NVIDIA Isaac Sim

NVIDIA Isaac Sim and Isaac Lab: GPU-accelerated robot simulation, synthetic data generation, and large-scale reinforcement learning for robotics.

Learning Objectives

1. Isaac Ecosystem Overview

1.1 Isaac Sim vs. Isaac Lab vs. Isaac ROS

1.2 Installation & System Requirements

2. Getting Started with Isaac Sim

2.1 UI Overview

2.2 Importing Robots (URDF, USD)

2.3 Adding Sensors (Camera, LiDAR, IMU)

3. Isaac Lab (formerly Orbit)

3.1 RL Environment Design

3.2 Parallel Simulation

3.3 Training Locomotion Policies

4. Synthetic Data Generation

4.1 Domain Randomization

4.2 Automatic Annotation

5. ROS 2 Integration

6. Comparison: Isaac Sim vs. MuJoCo vs. Gazebo

Exercises

References