I am trying to build a image dataset using multiple URDF robots in Omniverse using Replicator. I have been trying to explore different ways, one by first importing the models and creating a USD file which I shall use for replicator python scripting, and one directly importing using python script.
However, when I import the models, by URDF importer or through python script, I face the same problem of robot links not being connected properly. The RPY angles mentioned in the URDF changes arbitrarily for some of the links when checked through the Isaac Sim UI. This shows the robot wheels in correct orientation but the chassis is rotated by 90 degrees(same for other small parts).
This has happened with 3 different URDF models that I tried with.
Please share what could be the problem in my approach since even through the extension, I face the same issue.
Hi - Sorry for the delay in the response. Let us know if you still having this issue/question with the latest Isaac Sim 2022.2.1 release.
Can you share the source of the URDF files you have tried, some screenshots of what you are seeing would also be helpful.
I have solved the issue with URDF importing as the problem lied in the URDF files themselves.
The files were from a project we were working on and although they worked fine in other softwares, they seemed to breakup in Isaacsim. However, fortunately the models were updated from the creator and they worked properly in Isaac Sim environment.
I utilised .obj files for the models from blender and converted them to USD for the use case of synthetic dataset generation using offline_pose_generation.py present in standalone example of isaac sim.
Thank you for reaching out.
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