Cannot set scale of a visual cuboid

[michal.stanik]

Hello.

I am struggling with something I think should be very basic. I would like to make a visual cuboid with side lengths of 0.4, 1 and 0.3. But it ends up as a cube with all sides equal to 0.05

What am I doing wrong with this simple task? Here is my code. I am using Isaac Sim 2022.1

import json
import numpy as np
import sys

from omni.isaac.kit import SimulationApp


app_config = {
    "width": 780,
    "height": 440,
    "window_width": 1320,
    "window_height": 760,
    "headless": True,
    "renderer": "RayTracedLighting",
    "display_options": 3220,
}
simulation_app = SimulationApp(app_config)

simulation_app.set_setting("/app/window/drawMouse", True)
simulation_app.set_setting("/app/livestream/proto", "ws")
simulation_app.set_setting("/app/livestream/websocket/framerate_limit", 30)
simulation_app.set_setting("/ngx/enabled", False)

from omni.isaac.core.prims.xform_prim import XFormPrim
from omni.isaac.core.objects import DynamicCuboid, VisualCuboid
from omni.isaac.core.utils.extensions import enable_extension
import omni.kit
from omni.isaac.core import World


enable_extension("omni.services.streamclient.websocket")

world = World()
ground_plane = world.scene.add_default_ground_plane()
XFormPrim(ground_plane.prim_path + "/SphereLight").set_visibility(False)

world.scene.add(VisualCuboid(
    prim_path="/World/spawn_region",
    position=[0.7, 0, 0.45],
    scale=np.array([0.4, 1.0, 0.3]),
    color=np.array([1, 0, 1]),
))

world.reset()
prim = XFormPrim("/World/spawn_region")
print("Spawn region", prim.get_local_pose(), prim.get_local_scale(), prim.get_world_scale())

while simulation_app._app.is_running() and not simulation_app.is_exiting():
    simulation_app.update()
simulation_app.close()

[rthaker]

Hi - Sorry for the delay in the response. Let us know if you still having this issue/question with the latest Isaac Sim 2022.2.1 release.

[michal.stanik]

Currently, with Isaac Sim 2022.1.1, I found out that one needs to pass size=1 to the VisualCuboid constructor (together with the scale). The default value is 0.05 which shrinks the cuboid.

[rgasoto]

Thanks for confirming. in 2022.2.1, it would change to

from omni.isaac.core import World
from omni.isaac.core.objects import cuboid, sphere, capsule
from omni.isaac.core.prims import XFormPrim, GeometryPrimView

import numpy as np 

world = World()
ground_plane = world.scene.add_default_ground_plane()
XFormPrim(ground_plane.prim_path + "/SphereLight").set_visibility(False)

world.scene.add(cuboid.VisualCuboid(
    prim_path="/World/spawn_region",
    position=[0.7, 0, 0.45],
    scale=np.array([0.4, 1.0, 0.3]),
    color=np.array([1, 0, 1]),
))