# 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
from __future__ import annotations
import copy
import logging
from collections.abc import Sequence
from typing import TYPE_CHECKING, Any
if TYPE_CHECKING:
from isaaclab_physx.assets import SurfaceGripper
from isaaclab.terrains.terrain_importer import TerrainImporter
import torch
import warp as wp
import isaaclab.sim as sim_utils
from isaaclab import cloner
from isaaclab.assets import (
Articulation,
ArticulationCfg,
AssetBaseCfg,
CableObject,
CableObjectCfg,
DeformableObject,
DeformableObjectCfg,
RigidObject,
RigidObjectCfg,
RigidObjectCollection,
RigidObjectCollectionCfg,
VisualMaterial,
VisualMaterialCfg,
)
from isaaclab.scene_data import REQUIRES_STAGE_AND_MODEL
from isaaclab.sensors import CameraCfg, ContactSensorCfg, FrameTransformerCfg, RayCasterCfg, SensorBase, SensorBaseCfg
from isaaclab.sim import SimulationContext
from isaaclab.sim.utils.stage import get_current_stage, get_current_stage_id
# Note: This is a temporary import for the VisuoTactileSensorCfg class.
# It will be removed once the VisuoTactileSensor class is added to the core Isaac Lab framework.
from isaaclab_contrib.sensors.tacsl_sensor import VisuoTactileSensorCfg
from .interactive_scene_cfg import InteractiveSceneCfg
if TYPE_CHECKING:
from pxr import Sdf # noqa: F401
# import logger
logger = logging.getLogger(__name__)
[docs]
class InteractiveScene:
"""A scene that contains entities added to the simulation.
The interactive scene parses the :class:`InteractiveSceneCfg` class to create the scene.
Based on the specified number of environments, it clones the entities and groups them into different
categories (e.g., articulations, sensors, etc.).
Cloning can be performed in two ways:
* For tasks where all environments contain the same assets, a more performant cloning paradigm
can be used to allow for faster environment creation. This is specified by the ``replicate_physics`` flag.
.. code-block:: python
scene = InteractiveScene(cfg=InteractiveSceneCfg(replicate_physics=True))
* For tasks that require having separate assets in the environments, ``replicate_physics`` would have to
be set to False, which will add some costs to the overall startup time.
.. code-block:: python
scene = InteractiveScene(cfg=InteractiveSceneCfg(replicate_physics=False))
Each entity is registered to scene based on its name in the configuration class. For example, if the user
specifies a robot in the configuration class as follows:
.. code-block:: python
from isaaclab.scene import InteractiveSceneCfg
from isaaclab.utils.configclass import configclass
from isaaclab_assets.robots.anymal import ANYMAL_C_CFG
@configclass
class MySceneCfg(InteractiveSceneCfg):
# ANYmal-C robot spawned in each environment
robot = ANYMAL_C_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")
Then the robot can be accessed from the scene as follows:
.. code-block:: python
from isaaclab.scene import InteractiveScene
# create 128 environments
scene = InteractiveScene(cfg=MySceneCfg(num_envs=128))
# access the robot from the scene
robot = scene["robot"]
# access the robot based on its type
robot = scene.articulations["robot"]
If the :class:`InteractiveSceneCfg` class does not include asset entities, the cloning process
can still be triggered by constructing assets directly on the stage and then calling
:func:`isaaclab.cloner.replicate` with a single-source :class:`~isaaclab.cloner.ClonePlan`:
.. code-block:: python
from isaaclab import cloner
from isaaclab.assets import Articulation
scene = InteractiveScene(cfg=InteractiveSceneCfg(num_envs=128, replicate_physics=True))
robot = Articulation(robot_cfg)
src, dest = "/World/envs/env_0", "/World/envs/env_{}"
pos = cloner.grid_transforms(scene.num_envs, scene.cfg.env_spacing, device=scene.device)[0]
plan = cloner.clone_plan_from_env_0(src, dest, scene.num_envs, scene.device, pos)
cloner.replicate(plan, stage=scene.stage)
.. note::
It is important to note that the scene only performs common operations on the entities. For example,
resetting the internal buffers, writing the buffers to the simulation and updating the buffers from the
simulation. The scene does not perform any task specific to the entity. For example, it does not apply
actions to the robot or compute observations from the robot. These tasks are handled by different
modules called "managers" in the framework. Please refer to the :mod:`isaaclab.managers` sub-package
for more details.
"""
[docs]
def __init__(self, cfg: InteractiveSceneCfg):
"""Initializes the scene.
Args:
cfg: The configuration class for the scene.
"""
# check that the config is valid
cfg.validate()
# store inputs
self.cfg = cfg
# initialize scene elements
self._terrain = None
self._articulations = dict()
self._cable_objects = dict()
self._deformable_objects = dict()
self._rigid_objects = dict()
self._rigid_object_collections = dict()
self._sensors = dict()
self._surface_grippers = dict()
self._visual_materials = dict()
self._extras = dict()
# get stage handle
self.sim = SimulationContext.instance()
self.stage = get_current_stage()
self.stage_id = get_current_stage_id()
self.physics_backend = self.sim.physics_manager.__name__.lower()
requested_viz_types = set(self.sim.resolve_visualizer_types())
# physics scene path
self._physics_scene_path = None
# prepare cloner for environment replication
self.cloner_cfg = copy.deepcopy(self.cfg.clone_cfg)
self.cloner_cfg.device = self.device
self.cloner_cfg.replicate_physics = self.cfg.replicate_physics
# the template is authoritative; the regex form is the same namespace spelled for matching
self._env_fmt = self.cloner_cfg.clone_template
self.env_prim_paths = [self._env_fmt.format(i) for i in range(self.cfg.num_envs)]
self._scene_asset_names: list[str] = []
self._clone_valid_set: torch.Tensor | None = None
# create source prim
self.stage.DefinePrim(self.env_prim_paths[0], "Xform")
# allocate env indices
self._ALL_INDICES = torch.arange(self.cfg.num_envs, dtype=torch.long, device=self.device)
# clone env_0 xform to env_1..env_{N-1} at grid origins
env_origins, _ = cloner.grid_transforms(self.num_envs, self.cfg.env_spacing, device=self.device)
with cloner.disabled_fabric_change_notifies(self.stage, restore=False):
cloner.usd_replicate(
self.stage,
[self.env_prim_paths[0]],
[self._env_fmt],
self._ALL_INDICES,
positions=env_origins,
)
# Always enter so a ClonePlan is published even when the scene cfg has no entities.
self._global_prim_paths = list()
clone_cfgs, global_paths = self._collect_asset_cfgs()
with cloner.ReplicateSession(
clone_cfgs,
num_clones=self.num_envs,
env_spacing=self.cfg.env_spacing,
device=self.device,
global_paths=global_paths,
env_template=self._env_fmt,
stage=self.stage,
clone_strategy=self.cloner_cfg.clone_strategy,
valid_set=self._clone_valid_set,
replicate_physics=self.cloner_cfg.replicate_physics,
):
if self._is_scene_setup_from_cfg():
self._add_entities_from_cfg()
# Every sensor exists by now, so all visualizer and camera-renderer requirements are visible.
cam_types = [s.cfg.renderer_cfg.renderer_type for s in self._sensors.values() if isinstance(s.cfg, CameraCfg)]
for type_name in requested_viz_types.union(cam_types):
requires_stage, requires_model = REQUIRES_STAGE_AND_MODEL[type_name]
self.sim.requires_usd_stage |= requires_stage
self.sim.requires_newton_model |= requires_model
# Collision filtering is PhysX-only (matches both physx and ovphysx).
if self.cfg.filter_collisions and "physx" in self.physics_backend and self._is_scene_setup_from_cfg():
self.filter_collisions(self._global_prim_paths)
def _collect_asset_cfgs(self) -> tuple[list[Any], tuple[str, ...]]:
"""Flatten user-declared cfgs and declare shared prim roots for clone planning.
Expands :class:`~isaaclab.assets.RigidObjectCollectionCfg` into its members,
resolves ``{ENV_REGEX_NS}`` macros, lets an enclosing asset's row own nested materials,
and returns only env-scoped configs with a spawner. Global roots are returned separately.
"""
cfg_fields = InteractiveSceneCfg.__dataclass_fields__
items = [(name, cfg) for name, cfg in self.cfg.__dict__.items() if name not in cfg_fields and cfg is not None]
self._scene_asset_names = [name for name, _ in items]
flat_items: list[tuple[str, Any]] = []
for asset_name, asset_cfg in items:
children = (
asset_cfg.rigid_objects.values() if isinstance(asset_cfg, RigidObjectCollectionCfg) else [asset_cfg]
)
for child in children:
child.prim_path = cloner.expand_env_regex_ns(child.prim_path, self._env_fmt)
flat_items.append((asset_name, child))
flat_items.sort(key=lambda item: isinstance(item[1], SensorBaseCfg))
owner_paths = [
cfg.prim_path
for _name, cfg in flat_items
if isinstance(cfg, AssetBaseCfg)
and not isinstance(cfg, VisualMaterialCfg)
and cfg.spawn is not None
and cloner.path.match(cfg.prim_path, self._env_fmt) is not None
]
nested_visual_material_ids = {
id(cfg)
for _name, cfg in flat_items
if isinstance(cfg, VisualMaterialCfg)
and any(cloner.path.relative_to(cfg.prim_path, owner) not in (None, "") for owner in owner_paths)
}
nested_material_names = {name for name, cfg in flat_items if id(cfg) in nested_visual_material_ids}
self._scene_asset_names = [name for name in self._scene_asset_names if name not in nested_material_names]
cfgs: list[Any] = []
global_paths: tuple[str, ...] = ()
clone_asset_names: list[str] = []
variant_counts: list[int] = []
for asset_name, child in flat_items:
if id(child) in nested_visual_material_ids:
if child.spawn is not None:
child.spawn.spawn_path = child.prim_path
continue
if cloner.path.match(child.prim_path, self._env_fmt) is None:
if child.prim_path not in global_paths:
global_paths += (child.prim_path,)
elif isinstance(child, (AssetBaseCfg, CameraCfg, RayCasterCfg)) and child.spawn is not None:
cfgs.append(child)
clone_asset_names.append(asset_name)
variant_counts.append(cloner.num_spawn_variants(child.spawn))
if self.cloner_cfg.clone_combinations and clone_asset_names:
self._clone_valid_set = cloner.make_valid_clone_combinations(
clone_asset_names,
variant_counts,
self.cloner_cfg.clone_combinations,
self.device,
all_asset_names=self._scene_asset_names,
)
else:
self._clone_valid_set = None
return cfgs, global_paths
[docs]
def filter_collisions(self, global_prim_paths: list[str] | None = None):
"""Filter environments collisions.
Disables collisions between the environments in ``/World/envs/env_.*`` and enables collisions with the prims
in global prim paths (e.g. ground plane).
Args:
global_prim_paths: A list of global prim paths to enable collisions with.
Defaults to None, in which case no global prim paths are considered.
"""
# validate paths in global prim paths
if global_prim_paths is None:
global_prim_paths = []
else:
# remove duplicates in paths
global_prim_paths = list(set(global_prim_paths))
# if "/World/collisions" already exists in the stage, we don't filter again
if self.stage.GetPrimAtPath("/World/collisions"):
return
# set global prim paths list if not previously defined
if len(self._global_prim_paths) < 1:
self._global_prim_paths += global_prim_paths
# filter collisions within each environment instance
cloner.filter_collisions(
self.stage,
self.physics_scene_path,
"/World/collisions",
self.env_prim_paths,
global_paths=self._global_prim_paths,
)
def __str__(self) -> str:
"""Returns a string representation of the scene."""
msg = f"<class {self.__class__.__name__}>\n"
msg += f"\tNumber of environments: {self.cfg.num_envs}\n"
msg += f"\tEnvironment spacing : {self.cfg.env_spacing}\n"
msg += f"\tSource prim name : {self.env_prim_paths[0]}\n"
msg += f"\tGlobal prim paths : {self._global_prim_paths}\n"
msg += f"\tReplicate physics : {self.cfg.replicate_physics}"
return msg
"""
Properties.
"""
@property
def physics_scene_path(self) -> str:
"""The path to the USD Physics Scene."""
if self._physics_scene_path is None:
# Prefer a prim with PhysxSceneAPI applied (Isaac Sim flow). Fall
# back to any UsdPhysics.Scene prim (kitless OvPhysX flow does not
# load the omni.physx schema, so the auto-created scene only
# carries the stock USD type without PhysxSceneAPI).
fallback_path: str | None = None
for prim in self.stage.Traverse():
if "PhysxSceneAPI" in prim.GetAppliedSchemas():
self._physics_scene_path = prim.GetPrimPath().pathString
logger.info(f"Physics scene prim path: {self._physics_scene_path}")
break
if fallback_path is None and prim.GetTypeName() == "PhysicsScene":
fallback_path = prim.GetPrimPath().pathString
if self._physics_scene_path is None and fallback_path is not None:
self._physics_scene_path = fallback_path
logger.info(f"Physics scene prim path (no PhysxSceneAPI): {self._physics_scene_path}")
if self._physics_scene_path is None:
raise RuntimeError("No physics scene found! Please make sure one exists.")
return self._physics_scene_path
@property
def physics_dt(self) -> float:
"""The physics timestep of the scene."""
return sim_utils.SimulationContext.instance().get_physics_dt() # pyright: ignore [reportOptionalMemberAccess]
@property
def device(self) -> str:
"""The device on which the scene is created."""
return sim_utils.SimulationContext.instance().device # pyright: ignore [reportOptionalMemberAccess]
@property
def env_ns(self) -> str:
"""The namespace ``/World/envs`` in which all environments are created."""
return self._env_fmt.rsplit("/", 1)[0]
@property
def env_regex_ns(self) -> str:
"""The namespace ``/World/envs/env_[^/]+`` in which all environments are created."""
return self._env_fmt.format("[^/]+")
@property
def num_envs(self) -> int:
"""The number of environments handled by the scene."""
return self.cfg.num_envs
@property
def env_origins(self) -> torch.Tensor:
"""Per-env world origins, shape ``(num_envs, 3)``. From the terrain when registered,
else from the published :class:`~isaaclab.cloner.ClonePlan`.
"""
if self._terrain is not None:
return self._terrain.env_origins
return self.sim.get_clone_plan().positions
@property
def terrain(self) -> TerrainImporter | None:
"""The terrain in the scene. If None, then the scene has no terrain.
Note:
We treat terrain separate from :attr:`extras` since terrains define environment origins and are
handled differently from other miscellaneous entities.
"""
return self._terrain
@property
def articulations(self) -> dict[str, Articulation]:
"""A dictionary of articulations in the scene."""
return self._articulations
@property
def cable_objects(self) -> dict[str, CableObject]:
"""A dictionary of cable objects in the scene."""
return self._cable_objects
@property
def deformable_objects(self) -> dict[str, DeformableObject]:
"""A dictionary of deformable objects in the scene."""
return self._deformable_objects
@property
def rigid_objects(self) -> dict[str, RigidObject]:
"""A dictionary of rigid objects in the scene."""
return self._rigid_objects
@property
def rigid_object_collections(self) -> dict[str, RigidObjectCollection]:
"""A dictionary of rigid object collections in the scene."""
return self._rigid_object_collections
@property
def sensors(self) -> dict[str, SensorBase]:
"""A dictionary of the sensors in the scene, such as cameras and contact reporters."""
return self._sensors
@property
def surface_grippers(self) -> dict[str, SurfaceGripper]:
"""A dictionary of the surface grippers in the scene."""
return self._surface_grippers
@property
def visual_materials(self) -> dict[str, VisualMaterial]:
"""Scene-declared runtime-writable visual materials."""
return self._visual_materials
@property
def clone_plan(self) -> cloner.ClonePlan | None:
"""Clone plan produced by the most recent replication.
Forwards to :meth:`SimulationContext.get_clone_plan`, which is the canonical owner.
The plan records the source paths, destination templates, and the per-env source
assignment mask. ``None`` until :func:`isaaclab.cloner.replicate` has run.
"""
return self.sim.get_clone_plan()
@property
def extras(self) -> dict[str, AssetBaseCfg]:
"""A dictionary of miscellaneous simulation objects that neither inherit from assets nor sensors.
The keys are the names of the miscellaneous objects, and the values are their
spawned configurations. Static assets create no runtime view: their prims are
kept exactly as cloned.
As an example, lights or other props in the scene that do not have any attributes or properties that you
want to alter at runtime can be added to this dictionary.
Note:
These are not reset or updated by the scene. They are mainly other prims that are not necessarily
handled by the interactive scene, but are useful to be accessed by the user.
"""
return self._extras
@property
def state(self) -> dict[str, dict[str, dict[str, torch.Tensor]]]:
"""A dictionary of the state of the scene entities in the simulation world frame.
Please refer to :meth:`get_state` for the format.
"""
return self.get_state(is_relative=False)
"""
Operations.
"""
[docs]
def reset(self, env_ids: Sequence[int] | None = None):
"""Resets the scene entities.
Args:
env_ids: The indices of the environments to reset.
Defaults to None (all instances).
"""
# -- assets
for articulation in self._articulations.values():
articulation.reset(env_ids)
for cable_object in self._cable_objects.values():
cable_object.reset(env_ids)
for deformable_object in self._deformable_objects.values():
deformable_object.reset(env_ids)
for rigid_object in self._rigid_objects.values():
rigid_object.reset(env_ids)
for surface_gripper in self._surface_grippers.values():
surface_gripper.reset(env_ids)
for rigid_object_collection in self._rigid_object_collections.values():
rigid_object_collection.reset(env_ids)
# -- sensors
for sensor in self._sensors.values():
sensor.reset(env_ids)
[docs]
def write_data_to_sim(self):
"""Writes the data of the scene entities to the simulation."""
# -- assets
for articulation in self._articulations.values():
articulation.write_data_to_sim()
for cable_object in self._cable_objects.values():
cable_object.write_data_to_sim()
for deformable_object in self._deformable_objects.values():
deformable_object.write_data_to_sim()
for rigid_object in self._rigid_objects.values():
rigid_object.write_data_to_sim()
for surface_gripper in self._surface_grippers.values():
surface_gripper.write_data_to_sim()
for rigid_object_collection in self._rigid_object_collections.values():
rigid_object_collection.write_data_to_sim()
[docs]
def update(self, dt: float) -> None:
"""Update the scene entities.
Args:
dt: The amount of time passed from last :meth:`update` call.
"""
# Scene-wide renderer scene-state sync once per step when all sensors update,
# so per-camera fetches do not own this concern (deduped inside RenderContext).
if not self.cfg.lazy_sensor_update:
self.sim.render_context.update_scene_state(self.sim.get_physics_step_count())
# -- assets
for articulation in self._articulations.values():
articulation.update(dt)
for cable_object in self._cable_objects.values():
cable_object.update(dt)
for deformable_object in self._deformable_objects.values():
deformable_object.update(dt)
for rigid_object in self._rigid_objects.values():
rigid_object.update(dt)
for rigid_object_collection in self._rigid_object_collections.values():
rigid_object_collection.update(dt)
for surface_gripper in self._surface_grippers.values():
surface_gripper.update(dt)
# -- sensors
for sensor in self._sensors.values():
sensor.update(dt, force_recompute=not self.cfg.lazy_sensor_update)
"""
Operations: Scene State.
"""
[docs]
def reset_to(
self,
state: dict[str, dict[str, dict[str, torch.Tensor]]],
env_ids: Sequence[int] | None = None,
is_relative: bool = False,
):
"""Resets the entities in the scene to the provided state.
Args:
state: The state to reset the scene entities to. Please refer to :meth:`get_state` for the format.
env_ids: The indices of the environments to reset. Defaults to None, in which case
all environment instances are reset.
is_relative: If set to True, the state is considered relative to the environment origins.
Defaults to False.
"""
# resolve env_ids
if env_ids is None:
env_ids = self._ALL_INDICES
# articulations
for asset_name, articulation in self._articulations.items():
asset_state = state["articulation"][asset_name]
# root state
root_pose = asset_state["root_pose"].clone().to(self.device)
if is_relative:
root_pose[:, :3] += self.env_origins[env_ids]
root_velocity = asset_state["root_velocity"].clone().to(self.device)
articulation.write_root_pose_to_sim_index(root_pose=root_pose, env_ids=env_ids)
articulation.write_root_velocity_to_sim_index(root_velocity=root_velocity, env_ids=env_ids)
# joint state
joint_position = asset_state["joint_position"].clone().to(self.device)
joint_velocity = asset_state["joint_velocity"].clone().to(self.device)
articulation.write_joint_position_to_sim_index(position=joint_position, env_ids=env_ids)
articulation.write_joint_velocity_to_sim_index(velocity=joint_velocity, env_ids=env_ids)
# FIXME: This is not generic as it assumes PD control over the joints.
# This assumption does not hold for effort controlled joints.
articulation.set_joint_position_target_index(target=joint_position, env_ids=env_ids)
articulation.set_joint_velocity_target_index(target=joint_velocity, env_ids=env_ids)
# cable objects
for asset_name, cable_object in self._cable_objects.items():
asset_state = state["cable_object"][asset_name]
segment_pose = asset_state["segment_pose"].clone().to(self.device)
if is_relative:
segment_pose[..., :3] += self.env_origins[env_ids, None, :]
segment_velocity = asset_state["segment_velocity"].clone().to(self.device)
cable_object.write_segment_pose_to_sim_index(segment_pose=segment_pose, env_ids=env_ids)
cable_object.write_segment_velocity_to_sim_index(segment_velocity=segment_velocity, env_ids=env_ids)
# deformable objects
for asset_name, deformable_object in self._deformable_objects.items():
asset_state = state["deformable_object"][asset_name]
nodal_position = asset_state["nodal_position"].clone().to(self.device)
if is_relative:
nodal_position += self.env_origins[env_ids, None, :]
nodal_velocity = asset_state["nodal_velocity"].clone().to(self.device)
deformable_object.write_nodal_pos_to_sim(nodal_position, env_ids=env_ids)
deformable_object.write_nodal_velocity_to_sim(nodal_velocity, env_ids=env_ids)
# rigid objects
for asset_name, rigid_object in self._rigid_objects.items():
asset_state = state["rigid_object"][asset_name]
root_pose = asset_state["root_pose"].clone().to(self.device)
if is_relative:
root_pose[:, :3] += self.env_origins[env_ids]
root_velocity = asset_state["root_velocity"].clone().to(self.device)
rigid_object.write_root_pose_to_sim_index(root_pose=root_pose, env_ids=env_ids)
rigid_object.write_root_velocity_to_sim_index(root_velocity=root_velocity, env_ids=env_ids)
# surface grippers
for asset_name, surface_gripper in self._surface_grippers.items():
asset_state = state["gripper"][asset_name]
surface_gripper.set_grippers_command(asset_state)
# write data to simulation to make sure initial state is set
# this propagates the joint targets to the simulation
self.write_data_to_sim()
[docs]
def get_state(self, is_relative: bool = False) -> dict[str, dict[str, dict[str, torch.Tensor]]]:
"""Returns the state of the scene entities.
Based on the type of the entity, the state comprises of different components.
* For an articulation, the state comprises of the root pose, root velocity, and joint position and velocity.
* For a cable object, the state comprises of the segment pose and velocity.
* For a deformable object, the state comprises of the nodal position and velocity.
* For a rigid object, the state comprises of the root pose and root velocity.
The returned state is a dictionary with the following format:
.. code-block:: python
{
"articulation": {
"entity_1_name": {
"root_pose": torch.Tensor,
"root_velocity": torch.Tensor,
"joint_position": torch.Tensor,
"joint_velocity": torch.Tensor,
},
"entity_2_name": {
"root_pose": torch.Tensor,
"root_velocity": torch.Tensor,
"joint_position": torch.Tensor,
"joint_velocity": torch.Tensor,
},
},
"cable_object": {
"entity_3_name": {
"segment_pose": torch.Tensor,
"segment_velocity": torch.Tensor,
}
},
"deformable_object": {
"entity_4_name": {
"nodal_position": torch.Tensor,
"nodal_velocity": torch.Tensor,
}
},
"rigid_object": {
"entity_5_name": {
"root_pose": torch.Tensor,
"root_velocity": torch.Tensor,
}
},
}
where ``entity_N_name`` is the name of the entity registered in the scene.
Args:
is_relative: If set to True, the state is considered relative to the environment origins.
Defaults to False.
Returns:
A dictionary of the state of the scene entities.
"""
state = dict()
# articulations
state["articulation"] = dict()
for asset_name, articulation in self._articulations.items():
asset_state = dict()
asset_state["root_pose"] = articulation.data.root_pose_w.torch.clone()
if is_relative:
asset_state["root_pose"][:, :3] -= self.env_origins
asset_state["root_velocity"] = articulation.data.root_vel_w.torch.clone()
asset_state["joint_position"] = articulation.data.joint_pos.torch.clone()
asset_state["joint_velocity"] = articulation.data.joint_vel.torch.clone()
state["articulation"][asset_name] = asset_state
# cable objects
state["cable_object"] = dict()
for asset_name, cable_object in self._cable_objects.items():
asset_state = dict()
asset_state["segment_pose"] = cable_object.data.segment_pose_w.torch.clone()
if is_relative:
asset_state["segment_pose"][..., :3] -= self.env_origins[:, None, :]
asset_state["segment_velocity"] = cable_object.data.segment_velocity_w.torch.clone()
state["cable_object"][asset_name] = asset_state
# deformable objects
state["deformable_object"] = dict()
for asset_name, deformable_object in self._deformable_objects.items():
asset_state = dict()
asset_state["nodal_position"] = deformable_object.data.nodal_pos_w.torch.clone()
if is_relative:
asset_state["nodal_position"] -= self.env_origins[:, None, :]
asset_state["nodal_velocity"] = deformable_object.data.nodal_vel_w.torch.clone()
state["deformable_object"][asset_name] = asset_state
# rigid objects
state["rigid_object"] = dict()
for asset_name, rigid_object in self._rigid_objects.items():
asset_state = dict()
asset_state["root_pose"] = rigid_object.data.root_pose_w.torch.clone()
if is_relative:
asset_state["root_pose"][:, :3] -= self.env_origins
asset_state["root_velocity"] = rigid_object.data.root_vel_w.torch.clone()
state["rigid_object"][asset_name] = asset_state
# surface grippers
state["gripper"] = dict()
for asset_name, gripper in self._surface_grippers.items():
state["gripper"][asset_name] = wp.to_torch(gripper.state).clone()
return state
"""
Operations: Iteration.
"""
[docs]
def keys(self) -> list[str]:
"""Returns the keys of the scene entities.
Returns:
The keys of the scene entities.
"""
all_keys = ["terrain"]
for asset_family in [
self._articulations,
self._cable_objects,
self._deformable_objects,
self._rigid_objects,
self._rigid_object_collections,
self._sensors,
self._surface_grippers,
self._visual_materials,
self._extras,
]:
all_keys += list(asset_family.keys())
return all_keys
def __getitem__(self, key: str) -> Any:
"""Returns the scene entity with the given key.
Args:
key: The key of the scene entity.
Returns:
The scene entity.
"""
# check if it is a terrain
if key == "terrain":
return self._terrain
all_keys = ["terrain"]
# check if it is in other dictionaries
for asset_family in [
self._articulations,
self._cable_objects,
self._deformable_objects,
self._rigid_objects,
self._rigid_object_collections,
self._sensors,
self._surface_grippers,
self._visual_materials,
self._extras,
]:
out = asset_family.get(key)
# if found, return
if out is not None:
return out
all_keys += list(asset_family.keys())
# if not found, raise error
raise KeyError(f"Scene entity with key '{key}' not found. Available Entities: '{all_keys}'")
"""
Internal methods.
"""
def _is_scene_setup_from_cfg(self) -> bool:
"""Check if scene entities are setup from the config or not.
Returns:
True if scene entities are setup from the config, False otherwise.
"""
return any(
not (asset_name in InteractiveSceneCfg.__dataclass_fields__ or asset_cfg is None)
for asset_name, asset_cfg in self.cfg.__dict__.items()
)
def _add_entities_from_cfg(self): # noqa: C901
"""Add scene entities from the config."""
from isaaclab_physx.assets import SurfaceGripperCfg # noqa: PLC0415
from isaaclab.terrains.terrain_importer_cfg import TerrainImporterCfg # noqa: PLC0415
# store paths that are in global collision filter
self._global_prim_paths = list()
# Parent prototypes must exist before anything spawned below them; sensors initialize last.
all_items = [
(k, v)
for k, v in self.cfg.__dict__.items()
if k not in InteractiveSceneCfg.__dataclass_fields__ and v is not None
]
ordered_items = sorted(
all_items,
key=lambda item: (
isinstance(item[1], SensorBaseCfg),
len(sim_utils.split_path_expr(getattr(item[1], "prim_path", ""))),
),
)
for asset_name, asset_cfg in ordered_items:
# set spawn_path on spawner if cloning is needed
if hasattr(asset_cfg, "spawn") and asset_cfg.spawn is not None:
is_multi_spawner = isinstance(
asset_cfg.spawn, (sim_utils.MultiAssetSpawnerCfg, sim_utils.MultiUsdFileCfg)
)
if cloner.path.match(asset_cfg.prim_path, self._env_fmt) is None:
asset_cfg.spawn.spawn_path = asset_cfg.prim_path
elif is_multi_spawner and not asset_cfg.spawn.spawn_paths:
raise RuntimeError(f"Clone planning did not assign spawn_paths for '{asset_cfg.prim_path}'.")
elif not is_multi_spawner and asset_cfg.spawn.spawn_path is None:
raise RuntimeError(f"Clone planning did not assign spawn_path for '{asset_cfg.prim_path}'.")
# create asset
if isinstance(asset_cfg, TerrainImporterCfg):
# terrains are special entities since they define environment origins
asset_cfg.num_envs = self.cfg.num_envs
asset_cfg.env_spacing = self.cfg.env_spacing
self._terrain = asset_cfg.class_type(asset_cfg)
elif isinstance(asset_cfg, ArticulationCfg):
self._articulations[asset_name] = asset_cfg.class_type(asset_cfg)
elif isinstance(asset_cfg, CableObjectCfg):
self._cable_objects[asset_name] = asset_cfg.class_type(asset_cfg)
elif isinstance(asset_cfg, DeformableObjectCfg):
self._deformable_objects[asset_name] = asset_cfg.class_type(asset_cfg)
elif isinstance(asset_cfg, RigidObjectCfg):
self._rigid_objects[asset_name] = asset_cfg.class_type(asset_cfg)
elif isinstance(asset_cfg, RigidObjectCollectionCfg):
for rigid_object_cfg in asset_cfg.rigid_objects.values():
# set spawn_path on spawner if cloning is needed
if hasattr(rigid_object_cfg, "spawn") and rigid_object_cfg.spawn is not None:
is_multi_spawner = isinstance(
rigid_object_cfg.spawn, (sim_utils.MultiAssetSpawnerCfg, sim_utils.MultiUsdFileCfg)
)
if cloner.path.match(rigid_object_cfg.prim_path, self._env_fmt) is None:
rigid_object_cfg.spawn.spawn_path = rigid_object_cfg.prim_path
elif is_multi_spawner and not rigid_object_cfg.spawn.spawn_paths:
raise RuntimeError(
f"Clone planning did not assign spawn_paths for '{rigid_object_cfg.prim_path}'."
)
elif not is_multi_spawner and rigid_object_cfg.spawn.spawn_path is None:
raise RuntimeError(
f"Clone planning did not assign spawn_path for '{rigid_object_cfg.prim_path}'."
)
self._rigid_object_collections[asset_name] = asset_cfg.class_type(asset_cfg)
for rigid_object_cfg in asset_cfg.rigid_objects.values():
if hasattr(rigid_object_cfg, "collision_group") and rigid_object_cfg.collision_group == -1:
asset_paths = sim_utils.find_matching_prim_paths(rigid_object_cfg.prim_path)
self._global_prim_paths += asset_paths
elif isinstance(asset_cfg, SurfaceGripperCfg):
# add surface grippers to scene
self._surface_grippers[asset_name] = asset_cfg.class_type(asset_cfg)
elif isinstance(asset_cfg, SensorBaseCfg):
# Update target frame path(s)' regex name space for FrameTransformer
if isinstance(asset_cfg, FrameTransformerCfg):
for target_frame in asset_cfg.target_frames:
target_frame.prim_path = cloner.expand_env_regex_ns(target_frame.prim_path, self._env_fmt)
elif isinstance(asset_cfg, ContactSensorCfg):
asset_cfg.filter_prim_paths_expr = [
cloner.expand_env_regex_ns(p, self._env_fmt) for p in asset_cfg.filter_prim_paths_expr
]
if hasattr(asset_cfg, "sensor_shape_prim_expr") and asset_cfg.sensor_shape_prim_expr:
asset_cfg.sensor_shape_prim_expr = [
cloner.expand_env_regex_ns(p, self._env_fmt) for p in asset_cfg.sensor_shape_prim_expr
]
if hasattr(asset_cfg, "filter_shape_prim_expr") and asset_cfg.filter_shape_prim_expr:
asset_cfg.filter_shape_prim_expr = [
cloner.expand_env_regex_ns(p, self._env_fmt) for p in asset_cfg.filter_shape_prim_expr
]
elif isinstance(asset_cfg, VisuoTactileSensorCfg):
if hasattr(asset_cfg, "camera_cfg") and asset_cfg.camera_cfg is not None:
asset_cfg.camera_cfg.prim_path = cloner.expand_env_regex_ns(
asset_cfg.camera_cfg.prim_path, self._env_fmt
)
if (
hasattr(asset_cfg, "contact_object_prim_path_expr")
and asset_cfg.contact_object_prim_path_expr is not None
):
asset_cfg.contact_object_prim_path_expr = cloner.expand_env_regex_ns(
asset_cfg.contact_object_prim_path_expr, self._env_fmt
)
self._sensors[asset_name] = asset_cfg.class_type(asset_cfg)
elif isinstance(asset_cfg, VisualMaterialCfg):
self._visual_materials[asset_name] = asset_cfg.class_type(asset_cfg)
elif isinstance(asset_cfg, AssetBaseCfg):
# manually spawn asset (into its clone-plan source env only)
if asset_cfg.spawn is not None:
asset_cfg.spawn.func(
asset_cfg.spawn.spawn_path,
asset_cfg.spawn,
translation=asset_cfg.init_state.pos,
orientation=asset_cfg.init_state.rot,
)
# static assets have no asset class to queue their own replication:
# queue the USD spread here so clones exist in every planned env
cloner.queue_replication(asset_cfg)
# static assets create no view: the prims are kept exactly as cloned
self._extras[asset_name] = asset_cfg
else:
raise ValueError(f"Unknown asset config type for {asset_name}: {asset_cfg}")
# store global collision paths
if hasattr(asset_cfg, "collision_group") and asset_cfg.collision_group == -1:
asset_paths = sim_utils.find_matching_prim_paths(asset_cfg.prim_path)
self._global_prim_paths += asset_paths
