From bb69524eb5e8be3d77165c5e60e7ff2a5fd40d1a Mon Sep 17 00:00:00 2001 From: Kelly Guo Date: Thu, 6 Nov 2025 18:21:46 -0800 Subject: [PATCH 1/3] Fixes version of URDF importer for backwards compatibility --- apps/isaaclab.python.kit | 2 +- source/isaaclab/isaaclab/sim/converters/urdf_converter.py | 4 ++-- source/isaaclab/test/sim/test_spawn_from_files.py | 4 ++-- source/isaaclab/test/sim/test_urdf_converter.py | 4 ++-- 4 files changed, 7 insertions(+), 7 deletions(-) diff --git a/apps/isaaclab.python.kit b/apps/isaaclab.python.kit index 04c996aa98f..bbc377e96dd 100644 --- a/apps/isaaclab.python.kit +++ b/apps/isaaclab.python.kit @@ -38,7 +38,7 @@ keywords = ["experience", "app", "usd"] # Isaac Sim Extra "isaacsim.asset.importer.mjcf" = {} -"isaacsim.asset.importer.urdf" = {} +"isaacsim.asset.importer.urdf" = {version = "2.4.19", exact = true} "omni.physx.bundle" = {} "omni.physx.tensors" = {} "omni.replicator.core" = {} diff --git a/source/isaaclab/isaaclab/sim/converters/urdf_converter.py b/source/isaaclab/isaaclab/sim/converters/urdf_converter.py index 82cf55d5405..6b4e26f861f 100644 --- a/source/isaaclab/isaaclab/sim/converters/urdf_converter.py +++ b/source/isaaclab/isaaclab/sim/converters/urdf_converter.py @@ -47,8 +47,8 @@ def __init__(self, cfg: UrdfConverterCfg): cfg: The configuration instance for URDF to USD conversion. """ manager = omni.kit.app.get_app().get_extension_manager() - if not manager.is_extension_enabled("isaacsim.asset.importer.urdf"): - enable_extension("isaacsim.asset.importer.urdf") + if not manager.is_extension_enabled("isaacsim.asset.importer.urdf-2.4.19"): + enable_extension("isaacsim.asset.importer.urdf-2.4.19") from isaacsim.asset.importer.urdf._urdf import acquire_urdf_interface self._urdf_interface = acquire_urdf_interface() diff --git a/source/isaaclab/test/sim/test_spawn_from_files.py b/source/isaaclab/test/sim/test_spawn_from_files.py index 59b2741e4ee..a6368e167c0 100644 --- a/source/isaaclab/test/sim/test_spawn_from_files.py +++ b/source/isaaclab/test/sim/test_spawn_from_files.py @@ -69,8 +69,8 @@ def test_spawn_usd_fails(sim): def test_spawn_urdf(sim): """Test loading prim from URDF file.""" # retrieve path to urdf importer extension - enable_extension("isaacsim.asset.importer.urdf") - extension_path = get_extension_path_from_name("isaacsim.asset.importer.urdf") + enable_extension("isaacsim.asset.importer.urdf-2.4.19") + extension_path = get_extension_path_from_name("isaacsim.asset.importer.urdf-2.4.19") # Spawn franka from URDF cfg = sim_utils.UrdfFileCfg( asset_path=f"{extension_path}/data/urdf/robots/franka_description/robots/panda_arm_hand.urdf", diff --git a/source/isaaclab/test/sim/test_urdf_converter.py b/source/isaaclab/test/sim/test_urdf_converter.py index f238fd02408..7569199ab39 100644 --- a/source/isaaclab/test/sim/test_urdf_converter.py +++ b/source/isaaclab/test/sim/test_urdf_converter.py @@ -31,8 +31,8 @@ def sim_config(): # Create a new stage stage_utils.create_new_stage() # retrieve path to urdf importer extension - enable_extension("isaacsim.asset.importer.urdf") - extension_path = get_extension_path_from_name("isaacsim.asset.importer.urdf") + enable_extension("isaacsim.asset.importer.urdf-2.4.19") + extension_path = get_extension_path_from_name("isaacsim.asset.importer.urdf-2.4.19") # default configuration config = UrdfConverterCfg( asset_path=f"{extension_path}/data/urdf/robots/franka_description/robots/panda_arm_hand.urdf", From 3a4f14f23b4c7e7d6fc3fc5481b1b623f3c99379 Mon Sep 17 00:00:00 2001 From: Kelly Guo Date: Fri, 7 Nov 2025 12:00:36 -0800 Subject: [PATCH 2/3] update to 2.4.24 --- apps/isaaclab.python.kit | 2 +- source/isaaclab/isaaclab/sim/converters/urdf_converter.py | 4 ++-- source/isaaclab/test/sim/test_spawn_from_files.py | 4 ++-- source/isaaclab/test/sim/test_urdf_converter.py | 4 ++-- 4 files changed, 7 insertions(+), 7 deletions(-) diff --git a/apps/isaaclab.python.kit b/apps/isaaclab.python.kit index bbc377e96dd..6040d6369d7 100644 --- a/apps/isaaclab.python.kit +++ b/apps/isaaclab.python.kit @@ -38,7 +38,7 @@ keywords = ["experience", "app", "usd"] # Isaac Sim Extra "isaacsim.asset.importer.mjcf" = {} -"isaacsim.asset.importer.urdf" = {version = "2.4.19", exact = true} +"isaacsim.asset.importer.urdf" = {version = "2.4.24", exact = true} "omni.physx.bundle" = {} "omni.physx.tensors" = {} "omni.replicator.core" = {} diff --git a/source/isaaclab/isaaclab/sim/converters/urdf_converter.py b/source/isaaclab/isaaclab/sim/converters/urdf_converter.py index 6b4e26f861f..e5d3897da4f 100644 --- a/source/isaaclab/isaaclab/sim/converters/urdf_converter.py +++ b/source/isaaclab/isaaclab/sim/converters/urdf_converter.py @@ -47,8 +47,8 @@ def __init__(self, cfg: UrdfConverterCfg): cfg: The configuration instance for URDF to USD conversion. """ manager = omni.kit.app.get_app().get_extension_manager() - if not manager.is_extension_enabled("isaacsim.asset.importer.urdf-2.4.19"): - enable_extension("isaacsim.asset.importer.urdf-2.4.19") + if not manager.is_extension_enabled("isaacsim.asset.importer.urdf-2.4.24"): + enable_extension("isaacsim.asset.importer.urdf-2.4.24") from isaacsim.asset.importer.urdf._urdf import acquire_urdf_interface self._urdf_interface = acquire_urdf_interface() diff --git a/source/isaaclab/test/sim/test_spawn_from_files.py b/source/isaaclab/test/sim/test_spawn_from_files.py index a6368e167c0..17a29009224 100644 --- a/source/isaaclab/test/sim/test_spawn_from_files.py +++ b/source/isaaclab/test/sim/test_spawn_from_files.py @@ -69,8 +69,8 @@ def test_spawn_usd_fails(sim): def test_spawn_urdf(sim): """Test loading prim from URDF file.""" # retrieve path to urdf importer extension - enable_extension("isaacsim.asset.importer.urdf-2.4.19") - extension_path = get_extension_path_from_name("isaacsim.asset.importer.urdf-2.4.19") + enable_extension("isaacsim.asset.importer.urdf-2.4.24") + extension_path = get_extension_path_from_name("isaacsim.asset.importer.urdf-2.4.24") # Spawn franka from URDF cfg = sim_utils.UrdfFileCfg( asset_path=f"{extension_path}/data/urdf/robots/franka_description/robots/panda_arm_hand.urdf", diff --git a/source/isaaclab/test/sim/test_urdf_converter.py b/source/isaaclab/test/sim/test_urdf_converter.py index 7569199ab39..6e1a6d4440f 100644 --- a/source/isaaclab/test/sim/test_urdf_converter.py +++ b/source/isaaclab/test/sim/test_urdf_converter.py @@ -31,8 +31,8 @@ def sim_config(): # Create a new stage stage_utils.create_new_stage() # retrieve path to urdf importer extension - enable_extension("isaacsim.asset.importer.urdf-2.4.19") - extension_path = get_extension_path_from_name("isaacsim.asset.importer.urdf-2.4.19") + enable_extension("isaacsim.asset.importer.urdf-2.4.24") + extension_path = get_extension_path_from_name("isaacsim.asset.importer.urdf-2.4.24") # default configuration config = UrdfConverterCfg( asset_path=f"{extension_path}/data/urdf/robots/franka_description/robots/panda_arm_hand.urdf", From e84342c5877dbc85b3334a5cc5adadcc2961a27c Mon Sep 17 00:00:00 2001 From: Kelly Guo Date: Mon, 10 Nov 2025 20:15:01 -0800 Subject: [PATCH 3/3] update changelog --- source/isaaclab/config/extension.toml | 2 +- source/isaaclab/docs/CHANGELOG.rst | 9 +++++++++ 2 files changed, 10 insertions(+), 1 deletion(-) diff --git a/source/isaaclab/config/extension.toml b/source/isaaclab/config/extension.toml index f33f3f354b6..2c6bb3a4580 100644 --- a/source/isaaclab/config/extension.toml +++ b/source/isaaclab/config/extension.toml @@ -1,7 +1,7 @@ [package] # Note: Semantic Versioning is used: https://semver.org/ -version = "0.48.0" +version = "0.49.0" # Description title = "Isaac Lab framework for Robot Learning" diff --git a/source/isaaclab/docs/CHANGELOG.rst b/source/isaaclab/docs/CHANGELOG.rst index 28dc76731f8..3dfaf3e4cd0 100644 --- a/source/isaaclab/docs/CHANGELOG.rst +++ b/source/isaaclab/docs/CHANGELOG.rst @@ -1,6 +1,15 @@ Changelog --------- +0.49.0 (2025-11-10) +~~~~~~~~~~~~~~~~~~~ + +Fixed +^^^^^ + +* Reverted the URDF Importer version to 2.4.24 to avoid issues with merging joints on the latest URDF importer in Isaac Sim 5.1 + + 0.48.0 (2025-11-03) ~~~~~~~~~~~~~~~~~~~