[isaaclab] 解决isaaclab打开时没有isaacsim的很多功能

使用默认的isaaclab 运行脚本运行时虽然打开的也是isaac sim但是会发现菜单里面的选项和打开isaacsim时少了很多比如ROS2的选项就没有解决方案其实是因为isaaclab 默认打开时只会加载体验版的isaacsim并不会加载full 版的isaac sim参考https://forums.developer.nvidia.com/t/how-to-use-ros2-with-isaaclab/326698找到了解决方案需要在args_cli增加args_cli.experience isaacsim.exp.full.kit # Set the experience here完整脚本如下import argparse from isaaclab.app import AppLauncher # create argparser parser argparse.ArgumentParser(descriptionTutorial on creating an empty stage.) # append AppLauncher cli args AppLauncher.add_app_launcher_args(parser) # parse the arguments args_cli parser.parse_args() args_cli.experience isaacsim.exp.full.kit # Set the experience here # launch omniverse app app_launcher AppLauncher(args_cli) simulation_app app_launcher.app Rest everything follows. from isaaclab.sim import SimulationCfg, SimulationContext def main(): Main function. # Initialize the simulation context sim_cfg SimulationCfg(dt0.01) sim SimulationContext(sim_cfg) # Set main camera sim.set_camera_view([2.5, 2.5, 2.5], [0.0, 0.0, 0.0]) # Play the simulator sim.reset() # Now we are ready! print([INFO]: Setup complete...) # Simulate physics while simulation_app.is_running(): # perform step sim.step() if __name__ __main__: # run the main function main() # close sim app simulation_app.close()注意直接使用这个指令打开这个脚本运行时会报段错误python scripts/tutorials/00_sim/create_empty.py需要使用这个指令python3 scripts/tutorials/00_sim/create_empty.py可以打开问题完美解决