adds spawning of multi usd files

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

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)

source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/wrappers/wrappers_cfg.py

@@ -5,23 +5,23 @@
 
 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
 
 
 @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.
+    """

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(

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()