Description
Importing a URDF through File → Import in Isaac Sim 6.0.1 replaces the currently open stage with the newly generated robot USD.
In Isaac Sim 5.1, the importer could add the robot directly to the current stage. In 6.0.1, every URDF import opens the generated USD as a separate stage. To use the robot in an existing scene, I must reopen the original scene and manually add the generated USD as a reference.
Steps to reproduce
- Start Isaac Sim 6.0.1.
- Create a new stage.
- Add a cube or another object to the stage.
- Save the stage.
- Open File → Import.
- Select any valid URDF.
- Choose a USD output directory and click Import.
- Observe that the existing stage containing the cube is replaced by the generated robot USD stage.
Expected result
The imported robot should be added to the currently open stage, or the importer should provide an option such as Import into Current Stage or Open Generated USD.
Actual result
The importer automatically creates and opens a new stage containing the generated robot USD. The previously open scene is no longer the active stage.
There is no visible importer option to add the robot directly to the current stage.
Isaac Sim version
6.0.1-rc.7
Operating System (OS)
Windows 11
GPU Name
NVIDIA GeForce RTX 5070 Laptop GPU
GPU Driver and CUDA versions
Driver 592.15, CUDA 13.1
Logs
No error is reported. The URDF conversion completes successfully, but the generated USD is automatically opened as the active stage.
Additional information
The official URDF import tutorial says to click Import to add the robot to the stage, but it does not explain that the currently open stage will be replaced:
https://docs.isaacsim.omniverse.nvidia.com/latest/importer_exporter/import_urdf.html
The Python example in the documentation explicitly calls open_stage(output_path) after conversion, which matches the GUI behaviour.
I previously mentioned this behaviour in #668. NVIDIA stated that it might be resolved in GA and requested a separate issue if it persisted:
#668 (comment)
The behaviour still occurs in the 6.0.1 standalone release.
An older report for Isaac Sim 5.0 also refers to the previous Create in Stage and Referenced Model import options:
#191
Current workaround:
- Import the URDF and allow Isaac Sim to generate/open the USD.
- Reopen the main working scene.
- Add the generated top-level USD/USDA to the scene as a reference.
Description
Importing a URDF through File → Import in Isaac Sim 6.0.1 replaces the currently open stage with the newly generated robot USD.
In Isaac Sim 5.1, the importer could add the robot directly to the current stage. In 6.0.1, every URDF import opens the generated USD as a separate stage. To use the robot in an existing scene, I must reopen the original scene and manually add the generated USD as a reference.
Steps to reproduce
Expected result
The imported robot should be added to the currently open stage, or the importer should provide an option such as Import into Current Stage or Open Generated USD.
Actual result
The importer automatically creates and opens a new stage containing the generated robot USD. The previously open scene is no longer the active stage.
There is no visible importer option to add the robot directly to the current stage.
Isaac Sim version
6.0.1-rc.7
Operating System (OS)
Windows 11
GPU Name
NVIDIA GeForce RTX 5070 Laptop GPU
GPU Driver and CUDA versions
Driver 592.15, CUDA 13.1
Logs
No error is reported. The URDF conversion completes successfully, but the generated USD is automatically opened as the active stage.
Additional information
The official URDF import tutorial says to click Import to add the robot to the stage, but it does not explain that the currently open stage will be replaced:
https://docs.isaacsim.omniverse.nvidia.com/latest/importer_exporter/import_urdf.html
The Python example in the documentation explicitly calls
open_stage(output_path)after conversion, which matches the GUI behaviour.I previously mentioned this behaviour in #668. NVIDIA stated that it might be resolved in GA and requested a separate issue if it persisted:
#668 (comment)
The behaviour still occurs in the 6.0.1 standalone release.
An older report for Isaac Sim 5.0 also refers to the previous Create in Stage and Referenced Model import options:
#191
Current workaround: