Source code for omni.isaac.lab.assets.asset_base

# Copyright (c) 2022-2024, The Isaac Lab Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause

from __future__ import annotations

import inspect
import re
import weakref
from abc import ABC, abstractmethod
from collections.abc import Sequence
from typing import TYPE_CHECKING, Any

import omni.kit.app
import omni.timeline

import omni.isaac.lab.sim as sim_utils

if TYPE_CHECKING:
    from .asset_base_cfg import AssetBaseCfg


[docs]class AssetBase(ABC): """The base interface class for assets. An asset corresponds to any physics-enabled object that can be spawned in the simulation. These include rigid objects, articulated objects, deformable objects etc. The core functionality of an asset is to provide a set of buffers that can be used to interact with the simulator. The buffers are updated by the asset class and can be written into the simulator using the their respective ``write`` methods. This allows a convenient way to perform post-processing operations on the buffers before writing them into the simulator and obtaining the corresponding simulation results. The class handles both the spawning of the asset into the USD stage as well as initialization of necessary physics handles to interact with the asset. Upon construction of the asset instance, the prim corresponding to the asset is spawned into the USD stage if the spawn configuration is not None. The spawn configuration is defined in the :attr:`AssetBaseCfg.spawn` attribute. In case the configured :attr:`AssetBaseCfg.prim_path` is an expression, then the prim is spawned at all the matching paths. Otherwise, a single prim is spawned at the configured path. For more information on the spawn configuration, see the :mod:`omni.isaac.lab.sim.spawners` module. Unlike Isaac Sim interface, where one usually needs to call the :meth:`omni.isaac.core.prims.XFormPrimView.initialize` method to initialize the PhysX handles, the asset class automatically initializes and invalidates the PhysX handles when the stage is played/stopped. This is done by registering callbacks for the stage play/stop events. Additionally, the class registers a callback for debug visualization of the asset if a debug visualization is implemented in the asset class. This can be enabled by setting the :attr:`AssetBaseCfg.debug_vis` attribute to True. The debug visualization is implemented through the :meth:`_set_debug_vis_impl` and :meth:`_debug_vis_callback` methods. """
[docs] def __init__(self, cfg: AssetBaseCfg): """Initialize the asset base. Args: cfg: The configuration class for the asset. Raises: RuntimeError: If no prims found at input prim path or prim path expression. """ # check that the config is valid cfg.validate() # store inputs self.cfg = cfg # flag for whether the asset is initialized self._is_initialized = False # check if base asset path is valid # note: currently the spawner does not work if there is a regex pattern in the leaf # For example, if the prim path is "/World/Robot_[1,2]" since the spawner will not # know which prim to spawn. This is a limitation of the spawner and not the asset. asset_path = self.cfg.prim_path.split("/")[-1] asset_path_is_regex = re.match(r"^[a-zA-Z0-9/_]+$", asset_path) is None # spawn the asset if self.cfg.spawn is not None and not asset_path_is_regex: self.cfg.spawn.func( self.cfg.prim_path, self.cfg.spawn, translation=self.cfg.init_state.pos, orientation=self.cfg.init_state.rot, ) # check that spawn was successful matching_prims = sim_utils.find_matching_prims(self.cfg.prim_path) if len(matching_prims) == 0: raise RuntimeError(f"Could not find prim with path {self.cfg.prim_path}.") # note: Use weakref on all callbacks to ensure that this object can be deleted when its destructor is called. # add callbacks for stage play/stop # The order is set to 10 which is arbitrary but should be lower priority than the default order of 0 timeline_event_stream = omni.timeline.get_timeline_interface().get_timeline_event_stream() self._initialize_handle = timeline_event_stream.create_subscription_to_pop_by_type( int(omni.timeline.TimelineEventType.PLAY), lambda event, obj=weakref.proxy(self): obj._initialize_callback(event), order=10, ) self._invalidate_initialize_handle = timeline_event_stream.create_subscription_to_pop_by_type( int(omni.timeline.TimelineEventType.STOP), lambda event, obj=weakref.proxy(self): obj._invalidate_initialize_callback(event), order=10, ) # add handle for debug visualization (this is set to a valid handle inside set_debug_vis) self._debug_vis_handle = None # set initial state of debug visualization self.set_debug_vis(self.cfg.debug_vis)
def __del__(self): """Unsubscribe from the callbacks.""" # clear physics events handles if self._initialize_handle: self._initialize_handle.unsubscribe() self._initialize_handle = None if self._invalidate_initialize_handle: self._invalidate_initialize_handle.unsubscribe() self._invalidate_initialize_handle = None # clear debug visualization if self._debug_vis_handle: self._debug_vis_handle.unsubscribe() self._debug_vis_handle = None """ Properties """ @property def is_initialized(self) -> bool: """Whether the asset is initialized. Returns True if the asset is initialized, False otherwise. """ return self._is_initialized @property @abstractmethod def num_instances(self) -> int: """Number of instances of the asset. This is equal to the number of asset instances per environment multiplied by the number of environments. """ return NotImplementedError @property def device(self) -> str: """Memory device for computation.""" return self._device @property @abstractmethod def data(self) -> Any: """Data related to the asset.""" return NotImplementedError @property def has_debug_vis_implementation(self) -> bool: """Whether the asset has a debug visualization implemented.""" # check if function raises NotImplementedError source_code = inspect.getsource(self._set_debug_vis_impl) return "NotImplementedError" not in source_code """ Operations. """
[docs] def set_debug_vis(self, debug_vis: bool) -> bool: """Sets whether to visualize the asset data. Args: debug_vis: Whether to visualize the asset data. Returns: Whether the debug visualization was successfully set. False if the asset does not support debug visualization. """ # check if debug visualization is supported if not self.has_debug_vis_implementation: return False # toggle debug visualization objects self._set_debug_vis_impl(debug_vis) # toggle debug visualization handles if debug_vis: # create a subscriber for the post update event if it doesn't exist if self._debug_vis_handle is None: app_interface = omni.kit.app.get_app_interface() self._debug_vis_handle = app_interface.get_post_update_event_stream().create_subscription_to_pop( lambda event, obj=weakref.proxy(self): obj._debug_vis_callback(event) ) else: # remove the subscriber if it exists if self._debug_vis_handle is not None: self._debug_vis_handle.unsubscribe() self._debug_vis_handle = None # return success return True
[docs] @abstractmethod def reset(self, env_ids: Sequence[int] | None = None): """Resets all internal buffers of selected environments. Args: env_ids: The indices of the object to reset. Defaults to None (all instances). """ raise NotImplementedError
[docs] @abstractmethod def write_data_to_sim(self): """Writes data to the simulator.""" raise NotImplementedError
[docs] @abstractmethod def update(self, dt: float): """Update the internal buffers. The time step ``dt`` is used to compute numerical derivatives of quantities such as joint accelerations which are not provided by the simulator. Args: dt: The amount of time passed from last ``update`` call. """ raise NotImplementedError
""" Implementation specific. """ @abstractmethod def _initialize_impl(self): """Initializes the PhysX handles and internal buffers.""" raise NotImplementedError def _set_debug_vis_impl(self, debug_vis: bool): """Set debug visualization into visualization objects. This function is responsible for creating the visualization objects if they don't exist and input ``debug_vis`` is True. If the visualization objects exist, the function should set their visibility into the stage. """ raise NotImplementedError(f"Debug visualization is not implemented for {self.__class__.__name__}.") def _debug_vis_callback(self, event): """Callback for debug visualization. This function calls the visualization objects and sets the data to visualize into them. """ raise NotImplementedError(f"Debug visualization is not implemented for {self.__class__.__name__}.") """ Internal simulation callbacks. """ def _initialize_callback(self, event): """Initializes the scene elements. Note: PhysX handles are only enabled once the simulator starts playing. Hence, this function needs to be called whenever the simulator "plays" from a "stop" state. """ if not self._is_initialized: # obtain simulation related information sim = sim_utils.SimulationContext.instance() if sim is None: raise RuntimeError("SimulationContext is not initialized! Please initialize SimulationContext first.") self._backend = sim.backend self._device = sim.device # initialize the asset self._initialize_impl() # set flag self._is_initialized = True def _invalidate_initialize_callback(self, event): """Invalidates the scene elements.""" self._is_initialized = False