Isaac Models

USD models for use with Isaac Sim.

File Structure

• mulinex/: contains the default Mulinex robot with point feet and no case.
  • mulinex/mulinex.usd: default Mulinex with two rigid prims per leg: XX_UPPER_LEG and XX_LOWER_LEG.
  • mulinex/mulinex_feet.usd: default Mulinex with three rigid prims per leg: XX_UPPER_LEG, XX_LOWER_LEG, and XX_FOOT.
• omniquad/: contains the OmniQuad robot (with omniwheels).

Creation from URDF

Import the URDF in Isaac Sim. Activate Merge Fixed Joints and Create Instanceable Asset. Specify the Input File and the Output Directory that you wish to use, and click Import.

Open the generated .usd file. The Articulation Root will be placed in the base link. Remove it from there, and create a new Articulation Root directly in the robot (the defaultPrim) (Add -> Physics -> Articulation Root).

Remove the root_joint.

Delete all the Flattened_Prototype_* files.

For all the visuals of the links, in References, select as the Asset Path the instanceable_meshes.usd file and copy the Prim Path from up in the Prim Path in References.