Importing

Warning

OpenUSD support is currently experimental and subject to frequent change.

MuJoCo can load assets from OpenUSD files (.usd, .usda, .usdc, .usdz). This allows you to incorporate assets and scenes defined in USD into your MuJoCo simulations.

USD in MJCF

If you have built mujoco with USD enabled, you can reference USD assets from MJCF via the <model tag with content type text/usd.

example.xml

<mujoco>
  <asset>
    <model file="chair.usdz" name="chair" content_type="text/usd"/>
  </asset>

  <worldbody>
    ...
  </worldbody>
</mujoco>

In this example the <model file="chair.usdz"/> line in <asset> tells MuJoCo to load and process the USD file.