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Importing a new Objects

To add a new object to Isaac Sim, use the GUI to import it and save as a .usd file. Refer to the Isaac Sim manual for more information about the supported formats. The following instructions were used to import objects into old versions of Isaac Sim (2023.1.0) for an updated version please refer to the manual referenced before.

Steps to Add objects (Old Isaac Version):

  1. Import and Save: import the Object and save as .usd. Preferably using instanceable meshes for memory efficiency.

  1. Check Object Attributes: Ensure the object's properties like colliders, mass, and density are set correctly.

  2. Test Collider Visualization: Run a simulation to see how the object's collider behaves.

  1. Save to Objects Directory: Save the .usd to the objects directory. The standalone checks for the objects .usd files within a directory with a specific structure: objects/object_ID/object_ID.usd

Note: When moving .usd files between different computers, absolute paths in the .usd (like for albedo maps) might break. Use relative paths to keep things working across systems.