Object color setting

Autonomous Machines Robotics - Isaac Isaac Gym
1

Hi,

I’m developing robot simulation environments using IsaacGym.
I have two questions about object color setting.

  1. It seems that IsaacGym cannot properly retrieve color values defined in URDF file. It is not supported in current version? or, am I missing something?

  2. I want to apply a set of different colors for an object. I mean, for example, there is single cup mesh model in the environment, and I want to set blue color inside, and red outside. Is there any method for it?

It seems that by “set_rigid_body_color()”, just one color is available for each mesh model.

2

It seems that IsaacGym cannot properly retrieve color values
defined in URDF file. It is not supported in current version? or,
am I missing something?

Preview 2 supports URDF materials. For example:

  <material name="aluminum">
    <color rgba="0.65 0.65 0.65 1"/>
  </material>

can be used like this:

    <visual>
      <geometry>
        <cylinder length="0.1133" radius="0.00635"/>
      </geometry>
      <material name="aluminum"/>
    </visual>
3

Your comment is general method to set a material for URDF.
But in my case, is does not work. I don’t know the exact reason.

Instead, I solved this issue by editing the collada mesh file(.dae) directly using online editor.
After I changed the color of the mesh file(collada) and re-import, it works perfectly !

Thanks for your comment anyway !