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Published 20 hours ago • verified publisher icon NVIDIA-ISAAC-ROS

Nvbox in Isaac Gym (the Omniverse version)

Open joehays opened this issue 2 years ago • 3 comments
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Hello,

Is there any support to be able to use the nvblox capabilities from Isaac ROS nvbox in parallel environments in Omniverse Sim/Gym? The ROS2 layer would have to be stripped away as it's not appropriate for the parallel Gym environments used during the RL training. Is this possible?

joehays avatar Mar 03 '23 21:03 joehays

I'm not super familiar with Isaac Gym but from what I can see you interact with it through pytorch tensors? I guess then to connect Isaac Gym with nvblox the missing piece is a pytorch interface to nvblox? Is that correct?

Internally, we have a pytorch interface, but it's not ready to be released. So for now you'll have to wrap the bits you need yourself. To do this you would wrap parts of the nvblox core library.

alexmillane avatar Mar 04 '23 21:03 alexmillane

how about the ability to safely instantiate multiple nvblox objects in parallel (i.e. in parallel Gym environments)?

joehays avatar Mar 05 '23 21:03 joehays

Also, are there plans to make the pytorch interface available in the near future?

joehays avatar Mar 05 '23 21:03 joehays