How to add surface roughness to existing ground plane?

I want to create surfaces to obtain IMU variations. So far I used dirt MDL and asphalt MDL on a flat plane and to my surprise both resulted in same IMU data with no variations. How to add surface roughness in isaac sim so that I can get variations?

Hi @vyachu07 -
In Isaac Sim, you can simulate different surface properties by using the omni.isaac.dynamic_control extension. This extension allows you to control the physical properties of objects in the scene, including their friction and restitution coefficients. However, it doesn’t directly simulate surface roughness.

To simulate surface roughness, you might need to create a 3D model of the surface with the desired roughness and import it into Isaac Sim. The 3D model should have the roughness built into its geometry. You can create such models using 3D modeling software like Blender or Maya.

Once you have your 3D model, you can import it into Isaac Sim and assign it a physics material using the omni.isaac.dynamic_control extension. The physics material will determine how objects interact with the surface. For example, a high friction coefficient will make objects move more slowly on the surface, simulating the effect of roughness.

Remember that the IMU sensor in Isaac Sim measures the linear acceleration and angular velocity of the body it’s attached to. If the body moves over a rough surface, the IMU sensor should pick up the resulting variations in acceleration and velocity.

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