Conclusion

In this lab, we explored the fundamentals of URDF and USD, understanding how robotic components are represented in each, and how to convert from URDF to USD.

We optimized a gripper, assembled a complete robot training scene, combining an imported robot with a pre-made environment and validating the physics simulation.

Then we validated the robotics arm and gripper asset using the Physics inspector, simulated it in a warehouse and controlled it using an inverse kinematics solver to accomplish basic pick and place tasks

These skills and techniques provide a solid foundation for working with robotic assets in OpenUSD and Isaac Sim. By leveraging the power of USD’s modularity and interoperability, roboticists can create more efficient, flexible, and accurate simulations for a wide range of applications.