[Isaac Sim Tutorial #1] Ch.1 Setting Up the Basic Environment: Stage, Physics, and Lighting

[Isaac Sim Tutorial #1] Ch.1 Setting Up the Basic Environment: Stage, Physics, and Lighting

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Hello! This is the first chapter of our Isaac Sim mastery series. If you haven't installed Isaac Sim yet, you won't be able to follow along with the practice. Please complete the installation first by referring to the guide below (it only takes 5 minutes! 😉).
👉 [Isaac Sim] 초보자도 가능! 빠르고 쉬운 설치 가이드 (Quick Install - Windows)

[Isaac Sim] 초보자도 가능! 빠르고 쉬운 설치 가이드 (Quick Install - Windows)

Once the installation is complete, it's time to create the 'Virtual Environment (Stage)' where your robots will operate. Let's walk through the step-by-step process of setting up a floor with physics properties and lighting.

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1. Checking Stage Properties

First, you must verify the units. If the units are inconsistent, external assets may appear at incorrect scales when imported later.

Stage Properties

1. Go to the top menu and click Edit > Preferences to open the settings panel.
2. Select Stage from the category list on the left.
3. Check these two key properties:
   • Up Axis: The default is the Z-axis. If models from other tools appear to be lying on their side, it is likely due to a difference in this axis setting.
   • Stage Units: Since Isaac Sim 2022.1, the default unit is Meters.
   • Note: The base unit for Omniverse Kit is cm, so keep in mind that USD files may occasionally show a 100x scale difference.

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2. Applying the Physics Environment (Physics Scene)

To simulate physical laws like gravity, you must add a 'Physics Scene'.

Physics Scene

1. Click Create > Physics > Physics Scene.
2. If you select the created PhysicsScene and check its Property tab, you will see the gravity is set to 9.8 m/s² (Earth's standard).
3. 💡 Pro Tip: Performance Optimization (CPU vs. GPU) Unless you are running a massive simulation with hundreds of rigid bodies or robots, using the CPU is often more efficient.
   • In the Physics Scene property tab, uncheck 'Enable GPU dynamics'.
   • Set the Broadphase type to MBP.

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3. Creating the Floor (Ground Plane)

We need to lay down a floor to prevent objects from falling into the infinite void.

Floor

1. Select Create > Physics > Ground Plane.
2. Click the Eye icon at the top of the viewport and toggle the Grid on to make the floor more visible.
   • Note: While the visual ground plane only extends to 25m, the Collision property is applied infinitely.

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4. Configuring the Lighting

While a defaultLight is provided, let's add a Sphere Light to create a more professional atmosphere.

 

1. Create Light: Click Create > Light > Sphere Light.
2. Adjust Position: Select the created light and use the Transform tool to move it above the ground.
3. Color: Change it to your preferred color (e.g., Light Green: RGB 0.5, 1.0, 0.5).
4. Intensity: Boldly increase the intensity to 1e6 (1,000,000).
5. Radius: Set the light size to 0.05.
6. Shaping (Spotlight Effect): Set cone:angle to 45 and cone:softness to 0.05.
7. Property Adjustment: To make your new light stand out, lower the Intensity of the existing defaultLight to around 300.

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properties

basic light setting change

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🎉 Chapter 1 Summary

Today, we completed the most fundamental preparations for physics simulation in Isaac Sim.

✅ Stage: Verified units (Meters) and axis (Z-up). ✅ Physics: Applied the Physics Scene and optimized for CPU. ✅ Ground: Created a Ground Plane. ✅ Light: Added and configured custom lighting.