URDF Import Extension [isaacsim.asset.importer.urdf]#

URDF Importer API#

The URDF importer provides a Python API for configuring and converting URDF files into USD assets. Below is a sample demonstrating how to import the Carter URDF included with this extension.

 1import os
 2
 3import omni.usd
 4from isaacsim.asset.importer.urdf import URDFImporter, URDFImporterConfig
 5
 6# Get path to extension data.
 7ext_manager = omni.kit.app.get_app().get_extension_manager()
 8ext_id = ext_manager.get_enabled_extension_id("isaacsim.asset.importer.urdf")
 9extension_path = ext_manager.get_extension_path(ext_id)
10
11urdf_path = os.path.join(extension_path, "data", "urdf", "robots", "carter", "urdf", "carter.urdf")
12output_dir = os.path.dirname(urdf_path)
13
14# Configure and import.
15import_config = URDFImporterConfig(
16    urdf_path=urdf_path,
17    usd_path=output_dir,
18    collision_from_visuals=False,
19    merge_mesh=False
20)
21
22importer = URDFImporter(import_config)
23output_path = importer.import_urdf()
24
25# Open the resulting USD stage.
26omni.usd.get_context().open_stage(output_path)
class URDFImporter(
config: URDFImporterConfig | None = None,
)#

URDF to USD importer.

Uses urdf-usd-converter to convert URDF files to USD format.

Parameters:

config – Optional configuration for the import operation.

Example:

>>> from isaacsim.asset.importer.urdf import URDFImporter
>>> URDFImporter()
<...>
import_urdf(
config: URDFImporterConfig | None = None,
) → str#

Import a URDF file and convert it to USD.

Parameters:

config – Optional configuration for the import operation. If not provided, the stored importer configuration will be used.

Returns:

Path to the generated USD file.

Raises:

ValueError – If the URDF path is not configured.

Example:

>>> from isaacsim.asset.importer.urdf import URDFImporter, URDFImporterConfig

>>> importer = URDFImporter()
>>> config = URDFImporterConfig(urdf_path="/tmp/robot.urdf")
>>> importer.config = config
>>> # output_path = importer.import_urdf()
property config: URDFImporterConfig#

Get the importer configuration.

Returns:

Current importer configuration.

Example:

>>> from isaacsim.asset.importer.urdf import URDFImporter, URDFImporterConfig

>>> importer = URDFImporter()
>>> importer.config  
URDFImporterConfig(...)
class URDFImporterConfig(
urdf_path: str | None = None,
usd_path: str | None = None,
merge_mesh: bool = False,
debug_mode: bool = False,
collision_from_visuals: bool = False,
collision_type: str = 'Convex Hull',
allow_self_collision: bool = False,
ros_package_paths: list[dict[str,
str]] = <factory>,
)#

Configuration for URDF import operations.

Stores settings that control how URDF files are converted to USD.

Parameters:

  • urdf_path – Path to the URDF (.urdf) file to import.

  • usd_path – Directory path where the USD file will be saved.

  • merge_mesh – If True, merges meshes where possible to optimize the model.

  • debug_mode – If True, enables debug mode with additional logging and visualization.

  • collision_from_visuals – If True, collision geometry is generated from visual geometries.

  • collision_type – Type of collision geometry to use. Options: “Convex Hull”, “Convex Decomposition”, “Bounding Sphere”, “Bounding Cube”.

  • allow_self_collision – If True, allows the model to collide with itself.

  • ros_package_paths – List of ROS package name/path mappings for resolving package:// URLs.

Example:

>>> from isaacsim.asset.importer.urdf import URDFImporterConfig

>>> config = URDFImporterConfig(
...     urdf_path="/tmp/robot.urdf",
...     usd_path="/tmp/output",
...     merge_mesh=True
... )
>>> config.urdf_path
'/tmp/robot.urdf'
allow_self_collision: bool = False#
collision_from_visuals: bool = False#
collision_type: str = 'Convex Hull'#
debug_mode: bool = False#
merge_mesh: bool = False#
ros_package_paths: list[dict[str, str]]#
urdf_path: str | None = None#
usd_path: str | None = None#