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Exercise 1.2 Create an Environment in Isaac Sim

Documentation - Link

Create an environment with a simple plane ground

  1. Select "Create" in the Menu Bar, then choose "Physics" > "Physics Scene" to add it to the stage tree. Check its properties to see gravity set at -Z with a magnitude of 9.8
  2. Click "Create" in the Menu Bar, then choose "Physics" > "Ground Plane."
  3. Click "Create" in the Menu Bar, then select "Shapes" > "Cube."
  4. Select the Cube, then in the Property tab, click the + Add button and choose "Physics" > "Rigid Body" with Colliders Preset.

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Tip

How to navigate in the Viewport

  • Mouse Right-click and drag to tilt/pan
  • Mouse Right-click and W A S D to move forward/left/back/right, Q E to move up/down
  • Copy an object position by going to "Transform" tab

Next

Create an environment with Isaac Sim Assets

Prepare asset packs for course

Unzip the asset packs prepared for this course and save it under Desktop.

cd ${HOME}
ls -lh Isaac_ROS_Isaac_SIM_\[DLIT61534\].zip
unzip Isaac_ROS_Isaac_SIM_\[DLIT61534\].zip -d ${HOME}/Desktop
export COURSE_DIR=/home/nvidia/Desktop/Isaac_ROS_Isaac_SIM_\[DLIT61534\]
  1. Go to the Content tab in Isaac Sim
  2. Navigate to /home/nvidia/Desktop/Isaac_ROS_Isaac_SIM_[DLIT61534]/Isaac Sim Assets Pack 1/Assets/Isaac/2023.1.1/Isaac/Environments/

  3. Select the environment you want to work in.
    In our case we will be working with Simple_Warehouse/warehouse.usd

    Tip

    We will be accessing this Simple_warehouse directory often through out this course, so it's a good idea to Add Bookmark this directory.

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    Once you do this, you can easily access from the Bookmarks.

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An environment set up like this should appear.

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Tip

How to navigate in the Viewport

  • Mouse Right-click and drag to tilt/pan
  • Mouse Right-click and W A S D to move forward/left/back/right, Q E to move up/down
  • Copy an object position by going to "Transform" tab

Next

Info

If you find yourself lost in the stage, just click on an item in the Stage tab, a press F to focus on it.