MobilityGen – Isaac Sim Data Generation

Status
Open

MobilityGen

NVlabs ⋅ 4 days ago

Data Generation with MobilityGen — Isaac Sim DocumentationData Generation with MobilityGen — Isaac Sim Documentation

Goal: Use MobilityGen (by NVLabs) to generate rich datasets for mobile robots in Isaac Sim, and set up a custom robot for your own projects.

Outline:

  • Collect ground truth data: occupancy maps, poses, RGB, depth, segmentation, normals.
  • Supports multiple robot types (differential drive, quadruped, humanoid).
  • Data collection methods: manual (keyboard/gamepad) or automated (random paths).
  • Export replays, render offline, convert to LeRobot format.