How to load textured urdf using python

[1297691410]

Hi, I’m trying to import my urdf file in isaac sim. But get the warning:

2023-12-11 06:57:48 [5,708ms] [Warning] [omni.importer.urdf] Material material_0_0 has an image texture, but it won’t be imported since the asset is being loaded on memory. Please import it into a destination folder to get all textures.

In the Isaac Sim document, it is stated that omni.kit.commands.execute (“URDFParseAndImportFile”, urdf_path=“”, import_config=“”, dest_path=“”) should be used. But I am not very clear about the setting of “dest_path”, should it be set to the path where I store the texture image or to the prim path. If someone could answer, it would help me a lot

[Simplychenable]

@1297691410 i am just another user, and according to the commented out section of the snippet in the doc (5.1. Import URDF — Omniverse IsaacSim latest documentation):

Optionally, you could also provide a dest_path parameter stage path to URDFParseAndImportFile, which would import the robot on a new stage, in which case you’d need to add it to current stage as a reference. This is required for robot assets that contain texture, otherwise texture won’t be loaded.

based on the note, the dest_path should be the same as setting the ‘output directory’ field when you are using GUI (URDF Importer — Omniverse IsaacSim latest documentation) but i could be wrong. here’s the API just in case - URDF Import Extension [omni.importer.urdf] — omniverse-urdf-importer 1.1.4 documentation

[1297691410]

Hi, I have already resolved it, dest_path (e.g. dest_path=“./xxx.usd”) should point to a local path, and it will convert the URDF into a USD file and a material folder. Thank you for your answer.