Simulation of intelligent robotic systems in the Isaac Sim simulator: textbook
Yudin D. A., Zhang H.
The textbook describes the main features of photorealistic modeling of robotic systems in the modern Isaac Sim simulator, which is widespread in the professional community. Based on technical tutorials and theoretical materials accumulated during applied research work on the creation of intelligent robotic systems, the structure of this textbook was formed. It includes details of installing and configuring the Isaac Sim simulator, creating own environments and robots with the required sensor setup. Particular attention is paid to the interaction of the simulator with the robot operating system (ROS), as well as the development of parallel environments for training robot control models using the Isaac Gym library. Separate chapters consider implementation examples of navigation, object grasping, mobile manipulation tasks and collection of multimodal datasets. The textbook is intended for undergraduate and graduate students studying intelligent robotics, modeling of complex technical systems, and software development.
- Издательство:
- MIPT, Phystech
- УДК:
- 004.896
- Год издания:
- 2024
- Количество страниц:
- 99
- ISBN:
- 978-5-7417-0801-9