Best of Both Virtual Worlds: Bridging Ignition and Isaac Sim

Open Robotics is responsible for Ignition (formerly Gazebo), the premier open-source robotics simulator. Ignition is a de facto standard tool for roboticists, who rely on it for development, testing, and QA of a wide array of autonomy applications. NVIDIA's Omniverse is a powerful and flexible platform for simulating a variety of physical environments. Omniverse has entered the robotics domain as Isaac Sim, allowing researchers and engineers to simulate their robot applications, from wheeled autonomous mobile robots to manipulators in work cells. We'll present the result of our collaboration with NVIDIA to bridge these two complementary products. We'll cover bidirectional conversion between SDFormat and USD to share world and vehicle models, and runtime scene transfer via Ignition plugins and Omniverse Nucleus to support parallel and hybrid simulation.