How to add items in a Direct project in Isaaclab

Omniverse Isaac Sim
1

Hi, I am currently using the direct file forge in isaaclab.

For example, today I want to use Isaac-Forge-PegInsert-Direct-v0, and I want to add, for instance, an extra cube or an additional hole for insertion,

but I am unable to add it.

def _setup_scene(self):
    """Initialize simulation scene."""
    spawn_ground_plane(prim_path="/World/ground", cfg=GroundPlaneCfg(), translation=(0.0, 0.0, -1.05))

    # spawn a usd file of a table into the scene
    cfg = sim_utils.UsdFileCfg(usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/Mounts/SeattleLabTable/table_instanceable.usd")
    cfg.func(
        "/World/envs/env_.*/Table", cfg, translation=(0.55, 0.0, 0.0), orientation=(0.70711, 0.0, 0.0, 0.70711)
    )

     # Spawn cube on the table
    cube_cfg = sim_utils.UsdFileCfg(
        usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/Blocks/DexCube/dex_cube_instanceable.usd"
    )
    cube_cfg.func(
        "/World/envs/env_.*/Cube",
        cube_cfg,
        translation=(0.55, 0.0, 0.8),         
        orientation=(0.70711, 0.0, 0.0, 0.70711)
    )
    

    self.cube_cfg=Articulation(self.cfg.cube_cfg)

    self._robot = Articulation(self.cfg.robot)
    self._fixed_asset = Articulation(self.cfg_task.fixed_asset)
    self._held_asset = Articulation(self.cfg_task.held_asset)

    if self.cfg_task.name == "peg_insert":
        self.fixed_one_asset=Articulation(self.cfg_task.fixed_asset)
        self.extra_articulations_asset=Articulation(self.cfg_task.extra_articulations)

    if self.cfg_task.name == "gear_mesh":
        self._small_gear_asset = Articulation(self.cfg_task.small_gear_cfg)
        self._large_gear_asset = Articulation(self.cfg_task.large_gear_cfg)
        self._extra_gear_asset = Articulation(self.cfg_task.extra_gear_cfg)


    

    self.scene.articulations["robot"] = self._robot
    self.scene.articulations["fixed_asset"] = self._fixed_asset
    self.scene.articulations["held_asset"] = self._held_asset
    self.scene.articulations["Cube"] = self.cube_cfg

    if self.cfg_task.name == "peg_insert":
        self.scene.articulations["first_hole"] =self.fixed_one_asset
        self.scene.articulations["first_hole"] =self.extra_articulations_asset


    if self.cfg_task.name == "gear_mesh":
        self.scene.articulations["small_gear"] = self._small_gear_asset
        self.scene.articulations["large_gear"] = self._large_gear_asset
        self.scene.articulations["extra_gear"] = self._extra_gear_asset

    self.scene.clone_environments(copy_from_source=False)
    if self.device == "cpu":
        # we need to explicitly filter collisions for CPU simulation
        self.scene.filter_collisions()

I would like to ask what the correct way to add these is.

Thank you.

3

Thank you for your interest in Isaac Lab. To ensure efficient support and collaboration, please submit your topic to Isaac Lab’s GitHub repo.

We appreciate your understanding and look forward to assisting you.

4

Hi Phennings

I am currently able to handle this part, but I have noticed some issues along the way.

When I copied a direct file today, I also changed the training ID to a new one—for example, the original was Isaac-Forge-PegInsert-Direct-v0, and I changed it to Isaac-Forge-PegInsert-Direct-plus-v0.

When I run the training, it fails to generate the task type for Isaac-Forge-PegInsert-Direct-plus-v0.

I want to ask whether I also need to create a new repository on GitHub for this? Thank you.