[pull] develop from isaac-sim:develop

docs/source/how-to/cloning.rst

@@ -121,6 +121,15 @@ visuals, PhysX's native replicator for rigid bodies and articulations, Newton's
 world system for its parallel pipeline. The same plan drives all of them, so user
 code never branches on the backend.
 
+Newton startup requires a builder; it no longer imports the USD stage implicitly.
+``InteractiveScene`` handles planning and replication internally; use it for maintained
+demos, tutorials, and asset previews. The explicit cloner examples below are for tests
+and code that teaches the cloner API. Native tools can instead supply a builder with
+``NewtonManager.set_builder(builder)``.
+
+Require a plan where a consumer uses it, not merely because simulation initializes.
+Empty PhysX simulations and tools that supply a native Newton builder need no dummy plan.
+
 ClonePlan
 ~~~~~~~~~
 

docs/source/how-to/run_deformable_object.rst

@@ -52,7 +52,7 @@ The tutorial corresponds to the ``run_deformable_object.py`` script in the ``scr
 
    .. literalinclude:: ../../../scripts/tutorials/01_assets/run_deformable_object.py
       :language: python
-      :emphasize-lines: 71-117, 146-151, 153-162, 167-175, 177-178, 184-189
+      :emphasize-lines: 88-112, 135-151, 156-164, 173-178, 191-192
       :linenos:
 
 
@@ -62,10 +62,10 @@ The Code Explained
 Designing the scene
 -------------------
 
-Similar to the :ref:`tutorial-interact-rigid-object` tutorial, we populate the scene with a ground plane
-and a light source. In addition, we add a deformable object to the scene using the :class:`assets.DeformableObject`
-class. This class is responsible for spawning the prims at the input path and initializes their corresponding
-deformable body physics handles.
+We declare the ground plane, light, and deformable cube in a subclass of :class:`scene.InteractiveSceneCfg`.
+:class:`scene.InteractiveScene` constructs the assets and handles replication internally.
+``DeformableSceneCfg(num_envs=4, env_spacing=0.5)`` selects four environment origins on a centered grid
+with 0.5 m spacing.
 
 In this tutorial, we create a cubical soft object using the spawn configuration similar to the deformable cube
 in the :ref:`Spawn Objects <tutorial-spawn-prims>` tutorial. The only difference is that now we wrap
@@ -81,13 +81,13 @@ when the simulation is played.
     implementation.
 
 
-As seen in the rigid body tutorial, we can spawn the deformable object into the scene in a similar fashion by creating
-an instance of the :class:`assets.DeformableObject` class by passing the configuration object to its constructor.
+The scene constructs the deformable objects from their cfg and owns their clone lifecycle.
+The simulation loop accesses the resulting asset through ``scene["cube_object"]``.
 
 .. literalinclude:: ../../../scripts/tutorials/01_assets/run_deformable_object.py
    :language: python
-   :start-at: # Create separate groups called "env_0", "env_1", ...
-   :end-at: cube_object = DeformableObject(cfg=cfg)
+   :start-at: @configclass
+   :end-before: def run_simulator(
 
 Running the simulation loop
 ---------------------------
@@ -104,7 +104,7 @@ are defined in the **simulation world frame** and are stored in the :attr:`asset
 
 We use the :attr:`assets.DeformableObject.data.default_nodal_state_w` attribute to get the default nodal state of the
 spawned object prims. This default state can be configured from the :attr:`assets.DeformableObjectCfg.init_state`
-attribute, which we left as identity in this tutorial.
+attribute, which places the cube 1 m above its environment origin in this tutorial.
 
 .. attention::
    The initial state in the configuration :attr:`assets.DeformableObjectCfg` specifies the pose
@@ -148,7 +148,7 @@ method.
 
 .. literalinclude:: ../../../scripts/tutorials/01_assets/run_deformable_object.py
    :language: python
-   :start-at: # update the kinematic target for cubes at index 0 and 3
+   :start-at: # update the kinematic target for cubes at the positive and negative diagonal corners
    :end-at: cube_object.write_nodal_kinematic_target_to_sim_index(nodal_kinematic_target)
 
 Similar to the rigid object and articulation, we perform the :meth:`assets.DeformableObject.write_data_to_sim` method
@@ -226,8 +226,7 @@ To stop the simulation, you can either close the window, or press ``Ctrl+C`` in
 This tutorial showed how to spawn deformable objects and wrap them in a :class:`DeformableObject` class to initialize their
 physics handles which allows setting and obtaining their state. We also saw how to apply kinematic commands to the
 deformable object to move the mesh nodes in a controlled manner. The ``deformables`` example provides a more advanced
-example, including surface deformables, loading USD assets, and applying deformable materials. In the next tutorial, we will see how to create
-a scene using the :class:`InteractiveScene` class.
+example, including surface deformables, loading USD assets, and applying deformable materials.
 
 .. _PhysX documentation: https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/docs/SoftBodies.html
 .. _partial kinematic: https://nvidia-omniverse.github.io/PhysX/physx/5.4.1/docs/SoftBodies.html#kinematic-soft-bodies

examples/cables.py

@@ -38,73 +38,74 @@
     parser.error("--num_segments must be at least 2.")
 
 import isaaclab.sim as sim_utils
+from isaaclab.assets import AssetBaseCfg, CableObjectCfg
+from isaaclab.cloner import CloneCfg
 from isaaclab.physics import PhysicsCfg
+from isaaclab.scene import InteractiveSceneCfg
+from isaaclab.utils import configclass
 
 if TYPE_CHECKING:
     from isaaclab.assets import CableObject
+    from isaaclab.scene import InteractiveScene
 
 
-def design_scene(num_cables: int, num_segments: int, colorize: bool) -> dict[str, CableObject]:
-    """Spawn a ground plane, light, and randomly oriented cable pile.
-
-    Args:
-        num_cables: Number of cables to spawn.
-        num_segments: Number of segments per cable.
-        colorize: Whether to give each cable a random visual material.
-    """
-    from isaaclab.assets import CableObject, CableObjectCfg
-
-    ground_cfg = sim_utils.GroundPlaneCfg()
-    ground_cfg.func("/World/defaultGroundPlane", ground_cfg)
-    light_cfg = sim_utils.DomeLightCfg(intensity=3000.0, color=(0.75, 0.75, 0.75))
-    light_cfg.func("/World/light", light_cfg)
-
-    cable_length = 0.5
-    segment_length = cable_length / num_segments
-    thickness = 0.01
-    radius = 0.5 * thickness
-    target_stretch_stiffness = 5.0e5  # [N/m] per joint
-    target_bend_stiffness = 20.0  # [N.m/rad] per joint
-    stretch_modulus = target_stretch_stiffness * segment_length / (math.pi * radius**2)
-    bend_modulus = target_bend_stiffness * segment_length / (0.25 * math.pi * radius**4)
-    xy_jitter = 0.3
-    z_spacing = 1.5 * thickness
-    z_base = 0.8
-    positions = [(index * segment_length, 0.0, 0.0) for index in range(num_segments + 1)]
-
-    print(f"[INFO]: Spawning {num_cables} cables...")
-    entities: dict[str, CableObject] = {}
-    for index in range(num_cables):
-        angle = random.uniform(0.0, 2.0 * math.pi)
-        position = (
-            random.uniform(-xy_jitter, xy_jitter) - 0.5 * cable_length * math.cos(angle),
-            random.uniform(-xy_jitter, xy_jitter) - 0.5 * cable_length * math.sin(angle),
-            z_base + index * z_spacing,
-        )
-        orientation = (0.0, 0.0, math.sin(0.5 * angle), math.cos(0.5 * angle))
-        visual_material = None
-        if colorize:
-            visual_material = sim_utils.PreviewSurfaceCfg(
-                diffuse_color=(random.random(), random.random(), random.random())
+@configclass
+class CablesSceneCfg(InteractiveSceneCfg):
+    """A randomized cable pile with ground and lighting."""
+
+    clone_cfg = CloneCfg(clone_template="/World/Env_{}")
+
+    ground = AssetBaseCfg(prim_path="/World/defaultGroundPlane", spawn=sim_utils.GroundPlaneCfg())
+    light = AssetBaseCfg(
+        prim_path="/World/light", spawn=sim_utils.DomeLightCfg(intensity=3000.0, color=(0.75, 0.75, 0.75))
+    )
+
+    def __post_init__(self):
+        """Configure cable geometry and sample the initial pile."""
+        colorize = bool(args_cli.visualizer and "kit" in args_cli.visualizer)
+        cable_length = 0.5
+        segment_length = cable_length / args_cli.num_segments
+        thickness = 0.01
+        radius = 0.5 * thickness
+        target_stretch_stiffness = 5.0e5  # [N/m] per joint
+        target_bend_stiffness = 20.0  # [N.m/rad] per joint
+        stretch_modulus = target_stretch_stiffness * segment_length / (math.pi * radius**2)
+        bend_modulus = target_bend_stiffness * segment_length / (0.25 * math.pi * radius**4)
+        xy_jitter = 0.3
+        z_spacing = 1.5 * thickness
+        z_base = 0.8
+        positions = [(index * segment_length, 0.0, 0.0) for index in range(args_cli.num_segments + 1)]
+
+        print(f"[INFO]: Spawning {args_cli.num_cables} cables...")
+        for index in range(args_cli.num_cables):
+            angle = random.uniform(0.0, 2.0 * math.pi)
+            position = (
+                random.uniform(-xy_jitter, xy_jitter) - 0.5 * cable_length * math.cos(angle),
+                random.uniform(-xy_jitter, xy_jitter) - 0.5 * cable_length * math.sin(angle),
+                z_base + index * z_spacing,
             )
-        cfg = CableObjectCfg(
-            prim_path=f"/World/Env_0/Cable{index:03d}",
-            spawn=sim_utils.CableCfg(
-                positions=positions,
-                visual_material=visual_material,
-                physics_material=sim_utils.CableMaterialCfg(
-                    thickness=thickness,
-                    density=100.0,
-                    stretch_stiffness=stretch_modulus,
-                    bend_stiffness=bend_modulus,
+            orientation = (0.0, 0.0, math.sin(0.5 * angle), math.cos(0.5 * angle))
+            visual_material = None
+            if colorize:
+                visual_material = sim_utils.PreviewSurfaceCfg(
+                    diffuse_color=(random.random(), random.random(), random.random())
+                )
+            cfg = CableObjectCfg(
+                prim_path=f"{{ENV_REGEX_NS}}/Cable{index:03d}",
+                spawn=sim_utils.CableCfg(
+                    positions=positions,
+                    visual_material=visual_material,
+                    physics_material=sim_utils.CableMaterialCfg(
+                        thickness=thickness,
+                        density=100.0,
+                        stretch_stiffness=stretch_modulus,
+                        bend_stiffness=bend_modulus,
+                    ),
+                    collision_props=[sim_utils.UsdPhysicsCollisionCfg(collision_enabled=True)],
                 ),
-                collision_props=[sim_utils.UsdPhysicsCollisionCfg(collision_enabled=True)],
-            ),
-            init_state=CableObjectCfg.InitialStateCfg(pos=position, rot=orientation),
-        )
-        entities[f"cable_{index:03d}"] = CableObject(cfg=cfg)
-
-    return entities
+                init_state=CableObjectCfg.InitialStateCfg(pos=position, rot=orientation),
+            )
+            setattr(self, f"cable_{index:03d}", cfg)
 
 
 def reset_cables(entities: dict[str, CableObject]) -> None:
@@ -114,20 +115,19 @@ def reset_cables(entities: dict[str, CableObject]) -> None:
         cable.write_segment_velocity_to_sim_index(segment_velocity=cable.data.default_segment_velocity_w)
 
 
-def run_simulator(sim: sim_utils.SimulationContext, entities: dict[str, CableObject], max_steps: int = -1) -> None:
+def run_simulator(sim: sim_utils.SimulationContext, scene: InteractiveScene, max_steps: int = -1) -> None:
     """Run the simulation and periodically restore the cable pile."""
     sim_dt = sim.get_physics_dt()
     reset_steps = max(1, int(2.0 / sim_dt))
     count = 0
 
     while (max_steps < 0 or count < max_steps) and sim.is_headless_or_exist_active_visualizer():
         if count > 0 and count % reset_steps == 0:
-            reset_cables(entities)
+            reset_cables(scene.cable_objects)
             print("[INFO]: Resetting cable state...")
 
         sim.step(render=False)
-        for cable in entities.values():
-            cable.update(sim_dt)
+        scene.update(sim_dt)
         if sim.is_rendering:
             sim.render()
         count += 1
@@ -141,11 +141,12 @@ def main() -> None:
         sim_cfg = sim_utils.SimulationCfg(dt=0.01, device=args_cli.device, physics=physics_cfg)
         sim = sim_utils.SimulationContext(sim_cfg)
         sim.set_camera_view(eye=(2.0, 2.0, 1.0), target=(0.0, 0.0, 0.25))
-        colorize = bool(args_cli.visualizer and "kit" in args_cli.visualizer)
-        entities = design_scene(args_cli.num_cables, args_cli.num_segments, colorize)
+
+        scene_cfg = CablesSceneCfg(num_envs=1, env_spacing=0.0)
+        scene = scene_cfg.class_type(scene_cfg)
         sim.reset()
         print("[INFO]: Setup complete...")
-        run_simulator(sim, entities, args_cli.max_steps)
+        run_simulator(sim, scene, args_cli.max_steps)
 
 
 if __name__ == "__main__":