Add_your_urdf.md

Add Your URDF with Isaac Sim GUI

26.01.13
Written by Chanyoung Ahn

1. Add and Control Robot

This tutorial shows how to 1) add your own URDF file with Isaac Sim 2) validate DOF and 3) run a simple simulation.

1. Open Isaac Sim and import your urdf (File -> Import -> your_robot.urdf)

2. Load your urdf with customized options..

   • ([x] Allow Self-Collisions, [x] Convex Hull)
     
   

3. Add robot joint controller

   • (Tools > Robotics > OmniGraph Controllers > Joint Position)
   

4. Add Robot Root Prim

   • (i.g., ur10 (defaultPrime))
     
   

5. Open Graph
   

6. Click JointCommandArray and set the desired joint angles in Value field.

   • Try your robot joint movement!
   • (Turn on play button for watching real-time movement)
   

2. Check Robot Collsion Mesh

1. Turn on collision mesh view
   • Eye Icon > Show By Type > Physics > Colliders > All