Hello everyone,
I’m working on a robotic 3D printing setup using ABB IRB2400 + an Extruder + an Intel Depth Camera, and I need to properly export the URDF from Isaac Sim with the file imported from Onshape for simulation and toolpath execution.
System Details:
- Isaac Sim Version: 4.5
- **Operating System:**Windows
- **Onshape CAD → Isaac Sim → URDF Workflow
Questions:
- What is the best hierarchy to use for URDF export in Onshape for Isaac Sim?
- How to avoid kinematic loops in URDF and Isaac Sim?
- How to correctly define the root joint and joint origins?
- What is the correct way to attach external devices (extruder, camera) in Isaac Sim?
I structured my robot in Onshape based on how it should function in Isaac Sim, but I am encountering issues with joints and tree structures.I tried following the Franka example in Isaac Sim, but my IRB2400 has different complexities (e.g., an extruder, a depth camera)
Any guidance or best practices from the community would be greatly appreciated!
Thanks in advance!
