All the dimensions are in meters when I convert Robot USD to URDF and import as shown in the export example

Omniverse Isaac Sim
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1

Isaac Sim Version

[ *] 4.2.0

Operating System

[*] Ubuntu 22.04

GPU Information

  • Model: Qaudro RTX 8000
  • Driver Version: 560.35.05

Topic Description : Converted the Existing Asset of Forklift C into a urdf using the USD to URDF converter all the dimensions of the robot are really large.

Detailed Description

When I load the urdf converted from USD into the viewer(URDF Viewer Example) webpage, all the dimensions of the robot are really large. looks like all the units of measurement have been switch from cm to m.
Is there any way to know what’s happening?
when I publish transforms between links all of them are correct lengths in rviz. But as soon as I add the URDF in rviz its 1000 times larger than the actual transforms.

Steps to Reproduce

  1. Create URDF from USD of the Forklift C asset.
  2. Load URDF in URDF viewer and Rviz.

Screenshots or Videos

image
image1920×850 97.4 KB

The forklift in the screenshot is really large and on the left side the urdf has large values for origin(x,y,z). That should be in cm or something because with meters that is a really large robot.

3

HI @suryaveer01! Have you tried with our latest version Isaac Sim 4.5.0? Do you still observe the same issue?

4

Yes. Same Issues in Issac sim 4.5.0.
Once I import the forklift USD in a stage. Make changes to it by adding a few sensors and then save it using right click and save selected.
Then I use USD to URDF exporter and all the values are scaled by 100 in URDF.

5

Hi @suryaveer01! I tried forklift_c and it looks normal on my side. Here is the urdf file generated by USD to URDF exporter
forklift_c.urdf (18.8 KB)

I checked a few origins according to your screenshot and they are much bigger than mine.

Is this the tutorial that you are following: Tutorial: Export URDF — Isaac Sim Documentation?

6

I will close this topic since there is no new replies. But please feel free to open a new topic if the issue persists.