Importing simple custom URDF

[henry_z]

I’m trying to import a very simple non-robot URDF scene attached below, consisting of a few simple box walls. However, no matter how I tweak the importer, isaac sim imports an empty prim and produces the following error:

[Error] [omni.isaac.urdf] *** URDF has multiple links that are not connected to a joint

field.urdf (4.9 KB)

Is there any method to import URDF without joints? Thanks.

[Hammad_M]

@henry_z We can look into adding this.
The easiest workaround is to add a joint to the urdf, import it and then delete the joint.

Alternatively, If you are importing a static mesh, you can use the import button in the content window to import the mesh used in the urdf directly to usd and then add collision to it via the physics menu
.