Problem Description

The field of robot simulation plays a crucial role in AI-driven automation, robotics research, and digital twins. NVIDIA Omniverse Isaac Sim is a powerful simulation platform that enables realistic physics, AI-driven robotics, and seamless ROS integration. The main challenge is in setting up and optimizing the robot simulation environment in modern frameworks, for custom layouts. This project aims to bridge that gap by guiding students through designing, implementing, and testing a fully functional robot simulation in Omniverse Isaac Sim. The focus will be on real-time physics, sensor simulation, and cloud collaboration.

Project Definition

The project covers the following aspects to set up a working simulation model in the Omniverse for the Modellfabrik:

• Set up Omniverse Isaac Sim on a workstation and configure real-time physics.
• Create a custom robot simulation environment.
• Integrate a robot model (UR5, UR10, MIR100 AMR) using URDF and USD formats.
• Develop and test robot behaviors using ROS/aROS 2, Python scripting.
• Simulate sensors (LiDAR, camera, IMU) for autonomous navigation tasks.
• Evaluate the results and document the simulation for future use.

Deliverables:

• A functional Omniverse Isaac Sim robot simulation project
• A GitHub repository with documentation and code for further development such as AI training or Digital Twin.

Learning Outcome

Learning Outcome:

• Programming experience (Python, C++) necessary for scripting in Isaac Sim.
• Brief familiarity with robotics concepts (kinematics, motion planning, sensors).
• Some experience with ROS/ROS 2 (optional but beneficial).
• Interest in simulation, scripting and physics-based modeling.
• Ability to work in a team and document work clearly.

Participation Requirements

• Programming experience (Python, C++) necessary for scripting in Isaac Sim.
• Brief familiarity with robotics concepts (kinematics, motion planning, sensors) - support will be provided where needed.
• Some experience with ROS/ROS 2 (optional but beneficial).
• Interest in simulation, scripting and physics-based modeling.
• Ability to work in a team and document work clearly.

External Partner

Innovation Hub Bergisches Rheinland