| # 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 create a simple stage in Isaac Sim. | |
| .. code-block:: bash | |
| # Usage | |
| ./isaaclab.sh -p scripts/tutorials/00_sim/create_empty.py | |
| """ | |
| """Launch Isaac Sim Simulator first.""" | |
| import argparse | |
| from isaaclab.app import AppLauncher | |
| # create argparser | |
| parser = argparse.ArgumentParser(description="Tutorial on creating an empty stage.") | |
| # 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.""" | |
| from isaaclab.sim import SimulationCfg, SimulationContext | |
| def main(): | |
| """Main function.""" | |
| # Initialize the simulation context | |
| sim_cfg = SimulationCfg(dt=0.01) | |
| sim = SimulationContext(sim_cfg) | |
| # Set main camera | |
| sim.set_camera_view([2.5, 2.5, 2.5], [0.0, 0.0, 0.0]) | |
| # 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() | |