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406662d | 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 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 | # Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
"""
This script shows how to use replicator to randomly change the textures of a USD scene.
Note:
Currently this script fails since cloner does not support changing textures of cloned
USD prims. This is because the prims are cloned using `Sdf.ChangeBlock` which does not
allow individual texture changes.
Usage:
.. code-block:: bash
./isaaclab.sh -p source/isaaclab/test/deps/isaacsim/check_rep_texture_randomizer.py
"""
"""Launch Isaac Sim Simulator first."""
import argparse
# isaaclab
from isaaclab.app import AppLauncher
# add argparse arguments
parser = argparse.ArgumentParser(
description="This script shows how to use replicator to randomly change the textures of a USD scene."
)
# 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 numpy as np
import torch
import omni.replicator.core as rep
from isaacsim.core.api.simulation_context import SimulationContext
from isaacsim.core.cloner import GridCloner
from isaacsim.core.objects import DynamicSphere
from isaacsim.core.prims import RigidPrim
from isaacsim.core.utils.viewports import set_camera_view
import isaaclab.sim.utils.prims as prim_utils
def main():
"""Spawn a bunch of balls and randomly change their textures."""
# Load kit helper
sim_params = {
"use_gpu": True,
"use_gpu_pipeline": True,
"use_flatcache": True, # deprecated from Isaac Sim 2023.1 onwards
"use_fabric": True, # used from Isaac Sim 2023.1 onwards
"enable_scene_query_support": True,
}
sim = SimulationContext(
physics_dt=1.0 / 60.0, rendering_dt=1.0 / 60.0, sim_params=sim_params, backend="torch", device="cuda:0"
)
# Set main camera
set_camera_view([0.0, 30.0, 25.0], [0.0, 0.0, -2.5])
# Parameters
num_balls = 128
# Create interface to clone the scene
cloner = GridCloner(spacing=2.0)
cloner.define_base_env("/World/envs")
# Everything under the namespace "/World/envs/env_0" will be cloned
prim_utils.define_prim("/World/envs/env_0")
# Define the scene
# -- Ball
DynamicSphere(prim_path="/World/envs/env_0/ball", translation=np.array([0.0, 0.0, 5.0]), mass=0.5, radius=0.25)
# Clone the scene
cloner.define_base_env("/World/envs")
envs_prim_paths = cloner.generate_paths("/World/envs/env", num_paths=num_balls)
env_positions = cloner.clone(
source_prim_path="/World/envs/env_0", prim_paths=envs_prim_paths, replicate_physics=True, copy_from_source=True
)
physics_scene_path = sim.get_physics_context().prim_path
cloner.filter_collisions(
physics_scene_path, "/World/collisions", prim_paths=envs_prim_paths, global_paths=["/World/ground"]
)
# Use replicator to randomize color on the spheres
with rep.new_layer():
# Define a function to get all the shapes
def get_shapes():
shapes = rep.get.prims(path_pattern="/World/envs/env_.*/ball")
with shapes:
rep.randomizer.color(colors=rep.distribution.uniform((0, 0, 0), (1, 1, 1)))
return shapes.node
# Register the function
rep.randomizer.register(get_shapes)
# Specify the frequency of randomization
with rep.trigger.on_frame():
rep.randomizer.get_shapes()
# Set ball positions over terrain origins
# Create a view over all the balls
ball_view = RigidPrim("/World/envs/env_.*/ball", reset_xform_properties=False)
# cache initial state of the balls
ball_initial_positions = torch.tensor(env_positions, dtype=torch.float, device=sim.device)
ball_initial_positions[:, 2] += 5.0
# set initial poses
# note: setting here writes to USD :)
ball_view.set_world_poses(positions=ball_initial_positions)
# Play simulator
sim.reset()
# Step replicator to randomize colors
rep.orchestrator.step(pause_timeline=False)
# Stop replicator to prevent further randomization
rep.orchestrator.stop()
# Pause simulator at the beginning for inspection
sim.pause()
# Initialize the ball views for physics simulation
ball_view.initialize()
ball_initial_velocities = ball_view.get_velocities()
# Create a counter for resetting the scene
step_count = 0
# Simulate physics
while simulation_app.is_running():
# If simulation is stopped, then exit.
if sim.is_stopped():
break
# If simulation is paused, then skip.
if not sim.is_playing():
sim.step()
continue
# Reset the scene
if step_count % 500 == 0:
# reset the balls
ball_view.set_world_poses(positions=ball_initial_positions)
ball_view.set_velocities(ball_initial_velocities)
# reset the counter
step_count = 0
# Step simulation
sim.step()
# Update counter
step_count += 1
if __name__ == "__main__":
# run the main function
main()
# close sim app
simulation_app.close()
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