You can start from here. Please feel free to share any thoughts and doubts

Hi Rahul,
If you share your problem statement /doubts / piece of logic you wanna solve then somebody could guide or help you ..

Have a nice day !

GitHub - isaac-sim/IsaacSim: NVIDIA Isaac Sim™ is an open-source application on NVIDIA Omniverse for developing, simulating, and testing AI-driven robots in realistic virtual environments.
https://github.com/isaac-sim/IsaacSim

Big news : NVIDIA has open-sourced this famous tool.

In robotics, you need to simulate your environment in order to test your robot and iterate quickly.

In this context, NVIDIA Isaac Sim is a well-known simulation platform. Of course, it is primarily designed for robots with Al. And of course it's integrated with ROS.

And the really good news is that NVIDIA has made it open-source. You can find the source code on Github.