update urdf mjcf importer to use the latest isaac sim importer

source/isaaclab/config/extension.toml

@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "4.6.10"
+version = "4.6.11"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

source/isaaclab/docs/CHANGELOG.rst

@@ -1,6 +1,52 @@
 Changelog
 ---------
 
+4.6.11 (2026-04-24)
+~~~~~~~~~~~~~~~~~~~
+
+Changed
+^^^^^^^
+
+* Refactored :class:`~isaaclab.sim.converters.UrdfConverter` to delegate the full conversion
+  pipeline to :class:`isaacsim.asset.importer.urdf.URDFImporter` /
+  :class:`isaacsim.asset.importer.urdf.URDFImporterConfig`. The duplicated IsaacLab
+  implementations of ``_apply_fix_base``, ``_apply_link_density``, ``_apply_joint_drives``,
+  ``_set_drive_type_on_joints``, ``_set_target_type_on_joints``, ``_set_drive_gains_on_joints``,
+  and ``_fix_articulation_root_for_fixed_base`` have been removed and replaced with a thin
+  translation layer that maps :class:`~isaaclab.sim.converters.UrdfConverterCfg` onto the
+  Isaac Sim importer config. All behaviour is preserved.
+* Replaced :mod:`isaaclab.sim.converters.urdf_utils` with a thin re-export shim that
+  forwards :func:`~isaaclab.sim.converters.urdf_utils.merge_fixed_joints` to the canonical
+  implementation in :mod:`isaacsim.asset.importer.urdf.impl.urdf_utils`. The public import
+  path is preserved.
+* Updated :class:`~isaaclab.sim.converters.MjcfConverter` to forward the full set of
+  :class:`isaacsim.asset.importer.mjcf.MJCFImporterConfig` options to the Isaac Sim importer.
+
+Added
+^^^^^
+
+* Added :attr:`~isaaclab.sim.converters.UrdfConverterCfg.ros_package_paths`,
+  :attr:`~isaaclab.sim.converters.UrdfConverterCfg.robot_type`,
+  :attr:`~isaaclab.sim.converters.UrdfConverterCfg.run_asset_transformer`,
+  :attr:`~isaaclab.sim.converters.UrdfConverterCfg.run_multi_physics_conversion`, and
+  :attr:`~isaaclab.sim.converters.UrdfConverterCfg.debug_mode` config fields that mirror the
+  new :class:`isaacsim.asset.importer.urdf.URDFImporterConfig` options.
+* Extended :attr:`~isaaclab.sim.converters.UrdfConverterCfg.collision_type` to accept
+  ``"Bounding Sphere"`` and ``"Bounding Cube"`` in addition to the existing ``"Convex Hull"``
+  and ``"Convex Decomposition"`` values.
+* Added :attr:`~isaaclab.sim.converters.MjcfConverterCfg.fix_base`,
+  :attr:`~isaaclab.sim.converters.MjcfConverterCfg.link_density`,
+  :attr:`~isaaclab.sim.converters.MjcfConverterCfg.robot_type`,
+  :attr:`~isaaclab.sim.converters.MjcfConverterCfg.override_gain_type`,
+  :attr:`~isaaclab.sim.converters.MjcfConverterCfg.override_bias_type`,
+  :attr:`~isaaclab.sim.converters.MjcfConverterCfg.override_gain_prm`,
+  :attr:`~isaaclab.sim.converters.MjcfConverterCfg.override_bias_prm`,
+  :attr:`~isaaclab.sim.converters.MjcfConverterCfg.run_asset_transformer`,
+  :attr:`~isaaclab.sim.converters.MjcfConverterCfg.run_multi_physics_conversion`, and
+  :attr:`~isaaclab.sim.converters.MjcfConverterCfg.debug_mode` config fields that mirror the
+  new :class:`isaacsim.asset.importer.mjcf.MJCFImporterConfig` options.
+
+
 4.6.10 (2026-04-22)
 ~~~~~~~~~~~~~~~~~~~
 

source/isaaclab/isaaclab/sim/converters/mjcf_converter.py

@@ -6,6 +6,7 @@
 from __future__ import annotations
 
 import os
+import shutil
 
 from .asset_converter_base import AssetConverterBase
 from .mjcf_converter_cfg import MjcfConverterCfg
@@ -14,9 +15,12 @@
 class MjcfConverter(AssetConverterBase):
     """Converter for a MJCF description file to a USD file.
 
-    This class wraps around the `isaacsim.asset.importer.mjcf`_ extension to provide a lazy implementation
-    for MJCF to USD conversion. It uses the :class:`MJCFImporter` class and :class:`MJCFImporterConfig`
-    dataclass from Isaac Sim to perform the conversion.
+    This class wraps around the `isaacsim.asset.importer.mjcf`_ extension to provide a lazy
+    implementation for MJCF to USD conversion. All conversion logic (USD schema application,
+    fix-base, density, actuator gains, self-collision, mesh merging, asset transformer
+    profile) is performed by :class:`~isaacsim.asset.importer.mjcf.MJCFImporter` — this class
+    only translates :class:`MjcfConverterCfg` into a flat
+    :class:`~isaacsim.asset.importer.mjcf.MJCFImporterConfig`.
 
     .. caution::
         The current lazy conversion implementation does not automatically trigger USD generation if
@@ -44,8 +48,8 @@ def __init__(self, cfg: MjcfConverterCfg):
         Args:
             cfg: The configuration instance for MJCF to USD conversion.
         """
-        # The new MJCF importer outputs to: {usd_path}/{robot_name}/{robot_name}.usda
-        # Pre-adjust usd_file_name to match this output structure so that lazy conversion works correctly.
+        # The MJCF importer outputs to: {usd_path}/{robot_name}/{robot_name}.usda
+        # Pre-adjust `usd_file_name` to match this output structure so that lazy conversion works correctly.
         file_basename = os.path.splitext(os.path.basename(cfg.asset_path))[0]
         cfg.usd_file_name = os.path.join(file_basename, f"{file_basename}.usda")
         super().__init__(cfg=cfg)
@@ -55,18 +59,16 @@ def __init__(self, cfg: MjcfConverterCfg):
     """
 
     def _convert_asset(self, cfg: MjcfConverterCfg):
-        """Calls underlying Isaac Sim MJCFImporter to convert MJCF to USD.
+        """Run the Isaac Sim MJCF importer pipeline.
 
         Args:
             cfg: The configuration instance for MJCF to USD conversion.
         """
-        import shutil
-
         from isaacsim.asset.importer.mjcf import MJCFImporter, MJCFImporterConfig
 
-        # Clean up existing output subdirectory so the importer writes fresh files.
-        # The MJCFImporter outputs to {usd_dir}/{robot_name}/{robot_name}.usda and may
-        # skip writing if the output already exists from a previous conversion.
+        # Clean up any existing output subdirectory so the importer writes fresh files.
+        # MJCFImporter outputs to `{usd_dir}/{robot_name}/{robot_name}.usda` and may skip
+        # writing if the output already exists from a previous conversion.
         file_basename = os.path.splitext(os.path.basename(cfg.asset_path))[0]
         output_subdir = os.path.join(self.usd_dir, file_basename)
         if os.path.exists(output_subdir):
@@ -75,12 +77,21 @@ def _convert_asset(self, cfg: MjcfConverterCfg):
         import_config = MJCFImporterConfig(
             mjcf_path=cfg.asset_path,
             usd_path=self.usd_dir,
+            import_scene=cfg.import_physics_scene,
             merge_mesh=cfg.merge_mesh,
             collision_from_visuals=cfg.collision_from_visuals,
             collision_type=cfg.collision_type,
             allow_self_collision=cfg.self_collision,
-            import_scene=cfg.import_physics_scene,
+            robot_type=cfg.robot_type,
+            fix_base=cfg.fix_base,
+            link_density=cfg.link_density if cfg.link_density > 0.0 else None,
+            override_gain_type=cfg.override_gain_type,
+            override_bias_type=cfg.override_bias_type,
+            override_gain_prm=cfg.override_gain_prm,
+            override_bias_prm=cfg.override_bias_prm,
+            run_asset_transformer=cfg.run_asset_transformer,
+            run_multi_physics_conversion=cfg.run_multi_physics_conversion,
+            debug_mode=cfg.debug_mode,
         )
 
-        importer = MJCFImporter(import_config)
-        importer.import_mjcf()
+        MJCFImporter(import_config).import_mjcf()

source/isaaclab/isaaclab/sim/converters/mjcf_converter_cfg.py

@@ -3,6 +3,10 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
+from __future__ import annotations
+
+from typing import Literal
+
 from isaaclab.sim.converters.asset_converter_base_cfg import AssetConverterBaseCfg
 from isaaclab.utils import configclass
 
@@ -11,31 +15,114 @@
 class MjcfConverterCfg(AssetConverterBaseCfg):
     """The configuration class for MjcfConverter.
 
-    .. note::
-        From Isaac Sim 5.0 onwards, the MJCF importer was rewritten to use the ``mujoco-usd-converter``
-        library. Several settings from the old importer (``fix_base``, ``link_density``,
-        ``import_inertia_tensor``, ``import_sites``) are no longer available as they are handled
-        automatically by the converter based on the MJCF file content.
+    Maps to :class:`~isaacsim.asset.importer.mjcf.MJCFImporterConfig` from the Isaac Sim
+    MJCF importer. All post-import USD edits (fix-base, density override, actuator gain
+    overrides, self-collision, mesh merging, asset transformer profile) are performed by
+    the Isaac Sim importer — this config just forwards the user's choices.
 
     .. note::
-        The :attr:`~AssetConverterBaseCfg.make_instanceable` setting from the base class is not
-        supported by the new MJCF importer and will be ignored.
+        From Isaac Sim 5.0 onwards, the MJCF importer was rewritten to use the
+        ``mujoco-usd-converter`` library. The :attr:`AssetConverterBaseCfg.make_instanceable`
+        setting from the base class is not supported by the new MJCF importer and is ignored.
     """
 
+    # ---------------------------------------------------------------
+    # Geometry / mesh options
+    # ---------------------------------------------------------------
+
     merge_mesh: bool = False
     """Merge meshes where possible to optimize the model. Defaults to False."""
 
     collision_from_visuals: bool = False
     """Generate collision geometry from visual geometries. Defaults to False."""
 
-    collision_type: str = "Convex Hull"
+    collision_type: Literal["Convex Hull", "Convex Decomposition", "Bounding Sphere", "Bounding Cube"] = "Convex Hull"
     """Type of collision geometry to use. Defaults to ``"Convex Hull"``.
 
-    Supported values are ``"Convex Hull"``, and ``"Convex Decomposition"``.
+    Supported values match the ``collision_type`` field of
+    :class:`~isaacsim.asset.importer.mjcf.MJCFImporterConfig`.
     """
 
     self_collision: bool = False
     """Activate self-collisions between links of the articulation. Defaults to False."""
 
+    # ---------------------------------------------------------------
+    # Physics / articulation options
+    # ---------------------------------------------------------------
+
     import_physics_scene: bool = False
     """Import the physics scene (time step per second, gravity, etc.) from the MJCF file. Defaults to False."""
+
+    fix_base: bool = False
+    """Add a fixed joint from the world to the root rigid-body link. Defaults to False.
+
+    When enabled, :class:`~isaacsim.asset.importer.mjcf.MJCFImporter` inserts a ``FixedJoint``
+    between the world and the articulation root and relocates ``ArticulationRootAPI`` onto the
+    appropriate ancestor prim so PhysX treats the articulation as fixed-base.
+    """
+
+    link_density: float = 0.0
+    """Default density in ``kg/m^3`` for links whose ``"inertial"`` properties are missing.
+    Defaults to 0.0.
+
+    A value of ``0.0`` leaves density unchanged.
+    """
+
+    robot_type: str = "Default"
+    """Robot type applied by the USD robot schema. Defaults to ``"Default"``.
+
+    Forwarded to :class:`~isaacsim.asset.importer.mjcf.MJCFImporterConfig`.
+    """
+
+    # ---------------------------------------------------------------
+    # Actuator gain overrides
+    # ---------------------------------------------------------------
+
+    override_gain_type: str | None = None
+    """MuJoCo actuator gain type override (e.g. ``"fixed"``). Defaults to ``None``.
+
+    ``None`` leaves the value parsed from the MJCF file unchanged. See
+    :func:`isaacsim.asset.importer.utils.impl.asset_utils.apply_mjc_actuator_gains` for
+    the supported encodings.
+    """
+
+    override_bias_type: str | None = None
+    """MuJoCo actuator bias type override (e.g. ``"affine"``). Defaults to ``None``.
+
+    ``None`` leaves the value parsed from the MJCF file unchanged.
+    """
+
+    override_gain_prm: list[float] | None = None
+    """MuJoCo actuator gain parameter array (10 floats) override. Defaults to ``None``.
+
+    ``None`` leaves the value parsed from the MJCF file unchanged. Example for position
+    control: ``[kp, 0, 0, 0, 0, 0, 0, 0, 0, 0]``.
+    """
+
+    override_bias_prm: list[float] | None = None
+    """MuJoCo actuator bias parameter array (10 floats) override. Defaults to ``None``.
+
+    ``None`` leaves the value parsed from the MJCF file unchanged. Example for position
+    control: ``[0, -kp, -kd, 0, 0, 0, 0, 0, 0, 0]``.
+    """
+
+    # ---------------------------------------------------------------
+    # Importer pipeline options
+    # ---------------------------------------------------------------
+
+    run_asset_transformer: bool = True
+    """Whether to run the asset transformer profile after conversion. Defaults to True.
+
+    When enabled, the importer restructures the intermediate USD into a layered,
+    payload-based package. Disable for a single flat USD output.
+    """
+
+    run_multi_physics_conversion: bool = True
+    """Whether to run the MJCF-to-PhysX physics conversion pass. Defaults to True."""
+
+    debug_mode: bool = False
+    """Enable debug mode in the underlying MJCF importer. Defaults to False.
+
+    When enabled, the importer writes intermediate conversion artifacts next to the output
+    USD for inspection instead of using a temporary scratch directory.
+    """