From b540a5fc24b5bb5faffab8c127bbf9d75e70626f Mon Sep 17 00:00:00 2001 From: Mayank Mittal Date: Fri, 4 Oct 2024 18:28:03 +0200 Subject: [PATCH 01/29] adds demo on multi-object --- source/standalone/demos/multi_object.py | 259 ++++++++++++++++++++++++ 1 file changed, 259 insertions(+) create mode 100644 source/standalone/demos/multi_object.py diff --git a/source/standalone/demos/multi_object.py b/source/standalone/demos/multi_object.py new file mode 100644 index 0000000000..e0a6d6e1d1 --- /dev/null +++ b/source/standalone/demos/multi_object.py @@ -0,0 +1,259 @@ +# Copyright (c) 2022-2024, The Isaac Lab Project Developers. +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + +"""This script demonstrates how to spawn multiple objects in multiple environments. + +.. code-block:: bash + + # Usage + ./orbit.sh -p source/standalone/demos/multi_object.py --num_envs 2048 + +""" + +from __future__ import annotations + +"""Launch Isaac Sim Simulator first.""" + + +import argparse + +from omni.isaac.lab.app import AppLauncher + +# add argparse arguments +parser = argparse.ArgumentParser(description="Demo on spawning different objects in multiple environments.") +parser.add_argument("--num_envs", type=int, default=2, help="Number of environments to spawn.") +# append AppLauncher cli args +AppLauncher.add_app_launcher_args(parser) +# parse the arguments +args_cli = parser.parse_args() + +# launch omniverse app +app_launcher = AppLauncher(args_cli) +simulation_app = app_launcher.app + +"""Rest everything follows.""" + +import random +import re +from dataclasses import MISSING + +import omni.isaac.core.utils.prims as prim_utils +import omni.usd +from pxr import Gf, Sdf, Usd + +import omni.isaac.lab.sim as sim_utils +from omni.isaac.lab.assets import AssetBaseCfg, RigidObjectCfg +from omni.isaac.lab.scene import InteractiveScene, InteractiveSceneCfg +from omni.isaac.lab.sim import SimulationContext +from omni.isaac.lab.utils import Timer, configclass + +## +# Multi-Object Spawning +## + +def randomize_color(prim_path_expr: str): + """Randomize the color of the geometry.""" + # acquire stage + stage = omni.usd.get_context().get_stage() + # resolve prim paths for spawning and cloning + prim_paths = sim_utils.find_matching_prim_paths(prim_path_expr) + # manually clone prims if the source prim path is a regex expression + with Sdf.ChangeBlock(): + for prim_path in prim_paths: + # spawn single instance + env_spec = Sdf.CreatePrimInLayer(stage.GetRootLayer(), prim_path) + + # DO YOUR OWN OTHER KIND OF RANDOMIZATION HERE! + # Note: Just need to acquire the right attribute about the property you want to set + # Here is an example on setting color randomly + color_spec = env_spec.GetAttributeAtPath(prim_path + "/geometry/material/Shader.inputs:diffuseColor") + color_spec.default = Gf.Vec3f(random.random(), random.random(), random.random()) + + +def spawn_multi_object_randomly( + prim_path: str, + cfg: MultiAssetCfg, + translation: tuple[float, float, float] | None = None, + orientation: tuple[float, float, float, float] | None = None, +) -> Usd.Prim: + # resolve: {SPAWN_NS}/AssetName + # note: this assumes that the spawn namespace already exists in the stage + root_path, asset_path = prim_path.rsplit("/", 1) + # check if input is a regex expression + # note: a valid prim path can only contain alphanumeric characters, underscores, and forward slashes + is_regex_expression = re.match(r"^[a-zA-Z0-9/_]+$", root_path) is None + + # resolve matching prims for source prim path expression + if is_regex_expression and root_path != "": + source_prim_paths = sim_utils.find_matching_prim_paths(root_path) + # if no matching prims are found, raise an error + if len(source_prim_paths) == 0: + raise RuntimeError( + f"Unable to find source prim path: '{root_path}'. Please create the prim before spawning." + ) + else: + source_prim_paths = [root_path] + + # spawn everything first in a "Dataset" prim + prim_utils.create_prim("/World/Dataset", "Scope") + proto_prim_paths = list() + for index, asset_cfg in enumerate(cfg.assets_cfg): + # spawn single instance + proto_prim_path = f"/World/Dataset/Object_{index:02d}" + asset_cfg.func(proto_prim_path, asset_cfg, translation=translation, orientation=orientation) + # append to proto prim paths + proto_prim_paths.append(proto_prim_path) + + # resolve prim paths for spawning and cloning + prim_paths = [f"{source_prim_path}/{asset_path}" for source_prim_path in source_prim_paths] + + # acquire stage + stage = omni.usd.get_context().get_stage() + + # manually clone prims if the source prim path is a regex expression + with Sdf.ChangeBlock(): + for prim_path in prim_paths: + # spawn single instance + env_spec = Sdf.CreatePrimInLayer(stage.GetRootLayer(), prim_path) + # randomly select an asset configuration + proto_path = random.choice(proto_prim_paths) + # inherit the proto prim + # env_spec.inheritPathList.Prepend(Sdf.Path(proto_path)) + Sdf.CopySpec(env_spec.layer, Sdf.Path(proto_path), env_spec.layer, Sdf.Path(prim_path)) + + # delete the dataset prim after spawning + prim_utils.delete_prim("/World/Dataset") + + # DO YOUR OWN OTHER KIND OF RANDOMIZATION HERE! + # Note: Just need to acquire the right attribute about the property you want to set + # Here is an example on setting color randomly + randomize_color(f"{root_path}/{asset_path}") + + # return the prim + return prim_utils.get_prim_at_path(prim_paths[0]) + + +@configclass +class MultiAssetCfg(sim_utils.SpawnerCfg): + """Configuration parameters for loading multiple assets randomly.""" + + func = spawn_multi_object_randomly + """Function to spawn the asset.""" + + assets_cfg: list[sim_utils.SpawnerCfg] = MISSING + """List of asset configurations to spawn.""" + + +## +# Scene Configuration +## + + +@configclass +class MultiObjectSceneCfg(InteractiveSceneCfg): + """Configuration for a multi-object scene.""" + + # ground plane + ground = AssetBaseCfg(prim_path="/World/defaultGroundPlane", spawn=sim_utils.GroundPlaneCfg()) + + # lights + dome_light = AssetBaseCfg( + prim_path="/World/Light", spawn=sim_utils.DomeLightCfg(intensity=3000.0, color=(0.75, 0.75, 0.75)) + ) + + # articulation + object: RigidObjectCfg = RigidObjectCfg( + prim_path="/World/envs/env_.*/Objects", + spawn=MultiAssetCfg( + assets_cfg=[ + sim_utils.ConeCfg( + radius=0.3, + height=0.6, + rigid_props=sim_utils.RigidBodyPropertiesCfg(), + mass_props=sim_utils.MassPropertiesCfg(mass=1.0), + collision_props=sim_utils.CollisionPropertiesCfg(), + visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.0, 1.0, 0.0), metallic=0.2), + ), + sim_utils.CuboidCfg( + size=(0.3, 0.3, 0.3), + rigid_props=sim_utils.RigidBodyPropertiesCfg(), + mass_props=sim_utils.MassPropertiesCfg(mass=1.0), + collision_props=sim_utils.CollisionPropertiesCfg(), + visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(1.0, 0.0, 0.0), metallic=0.2), + ), + sim_utils.SphereCfg( + radius=0.3, + rigid_props=sim_utils.RigidBodyPropertiesCfg(), + mass_props=sim_utils.MassPropertiesCfg(mass=1.0), + collision_props=sim_utils.CollisionPropertiesCfg(), + visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.0, 0.0, 1.0), metallic=0.2), + ), + ] + ), + init_state=RigidObjectCfg.InitialStateCfg(pos=(0.0, 0.0, 0.3)), + ) + + +## +# Simulation Loop +## + + +def run_simulator(sim: SimulationContext, scene: InteractiveScene): + """Runs the simulation loop.""" + # Extract scene entities + # note: we only do this here for readability. + rigid_object = scene["object"] + # Define simulation stepping + sim_dt = sim.get_physics_dt() + count = 0 + # Simulation loop + while simulation_app.is_running(): + # Reset + if count % 500 == 0: + # reset counter + count = 0 + # reset the scene entities + # root state + root_state = rigid_object.data.default_root_state.clone() + root_state[:, :3] += scene.env_origins + rigid_object.write_root_state_to_sim(root_state) + # clear internal buffers + scene.reset() + print("[INFO]: Resetting robot state...") + # Write data to sim + scene.write_data_to_sim() + # Perform step + sim.step() + # Increment counter + count += 1 + # Update buffers + scene.update(sim_dt) + + +def main(): + """Main function.""" + # Load kit helper + sim_cfg = sim_utils.SimulationCfg(device=args_cli.device) + sim = SimulationContext(sim_cfg) + # Set main camera + sim.set_camera_view([2.5, 0.0, 4.0], [0.0, 0.0, 2.0]) + # Design scene + scene_cfg = MultiObjectSceneCfg(num_envs=args_cli.num_envs, env_spacing=1.0, replicate_physics=False) + with Timer("[INFO] Time to create scene: "): + scene = InteractiveScene(scene_cfg) + # Play the simulator + sim.reset() + # Now we are ready! + print("[INFO]: Setup complete...") + # Run the simulator + run_simulator(sim, scene) + + +if __name__ == "__main__": + # run the main execution + main() + # close sim app + simulation_app.close() From 106b267292004c4a79d07339a2c803685c945890 Mon Sep 17 00:00:00 2001 From: Mayank Mittal Date: Fri, 4 Oct 2024 18:56:16 +0200 Subject: [PATCH 02/29] moves randomization to its own function --- source/standalone/demos/multi_object.py | 23 ++++++++++++++++------- 1 file changed, 16 insertions(+), 7 deletions(-) diff --git a/source/standalone/demos/multi_object.py b/source/standalone/demos/multi_object.py index e0a6d6e1d1..223287784d 100644 --- a/source/standalone/demos/multi_object.py +++ b/source/standalone/demos/multi_object.py @@ -50,10 +50,11 @@ from omni.isaac.lab.utils import Timer, configclass ## -# Multi-Object Spawning +# Randomization events. ## -def randomize_color(prim_path_expr: str): + +def randomize_color_pxr(prim_path_expr: str): """Randomize the color of the geometry.""" # acquire stage stage = omni.usd.get_context().get_stage() @@ -72,6 +73,11 @@ def randomize_color(prim_path_expr: str): color_spec.default = Gf.Vec3f(random.random(), random.random(), random.random()) +## +# Multi-Object Spawning +## + + def spawn_multi_object_randomly( prim_path: str, cfg: MultiAssetCfg, @@ -126,11 +132,6 @@ def spawn_multi_object_randomly( # delete the dataset prim after spawning prim_utils.delete_prim("/World/Dataset") - # DO YOUR OWN OTHER KIND OF RANDOMIZATION HERE! - # Note: Just need to acquire the right attribute about the property you want to set - # Here is an example on setting color randomly - randomize_color(f"{root_path}/{asset_path}") - # return the prim return prim_utils.get_prim_at_path(prim_paths[0]) @@ -240,10 +241,18 @@ def main(): sim = SimulationContext(sim_cfg) # Set main camera sim.set_camera_view([2.5, 0.0, 4.0], [0.0, 0.0, 2.0]) + # Design scene scene_cfg = MultiObjectSceneCfg(num_envs=args_cli.num_envs, env_spacing=1.0, replicate_physics=False) with Timer("[INFO] Time to create scene: "): scene = InteractiveScene(scene_cfg) + + with Timer("[INFO] Time to randomize scene: "): + # DO YOUR OWN OTHER KIND OF RANDOMIZATION HERE! + # Note: Just need to acquire the right attribute about the property you want to set + # Here is an example on setting color randomly + randomize_color_pxr(scene_cfg.object.prim_path) + # Play the simulator sim.reset() # Now we are ready! From 86e0946d2759d6add40badb03f21e418e4856cee Mon Sep 17 00:00:00 2001 From: Mayank Mittal Date: Fri, 4 Oct 2024 20:22:52 +0200 Subject: [PATCH 03/29] adds wrapper for multi asset spawn --- .../api/lab/omni.isaac.lab.sim.spawners.rst | 18 ++++ .../omni/isaac/lab/sim/spawners/__init__.py | 1 + .../lab/sim/spawners/wrappers/__init__.py | 14 +++ .../lab/sim/spawners/wrappers/wrappers.py | 93 +++++++++++++++++++ .../lab/sim/spawners/wrappers/wrappers_cfg.py | 29 ++++++ 5 files changed, 155 insertions(+) create mode 100644 source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/wrappers/__init__.py create mode 100644 source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/wrappers/wrappers.py create mode 100644 source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/wrappers/wrappers_cfg.py diff --git a/docs/source/api/lab/omni.isaac.lab.sim.spawners.rst b/docs/source/api/lab/omni.isaac.lab.sim.spawners.rst index 6e3ca9aa9e..73a3481011 100644 --- a/docs/source/api/lab/omni.isaac.lab.sim.spawners.rst +++ b/docs/source/api/lab/omni.isaac.lab.sim.spawners.rst @@ -13,6 +13,7 @@ sensors from_files materials + wrappers .. rubric:: Classes @@ -302,3 +303,20 @@ Physical Materials .. autoclass:: DeformableBodyMaterialCfg :members: :exclude-members: __init__, func + +Wrappers +-------- + +.. automodule:: omni.isaac.lab.sim.spawners.wrappers + + .. rubric:: Classes + + .. autosummary:: + + MultiAssetSpawnerCfg + +.. autofunction:: spawn_multi_asset + +.. autoclass:: MultiAssetSpawnerCfg + :members: + :exclude-members: __init__, func diff --git a/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/__init__.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/__init__.py index 851750f371..94b1245ab6 100644 --- a/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/__init__.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/__init__.py @@ -61,3 +61,4 @@ class and the function call in a single line of code. from .sensors import * # noqa: F401, F403 from .shapes import * # noqa: F401, F403 from .spawner_cfg import * # noqa: F401, F403 +from .wrappers import * # noqa: F401, F403 diff --git a/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/wrappers/__init__.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/wrappers/__init__.py new file mode 100644 index 0000000000..2bc37efa97 --- /dev/null +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/wrappers/__init__.py @@ -0,0 +1,14 @@ +# Copyright (c) 2022-2024, The Isaac Lab Project Developers. +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + +"""Sub-module for wrapping spawner configurations. + +Unlike the other spawner modules, this module provides a way to wrap multiple spawner configurations +into a single configuration. This is useful when the user wants to spawn multiple assets based on +different configurations. +""" + +from .wrappers import spawn_multi_asset +from .wrappers_cfg import MultiAssetSpawnerCfg diff --git a/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/wrappers/wrappers.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/wrappers/wrappers.py new file mode 100644 index 0000000000..c77806ee6f --- /dev/null +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/wrappers/wrappers.py @@ -0,0 +1,93 @@ +# Copyright (c) 2022-2024, The Isaac Lab Project Developers. +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + +from __future__ import annotations + +import random +import re +from typing import TYPE_CHECKING + +import omni.isaac.core.utils.prims as prim_utils +import omni.usd +from pxr import Sdf, Usd + +import omni.isaac.lab.sim as sim_utils + +if TYPE_CHECKING: + from . import wrappers_cfg + + +def spawn_multi_asset( + prim_path: str, + cfg: wrappers_cfg.MultiAssetSpawnerCfg, + translation: tuple[float, float, float] | None = None, + orientation: tuple[float, float, float, float] | None = None, +) -> Usd.Prim: + """Spawn multiple assets based on the provided configurations. + + This function spawns multiple assets based on the provided configurations. The assets are spawned + in the order they are provided in the list. If the `random_choice` parameter is set to True, a random + asset configuration is selected for each spawn. + + Args: + prim_path: The prim path to spawn the assets. + cfg: The configuration for spawning the assets. + translation: The translation of the spawned assets. Default is None. + orientation: The orientation of the spawned assets. Default is None. + + Returns: + The created prim at the first prim path. + """ + # resolve: {SPAWN_NS}/AssetName + # note: this assumes that the spawn namespace already exists in the stage + root_path, asset_path = prim_path.rsplit("/", 1) + # check if input is a regex expression + # note: a valid prim path can only contain alphanumeric characters, underscores, and forward slashes + is_regex_expression = re.match(r"^[a-zA-Z0-9/_]+$", root_path) is None + + # resolve matching prims for source prim path expression + if is_regex_expression and root_path != "": + source_prim_paths = sim_utils.find_matching_prim_paths(root_path) + # if no matching prims are found, raise an error + if len(source_prim_paths) == 0: + raise RuntimeError( + f"Unable to find source prim path: '{root_path}'. Please create the prim before spawning." + ) + else: + source_prim_paths = [root_path] + + # spawn everything first in a "Dataset" prim + prim_utils.create_prim("/World/Dataset", "Scope") + proto_prim_paths = list() + for index, asset_cfg in enumerate(cfg.assets_cfg): + # spawn single instance + proto_prim_path = f"/World/Dataset/Asset_{index:04d}" + asset_cfg.func(proto_prim_path, asset_cfg, translation=translation, orientation=orientation) + # append to proto prim paths + proto_prim_paths.append(proto_prim_path) + + # resolve prim paths for spawning and cloning + prim_paths = [f"{source_prim_path}/{asset_path}" for source_prim_path in source_prim_paths] + # acquire stage + stage = omni.usd.get_context().get_stage() + + # manually clone prims if the source prim path is a regex expression + with Sdf.ChangeBlock(): + for index, prim_path in enumerate(prim_paths): + # spawn single instance + env_spec = Sdf.CreatePrimInLayer(stage.GetRootLayer(), prim_path) + # randomly select an asset configuration + if cfg.random_choice: + proto_path = random.choice(proto_prim_paths) + else: + proto_path = proto_prim_paths[index % len(proto_prim_paths)] + # copy the proto prim + Sdf.CopySpec(env_spec.layer, Sdf.Path(proto_path), env_spec.layer, Sdf.Path(prim_path)) + + # delete the dataset prim after spawning + prim_utils.delete_prim("/World/Dataset") + + # return the prim + return prim_utils.get_prim_at_path(prim_paths[0]) diff --git a/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/wrappers/wrappers_cfg.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/wrappers/wrappers_cfg.py new file mode 100644 index 0000000000..62fb0c6e52 --- /dev/null +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/wrappers/wrappers_cfg.py @@ -0,0 +1,29 @@ +# Copyright (c) 2022-2024, The Isaac Lab Project Developers. +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + +from dataclasses import MISSING + +from omni.isaac.lab.utils import configclass +from omni.isaac.lab.sim.spawners.spawner_cfg import SpawnerCfg + +from . import wrappers + + +@configclass +class MultiAssetSpawnerCfg: + """Configuration parameters for loading multiple assets randomly.""" + + func = wrappers.spawn_multi_asset + """Function to spawn the asset.""" + + assets_cfg: list[SpawnerCfg] = MISSING + """List of asset configurations to spawn.""" + + random_choice: bool = True + """Whether to randomly select an asset configuration. Default is True. + + If False, the asset configurations are spawned in the order they are provided in the list. + If True, a random asset configuration is selected for each spawn. + """ From ad1526743a6f3254354e2716eab8846322d42658 Mon Sep 17 00:00:00 2001 From: Mayank Mittal Date: Fri, 4 Oct 2024 20:23:00 +0200 Subject: [PATCH 04/29] adds multi asset py --- .../demos/{multi_object.py => multi_asset.py} | 90 ++----------------- 1 file changed, 7 insertions(+), 83 deletions(-) rename source/standalone/demos/{multi_object.py => multi_asset.py} (64%) diff --git a/source/standalone/demos/multi_object.py b/source/standalone/demos/multi_asset.py similarity index 64% rename from source/standalone/demos/multi_object.py rename to source/standalone/demos/multi_asset.py index 223287784d..be79a04b82 100644 --- a/source/standalone/demos/multi_object.py +++ b/source/standalone/demos/multi_asset.py @@ -8,7 +8,7 @@ .. code-block:: bash # Usage - ./orbit.sh -p source/standalone/demos/multi_object.py --num_envs 2048 + ./isaaclab.sh -p source/standalone/demos/multi_object.py --num_envs 2048 """ @@ -36,12 +36,9 @@ """Rest everything follows.""" import random -import re -from dataclasses import MISSING -import omni.isaac.core.utils.prims as prim_utils import omni.usd -from pxr import Gf, Sdf, Usd +from pxr import Sdf, Gf import omni.isaac.lab.sim as sim_utils from omni.isaac.lab.assets import AssetBaseCfg, RigidObjectCfg @@ -64,89 +61,15 @@ def randomize_color_pxr(prim_path_expr: str): with Sdf.ChangeBlock(): for prim_path in prim_paths: # spawn single instance - env_spec = Sdf.CreatePrimInLayer(stage.GetRootLayer(), prim_path) + prim_spec = Sdf.CreatePrimInLayer(stage.GetRootLayer(), prim_path) # DO YOUR OWN OTHER KIND OF RANDOMIZATION HERE! # Note: Just need to acquire the right attribute about the property you want to set # Here is an example on setting color randomly - color_spec = env_spec.GetAttributeAtPath(prim_path + "/geometry/material/Shader.inputs:diffuseColor") + color_spec = prim_spec.GetAttributeAtPath(prim_path + "/geometry/material/Shader.inputs:diffuseColor") color_spec.default = Gf.Vec3f(random.random(), random.random(), random.random()) -## -# Multi-Object Spawning -## - - -def spawn_multi_object_randomly( - prim_path: str, - cfg: MultiAssetCfg, - translation: tuple[float, float, float] | None = None, - orientation: tuple[float, float, float, float] | None = None, -) -> Usd.Prim: - # resolve: {SPAWN_NS}/AssetName - # note: this assumes that the spawn namespace already exists in the stage - root_path, asset_path = prim_path.rsplit("/", 1) - # check if input is a regex expression - # note: a valid prim path can only contain alphanumeric characters, underscores, and forward slashes - is_regex_expression = re.match(r"^[a-zA-Z0-9/_]+$", root_path) is None - - # resolve matching prims for source prim path expression - if is_regex_expression and root_path != "": - source_prim_paths = sim_utils.find_matching_prim_paths(root_path) - # if no matching prims are found, raise an error - if len(source_prim_paths) == 0: - raise RuntimeError( - f"Unable to find source prim path: '{root_path}'. Please create the prim before spawning." - ) - else: - source_prim_paths = [root_path] - - # spawn everything first in a "Dataset" prim - prim_utils.create_prim("/World/Dataset", "Scope") - proto_prim_paths = list() - for index, asset_cfg in enumerate(cfg.assets_cfg): - # spawn single instance - proto_prim_path = f"/World/Dataset/Object_{index:02d}" - asset_cfg.func(proto_prim_path, asset_cfg, translation=translation, orientation=orientation) - # append to proto prim paths - proto_prim_paths.append(proto_prim_path) - - # resolve prim paths for spawning and cloning - prim_paths = [f"{source_prim_path}/{asset_path}" for source_prim_path in source_prim_paths] - - # acquire stage - stage = omni.usd.get_context().get_stage() - - # manually clone prims if the source prim path is a regex expression - with Sdf.ChangeBlock(): - for prim_path in prim_paths: - # spawn single instance - env_spec = Sdf.CreatePrimInLayer(stage.GetRootLayer(), prim_path) - # randomly select an asset configuration - proto_path = random.choice(proto_prim_paths) - # inherit the proto prim - # env_spec.inheritPathList.Prepend(Sdf.Path(proto_path)) - Sdf.CopySpec(env_spec.layer, Sdf.Path(proto_path), env_spec.layer, Sdf.Path(prim_path)) - - # delete the dataset prim after spawning - prim_utils.delete_prim("/World/Dataset") - - # return the prim - return prim_utils.get_prim_at_path(prim_paths[0]) - - -@configclass -class MultiAssetCfg(sim_utils.SpawnerCfg): - """Configuration parameters for loading multiple assets randomly.""" - - func = spawn_multi_object_randomly - """Function to spawn the asset.""" - - assets_cfg: list[sim_utils.SpawnerCfg] = MISSING - """List of asset configurations to spawn.""" - - ## # Scene Configuration ## @@ -167,7 +90,7 @@ class MultiObjectSceneCfg(InteractiveSceneCfg): # articulation object: RigidObjectCfg = RigidObjectCfg( prim_path="/World/envs/env_.*/Objects", - spawn=MultiAssetCfg( + spawn=sim_utils.MultiAssetSpawnerCfg( assets_cfg=[ sim_utils.ConeCfg( radius=0.3, @@ -191,7 +114,8 @@ class MultiObjectSceneCfg(InteractiveSceneCfg): collision_props=sim_utils.CollisionPropertiesCfg(), visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.0, 0.0, 1.0), metallic=0.2), ), - ] + ], + random_choice=False, ), init_state=RigidObjectCfg.InitialStateCfg(pos=(0.0, 0.0, 0.3)), ) From f19cb63a02f03d4276349f13ddf0b4a31d2a70f0 Mon Sep 17 00:00:00 2001 From: Mayank Mittal Date: Sat, 5 Oct 2024 12:15:43 +0200 Subject: [PATCH 05/29] removes version addded notice --- .../omni/isaac/lab/sim/spawners/spawner_cfg.py | 5 ----- 1 file changed, 5 deletions(-) diff --git a/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/spawner_cfg.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/spawner_cfg.py index 089b38b29a..351b3cde96 100644 --- a/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/spawner_cfg.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/spawner_cfg.py @@ -64,11 +64,6 @@ class SpawnerCfg: This parameter is only used when cloning prims. If False, then the asset will be inherited from the source prim, i.e. all USD changes to the source prim will be reflected in the cloned prims. - - .. versionadded:: 2023.1 - - This parameter is only supported from Isaac Sim 2023.1 onwards. If you are using an older - version of Isaac Sim, this parameter will be ignored. """ From ab9f892b791510ba5ed203b27f25fed00bb58851 Mon Sep 17 00:00:00 2001 From: Mayank Mittal Date: Sat, 5 Oct 2024 12:22:54 +0200 Subject: [PATCH 06/29] allows overriding global settings in cfg --- .../lab/sim/spawners/wrappers/wrappers.py | 11 ++++++++++ .../lab/sim/spawners/wrappers/wrappers_cfg.py | 21 +++++++++++++++---- source/standalone/demos/multi_asset.py | 16 +++++--------- 3 files changed, 33 insertions(+), 15 deletions(-) diff --git a/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/wrappers/wrappers.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/wrappers/wrappers.py index c77806ee6f..ea7c0300aa 100644 --- a/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/wrappers/wrappers.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/wrappers/wrappers.py @@ -62,6 +62,17 @@ def spawn_multi_asset( prim_utils.create_prim("/World/Dataset", "Scope") proto_prim_paths = list() for index, asset_cfg in enumerate(cfg.assets_cfg): + # append semantic tags if specified + if cfg.semantic_tags is not None: + if asset_cfg.semantic_tags is None: + asset_cfg.semantic_tags = cfg.semantic_tags + else: + asset_cfg.semantic_tags += cfg.semantic_tags + # override settings for properties + for name in ["mass_props", "rigid_props", "collision_props", "activate_contact_sensors", "deformable_props"]: + value = getattr(cfg, name) + if hasattr(asset_cfg, name) and value is not None: + setattr(asset_cfg, name, value) # spawn single instance proto_prim_path = f"/World/Dataset/Asset_{index:04d}" asset_cfg.func(proto_prim_path, asset_cfg, translation=translation, orientation=orientation) diff --git a/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/wrappers/wrappers_cfg.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/wrappers/wrappers_cfg.py index 62fb0c6e52..afac15e057 100644 --- a/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/wrappers/wrappers_cfg.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/wrappers/wrappers_cfg.py @@ -6,17 +6,30 @@ from dataclasses import MISSING from omni.isaac.lab.utils import configclass -from omni.isaac.lab.sim.spawners.spawner_cfg import SpawnerCfg +from omni.isaac.lab.sim.spawners.spawner_cfg import DeformableObjectSpawnerCfg, RigidObjectSpawnerCfg, SpawnerCfg +from omni.isaac.lab.sim.spawners.from_files import UsdFileCfg from . import wrappers @configclass -class MultiAssetSpawnerCfg: - """Configuration parameters for loading multiple assets randomly.""" +class MultiAssetSpawnerCfg(RigidObjectSpawnerCfg, DeformableObjectSpawnerCfg): + """Configuration parameters for loading multiple assets from their individual configurations. + + Specifying values for any properties at the configuration level will override the settings of + individual assets' configuration. For instance if the attribute + :attr:`MultiAssetSpawnerCfg.mass_props` is specified, its value will overwrite the values of the + mass properties in each configuration inside :attr:`assets_cfg` (wherever applicable). + This is done to simplify configuring similar properties globally. By default, all properties are set to None. + + The following is an exception to the above: + + * :attr:`visible`: This parameter is ignored. Its value for the individual assets is used. + * :attr:`semantic_tags`: If specified, it will be appended to each individual asset's semantic tags. + + """ func = wrappers.spawn_multi_asset - """Function to spawn the asset.""" assets_cfg: list[SpawnerCfg] = MISSING """List of asset configurations to spawn.""" diff --git a/source/standalone/demos/multi_asset.py b/source/standalone/demos/multi_asset.py index be79a04b82..6082d02ff2 100644 --- a/source/standalone/demos/multi_asset.py +++ b/source/standalone/demos/multi_asset.py @@ -23,7 +23,7 @@ # add argparse arguments parser = argparse.ArgumentParser(description="Demo on spawning different objects in multiple environments.") -parser.add_argument("--num_envs", type=int, default=2, help="Number of environments to spawn.") +parser.add_argument("--num_envs", type=int, default=1024, help="Number of environments to spawn.") # append AppLauncher cli args AppLauncher.add_app_launcher_args(parser) # parse the arguments @@ -95,27 +95,21 @@ class MultiObjectSceneCfg(InteractiveSceneCfg): sim_utils.ConeCfg( radius=0.3, height=0.6, - rigid_props=sim_utils.RigidBodyPropertiesCfg(), - mass_props=sim_utils.MassPropertiesCfg(mass=1.0), - collision_props=sim_utils.CollisionPropertiesCfg(), visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.0, 1.0, 0.0), metallic=0.2), ), sim_utils.CuboidCfg( size=(0.3, 0.3, 0.3), - rigid_props=sim_utils.RigidBodyPropertiesCfg(), - mass_props=sim_utils.MassPropertiesCfg(mass=1.0), - collision_props=sim_utils.CollisionPropertiesCfg(), visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(1.0, 0.0, 0.0), metallic=0.2), ), sim_utils.SphereCfg( radius=0.3, - rigid_props=sim_utils.RigidBodyPropertiesCfg(), - mass_props=sim_utils.MassPropertiesCfg(mass=1.0), - collision_props=sim_utils.CollisionPropertiesCfg(), visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.0, 0.0, 1.0), metallic=0.2), ), ], - random_choice=False, + random_choice=True, + rigid_props=sim_utils.RigidBodyPropertiesCfg(), + mass_props=sim_utils.MassPropertiesCfg(mass=1.0), + collision_props=sim_utils.CollisionPropertiesCfg(), ), init_state=RigidObjectCfg.InitialStateCfg(pos=(0.0, 0.0, 0.3)), ) From d919efec2fa01cf47092bf110ff416467a6cca14 Mon Sep 17 00:00:00 2001 From: Mayank Mittal Date: Sat, 5 Oct 2024 22:04:01 +0200 Subject: [PATCH 07/29] adds spawning of multi usd files --- .../lab/sim/spawners/wrappers/__init__.py | 4 +- .../lab/sim/spawners/wrappers/wrappers.py | 61 ++++++- .../lab/sim/spawners/wrappers/wrappers_cfg.py | 25 ++- source/standalone/demos/multi_asset.py | 8 +- source/standalone/demos/multi_usd_asset.py | 171 ++++++++++++++++++ 5 files changed, 255 insertions(+), 14 deletions(-) create mode 100644 source/standalone/demos/multi_usd_asset.py diff --git a/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/wrappers/__init__.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/wrappers/__init__.py index 2bc37efa97..f05d3e58c7 100644 --- a/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/wrappers/__init__.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/wrappers/__init__.py @@ -10,5 +10,5 @@ different configurations. """ -from .wrappers import spawn_multi_asset -from .wrappers_cfg import MultiAssetSpawnerCfg +from .wrappers import spawn_multi_asset, spawn_multi_usd_file +from .wrappers_cfg import MultiAssetSpawnerCfg, MultiUsdFileCfg diff --git a/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/wrappers/wrappers.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/wrappers/wrappers.py index ea7c0300aa..efb9a8ac0c 100644 --- a/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/wrappers/wrappers.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/wrappers/wrappers.py @@ -14,6 +14,7 @@ from pxr import Sdf, Usd import omni.isaac.lab.sim as sim_utils +from omni.isaac.lab.sim.spawners.from_files import UsdFileCfg if TYPE_CHECKING: from . import wrappers_cfg @@ -69,10 +70,11 @@ def spawn_multi_asset( else: asset_cfg.semantic_tags += cfg.semantic_tags # override settings for properties - for name in ["mass_props", "rigid_props", "collision_props", "activate_contact_sensors", "deformable_props"]: - value = getattr(cfg, name) - if hasattr(asset_cfg, name) and value is not None: - setattr(asset_cfg, name, value) + attr_names = ["mass_props", "rigid_props", "collision_props", "activate_contact_sensors", "deformable_props"] + for attr_name in attr_names: + attr_value = getattr(cfg, attr_name) + if hasattr(asset_cfg, attr_name) and attr_value is not None: + setattr(asset_cfg, attr_name, attr_value) # spawn single instance proto_prim_path = f"/World/Dataset/Asset_{index:04d}" asset_cfg.func(proto_prim_path, asset_cfg, translation=translation, orientation=orientation) @@ -102,3 +104,54 @@ def spawn_multi_asset( # return the prim return prim_utils.get_prim_at_path(prim_paths[0]) + + +def spawn_multi_usd_file( + prim_path: str, + cfg: wrappers_cfg.MultiUsdFileCfg, + translation: tuple[float, float, float] | None = None, + orientation: tuple[float, float, float, float] | None = None, +) -> Usd.Prim: + """Spawn multiple USD files based on the provided configurations. + + This function spawns multiple assets based on the provided configurations. The assets are spawned + in the order they are provided in the list. If the `random_choice` parameter is set to True, a random + asset configuration is selected for each spawn. + + Args: + prim_path: The prim path to spawn the assets. + cfg: The configuration for spawning the assets. + translation: The translation of the spawned assets. Default is None. + orientation: The orientation of the spawned assets. Default is None. + + Returns: + The created prim at the first prim path. + """ + # needed here to avoid circular imports + from .wrappers_cfg import MultiAssetSpawnerCfg + + # parse all the usd files + if isinstance(cfg.usd_path, str): + usd_paths = [cfg.usd_path] + else: + usd_paths = cfg.usd_path + + # make a template usd config + usd_template_cfg = UsdFileCfg() + for attr_name, attr_value in cfg.__dict__.items(): + # skip names we know are not present + if attr_name in ["func", "usd_path", "random_choice"]: + continue + # set the attribute into the template + setattr(usd_template_cfg, attr_name, attr_value) + + # create multi asset configuration of USD files + multi_asset_cfg = MultiAssetSpawnerCfg(assets_cfg=[]) + for usd_path in usd_paths: + usd_cfg = usd_template_cfg.replace(usd_path=usd_path) + multi_asset_cfg.assets_cfg.append(usd_cfg) + # set random choice + multi_asset_cfg.random_choice = cfg.random_choice + + # call the original function + return spawn_multi_asset(prim_path, multi_asset_cfg, translation, orientation) diff --git a/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/wrappers/wrappers_cfg.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/wrappers/wrappers_cfg.py index afac15e057..41ea566eab 100644 --- a/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/wrappers/wrappers_cfg.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/wrappers/wrappers_cfg.py @@ -5,9 +5,9 @@ from dataclasses import MISSING -from omni.isaac.lab.utils import configclass -from omni.isaac.lab.sim.spawners.spawner_cfg import DeformableObjectSpawnerCfg, RigidObjectSpawnerCfg, SpawnerCfg from omni.isaac.lab.sim.spawners.from_files import UsdFileCfg +from omni.isaac.lab.sim.spawners.spawner_cfg import DeformableObjectSpawnerCfg, RigidObjectSpawnerCfg, SpawnerCfg +from omni.isaac.lab.utils import configclass from . import wrappers @@ -15,13 +15,13 @@ @configclass class MultiAssetSpawnerCfg(RigidObjectSpawnerCfg, DeformableObjectSpawnerCfg): """Configuration parameters for loading multiple assets from their individual configurations. - + Specifying values for any properties at the configuration level will override the settings of individual assets' configuration. For instance if the attribute :attr:`MultiAssetSpawnerCfg.mass_props` is specified, its value will overwrite the values of the mass properties in each configuration inside :attr:`assets_cfg` (wherever applicable). This is done to simplify configuring similar properties globally. By default, all properties are set to None. - + The following is an exception to the above: * :attr:`visible`: This parameter is ignored. Its value for the individual assets is used. @@ -40,3 +40,20 @@ class MultiAssetSpawnerCfg(RigidObjectSpawnerCfg, DeformableObjectSpawnerCfg): If False, the asset configurations are spawned in the order they are provided in the list. If True, a random asset configuration is selected for each spawn. """ + + +@configclass +class MultiUsdFileCfg(UsdFileCfg): + """Configuration parameters for loading multiple USDs from their individual configurations.""" + + func = wrappers.spawn_multi_usd_file + + usd_path: str | list[str] = MISSING + """Path or a list of paths to the USD files to spawn asset from.""" + + random_choice: bool = True + """Whether to randomly select an asset configuration. Default is True. + + If False, the asset configurations are spawned in the order they are provided in the list. + If True, a random asset configuration is selected for each spawn. + """ diff --git a/source/standalone/demos/multi_asset.py b/source/standalone/demos/multi_asset.py index 6082d02ff2..f86881e98f 100644 --- a/source/standalone/demos/multi_asset.py +++ b/source/standalone/demos/multi_asset.py @@ -8,7 +8,7 @@ .. code-block:: bash # Usage - ./isaaclab.sh -p source/standalone/demos/multi_object.py --num_envs 2048 + ./isaaclab.sh -p source/standalone/demos/multi_asset.py --num_envs 2048 """ @@ -38,7 +38,7 @@ import random import omni.usd -from pxr import Sdf, Gf +from pxr import Gf, Sdf import omni.isaac.lab.sim as sim_utils from omni.isaac.lab.assets import AssetBaseCfg, RigidObjectCfg @@ -87,9 +87,9 @@ class MultiObjectSceneCfg(InteractiveSceneCfg): prim_path="/World/Light", spawn=sim_utils.DomeLightCfg(intensity=3000.0, color=(0.75, 0.75, 0.75)) ) - # articulation + # rigid object object: RigidObjectCfg = RigidObjectCfg( - prim_path="/World/envs/env_.*/Objects", + prim_path="/World/envs/env_.*/Object", spawn=sim_utils.MultiAssetSpawnerCfg( assets_cfg=[ sim_utils.ConeCfg( diff --git a/source/standalone/demos/multi_usd_asset.py b/source/standalone/demos/multi_usd_asset.py new file mode 100644 index 0000000000..3a750f478e --- /dev/null +++ b/source/standalone/demos/multi_usd_asset.py @@ -0,0 +1,171 @@ +# Copyright (c) 2022-2024, The Isaac Lab Project Developers. +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + +"""This script demonstrates how to spawn multiple objects in multiple environments. + +.. code-block:: bash + + # Usage + ./isaaclab.sh -p source/standalone/demos/multi_usd_asset.py --num_envs 2048 + +""" + +from __future__ import annotations + +"""Launch Isaac Sim Simulator first.""" + + +import argparse + +from omni.isaac.lab.app import AppLauncher + +# add argparse arguments +parser = argparse.ArgumentParser(description="Demo on spawning different objects in multiple environments.") +parser.add_argument("--num_envs", type=int, default=1024, help="Number of environments to spawn.") +# append AppLauncher cli args +AppLauncher.add_app_launcher_args(parser) +# parse the arguments +args_cli = parser.parse_args() + +# launch omniverse app +app_launcher = AppLauncher(args_cli) +simulation_app = app_launcher.app + +"""Rest everything follows.""" + +import omni.isaac.lab.sim as sim_utils +from omni.isaac.lab.assets import AssetBaseCfg, ArticulationCfg +from omni.isaac.lab.scene import InteractiveScene, InteractiveSceneCfg +from omni.isaac.lab.sim import SimulationContext +from omni.isaac.lab.utils import Timer, configclass +from omni.isaac.lab.utils.assets import ISAACLAB_NUCLEUS_DIR +from omni.isaac.lab.actuators import ActuatorNetLSTMCfg + + +## +# Scene Configuration +## + + +@configclass +class MultiObjectSceneCfg(InteractiveSceneCfg): + """Configuration for a multi-object scene.""" + + # ground plane + ground = AssetBaseCfg(prim_path="/World/defaultGroundPlane", spawn=sim_utils.GroundPlaneCfg()) + + # lights + dome_light = AssetBaseCfg( + prim_path="/World/Light", spawn=sim_utils.DomeLightCfg(intensity=3000.0, color=(0.75, 0.75, 0.75)) + ) + + # articulation + robot: ArticulationCfg = ArticulationCfg( + prim_path="/World/envs/env_.*/Robot", + spawn=sim_utils.MultiUsdFileCfg( + usd_path=[ + f"{ISAACLAB_NUCLEUS_DIR}/Robots/ANYbotics/ANYmal-C/anymal_c.usd", + f"{ISAACLAB_NUCLEUS_DIR}/Robots/ANYbotics/ANYmal-D/anymal_d.usd", + ], + random_choice=True, + rigid_props=sim_utils.RigidBodyPropertiesCfg( + disable_gravity=False, + retain_accelerations=False, + linear_damping=0.0, + angular_damping=0.0, + max_linear_velocity=1000.0, + max_angular_velocity=1000.0, + max_depenetration_velocity=1.0, + ), + articulation_props=sim_utils.ArticulationRootPropertiesCfg( + enabled_self_collisions=True, solver_position_iteration_count=4, solver_velocity_iteration_count=0 + ), + activate_contact_sensors=True, + ), + init_state=ArticulationCfg.InitialStateCfg( + pos=(0.0, 0.0, 0.6), + joint_pos={ + ".*HAA": 0.0, # all HAA + ".*F_HFE": 0.4, # both front HFE + ".*H_HFE": -0.4, # both hind HFE + ".*F_KFE": -0.8, # both front KFE + ".*H_KFE": 0.8, # both hind KFE + }, + ), + actuators={ + "legs": ActuatorNetLSTMCfg( + joint_names_expr=[".*HAA", ".*HFE", ".*KFE"], + network_file=f"{ISAACLAB_NUCLEUS_DIR}/ActuatorNets/ANYbotics/anydrive_3_lstm_jit.pt", + saturation_effort=120.0, + effort_limit=80.0, + velocity_limit=7.5, + ) + }, + ) + + +## +# Simulation Loop +## + + +def run_simulator(sim: SimulationContext, scene: InteractiveScene): + """Runs the simulation loop.""" + # Extract scene entities + # note: we only do this here for readability. + robot = scene["robot"] + # Define simulation stepping + sim_dt = sim.get_physics_dt() + count = 0 + # Simulation loop + while simulation_app.is_running(): + # Reset + if count % 500 == 0: + # reset counter + count = 0 + # reset the scene entities + # root state + root_state = robot.data.default_root_state.clone() + root_state[:, :3] += scene.env_origins + robot.write_root_state_to_sim(root_state) + # clear internal buffers + scene.reset() + print("[INFO]: Resetting robot state...") + # Write data to sim + scene.write_data_to_sim() + # Perform step + sim.step() + # Increment counter + count += 1 + # Update buffers + scene.update(sim_dt) + + +def main(): + """Main function.""" + # Load kit helper + sim_cfg = sim_utils.SimulationCfg(device=args_cli.device) + sim = SimulationContext(sim_cfg) + # Set main camera + sim.set_camera_view([2.5, 0.0, 4.0], [0.0, 0.0, 2.0]) + + # Design scene + scene_cfg = MultiObjectSceneCfg(num_envs=args_cli.num_envs, env_spacing=1.5, replicate_physics=False) + with Timer("[INFO] Time to create scene: "): + scene = InteractiveScene(scene_cfg) + + # Play the simulator + sim.reset() + # Now we are ready! + print("[INFO]: Setup complete...") + # Run the simulator + run_simulator(sim, scene) + + +if __name__ == "__main__": + # run the main execution + main() + # close sim app + simulation_app.close() From 2ec63fb84275d4ac66ecef7165539d5dc222e8f0 Mon Sep 17 00:00:00 2001 From: Mayank Mittal Date: Sun, 6 Oct 2024 10:22:23 +0200 Subject: [PATCH 08/29] combines multi usd file into multi-asset --- source/standalone/demos/multi_asset.py | 68 +++++++- source/standalone/demos/multi_usd_asset.py | 171 --------------------- 2 files changed, 62 insertions(+), 177 deletions(-) delete mode 100644 source/standalone/demos/multi_usd_asset.py diff --git a/source/standalone/demos/multi_asset.py b/source/standalone/demos/multi_asset.py index f86881e98f..2bd0ee2760 100644 --- a/source/standalone/demos/multi_asset.py +++ b/source/standalone/demos/multi_asset.py @@ -41,10 +41,18 @@ from pxr import Gf, Sdf import omni.isaac.lab.sim as sim_utils -from omni.isaac.lab.assets import AssetBaseCfg, RigidObjectCfg +from omni.isaac.lab.assets import ArticulationCfg, AssetBaseCfg, RigidObjectCfg from omni.isaac.lab.scene import InteractiveScene, InteractiveSceneCfg from omni.isaac.lab.sim import SimulationContext from omni.isaac.lab.utils import Timer, configclass +from omni.isaac.lab.utils.assets import ISAACLAB_NUCLEUS_DIR + +## +# Pre-defined Configuration +## + +from omni.isaac.lab_assets.anymal import ANYDRIVE_3_LSTM_ACTUATOR_CFG # isort: skip + ## # Randomization events. @@ -111,7 +119,43 @@ class MultiObjectSceneCfg(InteractiveSceneCfg): mass_props=sim_utils.MassPropertiesCfg(mass=1.0), collision_props=sim_utils.CollisionPropertiesCfg(), ), - init_state=RigidObjectCfg.InitialStateCfg(pos=(0.0, 0.0, 0.3)), + init_state=RigidObjectCfg.InitialStateCfg(pos=(0.0, 0.0, 2.0)), + ) + + # articulation + robot: ArticulationCfg = ArticulationCfg( + prim_path="/World/envs/env_.*/Robot", + spawn=sim_utils.MultiUsdFileCfg( + usd_path=[ + f"{ISAACLAB_NUCLEUS_DIR}/Robots/ANYbotics/ANYmal-C/anymal_c.usd", + f"{ISAACLAB_NUCLEUS_DIR}/Robots/ANYbotics/ANYmal-D/anymal_d.usd", + ], + random_choice=True, + rigid_props=sim_utils.RigidBodyPropertiesCfg( + disable_gravity=False, + retain_accelerations=False, + linear_damping=0.0, + angular_damping=0.0, + max_linear_velocity=1000.0, + max_angular_velocity=1000.0, + max_depenetration_velocity=1.0, + ), + articulation_props=sim_utils.ArticulationRootPropertiesCfg( + enabled_self_collisions=True, solver_position_iteration_count=4, solver_velocity_iteration_count=0 + ), + activate_contact_sensors=True, + ), + init_state=ArticulationCfg.InitialStateCfg( + pos=(0.0, 0.0, 0.6), + joint_pos={ + ".*HAA": 0.0, # all HAA + ".*F_HFE": 0.4, # both front HFE + ".*H_HFE": -0.4, # both hind HFE + ".*F_KFE": -0.8, # both front KFE + ".*H_KFE": 0.8, # both hind KFE + }, + ), + actuators={"legs": ANYDRIVE_3_LSTM_ACTUATOR_CFG}, ) @@ -125,6 +169,7 @@ def run_simulator(sim: SimulationContext, scene: InteractiveScene): # Extract scene entities # note: we only do this here for readability. rigid_object = scene["object"] + robot = scene["robot"] # Define simulation stepping sim_dt = sim.get_physics_dt() count = 0 @@ -135,13 +180,24 @@ def run_simulator(sim: SimulationContext, scene: InteractiveScene): # reset counter count = 0 # reset the scene entities - # root state + # object root_state = rigid_object.data.default_root_state.clone() root_state[:, :3] += scene.env_origins rigid_object.write_root_state_to_sim(root_state) + # robot + # -- root state + root_state = robot.data.default_root_state.clone() + root_state[:, :3] += scene.env_origins + robot.write_root_state_to_sim(root_state) + # -- joint state + joint_pos, joint_vel = robot.data.default_joint_pos.clone(), robot.data.default_joint_vel.clone() + robot.write_joint_state_to_sim(joint_pos, joint_vel) # clear internal buffers scene.reset() - print("[INFO]: Resetting robot state...") + print("[INFO]: Resetting scene state...") + + # Apply action to robot + robot.set_joint_position_target(robot.data.default_joint_pos) # Write data to sim scene.write_data_to_sim() # Perform step @@ -155,13 +211,13 @@ def run_simulator(sim: SimulationContext, scene: InteractiveScene): def main(): """Main function.""" # Load kit helper - sim_cfg = sim_utils.SimulationCfg(device=args_cli.device) + sim_cfg = sim_utils.SimulationCfg(dt=0.005, device=args_cli.device) sim = SimulationContext(sim_cfg) # Set main camera sim.set_camera_view([2.5, 0.0, 4.0], [0.0, 0.0, 2.0]) # Design scene - scene_cfg = MultiObjectSceneCfg(num_envs=args_cli.num_envs, env_spacing=1.0, replicate_physics=False) + scene_cfg = MultiObjectSceneCfg(num_envs=args_cli.num_envs, env_spacing=2.0, replicate_physics=False) with Timer("[INFO] Time to create scene: "): scene = InteractiveScene(scene_cfg) diff --git a/source/standalone/demos/multi_usd_asset.py b/source/standalone/demos/multi_usd_asset.py deleted file mode 100644 index 3a750f478e..0000000000 --- a/source/standalone/demos/multi_usd_asset.py +++ /dev/null @@ -1,171 +0,0 @@ -# Copyright (c) 2022-2024, The Isaac Lab Project Developers. -# All rights reserved. -# -# SPDX-License-Identifier: BSD-3-Clause - -"""This script demonstrates how to spawn multiple objects in multiple environments. - -.. code-block:: bash - - # Usage - ./isaaclab.sh -p source/standalone/demos/multi_usd_asset.py --num_envs 2048 - -""" - -from __future__ import annotations - -"""Launch Isaac Sim Simulator first.""" - - -import argparse - -from omni.isaac.lab.app import AppLauncher - -# add argparse arguments -parser = argparse.ArgumentParser(description="Demo on spawning different objects in multiple environments.") -parser.add_argument("--num_envs", type=int, default=1024, help="Number of environments to spawn.") -# append AppLauncher cli args -AppLauncher.add_app_launcher_args(parser) -# parse the arguments -args_cli = parser.parse_args() - -# launch omniverse app -app_launcher = AppLauncher(args_cli) -simulation_app = app_launcher.app - -"""Rest everything follows.""" - -import omni.isaac.lab.sim as sim_utils -from omni.isaac.lab.assets import AssetBaseCfg, ArticulationCfg -from omni.isaac.lab.scene import InteractiveScene, InteractiveSceneCfg -from omni.isaac.lab.sim import SimulationContext -from omni.isaac.lab.utils import Timer, configclass -from omni.isaac.lab.utils.assets import ISAACLAB_NUCLEUS_DIR -from omni.isaac.lab.actuators import ActuatorNetLSTMCfg - - -## -# Scene Configuration -## - - -@configclass -class MultiObjectSceneCfg(InteractiveSceneCfg): - """Configuration for a multi-object scene.""" - - # ground plane - ground = AssetBaseCfg(prim_path="/World/defaultGroundPlane", spawn=sim_utils.GroundPlaneCfg()) - - # lights - dome_light = AssetBaseCfg( - prim_path="/World/Light", spawn=sim_utils.DomeLightCfg(intensity=3000.0, color=(0.75, 0.75, 0.75)) - ) - - # articulation - robot: ArticulationCfg = ArticulationCfg( - prim_path="/World/envs/env_.*/Robot", - spawn=sim_utils.MultiUsdFileCfg( - usd_path=[ - f"{ISAACLAB_NUCLEUS_DIR}/Robots/ANYbotics/ANYmal-C/anymal_c.usd", - f"{ISAACLAB_NUCLEUS_DIR}/Robots/ANYbotics/ANYmal-D/anymal_d.usd", - ], - random_choice=True, - rigid_props=sim_utils.RigidBodyPropertiesCfg( - disable_gravity=False, - retain_accelerations=False, - linear_damping=0.0, - angular_damping=0.0, - max_linear_velocity=1000.0, - max_angular_velocity=1000.0, - max_depenetration_velocity=1.0, - ), - articulation_props=sim_utils.ArticulationRootPropertiesCfg( - enabled_self_collisions=True, solver_position_iteration_count=4, solver_velocity_iteration_count=0 - ), - activate_contact_sensors=True, - ), - init_state=ArticulationCfg.InitialStateCfg( - pos=(0.0, 0.0, 0.6), - joint_pos={ - ".*HAA": 0.0, # all HAA - ".*F_HFE": 0.4, # both front HFE - ".*H_HFE": -0.4, # both hind HFE - ".*F_KFE": -0.8, # both front KFE - ".*H_KFE": 0.8, # both hind KFE - }, - ), - actuators={ - "legs": ActuatorNetLSTMCfg( - joint_names_expr=[".*HAA", ".*HFE", ".*KFE"], - network_file=f"{ISAACLAB_NUCLEUS_DIR}/ActuatorNets/ANYbotics/anydrive_3_lstm_jit.pt", - saturation_effort=120.0, - effort_limit=80.0, - velocity_limit=7.5, - ) - }, - ) - - -## -# Simulation Loop -## - - -def run_simulator(sim: SimulationContext, scene: InteractiveScene): - """Runs the simulation loop.""" - # Extract scene entities - # note: we only do this here for readability. - robot = scene["robot"] - # Define simulation stepping - sim_dt = sim.get_physics_dt() - count = 0 - # Simulation loop - while simulation_app.is_running(): - # Reset - if count % 500 == 0: - # reset counter - count = 0 - # reset the scene entities - # root state - root_state = robot.data.default_root_state.clone() - root_state[:, :3] += scene.env_origins - robot.write_root_state_to_sim(root_state) - # clear internal buffers - scene.reset() - print("[INFO]: Resetting robot state...") - # Write data to sim - scene.write_data_to_sim() - # Perform step - sim.step() - # Increment counter - count += 1 - # Update buffers - scene.update(sim_dt) - - -def main(): - """Main function.""" - # Load kit helper - sim_cfg = sim_utils.SimulationCfg(device=args_cli.device) - sim = SimulationContext(sim_cfg) - # Set main camera - sim.set_camera_view([2.5, 0.0, 4.0], [0.0, 0.0, 2.0]) - - # Design scene - scene_cfg = MultiObjectSceneCfg(num_envs=args_cli.num_envs, env_spacing=1.5, replicate_physics=False) - with Timer("[INFO] Time to create scene: "): - scene = InteractiveScene(scene_cfg) - - # Play the simulator - sim.reset() - # Now we are ready! - print("[INFO]: Setup complete...") - # Run the simulator - run_simulator(sim, scene) - - -if __name__ == "__main__": - # run the main execution - main() - # close sim app - simulation_app.close() From 18ef1fd274d7eb11bd94fea1030d3b5f6a921371 Mon Sep 17 00:00:00 2001 From: Mayank Mittal Date: Sun, 6 Oct 2024 10:23:37 +0200 Subject: [PATCH 09/29] reduces solver count --- source/standalone/demos/multi_asset.py | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/source/standalone/demos/multi_asset.py b/source/standalone/demos/multi_asset.py index 2bd0ee2760..70feef9c99 100644 --- a/source/standalone/demos/multi_asset.py +++ b/source/standalone/demos/multi_asset.py @@ -115,7 +115,9 @@ class MultiObjectSceneCfg(InteractiveSceneCfg): ), ], random_choice=True, - rigid_props=sim_utils.RigidBodyPropertiesCfg(), + rigid_props=sim_utils.RigidBodyPropertiesCfg( + solver_position_iteration_count=4, solver_velocity_iteration_count=0 + ), mass_props=sim_utils.MassPropertiesCfg(mass=1.0), collision_props=sim_utils.CollisionPropertiesCfg(), ), From ea64b87d7de5e852d79296c15955ab60556ca6c2 Mon Sep 17 00:00:00 2001 From: Mayank Mittal Date: Sun, 6 Oct 2024 10:25:14 +0200 Subject: [PATCH 10/29] renames function --- source/standalone/demos/multi_asset.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/source/standalone/demos/multi_asset.py b/source/standalone/demos/multi_asset.py index 70feef9c99..6363999949 100644 --- a/source/standalone/demos/multi_asset.py +++ b/source/standalone/demos/multi_asset.py @@ -59,7 +59,7 @@ ## -def randomize_color_pxr(prim_path_expr: str): +def randomize_shape_color(prim_path_expr: str): """Randomize the color of the geometry.""" # acquire stage stage = omni.usd.get_context().get_stage() @@ -227,7 +227,7 @@ def main(): # DO YOUR OWN OTHER KIND OF RANDOMIZATION HERE! # Note: Just need to acquire the right attribute about the property you want to set # Here is an example on setting color randomly - randomize_color_pxr(scene_cfg.object.prim_path) + randomize_shape_color(scene_cfg.object.prim_path) # Play the simulator sim.reset() From 93daf30b4df2ce3fa9970df0e58387e9386d3460 Mon Sep 17 00:00:00 2001 From: Mayank Mittal Date: Sun, 6 Oct 2024 19:44:23 +0200 Subject: [PATCH 11/29] fixes documentation --- docs/source/api/lab/omni.isaac.lab.sim.spawners.rst | 7 +++++++ .../omni/isaac/lab/sim/spawners/wrappers/wrappers.py | 7 ++++--- 2 files changed, 11 insertions(+), 3 deletions(-) diff --git a/docs/source/api/lab/omni.isaac.lab.sim.spawners.rst b/docs/source/api/lab/omni.isaac.lab.sim.spawners.rst index 73a3481011..a1c073d4c2 100644 --- a/docs/source/api/lab/omni.isaac.lab.sim.spawners.rst +++ b/docs/source/api/lab/omni.isaac.lab.sim.spawners.rst @@ -314,9 +314,16 @@ Wrappers .. autosummary:: MultiAssetSpawnerCfg + MultiUsdFileCfg .. autofunction:: spawn_multi_asset .. autoclass:: MultiAssetSpawnerCfg :members: :exclude-members: __init__, func + +.. autofunction:: spawn_multi_usd_file + +.. autoclass:: MultiUsdFileCfg + :members: + :exclude-members: __init__, func diff --git a/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/wrappers/wrappers.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/wrappers/wrappers.py index efb9a8ac0c..c6bc613e01 100644 --- a/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/wrappers/wrappers.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/wrappers/wrappers.py @@ -87,6 +87,8 @@ def spawn_multi_asset( stage = omni.usd.get_context().get_stage() # manually clone prims if the source prim path is a regex expression + # note: unlike in the cloner API from Isaac Sim, we do not "reset" xforms on the copied prims. + # This is because the "spawn" calls during the creation of the proto prims already handles this operation. with Sdf.ChangeBlock(): for index, prim_path in enumerate(prim_paths): # spawn single instance @@ -114,9 +116,8 @@ def spawn_multi_usd_file( ) -> Usd.Prim: """Spawn multiple USD files based on the provided configurations. - This function spawns multiple assets based on the provided configurations. The assets are spawned - in the order they are provided in the list. If the `random_choice` parameter is set to True, a random - asset configuration is selected for each spawn. + This function creates configuration instances corresponding the individual USD files and + calls the :meth:`spawn_multi_asset` method to spawn them into the scene. Args: prim_path: The prim path to spawn the assets. From 1c2f23464baff780a98da0907835d63cb930851d Mon Sep 17 00:00:00 2001 From: Mayank Mittal Date: Sun, 6 Oct 2024 19:52:07 +0200 Subject: [PATCH 12/29] adds version log --- source/extensions/omni.isaac.lab/config/extension.toml | 2 +- source/extensions/omni.isaac.lab/docs/CHANGELOG.rst | 10 ++++++++++ .../isaac/lab/sim/spawners/wrappers/wrappers_cfg.py | 10 +++++++++- 3 files changed, 20 insertions(+), 2 deletions(-) diff --git a/source/extensions/omni.isaac.lab/config/extension.toml b/source/extensions/omni.isaac.lab/config/extension.toml index e28497de12..473b7a0986 100644 --- a/source/extensions/omni.isaac.lab/config/extension.toml +++ b/source/extensions/omni.isaac.lab/config/extension.toml @@ -1,7 +1,7 @@ [package] # Note: Semantic Versioning is used: https://semver.org/ -version = "0.24.18" +version = "0.24.19" # Description title = "Isaac Lab framework for Robot Learning" diff --git a/source/extensions/omni.isaac.lab/docs/CHANGELOG.rst b/source/extensions/omni.isaac.lab/docs/CHANGELOG.rst index f7e7117303..baa839238b 100644 --- a/source/extensions/omni.isaac.lab/docs/CHANGELOG.rst +++ b/source/extensions/omni.isaac.lab/docs/CHANGELOG.rst @@ -1,6 +1,16 @@ Changelog --------- +0.24.19 (2024-10-06) +~~~~~~~~~~~~~~~~~~~~ + +Added +^^^^^ + +* Added configuration classes for spawning assets from a list of individual asset configurations randomly + at the specified prim paths. + + 0.24.18 (2024-10-04) ~~~~~~~~~~~~~~~~~~~~ diff --git a/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/wrappers/wrappers_cfg.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/wrappers/wrappers_cfg.py index 41ea566eab..5afb60d5b0 100644 --- a/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/wrappers/wrappers_cfg.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/wrappers/wrappers_cfg.py @@ -44,7 +44,15 @@ class MultiAssetSpawnerCfg(RigidObjectSpawnerCfg, DeformableObjectSpawnerCfg): @configclass class MultiUsdFileCfg(UsdFileCfg): - """Configuration parameters for loading multiple USDs from their individual configurations.""" + """Configuration parameters for loading multiple USD files. + + Specifying values for any properties at the configuration level is applied to all the assets + imported from their USD files. + + .. tip:: + It is recommended that all the USD based assets follow a similar prim-hierarchy. + + """ func = wrappers.spawn_multi_usd_file From 0c9b63c73ac487733fe0a400b09f5481d36efadc Mon Sep 17 00:00:00 2001 From: Mayank Mittal Date: Sun, 6 Oct 2024 20:06:58 +0200 Subject: [PATCH 13/29] runs formatter --- .../omni/isaac/lab/sim/spawners/wrappers/wrappers_cfg.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/wrappers/wrappers_cfg.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/wrappers/wrappers_cfg.py index 5afb60d5b0..83d42cc4af 100644 --- a/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/wrappers/wrappers_cfg.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/wrappers/wrappers_cfg.py @@ -45,7 +45,7 @@ class MultiAssetSpawnerCfg(RigidObjectSpawnerCfg, DeformableObjectSpawnerCfg): @configclass class MultiUsdFileCfg(UsdFileCfg): """Configuration parameters for loading multiple USD files. - + Specifying values for any properties at the configuration level is applied to all the assets imported from their USD files. 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+36,17 @@ a fixed base robot. This guide goes over the various considerations and steps to make_fixed_prim +Multi-Asset Spawning +-------------------- + +This guide explains how to import and configure different assets in each environment. This is +useful when you want to create diverse environments with different objects. + +.. toctree:: + :maxdepth: 1 + + multi_asset_spawning + Saving Camera Output -------------------- diff --git a/docs/source/how-to/multi_asset_spawning.rst b/docs/source/how-to/multi_asset_spawning.rst new file mode 100644 index 0000000000..d18af8a563 --- /dev/null +++ b/docs/source/how-to/multi_asset_spawning.rst @@ -0,0 +1,72 @@ +Spawning Multiple Assets +======================== + +.. currentmodule:: omni.isaac.lab + +This guide describes how to create different assets within each environment using spawning functions that allow for random selection of assets. +The approach is useful to create diversity in your simulations. The sample script ``multi_asset.py`` is used as a reference, located in the ``IsaacLab/source/standalone/demos`` directory. + +.. dropdown:: Code for multi_asset.py + :icon: code + + .. literalinclude:: ../../../source/standalone/demos/multi_asset.py + :language: python + :linenos: + +This script creates multiple environments, where each environment has a rigid object that is either a cone, a cube, or a sphere, +and an articulation that is either the ANYmal-C or ANYmal-D robot. + +.. image:: ../_static/demos/multi_asset.jpg + :width: 100% + :alt: result of multi_asset.py + +Using Multi-Asset Spawning Functions +------------------------------------ + +It is possible to spawn different assets and USDs in each environment using the spawners :class:`~sim.spawners.wrappers.MultiAssetSpawnerCfg` and :class:`~sim_utils.MultiUsdFileCfg`: + +* We set the spawn configuration in :class:`~RigidObjectCfg` to be :class:`~sim.spawners.wrappers.MultiAssetSpawnerCfg`: + + .. literalinclude:: ../../../source/standalone/demos/multi_asset.py + :language: python + :lines: 99-125 + :dedent: + + This function allows you to define a list of different assets that can be spawned as rigid objects. + When ``random_choice=True`` is set, one asset from the list is randomly selected each time an object is spawned. + +* We set the spawn configuration in :class:`~ArticulationCfg` to be :class:`~sim_utils.MultiUsdFileCfg`: + + .. literalinclude:: ../../../source/standalone/demos/multi_asset.py + :language: python + :lines: 128-161 + :dedent: + + This configuration allows the selection of different USD files representing articulated assets. + With ``random_choice=True``, the spawning process picks one of the specified assets at random. In the following scenario, + it is important to note that the articulation must have the same structure (same links, joints, names, etc.) across all USD files. + The purpose is to enable the user to create randomized versions of the same asset, for example with different link lengths. + + + +Executing the Simulation +------------------------ + +To execute the script with multiple environments and randomized assets, use the following command: + +.. code-block:: bash + + ./isaaclab.sh -p source/standalone/demos/multi_asset.py --num_envs 2048 + +This command runs the simulation with 2048 environments, each with randomly selected assets. + +Stopping the Simulation +----------------------- + +To stop the simulation, use the following command in the terminal: + +.. code-block:: bash + + Ctrl+C + +This safely terminates the simulation. From d7a8551daec66751f757e1f81337e3b425265292 Mon Sep 17 00:00:00 2001 From: David Hoeller Date: Tue, 8 Oct 2024 14:56:57 +0200 Subject: [PATCH 15/29] Update docs --- docs/source/how-to/index.rst | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/docs/source/how-to/index.rst b/docs/source/how-to/index.rst index 5413ba2058..4b5c426d82 100644 --- a/docs/source/how-to/index.rst +++ b/docs/source/how-to/index.rst @@ -36,8 +36,8 @@ a fixed base robot. This guide goes over the various considerations and steps to make_fixed_prim -Multi-Asset Spawning --------------------- +Spawning Multiple Assets +------------------------ This guide explains how to import and configure different assets in each environment. This is useful when you want to create diverse environments with different objects. From 7be898dd16fed5e4db9cec73ebe993b207071bb6 Mon Sep 17 00:00:00 2001 From: Mayank Mittal Date: Wed, 9 Oct 2024 08:36:51 +0200 Subject: [PATCH 16/29] adds more points to note to how-to --- docs/source/how-to/multi_asset_spawning.rst | 75 ++++++++++++++------- docs/source/overview/showroom.rst | 23 +++++++ 2 files changed, 75 insertions(+), 23 deletions(-) diff --git a/docs/source/how-to/multi_asset_spawning.rst b/docs/source/how-to/multi_asset_spawning.rst index d18af8a563..12541f832c 100644 --- a/docs/source/how-to/multi_asset_spawning.rst +++ b/docs/source/how-to/multi_asset_spawning.rst @@ -3,18 +3,28 @@ Spawning Multiple Assets .. currentmodule:: omni.isaac.lab -This guide describes how to create different assets within each environment using spawning functions that allow for random selection of assets. -The approach is useful to create diversity in your simulations. The sample script ``multi_asset.py`` is used as a reference, located in the ``IsaacLab/source/standalone/demos`` directory. +Typical, spawning configurations (introduced in :ref:`tutorial-spawn-prims`) copy the same +asset (or USD primitive) across the different resolved prim paths from the expressions. +For instance, if the user specifies to spawn the asset at "/World/Table\_.*/Object", the same +asset is created at the paths "/World/Table_0/Object", "/World/Table_1/Object" and so on. + +However, at times, it might be desirable to spawn different assets under the prim paths to +ensure a diversity in the simulation. This guide describes how to create different assets under +each prim path using the spawning functionality. + +The sample script ``multi_asset.py`` is used as a reference, located in the +``IsaacLab/source/standalone/demos`` directory. .. dropdown:: Code for multi_asset.py :icon: code .. literalinclude:: ../../../source/standalone/demos/multi_asset.py :language: python + :emphasize-lines: 101-123, 130-149 :linenos: -This script creates multiple environments, where each environment has a rigid object that is either a cone, a cube, or a sphere, -and an articulation that is either the ANYmal-C or ANYmal-D robot. +This script creates multiple environments, where each environment has a rigid object that is either a cone, +a cube, or a sphere, and an articulation that is either the ANYmal-C or ANYmal-D robot. .. image:: ../_static/demos/multi_asset.jpg :width: 100% @@ -23,9 +33,11 @@ and an articulation that is either the ANYmal-C or ANYmal-D robot. Using Multi-Asset Spawning Functions ------------------------------------ -It is possible to spawn different assets and USDs in each environment using the spawners :class:`~sim.spawners.wrappers.MultiAssetSpawnerCfg` and :class:`~sim_utils.MultiUsdFileCfg`: +It is possible to spawn different assets and USDs in each environment using the spawners +:class:`~sim.spawners.wrappers.MultiAssetSpawnerCfg` and :class:`~sim.spawners.wrappers.MultiUsdFileCfg`: -* We set the spawn configuration in :class:`~RigidObjectCfg` to be :class:`~sim.spawners.wrappers.MultiAssetSpawnerCfg`: +* We set the spawn configuration in :class:`~assets.RigidObjectCfg` to be + :class:`~sim.spawners.wrappers.MultiAssetSpawnerCfg`: .. literalinclude:: ../../../source/standalone/demos/multi_asset.py :language: python @@ -33,40 +45,57 @@ It is possible to spawn different assets and USDs in each environment using the :dedent: This function allows you to define a list of different assets that can be spawned as rigid objects. - When ``random_choice=True`` is set, one asset from the list is randomly selected each time an object is spawned. + When :attr:`sim.spawners.wrappers.MultiAssetSpawnerCfg.random_choice` is set to True, one asset from the list + is randomly selected and spawned at the specified prim path. -* We set the spawn configuration in :class:`~ArticulationCfg` to be :class:`~sim_utils.MultiUsdFileCfg`: +* Similarly, we set the spawn configuration in :class:`~assets.ArticulationCfg` to be + :class:`~sim_utils.MultiUsdFileCfg`: .. literalinclude:: ../../../source/standalone/demos/multi_asset.py :language: python :lines: 128-161 :dedent: - This configuration allows the selection of different USD files representing articulated assets. - With ``random_choice=True``, the spawning process picks one of the specified assets at random. In the following scenario, - it is important to note that the articulation must have the same structure (same links, joints, names, etc.) across all USD files. - The purpose is to enable the user to create randomized versions of the same asset, for example with different link lengths. + Similar to before, this configuration allows the selection of different USD files representing articulated assets. + +Things to Note +-------------- +Similar asset structuring +~~~~~~~~~~~~~~~~~~~~~~~~~ -Executing the Simulation ------------------------- +While spawning and handling multiple assets using the same physics interface (the rigid object or articulation classes), +it is essential to have the assets at all the prim locations follow a similar structure. In case of an articulation, +this means that they all must have the same number of links and joints, the same number of collision bodies and +the same names for them. If that is not the case, the physics parsing of the prims can get affected and fail. + +The main purpose of this functionality is to enable the user to create randomized versions of the same asset, +for example robots with different link lengths, or rigid objects with different collider shapes. -To execute the script with multiple environments and randomized assets, use the following command: +Disabling physics replication in interactive scene +~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ -.. code-block:: bash +By default, the flag :attr:`scene.InteractiveScene.replicate_physics` is set to True. This flag informs the physics +engine that the simulation environments are copies of one another so it just needs to parse the first environment +to understand the entire simulation scene. This helps speed up the simulation scene parsing. - ./isaaclab.sh -p source/standalone/demos/multi_asset.py --num_envs 2048 +However, in the case of spawning different assets in different environments, this assumption does not hold +anymore. Hence the flag :attr:`scene.InteractiveScene.replicate_physics` must be disabled. -This command runs the simulation with 2048 environments, each with randomly selected assets. +.. literalinclude:: ../../../source/standalone/demos/multi_asset.py + :language: python + :lines: 221-224 + :dedent: -Stopping the Simulation ------------------------ +The Code Execution +------------------ -To stop the simulation, use the following command in the terminal: +To execute the script with multiple environments and randomized assets, use the following command: .. code-block:: bash - Ctrl+C + ./isaaclab.sh -p source/standalone/demos/multi_asset.py --num_envs 2048 -This safely terminates the simulation. +This command runs the simulation with 2048 environments, each with randomly selected assets. +To stop the simulation, you can close the window, or press ``Ctrl+C`` in the terminal. diff --git a/docs/source/overview/showroom.rst b/docs/source/overview/showroom.rst index d8ff7a933d..e5642dd912 100644 --- a/docs/source/overview/showroom.rst +++ b/docs/source/overview/showroom.rst @@ -123,6 +123,29 @@ A few quick showroom scripts to run and checkout: :width: 100% :alt: Deformable primitive-shaped objects in Isaac Lab +- Spawn multiple assets and interact with them using the same simulation handles: + + .. tab-set:: + :sync-group: os + + .. tab-item:: :icon:`fa-brands fa-linux` Linux + :sync: linux + + .. code:: bash + + ./isaaclab.sh -p source/standalone/demos/multi_asset.py + + .. tab-item:: :icon:`fa-brands fa-windows` Windows + :sync: windows + + .. code:: batch + + isaaclab.bat -p source\standalone\demos\multi_asset.py + + .. image:: ../_static/demos/multi_asset.jpg + :width: 100% + :alt: Multiple assets managed through the same simulation handles + - Spawn multiple markers that are useful for visualizations: .. tab-set:: From f8050e2bfeec128daee4a058e61445b795a9d08f Mon Sep 17 00:00:00 2001 From: Mayank Mittal Date: Wed, 9 Oct 2024 08:37:19 +0200 Subject: [PATCH 17/29] runs formatter --- docs/source/how-to/multi_asset_spawning.rst | 4 ++-- docs/source/overview/showroom.rst | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/docs/source/how-to/multi_asset_spawning.rst b/docs/source/how-to/multi_asset_spawning.rst index 12541f832c..6b480d2518 100644 --- a/docs/source/how-to/multi_asset_spawning.rst +++ b/docs/source/how-to/multi_asset_spawning.rst @@ -57,7 +57,7 @@ It is possible to spawn different assets and USDs in each environment using the :dedent: Similar to before, this configuration allows the selection of different USD files representing articulated assets. - + Things to Note -------------- @@ -69,7 +69,7 @@ While spawning and handling multiple assets using the same physics interface (th it is essential to have the assets at all the prim locations follow a similar structure. In case of an articulation, this means that they all must have the same number of links and joints, the same number of collision bodies and the same names for them. If that is not the case, the physics parsing of the prims can get affected and fail. - + The main purpose of this functionality is to enable the user to create randomized versions of the same asset, for example robots with different link lengths, or rigid objects with different collider shapes. diff --git a/docs/source/overview/showroom.rst b/docs/source/overview/showroom.rst index e5642dd912..cd05b76b7b 100644 --- a/docs/source/overview/showroom.rst +++ b/docs/source/overview/showroom.rst @@ -124,7 +124,7 @@ A few quick showroom scripts to run and checkout: :alt: Deformable primitive-shaped objects in Isaac Lab - Spawn multiple assets and interact with them using the same simulation handles: - + .. tab-set:: :sync-group: os From 0dc369148d525c9c9778139d3219a134e3810bb9 Mon Sep 17 00:00:00 2001 From: Mayank Mittal Date: Wed, 9 Oct 2024 08:42:57 +0200 Subject: [PATCH 18/29] fixes tab ordering --- docs/source/overview/showroom.rst | 34 +++++++++++++++---------------- 1 file changed, 17 insertions(+), 17 deletions(-) diff --git a/docs/source/overview/showroom.rst b/docs/source/overview/showroom.rst index cd05b76b7b..130e34ad51 100644 --- a/docs/source/overview/showroom.rst +++ b/docs/source/overview/showroom.rst @@ -77,7 +77,7 @@ A few quick showroom scripts to run and checkout: :width: 100% :alt: Dexterous hands in Isaac Lab -- Spawn procedurally generated terrains with different configurations: +- Spawn different deformable (soft) bodies and let them fall from a height: .. tab-set:: :sync-group: os @@ -87,20 +87,20 @@ A few quick showroom scripts to run and checkout: .. code:: bash - ./isaaclab.sh -p source/standalone/demos/procedural_terrain.py + ./isaaclab.sh -p source/standalone/demos/deformables.py .. tab-item:: :icon:`fa-brands fa-windows` Windows :sync: windows .. code:: batch - isaaclab.bat -p source\standalone\demos\procedural_terrain.py + isaaclab.bat -p source\standalone\demos\deformables.py - .. image:: ../_static/demos/procedural_terrain.jpg + .. image:: ../_static/demos/deformables.jpg :width: 100% - :alt: Procedural Terrains in Isaac Lab + :alt: Deformable primitive-shaped objects in Isaac Lab -- Spawn different deformable (soft) bodies and let them fall from a height: +- Use the interactive scene and spawn varying assets in individual environments: .. tab-set:: :sync-group: os @@ -110,22 +110,22 @@ A few quick showroom scripts to run and checkout: .. code:: bash - ./isaaclab.sh -p source/standalone/demos/deformables.py + ./isaaclab.sh -p source/standalone/demos/multi_asset.py .. tab-item:: :icon:`fa-brands fa-windows` Windows :sync: windows .. code:: batch - isaaclab.bat -p source\standalone\demos\deformables.py + isaaclab.bat -p source\standalone\demos\multi_asset.py - .. image:: ../_static/demos/deformables.jpg + .. image:: ../_static/demos/multi_asset.jpg :width: 100% - :alt: Deformable primitive-shaped objects in Isaac Lab + :alt: Multiple assets managed through the same simulation handles -- Spawn multiple assets and interact with them using the same simulation handles: +- Create and spawn procedurally generated terrains with different configurations: - .. tab-set:: + .. tab-set:: :sync-group: os .. tab-item:: :icon:`fa-brands fa-linux` Linux @@ -133,20 +133,20 @@ A few quick showroom scripts to run and checkout: .. code:: bash - ./isaaclab.sh -p source/standalone/demos/multi_asset.py + ./isaaclab.sh -p source/standalone/demos/procedural_terrain.py .. tab-item:: :icon:`fa-brands fa-windows` Windows :sync: windows .. code:: batch - isaaclab.bat -p source\standalone\demos\multi_asset.py + isaaclab.bat -p source\standalone\demos\procedural_terrain.py - .. image:: ../_static/demos/multi_asset.jpg + .. image:: ../_static/demos/procedural_terrain.jpg :width: 100% - :alt: Multiple assets managed through the same simulation handles + :alt: Procedural Terrains in Isaac Lab -- Spawn multiple markers that are useful for visualizations: +- Define multiple markers that are useful for visualizations: .. tab-set:: :sync-group: os From 798b5cdef5a303d9dab0722df5194396241327ac Mon Sep 17 00:00:00 2001 From: Mayank Mittal Date: Wed, 9 Oct 2024 08:55:44 +0200 Subject: [PATCH 19/29] fix tab --- docs/source/overview/showroom.rst | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/docs/source/overview/showroom.rst b/docs/source/overview/showroom.rst index 130e34ad51..d3d86fd777 100644 --- a/docs/source/overview/showroom.rst +++ b/docs/source/overview/showroom.rst @@ -100,7 +100,7 @@ A few quick showroom scripts to run and checkout: :width: 100% :alt: Deformable primitive-shaped objects in Isaac Lab -- Use the interactive scene and spawn varying assets in individual environments: +- Use the interactive scene and spawn varying assets in individual environments: .. tab-set:: :sync-group: os From 9f6f0c177a830ade55c61e3ad38c42d98c455709 Mon Sep 17 00:00:00 2001 From: Mayank Mittal Date: Wed, 9 Oct 2024 08:57:21 +0200 Subject: [PATCH 20/29] fixes doc --- docs/source/how-to/multi_asset_spawning.rst | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/docs/source/how-to/multi_asset_spawning.rst b/docs/source/how-to/multi_asset_spawning.rst index 6b480d2518..550448a610 100644 --- a/docs/source/how-to/multi_asset_spawning.rst +++ b/docs/source/how-to/multi_asset_spawning.rst @@ -45,11 +45,11 @@ It is possible to spawn different assets and USDs in each environment using the :dedent: This function allows you to define a list of different assets that can be spawned as rigid objects. - When :attr:`sim.spawners.wrappers.MultiAssetSpawnerCfg.random_choice` is set to True, one asset from the list + When :attr:`~sim.spawners.wrappers.MultiAssetSpawnerCfg.random_choice` is set to True, one asset from the list is randomly selected and spawned at the specified prim path. * Similarly, we set the spawn configuration in :class:`~assets.ArticulationCfg` to be - :class:`~sim_utils.MultiUsdFileCfg`: + :class:`~sim.spawners.wrappers.MultiUsdFileCfg`: .. literalinclude:: ../../../source/standalone/demos/multi_asset.py :language: python From 845ac59df7065ce746aadbc44958364f2e1f31a7 Mon Sep 17 00:00:00 2001 From: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com> Date: Wed, 9 Oct 2024 08:59:45 +0200 Subject: [PATCH 21/29] Apply suggestions from code review Co-authored-by: jtigue-bdai <166445701+jtigue-bdai@users.noreply.github.com> Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com> --- .../omni/isaac/lab/sim/spawners/wrappers/wrappers.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/wrappers/wrappers.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/wrappers/wrappers.py index c6bc613e01..001307e285 100644 --- a/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/wrappers/wrappers.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/wrappers/wrappers.py @@ -29,7 +29,7 @@ def spawn_multi_asset( """Spawn multiple assets based on the provided configurations. This function spawns multiple assets based on the provided configurations. The assets are spawned - in the order they are provided in the list. If the `random_choice` parameter is set to True, a random + in the order they are provided in the list. If the `random_choice` parameter in the :class:`~MultiAssetSpawnerCfg` is set to True, a random asset configuration is selected for each spawn. Args: From 6375eb89f00c943d78f7d9f6c12e6dbd929df161 Mon Sep 17 00:00:00 2001 From: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com> Date: Wed, 9 Oct 2024 09:00:29 +0200 Subject: [PATCH 22/29] Apply suggestions from code review Co-authored-by: jtigue-bdai <166445701+jtigue-bdai@users.noreply.github.com> Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com> --- .../omni/isaac/lab/sim/spawners/wrappers/wrappers.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/wrappers/wrappers.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/wrappers/wrappers.py index 001307e285..f99c3cd7eb 100644 --- a/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/wrappers/wrappers.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/wrappers/wrappers.py @@ -36,7 +36,7 @@ def spawn_multi_asset( prim_path: The prim path to spawn the assets. cfg: The configuration for spawning the assets. translation: The translation of the spawned assets. Default is None. - orientation: The orientation of the spawned assets. Default is None. + orientation: The orientation of the spawned assets in (w, x, y, z) order. Default is None. Returns: The created prim at the first prim path. @@ -123,7 +123,7 @@ def spawn_multi_usd_file( prim_path: The prim path to spawn the assets. cfg: The configuration for spawning the assets. translation: The translation of the spawned assets. Default is None. - orientation: The orientation of the spawned assets. Default is None. + orientation: The orientation of the spawned assets in (w, x, y, z) order. Default is None. Returns: The created prim at the first prim path. From 144f15d0ee365ef0e6f84b804d3bcee7026036f4 Mon Sep 17 00:00:00 2001 From: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com> Date: Wed, 9 Oct 2024 09:01:19 +0200 Subject: [PATCH 23/29] Apply suggestions from code review Signed-off-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com> --- .../omni/isaac/lab/sim/spawners/wrappers/wrappers.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/wrappers/wrappers.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/wrappers/wrappers.py index f99c3cd7eb..dbc4dc9bdd 100644 --- a/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/wrappers/wrappers.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/wrappers/wrappers.py @@ -29,7 +29,7 @@ def spawn_multi_asset( """Spawn multiple assets based on the provided configurations. This function spawns multiple assets based on the provided configurations. The assets are spawned - in the order they are provided in the list. If the `random_choice` parameter in the :class:`~MultiAssetSpawnerCfg` is set to True, a random + in the order they are provided in the list. If the :attr:`~MultiAssetSpawnerCfg.random_choice` parameter is set to True, a random asset configuration is selected for each spawn. Args: From df6336346a61a20dfdad7c45a5fc365407180e84 Mon Sep 17 00:00:00 2001 From: Mayank Mittal Date: Wed, 9 Oct 2024 09:08:08 +0200 Subject: [PATCH 24/29] make function safer --- docs/source/how-to/multi_asset_spawning.rst | 2 +- .../lab/sim/spawners/wrappers/wrappers.py | 18 +++++++++++------- 2 files changed, 12 insertions(+), 8 deletions(-) diff --git a/docs/source/how-to/multi_asset_spawning.rst b/docs/source/how-to/multi_asset_spawning.rst index 550448a610..9f74e39f6b 100644 --- a/docs/source/how-to/multi_asset_spawning.rst +++ b/docs/source/how-to/multi_asset_spawning.rst @@ -3,7 +3,7 @@ Spawning Multiple Assets .. currentmodule:: omni.isaac.lab -Typical, spawning configurations (introduced in :ref:`tutorial-spawn-prims`) copy the same +Typical, spawning configurations (introduced in the :ref:`tutorial-spawn-prims` tutorial) copy the same asset (or USD primitive) across the different resolved prim paths from the expressions. For instance, if the user specifies to spawn the asset at "/World/Table\_.*/Object", the same asset is created at the paths "/World/Table_0/Object", "/World/Table_1/Object" and so on. diff --git a/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/wrappers/wrappers.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/wrappers/wrappers.py index dbc4dc9bdd..15f2b46b77 100644 --- a/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/wrappers/wrappers.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/wrappers/wrappers.py @@ -10,7 +10,7 @@ from typing import TYPE_CHECKING import omni.isaac.core.utils.prims as prim_utils -import omni.usd +import omni.isaac.core.utils.stage as stage_utils from pxr import Sdf, Usd import omni.isaac.lab.sim as sim_utils @@ -29,8 +29,8 @@ def spawn_multi_asset( """Spawn multiple assets based on the provided configurations. This function spawns multiple assets based on the provided configurations. The assets are spawned - in the order they are provided in the list. If the :attr:`~MultiAssetSpawnerCfg.random_choice` parameter is set to True, a random - asset configuration is selected for each spawn. + in the order they are provided in the list. If the :attr:`~MultiAssetSpawnerCfg.random_choice` parameter is + set to True, a random asset configuration is selected for each spawn. Args: prim_path: The prim path to spawn the assets. @@ -59,8 +59,11 @@ def spawn_multi_asset( else: source_prim_paths = [root_path] + # find a free prim path to hold all the template prims + template_prim_path = stage_utils.get_next_free_path("/World/Template") + prim_utils.create_prim(template_prim_path, "Scope") + # spawn everything first in a "Dataset" prim - prim_utils.create_prim("/World/Dataset", "Scope") proto_prim_paths = list() for index, asset_cfg in enumerate(cfg.assets_cfg): # append semantic tags if specified @@ -76,15 +79,16 @@ def spawn_multi_asset( if hasattr(asset_cfg, attr_name) and attr_value is not None: setattr(asset_cfg, attr_name, attr_value) # spawn single instance - proto_prim_path = f"/World/Dataset/Asset_{index:04d}" + proto_prim_path = f"{template_prim_path}/Asset_{index:04d}" asset_cfg.func(proto_prim_path, asset_cfg, translation=translation, orientation=orientation) # append to proto prim paths proto_prim_paths.append(proto_prim_path) # resolve prim paths for spawning and cloning prim_paths = [f"{source_prim_path}/{asset_path}" for source_prim_path in source_prim_paths] + # acquire stage - stage = omni.usd.get_context().get_stage() + stage = stage_utils.get_current_stage() # manually clone prims if the source prim path is a regex expression # note: unlike in the cloner API from Isaac Sim, we do not "reset" xforms on the copied prims. @@ -102,7 +106,7 @@ def spawn_multi_asset( Sdf.CopySpec(env_spec.layer, Sdf.Path(proto_path), env_spec.layer, Sdf.Path(prim_path)) # delete the dataset prim after spawning - prim_utils.delete_prim("/World/Dataset") + prim_utils.delete_prim(template_prim_path) # return the prim return prim_utils.get_prim_at_path(prim_paths[0]) From 2e6c29924d514a35e752f9360cd36d825cd79446 Mon Sep 17 00:00:00 2001 From: Mayank Mittal Date: Wed, 9 Oct 2024 09:26:03 +0200 Subject: [PATCH 25/29] adds test --- .../test/sim/test_spawn_wrappers.py | 149 ++++++++++++++++++ 1 file changed, 149 insertions(+) create mode 100644 source/extensions/omni.isaac.lab/test/sim/test_spawn_wrappers.py diff --git a/source/extensions/omni.isaac.lab/test/sim/test_spawn_wrappers.py b/source/extensions/omni.isaac.lab/test/sim/test_spawn_wrappers.py new file mode 100644 index 0000000000..ffa2875406 --- /dev/null +++ b/source/extensions/omni.isaac.lab/test/sim/test_spawn_wrappers.py @@ -0,0 +1,149 @@ +# Copyright (c) 2022-2024, The Isaac Lab Project Developers. +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + +"""Launch Isaac Sim Simulator first.""" + +from omni.isaac.lab.app import AppLauncher, run_tests + +# launch omniverse app +simulation_app = AppLauncher(headless=True).app + +"""Rest everything follows.""" + +import unittest + +import omni.isaac.core.utils.prims as prim_utils +import omni.isaac.core.utils.stage as stage_utils +from omni.isaac.core.simulation_context import SimulationContext + +import omni.isaac.lab.sim as sim_utils + + +class TestSpawningWrappers(unittest.TestCase): + """Test fixture for checking spawning of multiple assets wrappers.""" + + def setUp(self) -> None: + """Create a blank new stage for each test.""" + # Create a new stage + stage_utils.create_new_stage() + # Simulation time-step + self.dt = 0.1 + # Load kit helper + self.sim = SimulationContext(physics_dt=self.dt, rendering_dt=self.dt, backend="numpy") + # Wait for spawning + stage_utils.update_stage() + + def tearDown(self) -> None: + """Stops simulator after each test.""" + # stop simulation + self.sim.stop() + self.sim.clear() + self.sim.clear_all_callbacks() + self.sim.clear_instance() + + """ + Tests. + """ + + def test_spawn_multiple_shapes_with_global_settings(self): + """Test spawning of shapes randomly with global rigid body settings.""" + # Define prim parents + num_clones = 10 + for i in range(num_clones): + prim_utils.create_prim(f"/World/env_{i}", "Xform", translation=(i, i, 0)) + + # Spawn shapes + cfg = sim_utils.MultiAssetSpawnerCfg( + assets_cfg=[ + sim_utils.ConeCfg( + radius=0.3, + height=0.6, + visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.0, 1.0, 0.0), metallic=0.2), + mass_props=sim_utils.MassPropertiesCfg(mass=100.0), # this one should get overridden + ), + sim_utils.CuboidCfg( + size=(0.3, 0.3, 0.3), + visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(1.0, 0.0, 0.0), metallic=0.2), + ), + sim_utils.SphereCfg( + radius=0.3, + visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.0, 0.0, 1.0), metallic=0.2), + ), + ], + random_choice=True, + rigid_props=sim_utils.RigidBodyPropertiesCfg( + solver_position_iteration_count=4, solver_velocity_iteration_count=0 + ), + mass_props=sim_utils.MassPropertiesCfg(mass=1.0), + collision_props=sim_utils.CollisionPropertiesCfg(), + ) + prim = cfg.func("/World/env_.*/Cone", cfg) + + # Check validity + self.assertTrue(prim.IsValid()) + self.assertEqual(prim_utils.get_prim_path(prim), "/World/env_0/Cone") + # Find matching prims + prim_paths = prim_utils.find_matching_prim_paths("/World/env_*/Cone") + self.assertEqual(len(prim_paths), num_clones) + + # Check all prims have correct settings + for prim_path in prim_paths: + prim = prim_utils.get_prim_at_path(prim_path) + self.assertEqual(prim.GetAttribute("physics:mass").Get(), cfg.mass_props.mass) + + def test_spawn_multiple_shapes_with_individual_settings(self): + """Test spawning of shapes randomly with individual rigid object settings""" + # Define prim parents + num_clones = 10 + for i in range(num_clones): + prim_utils.create_prim(f"/World/env_{i}", "Xform", translation=(i, i, 0)) + + # Make a list of masses + mass_variations = [2.0, 3.0, 4.0] + # Spawn shapes + cfg = sim_utils.MultiAssetSpawnerCfg( + assets_cfg=[ + sim_utils.ConeCfg( + radius=0.3, + height=0.6, + visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.0, 1.0, 0.0), metallic=0.2), + rigid_props=sim_utils.RigidBodyPropertiesCfg(), + mass_props=sim_utils.MassPropertiesCfg(mass=mass_variations[0]), + collision_props=sim_utils.CollisionPropertiesCfg(), + ), + sim_utils.CuboidCfg( + size=(0.3, 0.3, 0.3), + visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(1.0, 0.0, 0.0), metallic=0.2), + rigid_props=sim_utils.RigidBodyPropertiesCfg(), + mass_props=sim_utils.MassPropertiesCfg(mass=mass_variations[1]), + collision_props=sim_utils.CollisionPropertiesCfg(), + ), + sim_utils.SphereCfg( + radius=0.3, + visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.0, 0.0, 1.0), metallic=0.2), + rigid_props=sim_utils.RigidBodyPropertiesCfg(), + mass_props=sim_utils.MassPropertiesCfg(mass=mass_variations[2]), + collision_props=sim_utils.CollisionPropertiesCfg(), + ), + ], + random_choice=True, + ) + prim = cfg.func("/World/env_.*/Cone", cfg) + + # Check validity + self.assertTrue(prim.IsValid()) + self.assertEqual(prim_utils.get_prim_path(prim), "/World/env_0/Cone") + # Find matching prims + prim_paths = prim_utils.find_matching_prim_paths("/World/env_*/Cone") + self.assertEqual(len(prim_paths), num_clones) + + # Check all prims have correct settings + for prim_path in prim_paths: + prim = prim_utils.get_prim_at_path(prim_path) + self.assertTrue(prim.GetAttribute("physics:mass").Get() in mass_variations) + + +if __name__ == "__main__": + run_tests() From df51fb25bd9410fc46a3fbdc1660a96bb1b85293 Mon Sep 17 00:00:00 2001 From: Mayank Mittal Date: Wed, 9 Oct 2024 09:28:47 +0200 Subject: [PATCH 26/29] adds test for files as well --- .../test/sim/test_spawn_wrappers.py | 44 ++++++++++++++++++- 1 file changed, 43 insertions(+), 1 deletion(-) diff --git a/source/extensions/omni.isaac.lab/test/sim/test_spawn_wrappers.py b/source/extensions/omni.isaac.lab/test/sim/test_spawn_wrappers.py index ffa2875406..1260facf58 100644 --- a/source/extensions/omni.isaac.lab/test/sim/test_spawn_wrappers.py +++ b/source/extensions/omni.isaac.lab/test/sim/test_spawn_wrappers.py @@ -19,6 +19,7 @@ from omni.isaac.core.simulation_context import SimulationContext import omni.isaac.lab.sim as sim_utils +from omni.isaac.lab.utils.assets import ISAACLAB_NUCLEUS_DIR class TestSpawningWrappers(unittest.TestCase): @@ -44,7 +45,7 @@ def tearDown(self) -> None: self.sim.clear_instance() """ - Tests. + Tests - Multiple assets. """ def test_spawn_multiple_shapes_with_global_settings(self): @@ -144,6 +145,47 @@ def test_spawn_multiple_shapes_with_individual_settings(self): prim = prim_utils.get_prim_at_path(prim_path) self.assertTrue(prim.GetAttribute("physics:mass").Get() in mass_variations) + """ + Tests - Multiple USDs. + """ + + def test_spawn_multiple_files_with_global_settings(self): + """Test spawning of files randomly with global articulation settings.""" + # Define prim parents + num_clones = 10 + for i in range(num_clones): + prim_utils.create_prim(f"/World/env_{i}", "Xform", translation=(i, i, 0)) + + # Spawn shapes + cfg = sim_utils.MultiUsdFileCfg( + usd_path=[ + f"{ISAACLAB_NUCLEUS_DIR}/Robots/ANYbotics/ANYmal-C/anymal_c.usd", + f"{ISAACLAB_NUCLEUS_DIR}/Robots/ANYbotics/ANYmal-D/anymal_d.usd", + ], + random_choice=True, + rigid_props=sim_utils.RigidBodyPropertiesCfg( + disable_gravity=False, + retain_accelerations=False, + linear_damping=0.0, + angular_damping=0.0, + max_linear_velocity=1000.0, + max_angular_velocity=1000.0, + max_depenetration_velocity=1.0, + ), + articulation_props=sim_utils.ArticulationRootPropertiesCfg( + enabled_self_collisions=True, solver_position_iteration_count=4, solver_velocity_iteration_count=0 + ), + activate_contact_sensors=True, + ) + prim = cfg.func("/World/env_.*/Robot", cfg) + + # Check validity + self.assertTrue(prim.IsValid()) + self.assertEqual(prim_utils.get_prim_path(prim), "/World/env_0/Robot") + # Find matching prims + prim_paths = prim_utils.find_matching_prim_paths("/World/env_*/Robot") + self.assertEqual(len(prim_paths), num_clones) + if __name__ == "__main__": run_tests() From 137899143b75a11bdd4bdfc2ce5217056608605e Mon Sep 17 00:00:00 2001 From: Mayank Mittal Date: Wed, 9 Oct 2024 09:57:06 +0200 Subject: [PATCH 27/29] adds check for multi-asset spawning --- .../omni/isaac/lab/scene/interactive_scene.py | 11 +++++++++++ .../omni/isaac/lab/sim/spawners/wrappers/wrappers.py | 7 +++++++ 2 files changed, 18 insertions(+) diff --git a/source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py index c803f0e305..8cdcd3660d 100644 --- a/source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py @@ -173,6 +173,17 @@ def clone_environments(self, copy_from_source: bool = False): copy_from_source=copy_from_source, ) + # check if user spawned different assets in individual environments + # this flag will be None if no multi asset is spawned + carb_settings_iface = carb.settings.get_settings() + has_multi_assets = carb_settings_iface.get("/isaaclab/spawn/multi_assets") + if has_multi_assets and self.cfg.replicate_physics: + carb.log_warn( + "Varying assets might have been spawned under different environments." + " However, the replicate physics flag is enabled in the 'InteractiveScene' configuration." + " This may adversely affect PhysX parsing. We recommend disabling this property." + ) + # in case of heterogeneous cloning, the env origins is specified at init if self._default_env_origins is None: self._default_env_origins = torch.tensor(env_origins, device=self.device, dtype=torch.float32) diff --git a/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/wrappers/wrappers.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/wrappers/wrappers.py index 15f2b46b77..9040569e4a 100644 --- a/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/wrappers/wrappers.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/wrappers/wrappers.py @@ -9,6 +9,7 @@ import re from typing import TYPE_CHECKING +import carb import omni.isaac.core.utils.prims as prim_utils import omni.isaac.core.utils.stage as stage_utils from pxr import Sdf, Usd @@ -108,6 +109,12 @@ def spawn_multi_asset( # delete the dataset prim after spawning prim_utils.delete_prim(template_prim_path) + # set carb setting to indicate Isaac Lab's environments that different prims have been spawned + # at varying prim paths. In this case, PhysX parser shouldn't optimize the stage parsing. + # the flag is mainly used to inform the user that they should disable `InteractiveScene.replicate_physics` + carb_settings_iface = carb.settings.get_settings() + carb_settings_iface.set_bool("/isaaclab/spawn/multi_assets", True) + # return the prim return prim_utils.get_prim_at_path(prim_paths[0]) From 49353c3b023e8bd9717ba441c5c267150e2fbbbd Mon Sep 17 00:00:00 2001 From: Mayank Mittal Date: Wed, 9 Oct 2024 09:58:57 +0200 Subject: [PATCH 28/29] moves the check up --- .../omni/isaac/lab/scene/interactive_scene.py | 15 ++++++++------- 1 file changed, 8 insertions(+), 7 deletions(-) diff --git a/source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py index 8cdcd3660d..8bc7c651e7 100644 --- a/source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py @@ -166,13 +166,6 @@ def clone_environments(self, copy_from_source: bool = False): If True, clones are independent copies of the source prim and won't reflect its changes (start-up time may increase). Defaults to False. """ - env_origins = self.cloner.clone( - source_prim_path=self.env_prim_paths[0], - prim_paths=self.env_prim_paths, - replicate_physics=self.cfg.replicate_physics, - copy_from_source=copy_from_source, - ) - # check if user spawned different assets in individual environments # this flag will be None if no multi asset is spawned carb_settings_iface = carb.settings.get_settings() @@ -184,6 +177,14 @@ def clone_environments(self, copy_from_source: bool = False): " This may adversely affect PhysX parsing. We recommend disabling this property." ) + # clone the environment + env_origins = self.cloner.clone( + source_prim_path=self.env_prim_paths[0], + prim_paths=self.env_prim_paths, + replicate_physics=self.cfg.replicate_physics, + copy_from_source=copy_from_source, + ) + # in case of heterogeneous cloning, the env origins is specified at init if self._default_env_origins is None: self._default_env_origins = torch.tensor(env_origins, device=self.device, dtype=torch.float32) From fefda699114102bfd6248af6a05c6a02b2540b4b Mon Sep 17 00:00:00 2001 From: Mayank Mittal Date: Wed, 9 Oct 2024 10:08:31 +0200 Subject: [PATCH 29/29] checks --- .../omni/isaac/lab/scene/interactive_scene.py | 13 ++++++------- 1 file changed, 6 insertions(+), 7 deletions(-) diff --git a/source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py b/source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py index 8bc7c651e7..8c4b81aaff 100644 --- a/source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py +++ b/source/extensions/omni.isaac.lab/omni/isaac/lab/scene/interactive_scene.py @@ -199,9 +199,6 @@ def filter_collisions(self, global_prim_paths: list[str] | None = None): global_prim_paths: A list of global prim paths to enable collisions with. Defaults to None, in which case no global prim paths are considered. """ - # obtain the current physics scene - physics_scene_prim_path = self.physics_scene_path - # validate paths in global prim paths if global_prim_paths is None: global_prim_paths = [] @@ -215,7 +212,7 @@ def filter_collisions(self, global_prim_paths: list[str] | None = None): # filter collisions within each environment instance self.cloner.filter_collisions( - physics_scene_prim_path, + self.physics_scene_path, "/World/collisions", self.env_prim_paths, global_paths=self._global_prim_paths, @@ -236,14 +233,16 @@ def __str__(self) -> str: """ @property - def physics_scene_path(self): - """Search the stage for the physics scene""" + def physics_scene_path(self) -> str: + """The path to the USD Physics Scene.""" if self._physics_scene_path is None: for prim in self.stage.Traverse(): if prim.HasAPI(PhysxSchema.PhysxSceneAPI): - self._physics_scene_path = prim.GetPrimPath() + self._physics_scene_path = prim.GetPrimPath().pathString carb.log_info(f"Physics scene prim path: {self._physics_scene_path}") break + if self._physics_scene_path is None: + raise RuntimeError("No physics scene found! Please make sure one exists.") return self._physics_scene_path @property

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