scenic.simulators.isaac.model

Scenic world model for the Isaac Sim / Isaac Lab interface.

See examples/isaacsim/README.md for the available global parameters and object classes.

Summary of Module Members

Classes

`Create3`
`DiscreteObstaclesTerrain`
`ExistingIsaacSimObject`	A prim of the environment USD, created by the model for spatial reasoning.
`FrankaPanda`
`GroundPlane`
`IsaacSimObject`	An object spawned in Isaac Sim.
`IsaacSimRobot`	An articulated robot; see the README for the wheeled-robot and `control` metadata.
`Jetbot`
`Kaya`
`ManipulatorRobot`	An arm described by a `ManipulatorProfile`; see the README to add new arms.
`PolesTerrain`
`PyramidSlopedTerrain`
`PyramidStairsTerrain`
`RandomUniformTerrain`
`SlopedTerrain`
`StairsTerrain`
`SteppingStonesTerrain`
`Terrain`	A heightfield terrain patch; the Lab interface merges all patches into one mesh.
`UR5e`
`WaveTerrain`

Member Details

class IsaacSimObject <specifiers>[source]

Bases: Object

An object spawned in Isaac Sim.

With usdPath or isaacAssetPath set, the USD asset is spawned and scaled to the object’s dimensions; otherwise the Scenic shape is converted into a USD mesh.

class ExistingIsaacSimObject <specifiers>[source]

Bases: IsaacSimObject

A prim of the environment USD, created by the model for spatial reasoning.

class IsaacSimRobot <specifiers>[source]

Bases: IsaacSimObject

An articulated robot; see the README for the wheeled-robot and control metadata.

class ManipulatorRobot <specifiers>[source]

Bases: IsaacSimRobot

An arm described by a ManipulatorProfile; see the README to add new arms.

class Terrain <specifiers>[source]

Bases: Object

A heightfield terrain patch; the Lab interface merges all patches into one mesh.