isaacsim 开源项目推荐（70 个）

Toni-SM /skrl

模块化强化学习（RL）库（在PyTorch、JAX和NVIDIA Warp中实现），支持Gymnasium/Gym、NVIDIA Isaac Lab、MuJoCo Playground和其他环境

Open-X-Humanoid /TienKung-Lab

Tien Kung-Lab: Direct IsaacLab Workflow for Legged Robots

MuammerBay /isaac_so_arm101

Isaac Lab external project for SO-ARM100/101 arm robot.

NathanWu7 /isaacLab.manipulation

这是一个基于IsaacLab的独立扩展。它支持机器人操作任务（机械臂和灵巧手）。

AndrejOrsula /space_robotics_bench

Robot Learning Beyond Earth

ROBOTIS-GIT /cyclo_lab

This repository provides tutorials for reinforcement learning and imitation learning using ROBOTIS robots, and supports Sim2Real functionality for deploying the learned policies on real robots.

eliabntt /GRADE-RR

GRADE: Generating Animated Dynamic Environments for Robotics Research

fiveages-sim /arms_ros2_control

ROS2-Control implementations for Arms (single arm, dual arm and wheel-based-humanoid)

AccelerationConsortium /Matterix

Digital Twin for Robotics-Assisted Chemistry Lab Automation

zihanwang0422 /legged_rl_lab

Legged Robot Isaaclab Extention

NathanWu7 /Tabero

Code base for [ICML2026] paper "Tabero" focuses on tactile foundation models and benchmarks

j3soon /ros2-essentials

A reusable sim-to-real ROS 2 robotics stack for developing and deploying robot policies across simulation and physical robots, built around Isaac Sim, Isaac Lab, and Isaac ROS.

louislelay /isaaclab_ur_reach_sim2real

A ROS2 controller for a UR arm leveraging IsaacLab's trained policy for sim-to-real reaching tasks.

AuTURBO /StrideSim

StrideSim is a Nvidia Isaac Sim-based robot simulator, offering a realistic environment and compatibility with ROS2

eliabntt /animated_human_SMPL_to_USD

GRADE框架中使用的代码，将SMPL动画数据转换为用于IsaacSim/Omniverse模拟器的USD文件格式。

mturan33 /isaac-g1-hierarchical

VLM-RL Hierarchical Loco-Manipulation For Long-Horizon Tasks With G1 robot in Isaac Lab/Sim

louislelay /Disney-BDX-USD-Description

Repository for the USD Description file of the BD-X robot from Disney

work-r-labs /isaacsim_typings

Isaac Sim 4.5 intellisense 与 VSCode 及光标的 AI 上下文

mturan33 /isaac-g1-ulc

Low Level RL Controller for G1

TomerTip /PegasusArduPilot

A fork of PegasusSimulator, adding ArduPilot backend support