.usda → .sdf
USD to SDF
Convert a robot description from USD to SDF in the browser. Nothing is installed and nothing is queued: the file is read, written in the other format, and handed back with a list of anything that could not be carried across.
Convert a file
Drop your USD here
Drop the folder too if the model references meshes.
Files are read on our server and deleted after a day. Nothing is published.
Reading the USD
Writing the SDF
Look at the file first
What this conversion costs
These are the things SDF has no place for. They are reported on the converted file as well, as a comment at the top, so the file itself says what is missing from it.
- Anything that is not the robot. Cameras, materials and environment prims have no SDF equivalent inside a <model>.
Isaac to Gazebo
The robot arrives as an SDF model: links, joints, collision and visual geometry, inertia. What it does not arrive with is a world — SDF can hold one, but a USD robot stage does not describe Gazebo's ground, light and physics settings, and inventing them would be inventing your simulation for you.
The two formats
- USD .usda
- NVIDIA's scene format, where a robot is ordinary geometry with UsdPhysics applied on top — what Isaac Sim opens.
- SDF .sdf
- Gazebo's format, which describes a whole world rather than a single robot.
Converting is rarely the whole job. Once you have the SDF, the viewer shows what actually came across — collision geometry against visual, joint limits, where the mass sits — and the physics lab answers the question a file cannot: whether the robot stands up when gravity is switched on.