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目录
What Is Isaac Sim?
Isaac Sim是一种软件平台，从头开始构建，以支持日益机器人化和自动化的世界。我们的目标是尽可能地简化您设计、调整、训练和部署真实物理机器人的自主控制代理的过程。
Isaac Sim is a software platform built from the ground up to support the increasingly roboticized and automated world. The goal is to make it as easy as possible for you to design, tune, train, and deploy autonomous control agents for real, physical robots.
Design 设计
Isaac Sim提供了一系列的工作流程，可以导入和调整以最常见格式设计的机械系统，包括Onshape、Unified Robotics Description Format (URDF)和MuJoCo XML Format (MJCF)。这是通过使用通用场景描述（Universal Scene Description，USD）实现的，USD是一个易于扩展的开源三维场景描述API，作为Isaac Sim核心的统一数据交换格式。
Isaac Sim comes with a collection of workflows for importing and tuning mechanical systems designed in the most common formats including Onshape, the Unified Robotics Description Format (URDF), and the MuJoCo XML Format (MJCF). This is made possible through the use of the Universal Scene Description (USD), an easily extensible, open source 3D scene description API that serves as the unifying data interchange format at the heart of Isaac Sim.
Tune and Train 调整与训练
Isaac Sim的核心功能是模拟本身：基于高保真度的GPU PhysX引擎，能够支持工业规模的多传感器RTX渲染。Isaac Sim直接访问GPU，使得该平台能够支持模拟各种传感器，包括相机、LiDAR和接触传感器。这反向促进了数字孪生模拟，使您能够在启动真实机器人之前，运行端到端的流水线。Isaac Sim通过Replicator提供一套用于收集合成数据的工具，通过Omnigraph编排模拟环境，通过调整PhysX模拟参数以符合现实，并最终通过Isaac Lab使用强化学习等各种方法来训练控制代理程序。
The core functionality of Isaac Sim is the simulation itself: a high fidelity GPU based PhysX engine, capable of supporting multi-sensor RTX rendering at an industrial scale. Isaac Sim’s direct access to the GPU enables the platform to support the simulation of various kinds of sensors including cameras, LiDAR, and contact sensors. This in turn facilitates the simulation of digital twins, allowing your end-to-end pipelines to run before ever needing to turn on a real robot. Isaac Sim provides a suite of tools for collecting synthetic data with Replicator, orchestrating simulated environments through Omnigraph, tuning PhysX simulation parameters to match reality, and finally training control agents through various methods like Reinforcement Learning (RL) with Isaac Lab.
Deploy 部署
Isaac Sim提供了所有必要的组件，不仅可以将代理部署到真实机器人上，还可以构建与此类系统完全可集成的应用程序。Omniverse提供了用于应用程序基础设施的API，包括GUI创建和文件管理。Omniverse Nucleus允许用户构建自己的云，解锁使用实时同步和数据托管创建协作应用的能力。Isaac Sim平台还提供了与ROS和ROS2的桥接API，用于实时机器人和仿真之间的直接通信，以及NVIDIA Isaac ROS，这是一组用于制作自主机器人的性能高效、硬件加速的ROS 2软件包。
Isaac Sim comes pre-equipped with all of the components necessary to not only deploy agents to real robots, but also build applications that are fully integrable with such systems. Omniverse provides APIs for app infrastructure including GUI creation and file management. Omniverse Nucleus allows users to construct their own cloud, unlocking the ability to create collaborative apps using live sync and data hosting. The Isaac Sim platform also provides bridge APIs to ROS and ROS2, for direct communication between live robots and the simulation, as well as NVIDIA Isaac ROS, a collection of performant, hardware accelerated ROS 2 packages for making autonomous robots.
Useful API links 有用的API
Useful Manuals 有用的手册
Getting Started 如何开始
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Workstation Installation:本地工作站安装指南。
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Container Installation: 远程无头服务器（remote headless server）的安装指南。
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Introductory: 在Omniverse Kit中工作的基本原理以及在Omniverse Isaac Sim中的不同工作流程
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GUI: 通过GUI实现自己的虚拟世界，在虚拟世界中使用Omniverse Isaac Sim的机器人技术的基本概念。
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Development Tools: 调试和开发的工具和环境。
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Core API: 核心API， 使用Omniverse Isaac Sim Core Python API 构建环境、机器人和任务。
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Scene setup: 导入和修改外部来源的机器人和操纵器。
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Motion Generation: Lula 运动生成库。
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Mapping: 生成地图占用.
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Isaac Lab Tutorials: 强化学习框架和克隆器API。
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Replicator Tutorials: 数据集合成.
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Isaac Cortex Tutorials: 高级行为编程。
System Architecture 系统架构
Isaac Sim的目的是支持新型机器人工具的创建，并赋予已经存在的工具更强大的能力。该平台提供了灵活的C++和Python API，可以根据您的需要将其集成到项目中的不同层次和阶段。该平台的目标不是与当前或已存在的软件竞争，而是与其合作并加以增强。为此，Isaac Sim的许多组件都是开源的，可以独立自由地使用。您可以使用OnShape来设计您的机器人，在Isaac Sim中模拟其传感器，并通过ROS或其他消息传递系统来控制舞台。同样，也可以在Isaac Sim提供的平台上构建完整的独立应用程序！
The purpose of Isaac Sim is to support the creation of new robotics tools and empower the ones that already exist. The platform provides a flexible API for both C++ and Python and can be integrated into a project to varying degrees depending on your needs. The goal of the platform is not to compete with current or existing software, but to collaborate with and enhance it. To this end, many components of Isaac Sim are open source, and freely available for independent use. You may want to design your robot in OnShape, simulate its sensors with Isaac Sim, and control the stage through ROS or some other messaging system. Likewise, it is also possible to build a complete, stand alone, application entirely on the platform provided by Isaac Sim!
Omniverse Kit Omniverse 套件
Isaac Sim使用Omniverse™ Kit，这是一个用于构建本地Omniverse应用程序和微服务的工具包。Omniverse Kit通过一组轻量级插件提供了各种功能。插件使用C接口进行编写，以实现持久API兼容性；然而，还提供了Python解释器，用于方便脚本编写和定制。
Python API可用于编写新的Omniverse Kit扩展或新的Omniverse体验。
Isaac Sim uses the Omniverse™ Kit, a toolkit for building native Omniverse applications and microservices. Omniverse Kit provides a wide variety of functionality through a set of light-weight plugins. Plugins are authored with C interfaces for persistent API compatibility; however, a Python interpreter is also provided for accessible scripting and customization.
The Python API can be used to write new extensions to Omniverse Kit or new experiences for Omniverse.
Development Workflows 开发工作流
Isaac Sim基于C++和Python构建，并且通常通过编译的插件和相应的绑定进行操作。这意味着该平台能够支持多种用于构建和与使用Isaac Sim的项目进行交互的工作流程。Isaac Sim配备了一个完整的、独立的Omniverse应用程序，用于与机器人进行交互和模拟。虽然这是用户与平台进行交互的最常见方式，但并不是唯一的方法。Isaac Sim还通过为VS Code和Jupyter Notebooks提供扩展，直接提供Python开发支持。Isaac Sim不仅限于同步操作，还可以通过ROS和ROS2与硬件进行操作，以促进模拟到实际的转换和数字孪生。
Isaac Sim is built on C++ and Python, and operates most commonly through the use of compiled plugins and bindings respectively. This means the platform is capable of supporting a wide variety of workflows for building and interacting with projects that make use of Isaac Sim. Isaac Sim comes with a full, stand alone, Omniverse application for interacting with and simulating robots, and while this is the most common way users interact with the platform, it is by no means the only method. Isaac Sim also provides direct Python development support in the form of extensions for VS Code and Jupyter Notebooks. Isaac Sim is not limited to synchronous operation either, and can operate with hardware in the loop through ROS and ROS2, facilitating sim-to-real transfer and digital twins.
USD 全局场景描述
Omniverse Isaac Sim使用USD交换文件格式来表示场景。Universal Scene Description（USD）是由Pixar开发的易于扩展、开源的3D场景描述和文件格式，用于内容创作和不同工具之间的交互。由于其强大和多功能性，USD被广泛应用于视觉效果社区，以及建筑、设计、机器人、制造等领域。
Omniverse Isaac Sim uses the USD interchange file format to represent scenes. Universal Scene Description (USD) is an easily extensible, open-source 3D scene description and file format developed by Pixar for content creation and interchange among different tools. Because of its power and versatility, USD is being adopted widely, not only in the visual effects community, but also in architecture, design, robotics, manufacturing, and other disciplines.
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有关Omniverse中USD更详细的了解，请参阅NVIDIA的USD入门指南《什么是USD？》
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See the USD API docs for more details.
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see the NVIDIA USD API for our python wrappers around USD.
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See the USD Glossary of Terms & Concepts for more details.
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See the NVIDIA USD tutorials for a step-by-step introduction to USD.
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