Export 3D model from mujoco geom/mjcf

[Brycewan]

Intro

Hi!

I am a student at Shanghai Qi Zhi Institute, I use MuJoCo for my research on frction.

My setup

MuJoCo 3.2.3
python API

My question

In mujoco it is very quick and easy to generate a bot by setting body, joint, geom in xml and this bot can be visualized as an entity by mujoco.Renderer to get an image of it. I'm a bit curious how the rendering is achieved, and how I should go from a defined mjcf to a 3D model in a forma like stl or something like that. If so that I can use it for more advanced rendering with other existing tools instead of just using the visualisation tools that come with mujoco. Because I need to get the 3d model to do some more advanced rendering operations than just using mujoco's own visualisation tools or opengl.

Minimal model and/or code that explain my question

No response

Confirmations

• I searched the latest documentation thoroughly before posting.
• I searched previous Issues and Discussions, I am certain this has not been raised before.

[yuvaltassa]

Is this what you are looking for?
https://mujoco.readthedocs.io/en/latest/python.html#usd-exporter

[ykim104]

@yuvaltassa
do you have any reference links or script in the repo on using the exported USD file to render with the Omniverse renderer?
That would be really helpful for new Omniverse users. Thank you!!

[yuvaltassa]

@abhihjoshi should be able to help

[abhihjoshi]

If you are using Omniverse, you should be able to directly import the .usd using the UI. If you want to render offline, you will most likely have to use something like Isaac Lab to do so. Here is a script that uses the Isaac renderer with Isaac Lab for reference: https://github.com/ARISE-Initiative/robosuite/blob/master/robosuite/scripts/render_dataset_with_omniverse.py (note this is not in the mujoco repo).