URDF <-> SDF <-> MJCF Format Converter — Lossless Robot File Conversion

Losslessly convert between URDF, SDF, and MJCF robot description formats. Preserves masses, inertia tensors, joint limits, and the full kinematic chain. Works with Isaac Sim, Gazebo, MuJoCo, and ROS2.

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SimTooReal — Free AI-Powered URDF · SDF · MJCF Robot Generator, Converter & Validator

SimTooReal is a unified AI toolchain for generating, converting, visualizing, and validating robot description files — URDF, SDF, and MJCF — directly in your browser. No install. No config. Powered by Claude AI and a Rust backend.

Tools

AI Robot Generator — Describe any robot in plain English and get a complete, physics-correct URDF, SDF or MJCF file in seconds.
Format Converter — Losslessly convert between URDF, SDF and MJCF, preserving masses, inertias, joint limits and the full kinematic chain.
Physics Validator — Run 15+ structural and physics checks on any robot file and receive a quality score with fix suggestions.
Universal 3D Viewer — Drag-drop any URDF, SDF, MJCF or STL file for real-time WebGL 3D visualization with interactive joint control.

Supported Simulators

Isaac Sim · MuJoCo · Gazebo · Isaac Lab · ROS 2 · PyBullet

SimTooReal is completely free to use with no signup required.

URDF <-> SDF <-> MJCF Format Converter — Lossless Robot File Conversion

Losslessly convert between URDF, SDF, and MJCF robot description formats. Preserves masses, inertia tensors, joint limits, and the full kinematic chain. Works with Isaac Sim, Gazebo, MuJoCo, and ROS2.

<- Back to SimTooReal home

SimTooReal — AI-Powered Robotics Developer Tools for URDF, SDF & MJCF files. Free, instant, no signup.