File size: 2,886 Bytes
406662d | 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 | # Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
"""
This script demonstrates how to run IsaacSim via the AppLauncher
.. code-block:: bash
# Usage
./isaaclab.sh -p scripts/tutorials/00_sim/launch_app.py
"""
"""Launch Isaac Sim Simulator first."""
import argparse
from isaaclab.app import AppLauncher
# create argparser
parser = argparse.ArgumentParser(description="Tutorial on running IsaacSim via the AppLauncher.")
parser.add_argument("--size", type=float, default=1.0, help="Side-length of cuboid")
# SimulationApp arguments https://docs.omniverse.nvidia.com/py/isaacsim/source/isaacsim.simulation_app/docs/index.html?highlight=simulationapp#isaacsim.simulation_app.SimulationApp
parser.add_argument(
"--width", type=int, default=1280, help="Width of the viewport and generated images. Defaults to 1280"
)
parser.add_argument(
"--height", type=int, default=720, help="Height of the viewport and generated images. Defaults to 720"
)
# append AppLauncher cli args
AppLauncher.add_app_launcher_args(parser)
# parse the arguments
args_cli = parser.parse_args()
# launch omniverse app
app_launcher = AppLauncher(args_cli)
simulation_app = app_launcher.app
"""Rest everything follows."""
import isaaclab.sim as sim_utils
def design_scene():
"""Designs the scene by spawning ground plane, light, objects and meshes from usd files."""
# Ground-plane
cfg_ground = sim_utils.GroundPlaneCfg()
cfg_ground.func("/World/defaultGroundPlane", cfg_ground)
# spawn distant light
cfg_light_distant = sim_utils.DistantLightCfg(
intensity=3000.0,
color=(0.75, 0.75, 0.75),
)
cfg_light_distant.func("/World/lightDistant", cfg_light_distant, translation=(1, 0, 10))
# spawn a cuboid
cfg_cuboid = sim_utils.CuboidCfg(
size=[args_cli.size] * 3,
visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(1.0, 1.0, 1.0)),
)
# Spawn cuboid, altering translation on the z-axis to scale to its size
cfg_cuboid.func("/World/Object", cfg_cuboid, translation=(0.0, 0.0, args_cli.size / 2))
def main():
"""Main function."""
# Initialize the simulation context
sim_cfg = sim_utils.SimulationCfg(dt=0.01, device=args_cli.device)
sim = sim_utils.SimulationContext(sim_cfg)
# Set main camera
sim.set_camera_view([2.0, 0.0, 2.5], [-0.5, 0.0, 0.5])
# Design scene by adding assets to it
design_scene()
# Play the simulator
sim.reset()
# Now we are ready!
print("[INFO]: Setup complete...")
# Simulate physics
while simulation_app.is_running():
# perform step
sim.step()
if __name__ == "__main__":
# run the main function
main()
# close sim app
simulation_app.close()
|