Add add ons to set configurations

isaaclab_arena/assets/background_library.py

@@ -3,6 +3,8 @@
 #
 # SPDX-License-Identifier: Apache-2.0
 
+from typing import Any
+
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR
 
 from isaaclab_arena.assets.background import Background
@@ -21,6 +23,8 @@ class LibraryBackground(Background):
     usd_path: str
     initial_pose: Pose | None = None
     object_min_z: float
+    spawn_cfg_addon: dict[str, Any] = {}
+    asset_cfg_addon: dict[str, Any] = {}
 
     def __init__(self, **kwargs):
         super().__init__(
@@ -29,6 +33,8 @@ def __init__(self, **kwargs):
             usd_path=self.usd_path,
             initial_pose=self.initial_pose,
             object_min_z=self.object_min_z,
+            spawn_cfg_addon=self.spawn_cfg_addon,
+            asset_cfg_addon=self.asset_cfg_addon,
             **kwargs,
         )
 

isaaclab_arena/assets/object.py

@@ -3,6 +3,8 @@
 #
 # SPDX-License-Identifier: Apache-2.0
 
+from typing import Any
+
 from isaaclab.assets import ArticulationCfg, AssetBaseCfg, RigidObjectCfg
 from isaaclab.sim.spawners.from_files.from_files_cfg import UsdFileCfg
 
@@ -27,6 +29,9 @@ def __init__(
         initial_pose: Pose | None = None,
         **kwargs,
     ):
+        # Pull out addons (and remove them from kwargs before passing to super)
+        spawn_cfg_addon: dict[str, Any] = kwargs.pop("spawn_cfg_addon", {}) or {}
+        asset_cfg_addon: dict[str, Any] = kwargs.pop("asset_cfg_addon", {}) or {}
         if object_type is not ObjectType.SPAWNER:
             assert usd_path is not None
         # Detect object type if not provided
@@ -36,6 +41,8 @@ def __init__(
         self.usd_path = usd_path
         self.scale = scale
         self.initial_pose = initial_pose
+        self.spawn_cfg_addon = spawn_cfg_addon
+        self.asset_cfg_addon = asset_cfg_addon
         self.object_cfg = self._init_object_cfg()
 
     def set_initial_pose(self, pose: Pose) -> None:
@@ -56,7 +63,9 @@ def _generate_rigid_cfg(self) -> RigidObjectCfg:
                 usd_path=self.usd_path,
                 scale=self.scale,
                 activate_contact_sensors=True,
+                **self.spawn_cfg_addon,
             ),
+            **self.asset_cfg_addon,
         )
         object_cfg = self._add_initial_pose_to_cfg(object_cfg)
         return object_cfg
@@ -69,7 +78,9 @@ def _generate_articulation_cfg(self) -> ArticulationCfg:
                 usd_path=self.usd_path,
                 scale=self.scale,
                 activate_contact_sensors=True,
+                **self.spawn_cfg_addon,
             ),
+            **self.asset_cfg_addon,
             actuators={},
         )
         object_cfg = self._add_initial_pose_to_cfg(object_cfg)
@@ -82,7 +93,12 @@ def _generate_base_cfg(self) -> AssetBaseCfg:
                 print("WARNING: Base object has lights, this may cause issues when using with multiple environments.")
         object_cfg = AssetBaseCfg(
             prim_path="{ENV_REGEX_NS}/" + self.name,
-            spawn=UsdFileCfg(usd_path=self.usd_path, scale=self.scale),
+            spawn=UsdFileCfg(
+                usd_path=self.usd_path,
+                scale=self.scale,
+                **self.spawn_cfg_addon,
+            ),
+            **self.asset_cfg_addon,
         )
         object_cfg = self._add_initial_pose_to_cfg(object_cfg)
         return object_cfg
@@ -92,6 +108,7 @@ def _generate_spawner_cfg(self) -> AssetBaseCfg:
         object_cfg = AssetBaseCfg(
             prim_path=self.prim_path,
             spawn=self.spawner_cfg,
+            **self.asset_cfg_addon,
         )
         object_cfg = self._add_initial_pose_to_cfg(object_cfg)
         return object_cfg

isaaclab_arena/assets/object_library.py

@@ -3,6 +3,8 @@
 #
 # SPDX-License-Identifier: Apache-2.0
 
+from typing import Any
+
 import isaaclab.sim as sim_utils
 from isaaclab.sim.spawners.from_files.from_files_cfg import GroundPlaneCfg
 from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR
@@ -26,6 +28,8 @@ class LibraryObject(Object):
     usd_path: str | None = None
     object_type: ObjectType = ObjectType.RIGID
     scale: tuple[float, float, float] = (1.0, 1.0, 1.0)
+    spawn_cfg_addon: dict[str, Any] = {}
+    asset_cfg_addon: dict[str, Any] = {}
 
     def __init__(self, prim_path: str | None = None, initial_pose: Pose | None = None, **kwargs):
         super().__init__(
@@ -36,6 +40,8 @@ def __init__(self, prim_path: str | None = None, initial_pose: Pose | None = Non
             object_type=self.object_type,
             scale=self.scale,
             initial_pose=initial_pose,
+            spawn_cfg_addon=self.spawn_cfg_addon,
+            asset_cfg_addon=self.asset_cfg_addon,
             **kwargs,
         )
 

isaaclab_arena/tests/test_object_with_cfg_addons.py

@@ -0,0 +1,52 @@
+# Copyright (c) 2025, The Isaac Lab Arena Project Developers (https://github.com/isaac-sim/IsaacLab-Arena/blob/main/CONTRIBUTORS.md).
+# All rights reserved.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+
+from isaaclab_arena.tests.utils.subprocess import run_simulation_app_function
+
+HEADLESS = False
+
+
+def _test_object_with_cfg_addons(simulation_app):
+
+    from isaaclab_arena.assets.object_base import ObjectType
+    from isaaclab_arena.assets.object_library import LibraryObject
+    from isaaclab_arena.utils.pose import Pose
+
+    class ConeWithCfgAddons(LibraryObject):
+        """
+        Cone with cfg addons.
+        """
+
+        name = "cone_with_cfg_addons"
+        tags = ["object"]
+        usd_path = "https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.5/Isaac/Props/Shapes/cone.usd"
+        default_prim_path = "{ENV_REGEX_NS}/target_cone_with_cfg_addons"
+        object_type = ObjectType.RIGID
+        spawn_cfg_addon = {"visible": False}  # By default, the object is visible.
+        asset_cfg_addon = {"debug_vis": True}  # By default, the object is not debug visualized.
+
+        def __init__(self, prim_path: str = default_prim_path, initial_pose: Pose | None = None):
+            super().__init__(prim_path=prim_path, initial_pose=initial_pose)
+
+    cone = ConeWithCfgAddons()
+
+    # Check that the settings have been applied
+    assert cone.object_cfg.spawn.visible is False
+    assert cone.object_cfg.debug_vis is True
+
+    return True
+
+
+def test_object_with_cfg_addons():
+    result = run_simulation_app_function(
+        _test_object_with_cfg_addons,
+        headless=HEADLESS,
+    )
+    assert result, "Test failed"
+
+
+if __name__ == "__main__":
+    test_object_with_cfg_addons()