Nvidia robotic tools were somewhat convoluted last time I checked them couple years ago. I've seen people train robotic control systems with their sim, but for me it seems that the correct way is to set them as reference designs and reimplement in open source setting with constant community interest. Nvidia hardware and software reminds me military-grade stuff in their engineering approach, which may be sound for robotics. World models and simulators still in the state that doesn't require multibillion dollars to make progress in open setting.