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 linked RaiSim package is expected to expose USD scene loading; the constructor imports the USD Physics rigid bodies and joints as a RaiSim articulated system.

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

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: shadow_hand_usd_cube.

Run

Run the installed executable:

<raisim-install>/bin/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.

• Creates a dynamic cube at (0, -0.39, 1.05), matching the Isaac Lab Shadow Hand cube task’s initial object pose.