Humanoid robot simulation environment based on Isaac Sim and implementation method thereof

Abstract

The invention discloses a humanoid robot simulation environment based on Isaac Sim and an implementation method thereof, relates to the technical field of robot simulation, is suitable for construction and verification of an industrial inspection and test laboratory scene, and accurately constructs equipment, obstacles and scene layout models by collecting detailed parameters of equipment and obstacles in the industrial scene and utilizing a 3D modeling tool, so as to realize the simulation of the humanoid robot. The method comprises the steps that firstly, a humanoid robot model is established, topological optimization and material detail processing are conducted, then the humanoid robot model is deployed in a simulation environment, movement, interaction and experimental operation of the robot in a laboratory are simulated through an integrated control system and a high-precision physical engine, and real-time movement control over the robot in simulation is achieved in combination with ROS2 and MoveIt2. According to the invention, the accuracy and reliability of task execution of the robot in a laboratory environment are improved, and effective verification and support are provided for application of the robot to an actual industrial experiment scene.

Description

Technical Field

[0001] The present invention relates to the technical field of robot simulation, and in particular to a humanoid robot simulation environment based on Isaac Sim and an implementation method thereof. Background Art

[0002] With the continuous advancement of intelligent manufacturing and industrial automation, humanoid robots have gradually become an important means to replace dangerous jobs and assist human work. In the industrial field, humanoid robots can perform complex tasks such as operating machinery, handling objects, and testing equipment. However, due to the complex and changeable industrial field environment, there are many challenges in the robot design and control process. How to accurately simulate the robot behavior in the simulation environment and improve the reliability and efficiency of its task completion has become an urgent problem to be solved.

[0003] Although existing simulation tools and development environments, such as ROS and Gazebo, can simulate some robot functions, they still have many shortcomings in simulating the complex behaviors of humanoid robots, especially in the interaction and collaboration simulation in industrial environments.

[0004] The defects of the existing robot simulation implementation methods are: In patent document CN108537875B, robot simulation equipment is mainly used to make simulation results close to the results obtained during actual operation, and it is not possible to build a realistic and fully functional simulation environment. Summary of the invention

[0005] The purpose of the present invention is to provide a humanoid robot simulation environment based on Isaac Sim and an implementation method thereof, so as to solve the problems raised in the above background technology.

[0006] To achieve the above object, the present invention provides the following technical solution: a humanoid robot simulation environment based on Isaac Sim and an implementation method thereof, comprising the following steps: Step S1: Use professional modeling tools to design and construct equipment and obstacles in the industrial environment in detail to form a preliminary scene model; Step S2, unfolding the materials of the equipment and obstacles constructed in the preliminary scene model, and using high-quality texture rendering tools to refine them to obtain a simulation model; Step S3: According to the actual factory scene requirements, the simulation model obtained in step S2 is used to build an industrial scene, including the overall layout of the scene, light source settings, and physical property configuration, to complete the layout of the simulation environment; Step S4: Use a 3D modeling tool to build a humanoid robot model, ensuring that the skeleton and joint structure of the model are consistent with the actual robot; Step S5: deploy the humanoid robot model into a designed simulation environment, achieve precise control of the robot through an integrated control system, and simulate the robot's movement, interaction, and execution of work tasks in an industrial environment.

[0007] Preferably, in step S1, the following steps are also included: Step S1-1, collecting detailed parameters of existing equipment and obstacles in actual industrial scenarios, and recording these parameters as basic data for modeling; Step S1-2, creating 3D models of equipment and obstacles in Siemens NX according to the collected basic modeling data; Step S1-3: Import the 3D model created in Siemens NX into Maya for detail processing and optimization.

[0008] Preferably, in step S2, the following steps are also included: Step S2-1, import the completed 3D model into RizomUV, unfold the UV, and ensure that the UV layout is reasonable without stretching and overlapping; Step S2-2, export the UV unfolded model and import it into Adobe Substance 3D Painter, add basic material layers to various parts of the model to simulate the real industrial equipment material; Step S2-3: After adding the base material layer, continue to refine the material details in Substance 3D Painter and add texture effects according to the actual device appearance to make the model surface realistic.

[0009] Preferably, in step S3, the following steps are also included: Step S3-1, plan the overall layout of the simulation scene according to the actual industrial scene required, and determine the relative position and arrangement of each device, obstacle and other important elements; Step S3-2, import the constructed models of various equipment and obstacles into the scene in Unreal Engine, and place the models according to the layout plan so that the constructed scene structure conforms to the actual industrial environment; Step S3-3, setting the scene light source, adding different types of light sources in the constructed simulation environment according to the lighting conditions in the actual industrial environment, including natural light, point light sources and spotlights; Step S3-4: Import the scene and device model into Isaac Sim, configure the physical properties for each element, and adjust the physical parameters of each element in IsaacSim to be consistent with the physical parameters of the actual element.

[0010] Preferably, in step S4, during the modeling process, the robot is split into multiple independent components for modeling, modification or updating.

[0011] Preferably, in step S5, the following steps are also included: Step S5-1, importing the humanoid robot model into the Isaac Sim simulation environment, and deploying it to the constructed industrial scene; Step S5-2, configuring the physical parameters of the robot in Isaac Sim, including the range of motion, speed, center of gravity, moment of inertia, and torque limit of the joints, to ensure that the movement of the robot in the simulation conforms to the actual situation; Step S5-3, docking the robot control interface with the simulation interface of Isaac Sim by writing or importing the control algorithm to achieve precise control of the robot joints; Step S5-4: Use ROS2 and MoveIt2 to set the robot motion control nodes to ensure that each node can adjust the robot's posture, motion speed and position in real time to achieve precise control.

[0012] Preferably, in step S1-1, the detailed parameters include the size, material, friction coefficient, elasticity, weight and structural details of the equipment and obstacles; In step S1-3, detail processing is to add bolts and welding points to the constructed 3D model according to the appearance of equipment and obstacles in the actual industrial scene, and optimization is to optimize the topological structure of the model and delete unnecessary vertices or faces.

[0013] Preferably, in step S2-3, the added texture effects include scratches, wear and tear, and rust.

[0014] Preferably, in step S5-2, the friction of the ground is also set to simulate the walking effect of the robot on different ground materials.

[0015] Preferably, step S5 further includes simulating the behaviors and interactions of multiple robots in the same industrial scene.

[0016] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention achieves high-precision simulation of industrial environments by using professional modeling tools and physical engines, improves the accuracy and reliability of robot task execution in different environments, and at the same time constructs a realistic and fully functional simulation environment, providing strong support and guarantee for the research and development of humanoid robots.

[0017] 2. The present invention uses refined material processing and texture drawing to give the model a realistic visual effect, enhance the authenticity of the overall simulation environment, and make the simulation process consistent with the real world. At this time, the simulation results can accurately reflect the actual movement of the robot, and to a certain extent, can provide an effective reference for robot design and control.

[0018] 3. The present invention achieves a high degree of interaction and real-time feedback between the robot and the scene by simulating various complex environments and conditions. Through testing in the simulation environment, problems that the robot may encounter during actual operation can be discovered in advance, thereby reducing the cost and risk of actual experiments. At the same time, the simulation environment can also provide a repeatable testing environment to help researchers better evaluate and compare the performance of different algorithms and designs, providing strong support for the research and development of humanoid robots.

[0019] 4. The present invention ensures the real-time and accuracy of control by simulating the movement, interaction and execution of work tasks of robots in industrial environments. It can also simulate the behavior and interaction of multiple robots in the same scene to evaluate their collaborative capabilities and synergistic performance, and collect and analyze data in the simulation process in real time to promptly discover and solve problems and optimize the performance and expression of the robots. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the implementation method of the present invention; Figure 2 Schematic diagram of the testing laboratory simulation environment built for the present invention. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0022] See also Figure 1 and Figure 2 , an embodiment provided by the present invention: a humanoid robot simulation environment based on Isaac Sim and an implementation method thereof, step S1, using professional modeling tools to perform detailed design and construction of equipment and obstacles in an industrial environment to form a preliminary scene model; Step S2, unfolding the materials of the equipment and obstacles constructed in the preliminary scene model, and using high-quality texture rendering tools to refine them to obtain a simulation model; Step S3: According to the actual factory scene requirements, the simulation model obtained in step S2 is used to build an industrial scene, including the overall layout of the scene, light source settings, and physical property configuration, to complete the layout of the simulation environment; Step S4: Use a 3D modeling tool to build a humanoid robot model, ensuring that the skeleton and joint structure of the model are consistent with the actual robot; In step S4, during the modeling process, the robot is split into multiple independent components to be modeled, modified or updated; Step S5: deploy the humanoid robot model into a designed simulation environment, achieve precise control of the robot through an integrated control system, and simulate the robot's movement, interaction, and execution of work tasks in an industrial environment.

[0023] Furthermore, Siemens NX is used to design and build common laboratory facilities such as laboratory tables, inspection equipment, storage racks, etc. in the inspection and testing laboratory, ensuring that these models meet industrial standards in terms of size and physical properties. This process is based on the measurement and observation of the real laboratory, collecting detailed parameters including size, material, structure, etc., to ensure that the model meets the needs of the actual laboratory. In Siemens NX, 3D models of equipment and obstacles such as laboratory tables, microscopes, analyzers, etc. are created based on the collected data, strictly following the size and structure of the real equipment to ensure accuracy. Then, the model is imported into Maya for further detail optimization, such as adding small parts, seams and brackets to the laboratory table to make it closer to the real object. Subsequently, the topological structure of the model is optimized in Maya to ensure a reasonable number of faces, delete redundant vertices or patches, and optimize the simulation efficiency in subsequent processing; After the model is completed, it is imported into RizomUV for UV unfolding to ensure that the UV layout is reasonable, without stretching and overlapping, laying the foundation for subsequent texture processing. Then the unfolded model is imported into Adobe Substance 3D Painter, and basic materials such as metal, rubber and plastic are added to different parts of the laboratory equipment to simulate the real experimental instrument material, and texture details such as scratches, wear and slight rust are added to the material to give the equipment surface a sense of reality, reflecting the daily use of laboratory equipment; Plan the entire scene layout according to the actual needs of the inspection and testing laboratory, ensure that the positions of the laboratory tables, instruments and equipment, and walkways meet the experimental operation specifications, then import the equipment model into the simulation scene in Unreal Engine, and place the laboratory tables, inspection instruments and storage racks according to the planned layout, then set the light source to simulate the lighting conditions in the laboratory environment, including conventional ceiling lights and local work lights, to ensure that the light and shadow effects can highlight the key equipment areas, configure the physical properties for each device in the scene, import the scene and equipment model into Isaac Sim, and set the mass, friction coefficient, elasticity and other physical parameters for each element, so that each device and obstacle exhibits actual physical behavior in the simulation environment; Then, we built a humanoid robot model and deployed it in the built laboratory simulation environment to ensure that the robot skeleton and joint structure were consistent with the actual equipment. Then, we configured the robot's physical parameters in Isaac Sim, including the range of motion, speed, and torque limits of the joints, to ensure the realism of the robot's motion and meet the laboratory work requirements. Subsequently, we connected the robot control system to Isaac Sim to achieve precise control of the robot so that it can perform different tasks in the laboratory environment. We set up the robot motion control nodes through the ROS2 and MoveIt2 platforms to ensure that each node can adjust the robot's posture, motion speed, and position in real time to meet the precise control requirements of the tasks in the laboratory.

[0024] See also Figure 1 and Figure 2 , an embodiment provided by the present invention: a humanoid robot simulation environment based on Isaac Sim and an implementation method thereof, in step S1, further comprising the following steps: Step S1-1, collecting detailed parameters of existing equipment and obstacles in actual industrial scenarios, and recording these parameters as basic modeling data, the detailed parameters including size, material, friction coefficient, elasticity, weight and structural details of the equipment and obstacles; Step S1-2, creating 3D models of equipment and obstacles in Siemens NX according to the collected basic modeling data; Step S1-3, import the 3D model created in Siemens NX into Maya for detail processing and optimization. Detail processing is to add bolts and welding points in the constructed 3D model according to the appearance of equipment and obstacles in the actual industrial scene, and optimization is to optimize the topological structure of the model and delete redundant vertices or faces.

[0025] Furthermore, use a laser rangefinder or caliper to accurately measure the length, width, height, diameter and other linear dimensions of various equipment and obstacles in the laboratory, obtain accurate external dimension data, and record the dimensions of key parts of the equipment, such as the opening size of the equipment or the internal cavity size, etc. Then, by checking the equipment manual, nameplate or consulting relevant maintenance personnel, clarify whether the equipment and obstacle bodies are made of metal, plastic, composite materials or other special materials. Then, refer to the standard manual of the material or relevant engineering data to find the typical value of the friction coefficient of the corresponding material under different contact conditions, or calculate the approximate friction coefficient through a simple on-site friction test experiment. For elastic properties, also determine key elastic parameters such as elastic modulus based on material data, or refer to the elastic performance of similar materials in actual use in the past to record relevant data.

[0026] Weight measurement uses a floor scale or electronic scale to measure the weight of equipment and obstacles. When recording weight data, it is necessary to clearly indicate whether it is the net weight or the total weight including accessories, to ensure that the data is clear and accurate. For structural detail observation, it is necessary to carefully check the internal and external structure of the equipment and obstacles, and record the connection methods of their components such as bolt connection, welding or riveting, etc., the shape and relative position relationship of each component, etc. For objects with multi-layer nested structures or complex internal structures, tools such as endoscopes can be used to assist in observation, and photos and drawings can be taken to record detailed structural features so that subsequent modeling can restore the true appearance.

[0027] After the data collection is completed, open the Siemens NX software, create a new corresponding modeling project file, and set the modeling units in the software according to the units used in the collected parameters, such as millimeters, centimeters or meters, to avoid subsequent unit conversion errors that lead to model size deviations. Then, based on the overall shape of the recorded equipment and obstacles, use NX to combine and build, and use feature creation commands such as stretching, rotating, and sweeping to convert the two-dimensional contour into a three-dimensional entity for building components with complex shapes to ensure that the shape dimensions are consistent with the collected data. According to the recorded structural details, use Boolean operations to simulate the connection between components and internal cavities, cavities and other structures. If the equipment has two components connected by bolts, first create solid models of the two components separately, and then use Boolean operations to drill holes in the corresponding positions to simulate the structure of the bolt mounting holes, add various detail features, such as chamfers, fillets and stiffeners, to make the model closer to the appearance and structural characteristics of actual industrial products. During the adding process, continuously check and verify the collected parameters to ensure the accuracy of the model, and then add the Siemens The 3D model created in NX is exported in a compatible format, and then the corresponding import option is selected in the Maya software to successfully import the model into the Maya working environment. According to the location and style of the bolts and welding points observed and recorded in the appearance of equipment and obstacles in the actual industrial scene, the modeling tools are used in Maya to create the corresponding bolt model, and it is accurately placed in the corresponding mounting hole position, and the reasonable size and appearance details are set. For welding points, by creating polygonal patches or using carving tools, the welding position is shaped to conform to the actual welding mark appearance, so that it looks more realistic and reflects the process characteristics of the actual industrial products. At the same time, the topology tools in Maya can be used to analyze the existing topology of the model, find out the redundant vertices, patches and other parts that affect the performance and subsequent use of the model. During the optimization process, attention should be paid to maintaining the integrity of the model's appearance and structure, avoiding the loss of key details due to excessive optimization, and viewing the rendering effect of the model in real time, etc., to ensure that the optimized model is both concise and can meet the requirements of the actual application scenario for appearance authenticity.

[0028] See also Figure 1 and Figure 2, an embodiment provided by the present invention: a humanoid robot simulation environment based on Isaac Sim and an implementation method thereof, in step S2, further comprising the following steps: Step S2-1, import the completed 3D model into RizomUV, unfold the UV, and ensure that the UV layout is reasonable without stretching and overlapping; Step S2-2, export the UV unfolded model and import it into Adobe Substance 3D Painter, add basic material layers to various parts of the model to simulate the real industrial equipment material; Step S2-3: After adding the base material layer, continue to refine the material details in Substance 3D Painter and add texture effects based on the actual device appearance to make the model surface realistic. The added texture effects include scratches, wear and rust.

[0029] Furthermore, after the model is initially constructed, the RizomUV software is opened, and the 3D model that has been previously detailed and optimized in Maya is imported into the RizomUV workspace in a supported file format. Using the automatic UV unfolding function of RizomUV, the software will map the three-dimensional surface of the model to a two-dimensional plane based on a certain algorithm to generate an initial UV layout. Model parts of different shapes and structures will have corresponding UV blocks presented. Then, carefully check the UV layout after automatic unfolding, and manually adjust the UV blocks that have unreasonable phenomena such as stretching and overlapping. For some rectangular parts with relatively regular shapes, if stretching occurs after automatic unfolding, the UV blocks can be adjusted to the appropriate shape and position by selecting the corresponding UV boundary and using operations such as moving, rotating, and scaling to keep the texture mapping as uniform as possible, avoid obvious stretching deformation, and ensure that the texture can be displayed correctly in subsequent applications; After completing UV unfolding in RizomUV and confirming that the layout is reasonable, export the model in a format suitable for Adobe Substance 3D Painter import, and ensure that the UV coordinate information can be fully retained and exported with the model, so that the subsequent software can accurately identify and apply the UV layout for material addition and texture painting. Then open the Adobe Substance 3D Painter software, select the import function, and import the previously exported model file with UV coordinates into the workspace. At this time, the model will be presented in three-dimensional form, and its UV layout can be used for subsequent operations. According to the actual industrial equipment material information collected previously, select the corresponding basic material type in the software material library and apply it to the corresponding parts of the model as the basic material layer. For different parts, such as shells, internal structural parts, etc., add corresponding basic materials according to the actual material conditions. The material assignment tool of the software can accurately assign materials to various parts of the model, preliminarily simulate the overall material appearance of the equipment, and use Substanc 3D on the model to which the basic material layer has been added based on the actual observed appearance of industrial equipment. The texture drawing tools in Painter are used to add texture effects such as scratches, wear and rust. For scratch textures, you can use the brush tool to select the appropriate scratch brush style, set the scratch depth, width, direction and other parameters, and then manually draw on the model surface to simulate the parts where scratches may appear during long-term use of the device. You can also use the intelligent generation function provided by the software to randomly generate scratch distributions on the model surface that conform to the actual situation based on a certain algorithm. The wear effect can be created by adjusting the roughness, color and other properties of the material and combining techniques such as masking to create a worn appearance in areas where the model is frequently in contact and rubbed. For rust textures, select appropriate rust texture resources from the software's texture library and add rust to the corresponding parts of the model by overlaying and mixing, such as the bottom and gaps of steel parts that are prone to moisture and rust, so that the presentation of rust conforms to the actual rust law and enhances the realism of the model surface. After adding various texture effects, the overall effect of the material is adjusted, including fine-tuning of the mixing ratio, transparency, light reflection characteristics, etc. between the texture effects, so that the material details of the entire model can be harmonious and unified, and more realistically simulate the real material appearance of actual industrial equipment under the influence of factors such as long-term use and the environment. This allows the constructed 3D model to be highly consistent with the actual industrial equipment in terms of material and appearance, providing more expressive and accurate model resources for subsequent related industrial applications.

[0030] See also Figure 1 and Figure 2, an embodiment provided by the present invention: a humanoid robot simulation environment based on Isaac Sim and an implementation method thereof, in step S3, further comprising the following steps: Step S3-1, plan the overall layout of the simulation scene according to the actual industrial scene required, and determine the relative position and arrangement of each device, obstacle and other important elements; Step S3-2, import the constructed models of various equipment and obstacles into the scene in Unreal Engine, and place the models according to the layout plan so that the constructed scene structure conforms to the actual industrial environment; Step S3-3, setting the scene light source, adding different types of light sources in the constructed simulation environment according to the lighting conditions in the actual industrial environment, including natural light, point light sources and spotlights; Step S3-4: Import the scene and device model into Isaac Sim, configure the physical properties for each element, and adjust the physical parameters of each element in IsaacSim to be consistent with the physical parameters of the actual element.

[0031] Further, in-depth research is conducted on the actual industrial scene to be simulated, and relevant layout drawings, on-site photos, process flow charts and other materials are collected to fully understand the equipment types and quantities contained therein, the distribution of obstacles, and the location information of important elements such as channels, operating areas, and material stacking points. The working relationship and spatial interaction relationship between the elements are clarified, and the fixed reference points in the actual industrial scene are used as the benchmark. The coordinate position and arrangement of important elements such as equipment and obstacles are determined according to the proportional relationship. Then, a preliminary simulation scene layout sketch is drawn or a two-dimensional layout diagram is created using professional layout planning software, and the name, position coordinates, and key dimensions of each element are marked. Then, the UnrealEngine software is opened, and in the corresponding resource import window of the project, the 3D model files of each device and obstacle that have been built before are selected. The model import operation is completed according to the software prompts. During the import process, it is necessary to ensure that the key information such as the model's geometric structure, material, UV coordinates, etc. can be loaded completely and accurately. According to the previously planned layout diagram, in Unreal In the scene view of Unreal Engine, use translation, rotation, scaling and other transformation tools to accurately place the equipment and obstacle models in the corresponding positions, and adjust their postures so that their arrangement is consistent with the actual industrial environment. During the placement process, you can use the alignment, capture and other functions provided by Unreal Engine to conveniently and accurately position the models and improve the efficiency and accuracy of placement. At the same time, you can also view the overall effect of the scene from different perspectives, check whether the relative position relationship between the models is reasonable and whether it conforms to the actual space layout. If necessary, you can fine-tune the model position and posture.

[0032] Add various light sources, and then adjust the parameters of each light source comprehensively by viewing the lighting rendering effect of the scene at different times and from different perspectives to ensure that the lighting distribution, light and dark contrast, etc. of the entire simulation scene meet the lighting conditions of the actual industrial environment. Export the scene built in Unreal Engine and the device model therein in a suitable format, and then import them into the Isaac Sim software. In Isaac Sim, configure the corresponding physical properties according to the physical parameters of the actual elements. After configuring the physical properties, perform simple tests, such as simulating the startup and movement of the device, observing its physical interaction with elements such as obstacles, and checking whether there are penetrations that are not in line with reality, abnormal movements, etc. If so, further adjust and optimize the physical parameters until the physical behavior of each element is consistent with the actual situation, thereby constructing an industrial simulation environment with realistic physical properties.

[0033] See also Figure 1 and Figure 2 , an embodiment provided by the present invention: a humanoid robot simulation environment based on Isaac Sim and an implementation method thereof, in step S5, further comprising the following steps: Step S5-1, importing the humanoid robot model into the Isaac Sim simulation environment, and deploying it to the constructed industrial scene; Step S5-2, configure the physical parameters of the robot in Isaac Sim, including the range of motion, speed, center of gravity, moment of inertia and torque limit of the joints, to ensure that the movement of the robot in the simulation conforms to the actual situation, and set the friction of the ground to simulate the walking effect of the robot on different ground materials; Step S5-3, docking the robot control interface with the simulation interface of Isaac Sim by writing or importing the control algorithm to achieve precise control of the robot joints; Step S5-4: Use ROS2 and MoveIt2 to set the robot motion control nodes to ensure that each node can adjust the robot's posture, motion speed and position in real time to achieve precise control.

[0034] Furthermore, find the relevant function entrance for model import in the Isaac Sim software interface, select the corresponding humanoid robot model file for import operation, and use the translation, rotation and other operation tools in Isaac Sim to place the imported humanoid robot model in the appropriate position according to the layout of the actual industrial scene planning and the robot's task requirements. Refer to the actual mechanical design specification manual of the humanoid robot or through actual measurement to obtain the angle range data of each joint that can move, such as the flexion and extension, abduction and adduction angle range of the shoulder joint, the flexion and extension angle range of the elbow joint, etc., and then find the parameter setting interface of the corresponding robot joint in Isaac Sim, accurately input these actual angle range values, and limit the joints to not exceed their actual motion boundaries in the simulation. Similarly, based on the robot's performance parameter data or previous actual operation test records, determine the motion speed range of each joint when it is working normally, and measure it in angular velocity. Set corresponding speed limits for each joint in the Isaac Sim software, so that during simulation, the movement speed of the robot joints can simulate the real situation and avoid unrealistic too fast or too slow movement. At the same time, find the corresponding friction coefficient reference value according to the different ground materials in the actual industrial scene, and then adjust the friction coefficient parameters for the ground objects in the scene physical property settings of Isaac Sim to simulate the effect of the robot walking on different ground surfaces; Then find the control interface of the robot model and the setting options of the simulation interface of the software itself in Isaac Sim. Connect the control algorithm with the simulation interface by configuring the corresponding parameters and calling related functions, so that the control algorithm can act on the robot model in real time during the simulation process to achieve precise control of the robot joint motion. First, make sure that the ROS2 environment has been correctly installed in the integrated control system. Complete the installation of ROS2 and the configuration of related environment variables according to the guidance of the official document. Then install MoveIt2, which is a powerful toolkit for robot motion planning and control built on ROS2. Also complete its installation and initial configuration according to the official tutorial so that it can Working in collaboration with IsaacSim and the imported humanoid robot model, in the ROS2 environment, the functions of MoveIt2 are used to create motion control nodes for the humanoid robot. For the nodes that control the robot's motion speed and position, according to the set target speed, target position and the current actual state of the robot, with the help of the motion planning algorithm provided by MoveIt2, the appropriate joint motion trajectory is calculated, and the corresponding speed and position control instructions are sent to each joint of the robot in real time, so as to achieve precise control of the robot's motion, ensure that the robot can accurately complete various complex motion tasks as expected in the simulation environment, and simulate the efficient and precise operation process in the real scene.

[0035] See also Figure 1 and Figure 2 , an embodiment provided by the present invention: a humanoid robot simulation environment based on Isaac Sim and an implementation method thereof, in step S5, further comprising simulating the behaviors and interactions of multiple robots in the same industrial scene.

[0036] Furthermore, the Isaac Sim simulation environment also supports multi-robot collaborative simulation and real-time data analysis. Through multi-robot collaborative simulation, the behavior and interaction of multiple robots in the same scene can be simulated to evaluate their collaborative capabilities and collaborative performance, and real-time data collection and analysis of the simulation process can be performed, helping researchers to discover and solve problems in a timely manner and optimize the performance and performance of robots.

[0037] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

Claims

1. A humanoid robot simulation environment based on Isaac Sim and its implementation method, characterized in that: The following steps are involved: Step S1: Use professional modeling tools to design and construct equipment and obstacles in the industrial environment in detail to form a preliminary scene model; Step S2, unfolding the materials of the equipment and obstacles constructed in the preliminary scene model, and using high-quality texture rendering tools to refine them to obtain a simulation model; Step S3: According to the actual factory scene requirements, the simulation model obtained in step S2 is used to build an industrial scene, including the overall layout of the scene, light source settings, and physical property configuration, to complete the layout of the simulation environment; Step S4: Use a 3D modeling tool to build a humanoid robot model, ensuring that the skeleton and joint structure of the model are consistent with the actual robot; Step S5: deploy the humanoid robot model into a designed simulation environment, achieve precise control of the robot through an integrated control system, and simulate the robot's movement, interaction, and execution of work tasks in an industrial environment.

2. The humanoid robot simulation environment based on Isaac Sim and its implementation method according to claim 1, characterized in that: In step S1, the following steps are also included: Step S1-1, collecting detailed parameters of existing equipment and obstacles in actual industrial scenarios, and recording these parameters as basic data for modeling; Step S1-2, creating 3D models of equipment and obstacles in Siemens NX according to the collected basic modeling data; Step S1-3: Import the 3D model created in Siemens NX into Maya for detail processing and optimization.

3. The humanoid robot simulation environment based on Isaac Sim and its implementation method according to claim 2, characterized in that: In step S2, the following steps are also included: Step S2-1, import the completed 3D model into RizomUV, unfold the UV, and ensure that the UV layout is reasonable without stretching and overlapping; Step S2-2, export the UV unfolded model and import it into Adobe Substance 3D Painter, add basic material layers to various parts of the model to simulate the real industrial equipment material; Step S2-3: After adding the base material layer, continue to refine the material details in Substance 3D Painter and add texture effects according to the actual device appearance to make the model surface realistic.

4. The humanoid robot simulation environment based on Isaac Sim and its implementation method according to claim 1, characterized in that: In step S3, the following steps are also included: Step S3-1, plan the overall layout of the simulation scene according to the actual industrial scene required, and determine the relative position and arrangement of each device, obstacle and other important elements; Step S3-2, import the constructed models of various equipment and obstacles into the scene in Unreal Engine, and place the models according to the layout plan so that the constructed scene structure conforms to the actual industrial environment; Step S3-3, setting the scene light source, adding different types of light sources in the constructed simulation environment according to the lighting conditions in the actual industrial environment, including natural light, point light sources and spotlights; Step S3-4: Import the scene and device model into Isaac Sim, configure the physical properties for each element, and adjust the physical parameters of each element in Isaac Sim to be consistent with the physical parameters of the actual element.

5. The humanoid robot simulation environment based on Isaac Sim and its implementation method according to claim 1, characterized in that: In step S4, during the modeling process, the robot is split into multiple independent components to be modeled, modified or updated.

6. The humanoid robot simulation environment based on Isaac Sim and its implementation method according to claim 4, characterized in that: In step S5, the following steps are also included: Step S5-1, importing the humanoid robot model into the Isaac Sim simulation environment, and deploying it to the constructed industrial scene; Step S5-2, configuring the physical parameters of the robot in Isaac Sim, including the range of motion, speed, center of gravity, moment of inertia, and torque limit of the joints, to ensure that the movement of the robot in the simulation conforms to the actual situation; Step S5-3, docking the robot control interface with the simulation interface of Isaac Sim by writing or importing the control algorithm to achieve precise control of the robot joints; Step S5-4: Use ROS2 and MoveIt2 to set the robot motion control nodes to ensure that each node can adjust the robot's posture, motion speed and position in real time to achieve precise control.

7. The humanoid robot simulation environment based on Isaac Sim and its implementation method according to claim 2, characterized in that: In step S1-1, the detailed parameters include the size, material, friction coefficient, elasticity, weight and structural details of the equipment and obstacles; In step S1-3, detail processing is to add bolts and welding points to the constructed 3D model according to the appearance of equipment and obstacles in the actual industrial scene, and optimization is to optimize the topological structure of the model and delete unnecessary vertices or faces.

8. The humanoid robot simulation environment based on Isaac Sim and its implementation method according to claim 3, characterized in that: In step S2-3, texture effects including scratches, wear and rust are added.

9. The humanoid robot simulation environment based on Isaac Sim and its implementation method according to claim 6, characterized in that: In step S5-2, the friction of the ground is also set to simulate the walking effect of the robot on different ground materials.

10. The humanoid robot simulation environment based on Isaac Sim and its implementation method according to claim 1, characterized in that: In step S5, it also includes simulating the behaviors and interactions of multiple robots in the same industrial scene.

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