run_scene.py

from scripts.isaac.scene import Scene
from scripts.utils import get_display_options_code

# import rclpy


def main(args=None):
    # Get desired display options code
    display_options = get_display_options_code(
        fps=True,
        axis=True,
        layer=True,
        resolution=False,
        timeline=False,
        camera=False,
        grid=False,
        selection_outline=True,
        light=False,
        skeleton=False,
        mesh=True,
        path_tracing_results=False,
        audio=False,
        device_memory=True,
        host_memory=True,
    )

    # Create basic scene, which also creates and starts the SimulationApp.
    scene = Scene(
        display_options=display_options,
        data_root="/isaac-sim/project/data",
        scripts_root="/isaac-sim/scripts",
        omniverse_assets_root="http://omniverse-content-production.s3-us-west-2.amazonaws.com",
        add_ground_plane=True,
        add_default_light=True,
        config_filename="simulation_app_config.json",
    )

    # Import everything Omniverse related except for the SimulationApp (in this case the Scene) here (after
    #  SimulationApp initialized)
    import omni.isaac.core

    # Potentially enable some extensions, for instance the animation timeline at the bottom of the application window.
    omni.isaac.core.utils.extensions.enable_extension("omni.anim.window.timeline")

    # If you need a ros node:
    # rclpy.init()
    # my_node = MyNode()

    # Optionally reset the world, which stops and restarts the simulation. Otherwise the simulation will be stopped
    #  until the "Play" button is pressed.
    # scene.world.reset()

    step_counter = 0
    while scene.simulation.is_running():
        scene.world.step(render=True)
        step_counter += 1
        # If there is a ros node, spin here
        # rclpy.spin_once(my_node, tieout_sec=0.001)

        if scene.world.is_playing():
            if step_counter == 1:
                ...
                # Do stuff that needs to be done after play is pressed, before other stuff happens. This usually means
                #  initializing articulations or sensors.
            elif step_counter > 1:
                ...
                # Do actual stuff.
        else:
            step_counter = 0

    # my_node.destroy_node()
    scene.simulation.close()


if __name__ == "__main__":
    main()