# 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](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-for-healthcare/latest/training-healthcare-robots-from-scratch/02-data-loading/02-loading-custom-assets.md)
  * [Launch Isaac Sim](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-for-healthcare/latest/training-healthcare-robots-from-scratch/02-data-loading/02-loading-custom-assets.md#launch-isaac-sim)
  * [Determine Location of Pre-Downloaded Assets](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-for-healthcare/latest/training-healthcare-robots-from-scratch/02-data-loading/02-loading-custom-assets.md#determine-location-of-pre-downloaded-assets)
  * [Load Assets in Isaac Sim](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-for-healthcare/latest/training-healthcare-robots-from-scratch/02-data-loading/02-loading-custom-assets.md#load-assets-in-isaac-sim)
  * [Explore the Viewport](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-for-healthcare/latest/training-healthcare-robots-from-scratch/02-data-loading/02-loading-custom-assets.md#explore-the-viewport)
  * [Explore the Customized Franka](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-for-healthcare/latest/training-healthcare-robots-from-scratch/02-data-loading/02-loading-custom-assets.md#explore-the-customized-franka)
  * [Explore the Physics Inspector](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-for-healthcare/latest/training-healthcare-robots-from-scratch/02-data-loading/02-loading-custom-assets.md#explore-the-physics-inspector)
  * [Cameras](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-for-healthcare/latest/training-healthcare-robots-from-scratch/02-data-loading/02-loading-custom-assets.md#cameras)
  * [Add the Robot to a New Stage](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-for-healthcare/latest/training-healthcare-robots-from-scratch/02-data-loading/02-loading-custom-assets.md#add-the-robot-to-a-new-stage)
  * [Add the Phantom model](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-for-healthcare/latest/training-healthcare-robots-from-scratch/02-data-loading/02-loading-custom-assets.md#add-the-phantom-model)
  * [Drive Joints With the Physics Inspector](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-for-healthcare/latest/training-healthcare-robots-from-scratch/02-data-loading/02-loading-custom-assets.md#drive-joints-with-the-physics-inspector)
  * [Creating Your Own Scene](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-for-healthcare/latest/training-healthcare-robots-from-scratch/02-data-loading/02-loading-custom-assets.md#creating-your-own-scene)
* [Summary](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-for-healthcare/latest/training-healthcare-robots-from-scratch/02-data-loading/02-loading-custom-assets.md#summary)
* [MAISI Synthetic Medical Data](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-for-healthcare/latest/training-healthcare-robots-from-scratch/02-data-loading/03-maisi-synthetic-medical-data.md)
  * [MAISI](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-for-healthcare/latest/training-healthcare-robots-from-scratch/02-data-loading/03-maisi-synthetic-medical-data.md#maisi)
  * [Benefits of Synthetic Data Generation (SDG)](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-for-healthcare/latest/training-healthcare-robots-from-scratch/02-data-loading/03-maisi-synthetic-medical-data.md#benefits-of-synthetic-data-generation-sdg)
  * [Simulation Benefits](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-for-healthcare/latest/training-healthcare-robots-from-scratch/02-data-loading/03-maisi-synthetic-medical-data.md#simulation-benefits)
    * [Software-in-the-loop (SIL)](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-for-healthcare/latest/training-healthcare-robots-from-scratch/02-data-loading/03-maisi-synthetic-medical-data.md#software-in-the-loop-sil)
    * [Hardware-in-the-loop (HIL)](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-for-healthcare/latest/training-healthcare-robots-from-scratch/02-data-loading/03-maisi-synthetic-medical-data.md#hardware-in-the-loop-hil)
* [MAISI CT: Foundational CT Volume Generation Model](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-for-healthcare/latest/training-healthcare-robots-from-scratch/02-data-loading/03-maisi-synthetic-medical-data.md#maisi-ct-foundational-ct-volume-generation-model)
  * [Resources](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-for-healthcare/latest/training-healthcare-robots-from-scratch/02-data-loading/03-maisi-synthetic-medical-data.md#resources)
* [MAISI CT Pipeline](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-for-healthcare/latest/training-healthcare-robots-from-scratch/02-data-loading/03-maisi-synthetic-medical-data.md#maisi-ct-pipeline)
  * [Run MAISI CT Pipeline Locally With MONAI Model Zoo](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-for-healthcare/latest/training-healthcare-robots-from-scratch/02-data-loading/03-maisi-synthetic-medical-data.md#run-maisi-ct-pipeline-locally-with-monai-model-zoo)
* [Why Convert a CT Dataset From NIfTI or DICOM to USD?](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-for-healthcare/latest/training-healthcare-robots-from-scratch/02-data-loading/04-why-convert-to-usd.md)
  * [Key Reasons for Conversion](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-for-healthcare/latest/training-healthcare-robots-from-scratch/02-data-loading/04-why-convert-to-usd.md#key-reasons-for-conversion)
    * [Interoperability With Simulation Platforms](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-for-healthcare/latest/training-healthcare-robots-from-scratch/02-data-loading/04-why-convert-to-usd.md#interoperability-with-simulation-platforms)
    * [Mesh Representation](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-for-healthcare/latest/training-healthcare-robots-from-scratch/02-data-loading/04-why-convert-to-usd.md#mesh-representation)
    * [Efficient Rendering and Manipulation](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-for-healthcare/latest/training-healthcare-robots-from-scratch/02-data-loading/04-why-convert-to-usd.md#efficient-rendering-and-manipulation)
    * [Rich Metadata and Structure](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-for-healthcare/latest/training-healthcare-robots-from-scratch/02-data-loading/04-why-convert-to-usd.md#rich-metadata-and-structure)
  * [Summary](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-for-healthcare/latest/training-healthcare-robots-from-scratch/02-data-loading/04-why-convert-to-usd.md#summary)
* [Converting to USD](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-for-healthcare/latest/training-healthcare-robots-from-scratch/02-data-loading/05-converting-to-usd.md)
  * [NRRD to USD Converter Tool](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-for-healthcare/latest/training-healthcare-robots-from-scratch/02-data-loading/05-converting-to-usd.md#nrrd-to-usd-converter-tool)
    * [Usage](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-for-healthcare/latest/training-healthcare-robots-from-scratch/02-data-loading/05-converting-to-usd.md#usage)
    * [Output Structure](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-for-healthcare/latest/training-healthcare-robots-from-scratch/02-data-loading/05-converting-to-usd.md#output-structure)
    * [Supported Anatomical Structures](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-for-healthcare/latest/training-healthcare-robots-from-scratch/02-data-loading/05-converting-to-usd.md#supported-anatomical-structures)
      * [Conversion Pipeline](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-for-healthcare/latest/training-healthcare-robots-from-scratch/02-data-loading/05-converting-to-usd.md#conversion-pipeline)
    * [Load CT-derived Data Into Isaac Sim](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-for-healthcare/latest/training-healthcare-robots-from-scratch/02-data-loading/05-converting-to-usd.md#load-ct-derived-data-into-isaac-sim)
      * [Open assets again](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-for-healthcare/latest/training-healthcare-robots-from-scratch/02-data-loading/05-converting-to-usd.md#open-assets-again)
      * [Scene With Generated CT](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-for-healthcare/latest/training-healthcare-robots-from-scratch/02-data-loading/05-converting-to-usd.md#scene-with-generated-ct)
* [Review](https://docs.nvidia.com/learning/physical-ai/getting-started-with-isaac-for-healthcare/latest/training-healthcare-robots-from-scratch/02-data-loading/06-review.md)