URDF / MJCF -> USD Conversion

Purpose

Import URDF and MJCF robot descriptions to USD with modern importer APIs, instanceable meshes, and drive configuration for RL or teleop.

Prerequisites

• For importer commands and UI: built Isaac Sim and the environment from isaac-sim-orchestrator.
• For migrated transformer/schema APIs: a completed source/libraries build or matching installed wheels; rendering requires a GPU, conversion alone does not.

Limitations

• Targets Isaac Sim 6 / Kit 110 unless a section states otherwise.
• Does not replace official NVIDIA documentation for unsupported edge cases.

Troubleshooting