What is asset-converter?

A conversion skill for turning EmbodiedGen URDF 3D assets into formats used by different simulators. URDF is a robot and object description format; USD and MJCF are formats used by simulation software.

Use it to prepare assets for IsaacSim, MuJoCo, or Genesis, or to confirm that SAPIEN, IsaacGym, and PyBullet can use the original URDF directly.

It removes the need to know which asset format each simulator expects and whether conversion is necessary.

asset-converter — Skill for Claude Code and Codex by HorizonRobotics

Install

Getting it into your agent

One page per mod, every tool's command on it. A separate URL per tool would split the same page into five that compete with each other.

Any agent

npx skills add HorizonRobotics/EmbodiedGen --skill asset-converter

Clone the repo

git clone --depth 1 https://github.com/HorizonRobotics/EmbodiedGen

Made for: Claude Code, Codex.

Wrote this? Show the measurements

A badge with what this costs and how it scanned, read live from this page, so it follows the numbers instead of freezing them. Markdown for a README, HTML for a documentation site or a project page.

README.md

[![agentmods](https://agentmods.dev/badge/skills/horizonrobotics/embodiedgen/asset-converter/github.svg)](https://agentmods.dev/skills/horizonrobotics/embodiedgen/asset-converter)

Your own site

<a href="https://agentmods.dev/skills/horizonrobotics/embodiedgen/asset-converter"><img src="https://agentmods.dev/badge/skills/horizonrobotics/embodiedgen/asset-converter/github.svg" alt="Measured on agentmods" height="20"></a>

Or the 80×15 button, for a site that already has a row of RSS and ATOM ones. Only the verdict fits; the numbers stay here.

Your own site · 80×15

<a href="https://agentmods.dev/skills/horizonrobotics/embodiedgen/asset-converter"><img src="https://agentmods.dev/badge/skills/horizonrobotics/embodiedgen/asset-converter.svg" alt="Reviewed on agentmods" width="80" height="20"></a>

Per session 79 Skills are progressive disclosure: only the name and description are preloaded; the body loads when the skill is used.

When invoked 784 The whole file, excluding the scripts and references it only reads on demand.

Security scan A 0 findings. A grade says what 26 rules found in the file — not that it is safe. Third-party audits

NVIDIA SkillSpector pass 7 Sept 2026

How audits are shown

Origin original No closer match found in the catalogue.

Token cost

What it costs to keep this loaded

Counted locally with the o200k_base tokenizer, which is exact for GPT models; Claude uses its own tokenizer and its counts differ. Treat this as one consistent yardstick across the catalogue rather than a bill. Prices are per million input tokens.

Model	Per session	Once invoked
Fable 5.1	$0.00079	$0.00784
Opus 5	$0.00039	$0.00392
Sonnet 5	$0.00016	$0.00157
Haiku 4.5	$0.00008	$0.00078

Measured 10d ago against content hash 0138a2554b15, method: parsed. Prices are Anthropic first-party input rates as of 2026-09-10, from the pricing page.

Security

Grade A, and why

asset-converter scanned grade A with 0 findings against 26 rules in 11 categories — prompt injection, anti-refusal, data exfiltration, privilege escalation, supply chain, agent snooping, system-prompt leakage, SSRF and excessive agency — measured 10d ago.

A static scan of the body, not an audit. Every finding is printed with the line that produced it so you can judge whether it matters here. A mod is markdown that instructs an agent; that is exactly why what it instructs is worth reading.

Nothing flagged

None of the 26 patterns this scan looks for appear in this file: no shell pipes, no recursive deletes, no credential paths, no hidden text, no instruction-override or anti-refusal phrasing, no agent-config snooping. That is not a guarantee, it is the absence of the things that are checkable.

embodied_gen/skills/asset-converter/SKILL.md · 89 lines

How it starts

The opening of the file, as written. The whole thing — 89 lines — stays where its author put it; the contents beside it link to each section on GitHub.

Asset Converter

Unified entry for simulator-targeted asset conversion using embodied_gen.data.asset_converter.

When To Use

Use this skill when users want to:

Convert EmbodiedGen assets for IsaacSim (USD) or MuJoCo/Genesis (MJCF).
Batch-convert multiple URDF assets into simulator-ready outputs.
Map simulator names to the correct target format and conversion strategy.
Decide when conversion is unnecessary (URDF can be used directly).

Routing Rules (Core)

IsaacSim -> convert to USD.
MuJoCo / Genesis -> convert to MJCF (.xml).
SAPIEN / IsaacGym / PyBullet -> use EmbodiedGen .urdf directly (no conversion required).

Pre-checks

Run from repository root with embodiedgen environment active.
Confirm input URDF path(s) exist.
For USD conversion, ensure IsaacLab/IsaacSim conversion dependencies are available.
Prefer list inputs for urdf_files and target_dirs (same length, aligned by index).

Standard Python API Template

from embodied_gen.data.asset_converter import cvt_embodiedgen_asset_to_anysim
from embodied_gen.utils.enum import AssetType, SimAssetMapper

simulator_name = "mujoco"  # isaacsim / mujoco / genesis / sapien / isaacgym / pybullet

asset_paths = cvt_embodiedgen_asset_to_anysim(
    urdf_files=[
        "outputs/demo_assets/remote_control/result/remote_control.urdf",
    ],
    target_dirs=[
        "outputs/demo_assets/remote_control/mjcf",
    ],
    target_type=SimAssetMapper[simulator_name],
    source_type=AssetType.URDF,
    overwrite=True,
)
print(asset_paths)

Source Type Guidance

For MJCF target: prefer source_type=AssetType.URDF.
For USD target: use source_type=AssetType.MESH by default; AssetType.URDF path is also supported when needed.
For direct-URDF simulators (sapien, isaacgym, pybullet): skip conversion.

Direct Converter Template (Advanced)

from embodied_gen.data.asset_converter import AssetConverterFactory
from embodied_gen.utils.enum import AssetType

converter = AssetConverterFactory.create(
    target_type=AssetType.USD,
    source_type=AssetType.MESH,
)

with converter:
    converter.convert(
        "outputs/demo_assets/remote_control/result/remote_control.urdf",
        "outputs/demo_assets/remote_control/usd/remote_control.usd",
    )

Read the full file on GitHub · 89 lines

Changes

What this file has done since we first saw it

Hashed on every crawl. A supply-chain change to an agent config is a question of when, not whether, so the history is kept rather than the latest state alone.

10d ago First seen · 89 lines · 79 tokens per session scan A 0138a2554b15

Subscribe to this mod's changes

asset-converter is a skill published in the GitHub repository HorizonRobotics/EmbodiedGen (660 stars, last pushed 17d ago), licensed Apache-2.0. It adds 79 tokens to every session and 784 once invoked, about $0.0004 per session on Opus 5. A static security scan graded it A with 0 findings. No closer match exists in the catalogue, so it is treated as the original; first seen 2026-08-30.

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