Isaac Sim Built on Omniverse

Isaac Sim built on NVIDIA Omniverse™ 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 Isaac Sim built on Omniverse 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.

Getting Started

Download Isaac Sim built on Omniverse from Isaac Sim Downloads and follow instructions there to set up the simulator.

Note

The Isaac SDK 2021.1 release requires the Isaac Sim 2021.1 release for simulation.

Navigation Samples

Launch Omniverse Kit and open the omni:/Isaac/Samples/Isaac_SDK/Scenario/carter_warehouse_with_forklifts.usd stage. Start the Robot Engine Bridge and press Play.

Run the Isaac SDK application with the Carter navigation stack:

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            bob@desktop:~/isaac/sdk$ bazel run apps/navsim/navsim_navigate -- --map_json apps/assets/maps/virtual_test_warehouse_1.json

Once connection is established between Isaac SDK and Omniverse Kit, open Isaac Sight at http://localhost:3000. In the Application Configuration panel on the right, search for “goal_behavior” and change the “desired_behavior” in “SelectorBehavior” from pose to random. Carter will start navigating to randomly generated goal positions.

Cart Delivery

Launch Omniverse Kit and open the omni:/Isaac/Samples/Isaac_SDK/Scenario/str_dolly_warehouse_with_forklifts.usd stage. Start the Robot Engine Bridge.

Press Play in Omniverse kit. Run the Isaac SDK application with the cart-delivery stack:

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            bob@desktop:~/isaac/sdk$ bazel run packages/cart_delivery/apps:cart_delivery -- --map_json apps/assets/maps/virtual_test_warehouse_1.json --pose2_planner ""

Once connection is established between Isaac SDK and Omniverse Kit, open Isaac Sight at http://localhost:3000. The robot should detect the dolly and move it to a predefined drop-off waypoint.

Manipulation Samples

See Manipulation Sample Applications to learn how to use Isaac SDK manipulation sample applications with Omniverse Isaac Sim.

Jetbot Samples

See Jetbot Sample Applications to learn how to use Isaac SDK Jetbot sample applications with Omniverse Isaac Sim.