fix typo

Author: ooctipus

source/isaaclab/docs/CHANGELOG.rst

@@ -16,7 +16,7 @@ Added
 
 * Added optional random prototype selection during environment cloning in
   :class:`~isaaclab.scene.interactive_scene.InteractiveScene` via
-  :attr:`~isaaclab.scene.interactive_scene_cfg.InteractiveSceneCfg.random_heterogenous_cloning`.
+  :attr:`~isaaclab.scene.interactive_scene_cfg.InteractiveSceneCfg.random_heterogeneous_cloning`.
   Defaults to ``True``; round-robin (modulo) mapping remains available by setting it to ``False``.
 
 * Added flexible per-object cloning path in
@@ -30,7 +30,7 @@ Deprecated
 
 * Deprecated :attr:`~isaaclab.sim.spawners.wrappers.MultiAssetSpawnerCfg.random_choice` and
   :attr:`~isaaclab.sim.spawners.wrappers.MultiUsdFileCfg.random_choice`. Use
-  :attr:`~isaaclab.scene.interactive_scene_cfg.InteractiveSceneCfg.random_heterogenous_cloning` to control whether
+  :attr:`~isaaclab.scene.interactive_scene_cfg.InteractiveSceneCfg.random_heterogeneous_cloning` to control whether
   assets are selected randomly (``True``) or via round-robin (``False``) across environments.
 
 

source/isaaclab/isaaclab/scene/cloner.py

@@ -28,7 +28,7 @@ class TemplateCloneCfg:
     1. Discover prototypes under :attr:`template_root` whose base name starts with
         :attr:`template_prototype_identifier` (for example, ``proto_asset_0``, ``proto_asset_1``).
     2. Build a per-prototype mapping to environments according to
-        :attr:`random_heterogenous_cloning` (random) or modulo assignment (deterministic).
+        :attr:`random_heterogeneous_cloning` (random) or modulo assignment (deterministic).
     3. Stamp the selected prototypes to destinations derived from :attr:`clone_regex`.
     4. Optionally perform PhysX replication for the same mapping.
 
@@ -48,7 +48,7 @@ class TemplateCloneCfg:
             clone_regex="/World/envs/env_.*",
             clone_usd=True,
             clone_physx=True,
-            random_heterogenous_cloning=False,  # use round-robin mapping
+            random_heterogeneous_cloning=False,  # use round-robin mapping
             device="cpu",
         )
 
@@ -74,7 +74,7 @@ class TemplateCloneCfg:
     clone_physx: bool = True
     """Enable PhysX replication for the same mapping to speed up physics setup."""
 
-    random_heterogenous_cloning: bool = True
+    random_heterogeneous_cloning: bool = True
     """Randomly assign prototypes to environments. Default is True.
 
     When enabled, each environment selects a prototype at random from the available prototypes
@@ -119,7 +119,7 @@ def clone_from_template(stage: Usd.Stage, num_clones: int, template_clone_cfg: T
             protos = [proto for proto in protos if proto.split("/")[-1].startswith(prototype_id)]
             m = torch.zeros((len(protos), num_clones), dtype=torch.bool, device=cfg.device)
             # Optionally select prototypes randomly per environment; else round-robin by modulo
-            if cfg.random_heterogenous_cloning:
+            if cfg.random_heterogeneous_cloning:
                 rand_idx = torch.randint(len(protos), (num_clones,), device=cfg.device)
                 m[rand_idx, world_indices] = True
             else:

source/isaaclab/isaaclab/scene/interactive_scene.py

@@ -138,7 +138,7 @@ def __init__(self, cfg: InteractiveSceneCfg):
 
         self.cloner_cfg = cloner.TemplateCloneCfg(
             clone_regex=self.env_regex_ns,
-            random_heterogenous_cloning=self.cfg.random_heterogenous_cloning,
+            random_heterogeneous_cloning=self.cfg.random_heterogeneous_cloning,
             clone_in_fabric=self.cfg.clone_in_fabric,
             device=self.device,
         )

source/isaaclab/isaaclab/scene/interactive_scene_cfg.py

@@ -125,7 +125,7 @@ class MySceneCfg(InteractiveSceneCfg):
 
     """
 
-    random_heterogenous_cloning: bool = True
+    random_heterogeneous_cloning: bool = True
     """Randomly assign prototypes to environments. Default is True.
 
     When enabled, each environment selects a prototype at random from the available

source/isaaclab/isaaclab/sim/simulation_context.py

@@ -246,7 +246,7 @@ def __init__(self, cfg: SimulationCfg | None = None):
             )
         else:
             self._app_control_on_stop_handle = None
-        self._disable_app_control_on_stop_handle = False
+        self._disable_app_control_on_stop_handle = True
 
         # flatten out the simulation dictionary
         sim_params = self.cfg.to_dict()
@@ -1124,6 +1124,7 @@ def build_simulation_context(
         sim.logger.error(traceback.format_exc())
         raise
     finally:
+        sim._disable_app_control_on_stop_handle = True
         if not sim.has_gui():
             # Stop simulation only if we aren't rendering otherwise the app will hang indefinitely
             sim.stop()

source/isaaclab/isaaclab/sim/spawners/wrappers/wrappers_cfg.py

@@ -43,7 +43,7 @@ class MultiAssetSpawnerCfg(RigidObjectSpawnerCfg, DeformableObjectSpawnerCfg):
     .. warning::
 
         This attribute is deprecated. Use
-        :attr:`~isaaclab.scene.interactive_scene_cfg.InteractiveSceneCfg.random_heterogenous_cloning` instead.
+        :attr:`~isaaclab.scene.interactive_scene_cfg.InteractiveSceneCfg.random_heterogeneous_cloning` instead.
     """
 
 
@@ -73,5 +73,5 @@ class MultiUsdFileCfg(UsdFileCfg):
     .. warning::
 
         This attribute is deprecated. Use
-        :attr:`~isaaclab.scene.interactive_scene_cfg.InteractiveSceneCfg.random_heterogenous_cloning` instead.
+        :attr:`~isaaclab.scene.interactive_scene_cfg.InteractiveSceneCfg.random_heterogeneous_cloning` instead.
     """

source/isaaclab/test/sim/test_cloner.py

@@ -18,26 +18,19 @@
 
 import isaacsim.core.utils.prims as prim_utils
 import isaacsim.core.utils.stage as stage_utils
+from isaacsim.core.simulation_manager import SimulationManager
 import pytest
-from isaacsim.core.api.simulation_context import SimulationContext
+from isaaclab.sim import build_simulation_context
 from pxr import UsdGeom
-
 import isaaclab.sim as sim_utils
 from isaaclab.scene.cloner import TemplateCloneCfg, clone_from_template, physx_replicate, usd_replicate
 
 
-@pytest.fixture
-def sim():
-    """Create a fresh simulation context and stage for each test."""
-    stage_utils.create_new_stage()
-    dt = 0.01
-    sim = SimulationContext(physics_dt=dt, rendering_dt=dt, backend="numpy")
-    stage_utils.update_stage()
-    yield sim
-    sim.stop()
-    sim.clear()
-    sim.clear_all_callbacks()
-    sim.clear_instance()
+@pytest.fixture(params=["cpu", "cuda"])
+def sim(request):
+    """Provide a fresh simulation context for each test on CPU and CUDA."""
+    with build_simulation_context(device=request.param, dt=0.01, add_lighting=False) as sim:
+        yield sim
 
 
 def test_usd_replicate_with_positions_and_mask(sim):
@@ -137,13 +130,11 @@ def test_clone_from_template(sim):
     Steps:
     - Create /World/template and /World/envs/env_0..env_31
     - Spawn three prototypes under /World/template/Object/proto_asset_.*
-    - Clone using TemplateCloneCfg with random_heterogenous_cloning=False (modulo mapping)
+    - Clone using TemplateCloneCfg with random_heterogeneous_cloning=False (modulo mapping)
     - Verify modulo placement exists; then call sim.reset(), and create PhysX view
     """
-    from isaacsim.core.simulation_manager import SimulationManager
-
     num_clones = 32
-    clone_cfg = TemplateCloneCfg(random_heterogenous_cloning=False, device="cpu")
+    clone_cfg = TemplateCloneCfg(random_heterogeneous_cloning=False, device=sim.cfg.device)
     prim_utils.create_prim(clone_cfg.template_root, "Xform")
     prim_utils.create_prim("/World/envs", "Xform")
     for i in range(num_clones):
@@ -197,3 +188,97 @@ def test_clone_from_template(sim):
     object_view_regex = f"{clone_cfg.clone_regex}/Object".replace(".*", "*")
     physx_view = SimulationManager.get_physics_sim_view().create_rigid_body_view(object_view_regex)
     assert physx_view._backend is not None
+
+
+def _run_colocation_collision_filter(sim, asset_cfg, expected_types, assert_count=False):
+    """Shared harness for colocated collision filter checks across devices."""
+    num_clones = 32
+    clone_cfg = TemplateCloneCfg(random_heterogeneous_cloning=False, device=sim.cfg.device)
+    prim_utils.create_prim(clone_cfg.template_root, "Xform")
+    prim_utils.create_prim("/World/envs", "Xform")
+    for i in range(num_clones):
+        prim_utils.create_prim(f"/World/envs/env_{i}", "Xform", translation=(0, 0, 0))
+
+    prim = asset_cfg.func(f"{clone_cfg.template_root}/Object/{clone_cfg.template_prototype_identifier}_.*", asset_cfg)
+    assert prim.IsValid()
+
+    stage = stage_utils.get_current_stage()
+    clone_from_template(stage, num_clones=num_clones, template_clone_cfg=clone_cfg)
+
+    primitive_prims = sim_utils.get_all_matching_child_prims(
+        "/World/envs", predicate=lambda prim: prim.GetTypeName() in expected_types
+    )
+
+    if assert_count:
+        assert len(primitive_prims) == num_clones
+
+    for i, primitive_prim in enumerate(primitive_prims):
+        assert primitive_prim.GetTypeName() == expected_types[i % len(expected_types)]
+
+    sim.reset()
+    object_view_regex = f"{clone_cfg.clone_regex}/Object".replace(".*", "*")
+    physx_view = SimulationManager.get_physics_sim_view().create_rigid_body_view(object_view_regex)
+    for _ in range(100):
+        sim.step()
+    distance_from_origin = torch.norm(physx_view.get_transforms()[:, :2], dim=-1)
+    assert torch.all(distance_from_origin < 0.1)
+
+
+def test_colocation_collision_filter_homogeneous(sim):
+    """Verify colocated clones of a single prototype stay stable after PhysX cloning.
+
+    All clones are spawned at exactly the same pose; if the collision filter is wrong the pile
+    explodes on reset. This asserts the filter keeps the colocated objects stable while stepping
+    across CPU and CUDA backends.
+    """
+    _run_colocation_collision_filter(
+        sim,
+        sim_utils.ConeCfg(
+            radius=0.3,
+            height=0.6,
+            visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.0, 1.0, 0.0), metallic=0.2),
+            mass_props=sim_utils.MassPropertiesCfg(mass=100.0),
+            rigid_props=sim_utils.RigidBodyPropertiesCfg(
+                solver_position_iteration_count=4, solver_velocity_iteration_count=0
+            ),
+            collision_props=sim_utils.CollisionPropertiesCfg(),
+        ),
+        expected_types=["Cone"],
+        assert_count=True,
+    )
+
+
+def test_colocation_collision_filter_heterogeneous(sim):
+    """Verify colocated clones of multiple prototypes retain modulo ordering and remain stable.
+
+    The cone, cube, and sphere are all spawned in the identical pose for every clone; an incorrect
+    collision filter would blow up the simulation on reset. This guards both modulo ordering and
+    that the colocated set stays stable through PhysX steps across CPU and CUDA.
+    """
+    _run_colocation_collision_filter(
+        sim,
+        sim_utils.MultiAssetSpawnerCfg(
+            assets_cfg=[
+                sim_utils.ConeCfg(
+                    radius=0.3,
+                    height=0.6,
+                    visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.0, 1.0, 0.0), metallic=0.2),
+                    mass_props=sim_utils.MassPropertiesCfg(mass=100.0),
+                ),
+                sim_utils.CuboidCfg(
+                    size=(0.3, 0.3, 0.3),
+                    visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(1.0, 0.0, 0.0), metallic=0.2),
+                ),
+                sim_utils.SphereCfg(
+                    radius=0.3,
+                    visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.0, 0.0, 1.0), metallic=0.2),
+                ),
+            ],
+            rigid_props=sim_utils.RigidBodyPropertiesCfg(
+                solver_position_iteration_count=4, solver_velocity_iteration_count=0
+            ),
+            mass_props=sim_utils.MassPropertiesCfg(mass=1.0),
+            collision_props=sim_utils.CollisionPropertiesCfg(),
+        ),
+        expected_types=["Cone", "Cube", "Sphere"],
+    )