Expand support for heterogeneous objects in arena#401
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alexmillane wants to merge 6 commits intomainfrom
Open
Expand support for heterogeneous objects in arena#401alexmillane wants to merge 6 commits intomainfrom
alexmillane wants to merge 6 commits intomainfrom
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cvolkcvolk
reviewed
Feb 9, 2026
| raise ValueError(f"Error: Could not open USD file at {usd_path}") | ||
| return find_shallowest_rigid_body_from_stage(stage, relative_to_root) | ||
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| # Get all the rigid body prim paths |
cvolkcvolk
reviewed
Feb 9, 2026
| depths = self._get_all_rigid_body_depths(objects) | ||
| return all(depth == depths[0] for depth in depths) | ||
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| def _get_all_rigid_body_depths(self, objects: list[Object]) -> list[str]: |
cvolkcvolk
reviewed
Feb 9, 2026
| yaw_rad = math.radians(-111.55) | ||
| # Note (xinjieyao, 2026.02.04): prim path of object set has not been resolved yet, will be fixed in the future. | ||
| assert args_cli.object_set is None, "Object set is not supported yet" | ||
| # assert args_cli.object_set is None, "Object set is not supported yet" |
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Remove the assert(-comment)?
cvolkcvolk
reviewed
Feb 9, 2026
| # Isaac Lab support for MultiUsdFileCfg is limited. It applies the same scale and pose to all objects. | ||
| # Furthermore it relies on the rigid body being at the root of the USD file, or at the same | ||
| # path in all files. To expand our support in Arena, we modify the USDs to be compatible with each other. | ||
| # In particular, we rescale the assets and rename the rigid bodies to have the same name. We |
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Suggested change
| # In particular, we rescale the assets and rename the rigid bodies to have the same name. We | |
| # In particular, we rescale the assets and rename the rigid bodies to have the same name. |
cvolkcvolk
reviewed
Feb 9, 2026
| # Furthermore it relies on the rigid body being at the root of the USD file, or at the same | ||
| # path in all files. To expand our support in Arena, we modify the USDs to be compatible with each other. | ||
| # In particular, we rescale the assets and rename the rigid bodies to have the same name. We | ||
| # Save the resulting modified USDs to a cache. |
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| # Save the resulting modified USDs to a cache. | |
| # We save the resulting modified USDs to a cache. |
cvolkcvolk
approved these changes
Feb 9, 2026
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cvolkcvolk
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Thanks for fixing! lgtm
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Summary
Expand support for heterogeneous objects in Arena
Detailed description
MultiUsdFileCfgwith a single scale and who have their rigid bodies either at the root or at the same path.