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Scene authoring in Gizmo is the process of taking AI-generated 3D assets and composing them into a complete, physics-ready simulation environment — ready to export directly to NVIDIA Isaac Sim or MuJoCo. Instead of manually modelling objects or wrestling with simulator file formats, you describe what you need, generate it, place it, and export.

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What Is a Scene?

A scene in Gizmo is a collection of 3D assets arranged in a shared simulation environment. Each asset in the scene carries:
  • Position and orientation — where the object sits in 3D space (XYZ coordinates, rotation)
  • Physics properties — mass, inertia, friction, and collision geometry auto-generated by the AI
  • Joint and link structure — articulation data that describes how moveable parts of an asset (doors, drawers, wheels) relate to each other
When you export a scene, Gizmo serialises all of this into the format your target simulator expects — so you don’t have to hand-edit USD, URDF, or MJCF files.
Gizmo uses a z-up, right-handed coordinate system, consistent with both NVIDIA Isaac Sim and standard robotics conventions.

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The Authoring Workflow

Building a scene follows four stages:
1

Describe

Write a natural-language prompt for each asset you need — for example, “Heavy-duty industrial steel pallet rack shelving unit, orange and blue”. Be specific about material, size, colour, and purpose for best results.
2

Generate

Gizmo’s AI model turns your description into a fully articulated 3D asset with joints, collision geometry, and physics properties already configured. Generation typically takes a few seconds.
3

Place

Add the generated asset to your scene and position it using the scene editor. Adjust position, rotation, and scale to match your simulation layout.
4

Export

Export the entire scene — or individual assets — to your target simulator in the appropriate format (USD/URDF for Isaac Sim, MJCF/XML for MuJoCo).

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Scene Composition

A scene is built by adding multiple assets and defining their spatial relationships. Common patterns include:

Warehouse Environments

Combine rolling ladders, pallet racks, safety bollards, and shopping carts to build a realistic warehouse floor for mobile-robot navigation tasks.

Medical Settings

Arrange rolling stools, wall-mounted storage cabinets, and biohazard bins to simulate a clinical room for assistive-robot evaluation.

Industrial Workstations

Place packing stations, overhead LED high-bay lights, and storage units together to recreate a fulfilment-centre work cell.

Domestic Interiors

Assemble kitchen islands, nightstands, bedside lamps, and wall cabinets to test household manipulation robots in a realistic home layout.
When placing assets you can:
  • Translate and rotate each object freely in the 3D viewport
  • Snap to surfaces to align objects naturally (e.g., place a lamp on a nightstand)
  • Duplicate assets to populate repetitive elements like shelf rows or bollard lines
Build your scene incrementally — generate one asset at a time, place it, then generate the next. This keeps the viewport responsive and makes it easy to spot layout issues early.

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Exporting Scenes

Once your scene is composed, export it for your simulator of choice:
SimulatorFormatWhat’s included
NVIDIA Isaac SimUSD or URDFMeshes, materials, articulation trees, physics properties
MuJoCoMJCF (XML)Bodies, joints, geoms, inertia, collision geometry
Both export formats are self-contained — you can load them directly into Isaac Sim or MuJoCo without additional post-processing or plugin installation.
Exports are available per-asset or as a full scene bundle. The scene bundle preserves the relative positions and orientations of every object so the layout you built in Gizmo is exactly what loads in the simulator. For step-by-step export instructions, see the Isaac Sim guide or the MuJoCo guide.