Hi everyone !
I downloaded Isaac Sim recently and completed the tutorials. My next objective was to reproduce the step number 6 of the Required Tutorials (Adding a Manipulator robot) and change it a bit to make the cube generated on an other cube. Therefore, the setup_scene function in the python script looks like this :
def setup_scene(self) :
world = self.get_world()
world.scene.add_default_ground_plane()
world.scene.add(
DynamicCuboid(
prim_path="/World/random_step",
name="fancy_step",
position=np.array([30, 30, 5.575]),
size=np.array([25, 35, 10]),
color=np.array([0, 1.0, 0]),
)
)
world.scene.add(
DynamicCuboid(
prim_path="/World/random_cube",
name="fancy_cube",
position=np.array([40, 40, 12]),
size=np.array([5, 5, 5])
color=np.array([0, 0, 1.0]),
)
)
return
With this, the code works well. However, I would now like to replace the fancy_step with a USD file of a bin that I have. File is located at ‘/home/user/Documents/scene.usdc’. The purpose then is to generate scenes with bins from the USD with random sizes and random positions.
Do you know how can I do such a thing ?
I thank you in advance for taking the time to help me :)