USD to URDF Exporter Extension

Overview

The USD to URDF Exporter is a tool to convert a USD stage or file to a URDF file. A user just needs to open a stage with the desired USD they want to export, and provide the path to directory where the new URDF file will be saved, or the path to the new URDF file directly.

To enable this extension, open the Extension Manager window by navigating to Window > Extensions, and enable isaacsim.asset.exporter.urdf.

Once enabled, the USD to Exporter is accessed by going to the top Menu Bar and clicking File > Export to URDF. Mesh files are saved by default to a meshes directory, which is placed in the same directory as the new URDF file. Additional options are available that allow customization of some parts of the conversion.

Output File/Directory

Either the file path for the new URDF file. The file path conventionally ends with the extension .urdf.

Or a directory path where new URDF file will be saved. The new URDF file will have the same name as the USD.

Mesh Directory Path

The directory where the meshes will be saved for the URDF (defaults to the same directory as the as where the URDF file is saved).

Mesh Path Prefix

A prefix to apply to each mesh filename. For example, to set the mesh file paths to valid URI with the file scheme, set the mesh path prefix to file://.

Root Prim Path

The root prim within the USD stage of the kinematic tree to be exported to URDF. The default is the default prim of the the USD file.

Visualize Collisions

If set, the collision meshes are included as visual meshes in the resulting URDF.