ISAAC SIM笔记

ISAAC SIM入门笔记

Hello World

Core.World是一个用来和虚拟环境交互的类
用来处理和时序相关的内容（重置环境，callback函数，添加task）等

from omni.isaac.examples.base_sample import BaseSample
from omni.isaac.core import World

class HelloWorld(BaseSample):
    def __init__(self) -> None:
        super().__init__()
        return

    def setup_scene(self):
        world = World.instance()
        world.scene.add_default_ground_plane()
        return

world里面包含scene
scene管理USD相关内容

from omni.isaac.examples.base_sample import BaseSample
import numpy as np
# Can be used to create a new cube or to point to an already existing cube in stage.
from omni.isaac.core.objects import DynamicCuboid

class HelloWorld(BaseSample):
    def __init__(self) -> None:
        super().__init__()
        return

    def setup_scene(self):
        world = self.get_