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26 days ago
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Add Isaac Sim RTX renders of finished runs
Chandra KiranUnverified signaturePOST /simulate/run/{id}/isaac replays a run in Isaac Sim: worker/usd_scene.py builds a USD stage from the MuJoCo model with every body's pose time-sampled from the run (and a camera that tracks the robot like the MuJoCo video), and Isaac Sim only renders it frame by frame with RTX - no second physics engine, so both videos show the same motion. Deployed as its own Modal app on an L4 (worker/modal_isaac.py) so its large image never slows the main deploy; limited to ISAAC_DAILY_LIMIT renders a day (default 10). The USD stage is tested against MuJoCo's geom positions frame by frame; the Isaac Sim step itself needs the NGC image and a GPU and has not been run yet.2fc178d