o3de-extras/Gems/ROS2RobotImporter/Registry/sdfassetbuilder_settings.setreg

{
    "O3DE":
    {
        "ROS2":
        {
            "SdfAssetBuilder":
            {
                "SupportedFileTypeExtensions":
                [
                    "sdf",
                    "urdf",
                    "world",
                    "xacro"
                ],
                "UseArticulations": true,
                "URDFPreserveFixedJoint": true,
                "AssetResolverSettings":
                {
                    "UseAmentPrefixPath": true,
                    "UseAncestorPaths": true,
                    "URIPrefixMap": 
                    {
                        "model://": ["", "../models"],
                        "package://": [""],
                        "file://":  [""]
                    }                
                }
            }
        }
    }
}