Server Example: NVIDIA USD Robots

Overview

Loads several bundled Isaac Sim robot USD scenes with World::addUsdArticulatedSystem and publishes them together through RaisimServer. The example is intentionally limited to assets that were smoke-tested as RaiSim articulated systems with supported collision bodies.

Collision bodies from three Isaac Sim USD robot assets imported into RaiSim

Build Availability

The executable is generated only when CMake finds a RaiSim package with USD scene loading. RaiSim is expected to include OpenUSD on every supported architecture.

Binary

Installed executable when available: nvidia_usd_robots.

Assets

The bundled assets are:

create3: rsc/isaac/Robots/iRobot/Create3/create_3.usd (BSD-3)
jetbot: rsc/isaac/Robots/NVIDIA/Robomaker/aws_robomaker_jetbot.usd (MIT)
ant: rsc/isaac/Robots/IsaacSim/Ant/ant.usd (MIT)

Run

Run the example:

<raisim-install>/bin/nvidia_usd_robots

On Windows, run nvidia_usd_robots.exe instead. This example uses RaisimServer. Start rayrai_tcp_viewer and connect to port 8080.

Details

Loads each USD file with World::addUsdArticulatedSystem.
Fails fast if the USD scene does not import as an articulated system or if no supported collision bodies are imported.
Places the imported floating bases above the ground and applies a shared nvidia_usd_robot collision material.