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.

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.