[Question] How to Directly Import URDF and Mesh Files into IsaacLab Without Converting to USD Format?

[yilin404]

Hello everyone,

I currently have a large number of URDF and Mesh files (e.g., .obj, .glb formats) and I would like to import them into IsaacLab for simulation. Since the number of files is quite large, I want to avoid spending excessive time converting them into USD format.

Is there a way to directly import URDF and Mesh files into IsaacLab without the need for conversion to USD? If anyone has insights or suggestions on how to do this, I would greatly appreciate it!

[sosno]

Isaac Sim is built using USD. It's fundamental to how the Omniverse platform is built. I believe you must use USD. So unfortunately you will need to convert them.

I don't use URDF because I use closed loop kinematic robots -- so for that reason I couldn't answer questions related to that.

My workflow is to save out STEP files from OnShape assemblies. Then import into isaac sim which automatically converts them to USD. I then open the USD file and re-structure / re-organize it since the import process tends to create quite a few unnecessary prims in the hierarchy. I do this manually today but have considered writing a script to go through and restructure it automatically.

I know I'm not directly answering your question but hopefully this context is helpful anyway.

[yilin404]

Thank you for your reply! I really appreciate your help.