diff --git a/docs/source/setup/installation/binaries_installation.rst b/docs/source/setup/installation/binaries_installation.rst index 9fef4f5fa3..9d2364d2f3 100644 --- a/docs/source/setup/installation/binaries_installation.rst +++ b/docs/source/setup/installation/binaries_installation.rst @@ -388,10 +388,10 @@ top of the repository: # Option 1: Using the isaaclab.sh executable # note: this works for both the bundled python and the virtual environment - ./isaaclab.sh -p source/standalone/tutorials/00_sim/create_empty.py + ./isaaclab.sh -p source/standalone/tutorials/00_sim/create_ground.py # Option 2: Using python in your virtual environment - python source/standalone/tutorials/00_sim/create_empty.py + python source/standalone/tutorials/00_sim/create_ground.py .. tab-item:: :icon:`fa-brands fa-windows` Windows :sync: windows @@ -400,10 +400,10 @@ top of the repository: :: Option 1: Using the isaaclab.bat executable :: note: this works for both the bundled python and the virtual environment - isaaclab.bat -p source\standalone\tutorials\00_sim\create_empty.py + isaaclab.bat -p source\standalone\tutorials\00_sim\create_ground.py :: Option 2: Using python in your virtual environment - python source\standalone\tutorials\00_sim\create_empty.py + python source\standalone\tutorials\00_sim\create_ground.py The above command should launch the simulator and display a window with a black diff --git a/docs/source/setup/installation/pip_installation.rst b/docs/source/setup/installation/pip_installation.rst index cc014fd887..6c30886d17 100644 --- a/docs/source/setup/installation/pip_installation.rst +++ b/docs/source/setup/installation/pip_installation.rst @@ -291,10 +291,10 @@ top of the repository: # Option 1: Using the isaaclab.sh executable # note: this works for both the bundled python and the virtual environment - ./isaaclab.sh -p source/standalone/tutorials/00_sim/create_empty.py + ./isaaclab.sh -p source/standalone/tutorials/00_sim/create_ground.py # Option 2: Using python in your virtual environment - python source/standalone/tutorials/00_sim/create_empty.py + python source/standalone/tutorials/00_sim/create_ground.py .. tab-item:: :icon:`fa-brands fa-windows` Windows :sync: windows @@ -303,10 +303,10 @@ top of the repository: :: Option 1: Using the isaaclab.bat executable :: note: this works for both the bundled python and the virtual environment - isaaclab.bat -p source\standalone\tutorials\00_sim\create_empty.py + isaaclab.bat -p source\standalone\tutorials\00_sim\create_ground.py :: Option 2: Using python in your virtual environment - python source\standalone\tutorials\00_sim\create_empty.py + python source\standalone\tutorials\00_sim\create_ground.py The above command should launch the simulator and display a window with a black diff --git a/source/extensions/omni.isaac.lab/config/extension.toml b/source/extensions/omni.isaac.lab/config/extension.toml index df78987189..9141590e3e 100644 --- a/source/extensions/omni.isaac.lab/config/extension.toml +++ b/source/extensions/omni.isaac.lab/config/extension.toml @@ -1,7 +1,7 @@ [package] # Note: Semantic Versioning is used: https://semver.org/ -version = "0.27.14" +version = "0.27.15" # Description title = "Isaac Lab framework for Robot Learning" diff --git a/source/extensions/omni.isaac.lab/docs/CHANGELOG.rst b/source/extensions/omni.isaac.lab/docs/CHANGELOG.rst index df775535be..120f1f0893 100644 --- a/source/extensions/omni.isaac.lab/docs/CHANGELOG.rst +++ b/source/extensions/omni.isaac.lab/docs/CHANGELOG.rst @@ -1,6 +1,14 @@ Changelog --------- +0.27.15 (2024-11-13) +~~~~~~~~~~~~~~~~~~~~ + +Fixed +^^^^^ + +* Created a new script based on the previous tutorial script, implementing the changes to add a black ground plane. Updated the installation documentation to reference the path to this new script. + 0.27.14 (2024-10-23) ~~~~~~~~~~~~~~~~~~~~ diff --git a/source/standalone/tutorials/00_sim/create_empty.py b/source/standalone/tutorials/00_sim/create_empty.py index 10d6368b96..896a38780f 100644 --- a/source/standalone/tutorials/00_sim/create_empty.py +++ b/source/standalone/tutorials/00_sim/create_empty.py @@ -32,6 +32,7 @@ """Rest everything follows.""" from omni.isaac.lab.sim import SimulationCfg, SimulationContext +import omni.isaac.lab.sim as sim_utils def main(): diff --git a/source/standalone/tutorials/00_sim/create_ground.py b/source/standalone/tutorials/00_sim/create_ground.py new file mode 100644 index 0000000000..8321f24f21 --- /dev/null +++ b/source/standalone/tutorials/00_sim/create_ground.py @@ -0,0 +1,66 @@ +# Copyright (c) 2022-2024, The Isaac Lab Project Developers. +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + +"""This script demonstrates how to create a black ground plane in Isaac Sim. + +.. code-block:: bash + + # Usage + ./isaaclab.sh -p source/standalone/tutorials/00_sim/create_ground.py + +""" + +"""Launch Isaac Sim Simulator first.""" + + +import argparse + +from omni.isaac.lab.app import AppLauncher + +# create argparser +parser = argparse.ArgumentParser(description="Tutorial on creating a black ground plane.") +# 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 omni.isaac.lab.sim import SimulationCfg, SimulationContext +import omni.isaac.lab.sim as sim_utils + + +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]) + + # Ground-plane + cfg_ground = sim_utils.GroundPlaneCfg() + cfg_ground.func("/World/defaultGroundPlane", cfg_ground) + + # 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()