ImportConfig

Fully qualified name: isaacsim::asset::importer::urdf::ImportConfig

struct ImportConfig

Configuration parameters for URDF import operations.

This structure contains various options and settings that control how URDF files are parsed and imported into the simulation environment. It allows customization of joint merging, physics properties, scaling, and other import behaviors.

Public Members

bool mergeFixedJoints = true

Whether to merge fixed joints during import.

bool replaceCylindersWithCapsules = false

Whether to replace cylinder geometries with capsule geometries.

bool convexDecomp = false

Whether to perform convex decomposition on meshes.

bool importInertiaTensor = true

Whether to import inertia tensor information.

bool fixBase = true

Whether to fix the base of the robot (make it static)

bool selfCollision = false

Whether to enable self-collision detection.

float density = 0.0f

Default density for objects without mass/inertia (0 to auto-compute)

UrdfJointTargetType defaultDriveType = UrdfJointTargetType::POSITION

Default drive type for joints.

float defaultDriveStrength = 1e3f

Default drive strength for joint actuators.

float defaultPositionDriveDamping = 1e2f

Default damping for position-driven joints.

float distanceScale = 1.0f

Scale factor for all distance measurements.

UrdfAxis upVector = {0.0f, 0.0f, 1.0f}

Up vector direction for the coordinate system.

bool createPhysicsScene = false

Whether to create a physics scene during import.

bool makeDefaultPrim = false

Whether to make the imported model the default prim.

UrdfNormalSubdivisionScheme subdivisionScheme = UrdfNormalSubdivisionScheme::BILINEAR

Subdivision scheme for normal computation.

bool collisionFromVisuals = false

Whether to create collision geometry from visual geometry when missing.

bool parseMimic = true

Whether to parse mimic joint relationships.

bool overrideJointDynamics = false

Whether to override joint dynamics parameters.