacGym | URDF (.urdf) | Directly usable. |
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| PyBullet | URDF (.urdf) | Directly usable. |
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---
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## 🧱 Example: Conversion to Target Simulator
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```python
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from embodied_gen.data.asset_converter import SimAssetMapper, cvt_embodiedgen_asset_to_anysim
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from typing import Literal
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simulator_name: Literal[
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"isaacsim",
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"isaacgym",
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"genesis",
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"pybullet",
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"sapien3",
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"mujoco",
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] = "mujoco"
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dst_asset_path = cvt_embodiedgen_asset_to_anysim(
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urdf_files=[
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"path1_to_embodiedgen_asset/asset.urdf",
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"path2_to_embodiedgen_asset/asset.urdf",
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],
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target_type=SimAssetMapper[simulator_name],
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source_type=AssetType.MESH,
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overwrite=True,
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)
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```
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<img src="/EmbodiedGen/assets/simulators_collision.jpg" alt="simulators_collision" width="800">
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Collision and visualization mesh across simulators, showing consistent geometry and material fidelity.
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