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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 all export paths. Gizmo supports three export formats:
  • USD / USDZ — for NVIDIA Isaac Sim and Omniverse
  • MJCF — for MuJoCo
  • SDF — for Gazebo

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USD / Isaac Sim

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
  • Deformable body metadata where applicable
  • 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-body flexcomp metadata where applicable
Use MJCF when targeting MuJoCo.

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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
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. Gizmo supports standard robot profiles (Franka Panda, UR5, etc.) that are placed with correct base positioning and sensor configuration.

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API Export

Export programmatically without the browser: 
curl -X POST "https://api.gizmo.antimlabs.com/v1/scenes/{scene_id}/export" \
  -H "Authorization: Bearer gzm_k1_YOUR_KEY" \
  -H "Content-Type: application/json" \
  -d '{"format": "mjcf"}' \
  -o scene.zip
Supported format values: mjcf, usd, sdf. Optionally include robot_profile to embed a robot.

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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.