Changelog
[1.14.0] - 2024-05-11
Fixed
Add Articulation Root to Fixed Joint when fixed base.
[1.13.1] - 2024-04-29
Fixed
Mimic Joints using Mimic Joint API
Scroll bar in Isaac Sim for UI
[1.13.0] - 2024-04-04
Fixed
Example window UI buttons callbacks
[1.12.0] - 2024-04-03
Added
Parse Camera and Lidar Sensor
Add code stub for other sensor types currently not in official URDF definition.
[1.11.0] - 2024-03-26
Fixed
Support for GLTF meshes
[1.10.1] - 2024-03-20
Fixed
Ensuring UI frames are always properly aligned
[1.10.0] - 2024-02-29
Added
UI Hooks to Expand URDF Import
Parse URDF in memory as string
Fixed
Compute extent for cylinders axis
[1.9.0] - 2024-02-26
Added
Split URDF Parsing and Importing
Add utility to select joint drive types prior to import
[1.8.0] - 2024-02-23
Fixed
Joint Axis is maintained when importing if it’s aligned with X, Y or Z parent body axis
[1.7.0] - 2024-02-11
Fixed
Fixed importer to ensure rigid body principal axes are taken into account when computing inertia tensor.
Fixed importing of dynamics damping and friction (when authored).
Modified handling of massless root links so that they’re given zero mass, which results in PhysX autocomputing the minimum mass required for articulation stability,
[1.6.1] - 2023-12-14
Fixed
output USD was accumulating disk size every time it was overwritten
Instanceable importing was causing the importer to segfault when overwriting.
[1.6.0] - 2023-12-11
Fixed
Changed the AddRobot (and all related bindings and commands) to allow getting the articulation Root prim path directly instead of the base prim, defaulting to getting the base prim.
[1.5.0] - 2023-12-04
Fixed
Fixed setting of articulation root on the actual link prim instead of the default prim. This is needed to deal with letting PhysX parser decide what is the root prim for floating-base systems.
[1.4.1] - 2023-11-30
Fixed
Handling meshes that inadvertertly duplicate the UV maps
[1.4.0] - 2023-11-30
Changed
Prompt users to confirm import path and confirm overwrite before proceeding with importing.
[1.3.0] - 2023-11-29
Added
Handling massless and inertialess links by adding small mass and inertia values
[1.2.0] - 2023-11-28
Added
Flag to decide whether or not to parse mimic joints
[1.1.4] - 2023-10-18
Changed
Update code dependencies
[1.1.3] - 2023-10-02
Changed
Mesh path parser now allows for prefixes other than “package://”
[1.1.2] - 2023-08-21
Added
Added processing of capsule bodies to replace cylinders
Fixed
Fixed computation of joint axis. Earlier arbitrary axis were not supported.
Fixed bug in merging joints when multiple levels of fixed joints exist.
[1.1.1] - 2023-08-08
Added
Added support for the boolean attribute
<joint dont_collapse>: setting this parameter to true in the URDF joint tag prevents the child link from collapsing when the associated joint type is “fixed”.
[1.1.0] - 2023-08-04
Added
Suport for direct mimic joints
Maintain Merged Links as frames inside parent rigid body
Fixed
Arbitrary joint axis were adding random 56.7 rotation degrees in the joint axis orientation
[1.0.0] - 2023-07-03
Changed
Renamed the extension to omni.importer.urdf
Published the extension to the default registry
[0.5.16] - 2023-06-27
Fixed
Support for arbitrary joint axis.
[0.5.15] - 2023-06-26
Fixed
Support for non-diagonal inertia matrix
Support for convex decomposition mesh collision method
[0.5.14] - 2023-06-13
Fixed
Kit 105.1 update
Accessing primvars is accessed through the PrimvarsAPI instead of usd convenience functions
[0.5.13] - 2023-06-07
Fixed
Crash when name was not provided for a material, added check for null pointer and unit test
[0.5.12] - 2023-05-16
Fixed
Removed duplicated code to copy collision geometry from the mesh visuals.
[0.5.11] - 2023-05-06
Added
Collision geometry from visual meshes.
[0.5.10] - 2023-05-04
Added
Code overview and limitations in README.
[0.5.9] - 2023-02-28
Fixed
Appearance of carb warnings when setting the joint damping and stiffness to 0 for
NONEdrive type
[0.5.8] - 2023-02-22
Fixed
removed max joint effort scaling by 60 during import
removed custom collision api when the shape is a cylinder
[0.5.7] - 2023-02-17
Added
Unit test for joint limits.
URDF data file for joint limit unit test (test_limits.urdf)
[0.5.6] - 2023-02-14
Fixed
Imported negative URDF effort and velocity joint constraints set the physics constraint value to infinity.
[0.5.5] - 2023-01-06
Fixed
onclick_fn warning when creating UI
[0.5.4] - 2022-10-13
Fixed
Fixes materials on instanceable imports
[0.5.3] - 2022-10-13
Fixed
Added Test for import stl with custom material
[0.5.2] - 2022-09-07
Fixed
Fixes for kit 103.5
[0.5.1] - 2022-01-02
Changed
Use omni.kit.viewport.utility when setting camera
[0.5.0] - 2022-08-30
Changed
Remove direct legacy viewport calls
[0.4.1] - 2022-08-30
Changed
Modified default gains in URDF -> USD converter to match gains for Franka and UR10 robots
[0.4.0] - 2022-08-09
Added
Cobotta 900 urdf data files
[0.3.1] - 2022-08-08
Fixed
Missing argument in example docstring
[0.3.0] - 2022-07-09
Added
Add instanceable option to importer
[0.2.2] - 2022-06-02
Changed
Fix title for file picker
[0.2.1] - 2022-05-23
Changed
Fix units for samples
[0.2.0] - 2022-05-17
Changed
Add joint values API
[0.1.16] - 2022-04-19
Changed
Add Texture import compatibility for Windows.
[0.1.16] - 2022-02-08
Changed
Revamped UI
[0.1.15] - 2021-12-20
Changed
Fixed bug where missing mesh on part with urdf material assigned would crash on material binding in a non-existing prim.
[0.1.14] - 2021-12-20
Changed
Fix bug where material was indexed by name and removing false duplicates.
Add Normal subdivision group import parameter.
[0.1.13] - 2021-12-10
Changed
Texture support for OBJ and Collada assets.
Remove bug where an invalid link on a joint would stop importing the remainder of the urdf. raises an error message instead.
[0.1.12] - 2021-12-03
Changed
Default to save Imported assets on a new USD and reference it on open stage.
Change base robot prim to also use orientOP instead of rotateOP
Change behavior where any stage event (e.g selection changed) was resetting some options on the UI
[0.1.11] - 2021-11-29
Changed
Use double precision for xform ops to match isaac sim defaults
[0.1.10] - 2021-11-04
Changed
create physics scene is false for import config
create physics scene will not create a scene if one exists
set default prim is false for import config
[0.1.9] - 2021-10-25
Added
Support to specify usd paths for urdf meshes.
Changed
distance_scale sets the stage to the same units for consistency
None drive mode still applies DriveAPI, but keeps the stiffness/damping at zero
rootJoint prim is renamed to root_joint for consistency with other joint names.
Fixed
warnings when setting attributes as double when they should have been float
[0.1.8] - 2021-10-18
Added
Floating joints are ignored but place any child links at the correct location.
Fixed
Crash when urdf contained a floating joint
[0.1.7] - 2021-09-23
Added
Default position drive damping to UI
Fixed
Default config parameters are now respected
[0.1.6] - 2021-08-31
Changed
Updated to New UI
Spheres and Cubes are treated as shapes
Cylinders are by default imported with custom geometry enabled
Joint drives are default force instead of acceleration
Fixed
Meshes were not imported correctly, fixed subdivision scheme setting
Removed
Parsing URDF is not a separate step with its own UI
[0.1.5] - 2021-07-30
Fixed
Zero joint velocity issue
Artifact when dragging URDF file due to transform matrix
[0.1.4] - 2021-06-09
Added
Fixed bugs with default density
[0.1.3] - 2021-05-26
Added
Fixed bugs with import units
Streamlined UI and fixed missing elements
Fixed issues with creating new stage on import
[0.1.2] - 2020-12-11
Added
Unit tests to extension
Add test urdf files
Fix unit issues with samples
Fix unit conversion issue with import
[0.1.1] - 2020-12-03
Added
Sample URDF files for carter, franka ur10 and kaya
[0.1.0] - 2020-12-03
Added
Initial version of URDF importer extension