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URDF Importer UI Extension [isaacsim.asset.importer.urdf.ui]#

URDF Import UI Workflow#

Enable the URDF UI extension to import URDF assets through the asset importer UI. The UI uses the same configuration object as the core importer.

Deprecated Commands#

The following commands are deprecated and provided for backward compatibility only. New code should use URDFImporter and URDFImporterConfig directly.

class isaacsim.asset.importer.urdf.ui.impl.command.URDFCreateImportConfig#

Deprecated command to create an ImportConfig object.

Should be used with the URDFParseFile and URDFImportRobot commands.

Deprecated since version Use: URDFImporterConfig() directly instead.

do() → URDFImporterConfig#

Execute the command to create an import configuration.

Returns:

New URDFImporterConfig instance.

undo() → None#

Undo the command (no-op).

class isaacsim.asset.importer.urdf.ui.impl.command.URDFParseText(
urdf_text='',
import_config=URDFImporterConfig(),
)#

Deprecated command to parse a URDF string.

Parameters:

  • urdf_text (str) – The URDF string to parse.

  • import_config (URDFImporterConfig) – Import configuration.

Deprecated since version Parsing: URDF strings is not supported. Use URDFImporter() with a file path instead.

do() → NoReturn#

Execute the command to parse the URDF string.

Raises:

RuntimeError – Parsing URDF strings is no longer supported.

undo() → None#

Undo the command (no-op).

class isaacsim.asset.importer.urdf.ui.impl.command.URDFParseFile(
urdf_path='',
import_config=URDFImporterConfig(),
)#

Deprecated command to parse a URDF file.

Parameters:

  • urdf_path (str) – The absolute path to the URDF file.

  • import_config (URDFImporterConfig) – Import configuration.

Deprecated since version Use: URDFImporter() directly instead.

do() → NoReturn#

Execute the command to parse the URDF file.

Raises:

RuntimeError – Parsing URDF files is no longer supported.

undo() → None#

Undo the command (no-op).

class isaacsim.asset.importer.urdf.ui.impl.command.URDFImportRobot(
urdf_path='',
urdf_robot=None,
import_config=URDFImporterConfig(),
dest_path='',
return_articulation_root_prim=False,
)#

Deprecated command to import a URDF robot.

Parameters:

  • urdf_path (str) – The absolute path to the URDF file.

  • urdf_robot (object) – The robot model from URDFParseFile (optional, for backward compatibility).

  • import_config (URDFImporterConfig) – Import configuration.

  • dest_path (str) – Destination path for robot USD. Default is “” which will load the robot in-memory on the open stage.

  • return_articulation_root_prim (bool) – Whether to return the articulation root prim instead of the robot USD path.

Deprecated since version Use: URDFImporter() directly instead.

do() → tuple[Result, str]#

Execute the command to import the URDF file.

Returns:

Tuple of (Result, prim_path).

undo() → None#

Undo the command (no-op).