IsaacSim-1

Simulator Launcher

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

总之就是一个很简单的，把 argument parse 了之后去设置一个 launch app.

然后 main 也差不多就是一个

while simulation_app.is_running():
	step
	---
simulation_app.close()

Interactive Scene