How to Import Your Robot Into Isaac Sim in NVIDIA Omniverse

Isaac Sim importers

URDF
-Good URDFs are imported with physics
-Joints automatically added
(1)Use the URDF Importer
(1)-1 Using the URDF Importer Extension Window

Window > Extensions > URDF Importer
Enable the omni.importer.urdf extension in Omniverse Isaac Sim

Isaac Utils > Workflows > URDF Importer

Reference: https://docs.omniverse.nvidia.com/isaacsim/latest/advanced_tutorials/tutorial_advanced_import_urdf.html
(2)Specify your URDF files
Click button URDF
Click my computer > Double click bittle.urdf
(3)Specify other things
ex. Joint Drive Strength: Whether this robot should be fixed
(4)Load Robot
Click Load Robot button
:It will parser and load the robots for you
(5)Try adding a ground plane
Navigate Create > Physics > Click Ground Plane
(6)Create a Dome light
Dome light provides a more natural looking lighting environment
Navigate Light > Click Dome Light
(7)Specify texture
Specify a 4K texture to the dome light
Drag and drop lakeside_4k.hdr to Texture File
(8)Reduce intensity
Reduce intensity value so that it doesn’t appear too hash
(9)Move Robot
Physics are taken care of and that’s it
(10)Control joint
Search joint for navigation tab > Click .joint file
(11)Specify target position
Drag and adjust the target position
Reference: https://docs.omniverse.nvidia.com/isaacsim/latest/features/environment_setup/ext_omni_isaac_urdf.html

STEP
-Need to set up the physics manually
(1)Search for robot
Use the grabcad website and search for robot and download the step files
ex. PETOI Bittle
(2)Step importer
Navigate Window > URDF Importer
(3)Specify your URDF files
Click button URDF
Click my computer > Double click bittle_EO.STEP
(4)Load Robot
Load Meshes for you
These are just meshes, and they don’t have physics created yet
(5)Try adding a ground plane
Navigate Create > Physics > Click Ground Plane

OnShape
-Need to set up the physics manually

Reference
https://www.youtube.com/watch?v=pxPFr58gHmQ&list=PL3jK4xNnlCVf1SzxjCm7ZxDBNl9QYyV8X