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 — 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> »</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>© 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> |