Adding Objects to the Scene - Isaac Lab Tutorial 2 (Basics)

Adding Objects to the Scene - Isaac Lab Tutorial 2 (Basics)

Quick Summary of the Video

This tutorial builds on the previous one by teaching how to add prims to the stage in Isaac Lab. The video covers:

  • What a Prim is – A fundamental building block in a 3D scene, like shapes, lights, or complex objects with physics.
  • Setting Up the Scene – Using sim.spawners to create configuration-driven blueprints for prims.
  • Creating and Spawning Prims – Adding a ground plane, lights, and geometric shapes like cones and cubes.
  • Grouping with Xform Prims – Structuring objects using transformation hierarchies.
  • Adding Physics – Creating rigid bodies, deformable objects, and setting properties like mass, friction, and collision.
  • Importing Assets – Loading external USD models, such as a table from the Nucleus server.
  • Simulation Constraints – Ensuring all prims are spawned before running the simulation to prevent GPU physics issues.