Status
Open
Goal:
Show how to take a custom robot design from CAD (SolidWorks, Onshape, Fusion, etc.), export it as a URDF, and load it into Isaac Sim for simulation with the URDF importer. Demonstrate a simple task to validate the setup and highlight any extra adjustments needed.
Outline:
1. From CAD to URDF
- Design robot in CAD software
- Export parts as meshes (STL/DAE/OBJ)
- Use a URDF exporter (e.g., SolidWorks URDF tool, Onshape exporter)
- Ensure joints, links, and frames are defined correctly
2. Loading into Isaac Sim
- Import URDF via Isaac Sim’s URDF Importer or Python API
- Configure transforms (scale, position, orientation)
- Apply physical properties: collisions, materials, mass/inertia
- Verify sensor placements if applicable
3. Testing in Simulation
- Place the robot in a simple environment (e.g., a flat plane or small room)
- Run a basic control task (e.g., move forward, pick a block, rotate a joint)
- Observe behavior and make adjustments:
- Tune joint limits or damping
- Adjust collision meshes to reduce jitter
- Fix texture/material mismatches
4. Recap & Next Steps
- CAD → URDF → Isaac Sim pipeline
- Configure physical + visual properties
- Validate robot with a simple task
- Next: Train in Isaac Lab, connect to ROS 2 for navigation, add sensors, or run RL/SLAM experiments