Omniverse IsaacSim is built on the NVIDIA Omniverse simulation platform. It leverages the NVIDIA Omniverse Kit and has been enhanced with robotics-specific extensions. It provides access to NVIDIA PhysX and RTX ray-tracing technologies for high performance, photo-realistic robotic simulations.
Isaac SDK integrates with Omniverse IsaacSim through the Robot Engine Extension. Sensor data and drive commands are exchanged though TCP. Isaac SDK provides navigation and manipulation sample applications that work with Omniverse IsaacSim.
Download Omniverse Isaac Sim from Isaac Sim Downloads and follow instructions there to set up the simulator.
For the samples below, the full Omniverse Isaac Sim 2020.1 release is required; the preview release does not support Isaac SDK. If you see the preview release on the above page, the full release is not available yet. Please check back after Jun 6, 2020.
The physics simulation setting can be access in Physcics > Settings. The default physics settings of 60 timesteps per second and maximum 2 steps per frame provide sufficient accuracy for differential base simulation when the simulation framerate is higher than 30Hz. If the framerate drops below 30Hz, increase the max num steps to 3. This setting will persist after restarting Omniverse Kit.
Increasing the maximum number of physics steps per frame will further decrease the framerate.
Camera simulation in Omniverse IsaacSim currently only publishes the viewport camera. To provide valid first-person robot camera simulation data to Isaac SDK, switch the viewport camera to the robot camera and change the viewport resolution to 1280x720 to match the expected camera resolution for most Isaac SDK perception modules. This setting will not persist after restarting kit.