Isaac Sim

The primary simulator we support is NVIDIA Isaac Sim. We chose Isaac Sim as the best balance between photorealism and physics simulation.

USD File Naming Conventions

AirStack uses the following file naming conventions:

Purely 3D graphics

• *.prop.usd ⟵ simply a 3D model with materials, typically encompassing just a single object. Used for individual assets or objects (as mentioned earlier), representing reusable props.

• *.stage.usd ⟵ an environment composed of many props, but with no physics, no simulation, no robots. simply scene graphics

Simulation-ready

• *.robot.usd ⟵ a prop representing a robot plus ROS2 topic and TF publishers, physics, etc.

• *.scene.usd ⟵ an environment PLUS physics, simulation, or robots