Issues with URDF imported robot and Joints coming from Matlab

Omniverse Isaac Sim
1

Dear Nvidia family,

I am a newer user of the Nvidia Isaac sim and I am having some trouble importing a robot and having everything function as I envisioned it.

Some background information: The robot is designed to climb a ladder-like structure and our team needs to simulate it in a faster simulator than Matlab. We need good contact simulation and we were wondering which physics settings would be optimal for such use.

Furthermore, we are having trouble getting joints to function properly. After importing our robot from our URDF and starting a physics scene we get this issue:

image
image2542×1377 322 KB

We are not really sure what this means as both body0 and body1 under the properties tab are pointing to a body.

Please let me know if there is any other information that you need.
Thank you!

2

I could not upload a second screenshot so here is the properties tab of the first error:

image
image778×1315 76.2 KB

3

Hi @mornekruger2001 - Did you get a chance to review this document?
https://docs.omniverse.nvidia.com/isaacsim/latest/advanced_tutorials/tutorial_advanced_import_urdf.html

https://docs.omniverse.nvidia.com/isaacsim/latest/ext_omni_isaac_urdf.html#isaac-sim-urdf-importer

4

So I have followed all of these steps and they do not seem to be working still. I get the same errors after the robot is imported.

Are there any complete courses available for me to follow?

6

Hi @mornekruger2001 - If you don’t mind, can you share the USD file here?, someone from our dev team will take a look at the issue and will get back to you.

1 Like
7

Climber test 2.usd (5.2 KB)
Of course, here it is. I can also upload my URDF file if you want. Just let me know.

Thank you!