API in standalone_examples

API is divided in the following groups

Asset

script for URDF import

Core

There are two types of core functions covered.

API

There are scripts that perform standard actions. This includes:

  1. Adding Cubes

  2. adding Franka Robot

  3. Adding a cloth

  4. Controlling a robot: Joint position controller for a manipulator

  5. Logging Data

  6. Derfmable objects

  7. Viewing Contact data

  8. Making omnigraph triggers

  9. rigit contact viewing

  10. simulating a robot

  11. simulation callbacks

  12. time stepping

  13. Visualizing materials

Cloner

A script that creates clones of ants. This can be used to spawn a large number of robots and managee its articulation.

Cortex

TODO

Replicator

Behaviour

Domain Randomization## Examples

Robot

TODO

Manipulator

Policy

Wheeled Robots

ROS bridge

Making ROS nodes to publish or subscribe to data from Isaac Sim. The following examples are available.

Manual Camera Publishing, Periodic Camera Publishing, Clock, MoveIt, RTX LIDAR, Standard Subscriber, Carter’s Stereo and Carter’s Multi Robot Navigation.

Carter is like turtlebot

Sensor

Contains standalone scripts for the following sensors:

Camera:

camera, camera with openCV, fisheye camera with openCV, Camera with ROS, Camera with viewing

Physics:

Contact, Effort and IMU

PhysX:

Rotating LIDAR

RTX:

Rotating LIDAR

Simulation App

Run scipts to get empty world. There are scripts for default world, livestreaming (used in docker installation), contant fps, changing resolution and loading sample stage.

Util

Contains a script to detech clash in Carter and to draw points seen by Lidar/Radar as debug draw.

XR

Script for hand tracking in XR.

Omni

Contains files that use Omni API for asset conversion and to run simulation in async. This way simulation can be started and then script can be run to execute commands. This is used in a manipulation examples. There is also a file called app_framework.py which I am not sure what it does.