Deterministic simulation assets
from raw geometry.
Physics, collision, and engine-matched QA from mesh or CAD.
Structure-aware mass, inertia, and friction.
Solver-stable collision geometry.
Validation matched to the simulator you deploy.
MuJoCo contact sim on MJCF. Isaac/Omniverse schema QA on USD Physics exports.
Upload mesh, CAD, or USD. EnviScale compiles the physics, collision, and engine-matched QA a simulator needs (MuJoCo, Isaac Sim, and Omniverse) in one deterministic pass.
coffee_cup.step
- STEP detected
- Units resolved
- 2.4 MB
rigid_body.json
- Center of mass
- Inertia tensor
- Friction & restitution
convex_hulls.obj
- Convex parts
- Solver-safe hulls
- Visual mesh kept
validation_report.json
QA pass- MuJoCo stable
- Isaac schema
- Contacts pass
One compile. Engine-matched. Deterministic.
One file in. Simulation assets out.
Ingest any format, compile physics and collision, reconstruct fillable volumes, then export MJCF · URDF · USD Physics with pipeline QA.
Ingest any supported format, compile structure-aware physics and collision, reconstruct cavities and fillable volumes, then export MJCF, URDF, and USD Physics from a single source representation. Validation and simulator-specific QA run as part of the compilation pipeline.
Ingest any geometry
Normalize mesh, CAD, or USD. Units resolved automatically.
GLB, OBJ, STL, STEP, USD, and FBX all normalize into one clean representation. Units are resolved automatically. A STEP file in millimeters never silently imports as meters.
Raw geometry in.
A robot picks it up.
The meshes, collision geometry, physics outputs, and validation artifacts shown throughout this page come directly from the EnviScale compiler using the same production pipeline.
A full cup behaves like a full cup
Hollow containers get real cavity volume. Fill state shifts mass and CoM, not a solid bbox guess.
EnviScale reconstructs the hollow interior of containers, so fill state shifts the center of mass and contact response the way it does in the real world, not a bounding-box guess that treats every object as a solid block.
- ·Lightweight rigid body
- ·Gentle rim-to-base rocking
- ·Settles within 1.2 s
Validated in the simulator you ship.
MuJoCo runs real contact rollouts. Isaac Sim and Omniverse get UsdPhysics schema QA. Every compile returns a per-engine pass or fail, not a lint.
Settle-until-rest, then a mocap grasp probe on the compiled MJCF.
on Mesh · CAD · MJCFPhysics scene, rigid body, mass, colliders, and mesh refs all resolve.
on USD Physics exportPhysX schema, sublayer composition, and materials on the same bundle.
on USD Physics exportA machine-readable pass / fail per engine.
Gate CI on the exact simulator you deploy: no manual sign-off, no guessing which engine an asset is safe for.
{ "version": "2.0", "must_pass": true, "mujoco": { "settle_stable": "pass · 3.70s", "contact_probe_ok": "pass · 65.5%" }, "usd_physics": { "isaac_sim": { "must_pass": true }, "omniverse": { "must_pass": true } } }
One compile. Every simulator.
MJCF, URDF, and USD Physics from one compile. MuJoCo QA on mesh/CAD. Request usd_physics for Isaac/Omniverse schema QA.
Bring whatever your CAD team, scanner, or generator produces. One compile returns MJCF, URDF, and USD Physics with shared inertial properties. Request usd_physics to add Isaac Sim and Omniverse schema QA on the USD bundle.
MuJoCo-native MJCF with separated collision groups.
Native MuJoCo model with a correct inertial frame, separated collision groups, and stable contact parameters out of the box.
ROS-ready URDF with CAD-exact inertia and relative mesh paths.
ROS-compatible URDF carrying the same compiled inertial frame (a full 6-component tensor, CAD-exact from STEP) with relative mesh paths that drop straight into ROS 1 / ROS 2 workspaces.
Sublayered USD Physics with inline Isaac/Omniverse schema QA.
Sublayered USD Physics (scene · physics · materials) on the visual hierarchy. Isaac Sim UsdPhysics and Omniverse PhysX schema QA run inline at export. Mass, inertia, colliders, and material binding preserved.
Whole scenes, not just single objects
Pick a template, fix a seed, compile objects into a resting multi-object scene.
Pick a scene template, compile your objects, fix a seed. EnviScale places each asset on a stable resting pose and assembles a complete multi-object scene, every object individually validated and ready to export.
Built for robotics simulation teams
RL labs, Physical-AI teams, and simulation engineers.
Stop losing episodes to bad assets
Solver-safe CoACD collision and MuJoCo-checked physics before your training loop.
settle_stable · no_nan · penetration < 5 mm · contact_probe_okOne compile, every simulator
MJCF · URDF · USD from one IR, shared inertia, per-engine QA.
MJCF · URDF · USD Physics · shared inertial frameScale geometry to sim-ready
Batch-compile via REST with auto units, provenance, and validation.
REST · auto units · X-Resolution-Source · validation_report.jsonBenchmarks you can re-run
Pinned compiler and fixed seed reproduce identical collision and inertia.
seed 42 · pinned compiler · geometry-hash cacheCompile from your pipeline
One POST returns MJCF, collision meshes, physics report, and engine-matched validation headers.
One API call returns a simulation-ready asset: MJCF, collision meshes, physics report, and validation_report.json with engine-matched QA: MuJoCo contact simulation on MJCF, Isaac and Omniverse schema checks on USD Physics exports. Per-engine headers for batch jobs and CI.
curl -X POST https://api.enviscale.com/api/v1/scene \ -H "X-API-Key: $ENVISCALE_API_KEY" \ -F "file=@gearbox_housing.step" \ -F "scene_name=gearbox_housing" \ -F "export_format=mjcf" \ -F "surface_condition=all" \ -F "fill_state=all" \ -F "collision_quality=balanced" \ -F "input_units=auto" \ --output gearbox.zip -D headers.txtFor evaluation and research.
- *Playground
- *25 asset compilations / month
- *Validation reports
- *MJCF · URDF · USD Physics exports
- *Community support
- *No API access
- *Playground
- *25 asset compilations / month
- *Validation reports
- *MJCF · URDF · USD Physics exports
- *Community support
- *No API access
For robotics teams integrating EnviScale into production workflows.
- *REST API
- *Batch compilation
- *Team workspaces
- *Multi-simulator exports
- *CI/CD integration
- *Priority support
- *REST API
- *Batch compilation
- *Team workspaces
- *Multi-simulator exports
- *CI/CD integration
- *Priority support
Includes 500 asset compilations/month. Additional usage is billed based on your production workload.
For high-volume robotics organizations.
- *Dedicated infrastructure
- *On-prem deployment
- *SSO
- *SLA
- *Custom validation
- *Dedicated support
- *Custom usage agreements
- *Dedicated infrastructure
- *On-prem deployment
- *SSO
- *SLA
- *Custom validation
- *Dedicated support
- *Custom usage agreements
Upload in the dashboard or call the REST API.
Upload a mesh or CAD file in the dashboard, or call the API from your training pipeline.