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NVIDIA-ISAAC-ROS / isaac_ros_nvblox

NVIDIA-accelerated 3D scene reconstruction and Nav2 local costmap provider using nvblox
https://developer.nvidia.com/isaac-ros-gems
Apache License 2.0
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Nvbox in Isaac Gym (the Omniverse version) #54

Open joehays opened 1 year ago

joehays commented 1 year ago

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?

alexmillane commented 1 year ago

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.

joehays commented 1 year ago

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

joehays commented 1 year ago

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