make cloning respect .* wild card

Author: ooctipus

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

@@ -8,13 +8,15 @@
 from typing import TYPE_CHECKING
 
 from pxr import Usd
-
+import logging
 import isaaclab.sim.utils.prims as prim_utils
 from isaaclab.sim.spawners.from_files import UsdFileCfg
 
 if TYPE_CHECKING:
     from . import wrappers_cfg
 
+logger = logging.getLogger(__name__)
+
 
 def spawn_multi_asset(
     prim_path: str,
@@ -24,11 +26,14 @@ def spawn_multi_asset(
     clone_in_fabric: bool = False,
     replicate_physics: bool = False,
 ) -> Usd.Prim:
-    """Spawn multiple assets based on the provided configurations.
+    """Spawn multiple assets into numbered prim paths derived from the provided configuration.
 
-    This function spawns multiple assets based on the provided configurations. The assets are spawned
-    in the order they are provided in the list. If the :attr:`~MultiAssetSpawnerCfg.random_choice` parameter is
-    set to True, a random asset configuration is selected for each spawn.
+    Assets are created in the order they appear in ``cfg.assets_cfg`` using the base name in ``prim_path``,
+    which must contain ``.*`` (for example, ``/World/Env_0/asset_.*`` spawns ``asset_0``, ``asset_1``, ...).
+    The prefix portion of ``prim_path`` may also include ``.*`` (for example, ``/World/env_.*/asset_.*``);
+    this is only allowed when :attr:`~isaaclab.sim.spawners.wrappers.wrappers_cfg.MultiAssetSpawnerCfg.enable_clone`
+    is True, in which case assets are spawned under the first match (``env_0``) and that structure is cloned to
+    other matching environments.
 
     Args:
         prim_path: The prim path to spawn the assets.
@@ -41,7 +46,27 @@ def spawn_multi_asset(
     Returns:
         The created prim at the first prim path.
     """
-    # spawn everything first in a "Dataset" prim
+    split_path = prim_path.split("/")
+    prefix_path, base_name = "/".join(split_path[:-1]), split_path[-1]
+    if ".*" in prefix_path and not cfg.enable_clone:
+        raise ValueError(
+            f" Found '.*' in prefix path '{prefix_path}' but enable_clone is False. Set enable_clone=True to allow"
+            f" this pattern, which would replicate all {len(cfg.assets_cfg)} assets into every environment that"
+            " matches the prefix. If you want heterogeneous assets across envs, instead of set enable_clone to True"
+            "spawn them under a single template (e.g., /World/Template/Robot) and use the cloner to place"
+            "them at their final paths."
+        )
+    if ".*" not in base_name:
+        raise ValueError(
+            f" The base name '{base_name}' in the prim path '{prim_path}' must contain '.*' to indicate"
+            " the path each individual multiple-asset to be spawned."
+        )
+    if cfg.random_choice:
+        logger.warning(
+            "`random_choice` parameter in `spawn_multi_asset` is deprecated, and nothing will happen. "
+            "Use `isaaclab.scene.interactive_scene_cfg.InteractiveSceneCfg.random_heterogeneous_cloning` instead."
+        )
+
     proto_prim_paths = list()
     for index, asset_cfg in enumerate(cfg.assets_cfg):
         # append semantic tags if specified
@@ -56,8 +81,8 @@ def spawn_multi_asset(
             attr_value = getattr(cfg, attr_name)
             if hasattr(asset_cfg, attr_name) and attr_value is not None:
                 setattr(asset_cfg, attr_name, attr_value)
-        # spawn single instance
-        proto_prim_path = prim_path.replace(".*", f"{index}")
+
+        proto_prim_path = f"{prefix_path}/{base_name.replace('.*', str(index))}"
         asset_cfg.func(
             proto_prim_path,
             asset_cfg,
@@ -69,7 +94,7 @@ def spawn_multi_asset(
         # append to proto prim paths
         proto_prim_paths.append(proto_prim_path)
 
-    return prim_utils.get_prim_at_path(proto_prim_paths[0])
+    return prim_utils.find_first_matching_prim(proto_prim_paths[0])
 
 
 def spawn_multi_usd_file(

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

@@ -34,11 +34,15 @@ class MultiAssetSpawnerCfg(RigidObjectSpawnerCfg, DeformableObjectSpawnerCfg):
     assets_cfg: list[SpawnerCfg] = MISSING
     """List of asset configurations to spawn."""
 
-    random_choice: bool = True
-    """Whether to randomly select an asset configuration. Default is True.
+    enable_clone: bool = False
+    """This is enables the cloning of spawned assets from first instance to all other instances that has the
+    same prefix path pattern, for example, given /World/env_.*/asset_.*, multi-asset spawner will spawn asset_0,
+    asset_1, asset_n under /World/env_0. Then if enable_clone is set to True, env_0 is cloned to env_1, env_2, etc.
+    If False, .* is not allowed in the prefix path of the prim_path, an safty check error will be raised."""
 
-    If False, the asset configurations are spawned in the order they are provided in the list.
-    If True, a random asset configuration is selected for each spawn.
+    random_choice: bool = True
+    """ This parameter is ignored.
+    See :attr:`isaaclab.scene.interactive_scene_cfg.InteractiveSceneCfg.random_heterogeneous_cloning` for details.
 
     .. warning::
 

source/isaaclab/isaaclab/sim/utils/prims.py

@@ -9,6 +9,7 @@
 import inspect
 import logging
 import numpy as np
+import torch
 import re
 from collections.abc import Callable, Sequence
 from typing import TYPE_CHECKING, Any
@@ -17,13 +18,10 @@
 import omni.kit.commands
 import omni.usd
 import usdrt
-from isaacsim.core.cloner import Cloner
-from isaacsim.core.version import get_version
 from omni.usd.commands import DeletePrimsCommand, MovePrimCommand
 from pxr import PhysxSchema, Sdf, Usd, UsdGeom, UsdPhysics, UsdShade
 
 from isaaclab.utils.string import to_camel_case
-
 from .semantics import add_labels
 from .stage import add_reference_to_stage, attach_stage_to_usd_context, get_current_stage
 
@@ -1489,10 +1487,10 @@ def wrapper(prim_path: str | Sdf.Path, cfg: SpawnerCfg, *args, **kwargs):
         else:
             source_prim_paths = [root_path]
 
-        # resolve prim paths for spawning and cloning
-        prim_paths = [f"{source_prim_path}/{asset_path}" for source_prim_path in source_prim_paths]
+        # resolve prim paths for spawning
+        prim_spawn_path = prim_path.replace(".*", "0")
         # spawn single instance
-        prim = func(prim_paths[0], cfg, *args, **kwargs)
+        prim = func(prim_spawn_path, cfg, *args, **kwargs)
         # set the prim visibility
         if hasattr(cfg, "visible"):
             imageable = UsdGeom.Imageable(prim)
@@ -1519,28 +1517,18 @@ def wrapper(prim_path: str | Sdf.Path, cfg: SpawnerCfg, *args, **kwargs):
         if hasattr(cfg, "activate_contact_sensors") and cfg.activate_contact_sensors:
             from ..schemas import schemas as _schemas
 
-            _schemas.activate_contact_sensors(prim_paths[0])
+            _schemas.activate_contact_sensors(prim_spawn_path)
         # clone asset using cloner API
-        if len(prim_paths) > 1:
-            cloner = Cloner(stage=stage)
-            # check version of Isaac Sim to determine whether clone_in_fabric is valid
-            isaac_sim_version = float(".".join(get_version()[2]))
-            if isaac_sim_version < 5:
-                # clone the prim
-                cloner.clone(
-                    prim_paths[0], prim_paths[1:], replicate_physics=False, copy_from_source=cfg.copy_from_source
-                )
-            else:
-                # clone the prim
-                clone_in_fabric = kwargs.get("clone_in_fabric", False)
-                replicate_physics = kwargs.get("replicate_physics", False)
-                cloner.clone(
-                    prim_paths[0],
-                    prim_paths[1:],
-                    replicate_physics=replicate_physics,
-                    copy_from_source=cfg.copy_from_source,
-                    clone_in_fabric=clone_in_fabric,
-                )
+        if len(source_prim_paths) > 1:
+            # lazy import to avoid circular import
+            from isaaclab.scene.cloner import usd_replicate
+            formattable_path = f"{root_path.replace('.*', '{}')}/{asset_path}"
+            usd_replicate(
+                stage=stage,
+                sources=[formattable_path.format(0)],
+                destinations=[formattable_path],
+                env_ids=torch.arange(len(source_prim_paths)),
+            )
         # return the source prim
         return prim
 

source/isaaclab/test/assets/test_articulation.py

@@ -31,7 +31,6 @@
 from isaaclab.assets import Articulation, ArticulationCfg
 from isaaclab.envs.mdp.terminations import joint_effort_out_of_limit
 from isaaclab.managers import SceneEntityCfg
-from isaaclab.scene import cloner
 from isaaclab.sim import build_simulation_context
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
 
@@ -179,14 +178,6 @@ def generate_articulation(
         prim_utils.create_prim(f"/World/Env_{i}", "Xform", translation=translations[i][:3])
     articulation = Articulation(articulation_cfg.replace(prim_path="/World/Env_.*/Robot"))
 
-    cloner.usd_replicate(
-        stage=prim_utils.get_current_stage(),
-        sources=["/World/Env_0"],
-        destinations=["/World/Env_{}"],
-        env_ids=torch.arange(num_articulations),
-        positions=translations,
-    )
-
     return articulation, translations
 
 

source/isaaclab/test/assets/test_deformable_object.py

@@ -27,7 +27,6 @@
 import isaaclab.sim.utils.prims as prim_utils
 import isaaclab.utils.math as math_utils
 from isaaclab.assets import DeformableObject, DeformableObjectCfg
-from isaaclab.scene import cloner
 from isaaclab.sim import build_simulation_context
 
 
@@ -86,13 +85,6 @@ def generate_cubes_scene(
         init_state=DeformableObjectCfg.InitialStateCfg(pos=(0.0, 0.0, height), rot=initial_rot),
     )
     cube_object = DeformableObject(cfg=cube_object_cfg)
-    cloner.usd_replicate(
-        stage=prim_utils.get_current_stage(),
-        sources=["/World/Table_0"],
-        destinations=["/World/Table_{}"],
-        env_ids=torch.arange(num_cubes),
-        positions=origins,
-    )
     return cube_object
 
 

source/isaaclab/test/assets/test_rigid_object.py

@@ -26,7 +26,6 @@
 import isaaclab.sim as sim_utils
 import isaaclab.sim.utils.prims as prim_utils
 from isaaclab.assets import RigidObject, RigidObjectCfg
-from isaaclab.scene import cloner
 from isaaclab.sim import build_simulation_context
 from isaaclab.sim.spawners import materials
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR
@@ -94,14 +93,6 @@ def generate_cubes_scene(
     )
     cube_object = RigidObject(cfg=cube_object_cfg)
 
-    cloner.usd_replicate(
-        stage=prim_utils.get_current_stage(),
-        sources=["/World/Table_0"],
-        destinations=["/World/Table_{}"],
-        env_ids=torch.arange(num_cubes),
-        positions=origins,
-    )
-
     return cube_object, origins
 
 

source/isaaclab/test/assets/test_rigid_object_collection.py

@@ -24,7 +24,6 @@
 import isaaclab.sim as sim_utils
 import isaaclab.sim.utils.prims as prim_utils
 from isaaclab.assets import RigidObjectCfg, RigidObjectCollection, RigidObjectCollectionCfg
-from isaaclab.scene import cloner
 from isaaclab.sim import build_simulation_context
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
 from isaaclab.utils.math import (
@@ -91,13 +90,6 @@ def generate_cubes_scene(
     # create the rigid object collection
     cube_object_collection_cfg = RigidObjectCollectionCfg(rigid_objects=cube_config_dict)
     cube_object_colection = RigidObjectCollection(cfg=cube_object_collection_cfg)
-    cloner.usd_replicate(
-        stage=prim_utils.get_current_stage(),
-        sources=["/World/Table_0"],
-        destinations=["/World/Table_{}"],
-        env_ids=torch.arange(num_envs),
-        positions=origins,
-    )
     return cube_object_colection, origins
 
 

source/isaaclab/test/sensors/test_multi_tiled_camera.py

@@ -30,24 +30,6 @@
 import isaaclab.sim.utils.prims as prim_utils
 import isaaclab.sim.utils.stage as stage_utils
 from isaaclab.sensors.camera import TiledCamera, TiledCameraCfg
-from isaaclab.scene import cloner
-
-
-def _replicate_group_origins(group_index: int, num_cameras: int) -> None:
-    """Replicate `/World/Origin_{i}_0` subtree to `/World/Origin_{i}_{1..N-1}` with preserved translations."""
-    stage = prim_utils.get_current_stage()
-    fmt = f"/World/Origin_{group_index}_{{}}"
-    get_translate = (
-        lambda prim_path: stage.GetPrimAtPath(prim_path).GetAttribute("xformOp:translate").Get()
-    )  # noqa: E731
-    positions = torch.tensor([get_translate(fmt.format(j)) for j in range(num_cameras)])
-    cloner.usd_replicate(
-        stage=stage,
-        sources=[fmt.format(0)],
-        destinations=[fmt],
-        env_ids=torch.arange(num_cameras),
-        positions=positions,
-    )
 
 
 @pytest.fixture()
@@ -102,8 +84,6 @@ def test_multi_tiled_camera_init(setup_camera):
         camera_cfg = copy.deepcopy(camera_cfg)
         camera_cfg.prim_path = f"/World/Origin_{i}_.*/CameraSensor"
         camera = TiledCamera(camera_cfg)
-        # Ensure each origin in this group gets a camera
-        _replicate_group_origins(i, num_cameras_per_tiled_camera)
         tiled_cameras.append(camera)
 
         # Check simulation parameter is set correctly
@@ -200,8 +180,6 @@ def test_all_annotators_multi_tiled_camera(setup_camera):
         camera_cfg.data_types = all_annotator_types
         camera_cfg.prim_path = f"/World/Origin_{i}_.*/CameraSensor"
         camera = TiledCamera(camera_cfg)
-        # Ensure each origin in this group gets a camera
-        _replicate_group_origins(i, num_cameras_per_tiled_camera)
         tiled_cameras.append(camera)
 
         # Check simulation parameter is set correctly
@@ -303,8 +281,6 @@ def test_different_resolution_multi_tiled_camera(setup_camera):
         camera_cfg.prim_path = f"/World/Origin_{i}_.*/CameraSensor"
         camera_cfg.height, camera_cfg.width = resolutions[i]
         camera = TiledCamera(camera_cfg)
-        # Ensure each origin in this group gets a camera
-        _replicate_group_origins(i, num_cameras_per_tiled_camera)
         tiled_cameras.append(camera)
 
         # Check simulation parameter is set correctly
@@ -375,8 +351,6 @@ def test_frame_offset_multi_tiled_camera(setup_camera):
         camera_cfg = copy.deepcopy(camera_cfg)
         camera_cfg.prim_path = f"/World/Origin_{i}_.*/CameraSensor"
         camera = TiledCamera(camera_cfg)
-        # Ensure each origin in this group gets a camera
-        _replicate_group_origins(i, num_cameras_per_tiled_camera)
         tiled_cameras.append(camera)
 
     # modify scene to be less stochastic
@@ -446,7 +420,6 @@ def test_frame_different_poses_multi_tiled_camera(setup_camera):
         camera_cfg.prim_path = f"/World/Origin_{i}_.*/CameraSensor"
         camera_cfg.offset = TiledCameraCfg.OffsetCfg(pos=positions[i], rot=rotations[i], convention="ros")
         camera = TiledCamera(camera_cfg)
-        _replicate_group_origins(i, num_cameras_per_tiled_camera)
         tiled_cameras.append(camera)
 
     # Play sim