Importing a New Asset

NVIDIA Omniverse relies on the Universal Scene Description (USD) file format to import and export assets. USD is an open source file format developed by Pixar Animation Studios. It is a scene description format optimized for large-scale, complex data sets. While this format is widely used in the film and animation industry, it is less common in the robotics community.

To this end, NVIDIA has developed various importers that allow you to import assets from other file formats into USD. These importers are available as extensions to Omniverse Kit:

• URDF Importer - Import assets from URDF files.

• MJCF Importer - Import assets from MJCF files.

• Asset Importer - Import assets from various file formats, including OBJ, FBX, STL, and glTF.

The recommended workflow from NVIDIA is to use the above importers to convert the asset into its USD representation. Once the asset is in USD format, you can use the Omniverse Kit to edit the asset and export it to other file formats. Isaac Sim includes these importers by default. They can also be enabled manually in Omniverse Kit.

An important note to use assets for large-scale simulation is to ensure that they are in instanceable format. This allows the asset to be efficiently loaded into memory and used multiple times in a scene. Otherwise, the asset will be loaded into memory multiple times, which can cause performance issues. For more details on instanceable assets, please check the Isaac Sim documentation.

Using URDF Importer

For using the URDF importer in the GUI, please check the documentation at URDF importer. For using the URDF importer from Python scripts, we include a utility tool called convert_urdf.py. This script creates an instance of UrdfConverterCfg which is then passed to the UrdfConverter class.

The URDF importer has various configuration parameters that can be set to control the behavior of the importer. The default values for the importer’s configuration parameters are specified are in the UrdfConverterCfg class, and they are listed below. We made a few commonly modified settings to be available as command-line arguments when calling the convert_urdf.py, and they are marked with *` in the list. For a comprehensive list of the configuration parameters, please check the the documentation at URDF importer.

• fix_base* - Whether to fix the base of the robot. This depends on whether you have a floating-base or fixed-base robot. The command-line flag is --fix-base where when set, the importer will fix the base of the robot, otherwise it will default to floating-base.

• make_instanceable* - Whether to create instanceable assets. Usually, this should be set to True. The command-line flag is --make-instanceable where when set, the importer will create instanceable assets, otherwise it will default to non-instanceable.

• merge_fixed_joints* - Whether to merge the fixed joints. Usually, this should be set to True to reduce the asset complexity. The command-line flag is --merge-joints where when set, the importer will merge the fixed joints, otherwise it will default to not merging the fixed joints.

• default_drive_type - The drive-type for the joints. We recommend this to always be "none". This allows changing the drive configuration using the actuator models.

• default_drive_stiffness - The drive stiffness for the joints. We recommend this to always be 0.0. This allows changing the drive configuration using the actuator models.

• default_drive_damping - The drive damping for the joints. Similar to the stiffness, we recommend this to always be 0.0.

Note that when instanceable option is selected, the importer will create two USD files: one for all the mesh data and one for all the non-mesh data (e.g. joints, rigid bodies, etc.). The prims in the mesh data file are referenced in the non-mesh data file. This allows the mesh data (which is often bulky) to be loaded into memory only once and used multiple times in a scene.

Example Usage

In this example, we use the pre-processed URDF file of the ANYmal-D robot. To check the pre-process URDF, please check the file the anymal.urdf. The main difference between the pre-processed URDF and the original URDF are:

• We removed the <gazebo> tag from the URDF. This tag is not supported by the URDF importer.

• We removed the <transmission> tag from the URDF. This tag is not supported by the URDF importer.

• We removed various collision bodies from the URDF to reduce the complexity of the asset.

• We changed all the joint’s damping and friction parameters to 0.0. This ensures that we can perform effort-control on the joints without PhysX adding additional damping.

• We added the <dont_collapse> tag to fixed joints. This ensures that the importer does not merge these fixed joints.

The following shows the steps to clone the repository and run the converter:

# create a directory to clone
mkdir ~/git && cd ~/git
# clone a repository with URDF files
git clone git@github.com:isaac-orbit/anymal_d_simple_description.git

# go to top of the Isaac Lab repository
cd IsaacLab
# run the converter
./isaaclab.sh -p source/standalone/tools/convert_urdf.py \
  ~/git/anymal_d_simple_description/urdf/anymal.urdf \
  source/extensions/omni.isaac.lab_assets/data/Robots/ANYbotics/anymal_d.usd \
  --merge-joints \
  --make-instanceable

Executing the above script will create two USD files inside the source/extensions/omni.isaac.lab_assets/data/Robots/ANYbotics/ directory:

• anymal_d.usd - This is the main asset file. It contains all the non-mesh data.

• Props/instanceable_assets.usd - This is the mesh data file.

Note

Since Isaac Sim 2023.1.1, the URDF importer behavior has changed and it stores the mesh data inside the main asset file even if the --make-instanceable flag is set. This means that the Props/instanceable_assets.usd file is created but not used anymore.

To run the script headless, you can add the --headless flag. This will not open the GUI and exit the script after the conversion is complete.

You can press play on the opened window to see the asset in the scene. The asset should fall under gravity. If it blows up, then it might be that you have self-collisions present in the URDF.

Using MJCF Importer

Similar to the URDF Importer, the MJCF Importer also has a GUI interface. Please check the documentation at MJCF importer for more details. For using the MJCF importer from Python scripts, we include a utility tool called convert_mjcf.py. This script creates an instance of MjcfConverterCfg which is then passed to the MjcfConverter class.

The default values for the importer’s configuration parameters are specified in the MjcfConverterCfg class. The configuration parameters are listed below. We made a few commonly modified settings to be available as command-line arguments when calling the convert_mjcf.py, and they are marked with * in the list. For a comprehensive list of the configuration parameters, please check the the documentation at MJCF importer.

• fix_base* - Whether to fix the base of the robot. This depends on whether you have a floating-base or fixed-base robot. The command-line flag is --fix-base where when set, the importer will fix the base of the robot, otherwise it will default to floating-base.

• make_instanceable* - Whether to create instanceable assets. Usually, this should be set to True. The command-line flag is --make-instanceable where when set, the importer will create instanceable assets, otherwise it will default to non-instanceable.

• import_sites* - Whether to parse the <site> tag in the MJCF. Usually, this should be set to True. The command-line flag is --import-sites where when set, the importer will parse the <site> tag, otherwise it will default to not parsing the <site> tag.

Example Usage

In this example, we use the MuJoCo model of the Unitree’s H1 humanoid robot in the mujoco_menagerie.

The following shows the steps to clone the repository and run the converter:

# create a directory to clone
mkdir ~/git && cd ~/git
# clone a repository with URDF files
git clone git@github.com:git@github.com:google-deepmind/mujoco_menagerie.git

# go to top of the Isaac Lab repository
cd IsaacLab
# run the converter
./isaaclab.sh -p source/standalone/tools/convert_mjcf.py \
  ~/git/mujoco_menagerie/unitree_h1/h1.xml \
  source/extensions/omni.isaac.lab_assets/data/Robots/Unitree/h1.usd \
  --import-sites \
  --make-instanceable

Using Mesh Importer

Omniverse Kit includes the mesh converter tool that uses the ASSIMP library to import assets from various mesh formats (e.g. OBJ, FBX, STL, glTF, etc.). The asset converter tool is available as an extension to Omniverse Kit. Please check the asset converter documentation for more details. However, unlike Isaac Sim’s URDF and MJCF importers, the asset converter tool does not support creating instanceable assets. This means that the asset will be loaded into memory multiple times if it is used multiple times in a scene.

Thus, we include a utility tool called convert_mesh.py that uses the asset converter tool to import the asset and then converts it into an instanceable asset. Internally, this script creates an instance of MeshConverterCfg which is then passed to the MeshConverter class. Since the mesh file does not contain any physics information, the configuration class accepts different physics properties (such as mass, collision shape, etc.) as input. Please check the documentation for MeshConverterCfg for more details.

Example Usage

We use an OBJ file of a cube to demonstrate the usage of the mesh converter. The following shows the steps to clone the repository and run the converter:

# create a directory to clone
mkdir ~/git && cd ~/git
# clone a repository with URDF files
git clone git@github.com:NVIDIA-Omniverse/IsaacGymEnvs.git

# go to top of the Isaac Lab repository
cd IsaacLab
# run the converter
./isaaclab.sh -p source/standalone/tools/convert_mesh.py \
  ~/git/IsaacGymEnvs/assets/trifinger/objects/meshes/cube_multicolor.obj \
  source/extensions/omni.isaac.lab_assets/data/Props/CubeMultiColor/cube_multicolor.usd \
  --make-instanceable \
  --collision-approximation convexDecomposition \
  --mass 1.0

You may need to press ‘F’ to zoom in on the asset after import.

Similar to the URDF and MJCF converter, executing the above script will create two USD files inside the source/extensions/omni.isaac.lab_assets/data/Props/CubeMultiColor/ directory. Additionally, if you press play on the opened window, you should see the asset fall down under the influence of gravity.

• If you do not set the --mass flag, then no rigid body properties will be added to the asset. It will be imported as a static asset.

• If you also do not set the --collision-approximation flag, then the asset will not have any collider properties as well and will be imported as a visual asset.