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Import URDF

Learning Objectives

After completing this tutorial, you will have learned:

  • How to import URDF files into Isaac Sim
  • How to configure import settings (base type, density, collision properties)
  • How to visualize and inspect collision meshes
  • How to import URDF programmatically using Python scripts
  • How to import URDF from ROS 2 nodes

Getting Started

Prerequisites

  • Complete the Quick Tutorials in Isaac Sim.
  • Familiarity with the URDF Importer Extension basics.

Estimated Time

Approximately 10-15 minutes.

Overview

In this tutorial, you will learn how to import URDF (Unified Robot Description Format) files into Isaac Sim and convert them to USD format. Three methods are covered: direct GUI import, Python scripting, and ROS 2 node import.

Direct Import via GUI

  1. Enable the isaacsim.asset.importer.urdf extension.

    Enable extension

  2. Navigate to File > Import and select a URDF file.

    Select robot

  3. Configure import settings (output location, base type, density, collision properties) and click Import.

    Import result

Key Settings

Setting Description
Static Base / Moveable Base Whether the robot base is fixed or mobile
Natural Frequency Natural frequency for joint stability
Self-Collision Enable/disable self-collision detection

Visualizing Collision Meshes

To view collision meshes, click the eye icon in the viewport → Show by type > Physics > Colliders > All.

Collision meshes

UI Integration Examples

The Robotics Examples tab provides pre-configured examples:

  • Nova Carter URDF
  • Franka URDF
  • Kaya URDF
  • UR10 URDF

UI integration examples

Python Scripting Import

You can import URDF programmatically using _urdf.acquire_urdf_interface() and ImportConfig().

Python import

Mobile Robot Configuration

  • Use Moveable Base setting
  • Set velocity drive for wheels, position drive for steering
  • Adjust Joint Drive Strength for damping

Torque-Controlled Robots (Quadrupeds)

  • Enable Moveable Base
  • Set joint drive type to "None" for torque control
  • Configure stiffness/damping parameters

ROS 2 Node Import

On Linux environments, you can import URDF directly from ROS 2 nodes:

  1. Terminal 1: Launch Transform Publisher
  2. Terminal 2: Identify node name
  3. Isaac Sim → File > Import from ROS 2 URDF Node

Summary

This tutorial covered the following topics:

  1. Direct URDF import via GUI
  2. Configuring import settings (base type, collision, drives)
  3. Collision mesh visualization
  4. Python scripting for programmatic import
  5. Import from ROS 2 nodes

Next Steps