Direct ReKep utilization in Isaac Sim

[AmirpooyaSh]

Hey there,

I've just read this study and found it interesting to test on our setup. However, we've already modeled it in Isaac Sim and our IKSolver is CuRobo.

Therefore, I was wondering if there is any simple solution to bypass Omnigibson and connect this research study's pipeline into Isaac Sim. I believe that creating a simulation-independent library to implement within different applications would be the best way to go.

Right now, I'm trying to replicate that to our case, but I'm not sure how long it will take since I'm not a major CS or CE :), so I just wanted to ask if there is any upcoming update or ....