File size: 2,313 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 | # 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 spawn prims into the scene.
.. code-block:: bash
# Usage
./isaaclab.sh -p scripts/tutorials/00_sim/set_rendering_mode.py
"""
"""Launch Isaac Sim Simulator first."""
import argparse
from isaaclab.app import AppLauncher
# create argparser
parser = argparse.ArgumentParser(
description="Tutorial on viewing a warehouse scene with a given rendering mode preset."
)
# 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
from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
def main():
"""Main function."""
# rendering modes include performance, balanced, and quality
# note, the rendering_mode specified in the CLI argument (--rendering_mode) takes precedence over
# this Render Config setting
rendering_mode = "performance"
# carb setting dictionary can include any rtx carb setting which will overwrite the native preset setting
carb_settings = {"rtx.reflections.enabled": True}
# Initialize render config
render_cfg = sim_utils.RenderCfg(
rendering_mode=rendering_mode,
carb_settings=carb_settings,
)
# Initialize the simulation context with render coofig
sim_cfg = sim_utils.SimulationCfg(render=render_cfg)
sim = sim_utils.SimulationContext(sim_cfg)
# Pose camera in the hospital lobby area
sim.set_camera_view([-11, -0.5, 2], [0, 0, 0.5])
# Load hospital scene
hospital_usd_path = f"{ISAAC_NUCLEUS_DIR}/Environments/Hospital/hospital.usd"
cfg = sim_utils.UsdFileCfg(usd_path=hospital_usd_path)
cfg.func("/Scene", cfg)
# Play the simulator
sim.reset()
# Now we are ready!
print("[INFO]: Setup complete...")
# Run simulation and view scene
while simulation_app.is_running():
sim.step()
if __name__ == "__main__":
# run the main function
main()
# close sim app
simulation_app.close()
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