NVIDIA Isaac Sim

NVIDIA Isaac Sim 与 Isaac Lab：GPU 加速机器人仿真、合成数据生成和大规模机器人强化学习。

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