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Simulo

simulo.USDWorld

USD-based prebuilt world.

Loads a pre-built USD scene as the environment, useful for:

  • Policy inference in realistic environments (warehouses, factories, homes)
  • Domain randomization with varied USD scenes
  • Deployment validation in target environments

Attributes:

  • name — World name
  • pose — Pose in space (usually identity for USD scenes)
  • path — Path to USD file. Supports: - Local paths: “/path/to/scene.usd” - Nucleus paths: “nucleus://Isaac/Environments/…” A catalog world (USD Asset Catalogs) is referenced via simulo.Asset.from_registry(“simulo/world/<name>:v1”) and mounted like any other asset — a “simulo://” path scheme is not supported.
  • spawn_origin — Position where robot should be spawned (x, y, z)
  • prim_path — USD prim path for the world root

Example:

# Load warehouse for inference
warehouse = simulo.World.usd(
    name="warehouse",
    path="nucleus://Isaac/Environments/Simple_Warehouse/warehouse.usd",
)
scene.add(warehouse, at="/World", per_environment=False)
simulo.USDWorld(
    name: str,
    pose: Pose = Pose.identity(),
    path: str = '',
    spawn_origin: Tuple[float, float, float] = (0.0, 0.0, 0.0),
    prim_path: str = '/World',
)