Loading URDF with spawn enitity service

[nchan18]

Hi,
I was trying to load a urdf to isaac sim with the simulation interface /spawn_entity and it currently only supports usd files. What would the best workflow for automating the URDF to USD conversion so I can load my robot with the simulation interface. Are there any plans in the future? Here are my initial thoughts.

1. Use the script editor or simulation app to load urdf, set joint parameters and create ros2 action graph and save the usd to file.
2. Add a shell command in my ros2 node that runs a configuration script with isaac-sim's python.sh/python.bat
3. Make my own simulation interface for robot configuration.

[vick-yu]

Hi, the /spawn_entity service is implemented to accept only USD assets (.usd, .usda, .usdc, .usdz) for loading. There’s no built-in URDF support there and no public plan to add it to this service.
You can still use URDF in your pipeline by converting to USD first, then calling /spawn_entity with the resulting file.