Beginner - Get world handle [Python]

[The_Blue_Dot]

I am opening a usd file with omni.usd.get_context().open_stage(usd_path, None) . How do I get the handle to the World object.

Sorry if it is a completely beginner’s question.

Thanks and regards,
Nilesh S

[ahaidu]

Hi there,

here are some snippets on creating and interacting with the world:

from omni.isaac.core import World

world = World()  # Creates the singleton world accessed both locally and by extensions.
world.reset()  # Start up the simulation environment.
world_singleton_instance = World.instance()
mesh_prim = world.stage.GetPrimAtPath("World/CubeExample")
world.get_physics_context().set_gravity(0.0)
world.step(render=False)
world.render()
world.play()

Here you can find the World class documentation: Core [omni.isaac.core] — isaac_sim 2022.1.1-release.1 documentation

Cheers,
Andrei

[The_Blue_Dot]

Thanks Andrei