urdf-mjcf-to-usd-conversion
Installation
SKILL.md
URDF / MJCF -> USD Conversion
Two conversion paths and one export path.
| Path | When | Driver |
|---|---|---|
| 1. Full Isaac Sim import (CLI) | RL/Lab asset, scripted batch | isaacsim.asset.importer.urdf / .mjcf via urdf_import.py / mjcf_import.py |
| 2. Isaac Lab convert script | Isaac Lab-native config.yaml workflow | $ISAAC_LAB_DIR/scripts/tools/convert_urdf.py / convert_mjcf.py |
| Export | USD -> URDF round-trip | isaacsim.asset.exporter.urdf via urdf_export.py |
XACRO inputs
The URDFImporter core does not parse XACRO. Two supported paths:
Recommended — import directly from a running ROS 2 node
isaacsim.ros2.urdf adds a dedicated import path that queries the robot_description parameter on any node (typically robot_state_publisher) via the standard GetParameters service, resolves package:// URLs, writes the URDF to a temp file, and feeds it to URDFImporter. The node is responsible for XACRO expansion, so this also covers launch-file-only distributions that never ship a static URDF.
UI: File -> Import from ROS2 URDF Node (opens an import window with the same collider / robot-type / mesh options as the standard URDF importer).