Is this a common structure for a Robot Imported through and URDF?

[a_vi_shek]

Isaac Sim Version

4.5.0
4.2.0
4.1.0
4.0.0
4.5.0
2023.1.1
2023.1.0-hotfix.1
Other (please specify):

Operating System

Ubuntu 22.04
Ubuntu 20.04
Windows 11
Windows 10
Other (please specify):

GPU Information

• Model: NVIDIA GeForce RTX 4047 Laptop GPU
• Driver Version: 572.16

Topic Description

Detailed Description

Is it common to get a prim structure like the following while importing a Robot from the URDF?
Is it common to reference the meshes from the Scope called meshes and organized like in the following structure?
rbvogui is my robotPrim which has the joints and links and the meshes used in those links are refererred from the meshes scopes.

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Error Messages

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Screenshots or Videos

[VickNV]

I tried with some URDF files and didn’t see such a structure. Could you share your URDF file?

[a_vi_shek]

Sure. Here is the URDF file.
rbvogui-xl-ur20-nvidia-share_2.zip (24.6 MB)

However, when I load the URDF example of Robotics Example of Isaac Sim 4.5.0 I see the following structure of the robot in the inspector.

But if I load a robot from the isaac sim assets: it looks like this:

And this is I have been looking for TBH!

Any help will be appreciated.

Thanks

[a_vi_shek]

Hi,

Is there any update on this?

[VickNV]

When a URDF file is imported into Isaac Sim, the asset structure is organized into separate scopes for visuals, colliders, and meshes to prepare the model for a more efficient and modular simulation. This structure is part of Isaac Sim’s larger asset optimization workflow, which is distinct from the raw URDF format.

For more information on Isaac Sim’s asset structure and optimization, you can refer to the official documentation on the Isaac Sim Asset Structure.