Create Scene objects of [RigidObjectCfg]

Omniverse Isaac Sim
1

I am attempting to generate a list of rigid objects in isaac lab, but receive the error that a list does not have the property “{ENV_REGEX_EX}”. Some example code is below.

I add the “objects” as

objects: [RigidObjectCfg] = MISSING in the lift_env_cfg.py file for franka-reach.

Is there someway to do this without manually creating all scene objects and defining them in lift_env_cfg.py?

i.e self.scene.object_1 = RigidObjectCfg()
self.scene.object_2 = RigidObectjCfg()

With each object defined as missing in lift_env_cfg.py

object_1: RigidObjectCfg = MISSING
object_2: RigidObjectCfg = MISSING

Example list code:

self.sphere_sizes = np.random.uniform(0.01, 0.1, 10)
        self.scene.objects = []
        num_objects = 20
        for obj_dex in range(1, num_objects + 1):
            obj = RigidObjectCfg(
                prim_path="{ENV_REGEX_NS}/Object_" + str(obj_dex),
                init_state=RigidObjectCfg.InitialStateCfg(pos=[0.7, 0, 0.055], rot=[1, 0, 0, 0]),
                spawn=UsdFileCfg(
                    usd_path=f"/home/kevin/HD_2/Data/Code/IsaacLab/sphere/sphere/sphere.usd",
                    scale=(self.sphere_sizes[obj_dex - 1], self.sphere_sizes[obj_dex - 1], self.sphere_sizes[obj_dex - 1]),
                    rigid_props=RigidBodyPropertiesCfg(
                        solver_position_iteration_count=16,
                        solver_velocity_iteration_count=1,
                        max_angular_velocity=1000.0,
                        max_linear_velocity=100.0,
                        max_depenetration_velocity=5.0,
                        disable_gravity=False,
                    ),
                ),
            )
            self.scene.objects.append(obj)
2

Figured it out using hasattr and setattr:

        max_sphere_velo = 5.0
        self.sphere_sizes = np.random.uniform(0.01, 0.125, NUM_OBJECTS)
        self.sphere_pos_x = np.random.uniform(0.6, 0.85, NUM_OBJECTS)
        self.sphere_pos_y = np.random.uniform(-0.3, 0.3, NUM_OBJECTS)
        for obj_dex in range(1, NUM_OBJECTS + 1):
            if not hasattr(self.scene, f"object_{obj_dex}"):
                setattr(self.scene, f"object_{obj_dex}", MISSING)
            variable_name = f"object_{obj_dex}"
            variable_value = RigidObjectCfg(
                prim_path="/World/envs/env_.*/Object_{}".format(obj_dex),
                init_state=RigidObjectCfg.InitialStateCfg(pos=[self.sphere_pos_x[obj_dex - 1], self.sphere_pos_y[obj_dex - 1], 0.055], rot=[1, 0, 0, 0]),
                spawn=UsdFileCfg(
                    usd_path=f"/home/kevin/HD_2/Data/Code/IsaacLab/sphere/sphere/sphere.usd",
                    scale=(self.sphere_sizes[obj_dex - 1], self.sphere_sizes[obj_dex - 1], self.sphere_sizes[obj_dex - 1]),
                    rigid_props=RigidBodyPropertiesCfg(
                        solver_position_iteration_count=16,
                        solver_velocity_iteration_count=1,
                        max_angular_velocity=1000.0,
                        max_linear_velocity=max_sphere_velo,
                        max_depenetration_velocity=5.0,
                        disable_gravity=False,
                    ),
                ),
            )

            setattr(self.scene, variable_name, variable_value)
3

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