Merge branch 'isaac-sim:develop' into develop

Author: fatimaanes

docs/source/how-to/multi_asset_spawning.rst

@@ -101,21 +101,22 @@ the same names for them. If that is not the case, the physics parsing of the pri
 The main purpose of this functionality is to enable the user to create randomized versions of the same asset,
 for example robots with different link lengths, or rigid objects with different collider shapes.
 
-Disabling physics replication in interactive scene
-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+Physics replication in interactive scene
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
 
 By default, the flag :attr:`scene.InteractiveScene.replicate_physics` is set to True. This flag informs the physics
 engine that the simulation environments are copies of one another so it just needs to parse the first environment
 to understand the entire simulation scene. This helps speed up the simulation scene parsing.
 
 However, in the case of spawning different assets in different environments, this assumption does not hold
-anymore. Hence the flag :attr:`scene.InteractiveScene.replicate_physics` must be disabled.
+anymore. Hence the flag :attr:`scene.InteractiveScene.replicate_physics` must be disabled when the spawned assets
+do not share the same structure.
 For a full guide on the template-based cloning system including strategies and collision filtering,
 see :doc:`cloning`.
 
 .. literalinclude:: ../../../scripts/demos/multi_asset.py
    :language: python
-   :lines: 280-283
+   :lines: 247-251
    :dedent:
 
 The Code Execution

scripts/demos/arl_robot_1.py

@@ -3,37 +3,42 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-"""
-Script to view ARL Robot 1.
+"""Script to view ARL Robot 1.
+
+.. code-block:: bash
+
+    # Usage with default PhysX physics and default kit visualizer.
+    ./isaaclab.sh -p scripts/demos/arl_robot_1.py
+
+    # Usage with Newton visualizer and default PhysX physics.
+    ./isaaclab.sh -p scripts/demos/arl_robot_1.py --visualizer newton
 
-Launch Isaac Sim Simulator first.
 """
 
-# Create argparser
+"""Parse CLI first so we can decide whether to launch Isaac Sim Kit."""
+
 import argparse
 
-from isaaclab.app import AppLauncher
+from isaaclab.app import add_launcher_args, launch_simulation
 
-parser = argparse.ArgumentParser(description="View ARL Robot 1 with Lee Position Controller.")
-# append AppLauncher cli args
-AppLauncher.add_app_launcher_args(parser)
+parser = argparse.ArgumentParser(
+    description="View ARL Robot 1 with Lee Position Controller.",
+    conflict_handler="resolve",
+)
+parser.add_argument("--physics", default="physx", choices=["physx"], help="Physics backend.")
+add_launcher_args(parser)
+parser.set_defaults(visualizer=["kit"])
 args_cli = parser.parse_args()
 
-# launch omniverse app
-app_launcher = AppLauncher(args_cli)
-simulation_app = app_launcher.app
-
-"""Rest everything follows."""
-
 import torch
 
-import omni.usd
-from pxr import Gf, UsdLux
-
 import isaaclab.sim as sim_utils
-from isaaclab.sim import SimulationContext
 
-from isaaclab_contrib.assets import Multirotor
+##
+# Pre-defined configs
+##
+from isaaclab.physics import PhysicsCfg
+
 from isaaclab_contrib.controllers.lee_position_control import LeePosController
 from isaaclab_contrib.controllers.lee_position_control_cfg import LeePosControllerCfg
 
@@ -42,72 +47,68 @@
 
 def main():
     """Main function to spawn arl_robot_1."""
-
-    # Create simulation context
-    sim_cfg = sim_utils.SimulationCfg(dt=0.01)
-    sim = SimulationContext(sim_cfg)
-
-    # Create a dome light with light blue color
-    stage = omni.usd.get_context().get_stage()
-    dome_light = UsdLux.DomeLight.Define(stage, "/World/DomeLight")
-    dome_light.CreateColorAttr(Gf.Vec3f(0.53, 0.81, 0.92))  # Light blue
-    dome_light.CreateIntensityAttr(1000.0)
-
-    # Spawn ground plane
-    cfg = sim_utils.GroundPlaneCfg()
-    cfg.func("/World/defaultGroundPlane", cfg)
-
-    # Spawn robot
-    robot_cfg = ARL_ROBOT_1_CFG.replace(prim_path="/World/Robot")
-    robot_cfg.actuators["thrusters"].dt = sim_cfg.dt
-    robot = Multirotor(robot_cfg)
-
-    # Play the simulator
-    sim.reset()
-
-    # Create Lee position controller
-    controller_cfg = LeePosControllerCfg(
-        K_pos_range=((2.5, 2.5, 1.5), (3.5, 3.5, 2.0)),
-        K_vel_range=((2.5, 2.5, 1.5), (3.5, 3.5, 2.0)),
-        K_rot_range=((1.6, 1.6, 0.25), (1.85, 1.85, 0.4)),
-        K_angvel_range=((0.4, 0.4, 0.075), (0.5, 0.5, 0.09)),
-        max_inclination_angle_rad=1.0471975511965976,
-        max_yaw_rate=1.0471975511965976,
-    )
-    controller = LeePosController(controller_cfg, robot, num_envs=1, device=str(sim.device))
-
-    # Get allocation matrix and compute pseudoinverse
-    allocation_matrix = torch.tensor(robot_cfg.allocation_matrix, device=sim.device, dtype=torch.float32)
-    # allocation_matrix is (6, num_thrusters), we need pseudoinverse for wrench -> thrust
-    alloc_pinv = torch.linalg.pinv(allocation_matrix)  # Shape: (num_thrusters, 6)
-
-    # Position command: hover in place (zero position, zero yaw)
-    pos_command = torch.zeros((1, 4), device=sim.device)  # [x, y, z, yaw]
-    pos_command[0, 2] = 1.0  # Hover at 1 meter height
-
-    # Simulation loop
-    print("[INFO] Starting demo with Lee Position Controller. Press Ctrl+C to stop.")
-
-    while simulation_app.is_running():
-        # Compute wrench from velocity controller
-        wrench = controller.compute(pos_command)  # Shape: (1, 6)
-
-        # Allocate wrench to thrusters: thrust = pinv(A) @ wrench
-        thrust_cmd = torch.matmul(wrench, alloc_pinv.T)  # Shape: (1, num_thrusters)
-        thrust_cmd = thrust_cmd.clamp(min=0.0)  # Ensure non-negative thrust
-
-        # Apply thrust
-        robot.set_thrust_target(thrust_cmd)
-
-        # Step simulation
-        robot.write_data_to_sim()
-        sim.step()
-
-        # Update robot
-        robot.update(sim_cfg.dt)
-
-    # Cleanup
-    simulation_app.close()
+    with launch_simulation(cfg=PhysicsCfg(), launcher_args=args_cli) as physics_cfg:
+        # Create simulation context
+        sim_cfg = sim_utils.SimulationCfg(dt=0.01, device=args_cli.device, physics=physics_cfg)
+        sim = sim_utils.SimulationContext(sim_cfg)
+
+        # Create a dome light with light blue color
+        light_cfg = sim_utils.DomeLightCfg(intensity=1000.0, color=(0.53, 0.81, 0.92))
+        light_cfg.func("/World/DomeLight", light_cfg)
+
+        # Spawn ground plane
+        ground_cfg = sim_utils.GroundPlaneCfg()
+        ground_cfg.func("/World/defaultGroundPlane", ground_cfg)
+
+        # Spawn robot
+        robot_cfg = ARL_ROBOT_1_CFG.replace(prim_path="/World/Robot")
+        robot_cfg.actuators["thrusters"].dt = sim_cfg.dt
+        robot = robot_cfg.class_type(robot_cfg)
+
+        # Play the simulator
+        sim.reset()
+
+        # Create Lee position controller
+        controller_cfg = LeePosControllerCfg(
+            K_pos_range=((2.5, 2.5, 1.5), (3.5, 3.5, 2.0)),
+            K_vel_range=((2.5, 2.5, 1.5), (3.5, 3.5, 2.0)),
+            K_rot_range=((1.6, 1.6, 0.25), (1.85, 1.85, 0.4)),
+            K_angvel_range=((0.4, 0.4, 0.075), (0.5, 0.5, 0.09)),
+            max_inclination_angle_rad=1.0471975511965976,
+            max_yaw_rate=1.0471975511965976,
+        )
+        controller = LeePosController(controller_cfg, robot, num_envs=1, device=str(sim.device))
+
+        # Get allocation matrix and compute pseudoinverse
+        allocation_matrix = torch.tensor(robot_cfg.allocation_matrix, device=sim.device, dtype=torch.float32)
+        # allocation_matrix is (6, num_thrusters), we need pseudoinverse for wrench -> thrust
+        alloc_pinv = torch.linalg.pinv(allocation_matrix)  # Shape: (num_thrusters, 6)
+
+        # Position command: hover in place (zero position, zero yaw)
+        pos_command = torch.zeros((1, 4), device=sim.device)  # [x, y, z, yaw]
+        pos_command[0, 2] = 1.0  # Hover at 1 meter height
+
+        # Simulation loop
+        print("[INFO] Starting demo with Lee Position Controller. Press Ctrl+C to stop.")
+
+        # Step while a visualizer window is still open (or none exist, e.g. headless); works for kit and newton.
+        while sim.is_headless_or_exist_active_visualizer():
+            # Compute wrench from position controller
+            wrench = controller.compute(pos_command)  # Shape: (1, 6)
+
+            # Allocate wrench to thrusters: thrust = pinv(A) @ wrench
+            thrust_cmd = torch.matmul(wrench, alloc_pinv.T)  # Shape: (1, num_thrusters)
+            thrust_cmd = thrust_cmd.clamp(min=0.0)  # Ensure non-negative thrust
+
+            # Apply thrust
+            robot.set_thrust_target(thrust_cmd)
+
+            # Step simulation
+            robot.write_data_to_sim()
+            sim.step()
+
+            # Update robot
+            robot.update(sim_cfg.dt)
 
 
 if __name__ == "__main__":

scripts/demos/arms.py

@@ -3,8 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-"""
-This script demonstrates different single-arm manipulators.
+"""This script demonstrates different single-arm manipulators.
 
 .. code-block:: bash
 
@@ -60,7 +59,7 @@
 
 
 def define_origins(num_origins: int, spacing: float) -> list[list[float]]:
-    """Defines the origins of the the scene."""
+    """Defines the origins of the scene."""
     # create tensor based on number of environments
     env_origins = torch.zeros(num_origins, 3)
     # create a grid of origins

scripts/demos/bin_packing.py

@@ -50,20 +50,21 @@
 
 import torch
 
+import isaaclab.sim as sim_utils
+import isaaclab.utils.math as math_utils
+
 ##
 # Pre-defined configs
 ##
-from isaaclab_newton.physics import MJWarpSolverCfg, NewtonCfg
-
-import isaaclab.sim as sim_utils
-import isaaclab.utils.math as math_utils
 from isaaclab.assets import AssetBaseCfg, RigidObjectCfg, RigidObjectCollectionCfg
 from isaaclab.physics import PhysicsCfg
 from isaaclab.scene import InteractiveScene, InteractiveSceneCfg
 from isaaclab.utils import Timer
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
 from isaaclab.utils.configclass import configclass
 
+from isaaclab_newton.physics import MJWarpSolverCfg, NewtonCfg  # isort:skip
+
 if TYPE_CHECKING:
     from isaaclab.assets import RigidObjectCollection
 
@@ -348,7 +349,7 @@ def run_simulator(sim: sim_utils.SimulationContext, scene: InteractiveScene) ->
         scene.update(sim_dt)
 
 
-def main() -> None:
+def main():
     """Main function.
 
     Returns:

scripts/demos/bipeds.py

@@ -3,8 +3,7 @@
 #
 # SPDX-License-Identifier: BSD-3-Clause
 
-"""
-This script demonstrates how to simulate bipedal robots.
+"""This script demonstrates how to simulate bipedal robots.
 
 .. code-block:: bash