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Reverts URDF importer to 2.4.24 to continue support for merge-joints #4000

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Reverts URDF importer to 2.4.24 to continue support for merge-joints #4000

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bb69524
Fixes version of URDF importer for backwards compatibility
kellyguo11 Nov 7, 2025
3a4f14f
update to 2.4.24
kellyguo11 Nov 7, 2025
2055e80
Merge branch 'main' of github.com:isaac-sim/IsaacLab into urdf-version
kellyguo11 Nov 11, 2025
e84342c
update changelog
kellyguo11 Nov 11, 2025
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2 changes: 1 addition & 1 deletion apps/isaaclab.python.kit
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Expand Up @@ -38,7 +38,7 @@ keywords = ["experience", "app", "usd"]

# Isaac Sim Extra
"isaacsim.asset.importer.mjcf" = {}
"isaacsim.asset.importer.urdf" = {}
"isaacsim.asset.importer.urdf" = {version = "2.4.24", exact = true}
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@Mayankm96 Mayankm96 Nov 13, 2025

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Probably need to do it here as well: https://github.com/isaac-sim/IsaacLab/blob/main/source/isaaclab/isaaclab/sim/converters/urdf_converter.py#L50-L51

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@jtigue-bdai jtigue-bdai Nov 14, 2025

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does enable_extension take a version? or do you add it to the string?
enable_extension("isaacsim.asset.importer.urdf-2.4.24")

"omni.physx.bundle" = {}
"omni.physx.tensors" = {}
"omni.replicator.core" = {}
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2 changes: 1 addition & 1 deletion source/isaaclab/config/extension.toml
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@@ -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"
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9 changes: 9 additions & 0 deletions source/isaaclab/docs/CHANGELOG.rst
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@@ -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)
~~~~~~~~~~~~~~~~~~~

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4 changes: 2 additions & 2 deletions source/isaaclab/isaaclab/sim/converters/urdf_converter.py
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Expand Up @@ -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-2.4.24"):
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()
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4 changes: 2 additions & 2 deletions source/isaaclab/test/sim/test_spawn_from_files.py
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Expand Up @@ -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-2.4.24")
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",
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4 changes: 2 additions & 2 deletions source/isaaclab/test/sim/test_urdf_converter.py
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Expand Up @@ -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-2.4.24")
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",
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