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# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
"""This script demonstrates different rigid and deformable meshes in the scene.
It randomly spawns different types of meshes in the scene. The meshes can be rigid or deformable
based on the probability of 0.5. The rigid meshes are spawned with rigid body and collision properties,
while the deformable meshes are spawned with deformable body properties.
.. code-block:: bash
# Usage
./isaaclab.sh -p source/isaaclab/test/sim/check_meshes.py
"""
"""Launch Isaac Sim Simulator first."""
import argparse
from isaaclab.app import AppLauncher
# create argparser
parser = argparse.ArgumentParser(description="This script demonstrates different meshes in the 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 random
import numpy as np
import torch
import tqdm
import isaaclab.sim as sim_utils
def define_origins(num_origins: int, spacing: float) -> list[list[float]]:
"""Defines the origins of the the scene."""
# create tensor based on number of environments
env_origins = torch.zeros(num_origins, 3)
# create a grid of origins
num_cols = np.floor(np.sqrt(num_origins))
num_rows = np.ceil(num_origins / num_cols)
xx, yy = torch.meshgrid(torch.arange(num_rows), torch.arange(num_cols), indexing="xy")
env_origins[:, 0] = spacing * xx.flatten()[:num_origins] - spacing * (num_rows - 1) / 2
env_origins[:, 1] = spacing * yy.flatten()[:num_origins] - spacing * (num_cols - 1) / 2
env_origins[:, 2] = torch.rand(num_origins) + 1.0
# return the origins
return env_origins.tolist()
def design_scene():
"""Designs the scene by spawning ground plane, light, and deformable meshes."""
# Ground-plane
cfg_ground = sim_utils.GroundPlaneCfg()
cfg_ground.func("/World/defaultGroundPlane", cfg_ground)
# spawn distant light
cfg_light = sim_utils.DomeLightCfg(
intensity=3000.0,
color=(0.75, 0.75, 0.75),
)
cfg_light.func("/World/light", cfg_light)
# create new xform prims for all objects to be spawned under
origins = define_origins(num_origins=4, spacing=5.5)
for idx, origin in enumerate(origins):
sim_utils.create_prim(f"/World/Origin{idx:02d}", "Xform", translation=origin)
# spawn a red cone
cfg_sphere = sim_utils.MeshSphereCfg(
radius=0.25,
mass_props=sim_utils.MassPropertiesCfg(mass=1.0),
visual_material=sim_utils.PreviewSurfaceCfg(),
)
cfg_cuboid = sim_utils.MeshCuboidCfg(
size=(0.2, 0.2, 0.2),
mass_props=sim_utils.MassPropertiesCfg(mass=1.0),
visual_material=sim_utils.PreviewSurfaceCfg(),
)
cfg_cylinder = sim_utils.MeshCylinderCfg(
radius=0.15,
height=0.5,
mass_props=sim_utils.MassPropertiesCfg(mass=1.0),
visual_material=sim_utils.PreviewSurfaceCfg(),
)
cfg_capsule = sim_utils.MeshCapsuleCfg(
radius=0.15,
height=0.5,
mass_props=sim_utils.MassPropertiesCfg(mass=1.0),
visual_material=sim_utils.PreviewSurfaceCfg(),
)
cfg_cone = sim_utils.MeshConeCfg(
radius=0.15,
height=0.5,
mass_props=sim_utils.MassPropertiesCfg(mass=1.0),
visual_material=sim_utils.PreviewSurfaceCfg(),
)
# create a dictionary of all the objects to be spawned
objects_cfg = {
"sphere": cfg_sphere,
"cuboid": cfg_cuboid,
"cylinder": cfg_cylinder,
"capsule": cfg_capsule,
"cone": cfg_cone,
}
# Create separate groups of deformable objects
origins = define_origins(num_origins=25, spacing=0.5)
print("[INFO]: Spawning objects...")
# Iterate over all the origins and randomly spawn objects
for idx, origin in tqdm.tqdm(enumerate(origins), total=len(origins)):
# randomly select an object to spawn
obj_name = random.choice(list(objects_cfg.keys()))
obj_cfg = objects_cfg[obj_name]
# randomly decide if it is rigid or deformable
if random.random() < 0.5:
obj_cfg.rigid_props = None
obj_cfg.collision_props = None
obj_cfg.deformable_props = sim_utils.DeformableBodyPropertiesCfg(rest_offset=0.0)
else:
obj_cfg.deformable_props = None
obj_cfg.rigid_props = sim_utils.RigidBodyPropertiesCfg()
obj_cfg.collision_props = sim_utils.CollisionPropertiesCfg()
# randomize the color
obj_cfg.visual_material.diffuse_color = (random.random(), random.random(), random.random())
# spawn the object
obj_cfg.func(f"/World/Origin.*/Object{idx:02d}", obj_cfg, translation=origin)
def main():
"""Main function."""
# Initialize the simulation context
sim_cfg = sim_utils.SimulationCfg(dt=0.01)
sim = sim_utils.SimulationContext(sim_cfg)
# Set main camera
sim.set_camera_view([8.0, 8.0, 6.0], [0.0, 0.0, 0.0])
# Design scene by adding assets to it
design_scene()
# Play the simulator
sim.reset()
# Now we are ready!
print("[INFO]: Setup complete...")
# Simulate physics
while simulation_app.is_running():
# perform step
sim.step()
if __name__ == "__main__":
# run the main function
main()
# close sim app
simulation_app.close()
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