Merge branch 'main' into devel-docs

docker/docker-compose.yaml

@@ -40,6 +40,9 @@ x-default-isaac-lab-volumes: &default-isaac-lab-volumes
   - type: bind
     source: ../docs
     target: ${DOCKER_ISAACLAB_PATH}/docs
+  - type: bind
+    source: ../tools
+    target: ${DOCKER_ISAACLAB_PATH}/tools
     # The effect of these volumes is twofold:
     # 1. Prevent root-owned files from flooding the _build and logs dir
     #    on the host machine

docs/source/api/lab/omni.isaac.lab.sim.schemas.rst

@@ -13,6 +13,7 @@
     MassPropertiesCfg
     JointDrivePropertiesCfg
     FixedTendonPropertiesCfg
+    DeformableBodyPropertiesCfg
 
   .. rubric:: Functions
 
@@ -29,6 +30,8 @@
     modify_mass_properties
     modify_joint_drive_properties
     modify_fixed_tendon_properties
+    define_deformable_body_properties
+    modify_deformable_body_properties
 
 Articulation Root
 -----------------
@@ -88,3 +91,13 @@ Fixed Tendon
     :exclude-members: __init__
 
 .. autofunction:: modify_fixed_tendon_properties
+
+Deformable Body
+---------------
+
+.. autoclass:: DeformableBodyPropertiesCfg
+    :members:
+    :exclude-members: __init__
+
+.. autofunction:: define_deformable_body_properties
+.. autofunction:: modify_deformable_body_properties

docs/source/api/lab/omni.isaac.lab.sim.spawners.rst

@@ -8,6 +8,7 @@
   .. autosummary::
 
     shapes
+    meshes
     lights
     sensors
     from_files
@@ -19,6 +20,7 @@
 
     SpawnerCfg
     RigidObjectSpawnerCfg
+    DeformableObjectSpawnerCfg
 
 Spawners
 --------
@@ -32,6 +34,11 @@ Spawners
     :show-inheritance:
     :exclude-members: __init__
 
+.. autoclass:: DeformableObjectSpawnerCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__
+
 Shapes
 ------
 
@@ -87,6 +94,60 @@ Shapes
     :show-inheritance:
     :exclude-members: __init__, func
 
+Meshes
+------
+
+.. automodule:: omni.isaac.lab.sim.spawners.meshes
+
+  .. rubric:: Classes
+
+  .. autosummary::
+
+    MeshCfg
+    MeshCapsuleCfg
+    MeshConeCfg
+    MeshCuboidCfg
+    MeshCylinderCfg
+    MeshSphereCfg
+
+.. autoclass:: MeshCfg
+    :members:
+    :exclude-members: __init__, func
+
+.. autofunction:: spawn_mesh_capsule
+
+.. autoclass:: MeshCapsuleCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__, func
+
+.. autofunction:: spawn_mesh_cone
+
+.. autoclass:: MeshConeCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__, func
+
+.. autofunction:: spawn_mesh_cuboid
+
+.. autoclass:: MeshCuboidCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__, func
+
+.. autofunction:: spawn_mesh_cylinder
+
+.. autoclass:: MeshCylinderCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__, func
+
+.. autofunction:: spawn_mesh_sphere
+
+.. autoclass:: MeshSphereCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__, func
 
 Lights
 ------
@@ -198,6 +259,7 @@ Materials
     GlassMdlCfg
     PhysicsMaterialCfg
     RigidBodyMaterialCfg
+    DeformableBodyMaterialCfg
 
 Visual Materials
 ~~~~~~~~~~~~~~~~
@@ -234,3 +296,9 @@ Physical Materials
 .. autoclass:: RigidBodyMaterialCfg
     :members:
     :exclude-members: __init__, func
+
+.. autofunction:: spawn_deformable_body_material
+
+.. autoclass:: DeformableBodyMaterialCfg
+    :members:
+    :exclude-members: __init__, func

docs/source/setup/sample.rst

@@ -35,6 +35,12 @@ A few quick showroom scripts to run and checkout:
 
       ./isaaclab.sh -p source/standalone/demos/procedural_terrain.py
 
+-  Spawn different deformable (soft) bodies and let them fall from a height:
+
+   .. code:: bash
+
+      ./isaaclab.sh -p source/standalone/demos/deformables.py
+
 -  Spawn multiple markers that are useful for visualizations:
 
    .. code:: bash

docs/source/tutorials/00_sim/spawn_prims.rst

@@ -22,7 +22,7 @@ Let's take a look at the Python script:
 
    .. literalinclude:: ../../../../source/standalone/tutorials/00_sim/spawn_prims.py
       :language: python
-      :emphasize-lines: 40-79, 91-92
+      :emphasize-lines: 40-88, 100-101
       :linenos:
 
 
@@ -134,8 +134,17 @@ default to the default values set by USD Physics.
 .. literalinclude:: ../../../../source/standalone/tutorials/00_sim/spawn_prims.py
    :language: python
    :start-at: # spawn a green cone with colliders and rigid body
-   :end-before: # spawn a usd file of a table into the scene
+   :end-before: # spawn a blue cuboid with deformable body
+
+Lastly, we spawn a cuboid ``CuboidDeformable`` which contains deformable body physics properties. Unlike the
+rigid body simulation, a deformable body can have relative motion between its vertices. This is useful for simulating
+soft bodies like cloth, rubber, or jello. It is important to note that deformable bodies are only supported in
+GPU simulation and require a mesh object to be spawned with the deformable body physics properties.
 
+.. literalinclude:: ../../../../source/standalone/tutorials/00_sim/spawn_prims.py
+   :language: python
+   :start-at: # spawn a blue cuboid with deformable body
+   :end-before: # spawn a usd file of a table into the scene
 
 Spawning from another file
 --------------------------

isaaclab.sh

@@ -52,15 +52,15 @@ extract_isaacsim_path() {
 
 # extract the python from isaacsim
 extract_python_exe() {
-    # default to python in the kit
-    local python_exe=${ISAACLAB_PATH}/_isaac_sim/python.sh
-    # if default python is not available, check if conda is activated
+    # check if using conda
+    if ! [[ -z "${CONDA_PREFIX}" ]]; then
+        # use conda python
+        local python_exe=${CONDA_PREFIX}/bin/python
+    else
+        # use kit python
+        local python_exe=${ISAACLAB_PATH}/_isaac_sim/python.sh
+
     if [ ! -f "${python_exe}" ]; then
-        # check if using conda
-        if ! [[ -z "${CONDA_PREFIX}" ]]; then
-            # use conda python
-            local python_exe=${CONDA_PREFIX}/bin/python
-        else
             # note: we need to check system python for cases such as docker
             # inside docker, if user installed into system python, we need to use that
             # otherwise, use the python from the kit
@@ -153,9 +153,10 @@ setup_conda_env() {
     # check if we have _isaac_sim directory -> if so that means binaries were installed.
     # we need to setup conda variables to load the binaries
     local isaacsim_setup_conda_env_script=${ISAACLAB_PATH}/_isaac_sim/setup_conda_env.sh
+
     if [ -f "${isaacsim_setup_conda_env_script}" ]; then
         # add variables to environment during activation
-        printf '' \
+        printf '%s\n' \
             '# for Isaac Sim' \
             'source '${isaacsim_setup_conda_env_script}'' \
             '' >> ${CONDA_PREFIX}/etc/conda/activate.d/setenv.sh
@@ -182,7 +183,7 @@ setup_conda_env() {
     # check if we have _isaac_sim directory -> if so that means binaries were installed.
     if [ -f "${isaacsim_setup_conda_env_script}" ]; then
         # add variables to environment during activation
-        printf '' \
+        printf '%s\n' \
             '# for Isaac Sim' \
             'unset CARB_APP_PATH' \
             'unset EXP_PATH' \

source/extensions/omni.isaac.lab/config/extension.toml

@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.19.2"
+version = "0.19.4"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

source/extensions/omni.isaac.lab/docs/CHANGELOG.rst

@@ -1,13 +1,38 @@
 Changelog
 ---------
 
+0.19.4 (2024-07-13)
+~~~~~~~~~~~~~~~~~~~
+
+Fixed
+^^^^^
+
+* Added the call to "startup" events when using the :class:`~omni.isaac.lab.envs.ManagerBasedEnv` class.
+  Earlier, the "startup" events were not being called when the environment was initialized. This issue
+  did not occur when using the :class:`~omni.isaac.lab.envs.ManagerBasedRLEnv` class since the "startup"
+  events were called in the constructor.
+
+
+0.19.3 (2024-07-13)
+~~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Added schemas for setting and modifying deformable body properties on a USD prim.
+* Added API to spawn a deformable body material in the simulation.
+* Added APIs to spawn rigid and deformable meshes of primitive shapes (cone, cylinder, sphere, box, capsule)
+  in the simulation. This is possible through the :mod:`omni.isaac.lab.sim.spawners.meshes` module.
+
+
 0.19.2 (2024-07-05)
 ~~~~~~~~~~~~~~~~~~~
 
 Changed
 ^^^^^^^
 
-* Modified cloning scheme based on the attribute :attr:`~omni.isaac.lab.scene.InteractiveSceneCfg.replicate_physics` to determine whether environment is homogeneous or heterogeneous.
+* Modified cloning scheme based on the attribute :attr:`~omni.isaac.lab.scene.InteractiveSceneCfg.replicate_physics`
+  to determine whether environment is homogeneous or heterogeneous.
 
 
 0.19.1 (2024-07-05)

source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_env.py

@@ -223,6 +223,12 @@ def load_managers(self):
         self.event_manager = EventManager(self.cfg.events, self)
         print("[INFO] Event Manager: ", self.event_manager)
 
+        # perform events at the start of the simulation
+        # in-case a child implementation creates other managers, the randomization should happen
+        # when all the other managers are created
+        if self.__class__ == ManagerBasedEnv and "startup" in self.event_manager.available_modes:
+            self.event_manager.apply(mode="startup")
+
     """
     Operations - MDP.
     """

source/extensions/omni.isaac.lab/omni/isaac/lab/envs/manager_based_rl_env.py

@@ -107,8 +107,10 @@ def load_managers(self):
         # -- command manager
         self.command_manager: CommandManager = CommandManager(self.cfg.commands, self)
         print("[INFO] Command Manager: ", self.command_manager)
+
         # call the parent class to load the managers for observations and actions.
         super().load_managers()
+
         # prepare the managers
         # -- termination manager
         self.termination_manager = TerminationManager(self.cfg.terminations, self)
@@ -119,8 +121,10 @@ def load_managers(self):
         # -- curriculum manager
         self.curriculum_manager = CurriculumManager(self.cfg.curriculum, self)
         print("[INFO] Curriculum Manager: ", self.curriculum_manager)
+
         # setup the action and observation spaces for Gym
         self._configure_gym_env_spaces()
+
         # perform events at the start of the simulation
         if "startup" in self.event_manager.available_modes:
             self.event_manager.apply(mode="startup")

source/extensions/omni.isaac.lab/omni/isaac/lab/managers/event_manager.py

@@ -19,7 +19,7 @@
 from .manager_term_cfg import EventTermCfg
 
 if TYPE_CHECKING:
-    from omni.isaac.lab.envs import ManagerBasedRLEnv
+    from omni.isaac.lab.envs import ManagerBasedEnv
 
 
 class EventManager(ManagerBase):
@@ -53,10 +53,10 @@ class EventManager(ManagerBase):
 
     """
 
-    _env: ManagerBasedRLEnv
+    _env: ManagerBasedEnv
     """The environment instance."""
 
-    def __init__(self, cfg: object, env: ManagerBasedRLEnv):
+    def __init__(self, cfg: object, env: ManagerBasedEnv):
         """Initialize the event manager.
 
         Args:
@@ -295,7 +295,7 @@ class RandomizationManager(EventManager):
         renamed to EventManager  as it is more general purpose. The RandomizationManager will be removed in v0.4.0.
     """
 
-    def __init__(self, cfg: object, env: ManagerBasedRLEnv):
+    def __init__(self, cfg: object, env: ManagerBasedEnv):
         """Initialize the randomization manager.
 
         Args:

source/extensions/omni.isaac.lab/omni/isaac/lab/sim/converters/mesh_converter.py

@@ -102,7 +102,7 @@ def _convert_asset(self, cfg: MeshConverterCfg):
                 # Apply collider properties to mesh
                 if cfg.collision_props is not None:
                     # -- Collision approximation to mesh
-                    # TODO: https://github.com/isaac-orbit/orbit/issues/163 Move this to a new Schema
+                    # TODO: Move this to a new Schema: https://github.com/isaac-orbit/IsaacLab/issues/163
                     mesh_collision_api = UsdPhysics.MeshCollisionAPI.Apply(child_mesh_prim)
                     mesh_collision_api.GetApproximationAttr().Set(cfg.collision_approximation)
                     # -- Collider properties such as offset, scale, etc.

source/extensions/omni.isaac.lab/omni/isaac/lab/sim/schemas/__init__.py

@@ -27,19 +27,21 @@
 
 Locally, the schemas are defined in the following files:
 
-* ``_isaac_sim/kit/extsPhysics/omni.usd.schema.physics/plugins/UsdPhysics/resources/UsdPhysics/schema.usda``
-* ``_isaac_sim/kit/extsPhysics/omni.usd.schema.physx/plugins/PhysxSchema/resources/PhysxSchema/schema.usda``
+* ``_isaac_sim/extsPhysics/omni.usd.schema.physics/plugins/UsdPhysics/resources/UsdPhysics/schema.usda``
+* ``_isaac_sim/extsPhysics/omni.usd.schema.physx/plugins/PhysxSchema/resources/generatedSchema.usda``
 
 """
 
 from .schemas import (
     activate_contact_sensors,
     define_articulation_root_properties,
     define_collision_properties,
+    define_deformable_body_properties,
     define_mass_properties,
     define_rigid_body_properties,
     modify_articulation_root_properties,
     modify_collision_properties,
+    modify_deformable_body_properties,
     modify_fixed_tendon_properties,
     modify_joint_drive_properties,
     modify_mass_properties,
@@ -48,6 +50,7 @@
 from .schemas_cfg import (
     ArticulationRootPropertiesCfg,
     CollisionPropertiesCfg,
+    DeformableBodyPropertiesCfg,
     FixedTendonPropertiesCfg,
     JointDrivePropertiesCfg,
     MassPropertiesCfg,