# Description

Adds a helper class that converts a urdf description into an
instanceable usd file with separate meshes.

If a `usd_dir` is provided, the conversion is lazy: It only performs
conversion if the provided `UrdfLoaderCfg` or the main URDF file is
modified. The current implementation does not automatically trigger USD
generation if only mesh files are changed.

Fixes #35 

## Type of change

- New feature (non-breaking change which adds functionality)
- This change requires a documentation update

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [x] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file

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Co-authored-by: Mayank Mittal <mittalma@leggedrobotics.com>