# 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 demonstrates how to spawn multiple objects in multiple environments. .. code-block:: bash # Usage ./isaaclab.sh -p scripts/demos/multi_asset.py --num_envs 2048 """ from __future__ import annotations """Launch Isaac Sim Simulator first.""" import argparse from isaaclab.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=512, 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 from pxr import Gf, Sdf import isaaclab.sim as sim_utils from isaaclab.assets import ( Articulation, ArticulationCfg, AssetBaseCfg, RigidObject, RigidObjectCfg, RigidObjectCollection, RigidObjectCollectionCfg, ) from isaaclab.scene import InteractiveScene, InteractiveSceneCfg from isaaclab.sim import SimulationContext from isaaclab.sim.utils.stage import get_current_stage from isaaclab.utils import Timer, configclass from isaaclab.utils.assets import ISAACLAB_NUCLEUS_DIR ## # Pre-defined Configuration ## from isaaclab_assets.robots.anymal import ANYDRIVE_3_LSTM_ACTUATOR_CFG # isort: skip ## # Randomization events. ## def randomize_shape_color(prim_path_expr: str): """Randomize the color of the geometry.""" # get stage handle stage = get_current_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 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 = prim_spec.GetAttributeAtPath(prim_path + "/geometry/material/Shader.inputs:diffuseColor") color_spec.default = Gf.Vec3f(random.random(), random.random(), random.random()) ## # 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)) ) # rigid object object: RigidObjectCfg = RigidObjectCfg( prim_path="/World/envs/env_.*/Object", spawn=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), ), 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(), ), init_state=RigidObjectCfg.InitialStateCfg(pos=(0.0, 0.0, 2.0)), ) # object collection object_collection: RigidObjectCollectionCfg = RigidObjectCollectionCfg( rigid_objects={ "object_A": RigidObjectCfg( prim_path="/World/envs/env_.*/Object_A", spawn=sim_utils.SphereCfg( radius=0.1, visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(1.0, 0.0, 0.0), metallic=0.2), 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(), ), init_state=RigidObjectCfg.InitialStateCfg(pos=(0.0, -0.5, 2.0)), ), "object_B": RigidObjectCfg( prim_path="/World/envs/env_.*/Object_B", spawn=sim_utils.CuboidCfg( size=(0.1, 0.1, 0.1), visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(1.0, 0.0, 0.0), metallic=0.2), 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(), ), init_state=RigidObjectCfg.InitialStateCfg(pos=(0.0, 0.5, 2.0)), ), "object_C": RigidObjectCfg( prim_path="/World/envs/env_.*/Object_C", spawn=sim_utils.ConeCfg( radius=0.1, height=0.3, visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(1.0, 0.0, 0.0), metallic=0.2), 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(), ), init_state=RigidObjectCfg.InitialStateCfg(pos=(0.5, 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}, ) ## # 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: RigidObject = scene["object"] rigid_object_collection: RigidObjectCollection = scene["object_collection"] robot: Articulation = scene["robot"] # Define simulation stepping sim_dt = sim.get_physics_dt() count = 0 # Simulation loop while simulation_app.is_running(): # Reset if count % 250 == 0: # reset counter count = 0 # reset the scene entities # object root_state = rigid_object.data.default_root_state.clone() root_state[:, :3] += scene.env_origins rigid_object.write_root_pose_to_sim(root_state[:, :7]) rigid_object.write_root_velocity_to_sim(root_state[:, 7:]) # object collection object_state = rigid_object_collection.data.default_object_state.clone() object_state[..., :3] += scene.env_origins.unsqueeze(1) rigid_object_collection.write_object_link_pose_to_sim(object_state[..., :7]) rigid_object_collection.write_object_com_velocity_to_sim(object_state[..., 7:]) # robot # -- root state root_state = robot.data.default_root_state.clone() root_state[:, :3] += scene.env_origins robot.write_root_pose_to_sim(root_state[:, :7]) robot.write_root_velocity_to_sim(root_state[:, 7:]) # -- 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 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 sim.step() # Increment counter count += 1 # Update buffers scene.update(sim_dt) def main(): """Main function.""" # Load kit helper 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=2.0, 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_shape_color(scene_cfg.object.prim_path) # 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()