Although Isaac Sim already comes with the precompiled versions of both extensions, having access to the source code allows a developer to enhance their functionality. In addition, the source code of those extensions can be used as an example to implement importer extensions to convert other file formats into the native OpenUSD used by Omniverse and Isaac Sim.
The URDF Importer Extension is available now at GitHub - NVIDIA-Omniverse/urdf-importer-extension: Omniverse URDF Importer under the permissive Apache 2 license. The source code can be built on both Linux and Windows following the instructions.
After building the extension, use the steps in this documentation to try out the URDF importer extension.
You can use the extension in Isaac Sim (or any other Omniverse application) using the following steps:
- Go to Window->Extensions
- Go to Settings (Hamburger menu on the right)
- To Extension Search Paths section, add new extension folder to point to this downloaded repo root/_build/platform/release/exts (no slash at the end)
- Check the extensions 3rd party (second tab on the left)
- Enable omni.importer.urdf extension
The URDF Importer Extension is also used in the open source Orbit modular framework for robot learning powered by NVIDIA Isaac Sim. Orbit contains the convert_urdf.py example how to use the URDF Importer Extension programmatically from Python to convert URDF into USD.
See also GitHub - NVIDIA-Omniverse/kit-extension-template-cpp: Omniverse Kit C++ Extension Template for more information on how to develop a C++ extension for Omniverse from scratch.
Similarly, the MJCF Importer Extension is available at GitHub - NVIDIA-Omniverse/mjcf-importer-extension: Omniverse MJCF Importer Extension.