File size: 11,347 Bytes
83e0ecd
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
<!DOCTYPE html>
<html class="writer-html5" lang="en" >
<head>
  <meta charset="utf-8" /><meta name="generator" content="Docutils 0.18.1: http://docutils.sourceforge.net/" />

  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
  <title>Programming &mdash; Isaac Gym  documentation</title>
      <link rel="stylesheet" href="../_static/pygments.css" type="text/css" />
      <link rel="stylesheet" href="../_static/css/isaac_custom.css" type="text/css" />
      <link rel="stylesheet" href="../_static/graphviz.css" type="text/css" />
  <!--[if lt IE 9]>
    <script src="../_static/js/html5shiv.min.js"></script>
  <![endif]-->
  
        <script data-url_root="../" id="documentation_options" src="../_static/documentation_options.js"></script>
        <script src="../_static/jquery.js"></script>
        <script src="../_static/underscore.js"></script>
        <script src="../_static/_sphinx_javascript_frameworks_compat.js"></script>
        <script src="../_static/doctools.js"></script>
    <script src="../_static/js/theme.js"></script>
    <link rel="index" title="Index" href="../genindex.html" />
    <link rel="search" title="Search" href="../search.html" />
    <link rel="next" title="Simulation Setup" href="simsetup.html" />
    <link rel="prev" title="Bundled Assets" href="../examples/assets.html" />
    <link href="../_static/style.css" rel="stylesheet" type="text/css">

</head>

<body class="wy-body-for-nav"> 
  <div class="wy-grid-for-nav">
    <nav data-toggle="wy-nav-shift" class="wy-nav-side">
      <div class="wy-side-scroll">
        <div class="wy-side-nav-search" >
            <a href="../index.html" class="icon icon-home"> Isaac Gym
            <img src="../_static/logo.png" class="logo" alt="Logo"/>
          </a>
<div role="search">
  <form id="rtd-search-form" class="wy-form" action="../search.html" method="get">
    <input type="text" name="q" placeholder="Search docs" />
    <input type="hidden" name="check_keywords" value="yes" />
    <input type="hidden" name="area" value="default" />
  </form>
</div>
        </div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="Navigation menu">
              <p class="caption" role="heading"><span class="caption-text">User Guide:</span></p>
<ul class="current">
<li class="toctree-l1"><a class="reference internal" href="../about_gym.html">About Isaac Gym</a></li>
<li class="toctree-l1"><a class="reference internal" href="../install.html">Installation</a></li>
<li class="toctree-l1"><a class="reference internal" href="../release-notes.html">Release Notes</a></li>
<li class="toctree-l1"><a class="reference internal" href="../examples/index.html">Examples</a></li>
<li class="toctree-l1 current"><a class="current reference internal" href="#">Programming</a><ul>
<li class="toctree-l2"><a class="reference internal" href="simsetup.html">Simulation Setup</a></li>
<li class="toctree-l2"><a class="reference internal" href="assets.html">Assets</a></li>
<li class="toctree-l2"><a class="reference internal" href="physics.html">Physics Simulation</a></li>
<li class="toctree-l2"><a class="reference internal" href="tensors.html">Tensor API</a></li>
<li class="toctree-l2"><a class="reference internal" href="forcesensors.html">Force Sensors</a></li>
<li class="toctree-l2"><a class="reference internal" href="tuning.html">Simulation Tuning</a></li>
<li class="toctree-l2"><a class="reference internal" href="math.html">Math Utilities</a></li>
<li class="toctree-l2"><a class="reference internal" href="graphics.html">Graphics and Camera Sensors</a></li>
<li class="toctree-l2"><a class="reference internal" href="terrain.html">Terrains</a></li>
<li class="toctree-l2"><a class="reference internal" href="../api/index.html">API Reference</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../faqs.html">Frequently Asked Questions</a></li>
</ul>

        </div>
      </div>
    </nav>

    <section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="Mobile navigation menu" >
          <i data-toggle="wy-nav-top" class="fa fa-bars"></i>
          <a href="../index.html">Isaac Gym</a>
      </nav>

      <div class="wy-nav-content">
        <div class="rst-content">
          <div role="navigation" aria-label="Page navigation">
  <ul class="wy-breadcrumbs">
      <li><a href="../index.html" class="icon icon-home"></a> &raquo;</li>
      <li>Programming</li>
      <li class="wy-breadcrumbs-aside">
      </li>
  </ul>
  <hr/>
</div>
          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
           <div itemprop="articleBody">
             
  <section id="programming">
<h1>Programming<a class="headerlink" href="#programming" title="Permalink to this heading"></a></h1>
<div class="toctree-wrapper compound">
<ul>
<li class="toctree-l1"><a class="reference internal" href="simsetup.html">Simulation Setup</a><ul>
<li class="toctree-l2"><a class="reference internal" href="simsetup.html#creating-a-simulation">Creating a Simulation</a></li>
<li class="toctree-l2"><a class="reference internal" href="simsetup.html#loading-assets">Loading Assets</a></li>
<li class="toctree-l2"><a class="reference internal" href="simsetup.html#environments-and-actors">Environments and Actors</a></li>
<li class="toctree-l2"><a class="reference internal" href="simsetup.html#running-the-simulation">Running the Simulation</a></li>
<li class="toctree-l2"><a class="reference internal" href="simsetup.html#adding-a-viewer">Adding a Viewer</a></li>
<li class="toctree-l2"><a class="reference internal" href="simsetup.html#cleanup">Cleanup</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="assets.html">Assets</a><ul>
<li class="toctree-l2"><a class="reference internal" href="assets.html#loading-assets">Loading Assets</a></li>
<li class="toctree-l2"><a class="reference internal" href="assets.html#procedural-assets">Procedural Assets</a></li>
<li class="toctree-l2"><a class="reference internal" href="assets.html#asset-options">Asset Options</a></li>
<li class="toctree-l2"><a class="reference internal" href="assets.html#asset-introspection">Asset Introspection</a></li>
<li class="toctree-l2"><a class="reference internal" href="assets.html#creating-actors">Creating Actors</a></li>
<li class="toctree-l2"><a class="reference internal" href="assets.html#limitations">Limitations</a></li>
<li class="toctree-l2"><a class="reference internal" href="assets.html#relevant-examples">Relevant Examples</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="physics.html">Physics Simulation</a><ul>
<li class="toctree-l2"><a class="reference internal" href="physics.html#creating-actors">Creating Actors</a></li>
<li class="toctree-l2"><a class="reference internal" href="physics.html#actor-components">Actor Components</a></li>
<li class="toctree-l2"><a class="reference internal" href="physics.html#controlling-actors">Controlling Actors</a></li>
<li class="toctree-l2"><a class="reference internal" href="physics.html#scaling-actors">Scaling Actors</a></li>
<li class="toctree-l2"><a class="reference internal" href="physics.html#physics-state">Physics State</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="tensors.html">Tensor API</a><ul>
<li class="toctree-l2"><a class="reference internal" href="tensors.html#simulation-setup">Simulation Setup</a></li>
<li class="toctree-l2"><a class="reference internal" href="tensors.html#physics-state">Physics State</a></li>
<li class="toctree-l2"><a class="reference internal" href="tensors.html#contact-tensors">Contact Tensors</a></li>
<li class="toctree-l2"><a class="reference internal" href="tensors.html#force-sensors">Force Sensors</a></li>
<li class="toctree-l2"><a class="reference internal" href="tensors.html#control-tensors">Control Tensors</a></li>
<li class="toctree-l2"><a class="reference internal" href="tensors.html#common-problems">Common Problems</a></li>
<li class="toctree-l2"><a class="reference internal" href="tensors.html#limitations">Limitations</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="forcesensors.html">Force Sensors</a><ul>
<li class="toctree-l2"><a class="reference internal" href="forcesensors.html#rigid-body-force-sensors">Rigid Body Force Sensors</a></li>
<li class="toctree-l2"><a class="reference internal" href="forcesensors.html#joint-force-sensors">Joint Force Sensors</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="tuning.html">Simulation Tuning</a><ul>
<li class="toctree-l2"><a class="reference internal" href="tuning.html#simulation-parameters">Simulation Parameters</a></li>
<li class="toctree-l2"><a class="reference internal" href="tuning.html#simulation-parameters-tuning">Simulation Parameters Tuning</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="math.html">Math Utilities</a></li>
<li class="toctree-l1"><a class="reference internal" href="graphics.html">Graphics and Camera Sensors</a><ul>
<li class="toctree-l2"><a class="reference internal" href="graphics.html#camera-properties">Camera Properties</a></li>
<li class="toctree-l2"><a class="reference internal" href="graphics.html#camera-sensors">Camera Sensors</a></li>
<li class="toctree-l2"><a class="reference internal" href="graphics.html#visual-properties">Visual Properties</a></li>
<li class="toctree-l2"><a class="reference internal" href="graphics.html#lines-api">Lines API</a></li>
<li class="toctree-l2"><a class="reference internal" href="graphics.html#camera-intrinsics">Camera Intrinsics</a></li>
<li class="toctree-l2"><a class="reference internal" href="graphics.html#step-graphics">Step Graphics</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="terrain.html">Terrains</a><ul>
<li class="toctree-l2"><a class="reference internal" href="terrain.html#net-contact-force-issue">Net Contact Force Issue</a></li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../api/index.html">API Reference</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../api/python/index.html">Python API</a></li>
</ul>
</li>
</ul>
</div>
</section>


           </div>
          </div>
          <footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
        <a href="../examples/assets.html" class="btn btn-neutral float-left" title="Bundled Assets" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
        <a href="simsetup.html" class="btn btn-neutral float-right" title="Simulation Setup" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
    </div>

  <hr/>

  <div role="contentinfo">
    <p>&#169; Copyright 2019-2021, NVIDIA Corporation.</p>
  </div>

  Built with <a href="https://www.sphinx-doc.org/">Sphinx</a> using a
    <a href="https://github.com/readthedocs/sphinx_rtd_theme">theme</a>
    provided by <a href="https://readthedocs.org">Read the Docs</a>.
   

</footer>
        </div>
      </div>
    </section>
  </div>
  <script>
      jQuery(function () {
          SphinxRtdTheme.Navigation.enable(true);
      });
  </script> 

</body>
</html>