Allows setting USD variants when loading prim from USD file #402

lorenwel · 2024-05-08T16:34:14Z

Description

This PR introduces a variants attribute in the UsdFileCfg which can be used to set different variants when loading an asset from a USD file.

New function set_usd_variants which applies variant sets to a prim
New, optional variants attribute in the UsdFileCfg to specify the attributes to be set
Add variant setting in the _spawn_from_usd_file function

Fixes #401

Type of change

New feature (non-breaking change which adds functionality)

Checklist

I have run the pre-commit checks with ./orbit.sh --format
I have made corresponding changes to the documentation
My changes generate no new warnings
I have added tests that prove my fix is effective or that my feature works
I have run all the tests with ./orbit.sh --test and they pass
I have updated the changelog and the corresponding version in the extension's config/extension.toml file
I have added my name to the CONTRIBUTORS.md or my name already exists there

Mayankm96 · 2024-05-09T08:56:43Z

source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/from_files/from_files_cfg.py

+    variants: object | dict[str, str] | None = None
+    """Variants to apply to the USD file. Defaults to None.
+
+    Can either be a configclass object, in which case each attribute is used as a variant name and value,
+    or a dictionary where the keys are the variant names and the values are the variant values.
+    If None, then no variants are applied.
+    """


Can you elaborate here with an example of what this config looks like? Also probably helps to have a unit test for it to ensure we are checking with USD API updates in the future?

Does it need to be a configclass or that is just out of convenience here?

Can you elaborate here with an example of what this config looks like?
Also probably helps to have a unit test for it to ensure we are checking with USD API updates in the future?

Added an example and a unit-test

Does it need to be a configclass or that is just out of convenience here?

Needs to be a configclass, because of the dict conversion. Otherwise we would have to manually filter all the __blabla__ members.

source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/utils.py

Mayankm96 · 2024-05-09T08:59:44Z

source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/utils.py

+
+    # Convert do dict if we have a configclass object.
+    if variants is not isinstance(variants, dict):
+        variants = variants.__dict__


Using this method might be better since it checks no dunder functions (like del) are captured

Suggested change

variants = variants.__dict__

variants = variants.to_dict()

Actually, @configclass takes care of that as well even with __dict__.

But I can of course change it if you have strong feelings about this.

Mayankm96 · 2024-05-09T09:01:38Z

source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/utils.py

+
+def set_usd_variants(prim_path: str, variants: object | dict[str, str], stage: Usd.Stage | None = None) -> None:
+    """
+    Sets the variant selections for the specified variant sets on a USD prim.


It would help a lot here to have more documentation on variants and what that means. You can refer to this function in the USDFileCfg configclass object to avoid duplication in docstrings for variants.

Added a link to the official USD documentation. Let me know if you think more is necessary.
Imo, people will mostly only use this function if they already know what Variants are, so I wouldn't want to write a lengthy explanation here.

source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/utils.py

# Description For the cluster deployment, the latest docker version (25.xx) is not yet compatible with the latest apptainer version. This PR adds a check before building the singularity image and adds a warning to the docs. Also the NOHTTPS warning has been resolved. Fixes isaac-sim#371 ## Type of change - Bug fix (non-breaking change which fixes an issue) - This change requires a documentation update ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./orbit.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have run all the tests with `./orbit.sh --test` and they pass - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Signed-off-by: Pascal Roth <57946385+pascal-roth@users.noreply.github.com> Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>

…m#402) # Description This PR introduces a `variants` attribute in the `UsdFileCfg` which can be used to set different variants when loading an asset from a USD file. - New function `set_usd_variants` which applies variant sets to a prim - New, optional `variants` attribute in the `UsdFileCfg` to specify the attributes to be set - Add variant setting in the `_spawn_from_usd_file` function Fixes isaac-sim#401 ## Type of change - New feature (non-breaking change which adds functionality) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./orbit.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [x] I have added tests that prove my fix is effective or that my feature works - [x] I have run all the tests with `./orbit.sh --test` and they pass - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there

# Description For the cluster deployment, the latest docker version (25.xx) is not yet compatible with the latest apptainer version. This PR adds a check before building the singularity image and adds a warning to the docs. Also the NOHTTPS warning has been resolved. Fixes isaac-sim#371 ## Type of change - Bug fix (non-breaking change which fixes an issue) - This change requires a documentation update ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./orbit.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have run all the tests with `./orbit.sh --test` and they pass - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Signed-off-by: Pascal Roth <57946385+pascal-roth@users.noreply.github.com> Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>

…m#402) # Description This PR introduces a `variants` attribute in the `UsdFileCfg` which can be used to set different variants when loading an asset from a USD file. - New function `set_usd_variants` which applies variant sets to a prim - New, optional `variants` attribute in the `UsdFileCfg` to specify the attributes to be set - Add variant setting in the `_spawn_from_usd_file` function Fixes isaac-sim#401 ## Type of change - New feature (non-breaking change which adds functionality) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./orbit.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [x] I have added tests that prove my fix is effective or that my feature works - [x] I have run all the tests with `./orbit.sh --test` and they pass - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there

# Description For the cluster deployment, the latest docker version (25.xx) is not yet compatible with the latest apptainer version. This PR adds a check before building the singularity image and adds a warning to the docs. Also the NOHTTPS warning has been resolved. Fixes isaac-sim#371 ## Type of change - Bug fix (non-breaking change which fixes an issue) - This change requires a documentation update ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./orbit.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [ ] I have run all the tests with `./orbit.sh --test` and they pass - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Signed-off-by: Pascal Roth <57946385+pascal-roth@users.noreply.github.com> Co-authored-by: Mayank Mittal <12863862+Mayankm96@users.noreply.github.com>

…m#402) # Description This PR introduces a `variants` attribute in the `UsdFileCfg` which can be used to set different variants when loading an asset from a USD file. - New function `set_usd_variants` which applies variant sets to a prim - New, optional `variants` attribute in the `UsdFileCfg` to specify the attributes to be set - Add variant setting in the `_spawn_from_usd_file` function Fixes isaac-sim#401 ## Type of change - New feature (non-breaking change which adds functionality) ## Checklist - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./orbit.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [x] I have added tests that prove my fix is effective or that my feature works - [x] I have run all the tests with `./orbit.sh --test` and they pass - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there

lorenwel added 4 commits May 8, 2024 18:17

Allow setting USD variants

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Run black (again)

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Mayankm96 reviewed May 9, 2024

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lorenwel added 3 commits May 10, 2024 16:16

Addressed comments from PR isaac-sim#402

4bc4071

Rename usd variants setter function

3374c79

More explanations

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lorenwel requested a review from Mayankm96 May 10, 2024 16:11

Added unit test for select_usd_variants()

7e45eff

lorenwel force-pushed the feature/set_usd_variants branch from 4212f76 to 7e45eff Compare May 10, 2024 16:12

Mayankm96 added 3 commits May 13, 2024 15:40

fix docstrings

a32b65c

fixes check

2ad973e

updates versioning

089961d

Mayankm96 changed the title ~~Allow setting USD variants on loading from file~~ Allows setting USD variants when loading prim from USD file May 13, 2024

Mayankm96 added 2 commits May 13, 2024 16:45

fix spaces

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runs formatter

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Mayankm96 merged commit 88cf9cd into isaac-sim:main May 13, 2024

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Allows setting USD variants when loading prim from USD file #402

Allows setting USD variants when loading prim from USD file #402

lorenwel commented May 8, 2024 •

edited by Mayankm96

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Allows setting USD variants when loading prim from USD file #402

Allows setting USD variants when loading prim from USD file #402

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lorenwel commented May 8, 2024 • edited by Mayankm96 Loading

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lorenwel commented May 8, 2024 •

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