Server Example: NVIDIA USD Robots

Overview

Loads three bundled Isaac Sim robot USD files 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. See OpenUSD Loading.

Target

CMake target: nvidia_usd_robots (C++20). RaiSim loads USD through its bundled OpenUSD runtime on every supported platform, so no extra build switch is needed.

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 build-tree executable:

./build-examples/examples/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 and simulates at 500 Hz.
• Throws an error if a USD file does not import as an articulated system or if no supported collision bodies are imported.
• Places the imported floating bases above a checkerboard ground and applies a shared nvidia_usd_robot collision material.