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