Using with Isaac Sim - cuRobo
cuRobo represents the world using cuboids, meshes, and nvblox maps. We provide examples for reading obstacles as meshees and cuboids from isaac sim. For other geometric primitives, we convert them to meshes and use our mesh based collision checker. In addition to reading the world from Isaac Sim, we have some experimental code to read robot kinematics from a Usd Stage in our library that can be used to read robots directly. For the examples below, we assume that the robot is being read from our configuration file and leave Usd based kinematic parsing for a future release. The interface we have developed to work with Isaac Sim can also be used with other simulators and even the real world by adding interfacing code to parse the world from your setup. Our interface with NVIDIA Isaac sim is shown in the below graph. We access the current stage from Isaac Sim and load this stage into our curobo.util.usd_helper.UsdHelper. We leverage usd-core to parse the obstacles in the stage and create a