Does Isaac Gym support 3D scenes？

Robotics & Edge Computing Robotics - Isaac Isaac Gym
1

Hi，
I’m tring to do some RL for motion imitation in 3D scenes. I want to know how to load a 3D scene (like a bedroom) or
just a simple object (like a sofa) in Isaac Gym. If it doesn’t support, which platform should I choose?

2

You should use Omni Isaac Sim, you can use USD explorer to convert different types of 3D assets to USD files and import it to your simulation, then setup an environment for gym applications. Good news is that you can use sim and gym on windows.

3

Thanks for your reply, it helps a lot. So I can convert a 3D asset e.g. PLY file to USD file, and I can load it for gym application? Do you have some related code examples? I want to study.

4

install Isaac.Sim, there are several examples there. What Is Isaac Sim? — Omniverse IsaacSim latest documentation