Needing Advice: Isaac Sim simulator for custom robot(turtlebot3_lime) RealSense D435i | Physics Inspector

[Misoka_An]

Hi, I’m working on building a simulator for TurtleBot3 (TurtleBot3 Lime) like Gazebo on Isaac Sim and applying Isaac Gym for grasping tasks. However, I’m not sure where to start. I would appreciate any advice you can offer on this project.

Turtlebot3_lime git link → here

Here’s what I’ve done and what problem I’m facing right now.

Have done:

• Import URDF to isaac sim
• Create an action graph for driving the robot through ROS2

Facing Problem:

1. URDF importer
   After importing the URDF to Isaac Sim, some of the materials didn’t render correctly.
   

   

2. Realsense D435i camera
   The imported URDF doesn’t include a RealSense D435i camera in Isaac Sim. I know there’s a D455 available, but has anyone tried defining a D435i for it?

3. Physics Inspector error
   The robot unexpectedly falls after adjusting a joint in the Physics Inspector.
   

[varun.sampat]

Your best bet is to import the 455, reduce the size (scale it down while importing) and then customize the camera properties.

[scristiano]

On question 3.

From the video I can see that Isaac Sim 2023.1.1 is being used but we suggest using the latest Isaac Sim 4.0.0.

The new Physics Inspector included with Isaac Sim 4.0.0 will disable gravity during authoring manipulation.
The tool has been greatly improved with the addition of some other significant updates and fixes (take a look at the new documentation).

Physics inspector included in Isaac Sim 2023.1.1 is more limited.
One thing to try if updating to latest is not feasible, is to select the robot/articulation AND the plane (that should have a static collider), so that it will be included in the authoring simulation and prevent it from falling due to gravity.

[Misoka_An]

Thank you for the suggestion. After upgrading to the latest Isaac Sim 4.1.0, the Physics Inspector is working.