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 structure-aware physics and collision, then validates against the simulator your export targets: headless MuJoCo contact rollouts on MJCF, Isaac Sim and Omniverse schema QA on USD Physics bundles. One compile, the right depth per engine.
Visual geometry is not simulation geometry
Meshes look fine but lack mass, collision, and sim-ready packaging. EnviScale compiles physics, validates per engine, and exports MJCF · URDF · USD.
CAD files, scanned objects, and mesh libraries give you shape and appearance. Robotics simulators need mass properties, stable collision, contact parameters, and packaging for MuJoCo, Isaac, or Omniverse. That work still falls on sim engineers, asset teams, and ML infra.
EnviScale sits between raw geometry and your simulator, compiling simulation-ready assets from meshes and CAD.
No mass. Wrong units. Visual mesh used as collision. Cups treated as solid blocks. Objects explode on first contact or drift through the gripper, wasting GPU hours on broken episodes.
Structure-aware physics, solver-safe collision, MuJoCo contact simulation on mesh and CAD compiles, Isaac and Omniverse USD schema QA on Physics exports, and MJCF / URDF / USD in one ZIP with validation_report.json and per-engine CI headers.
Physics compilation
Structure-aware physics from geometry—hollow containers and fill-state CoM.
Render meshes have no mass, inertia, or contact properties.
EnviScale compiles structure-aware physics from geometry, including hollow containers and fill-state center of mass.
Collision compilation
Simulation-safe collision: primitives, hulls, CoACD, or VHACD.
Visual meshes are optimized for rendering, not contact.
EnviScale generates simulation-safe collision geometry using primitives, convex hulls, CoACD, or VHACD.
Engine-matched simulator QA
MuJoCo contact sim on MJCF. USD Physics validation for Isaac and Omniverse.
Validation should match the simulator you deploy.
MuJoCo runs contact simulation on compiled MJCF. Isaac and Omniverse validate exported USD Physics bundles.
Multi-backend export
MJCF, URDF, and USD Physics with consistent properties.
One compile exports MJCF, URDF, and USD Physics from the same source asset.
Shared physics properties remain consistent across simulators.
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.
Physics rollouts for MuJoCo. Import schema QA for Isaac and Omniverse.
MuJoCo contact sim on MJCF. USD schema QA on Physics exports. Per-engine CI headers. Use usd_physics for the full lane.
Most tools lint a file and call it validated. EnviScale runs two QA depths matched to the simulator you ship: headless MuJoCo contact simulation on compiled MJCF (settle + mocap probe), and production UsdPhysics / PhysX schema checks on USD Physics exports, inline at export, with per-engine headers for CI.
Request usd_physics for the full lane on single-object compiles. Room workflows apply the right QA per input: MuJoCo for mesh and CAD, Isaac and Omniverse for native USD uploads.
Franka Panda pick-and-place recordings prove manipulation readiness on the same compiled physics, not a separate tuning pass.
Settle + mocap contact probe on compiled MJCF.
UsdPhysics schema: scene, rigid body, colliders, mesh refs.
PhysX schema, sublayers, and materials layer on USD export.
MuJoCo
Headless rollouts on the compiled MJCF: settle-until-stable, then mocap contact probe along the shortest bbox axis.
- ·Drop spawn until rest (10 s cap), no NaN, no explosion
- ·Mocap pads squeeze object, ≥10% contact in close window
- ·must_pass gates settle_stable + contact_probe_ok
Isaac Sim
UsdPhysics schema QA on the exported stage: physics scene, rigid body, mass, colliders, mesh refs, and stage units (Z-up, meters).
- ·UsdPhysics.Scene + RigidBodyAPI + MassAPI
- ·CollisionAPI + MeshCollisionAPI (convexHull)
- ·Visual/collision mesh references resolve on disk
Omniverse
PhysX / Omniverse readiness on the same USD bundle: sublayer composition, materials layer, portable physics structure, and PhysX schema when available.
- ·scene.usda sublayers (physics + materials)
- ·PhysxSceneAPI · PhysxRigidBodyAPI · PhysxCollisionAPI
- ·metadata.json provenance + compatibility flags
Curated Franka demo on compiled MJCF. Not part of automated room QA.
- validation_report.json : v2.0 when both QA lanes run; per-engine sections otherwise
- usd_physics_validation.json : Isaac + Omniverse detail on USD Physics exports
- Per-engine response headers gate CI on the simulator you use
- Preview bundle in Playground with compilation checks
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
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. EnviScale returns simulator-ready MJCF, URDF, and USD Physics from one compile with shared inertial properties. MuJoCo contact simulation runs on mesh and CAD compiles. Request usd_physics to add Isaac Sim UsdPhysics and Omniverse PhysX schema QA on the USD bundle. URDF shares the same compiled inertial properties.
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 relative mesh paths.
ROS-compatible URDF with clamped joint limits and relative mesh paths that drop straight into ROS 1 / ROS 2 workspaces.
USD Physics with inline Isaac/Omniverse schema QA.
USD Physics layered on the visual hierarchy. Isaac Sim UsdPhysics + Omniverse PhysX QA run inline during export. Mass, inertia, collision, 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. Mesh and CAD objects get per-object MuJoCo contact simulation; native USD uploads get Isaac and Omniverse USD schema QA on their Physics export. Manipulation demos live in the simulator QA section; this is about layout and export.
Built for robotics simulation teams
Physical-AI teams compile raw geometry into validated simulation assets for RL, multi-sim, and asset pipelines.
Physical-AI teams, RL labs, and simulation engineers use EnviScale to compile raw geometry into validated simulation assets.
Stop losing episodes to bad assets
Engine-matched QA before assets hit your training loop.
Contact-safe collision, structure-aware physics, and engine-matched QA: MuJoCo contact simulation on MJCF, Isaac/Omniverse USD schema on Physics exports, before assets enter your training loop. Fewer penetrations, explosions, and broken imports.
One compile, every simulator
MJCF · URDF · USD with shared inertia and per-engine QA.
Export the same asset to MuJoCo, Isaac Lab, and Omniverse from one compile: shared inertial properties, validation matched to each backend you ship.
Scale geometry to sim-ready
Batch-compile via REST API with validation reports.
Batch-compile mesh libraries, CAD exports, and scanned objects through the REST API. Provenance headers and validation reports on every job.
Benchmarks you can re-run
Pinned compiler version for reproducible collision paths.
Geometry-first compiles with a pinned compiler version support regression tests and cross-team benchmarks. Identical meshes reproduce the same collision and inertia paths.
Compile 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.txt- *clean profiles only
- *empty state only
- *no API key
- *3-object room templates
- *all profiles
- *all fill states
- *API keys
- *all 4 templates
- *all profiles, fill states
- *API keys
- *priority queue
- *high-volume workflows
Need higher volume, on-prem deployment, or custom integrations? Contact us.
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.