Merge branch 'main' into feature/spawn-events

Signed-off-by: Mayank Mittal <[email protected]>

Author: Mayankm96

.github/workflows/mirror-buildspec.yml

@@ -0,0 +1,15 @@
+version: 0.2
+
+phases:
+  install:
+    runtime-versions:
+      nodejs: 14
+  pre_build:
+    commands:
+      - git config --global user.name "Isaac LAB CI Bot"
+      - git config --global user.email "[email protected]"
+  build:
+    commands:
+      - git remote set-url origin https://github.com/${TARGET_REPO}.git
+      - git checkout $SOURCE_BRANCH
+      - git push --force https://[email protected]/${TARGET_REPO}.git $SOURCE_BRANCH:$TARGET_BRANCH

.github/workflows/postmerge-ci-buildspec.yml

@@ -3,10 +3,42 @@ version: 0.2
 phases:
   build:
     commands:
-      - echo "Building a docker image"
-      - docker login -u \$oauthtoken -p $NGC_TOKEN nvcr.io
-      - docker build -t $IMAGE_NAME:latest-1.2 --build-arg ISAACSIM_VERSION_ARG=4.2.0 --build-arg ISAACSIM_ROOT_PATH_ARG=/isaac-sim --build-arg ISAACLAB_PATH_ARG=/workspace/isaaclab --build-arg DOCKER_USER_HOME_ARG=/root -f docker/Dockerfile.base .
-      - echo "Pushing the docker image"
-      - docker push $IMAGE_NAME:latest-1.2
-      - docker tag $IMAGE_NAME:latest-1.2 $IMAGE_NAME:latest-1.2-b$CODEBUILD_BUILD_NUMBER
-      - docker push $IMAGE_NAME:latest-1.2-b$CODEBUILD_BUILD_NUMBER
+      - echo "Building and pushing Docker image"
+      - |
+        # Determine branch name or use fallback
+        if [ -n "$CODEBUILD_WEBHOOK_HEAD_REF" ]; then
+          BRANCH_NAME=$(echo $CODEBUILD_WEBHOOK_HEAD_REF | sed 's/refs\/heads\///')
+        elif [ -n "$CODEBUILD_SOURCE_VERSION" ]; then
+          BRANCH_NAME=$CODEBUILD_SOURCE_VERSION
+        else
+          BRANCH_NAME="unknown"
+        fi
+
+        # Replace '/' with '-' and remove any invalid characters for Docker tag
+        SAFE_BRANCH_NAME=$(echo $BRANCH_NAME | sed 's/[^a-zA-Z0-9._-]/-/g')
+
+        # Use "latest" if branch name is empty or only contains invalid characters
+        if [ -z "$SAFE_BRANCH_NAME" ]; then
+          SAFE_BRANCH_NAME="latest"
+        fi
+
+        # Get the git repository short name
+        REPO_SHORT_NAME=$(basename -s .git `git config --get remote.origin.url`)
+        if [ -z "$REPO_SHORT_NAME" ]; then
+          REPO_SHORT_NAME="verification"
+        fi
+
+        # Combine repo short name and branch name for the tag
+        COMBINED_TAG="${REPO_SHORT_NAME}-${SAFE_BRANCH_NAME}"
+
+        docker login -u \$oauthtoken -p $NGC_TOKEN nvcr.io
+        docker build -t $IMAGE_NAME:$COMBINED_TAG \
+          --build-arg ISAACSIM_BASE_IMAGE_ARG=$ISAACSIM_BASE_IMAGE \
+          --build-arg ISAACSIM_VERSION_ARG=4.2.0 \
+          --build-arg ISAACSIM_ROOT_PATH_ARG=/isaac-sim \
+          --build-arg ISAACLAB_PATH_ARG=/workspace/isaaclab \
+          --build-arg DOCKER_USER_HOME_ARG=/root \
+          -f docker/Dockerfile.base .
+        docker push $IMAGE_NAME:$COMBINED_TAG
+        docker tag $IMAGE_NAME:$COMBINED_TAG $IMAGE_NAME:$COMBINED_TAG-b$CODEBUILD_BUILD_NUMBER
+        docker push $IMAGE_NAME:$COMBINED_TAG-b$CODEBUILD_BUILD_NUMBER

.github/workflows/premerge-ci-buildspec.yml

@@ -4,15 +4,39 @@ phases:
   pre_build:
     commands:
       - echo "Launching EC2 instance to run tests"
-      - INSTANCE_ID=$(aws ec2 run-instances --image-id ami-0f7f7fb14ee15d5ae --count 1 --instance-type g5.2xlarge --key-name production/ssh/isaaclab --security-group-ids sg-02617e4b8916794c4 --subnet-id subnet-0907ceaeb40fd9eac --block-device-mappings 'DeviceName=/dev/sda1,Ebs={VolumeSize=500}' --output text --query 'Instances[0].InstanceId')
+      - |
+        INSTANCE_ID=$(aws ec2 run-instances \
+          --image-id ami-0b3a9d48380433e49 \
+          --count 1 \
+          --instance-type g5.2xlarge \
+          --key-name production/ssh/isaaclab \
+          --security-group-ids sg-02617e4b8916794c4 \
+          --subnet-id subnet-0907ceaeb40fd9eac \
+          --block-device-mappings '[{"DeviceName":"/dev/sda1","Ebs":{"VolumeSize":500}}]' \
+          --output text \
+          --query 'Instances[0].InstanceId')
       - aws ec2 wait instance-running --instance-ids $INSTANCE_ID
-      - EC2_INSTANCE_IP=$(aws ec2 describe-instances --filters "Name=instance-state-name,Values=running" "Name=instance-id,Values=$INSTANCE_ID" --query 'Reservations[*].Instances[*].[PrivateIpAddress]' --output text)
+      - |
+        EC2_INSTANCE_IP=$(aws ec2 describe-instances \
+          --filters "Name=instance-state-name,Values=running" "Name=instance-id,Values=$INSTANCE_ID" \
+          --query 'Reservations[*].Instances[*].[PrivateIpAddress]' \
+          --output text)
       - mkdir -p ~/.ssh
-      - aws ec2 describe-key-pairs --include-public-key --key-name production/ssh/isaaclab --query 'KeyPairs[0].PublicKey' --output text > ~/.ssh/id_rsa.pub
-      - aws secretsmanager get-secret-value --secret-id production/ssh/isaaclab --query SecretString --output text > ~/.ssh/id_rsa
+      - |
+        aws ec2 describe-key-pairs --include-public-key --key-name production/ssh/isaaclab \
+          --query 'KeyPairs[0].PublicKey' --output text > ~/.ssh/id_rsa.pub
+      - |
+        aws secretsmanager get-secret-value --secret-id production/ssh/isaaclab \
+          --query SecretString --output text > ~/.ssh/id_rsa
       - chmod 400 ~/.ssh/id_*
       - echo "Host $EC2_INSTANCE_IP\n\tStrictHostKeyChecking no\n" >> ~/.ssh/config
-      - aws ec2-instance-connect send-ssh-public-key --instance-id $INSTANCE_ID --availability-zone us-west-2a --ssh-public-key file://~/.ssh/id_rsa.pub --instance-os-user ubuntu
+      - |
+        aws ec2-instance-connect send-ssh-public-key \
+          --instance-id $INSTANCE_ID \
+          --availability-zone us-west-2a \
+          --ssh-public-key file://~/.ssh/id_rsa.pub \
+          --instance-os-user ubuntu
+
   build:
     commands:
       - echo "Running tests on EC2 instance"
@@ -40,10 +64,20 @@ phases:
         retry_scp
         '
       - ssh ubuntu@$EC2_INSTANCE_IP "docker login -u \\\$oauthtoken -p $NGC_TOKEN nvcr.io"
-      - ssh ubuntu@$EC2_INSTANCE_IP "cd $SRC_DIR;
-          DOCKER_BUILDKIT=1 docker build -t isaac-lab-dev --build-arg ISAACSIM_VERSION_ARG=4.2.0 --build-arg ISAACSIM_ROOT_PATH_ARG=/isaac-sim --build-arg ISAACLAB_PATH_ARG=/workspace/isaaclab --build-arg DOCKER_USER_HOME_ARG=/root -f docker/Dockerfile.base . ;
-          docker run --rm --entrypoint bash --gpus all --network=host --name isaac-lab-test isaac-lab-dev ./isaaclab.sh -t &&
-          exit $?"
+      - |
+        ssh ubuntu@$EC2_INSTANCE_IP "
+          cd $SRC_DIR
+          DOCKER_BUILDKIT=1 docker build -t isaac-lab-dev \
+            --build-arg ISAACSIM_BASE_IMAGE_ARG=$ISAACSIM_BASE_IMAGE \
+            --build-arg ISAACSIM_VERSION_ARG=4.2.0 \
+            --build-arg ISAACSIM_ROOT_PATH_ARG=/isaac-sim \
+            --build-arg ISAACLAB_PATH_ARG=/workspace/isaaclab \
+            --build-arg DOCKER_USER_HOME_ARG=/root \
+            -f docker/Dockerfile.base .
+          docker run --rm --entrypoint bash --gpus all --network=host \
+            --name isaac-lab-test isaac-lab-dev ./isaaclab.sh -t && exit \$?
+        "
+
   post_build:
     commands:
       - echo "Terminating EC2 instance"

docker/.env.base

@@ -4,6 +4,8 @@
 
 # Accept the NVIDIA Omniverse EULA by default
 ACCEPT_EULA=Y
+# NVIDIA Isaac Sim base image
+ISAACSIM_BASE_IMAGE=nvcr.io/nvidia/isaac-sim
 # NVIDIA Isaac Sim version to use (e.g. 4.2.0)
 ISAACSIM_VERSION=4.2.0
 # Derived from the default path in the NVIDIA provided Isaac Sim container

docker/Dockerfile.base

@@ -7,8 +7,9 @@
 # Please check above link for license information.
 
 # Base image
+ARG ISAACSIM_BASE_IMAGE_ARG
 ARG ISAACSIM_VERSION_ARG
-FROM nvcr.io/nvidia/isaac-sim:${ISAACSIM_VERSION_ARG} AS base
+FROM ${ISAACSIM_BASE_IMAGE_ARG}:${ISAACSIM_VERSION_ARG} AS base
 ENV ISAACSIM_VERSION=${ISAACSIM_VERSION_ARG}
 
 # Set default RUN shell to bash

docker/docker-compose.yaml

@@ -79,6 +79,7 @@ services:
       context: ../
       dockerfile: docker/Dockerfile.base
       args:
+        - ISAACSIM_BASE_IMAGE_ARG=${ISAACSIM_BASE_IMAGE}
         - ISAACSIM_VERSION_ARG=${ISAACSIM_VERSION}
         - ISAACSIM_ROOT_PATH_ARG=${DOCKER_ISAACSIM_ROOT_PATH}
         - ISAACLAB_PATH_ARG=${DOCKER_ISAACLAB_PATH}

docs/source/_static/demos/multi_asset.jpg

@@ -13,6 +13,7 @@
     sensors
     from_files
     materials
+    wrappers
 
   .. rubric:: Classes
 
@@ -302,3 +303,27 @@ Physical Materials
 .. autoclass:: DeformableBodyMaterialCfg
     :members:
     :exclude-members: __init__, func
+
+Wrappers
+--------
+
+.. automodule:: omni.isaac.lab.sim.spawners.wrappers
+
+  .. rubric:: Classes
+
+  .. autosummary::
+
+    MultiAssetSpawnerCfg
+    MultiUsdFileCfg
+
+.. autofunction:: spawn_multi_asset
+
+.. autoclass:: MultiAssetSpawnerCfg
+    :members:
+    :exclude-members: __init__, func
+
+.. autofunction:: spawn_multi_usd_file
+
+.. autoclass:: MultiUsdFileCfg
+    :members:
+    :exclude-members: __init__, func

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

@@ -36,6 +36,17 @@ a fixed base robot. This guide goes over the various considerations and steps to
 
     make_fixed_prim
 
+Spawning Multiple Assets
+------------------------
+
+This guide explains how to import and configure different assets in each environment. This is
+useful when you want to create diverse environments with different objects.
+
+.. toctree::
+    :maxdepth: 1
+
+    multi_asset_spawning
+
 Saving Camera Output
 --------------------
 

docs/source/how-to/index.rst

@@ -0,0 +1,101 @@
+Spawning Multiple Assets
+========================
+
+.. currentmodule:: omni.isaac.lab
+
+Typical, spawning configurations (introduced in the :ref:`tutorial-spawn-prims` tutorial) copy the same
+asset (or USD primitive) across the different resolved prim paths from the expressions.
+For instance, if the user specifies to spawn the asset at "/World/Table\_.*/Object", the same
+asset is created at the paths "/World/Table_0/Object", "/World/Table_1/Object" and so on.
+
+However, at times, it might be desirable to spawn different assets under the prim paths to
+ensure a diversity in the simulation. This guide describes how to create different assets under
+each prim path using the spawning functionality.
+
+The sample script ``multi_asset.py`` is used as a reference, located in the
+``IsaacLab/source/standalone/demos`` directory.
+
+.. dropdown:: Code for multi_asset.py
+   :icon: code
+
+   .. literalinclude:: ../../../source/standalone/demos/multi_asset.py
+      :language: python
+      :emphasize-lines: 101-123, 130-149
+      :linenos:
+
+This script creates multiple environments, where each environment has a rigid object that is either a cone,
+a cube, or a sphere, and an articulation that is either the ANYmal-C or ANYmal-D robot.
+
+.. image:: ../_static/demos/multi_asset.jpg
+  :width: 100%
+  :alt: result of multi_asset.py
+
+Using Multi-Asset Spawning Functions
+------------------------------------
+
+It is possible to spawn different assets and USDs in each environment using the spawners
+:class:`~sim.spawners.wrappers.MultiAssetSpawnerCfg` and :class:`~sim.spawners.wrappers.MultiUsdFileCfg`:
+
+* We set the spawn configuration in :class:`~assets.RigidObjectCfg` to be
+  :class:`~sim.spawners.wrappers.MultiAssetSpawnerCfg`:
+
+  .. literalinclude:: ../../../source/standalone/demos/multi_asset.py
+     :language: python
+     :lines: 99-125
+     :dedent:
+
+  This function allows you to define a list of different assets that can be spawned as rigid objects.
+  When :attr:`~sim.spawners.wrappers.MultiAssetSpawnerCfg.random_choice` is set to True, one asset from the list
+  is randomly selected and spawned at the specified prim path.
+
+* Similarly, we set the spawn configuration in :class:`~assets.ArticulationCfg` to be
+  :class:`~sim.spawners.wrappers.MultiUsdFileCfg`:
+
+  .. literalinclude:: ../../../source/standalone/demos/multi_asset.py
+     :language: python
+     :lines: 128-161
+     :dedent:
+
+  Similar to before, this configuration allows the selection of different USD files representing articulated assets.
+
+
+Things to Note
+--------------
+
+Similar asset structuring
+~~~~~~~~~~~~~~~~~~~~~~~~~
+
+While spawning and handling multiple assets using the same physics interface (the rigid object or articulation classes),
+it is essential to have the assets at all the prim locations follow a similar structure. In case of an articulation,
+this means that they all must have the same number of links and joints, the same number of collision bodies and
+the same names for them. If that is not the case, the physics parsing of the prims can get affected and fail.
+
+The main purpose of this functionality is to enable the user to create randomized versions of the same asset,
+for example robots with different link lengths, or rigid objects with different collider shapes.
+
+Disabling physics replication in interactive scene
+~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
+
+By default, the flag :attr:`scene.InteractiveScene.replicate_physics` is set to True. This flag informs the physics
+engine that the simulation environments are copies of one another so it just needs to parse the first environment
+to understand the entire simulation scene. This helps speed up the simulation scene parsing.
+
+However, in the case of spawning different assets in different environments, this assumption does not hold
+anymore. Hence the flag :attr:`scene.InteractiveScene.replicate_physics` must be disabled.
+
+.. literalinclude:: ../../../source/standalone/demos/multi_asset.py
+   :language: python
+   :lines: 221-224
+   :dedent:
+
+The Code Execution
+------------------
+
+To execute the script with multiple environments and randomized assets, use the following command:
+
+.. code-block:: bash
+
+  ./isaaclab.sh -p source/standalone/demos/multi_asset.py --num_envs 2048
+
+This command runs the simulation with 2048 environments, each with randomly selected assets.
+To stop the simulation, you can close the window, or press ``Ctrl+C`` in the terminal.