How to understand the properties of robot objects in ISAAC SIM?

Omniverse Isaac Sim
1

I imported a drone from the extension called Pegasus. But honestly I have no idea how ISAAC sim simulates this drone. Specifically, Some of the properties are beyond my knowledge, and I don’t understand how the simulation works.

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Firstly, there is a set of property named “UV”, is this a built-in tool for unmaned verhicles? What does “UVW” mean? Where can I find the docs for those properties?

Secondly, I noticed that isaac sim can’t simulate air when I found the drone will still drop even if I let the rotors run rapidly. Is there a way to simulate air (and wind if possible) so that I cound get more accurate simulation results?

Thirdly, how to freely modify the 3D model of this drone (and possibly other robots)? For example, if I may want to dig a hole on the surface to test the impact of this action, how to make it happen. Note my focus is on the collider because I only seek to collect physical data at this stage. And I also need the simulator to calculate the new center of mass efficiently. Is there an advanced tutorial to teach me those topics?

Lastly, how to randomly generate terrians for robot testing. In the AnyMal example, the surface of the ground is a composition of regular boxes, which is obviously unrealistic in real world. How to generate a super realistic ground surface with ISAAC SIM?

2

Hi @xuanyaoming - I think this document will give you some idea. API Reference — Pegasus Simulator documentation.

For more questions, you can start discussion on Github page for PegasusSimulator.

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Thanks, but I had read this document before I posted the question. That’s where I got this drone in the simulation.
The problem of this extension is, it doesn’t work in win 10. The major problem is that ROS2 and ISAAC SIM are compiled under different versions of python. I noticed there is forum suggesting to compile ROS2 manually by ourselves, but it’s unrealistic in my case, because the official guide is buggy and I have no C++ compiling experience to fix them. Do you have any solution to the problem?