Using Isaac Sim for non-quadrotor drone simulation

Omniverse Isaac Sim
1

We are interested in using Isaac Sim for simulation experiments with non-quadcopter UAVs to verify their response to collisions and other physical interactions. Are there any relevant documentation guidelines or example code available for this purpose?

2

Not natively.

There are some projects that may help you, like:

and

3

Thank you, I noticed that the projects here seem to be designed for quadcopters. I’d like to take a look at non-quadcopter drones.

4

I don’t think there exists an open source alternative for that.

5

@VickNV

6

@michalin @ltorabi

8

You can use URDF and apply thrust/force. See URDF Importer Extension — Isaac Sim Documentation

  1. Build your URDF (body + propeller links + revolute/fixed joints as needed)
  2. Import via File > Import, set Moveable Base, enable self-collision
  3. In Python, use permanent_wrench_composer to apply per-rotor thrust forces in your simulation loop
  4. Use MultirotorCfg + allocation_matrix if your airframe has a known thrust geometry (e.g. hexacopter, tilted-rotor)
  5. Add a Contact Sensor to capture collision data
9

Closing this ticket as there has been no activity for two weeks. Feel free to re-open it or create a new one if you still need any support. Thanks!