isaac sim world回调函数分类

world.add_physics_callback

Add a callback which will be called before each physics step.Physics is done regularly on a fixed time basis.

def callback_physics(step_size):
    print("physics callback -> step_size:", step_size)

world.add_physics_callback("callback_physics", callback_physics)

world.add_render_callback

Add a callback which will be called after each rendering event such as.render().

def callback_render(event):
    print("render callback -> event:", event)

world.add_render_callback("callback_render", callback_render)

world.add_stage_callback

Add a callback which will be called after each stage event such as open/close among others

def callback_stage(event):
    print("stage callback -> event:", event)

world.add_stage_callback("callback_stage", callback_stage)

world.add_timeline_callback

Add a callback which will be called after each timeline event such as play/pause

def callback_timeline(event):
    print("timeline callback -> event:", event)

world.add_timeline_callback("callback_timeline", callback_timeline)