Confusion about integrating cuRobo's GPU-accelerated collision queries with Isaac Sim's collider settings

[junhaotu2000]

Hi , I am currently setting up a simulation environment in Isaac Sim, importing the environment as USD, and applying cuRobo to generate motion. I noticed that cuRobo provides GPU-accelerated functions for collision queries using cuboids, meshes, nvblox maps, and Euclidean signed distance voxel grids. However, Isaac Sim has collider settings such as Convex Hull and Convex Decomposition, which are commonly used for physics-based interactions.

I am a bit confused about how cuRobo's collision query functions work with Isaac Sim's collider settings. Specifically, how do Convex Hull and Convex Decomposition relate to cuRobo's methods? How should I approach integrating these in my pipeline when setting up the collision checker with cuRobo?