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build_your_own_scenes.md

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Author: Shiyuan Yang
Email: [email protected]

Notice:

  • Directly importing assets (.usd or .obj) from outside Isaac Sim or Omniverse may cause materials to be lost or other issues. The safer way is to build or import the basic model outside Isaac Sim, and add materials, physics, and other elements inside Isaac Sim or Omniverse USD Composer.

  • Scale Issue: USD Composer uses cm, while Isaac Sim uses m. This may cause scale problems when importing USD files.

    • Solution: Adjust in Isaac Sim. Shrink the scaled larger models by 0.01 in Property -> Transform -> Scale, then right-click the models in the stage window and save the selection as a new USD file.

Useful Tools:

  • Blender: To build geometric models without materials.
  • Omniverse USD Composer: To add physics, materials, and save as .usd files.
  • Omniverse USD Explorer: To view and check assets. This is optional.

Constructing a Scene in NVIDIA Isaac Sim

This tutorial provides a step-by-step guide to building a 3D scene in Isaac Sim. We will cover the basic setup, adding objects, and configuring the scene for simulation.

Prerequisites

  • Isaac Sim installed: Ensure you have Isaac Sim installed and running on your system.
  • Omniverse USD Composer intalled Easy to edit and modify multiple USD models.
  • Basic familiarity: Some understanding of 3D modeling and simulation concepts is helpful.
  • Some open-source assets websites:
    • Free 3D Models.
    • You can also find many opensource scene models form some published papers, for example Grutopia.

1. Launch Isaac Sim

  1. Open Isaac Sim from your installed applications.
  2. Create a new project or open an existing one.
  3. Familiarize yourself with the viewport, stage, and toolbar.

2. Create a New Scene

  1. Go to the File menu and select New to start a fresh scene.
  2. Save the scene:
    • File -> Save As.
    • Choose a location and provide a name, e.g., MyScene.usd.

3. Add a Ground Plane

  1. In the Create menu (or toolbar), select Physics -> Ground Plane.
    • A flat plane is added to the scene for objects to rest on.

4. Add 3D Objects

Method 1: Using the Asset Browser

  1. Open the Asset Browser from the bottom panel.
  2. Browse the library or search for assets (e.g., cube, robot, table).
  3. Drag and drop the asset into the viewport or stage hierarchy.

Method 2: Manually Adding Primitives

  1. Go to the Create menu.
  2. Select a primitive shape (e.g., Cube, Sphere, or Cylinder).
  3. Use the Move, Rotate, and Scale tools in the toolbar to position and size the object.

5. Configure Materials and Textures

  1. Select the object you want to customize in the Stage hierarchy.
  2. Open the Material Editor.
  3. Assign a new material or drag-and-drop a material from the Asset Browser.
  4. Customize properties like color, texture, and reflectivity.

6. Add Lighting

  1. From the Create menu, select a light type:
    • Distant Light: Simulates sunlight.
    • Point Light: Emits light in all directions from a point.
    • Spot Light: Focused directional light.
  2. Position the light source using the transform tools.

7. Configure Physics

  1. Enable physics for objects:
    • Right-click the object in the Stage hierarchy.
    • Select Add -> Physics -> Rigid Body.
  2. Add colliders:
    • Right-click the object and choose Add -> Physics -> Collider.
    • Adjust collider properties if needed.

8. Simulate the Scene

  1. Click the Play button in the toolbar to start the simulation.
  2. Observe object interactions and adjust physics or environment settings as needed.
  3. Pause or stop the simulation to make changes.

9. Save and Export

  1. Save the scene frequently:
    • File -> Save.
  2. Export the scene if required:
    • File -> Export -> USD/OBJ.
  3. If the scene is composed of multiple USD file with complex Looks(materials), recommand to use:
    • File -> Collect As....

Additional Tips

  • If the paths of the materials are in disorder, try Window -> Utillities -> USD Paths
  • Use the Camera Controls to navigate the scene and set up desired views.
  • Utilize the OmniGraph editor for advanced control and automation.
  • Leverage pre-built robot models and environments for complex simulations.

Resources and References

With this guide, you should be able to construct and simulate basic scenes in Isaac Sim. Happy simulating!