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Every scene you generate stays in your Gizmo library. The same scene can be exported to any supported simulator on demand — no separate per-simulator authoring, no manual re-conversion. Robotics metadata (joints, masses, inertias, collision shapes, materials, affordances) is preserved through the simulator export paths (USD, MJCF, SDF). GLB is visual-only and does not carry physics or joints. Gizmo supports five export formats:
  • USD / USDZ — for NVIDIA Isaac Sim and Omniverse
  • MJCF — for MuJoCo
  • SDF — for Gazebo
  • GLB — visual mesh interchange (lossy, no physics)

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USD / Isaac Sim

Assets with a canonical native USD revision preserve that USD package instead of rebuilding their meshes from the editor projection. An unchanged single-asset USDZ download returns the original package. GLB is a separate display derivative of that revision. Native USD physics/material coverage is reported separately; a successful file download does not certify simulation or rendered equivalence. Part, material or joint edits must be published to a new USD revision before native export. Unsupported edits produce an error instead of silently returning stale geometry. Older assets without native USD use the compatibility exporter. MJCF/SDF currently retain their existing compatibility paths. Gizmo exports USD/USDZ with:
  • Native USD primitives where possible
  • Meshes for CSG operations, modifiers, extrudes, shells, tori, tubes, and other complex geometry
  • Materials and PBR texture references
  • Physics collision metadata
  • Rigid body metadata
  • Mass and inertia
  • Revolute, prismatic, spherical, and fixed joints
  • Joint limits
  • Mimic / coupled joint metadata where applicable
  • Soft bodies as PhysX deformables — the bundle includes a setup_deformables.py script that cooks the deformable bodies through Isaac Sim’s PhysX pipeline (run it once in Window > Script Editor after loading the stage; PhysX cooking cannot be authored in raw USDA)
  • Custom attributes that preserve parametric data
Use USD when targeting Isaac Sim or Omniverse.

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MJCF / MuJoCo

Gizmo exports a zipped MJCF project with:
  • Main XML file
  • Mesh directory
  • Texture directory
  • Bodies and geoms
  • Inertial properties
  • Hinges, slides, ball joints, free joints, and fixed relationships
  • Equality constraints for coupled joints
  • Soft bodies as flexcomp deformables (cloth, cushions, and other soft materials), authored to MuJoCo’s reference patterns
Use MJCF when targeting MuJoCo.

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MuJoCo version requirements

Older MuJoCo versions crash the moment the file is opened: releases before 3.3 reject the solver configuration at parse time, and releases before 3.9 abort on deformable scenes with a constraint-allocation error (mj_makeConstraint: constraint Jacobian mis-allocation) — a MuJoCo sparse-solver bug fixed in 3.9. If MuJoCo closes instantly when you open an exported scene, update to the latest MuJoCo release. Gizmo’s in-browser Play mode runs MuJoCo 3.10, so exports match what you previewed.

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SDF / Gazebo

Gizmo exports an SDF world bundle with:
  • World file with physics and scene configuration
  • Model directories with meshes (OBJ/STL) and materials
  • Links, joints, and collision geometry
  • Inertial properties
  • Sensor definitions (camera, depth camera, GPU lidar, IMU, contact)
  • Fuel robot URIs for standard robot profiles
The SDF specification has no soft-body element, so deformable prims export as rigid bodies in SDF. Use the USD or MJCF export when soft-body physics matters. Use SDF when targeting Gazebo (Classic or Ignition/Garden).

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Robot Embedding

At export time, you can optionally embed a robot into your scene. The editor lets you place robot spawns from the Robotics > Browse robot library menu (searchable MuJoCo Menagerie + your own uploaded MJCF/URDF robots), and the export dialog lets you pick a specific robot embodiment or use each spawn’s assigned robot. Supported built-in profiles range from Franka Panda and UR arms to quadrupeds (Spot, Go2, ANYmal) and humanoids (H1, G1, Digit, etc.).

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API Export

Download an individual asset programmatically:
Use the result.asset.id from a successful generation job as ASSET_ID. The required format is a query parameter; no JSON body is needed. Supported values are mjcf, usd, usdz, glb, and sdf. The response is binary file data: .usdz for USDZ, .glb for the published native revision’s preview, and .zip for other formats. A missing or stale native GLB preview returns HTTP 409. See Asset API for generation, polling, and error handling.

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Cross-Simulator Testing

Because the same Gizmo scene drives all export paths, you can compare behavior across simulators directly:
  1. Generate the scene once in Gizmo.
  2. Export → USD and load it in Isaac Sim.
  3. Export → MJCF and load it in MuJoCo.
  4. Export → SDF and load it in Gazebo.
  5. Compare physics, articulation, and contact behavior side by side.
Any change you make to the scene in Gizmo flows to all targets on the next export.