Loading Data for Simulation

Now let’s begin assembling all the assets needed for our simulation.

In this module, we will walk you through:

• Launching Isaac Sim

• Finding your local assets for medical simulation

• Loading a robot and phantom model to explore basic Isaac Sim features

• Working with USD files for the medical context

Let’s dive in!

• Loading Custom Assets in Isaac Sim
  • Launch Isaac Sim
  • Determine Location of Pre-Downloaded Assets
  • Load Assets in Isaac Sim
  • Explore the Viewport
  • Explore the Customized Franka
  • Explore the Physics Inspector
  • Cameras
  • Add the Robot to a New Stage
  • Add the Phantom model
  • Drive Joints With the Physics Inspector
  • Creating Your Own Scene
• Summary
• MAISI Synthetic Medical Data
  • MAISI
  • Benefits of Synthetic Data Generation (SDG)
  • Simulation Benefits
    • Software-in-the-loop (SIL)
    • Hardware-in-the-loop (HIL)
• MAISI CT: Foundational CT Volume Generation Model
  • Resources
• MAISI CT Pipeline
  • Run MAISI CT Pipeline Locally With MONAI Model Zoo
• Why Convert a CT Dataset From NIfTI or DICOM to USD?
  • Key Reasons for Conversion
    • Interoperability With Simulation Platforms
    • Mesh Representation
    • Efficient Rendering and Manipulation
    • Rich Metadata and Structure
  • Summary
• Converting to USD
  • NRRD to USD Converter Tool
    • Usage
    • Output Structure
    • Supported Anatomical Structures
      • Conversion Pipeline
    • Load CT-derived Data Into Isaac Sim
      • Open assets again
      • Scene With Generated CT
• Review