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Simulo

simulo.World

World factory — a prebuilt place you bring.

Provides static methods to load prebuilt worlds for robot simulation. Terrain is ground you generate; World is a place you bring. All world types are backend-independent abstractions that get translated to backend-specific implementations.

class World

usd()

Section titled “usd()”
World.usd(
    name: str = 'world',
    path: str = '',
    pose: Optional[Pose] = None,
    spawn_origin: Tuple[float, float, float] = (0.0, 0.0, 0.0),
) -> USDWorld

Load a USD file as a prebuilt world.

Use this for policy inference in pre-built environments like warehouses, factories, or homes. The robot will be spawned at the specified spawn_origin within the USD scene.

Args:

  • name — World name
  • path — Path to USD file. Supports: - Local paths: “/path/to/scene.usd” - Nucleus paths: “nucleus://Isaac/Environments/…”
  • pose — Pose in space (usually identity for USD scenes)
  • spawn_origin — Position (x, y, z) where robot should spawn

Returns:

USDWorld instance

Example:

# Inference in warehouse
warehouse = simulo.World.usd(
    name="warehouse",
    path="nucleus://Isaac/Environments/Simple_Warehouse/warehouse.usd",
    spawn_origin=(0, 0, 0),
)
scene.add(warehouse, at="/World", per_environment=False)