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Robot Wizard and Mesh Merge Tool Migration#

Isaac Sim 6.0 deprecates the isaacsim.robot_setup.wizard extension and the standalone isaacsim.util.merge_mesh extension. There is no single replacement for the Robot Wizard. Split the workflow across the current robot setup tools, importers, Robot Schema, XRDF editor, Asset Transformer, and Scene Optimizer.

Replacement Workflow#

Deprecated workflow step

6.0 replacement

Import a URDF or MJCF robot

Use the URDF or MJCF importer. Enable the importer’s Merge Mesh option when import-time mesh merging is appropriate.

Organize robot hierarchy and files

Follow the robot asset-structure guidance and the robot setup tutorials. Use Asset Transformer profiles for repeatable restructuring.

Inspect links and joints

Use Robot Inspector Window for kinematic inspection and temporary masking.

Add or validate collision filtering

Use Robot Self-Collision Detector and save the resulting UsdPhysics.FilteredPairsAPI opinions to the intended layer.

Tune joint drives

Use Gain Tuner Extension.

Author named robot poses

Use Robot Poser.

Generate robot configuration files for motion generation

Use the Robot Description Editor workflow in Tutorial 8: Generate Robot Configuration File.

Merge visual meshes after import

Use Mesh merge tool, which routes mesh merging through omni.scene.optimizer.core.

Mesh Merge Migration#

For existing uses of isaacsim.util.merge_mesh, migrate to one of these Scene Optimizer entry points:

  • URDF or MJCF importer Merge Mesh option for one-shot import-time merging.

  • Window > Utilities > Scene Optimizer for interactive merging.

  • Asset Transformer with MergeMeshRule for repeatable, version-controlled asset processing.

  • isaacsim.asset.importer.utils.merge_mesh_utils or omni.scene.optimizer.core for headless Python workflows.

The legacy Combine Materials option maps to Scene Optimizer considerMaterials = True. The legacy Deactivate source assets option maps to Scene Optimizer originalGeomOption.

Validation Checklist#

Verify the following before merging the migration:

  • Imported or migrated robot assets reload from disk without depending on the deprecated Robot Wizard extension.

  • The robot carries the expected Robot Schema, articulation, joint, drive, collider, and material opinions in the intended layers.

  • Robot Inspector shows the expected kinematic tree.

  • Collision Detector reports only intentional filtered pairs.

  • Gain Tuner tests pass for the joints that must track commands.

  • Scene Optimizer mesh merges preserve material assignments and do not remove collision or physics authoring.

  • The project regenerates or revalidates motion-generation configuration files when link names, collision meshes, or tool frames change.