From 157a19e29b0dcafd87abbdad6f2e9428df3f09be Mon Sep 17 00:00:00 2001 From: Kelly Guo Date: Thu, 30 Jan 2025 17:29:47 -0500 Subject: [PATCH] Updates Isaac Sim doc links (#266) # Description Isaac Sim 4.5 documentation moved to a new URL, updating links for the Isaac Sim docs to new URLs. Additionally, we will be updating VERSION for every commit to the repo, so this change updates the documentation parsing to use only the major, minor, and patch versions from VERSION. --- docker/Dockerfile.ros2 | 2 +- docs/conf.py | 3 ++- docs/index.rst | 4 ++-- docs/source/how-to/import_new_asset.rst | 6 +++--- docs/source/how-to/master_omniverse.rst | 6 +++--- .../overview/developer-guide/repo_structure.rst | 5 ++++- docs/source/overview/developer-guide/vs_code.rst | 2 +- docs/source/refs/additional_resources.rst | 2 +- docs/source/refs/contributing.rst | 7 +++---- docs/source/refs/issues.rst | 2 +- docs/source/refs/license.rst | 2 +- docs/source/refs/reference_architecture/index.rst | 8 ++++---- docs/source/refs/release_notes.rst | 2 +- docs/source/refs/troubleshooting.rst | 2 +- .../setup/installation/binaries_installation.rst | 12 ++++++------ docs/source/setup/installation/index.rst | 4 ++-- .../setup/installation/isaaclab_pip_installation.rst | 4 ++-- docs/source/setup/installation/pip_installation.rst | 4 ++-- docs/source/tutorials/00_sim/create_empty.rst | 5 ++--- docs/source/tutorials/00_sim/launch_app.rst | 2 +- source/isaaclab/isaaclab/app/app_launcher.py | 4 ++-- .../isaaclab/sim/converters/mjcf_converter.py | 2 +- .../isaaclab/sim/converters/urdf_converter.py | 2 +- 23 files changed, 47 insertions(+), 45 deletions(-) diff --git a/docker/Dockerfile.ros2 b/docker/Dockerfile.ros2 index b9b1a7c46f..8c35bffe4e 100644 --- a/docker/Dockerfile.ros2 +++ b/docker/Dockerfile.ros2 @@ -31,5 +31,5 @@ RUN --mount=type=cache,target=/var/cache/apt \ echo "source /opt/ros/humble/setup.bash" >> ${HOME}/.bashrc # Copy the RMW specifications for ROS2 -# https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_ros.html#enabling-the-ros-bridge-extension +# https://docs.isaacsim.omniverse.nvidia.com/latest/installation/install_ros.html COPY docker/.ros/ ${DOCKER_USER_HOME}/.ros/ diff --git a/docs/conf.py b/docs/conf.py index c752ed9478..2877d7697f 100644 --- a/docs/conf.py +++ b/docs/conf.py @@ -35,7 +35,8 @@ # Read version from the package with open(os.path.join(os.path.dirname(__file__), "..", "VERSION")) as f: - version = f.read().strip() + full_version = f.read().strip() + version = ".".join(full_version.split(".")[:3]) # -- General configuration --------------------------------------------------- diff --git a/docs/index.rst b/docs/index.rst index 06f10d29a1..866bb73ec5 100644 --- a/docs/index.rst +++ b/docs/index.rst @@ -149,7 +149,7 @@ Table of Contents :caption: Project Links GitHub - NVIDIA Isaac Sim + NVIDIA Isaac Sim NVIDIA PhysX Indices and tables @@ -159,4 +159,4 @@ Indices and tables * :ref:`modindex` * :ref:`search` -.. _NVIDIA Isaac Sim: https://docs.omniverse.nvidia.com/isaacsim/latest/index.html +.. _NVIDIA Isaac Sim: https://docs.isaacsim.omniverse.nvidia.com/latest/index.html diff --git a/docs/source/how-to/import_new_asset.rst b/docs/source/how-to/import_new_asset.rst index b8e6ef60fb..e22724834f 100644 --- a/docs/source/how-to/import_new_asset.rst +++ b/docs/source/how-to/import_new_asset.rst @@ -230,9 +230,9 @@ of gravity. .. _instanceable: https://openusd.org/dev/api/_usd__page__scenegraph_instancing.html -.. _documentation: https://docs.omniverse.nvidia.com/isaacsim/latest/isaac_lab_tutorials/tutorial_instanceable_assets.html -.. _MJCF importer: https://docs.omniverse.nvidia.com/isaacsim/latest/advanced_tutorials/tutorial_advanced_import_mjcf.html -.. _URDF importer: https://docs.omniverse.nvidia.com/isaacsim/latest/advanced_tutorials/tutorial_advanced_import_urdf.html +.. _documentation: https://docs.isaacsim.omniverse.nvidia.com/latest/isaac_lab_tutorials/tutorial_instanceable_assets.html +.. _MJCF importer: https://docs.isaacsim.omniverse.nvidia.com/latest/robot_setup/import_mjcf.html +.. _URDF importer: https://docs.isaacsim.omniverse.nvidia.com/latest/robot_setup/import_urdf.html .. _anymal.urdf: https://github.com/isaac-orbit/anymal_d_simple_description/blob/master/urdf/anymal.urdf .. _asset converter: https://docs.omniverse.nvidia.com/extensions/latest/ext_asset-converter.html .. _mujoco_menagerie: https://github.com/google-deepmind/mujoco_menagerie/tree/main/unitree_h1 diff --git a/docs/source/how-to/master_omniverse.rst b/docs/source/how-to/master_omniverse.rst index 80385f1b89..0108ab6482 100644 --- a/docs/source/how-to/master_omniverse.rst +++ b/docs/source/how-to/master_omniverse.rst @@ -68,7 +68,7 @@ Importing assets - `Omniverse Create - Importing FBX Files \| NVIDIA Omniverse Tutorials `__ - `Omniverse Asset Importer `__ -- `Isaac Sim URDF impoter `__ +- `Isaac Sim URDF impoter `__ Part 2: Scripting in Omniverse @@ -117,8 +117,8 @@ As a test of understanding, make sure you can answer the following: Part 3: More Resources ---------------------- -- `Omniverse Glossary of Terms `__ +- `Omniverse Glossary of Terms `__ - `Omniverse Code Samples `__ - `PhysX Collider Compatibility `__ -- `PhysX Limitations `__ +- `PhysX Limitations `__ - `PhysX Documentation `__. diff --git a/docs/source/overview/developer-guide/repo_structure.rst b/docs/source/overview/developer-guide/repo_structure.rst index fa1814311a..22c5cb5182 100644 --- a/docs/source/overview/developer-guide/repo_structure.rst +++ b/docs/source/overview/developer-guide/repo_structure.rst @@ -32,7 +32,10 @@ Repository organization ├── tools └── VERSION -Isaac Lab is built on the same back end as Isaac Sim. As such, it exists as a collection of **extensions** that can be assembled into **applications**. The ``source`` directory contains the majority of the code in the repository and the specific extensions that compose Isaac lab, while ``scripts`` containing python scripts for launching customized standalone apps (Like our workflows). These are the two primary ways of interacting with the simulation and Isaac lab supports both! Checkout this `Isaac Sim introduction to workflows `__ for more details. +Isaac Lab is built on the same back end as Isaac Sim. As such, it exists as a collection of **extensions** that can be assembled into **applications**. +The ``source`` directory contains the majority of the code in the repository and the specific extensions that compose Isaac lab, while ``scripts`` containing python scripts for launching customized standalone apps (Like our workflows). +These are the two primary ways of interacting with the simulation and Isaac lab supports both! +Checkout this `Isaac Sim introduction to workflows `__ for more details. Extensions ~~~~~~~~~~ diff --git a/docs/source/overview/developer-guide/vs_code.rst b/docs/source/overview/developer-guide/vs_code.rst index a84ea0d6a1..5f9b8cde28 100644 --- a/docs/source/overview/developer-guide/vs_code.rst +++ b/docs/source/overview/developer-guide/vs_code.rst @@ -44,7 +44,7 @@ For more information on VSCode support for Omniverse, please refer to the following links: * `Isaac Sim VSCode support `__ -* `Debugging with VSCode `__ +* `Debugging with VSCode `__ Configuring the python interpreter diff --git a/docs/source/refs/additional_resources.rst b/docs/source/refs/additional_resources.rst index 54b29152d6..7c0ca785fd 100644 --- a/docs/source/refs/additional_resources.rst +++ b/docs/source/refs/additional_resources.rst @@ -27,7 +27,7 @@ Simulation Features At the heart of Isaac Lab is Isaac Sim, which is itself a feature rich tool that is useful for robotics in general, and not only for RL. The stronger your understanding of the simulation, the readily you will be able to exploit its capabilities for your own projects and applications. These resources are dedicated to informing you about the other features of the simulation that may be useful to you given your specific interest in Isaac Lab! -* `Deploying Policies in Isaac Sim `_ is an Isaac Sim tutorial on how to use trained policies within the simulation. +* `Deploying Policies in Isaac Sim `_ is an Isaac Sim tutorial on how to use trained policies within the simulation. * `Supercharge Robotics Workflows with AI and Simulation Using NVIDIA Isaac Sim 4.0 and NVIDIA Isaac Lab `_ is a blog post covering the newest features of Isaac Sim 4.0, including ``pip install``, a more advanced physics engine, updated sensor simulations, and more! diff --git a/docs/source/refs/contributing.rst b/docs/source/refs/contributing.rst index 4fff39f8d2..2bde6b48a0 100644 --- a/docs/source/refs/contributing.rst +++ b/docs/source/refs/contributing.rst @@ -176,11 +176,10 @@ integrated with the `NVIDIA Omniverse Platform `__. -To use this content, you need to download the files to a Nucleus server or create an **Isaac** Mount on -a Nucleus server. +The included assets are part of the `Isaac Sim Content `__. +To use this content, you can use the Asset Browser provided in Isaac Sim. -Please check the `Isaac Sim documentation `__ +Please check the `Isaac Sim documentation `__ for more information on how to download the assets. .. attention:: diff --git a/docs/source/refs/issues.rst b/docs/source/refs/issues.rst index dbae9a63d1..163b1fe253 100644 --- a/docs/source/refs/issues.rst +++ b/docs/source/refs/issues.rst @@ -75,7 +75,7 @@ This is then replicated across other references of the same asset since physics are stored in the instanceable asset's USD file and not in its stage reference's USD file. .. _instanceable assets: https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/tutorial_gym_instanceable_assets.html -.. _Omniverse Isaac Sim documentation: https://docs.omniverse.nvidia.com/isaacsim/latest/known_issues.html +.. _Omniverse Isaac Sim documentation: https://docs.isaacsim.omniverse.nvidia.com/latest/overview/known_issues.html# Exiting the process diff --git a/docs/source/refs/license.rst b/docs/source/refs/license.rst index 9aaffe3c2d..4d907efa15 100644 --- a/docs/source/refs/license.rst +++ b/docs/source/refs/license.rst @@ -7,7 +7,7 @@ NVIDIA Isaac Sim is available freely under `individual license `_. For more information about its license terms, please check `here `_. The license files for all its dependencies and included assets are available in its -`documentation `_. +`documentation `_. The Isaac Lab framework is open-sourced under the diff --git a/docs/source/refs/reference_architecture/index.rst b/docs/source/refs/reference_architecture/index.rst index d51b1a7ec4..3429614450 100644 --- a/docs/source/refs/reference_architecture/index.rst +++ b/docs/source/refs/reference_architecture/index.rst @@ -360,11 +360,11 @@ Learn More About Featured NVIDIA Solutions .. _curriculum learning: https://arxiv.org/abs/2109.11978 .. _CAD Converter: https://docs.omniverse.nvidia.com/extensions/latest/ext_cad-converter.html -.. _URDF Importer: https://docs.omniverse.nvidia.com/isaacsim/latest/advanced_tutorials/tutorial_advanced_import_urdf.html -.. _MJCF Importer: https://docs.omniverse.nvidia.com/isaacsim/latest/advanced_tutorials/tutorial_advanced_import_mjcf.html#import-mjcf +.. _URDF Importer: https://docs.isaacsim.omniverse.nvidia.com/latest/robot_setup/ext_isaacsim_asset_importer_urdf.html +.. _MJCF Importer: https://docs.isaacsim.omniverse.nvidia.com/latest/robot_setup/ext_isaacsim_asset_importer_mjcf.html .. _Onshape Importer: https://docs.omniverse.nvidia.com/extensions/latest/ext_onshape.html -.. _Isaac Sim Reference Architecture: https://docs.omniverse.nvidia.com/isaacsim/latest/isaac_sim_reference_architecture.html -.. _Importing Assets section: https://docs.omniverse.nvidia.com/isaacsim/latest/isaac_sim_reference_architecture.html#importing-assets +.. _Isaac Sim Reference Architecture: https://docs.isaacsim.omniverse.nvidia.com/latest/isaac_sim_reference_architecture.html +.. _Importing Assets section: https://docs.isaacsim.omniverse.nvidia.com/latest/isaac_sim_reference_architecture.html#importing-assets .. _Scale AI-Enabled Robotics Development Workloads with NVIDIA OSMO: https://developer.nvidia.com/blog/scale-ai-enabled-robotics-development-workloads-with-nvidia-osmo/ .. _Isaac Perceptor: https://developer.nvidia.com/isaac/perceptor diff --git a/docs/source/refs/release_notes.rst b/docs/source/refs/release_notes.rst index 49f339b313..65dc6d5f4d 100644 --- a/docs/source/refs/release_notes.rst +++ b/docs/source/refs/release_notes.rst @@ -575,7 +575,7 @@ v1.1.0 Overview -------- -With the release of Isaac Sim 4.0 and 4.1, support for Isaac Sim 2023.1.1 has been discontinued. We strongly encourage all users to upgrade to Isaac Sim 4.1 to take advantage of the latest features and improvements. For detailed information on this upgrade, please refer to the release notes available `here `_. +With the release of Isaac Sim 4.0 and 4.1, support for Isaac Sim 2023.1.1 has been discontinued. We strongly encourage all users to upgrade to Isaac Sim 4.1 to take advantage of the latest features and improvements. For detailed information on this upgrade, please refer to the release notes available `here `_. Besides the above, the Isaac Lab release brings new features and improvements, as detailed below. We thank all our contributors for their continued support. diff --git a/docs/source/refs/troubleshooting.rst b/docs/source/refs/troubleshooting.rst index d8b44cf601..ea6ac86882 100644 --- a/docs/source/refs/troubleshooting.rst +++ b/docs/source/refs/troubleshooting.rst @@ -37,7 +37,7 @@ Checking the internal logs from the simulator When running the simulator from a standalone script, it logs warnings and errors to the terminal. At the same time, it also logs internal messages to a file. These are useful for debugging and understanding the internal state of the simulator. Depending on your system, the log file can be found in the locations listed -`here `_. +`here `_. To obtain the exact location of the log file, you need to check the first few lines of the terminal output when you run the standalone script. The log file location is printed at the start of the terminal output. For example: diff --git a/docs/source/setup/installation/binaries_installation.rst b/docs/source/setup/installation/binaries_installation.rst index df5e72d4ee..b645761758 100644 --- a/docs/source/setup/installation/binaries_installation.rst +++ b/docs/source/setup/installation/binaries_installation.rst @@ -12,13 +12,13 @@ Downloading pre-built binaries ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ Please follow the Isaac Sim -`documentation `__ +`documentation `__ to install the latest Isaac Sim release. -From Isaac Sim 4.5 release, Isaac Sim binaries can be `downloaded `_ directly as a zip file. +From Isaac Sim 4.5 release, Isaac Sim binaries can be `downloaded `_ directly as a zip file. To check the minimum system requirements,refer to the documentation -`here `__. +`here `__. .. tab-set:: :sync-group: os @@ -82,7 +82,7 @@ variables to your terminal for the remaining of the installation instructions: For more information on common paths, please check the Isaac Sim -`documentation `__. +`documentation `__. - Check that the simulator runs as expected: @@ -158,7 +158,7 @@ instructions, it means that something is incorrectly configured. To debug and troubleshoot, please check Isaac Sim `documentation `__ and the -`forums `__. +`forums `__. Installing Isaac Lab @@ -287,7 +287,7 @@ The executable ``isaaclab.sh`` automatically fetches the python bundled with Isa Sim, using ``./isaaclab.sh -p`` command (unless inside a virtual environment). This executable behaves like a python executable, and can be used to run any python script or module with the simulator. For more information, please refer to the -`documentation `__. +`documentation `__. To install ``conda``, please follow the instructions `here `__. You can create the Isaac Lab environment using the following commands. diff --git a/docs/source/setup/installation/index.rst b/docs/source/setup/installation/index.rst index d58ac0a326..47d30a9768 100644 --- a/docs/source/setup/installation/index.rst +++ b/docs/source/setup/installation/index.rst @@ -23,13 +23,13 @@ Local Installation Isaac Sim 4.5.0 release to benefit from the latest features and improvements. For more information, please refer to the - `Isaac Sim release notes `__. + `Isaac Sim release notes `__. .. note:: We recommend system requirements with at least 32GB RAM and 16GB VRAM for Isaac Lab. For the full list of system requirements for Isaac Sim, please refer to the - `Isaac Sim system requirements `_. + `Isaac Sim system requirements `_. Isaac Lab is built on top of the Isaac Sim platform. Therefore, it is required to first install Isaac Sim diff --git a/docs/source/setup/installation/isaaclab_pip_installation.rst b/docs/source/setup/installation/isaaclab_pip_installation.rst index 7bce326178..9dc0d41a14 100644 --- a/docs/source/setup/installation/isaaclab_pip_installation.rst +++ b/docs/source/setup/installation/isaaclab_pip_installation.rst @@ -128,7 +128,7 @@ Verifying the Isaac Sim installation .. code:: bash By installing or using Isaac Sim, I agree to the terms of NVIDIA OMNIVERSE LICENSE AGREEMENT (EULA) - in https://docs.omniverse.nvidia.com/isaacsim/latest/common/NVIDIA_Omniverse_License_Agreement.html + in https://docs.isaacsim.omniverse.nvidia.com/latest/common/NVIDIA_Omniverse_License_Agreement.html Do you accept the EULA? (Yes/No): Yes @@ -138,7 +138,7 @@ instructions, it means that something is incorrectly configured. To debug and troubleshoot, please check Isaac Sim `documentation `__ and the -`forums `__. +`forums `__. Running Isaac Lab Scripts diff --git a/docs/source/setup/installation/pip_installation.rst b/docs/source/setup/installation/pip_installation.rst index 62fca10371..20f7317482 100644 --- a/docs/source/setup/installation/pip_installation.rst +++ b/docs/source/setup/installation/pip_installation.rst @@ -11,7 +11,7 @@ Installing Isaac Sim From Isaac Sim 4.0 release, it is possible to install Isaac Sim using pip. This approach makes it easier to install Isaac Sim without requiring to download the Isaac Sim binaries. If you encounter any issues, please report them to the -`Isaac Sim Forums `_. +`Isaac Sim Forums `_. .. attention:: @@ -158,7 +158,7 @@ instructions, it means that something is incorrectly configured. To debug and troubleshoot, please check Isaac Sim `documentation `__ and the -`forums `__. +`forums `__. diff --git a/docs/source/tutorials/00_sim/create_empty.rst b/docs/source/tutorials/00_sim/create_empty.rst index f2387ca0c5..89f28201c4 100644 --- a/docs/source/tutorials/00_sim/create_empty.rst +++ b/docs/source/tutorials/00_sim/create_empty.rst @@ -7,7 +7,7 @@ This tutorial shows how to launch and control Isaac Sim simulator from a standal empty scene in Isaac Lab and introduces the two main classes used in the framework, :class:`app.AppLauncher` and :class:`sim.SimulationContext`. -Please review `Isaac Sim Interface`_ and `Isaac Sim Workflows`_ prior to beginning this tutorial to get +Please review `Isaac Sim Workflows`_ prior to beginning this tutorial to get an initial understanding of working with the simulator. @@ -162,7 +162,6 @@ following: Now that we have a basic understanding of how to run a simulation, let's move on to the following tutorial where we will learn how to add assets to the stage. -.. _`Isaac Sim Interface`: https://docs.omniverse.nvidia.com/isaacsim/latest/introductory_tutorials/tutorial_intro_interface.html#isaac-sim-app-tutorial-intro-interface -.. _`Isaac Sim Workflows`: https://docs.omniverse.nvidia.com/isaacsim/latest/introductory_tutorials/tutorial_intro_workflows.html +.. _`Isaac Sim Workflows`: https://docs.isaacsim.omniverse.nvidia.com/latest/introduction/workflows.html .. _carb: https://docs.omniverse.nvidia.com/kit/docs/carbonite/latest/index.html .. _`physics scene`: https://docs.omniverse.nvidia.com/prod_extensions/prod_extensions/ext_physics.html#physics-scene diff --git a/docs/source/tutorials/00_sim/launch_app.rst b/docs/source/tutorials/00_sim/launch_app.rst index 8daac362bd..8013e9975c 100644 --- a/docs/source/tutorials/00_sim/launch_app.rst +++ b/docs/source/tutorials/00_sim/launch_app.rst @@ -173,4 +173,4 @@ terminal. .. _specification: https://docs.omniverse.nvidia.com/py/isaacsim/source/isaacsim.simulation_app/docs/index.html#isaacsim.simulation_app.SimulationApp.DEFAULT_LAUNCHER_CONFIG -.. _WebRTC Livestreaming: https://docs.omniverse.nvidia.com/isaacsim/latest/installation/manual_livestream_clients.html#isaac-sim-short-webrtc-streaming-client +.. _WebRTC Livestreaming: https://docs.isaacsim.omniverse.nvidia.com/latest/installation/manual_livestream_clients.html#isaac-sim-short-webrtc-streaming-client diff --git a/source/isaaclab/isaaclab/app/app_launcher.py b/source/isaaclab/isaaclab/app/app_launcher.py index e24d5abc93..b6568f1407 100644 --- a/source/isaaclab/isaaclab/app/app_launcher.py +++ b/source/isaaclab/isaaclab/app/app_launcher.py @@ -162,8 +162,8 @@ def add_app_launcher_args(parser: argparse.ArgumentParser) -> None: Valid options are: - ``0``: Disabled - - ``1``: `Native [DEPRECATED] `_ - - ``2``: `WebRTC `_ + - ``1``: `Native [DEPRECATED] `_ + - ``2``: `WebRTC https://docs.isaacsim.omniverse.nvidia.com/latest/installation/manual_livestream_clients.html#isaac-sim-short-webrtc-streaming-client>`_ * ``enable_cameras`` (bool): If True, the app will enable camera sensors and render them, even when in headless mode. This flag must be set to True if the environments contains any camera sensors. diff --git a/source/isaaclab/isaaclab/sim/converters/mjcf_converter.py b/source/isaaclab/isaaclab/sim/converters/mjcf_converter.py index 5358a5f782..19dd3452bf 100644 --- a/source/isaaclab/isaaclab/sim/converters/mjcf_converter.py +++ b/source/isaaclab/isaaclab/sim/converters/mjcf_converter.py @@ -31,7 +31,7 @@ class MjcfConverter(AssetConverterBase): From Isaac Sim 4.5 onwards, the extension name changed from ``omni.importer.mjcf`` to ``isaacsim.asset.importer.mjcf``. This converter class now uses the latest extension from Isaac Sim. - .. _isaacsim.asset.importer.mjcf: https://docs.omniverse.nvidia.com/isaacsim/latest/ext_omni_isaac_mjcf.html + .. _isaacsim.asset.importer.mjcf: https://docs.isaacsim.omniverse.nvidia.com/latest/robot_setup/ext_isaacsim_asset_importer_mjcf.html """ cfg: MjcfConverterCfg diff --git a/source/isaaclab/isaaclab/sim/converters/urdf_converter.py b/source/isaaclab/isaaclab/sim/converters/urdf_converter.py index 3d8873467c..401654102c 100644 --- a/source/isaaclab/isaaclab/sim/converters/urdf_converter.py +++ b/source/isaaclab/isaaclab/sim/converters/urdf_converter.py @@ -34,7 +34,7 @@ class UrdfConverter(AssetConverterBase): From Isaac Sim 4.5 onwards, the extension name changed from ``omni.importer.urdf`` to ``isaacsim.asset.importer.urdf``. This converter class now uses the latest extension from Isaac Sim. - .. _isaacsim.asset.importer.urdf: https://docs.omniverse.nvidia.com/isaacsim/latest/ext_omni_isaac_urdf.html + .. _isaacsim.asset.importer.urdf: https://docs.isaacsim.omniverse.nvidia.com/latest/robot_setup/ext_isaacsim_asset_importer_urdf.html """ cfg: UrdfConverterCfg