Simulation Reference

This section documents the simulation backends and USD assets.

Overview

The stack supports multiple simulation backends. FaSim is Isaac Sim high-fidelity simulation combined with the same ROS 2 运控 as the real robot, so you get matching motion plus simulation ground truth.

Backend	Use Case
Mock	Fast testing, no physics (hardware:=mock_components)
Gazebo Harmonic	Physics simulation
FaSim / Isaac Sim	High-fidelity USD; same 运控 as hardware + sim ground truth

In This Section

• Gazebo Harmonic
• FaSim-Isaac
• robot_usds
• USD Submodules
• Environment Assets

Quick Comparison

Aspect	Mock	Gazebo	Isaac
Physics	No	Yes	Yes (PhysX)
Rendering	RViz only	Basic	Photorealistic
Setup	None	apt install	FaSim-Isaac ./init.sh + ./run.sh
Speed	Real-time	~Real-time	Configurable
USD support	No	No	Native

Isaac Sim Requirements

Isaac Sim integration uses FaSim-Isaac (./init.sh, ./run.sh). Default path is ISAACSIM_DIR (~/isaacsim); version comes from FaSim config / the init menu. See FaSim-Isaac.

Isaac datagen (USD → orchestration → LeRobot export, no Gazebo): Synthetic Data.