Isaac Sim for Data Generation in Humanoid Robotics

Isaac Sim is NVIDIA's physically accurate synthetic data generation environment and robotics simulation framework built on NVIDIA Omniverse. For humanoid robotics, Isaac Sim provides a powerful platform for generating high-quality synthetic data essential for training perception and control systems.

Introduction to Isaac Sim

Isaac Sim is designed specifically for robotics applications, offering:

• Physically accurate simulation with NVIDIA PhysX
• High-quality rendering for synthetic data generation
• Extensive robot models and environments
• Native ROS2 support for seamless integration
• Synthetic data generation tools for perception training

Synthetic Data Generation Pipeline

Environment Setup

# Example of setting up Isaac Sim for synthetic data generation
import omni
from omni.isaac.core import World
from omni.isaac.core.utils.stage import add_reference_to_stage
from omni.isaac.sensor import Camera
from omni.replicator.core import run
import numpy as np

class IsaacSimDataGenerator:
    def __init__(self):
        # Initialize the Isaac Sim world
        self.world = World(stage_units_in_meters=1.0)
        
        # Add humanoid robot to the scene
        self.add_humanoid_robot()
        
        # Set up data collection sensors
        self.setup_sensors()
        
    def add_humanoid_robot(self):
        """Add a humanoid robot to the simulation scene"""
        # Load a humanoid robot model
        add_reference_to_stage(
            usd_path="/Isaac/Robots/Humanoid/humanoid.usd",
            prim_path="/World/Humanoid"
        )
        
        # Optionally add environment objects
        add_reference_to_stage(
            usd_path="/Isaac/Environments/Simple_Room/simple_room.usd",
            prim_path="/World/Room"
        )
        
    def setup_sensors(self):
        """Set up sensors for data collection"""
        # Add RGB camera
        self.rgb_camera = Camera(
            prim_path="/World/Humanoid/head/camera",
            frequency=30,
            resolution=(640, 480)
        )
        
        # Add depth camera
        self.depth_camera = Camera(
            prim_path="/World/Humanoid/head/depth_camera",
            frequency=30,
            resolution=(640, 480)
        )
        
        # Add LiDAR
        self.lidar = OgnLidar()
        
        # Add the sensors to the world
        self.world.add_sensor(self.rgb_camera)
        self.world.add_sensor(self.depth_camera)