[isaacsim.asset.importer.urdf] Omniverse URDF Importer Core#

Version: 3.2.1

Imports URDF (Unified Robot Description Format) files into Omniverse USD scenes, converting robot models with their visual meshes, collision geometries, joints, and physics properties.

Enable Extension#

The extension can be enabled (if not already) in one of the following ways:

Command-line interface

Define the next entry as an application argument from a terminal.

APP_SCRIPT.(sh|bat) --enable isaacsim.asset.importer.urdf

Experience/extension configuration

Define the next entry under [dependencies] in an experience (.kit) file or an extension configuration (extension.toml) file.

[dependencies]
"isaacsim.asset.importer.urdf" = {}

Extension Manager UI

Open the Window > Extensions menu in a running application instance and search for isaacsim.asset.importer.urdf. Then, toggle the enable control button if it is not already active.

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.

import os

import omni.usd
from isaacsim.asset.importer.urdf import URDFImporter, URDFImporterConfig

# Get path to extension data.
ext_manager = omni.kit.app.get_app().get_extension_manager()
ext_id = ext_manager.get_enabled_extension_id("isaacsim.asset.importer.urdf")
extension_path = ext_manager.get_extension_path(ext_id)

urdf_path = os.path.join(extension_path, "data", "urdf", "robots", "carter", "urdf", "carter.urdf")
output_dir = os.path.dirname(urdf_path)

# Configure and import.
import_config = URDFImporterConfig(
    urdf_path=urdf_path,
    usd_path=output_dir,
    collision_from_visuals=False,
    merge_mesh=False
)

importer = URDFImporter(import_config)
output_path = importer.import_urdf()

# Open the resulting USD stage.
omni.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#