File size: 3,077 Bytes
d22369f | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 | """Interactive layout editor for the toy-sorting scene.
Spawns the full scene with physics frozen so you can reposition objects
freely using the Isaac Sim viewport transform gizmos (press W to activate).
When you close the window the current stage is exported to a USDA file.
Usage:
uv run python scripts/layout_editor.py
uv run python scripts/layout_editor.py --export assets/my_layout.usda
Physics is intentionally NOT stepped — only the GUI update loop runs.
Objects stay wherever you drag them. Close the window to export and exit.
"""
from __future__ import annotations
import argparse
import sys
from pathlib import Path
_REPO_ROOT = Path(__file__).resolve().parents[1]
_SRC = _REPO_ROOT / "src"
if str(_SRC) not in sys.path:
sys.path.insert(0, str(_SRC))
# ---------------------------------------------------------------------------
# AppLauncher must be created before any other isaaclab.* import
# ---------------------------------------------------------------------------
parser = argparse.ArgumentParser(description=__doc__, formatter_class=argparse.RawDescriptionHelpFormatter)
parser.add_argument(
"--export",
default="assets/scene_layout.usda",
help="Path to write the exported USDA layout (default: assets/scene_layout.usda)",
)
args_cli = parser.parse_args()
from isaaclab.app import AppLauncher # noqa: E402
app_launcher = AppLauncher(headless=False)
simulation_app = app_launcher.app
# ---------------------------------------------------------------------------
# Isaac Lab imports (safe after AppLauncher)
# ---------------------------------------------------------------------------
import isaaclab.sim as sim_utils # noqa: E402
from isaaclab.sim import SimulationContext # noqa: E402
from manipulator_learning.envhub import make_env # noqa: E402
def main() -> None:
export_path = (_REPO_ROOT / args_cli.export).resolve()
sim_cfg = sim_utils.SimulationCfg(dt=1.0 / 60.0)
sim = SimulationContext(sim_cfg)
sim.set_camera_view(eye=[0.8, -0.8, 1.2], target=[0.0, 0.0, 0.2])
print("[layout_editor] Building scene …")
envs_dict = make_env(n_envs=1)
env = envs_dict["toy_sorting"][0]
print("[layout_editor] Resetting (physics will NOT be stepped) …")
sim.reset()
env.reset()
print()
print("=" * 60)
print(" Physics is FROZEN. Drag objects freely in the viewport.")
print(" Press W → translate gizmo")
print(" Press E → rotate gizmo")
print(" Press R → scale gizmo")
print(f" Close window to export layout → {export_path}")
print("=" * 60)
print()
# Run GUI update loop without stepping physics
while simulation_app.is_running():
simulation_app.update()
# Export current stage state to USDA
import omni.usd
stage = omni.usd.get_context().get_stage()
export_path.parent.mkdir(parents=True, exist_ok=True)
stage.Export(str(export_path))
print(f"[layout_editor] Layout exported → {export_path}")
env.close()
if __name__ == "__main__":
main()
simulation_app.close()
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