Interacting with Rigid Objects - Isaac Lab Tutorial 3 (Basics)

This tutorial is part of a miniseries on interacting with objects in Isaac Lab, focusing on rigid objects. It covers:

Creating rigid objects – Using rigid_object and rigid_object_CFG instead of the func method for better organization and reusability.
Setting up the scene – Spawning cones at randomized heights that interact with the ground plane.
Using Xform Prims – Grouping objects into structured hierarchies.
Initializing Physics Handles – Ensuring the spawned objects have defined physical properties.
Simulation Loop & State Reset – Resetting object positions and velocities every 250 steps to maintain interaction consistency.
Simulation Data Flow – Writing root states and external forces to the simulation buffer, though no external forces are applied in this tutorial.