add bin packing example

ooctipus · ooctipus · commit 45b8452e0c36 · 2025-09-29T12:24:14.000-07:00
diff --git a/docs/source/_static/demos/bin_packing.jpg b/docs/source/_static/demos/bin_packing.jpg
diff --git a/docs/source/overview/showroom.rst b/docs/source/overview/showroom.rst
@@ -193,6 +193,29 @@ A few quick showroom scripts to run and checkout:
       :alt: Multiple assets managed through the same simulation handles
 
 
+-  Use the composition of MultiAssetSpawner and RigidObjectCollection spawn different number of varying assets for each individual environment:
+
+   .. tab-set::
+      :sync-group: os
+
+      .. tab-item:: :icon:`fa-brands fa-linux` Linux
+         :sync: linux
+
+         .. code:: bash
+
+            ./isaaclab.sh -p scripts/demos/bin_packing.py
+
+      .. tab-item:: :icon:`fa-brands fa-windows` Windows
+         :sync: windows
+
+         .. code:: batch
+
+            isaaclab.bat -p scripts\demos\bin_packing.py
+
+   .. image:: ../_static/demos/bin_packing.jpg
+      :width: 100%
+      :alt: Spawning random number of random asset per env_id using combination os MultiAssetSpawner and RigidObjectCollection
+
 
 -  Use the interactive scene and spawn a simple parallel robot for pick and place:
 
diff --git a/scripts/demos/bin_packing.py b/scripts/demos/bin_packing.py
@@ -0,0 +1,257 @@
+# Copyright (c) 2022-2025, 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 demonstrates how to spawn different number of objects in multiple environments.
+
+.. code-block:: bash
+
+    # Usage
+    ./isaaclab.sh -p scripts/demos/bin_packing.py --num_envs 2048
+
+"""
+
+from __future__ import annotations
+
+"""Launch Isaac Sim Simulator first."""
+
+
+import argparse
+
+from isaaclab.app import AppLauncher
+
+# add argparse arguments
+parser = argparse.ArgumentParser(
+    description="Demo on spawning different number of objects in multiple bin packing environments."
+)
+parser.add_argument("--num_envs", type=int, default=16, help="Number of environments to spawn.")
+# 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."""
+
+import torch
+
+import isaaclab.sim as sim_utils
+import isaaclab.utils.math as math_utils
+from isaaclab.assets import AssetBaseCfg, RigidObject, RigidObjectCfg, RigidObjectCollection, RigidObjectCollectionCfg
+from isaaclab.scene import InteractiveScene, InteractiveSceneCfg
+from isaaclab.sim import SimulationContext
+from isaaclab.utils import Timer, configclass
+from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR
+
+##
+# Scene Configuration
+##
+
+POSE_RANGE = {"roll": (-3.14, 3.14), "pitch": (-3.14, 3.14), "yaw": (-3.14, 3.14)}
+VELOCITY_RANGE = {"roll": (-0.76, 0.76), "pitch": (-0.76, 0.76), "yaw": (-0.76, 0.76)}
+
+
+RANDOM_YCB_RIGID_OBJECT_CFG = RigidObjectCfg(
+    prim_path="/World/envs/env_.*/Object",
+    spawn=sim_utils.MultiAssetSpawnerCfg(
+        assets_cfg=[
+            sim_utils.UsdFileCfg(
+                usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/YCB/Axis_Aligned_Physics/004_sugar_box.usd",
+                rigid_props=sim_utils.RigidBodyPropertiesCfg(solver_position_iteration_count=4),
+            ),
+            sim_utils.UsdFileCfg(
+                usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/YCB/Axis_Aligned_Physics/003_cracker_box.usd",
+                rigid_props=sim_utils.RigidBodyPropertiesCfg(solver_position_iteration_count=4),
+            ),
+            sim_utils.UsdFileCfg(
+                usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/YCB/Axis_Aligned_Physics/005_tomato_soup_can.usd",
+                rigid_props=sim_utils.RigidBodyPropertiesCfg(solver_position_iteration_count=4),
+            ),
+            sim_utils.UsdFileCfg(
+                usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/YCB/Axis_Aligned_Physics/006_mustard_bottle.usd",
+                rigid_props=sim_utils.RigidBodyPropertiesCfg(solver_position_iteration_count=4),
+            ),
+            # note: the placeholder, this allows the effect of having less objects in some env ids
+            sim_utils.SphereCfg(
+                radius=0.1,
+                rigid_props=sim_utils.RigidBodyPropertiesCfg(disable_gravity=True),
+                collision_props=sim_utils.CollisionPropertiesCfg(collision_enabled=False),
+                visible=False
+            ),
+        ],
+        random_choice=True,
+    ),
+    init_state=RigidObjectCfg.InitialStateCfg(pos=(0.0, 0.0, 2.0)),
+)
+
+
+@configclass
+class MultiObjectSceneCfg(InteractiveSceneCfg):
+    """Configuration for a multi-object scene."""
+
+    # ground plane
+    ground = AssetBaseCfg(prim_path="/World/defaultGroundPlane", spawn=sim_utils.GroundPlaneCfg())
+
+    # lights
+    dome_light = AssetBaseCfg(
+        prim_path="/World/Light", spawn=sim_utils.DomeLightCfg(intensity=3000.0, color=(0.75, 0.75, 0.75))
+    )
+
+    # rigid object
+    object: RigidObjectCfg = RigidObjectCfg(
+        prim_path="/World/envs/env_.*/Object",
+        spawn=sim_utils.UsdFileCfg(
+            usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/KLT_Bin/small_KLT.usd",
+            scale=(2.0, 2.0, 2.0),
+            rigid_props=sim_utils.RigidBodyPropertiesCfg(
+                solver_position_iteration_count=4, solver_velocity_iteration_count=0, kinematic_enabled=True
+            ),
+            mass_props=sim_utils.MassPropertiesCfg(mass=1.0),
+        ),
+        init_state=RigidObjectCfg.InitialStateCfg(pos=(0.0, 0.0, 0.15)),
+    )
+
+    # object collection
+    object_collection: RigidObjectCollectionCfg = RigidObjectCollectionCfg(
+        rigid_objects={
+            "Object_A_Layer1": RANDOM_YCB_RIGID_OBJECT_CFG.replace(
+                prim_path="/World/envs/env_.*/Object_A_Layer1",
+                init_state=RigidObjectCfg.InitialStateCfg(pos=(-0.035, -0.06, 0.2)),
+            ),
+            "Object_B_Layer1": RANDOM_YCB_RIGID_OBJECT_CFG.replace(
+                prim_path="/World/envs/env_.*/Object_B_Layer1",
+                init_state=RigidObjectCfg.InitialStateCfg(pos=(-0.035, 0.06, 0.2)),
+            ),
+            "Object_C_Layer1": RANDOM_YCB_RIGID_OBJECT_CFG.replace(
+                prim_path="/World/envs/env_.*/Object_C_Layer1",
+                init_state=RigidObjectCfg.InitialStateCfg(pos=(0.035, 0.06, 0.2)),
+            ),
+            "Object_D_Layer1": RANDOM_YCB_RIGID_OBJECT_CFG.replace(
+                prim_path="/World/envs/env_.*/Object_D_Layer1",
+                init_state=RigidObjectCfg.InitialStateCfg(pos=(0.035, -0.06, 0.2)),
+            ),
+            "Object_A_Layer2": RANDOM_YCB_RIGID_OBJECT_CFG.replace(
+                prim_path="/World/envs/env_.*/Object_A_Layer2",
+                init_state=RigidObjectCfg.InitialStateCfg(pos=(-0.035, -0.06, 0.4)),
+            ),
+            "Object_B_Layer2": RANDOM_YCB_RIGID_OBJECT_CFG.replace(
+                prim_path="/World/envs/env_.*/Object_B_Layer2",
+                init_state=RigidObjectCfg.InitialStateCfg(pos=(-0.035, 0.06, 0.4)),
+            ),
+            "Object_C_Layer2": RANDOM_YCB_RIGID_OBJECT_CFG.replace(
+                prim_path="/World/envs/env_.*/Object_C_Layer2",
+                init_state=RigidObjectCfg.InitialStateCfg(pos=(0.035, 0.06, 0.4)),
+            ),
+            "Object_D_Layer2": RANDOM_YCB_RIGID_OBJECT_CFG.replace(
+                prim_path="/World/envs/env_.*/Object_D_Layer2",
+                init_state=RigidObjectCfg.InitialStateCfg(pos=(0.035, -0.06, 0.4)),
+            ),
+        }
+    )
+
+
+def reset_object_collections(scene: InteractiveScene, view_ids: torch.Tensor):
+    if len(view_ids) == 0:
+        return
+    rigid_object_collection: RigidObjectCollection = scene["object_collection"]
+    default_state_w = rigid_object_collection.data.default_object_state.clone()
+    default_state_w[..., :3] = default_state_w[..., :3] + scene.env_origins.unsqueeze(1)
+    default_state_w_view = rigid_object_collection.reshape_data_to_view(default_state_w)[view_ids]
+    range_list = [POSE_RANGE.get(key, (0.0, 0.0)) for key in ["x", "y", "z", "roll", "pitch", "yaw"]]
+    ranges = torch.tensor(range_list, device=scene.device)
+    samples = math_utils.sample_uniform(ranges[:, 0], ranges[:, 1], (len(view_ids), 6), device=scene.device)
+
+    positions = default_state_w_view[:, :3] + samples[..., 0:3]
+    orientations_delta = math_utils.quat_from_euler_xyz(samples[..., 3], samples[..., 4], samples[..., 5])
+    orientations = math_utils.quat_mul(default_state_w_view[:, 3:7], orientations_delta)
+    # velocities
+    range_list = [VELOCITY_RANGE.get(key, (0.0, 0.0)) for key in ["x", "y", "z", "roll", "pitch", "yaw"]]
+    ranges = torch.tensor(range_list, device=scene.device)
+    samples = math_utils.sample_uniform(ranges[:, 0], ranges[:, 1], (len(view_ids), 6), device=scene.device)
+
+    velocities = default_state_w_view[:, 7:13] + samples
+    new_poses = torch.concat((positions, orientations), dim=-1)
+
+    new_poses[..., 3:] = math_utils.convert_quat(new_poses[..., 3:], to="xyzw")
+    rigid_object_collection.root_physx_view.set_transforms(new_poses, indices=view_ids.view(-1, 1))
+    rigid_object_collection.root_physx_view.set_velocities(velocities, indices=view_ids.view(-1, 1))
+
+
+
+##
+# Simulation Loop
+##
+
+
+def run_simulator(sim: SimulationContext, scene: InteractiveScene):
+    """Runs the simulation loop."""
+    # Extract scene entities
+    # note: we only do this here for readability.
+    rigid_object: RigidObject = scene["object"]
+    rigid_object_collection: RigidObjectCollection = scene["object_collection"]
+    view_indices = torch.arange(scene.num_envs * rigid_object_collection.num_objects, device=scene.device)
+    # Define simulation stepping
+    sim_dt = sim.get_physics_dt()
+    count = 0
+    # Simulation loop
+    while simulation_app.is_running():
+        # Reset
+        if count % 250 == 0:
+            # reset counter
+            count = 0
+            # reset the scene entities
+            # object
+            root_state = rigid_object.data.default_root_state.clone()
+            root_state[:, :3] += scene.env_origins
+            rigid_object.write_root_pose_to_sim(root_state[:, :7])
+            rigid_object.write_root_velocity_to_sim(root_state[:, 7:])
+            # object collection
+            reset_object_collections(scene, view_indices)
+            scene.reset()
+            print("[INFO]: Resetting scene state...")
+
+        # Write data to sim
+        scene.write_data_to_sim()
+        # Perform step
+        sim.step()
+        object_pos_b = rigid_object_collection.data.object_pos_w - scene.env_origins.unsqueeze(1)
+        object_pos_b_view = rigid_object_collection.reshape_data_to_view(object_pos_b)
+        inbound_mask = (-1.0 < object_pos_b_view[:, 0]) & (object_pos_b_view[:, 0] < 1.0)
+        inbound_mask &= (-1.0 < object_pos_b_view[:, 1]) & (object_pos_b_view[:, 1] < 1.0)
+        reset_object_collections(scene, view_indices[~inbound_mask])
+        # Increment counter
+        count += 1
+        # Update buffers
+        scene.update(sim_dt)
+
+
+def main():
+    """Main function."""
+    # Load kit helper
+    sim_cfg = sim_utils.SimulationCfg(dt=0.005, device=args_cli.device)
+    sim = SimulationContext(sim_cfg)
+    # Set main camera
+    sim.set_camera_view([2.5, 0.0, 4.0], [0.0, 0.0, 2.0])
+
+    # Design scene
+    scene_cfg = MultiObjectSceneCfg(num_envs=args_cli.num_envs, env_spacing=1.0, replicate_physics=False)
+    with Timer("[INFO] Time to create scene: "):
+        scene = InteractiveScene(scene_cfg)
+
+    # Play the simulator
+    sim.reset()
+    # Now we are ready!
+    print("[INFO]: Setup complete...")
+    # Run the simulator
+    run_simulator(sim, scene)
+
+
+if __name__ == "__main__":
+    # run the main execution
+    main()
+    # close sim app
+    simulation_app.close()
