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Isaac Sim Version
4.2.0
4.1.0
[0] 4.0.0
2023.1.1
2023.1.0-hotfix.1
Other (please specify):
Isaac Lab Version (if applicable)
1.2
[0] 1.1
1.0
Other (please specify):
Operating System
Ubuntu 22.04
[0] Ubuntu 20.04
Windows 11
Windows 10
Other (please specify):
GPU Information
- Model:
- Driver Version:
Topic Description
Detailed Description
(Describe the issue in detail, including what you were trying to do, what you expected to happen, and what actually happened)
I am currently working on a bin picking task where I want to spawn multiple cubes inside a rectangular bin. However, when I spawn the cubes, they collide with each other and some of them end up outside the bin. I would like to remove the cubes that fall outside the bin during the simulation, I tried but I haven’t been able to find a way to do this yet. Is there a method for removing these cubes during simulation?
CODE
class BinPickingSceneCfg(InteractiveSceneCfg):
def __init__(self,args,*other_args, **kwargs):
super().__init__(*other_args, **kwargs)
# ground plane
self.ground = AssetBaseCfg(
prim_path = "/World/defaultGroundPlane",
spawn=sim_utils.GroundPlaneCfg(),
init_state = AssetBaseCfg.InitialStateCfg(pos=(0.0,0.0,0.0)),
)
# lights
self.dome_light = AssetBaseCfg(
prim_path = "/World/Light", spawn=sim_utils.DomeLightCfg(intensity=3000.0, color=(0.75,0.75,0.75))
)
self.table = RigidObjectCfg(
prim_path="{ENV_REGEX_NS}/Table",
spawn=sim_utils.CuboidCfg(
size=(1.0, 1.0, 0.4),
rigid_props=sim_utils.RigidBodyPropertiesCfg(max_depenetration_velocity=1.0, disable_gravity=True,
kinematic_enabled=True),
mass_props=sim_utils.MassPropertiesCfg(mass=1.0),
collision_props=sim_utils.CollisionPropertiesCfg(collision_enabled=True),
physics_material=sim_utils.RigidBodyMaterialCfg(),
visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.3, 0.3, 0.3)),
# visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.5, 0.0, 0.0),opacity=0.8),
),
init_state=RigidObjectCfg.InitialStateCfg(pos=(0.5, 0.0, 0.5 * 0.4)),
)
self.plate1 = RigidObjectCfg(
prim_path="/World/plate1",
spawn=sim_utils.CuboidCfg(
size=(1.0, 0.35, 0.0000001),
rigid_props=sim_utils.RigidBodyPropertiesCfg(max_depenetration_velocity=1.0, disable_gravity=True,
kinematic_enabled=True),
mass_props=sim_utils.MassPropertiesCfg(mass=1.0),
collision_props=sim_utils.CollisionPropertiesCfg(collision_enabled=True),
physics_material=sim_utils.RigidBodyMaterialCfg(),
visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.6, 0.35, 0.05)),
# visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.5, 0.0, 0.0),opacity=0.8),
),
init_state=RigidObjectCfg.InitialStateCfg(pos=(0.5, -0.025, 0.4000001)),
)
self.plate2 = RigidObjectCfg(
prim_path="/World/plate2",
spawn=sim_utils.CuboidCfg(
size=(1.0, 0.35, 0.0000001),
rigid_props=sim_utils.RigidBodyPropertiesCfg(max_depenetration_velocity=1.0, disable_gravity=True,
kinematic_enabled=True),
mass_props=sim_utils.MassPropertiesCfg(mass=1.0),
collision_props=sim_utils.CollisionPropertiesCfg(collision_enabled=True),
physics_material=sim_utils.RigidBodyMaterialCfg(),
visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.1, 0.3, 0.8)),
# visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.5, 0.0, 0.0),opacity=0.8),
),
init_state=RigidObjectCfg.InitialStateCfg(pos=(0.5, 0.325, 0.4000001)),
)
self.camera = CameraCfg(
# prim_path="/World/Objects/Camera",
prim_path="/World/Camera",
# update_period=0,
height=args.camera_resolution_height,
width=args.camera_resolution_width,
data_types=["rgb", "distance_to_image_plane", "semantic_segmentation", "instance_id_segmentation_fast",
"instance_segmentation_fast"],
spawn=sim_utils.PinholeCameraCfg(
focal_length=15.0, focus_distance=400.0, horizontal_aperture=20.63, clipping_range=(0.1, 1.0e5),
visible=True
),
# w, x, y, z
offset=CameraCfg.OffsetCfg(pos=(1.5, 0.0, 0.55), rot=(-0.5, 0.5, 0.5, -0.5), convention="ros")
)
self.bin = RigidObjectCfg(
prim_path = "/World/Bin",
spawn = sim_utils.UsdFileCfg(usd_path=f"./assets/bin.usd",
semantic_tags=[("class", "bin")],
visual_material_path=None),
init_state=RigidObjectCfg.InitialStateCfg(pos=(0.55, -0.3, 0.4)),
)
self.create_cubes(num_cubes=50)
# articulation
if args.robot == "franka_panda":
self.robot = FRANKA_PANDA_HIGH_PD_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")
elif args.robot == "ur10":
self.robot = UR10_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")
elif args.robot == "kionva_gen3lite":
self.robot = KINOVA_GEN3LITE_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot")
else:
raise ValueError(f"Robot {args.robot} is not supported. Valid: franka_panda, ur10")
def create_cubes(self, num_cubes):
base_position = np.array([0.5, -0.3, 0.62])
for i in range(num_cubes):
position = base_position + np.array([np.random.uniform(-0.05, 0.05), np.random.uniform(-0.03, 0.03), (i//5)*np.random.uniform(0, 0.1)])
cube_name = f"cube{i}"
setattr(self, cube_name, RigidObjectCfg(
prim_path=f"/World/Objects/Cube{i}",
spawn=sim_utils.CuboidCfg(
size=(0.045, 0.045, 0.045),
rigid_props=sim_utils.RigidBodyPropertiesCfg(max_depenetration_velocity=1.0, disable_gravity=False),
mass_props=sim_utils.MassPropertiesCfg(mass=0.01),
collision_props=sim_utils.CollisionPropertiesCfg(
collision_enabled=True,
# contact_offset=0.000001,
# rest_offset=0.0,
),
# physics_material=sim_utils.RigidBodyMaterialCfg(),
physics_material=sim_utils.RigidBodyMaterialCfg(
# static_friction=0.8,
# dynamic_friction=0.6,
restitution=0.000001
),
visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.8, 0.3, 0.0)),
),
# init_state=RigidObjectCfg.InitialStateCfg(pos=tuple(position)),
init_state=RigidObjectCfg.InitialStateCfg(
pos=tuple(position),
rot=(1.0, 0.0, 0.0, 0.0)
),
))
def run_simulator(sim: sim_utils.SimulationContext, scene: InteractiveScene):
camera_target_position = [0.5,-0.35,0.4]
camera_pos = [0.5,-0.15,0.6]
camera_target_position= torch.tensor(camera_target_position,dtype=torch.float,device=sim.device).repeat((args.num_envs,1))
camera_pos = torch.tensor(camera_pos,dtype=torch.float, device=sim.device).repeat((args.num_envs,1))
camera.set_world_poses_from_view(camera_pos,camera_target_position)
camera.reset()
sim_dt = sim.get_physics_dt()
bin_center = np.array([0.55,-0.3,0.4])
bin_size = np.array([0.4,0.2,0.1])
stability_counter = 0
check_stability_after = 200
print(dir(scene))
while simulation_app.is_running():
count += 1
if count > check_stability_after:
cubes_to_remove = []
for i in range(50):
cube_name = f"cube{i}"
cube = scene[cube_name]
if cube is not None:
cube_pos = cube.data.body_state_w[0, 0, 0:3].cpu().numpy()
outside_bin = (
abs(cube_pos[0] - bin_center[0]) > bin_size[0] or
abs(cube_pos[1] - bin_center[1]) > bin_size[1]
)
if outside_bin:
cubes_to_remove.append(cube_name)
print(len(cubes_to_remove))
for cube_name in cubes_to_remove:
prim_path = f"/World/Objects/Cube{cube_name[4:]}"
# prim_utils.delete_prim(prim_path)
stage = stage_utils.get_current_stage()
cube_prim = stage.GetPrimAtPath(prim_path)
if cube_prim:
try:
stage.RemovePrim(prim_path)
scene.update(sim_dt)
except Exception as e:
print(f"Error removing prim {prim_path}: {e}")
del scene[cube_name]
Error Messages
(If applicable, copy and paste any error messages you received)
Traceback (most recent call last):
File “/home/airlab/Robot_team/IsaacLab1.1/source/catkin_binpicking/src/binpicking/src/bin_picking_class.py”, line 764, in
main()
File “/home/airlab/Robot_team/IsaacLab1.1/source/catkin_binpicking/src/binpicking/src/bin_picking_class.py”, line 760, in main
run_simulator(sim, scene)
File “/home/airlab/Robot_team/IsaacLab1.1/source/catkin_binpicking/src/binpicking/src/bin_picking_class.py”, line 437, in run_simulator
del scene[cube_name]
TypeError: ‘InteractiveScene’ object does not support item deletion
Screenshots or Videos
(If applicable, add screenshots or links to videos that demonstrate the issue)
