Import Environments

NVIDIA Omniverse™ Connectors

Omniverse Isaac Sim provides Omniverse Connectors as a way to manage data transfer between Omniverse and third-party applications. With Omniverse Connectors, we mirror changes between platforms providing fast turnaround and seamless workflow.

Here are some Omniverse Connectors you may find helpful:

3D Studio Max 3ds Max users can choose the workflows and pipelines that work best for their needs while maintaining up-to date-revisions for all downstream consumers of their work.

Archicad The Omniverse ArchiCAD Connect Plugin brings ArchiCAD into the Omniverse Platform through NVIDIA Omniverse™ Connect tools similar to other NVIDIA Omniverse™ Connect applications.

Character Creator The Character Creator Omniverse Connector allows users to export characters, accessories, motions, and materials to USD and MDL.

Houdini The Omniverse Houdini Plug-In offers a simple toolkit for Houdini Users to send and live sync their model data to an Omniverse Nucleus.

Sketchup The NVIDIA Omniverse™ SketchUp Connector Plug-In offers a toolkit for SketchUp Users to send and live sync their model(s) to an Omniverse Nucleus Server.

Visualizing Collision Meshes

Not all the rigid bodies need to have collision properties, and collision meshes are often a simplified mesh comparing to the visual ones. Therefore you may want to visualize the collision mesh for inspection.

To visualize collision in any viewport:

  • Select: the eyecon eye icon.

  • Select: Show by type.

  • Select: Physics Mesh.

  • Check: All.

../_images/isaac_physics_visualize_collision.png

The visualization of collision meshes uses the PhysX Visual Debugger (PVD) plugin. You can find more information on PVD itself here.

Adding Collision Physics

When creating your environment, you may need to add physics for collision detection and simulation. Isaac Sim has several examples of setting up collision and utilize in your research.

Physics Utilities

You can access the Physics Utilities extension from “Isaac Utils” -> “Physics Utils” or from a docked tab. It provides a way to apply collision to new environments quickly.

Physics Collision Snippets

The following snippets will assist you with creating a scene using python. They are not complete examples but blocks of enlightenment, nonetheless.

Create the Physics Scene

Create Physics Snippet This snippet shows you how to create a physics scene used to drive the physics in your stage.

../_images/isaac_physics_physics_scene.png

Add Mesh Collision

Create Mesh Physics and Collision Snippet This snippet will enable realistic collision and physics on your meshes after enabling physics in your scene. You also learn to tweak collision with tighter collision shapes.

The left half of the following illustration shows the DofBot robot arm with the physics visualizer active. Using the snippet, we have created collision for the robot arm and iterate on the various collision types until we find one suitable for our simulation.

../_images/isaac_physics_physics_visible.png

Set the Mass

Create Mass Properties Snippet Once your geometry has mass in an active physics scene with collision enabled, the simulation is now ready to simulate your virtual objects with realistic behavior.

../_images/isaac_physics_mass.png

Adding Domain Randomization

Domain Randomization is an approach to introduce variations to the imported simulation environment.

In Isaac Sim, you can add domain randomization to your environment via UI as well as using python APIs.

Adding Semantic Information

The functioning of segmentation and bounding box sensor data relies a lot on the semantic meaning of different objects in the simulation environment. The Semantic Schema Editor tool allows user to assign semantic labels to those objects.