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source/extensions/omni.isaac.lab/test/sim/check_meshes.py
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# Copyright (c) 2022-2024, The Isaac Lab Project Developers. | ||
# All rights reserved. | ||
# | ||
# SPDX-License-Identifier: BSD-3-Clause | ||
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"""This script demonstrates different rigid and deformable meshes in the scene. | ||
It randomly spawns different types of meshes in the scene. The meshes can be rigid or deformable | ||
based on the probability of 0.5. The rigid meshes are spawned with rigid body and collision properties, | ||
while the deformable meshes are spawned with deformable body properties. | ||
.. code-block:: bash | ||
# Usage | ||
./isaaclab.sh -p source/extensions/omni.isaac.lab/test/sim/check_meshes.py | ||
""" | ||
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"""Launch Isaac Sim Simulator first.""" | ||
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import argparse | ||
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from omni.isaac.lab.app import AppLauncher | ||
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# create argparser | ||
parser = argparse.ArgumentParser(description="This script demonstrates different meshes in the scene.") | ||
# 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 | ||
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"""Rest everything follows.""" | ||
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import numpy as np | ||
import random | ||
import torch | ||
import tqdm | ||
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import omni.isaac.core.utils.prims as prim_utils | ||
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import omni.isaac.lab.sim as sim_utils | ||
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def define_origins(num_origins: int, spacing: float) -> list[list[float]]: | ||
"""Defines the origins of the the scene.""" | ||
# create tensor based on number of environments | ||
env_origins = torch.zeros(num_origins, 3) | ||
# create a grid of origins | ||
num_cols = np.floor(np.sqrt(num_origins)) | ||
num_rows = np.ceil(num_origins / num_cols) | ||
xx, yy = torch.meshgrid(torch.arange(num_rows), torch.arange(num_cols), indexing="xy") | ||
env_origins[:, 0] = spacing * xx.flatten()[:num_origins] - spacing * (num_rows - 1) / 2 | ||
env_origins[:, 1] = spacing * yy.flatten()[:num_origins] - spacing * (num_cols - 1) / 2 | ||
env_origins[:, 2] = torch.rand(num_origins) + 1.0 | ||
# return the origins | ||
return env_origins.tolist() | ||
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def design_scene(): | ||
"""Designs the scene by spawning ground plane, light, and deformable meshes.""" | ||
# Ground-plane | ||
cfg_ground = sim_utils.GroundPlaneCfg() | ||
cfg_ground.func("/World/defaultGroundPlane", cfg_ground) | ||
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# spawn distant light | ||
cfg_light = sim_utils.DomeLightCfg( | ||
intensity=3000.0, | ||
color=(0.75, 0.75, 0.75), | ||
) | ||
cfg_light.func("/World/light", cfg_light) | ||
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# create new xform prims for all objects to be spawned under | ||
origins = define_origins(num_origins=4, spacing=5.5) | ||
for idx, origin in enumerate(origins): | ||
prim_utils.create_prim(f"/World/Origin{idx:02d}", "Xform", translation=origin) | ||
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# spawn a red cone | ||
cfg_sphere = sim_utils.MeshSphereCfg( | ||
radius=0.25, | ||
mass_props=sim_utils.MassPropertiesCfg(mass=1.0), | ||
visual_material=sim_utils.PreviewSurfaceCfg(), | ||
) | ||
cfg_cuboid = sim_utils.MeshCuboidCfg( | ||
size=(0.2, 0.2, 0.2), | ||
mass_props=sim_utils.MassPropertiesCfg(mass=1.0), | ||
visual_material=sim_utils.PreviewSurfaceCfg(), | ||
) | ||
cfg_cylinder = sim_utils.MeshCylinderCfg( | ||
radius=0.15, | ||
height=0.5, | ||
mass_props=sim_utils.MassPropertiesCfg(mass=1.0), | ||
visual_material=sim_utils.PreviewSurfaceCfg(), | ||
) | ||
cfg_capsule = sim_utils.MeshCapsuleCfg( | ||
radius=0.15, | ||
height=0.5, | ||
mass_props=sim_utils.MassPropertiesCfg(mass=1.0), | ||
visual_material=sim_utils.PreviewSurfaceCfg(), | ||
) | ||
cfg_cone = sim_utils.MeshConeCfg( | ||
radius=0.15, | ||
height=0.5, | ||
mass_props=sim_utils.MassPropertiesCfg(mass=1.0), | ||
visual_material=sim_utils.PreviewSurfaceCfg(), | ||
) | ||
# create a dictionary of all the objects to be spawned | ||
objects_cfg = { | ||
"sphere": cfg_sphere, | ||
"cuboid": cfg_cuboid, | ||
"cylinder": cfg_cylinder, | ||
"capsule": cfg_capsule, | ||
"cone": cfg_cone, | ||
} | ||
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# Create separate groups of deformable objects | ||
origins = define_origins(num_origins=25, spacing=0.5) | ||
print("[INFO]: Spawning objects...") | ||
# Iterate over all the origins and randomly spawn objects | ||
for idx, origin in tqdm.tqdm(enumerate(origins), total=len(origins)): | ||
# randomly select an object to spawn | ||
obj_name = random.choice(list(objects_cfg.keys())) | ||
obj_cfg = objects_cfg[obj_name] | ||
# randomly decide if it is rigid or deformable | ||
if random.random() < 0.5: | ||
obj_cfg.rigid_props = None | ||
obj_cfg.collision_props = None | ||
obj_cfg.deformable_props = sim_utils.DeformableBodyPropertiesCfg(rest_offset=0.0) | ||
else: | ||
obj_cfg.deformable_props = None | ||
obj_cfg.rigid_props = sim_utils.RigidBodyPropertiesCfg() | ||
obj_cfg.collision_props = sim_utils.CollisionPropertiesCfg() | ||
# randomize the color | ||
obj_cfg.visual_material.diffuse_color = (random.random(), random.random(), random.random()) | ||
# spawn the object | ||
obj_cfg.func(f"/World/Origin.*/Object{idx:02d}", obj_cfg, translation=origin) | ||
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def main(): | ||
"""Main function.""" | ||
# Initialize the simulation context | ||
sim_cfg = sim_utils.SimulationCfg(dt=0.01) | ||
sim = sim_utils.SimulationContext(sim_cfg) | ||
# Set main camera | ||
sim.set_camera_view([8.0, 8.0, 6.0], [0.0, 0.0, 0.0]) | ||
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# Design scene by adding assets to it | ||
design_scene() | ||
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# Play the simulator | ||
sim.reset() | ||
# Now we are ready! | ||
print("[INFO]: Setup complete...") | ||
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# Simulate physics | ||
while simulation_app.is_running(): | ||
# perform step | ||
sim.step() | ||
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if __name__ == "__main__": | ||
# run the main function | ||
main() | ||
# close sim app | ||
simulation_app.close() |