Hands-on Session on Isaac Sim
About Isaac Sim
Official Isaac Sim Documentation - Link
NVIDIA Omniverse™ Isaac Sim is a robotics simulation toolkit on the NVIDIA Omniverse™ platform, offering tools for creating virtual robotic environments and experiments. It supports navigation, manipulation via ROS/ROS2, and simulates sensor data like RGB-D, Lidar, and IMU for computer vision applications, including domain randomization and ground-truth labeling.
Note
Through out the following exercises, you may see this warning dialog when you open our pre-scripted USD file.
You can just press "Yes" to dismiss.
Also, when you close the USD file, press "Don't Save" so that you get to re-use the provided USD files in the way later.
Exercise composition
Hands-on session on Isaac Sim is composed of 5 exercises.
Some exercises are designed to be built upon the result of previous exercise.
However we provide a pre-configured USD file at each exercise completion, so you can skip some exercise.
Exercise 1.1 Launch Isaac Sim [Hands-on]
We introduce two ways to launch Isaac Sim.
Exercise 1.2 Create an Environment in Isaac Sim [Hands-on]
We learn how we can build an environment from scratch using primitives in Isaac Sim as well as using pre-created assets.
Exercise 1.3 Load Assets in Isaac Sim.
We will learn
- How to add props/assets, place and move them, and view the environment from desired perspectives [Hands-on]
- How to add people in an environment using
omni.anim.peopleextension - How to add a robot in the scene using the URDF file
- How to attach a camera to the robot
Exercise 1.4 Action Graph to drive a robot [Hands-on]
We will learn how to construct an Action Graph for driving a robot in the simulator from ROS 2 side.
Exercise 1.5 Action Graph for robot camera [Hands-on]
We will learn how to construct an Action Graph for publishing robot camera images to ROS 2 side.