.. _environments:

Environments
============

Currently, we are only provide the basic environments available in `Omniverse Nucleus <https://docs.omniverse.nvidia.com/nucleus/latest/index.html>`__. Additional environments are planned for release in the next version.

.. tabs::

    .. tab:: Simple Grid
        
        This simple environment contains a flat ground and sides with a grid texture. Three configurations are provided; the first two have square corners, the third has curved corners.

        Assets Path: ``/Isaac/Environments/Grid/``

        .. raw:: html
            
            <div style="display: flex; justify-content: space-around;">
                <figure style="text-align: center;">
                    <img src="../../_static/environments/default_env.png" alt="Image 1" style="width: 90%;">
                    <figcaption><code class="language-plaintext highlighter-rouge" style="color: orange;">default_environment.usd</code></figcaption>
                </figure>
                <figure style="text-align: center;">
                    <img src="../../_static/environments/black_grid.png" alt="Image 2" style="width: 90%;">
                    <figcaption><code class="language-plaintext highlighter-rouge" style="color: orange;">gridroom_black.usd</code></figcaption>
                </figure>
                <figure style="text-align: center;">
                    <img src="../../_static/environments/curved_grid.png" alt="Image 3" style="width: 90%;">
                    <figcaption><code class="language-plaintext highlighter-rouge" style="color: orange;">gridroom_curved.usd</code></figcaption>
                </figure>
            </div>
    
    .. tab:: Simple Room

        A simple room containing a table.

        Assets Path: ``/Isaac/Environments/Simple_Room/``

        .. raw:: html
            
            <div style="display: flex; justify-content: space-around;">
                <figure style="text-align: center;">
                    <img src="../../_static/environments/simple_room.png" alt="Image 1" style="width: 90%;">
                    <figcaption><code class="language-plaintext highlighter-rouge" style="color: orange;">simple_room.usd</code></figcaption>
                </figure>
            </div>
    
    .. tab:: Warehouse
        A warehouse environment with shelving and objects that can be placed on them. Four configurations are provided:

        Assets Path: ``/Isaac/Environments/Simple_Warehouse/``

        .. raw:: html

            <div style="display: grid; grid-template-columns: repeat(2, 1fr); gap: 10px;">
                <figure style="text-align: center;">
                    <img src="../../_static/environments/warehouse.png" alt="Warehouse 1" style="width: 100%;">
                    <figcaption><code class="language-plaintext highlighter-rouge" style="color: orange;">warehouse.usd</code></figcaption>
                </figure>
                <figure style="text-align: center;">
                    <img src="../../_static/environments/warehouse_with_forklifts.png" alt="Warehouse 2" style="width: 100%;">
                    <figcaption><code class="language-plaintext highlighter-rouge" style="color: orange;">warehouse_with_forklifts.usd</code></figcaption>
                </figure>
                <figure style="text-align: center;">
                    <img src="../../_static/environments/warehouse_with_shelves.png" alt="Warehouse 3" style="width: 100%;">
                    <figcaption><code class="language-plaintext highlighter-rouge" style="color: orange;">warehouse_multiple_shelves.usd</code></figcaption>
                </figure>
                <figure style="text-align: center;">
                    <img src="../../_static/environments/full_warehouse.png" alt="Warehouse 4" style="width: 100%;">
                    <figcaption><code class="language-plaintext highlighter-rouge" style="color: orange;">full_warehouse.usd</code></figcaption>
                </figure>
            </div>

    .. tab:: Hospital

        A hospital environment, with multiple rooms and spaces.

        Assets Path: ``/Isaac/Environments/Hospital/``

        .. raw:: html
            
            <div style="display: flex; justify-content: space-around;">
                <figure style="text-align: center;">
                    <img src="../../_static/environments/hospital.png" alt="Image 1" style="width: 90%;">
                    <figcaption><code class="language-plaintext highlighter-rouge" style="color: orange;">hospital.usd</code></figcaption>
                </figure>
            </div>

    .. tab:: Office

        An Office Environment, with multiple rooms and an open plan floor.

        Assets Path: ``/Isaac/Environments/Office/``

        .. raw:: html
            
            <div style="display: flex; justify-content: space-around;">
                <figure style="text-align: center;">
                    <img src="../../_static/environments/office.png" alt="Image 1" style="width: 90%;">
                    <figcaption><code class="language-plaintext highlighter-rouge" style="color: orange;">office.usd</code></figcaption>
                </figure>
            </div>

    .. tab:: Jetracer Track

        A jetracer track outlined on the ground plane.

        Assets Path: ``/Isaac/Environments/Jetracer/``

        .. raw:: html
            
            <div style="display: flex; justify-content: space-around;">
                <figure style="text-align: center;">
                    <img src="../../_static/environments/jetracer.png" alt="Image 1" style="width: 90%;">
                    <figcaption><code class="language-plaintext highlighter-rouge" style="color: orange;">jetracer_track_solid.usd</code></figcaption>
                </figure>
            </div>

    .. tab:: Comming Soon

.. note::

    Modular Warehouse assets contain segments of the whole warehouse: ``/Isaac/Environments/Modular_Warehouse/Props/``