Adding vehicles in Isaac Sim using python utilising PhysX Vehicle Dynamics

Omniverse Isaac Sim
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1

Hi,

I am quite new to using Isaac Sim and I wanted to know if there are example on how to set up a vehicle inside of isaac sim using python api with utilising PhysX Vehicle Dynamics.

Something as simple as a cube and four wheels with basic suspension is what I am trying to create. I am currently trying to set up a simple scenario like this using python but am getting a bit stuck.

Thank you for any help!

2

You can setup vehicles in Omniverse using just USD, check the physics vehicles demos, they are generated from python.
Window->Simulation->Demos, then vehicles demos.
You can view the python code and check how its done.

Regards,
Ales

3

Hi,

Thank you for the reply, I did already have a look at this before. However, I wasn’t able to understand a lot of it. Would there happen to be a more simple version to learn from?

Thank you.

4

The “Setup (drive basic)” sample is more or less the simplest setup possible (remove the parts related to “if useDriveStandard” to reduce the amount of code).

Some developer documentation can be found here:
https://docs.omniverse.nvidia.com/kit/docs/omni_physics/104.2/source/extensions/omni.physx.vehicle/docs/index.html

The USD schemas are documented here:
https://docs.omniverse.nvidia.com/kit/docs/omni_usd_schema_physics/104.2/index.html

Best regards,
Michael

1 Like
6

Thank you for those, I managed to get the vehicle going!

As a follow up, I wanted to ask if it was possible to control the vehicles using the keyboard if it was configured as tank?

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A setup with tank differential has no support for keyboard/gamepad control yet. You would have to add that bit of logic yourself and translate the key/pad inputs to the attributes of PhysxVehicleTankControllerAPI and PhysxVehicleControllerAPI