Interoperability with other modeling formats

SDFormat can interoperate with other formats, in particular with USD and MJCF. We have created command line tools to convert between these formats. The tools take as input SDFormat files that works in Gazebo Sim and produce as output a MJCF/USD files that work in Mujoco/NVIDIA Omniverse with approximately equivalent results; and vice versa.

USD

gz-usd provides tools to convert between SDF and USD files.

• How to install gz-usd
• Tutorials

MJCF

This Python package (sdformat_mjcf) allows bidirectional conversion between SDFormat and MJCF to share worlds and robot models.

• How to install gz-mujoco
• Tools for converting SDFormat to MJCF
• Tools for converting MJCF to SDFormat

NOTE: MJCF is only available with version 13 and later.