Batched Environments

cuRobo provides a tensorized implementation of world collision checking, enabling the use of a single instance of cuRobo to perform queries across a batch of environments, with each environment having it’s own set of obstacles.

Collision Checking

Launch omni_python examples/isaac_sim/batch_collision_checker.py which will create two worlds with two spheres. Moving the spheres will change color based on collision. These collision calls are made in a tensorized fashion where each sphere is checked with the world it is instanced in.

Note

Only mesh and cuboids are supported. nvblox is currently not supported in batched environments mode.

Motion Generation

Launch omni_python examples/isaac_sim/batch_motion_gen_reacher.py which will launch two Franka Panda robots in two environments. Moving the target cube will trigger a motion generation query in a tensorized setup, resulting in motions being generated for both the robots.

Note

Graph planner is not supported in batched environments mode.