常用函数
添加usd资产
prim_path='/World/warehouse'
usd_path = '/home/linhai/app/isaac/Collected_warehouse_with_forklifts/warehouse_with_forklifts.usd'
stage_utils.add_reference_to_stage(usd_path=usd_path,prim_path=prim_path)
读取物体状态
from omni.isaac.core.prims import XFormPrim
prim = XFormPrim("/World/Franka/panda_hand/geometry/panda_hand")
position, orientation = prim.get_world_pose()
print(orientation)
控制关节
from omni.isaac.core.articulations import Articulation
prim_path = "/World/Franka"
prim = Articulation(prim_path=prim_path)
joints_pos=prim.get_joint_positions()
joints_pos=joints_pos[-2:]
prim.set_joint_positions(joints_pos,joint_indices=np.array([7, 8]))
