Hi…
It is possible to import assets to Isaac Sim.
There is a section about it in the documentation: Importing Assets into Kit
Also, the next example shows how to import and setup the apple form YCB dataset in Isaac Sim.
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Unzip and copy the 013_apple folder to Isaac Sim / Nucleus
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Select Import on the top-left side of the Content tab and choose the 3D file to be imported (supported formats are: FBX, OBJ, GLTF, and LXO)
- Adjust some parameters and press Import. The name wrote bellow Create Folder checkbox will be the name of the exported folder in omni:/Isaac path
- Open the created USD asset (omni:/Isaac/apple/textured.usd), select the Root XForm and adjust some visual parameters; like X, Y, Z scale to 100.00 (maybe there are some differences with the scale units between the USD and the OBJ object, I don’t know, just I’m guessing). Note: the
Fkey center the selected object in the viewport
- Adjust some physics properties to allow interaction in the simulation. In this previous post there is some discussion about setup the PhysicsAPI , CollisionAPI , MassAPI:mass components. Also, change (or not) the mass and the mesh collision. Then Save/Save As… the changes. Note: to visualize the mesh set the “Show collision shapes” to “Selected” on the PhysX debug windows (Menu: Physics > PhysX Debug Window)
Finally, the next image shows how the imported and configured apple falls into the bin (ur10_bin_filling.usd stage)
