ISAAC SIM 生成应用程序

目前根据官方教程了解到有两种方式可以二次开发，一种是在编写插件，然后在软件内以界面的形式调用插件，另一种就是直接运行一个python文件，自动打开isaac sim，运行完了就自己关闭。

这里记录下第二种方式，因为文档中篇幅比较小，经常会忘记这件事

1，编写py文件：

#launch Isaac Sim before any other imports
#default first two lines in any standalone application
from omni.isaac.kit import SimulationApp
simulation_app = SimulationApp({"headless": False}) # we can also run as headless.

from omni.isaac.core import World
from omni.isaac.core.objects import DynamicCuboid
import numpy as np

world = World()
world.scene.add_default_ground_plane()
fancy_cube =  world.scene.add(
    DynamicCuboid(
        prim_path="/World/random_cube",
        name="fancy_cube",
        position=np.array([0, 0, 1.0]),
        scale=np.array([0.5015, 0.5015, 0.5015]),
        color=np.array([0, 0, 1.0]),
    ))
# Resetting the world needs to be called before querying anything related to an articulation specifically.
# Its recommended to always do a reset after adding your assets, for physics handles to be propagated properly
world.reset()
for i in range(500):
    position, orientation = fancy_cube.get_world_pose()
    linear_velocity = fancy_cube.get_linear_velocity()
    # will be shown on terminal
    print("Cube position is : " + str(position))
    print("Cube's orientation is : " + str(orientation))
    print("Cube's linear velocity is : " + str(linear_velocity))
    # we have control over stepping physics and rendering in this workflow
    # things run in sync
    world.step(render=True) # execute one physics step and one rendering step

simulation_app.close() # close Isaac Sim

2，运行./python.sh /extension_examples/user_examples/my_application.py.