IsaacLab笔记（1）利用standalone python创建场景

IsaacSim主要有三种工作流：GUI界面，Extension以及standalone方式，对于python编程，一般使用Extension以及standalone，Extension一般依托交互界面，standalone模式直接调用IsaacSim的Core API,不依赖界面交互，更加适合平时的大规模仿真任务。

下面采用standalone的方式进行简单的场景设置

python 复制代码

from isaacsim import SimulationApp
simulation_app = SimulationApp({"headless": False})

import omni.usd
from pxr import UsdLux, Sdf, Gf

from isaacsim.core.api import World
from isaacsim.core.api.objects import DynamicCuboid
import numpy as np

world = World(stage_units_in_meters=1.0)
world.scene.add_default_ground_plane()

# stage = omni.usd.get_context().get_stage()
# sun_light = UsdLux.DistantLight.Define(stage, Sdf.Path("/World/SunLight"))
# sun_light.CreateIntensityAttr(500.0) 
# sun_light.CreateColorAttr(Gf.Vec3f(1.0, 1.0, 0.95))  

fancy_cube = world.scene.add(
    DynamicCuboid(
        prim_path="/World/random_cube",
        name="fancy_cube",
        position=np.array([0, 0, 2.000]),
        scale=np.array([0.5015, 0.505, 0.5015]),
        size=1.0,
        color=np.array([0, 0, 1.0]),
    )
)


for i in range(2000):
    position, orientation = fancy_cube.get_world_pose()
    linear_velocity = fancy_cube.get_linear_velocity()
    print("Cube position is : " + str(position))
    print("Cube's orientation is : " + str(orientation))
    print("Cube's linear velocity is : " + str(linear_velocity))
    # we have control over stepping physics and rendering in this workflow
    # things run in sync
    world.step(render=True)  # execute one physics step and one rendering step
world.reset()
simulation_app.close()

该代码通过DynamicCuboid类添加一个动态立方体，并仿真获取其位姿，速度信息。

运行一下指令，切换成你自己创建的代码路径

bash 复制代码

./python.sh /home/sun/isaac-sim/standalone_examples/api/isaacsim.aa.pick_cube/enviroment.py

点击运行会发现蓝色方块掉落，终端输出信息