File size: 4,828 Bytes
d6b3397 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 | # 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
"""
This script uses the cloner API to check if asset has been instanced properly.
Usage with different inputs (replace `<Asset-Path>` and `<Asset-Path-Instanced>` with the path to the
original asset and the instanced asset respectively):
```bash
./isaaclab.sh -p source/tools/check_instanceable.py <Asset-Path> -n 4096 --headless --physics
./isaaclab.sh -p source/tools/check_instanceable.py <Asset-Path-Instanced> -n 4096 --headless --physics
./isaaclab.sh -p source/tools/check_instanceable.py <Asset-Path> -n 4096 --headless
./isaaclab.sh -p source/tools/check_instanceable.py <Asset-Path-Instanced> -n 4096 --headless
```
Output from the above commands:
```bash
>>> Cloning time (cloner.clone): 0.648198 seconds
>>> Setup time (sim.reset): : 5.843589 seconds
[#clones: 4096, physics: True] Asset: <Asset-Path-Instanced> : 6.491870 seconds
>>> Cloning time (cloner.clone): 0.693133 seconds
>>> Setup time (sim.reset): 50.860526 seconds
[#clones: 4096, physics: True] Asset: <Asset-Path> : 51.553743 seconds
>>> Cloning time (cloner.clone) : 0.687201 seconds
>>> Setup time (sim.reset) : 6.302215 seconds
[#clones: 4096, physics: False] Asset: <Asset-Path-Instanced> : 6.989500 seconds
>>> Cloning time (cloner.clone) : 0.678150 seconds
>>> Setup time (sim.reset) : 52.854054 seconds
[#clones: 4096, physics: False] Asset: <Asset-Path> : 53.532287 seconds
```
"""
"""Launch Isaac Sim Simulator first."""
import argparse
import contextlib
import os
from isaaclab.app import AppLauncher
# add argparse arguments
parser = argparse.ArgumentParser("Utility to empirically check if asset in instanced properly.")
parser.add_argument("input", type=str, help="The path to the USD file.")
parser.add_argument("-n", "--num_clones", type=int, default=128, help="Number of clones to spawn.")
parser.add_argument("-s", "--spacing", type=float, default=1.5, help="Spacing between instances in a grid.")
parser.add_argument("-p", "--physics", action="store_true", default=False, help="Clone assets using physics cloner.")
# 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
"""Rest everything follows."""
from isaacsim.core.cloner import GridCloner
import isaaclab.sim as sim_utils
from isaaclab.sim import SimulationCfg, SimulationContext
from isaaclab.utils import Timer
from isaaclab.utils.assets import check_file_path
def main():
"""Spawns the USD asset robot and clones it using Isaac Gym Cloner API."""
# check valid file path
if not check_file_path(args_cli.input):
raise ValueError(f"Invalid file path: {args_cli.input}")
# Load kit helper
sim = SimulationContext(SimulationCfg(dt=0.01))
# get stage handle
stage = sim_utils.get_current_stage()
# Fabric and PhysX GPU buffers are configured through SimulationCfg/PhysxCfg defaults.
# enable hydra scene-graph instancing
# this is needed to visualize the scene when fabric is enabled
sim.set_setting("/persistent/omnihydra/useSceneGraphInstancing", True)
# Create interface to clone the scene
cloner = GridCloner(spacing=args_cli.spacing, stage=stage)
cloner.define_base_env("/World/envs")
stage.DefinePrim("/World/envs/env_0", "Xform")
# Spawn things into stage
sim_utils.create_prim("/World/Light", "DistantLight")
# Everything under the namespace "/World/envs/env_0" will be cloned
sim_utils.create_prim("/World/envs/env_0/Asset", "Xform", usd_path=os.path.abspath(args_cli.input))
# Clone the scene
num_clones = args_cli.num_clones
# Create a timer to measure the cloning time
with Timer(f"[#clones: {num_clones}, physics: {args_cli.physics}] Asset: {args_cli.input}"):
# Clone the scene
with Timer(">>> Cloning time (cloner.clone)"):
cloner.define_base_env("/World/envs")
envs_prim_paths = cloner.generate_paths("/World/envs/env", num_paths=num_clones)
_ = cloner.clone(
source_prim_path="/World/envs/env_0", prim_paths=envs_prim_paths, replicate_physics=args_cli.physics
)
# Play the simulator
with Timer(">>> Setup time (sim.reset)"):
sim.reset()
# Simulate scene (if not headless)
if not args_cli.headless:
with contextlib.suppress(KeyboardInterrupt):
while sim.is_playing():
# perform step
sim.step()
if __name__ == "__main__":
# run the main function
main()
# close sim app
simulation_app.close()
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