Server Example: Shadow Hand USD Cube

Overview

Loads NVIDIA Isaac Sim’s Shadow Robot ShadowHand USD scene directly with World(shadow_hand.usd) and places a RaiSim rigid-body cube at the Isaac Lab in-hand cube start pose. The constructor imports the USD Physics rigid bodies and joints as a RaiSim articulated system. See OpenUSD Loading.

The cube is a native RaiSim box. The example fails fast if the ShadowHand articulation, collision bodies, or visual meshes are not imported.

ShadowHand USD collision geometry with a cube above the hand

Target

CMake target: shadow_hand_usd_cube (C++20).

Run

Run the build-tree executable:

./build-examples/examples/shadow_hand_usd_cube

On Windows, run shadow_hand_usd_cube.exe instead. This example uses RaisimServer. Start rayrai_tcp_viewer and connect to port 8080. The viewer remains interactive while the simulation runs.

Details

Loads rsc/isaac/Robots/ShadowRobot/ShadowHand/shadow_hand.usd with the World constructor.
Uses RaiSim’s bundled OpenUSD runtime directly; no Assimp USD importer or USD-specific build switch is required.
Throws an error if the imported scene does not contain an articulated system named shadow_hand with collision bodies and visual meshes.
Places the ShadowHand base at (0, 0, 0.5).
Drives the hand toward the imported nominal configuration with PD control. While the viewer has the simulation paused, joint positions edited in the viewer become the new PD targets.
Creates a dynamic 6.5 cm cube at (0, -0.39, 1.05), matching the Isaac Lab Shadow Hand cube task’s initial object pose.