NVIDIA Isaac Sim

NVIDIA Isaac Sim™ is an open source reference framework built on NVIDIA Omniverse™ libraries for robotics simulation, testing, and synthetic data generation in physically based virtual environments. It is fully extensible so developers can build custom OpenUSD-based simulators or integrate its capabilities into existing testing and validation pipelines — ingesting data from CAD, URDF or real-world captures, simulating realistic physics (rigid body and vehicle dynamics, multi-joint articulation, SDF colliders), generating scalable synthetic training data, and connecting to NVIDIA Isaac Lab for robot learning.