Isaac Sim & Isaac Lab: Full Guide to Building & Training Robots
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A long, in-depth guide to using NVIDIA Isaac Sim and Isaac Lab for robotics simulation. Learn how to install and navigate the software, import your own robot designs from Fusion 360 using URDF files, and save them as USD files. We'll also cover how to set up and use Isaac Lab to train your custom robot to walk in simulation, as well as how to run and export your trained policies. I also show a bonus project: a machine-learning robot that uses a classifier trained on data collected in Isaac Sim.
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Download Isaac Sim and Isaac Lab: https://docs.isaacsim.omniverse.nvidi...
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Manager-based workflow: https://isaac-sim.github.io/IsaacLab/...
Direct-based workflow: https://isaac-sim.github.io/IsaacLab/...
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Chapters:
0:00 - Intro
4:47 - Installing Isaac Sim
6:59 - Isaac Sim interface
9:14 - Examples and assets
12:10 - Installing Isaac Lab
13:15 - How to use Isaac Lab
15:45 - Running Policies
16:55 - Exporting Policies
17:40 - Export URDF from Fusion
24:54 - Import URDF to Issac Sim
26:35 - Config and save as USD
29:39 - Training custom robot
40:01 - Manual control
41:55 - ML robot with LIDAR in Isaac Sim
49:57 - Processing the data, training the classifier
51:02 - Testing the classifier in Isaac Sim
53:26 - Testing the classifier on the real robot
58:05 - More resources to learn Isaac Sim & Lab
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