add missing cloning pieces into test cases

Author: ooctipus

source/isaaclab/test/assets/test_articulation.py

@@ -23,7 +23,7 @@
 import isaacsim.core.utils.prims as prim_utils
 import pytest
 from isaacsim.core.version import get_version
-
+from isaaclab.scene import cloner
 import isaaclab.sim as sim_utils
 import isaaclab.utils.math as math_utils
 import isaaclab.utils.string as string_utils
@@ -178,6 +178,14 @@ def generate_articulation(
         prim_utils.create_prim(f"/World/Env_{i}", "Xform", translation=translations[i][:3])
     articulation = Articulation(articulation_cfg.replace(prim_path="/World/Env_.*/Robot"))
 
+    cloner.usd_replicate(
+        stage=prim_utils.get_current_stage(),
+        sources=["/World/Env_0"],
+        destinations=["/World/Env_{}"],
+        env_ids=torch.arange(num_articulations),
+        positions=translations,
+    )
+
     return articulation, translations
 
 

source/isaaclab/test/assets/test_deformable_object.py

@@ -26,6 +26,7 @@
 
 import isaaclab.sim as sim_utils
 import isaaclab.utils.math as math_utils
+from isaaclab.scene import cloner
 from isaaclab.assets import DeformableObject, DeformableObjectCfg
 from isaaclab.sim import build_simulation_context
 
@@ -85,7 +86,13 @@ def generate_cubes_scene(
         init_state=DeformableObjectCfg.InitialStateCfg(pos=(0.0, 0.0, height), rot=initial_rot),
     )
     cube_object = DeformableObject(cfg=cube_object_cfg)
-
+    cloner.usd_replicate(
+        stage=prim_utils.get_current_stage(),
+        sources=["/World/Table_0"],
+        destinations=["/World/Table_{}"],
+        env_ids=torch.arange(num_cubes),
+        positions=origins,
+    )
     return cube_object
 
 

source/isaaclab/test/sensors/test_multi_tiled_camera.py

@@ -30,6 +30,24 @@
 
 import isaaclab.sim as sim_utils
 from isaaclab.sensors.camera import TiledCamera, TiledCameraCfg
+from isaaclab.scene import cloner
+
+
+def _replicate_group_origins(group_index: int, num_cameras: int) -> None:
+    """Replicate `/World/Origin_{i}_0` subtree to `/World/Origin_{i}_{1..N-1}` with preserved translations."""
+    stage = prim_utils.get_current_stage()
+    fmt = f"/World/Origin_{group_index}_{{}}"
+    get_translate = (
+        lambda prim_path: stage.GetPrimAtPath(prim_path).GetAttribute("xformOp:translate").Get()
+    )  # noqa: E731
+    positions = torch.tensor([get_translate(fmt.format(j)) for j in range(num_cameras)])
+    cloner.usd_replicate(
+        stage=stage,
+        sources=[fmt.format(0)],
+        destinations=[fmt],
+        env_ids=torch.arange(num_cameras),
+        positions=positions,
+    )
 
 
 @pytest.fixture()
@@ -82,8 +100,10 @@ def test_multi_tiled_camera_init(setup_camera):
 
         # Create camera
         camera_cfg = copy.deepcopy(camera_cfg)
-        camera_cfg.prim_path = f"/World/Origin_{i}.*/CameraSensor"
+        camera_cfg.prim_path = f"/World/Origin_{i}_.*/CameraSensor"
         camera = TiledCamera(camera_cfg)
+        # Ensure each origin in this group gets a camera
+        _replicate_group_origins(i, num_cameras_per_tiled_camera)
         tiled_cameras.append(camera)
 
         # Check simulation parameter is set correctly
@@ -178,8 +198,10 @@ def test_all_annotators_multi_tiled_camera(setup_camera):
         # Create camera
         camera_cfg = copy.deepcopy(camera_cfg)
         camera_cfg.data_types = all_annotator_types
-        camera_cfg.prim_path = f"/World/Origin_{i}.*/CameraSensor"
+        camera_cfg.prim_path = f"/World/Origin_{i}_.*/CameraSensor"
         camera = TiledCamera(camera_cfg)
+        # Ensure each origin in this group gets a camera
+        _replicate_group_origins(i, num_cameras_per_tiled_camera)
         tiled_cameras.append(camera)
 
         # Check simulation parameter is set correctly
@@ -278,9 +300,11 @@ def test_different_resolution_multi_tiled_camera(setup_camera):
 
         # Create camera
         camera_cfg = copy.deepcopy(camera_cfg)
-        camera_cfg.prim_path = f"/World/Origin_{i}.*/CameraSensor"
+        camera_cfg.prim_path = f"/World/Origin_{i}_.*/CameraSensor"
         camera_cfg.height, camera_cfg.width = resolutions[i]
         camera = TiledCamera(camera_cfg)
+        # Ensure each origin in this group gets a camera
+        _replicate_group_origins(i, num_cameras_per_tiled_camera)
         tiled_cameras.append(camera)
 
         # Check simulation parameter is set correctly
@@ -349,8 +373,10 @@ def test_frame_offset_multi_tiled_camera(setup_camera):
 
         # Create camera
         camera_cfg = copy.deepcopy(camera_cfg)
-        camera_cfg.prim_path = f"/World/Origin_{i}.*/CameraSensor"
+        camera_cfg.prim_path = f"/World/Origin_{i}_.*/CameraSensor"
         camera = TiledCamera(camera_cfg)
+        # Ensure each origin in this group gets a camera
+        _replicate_group_origins(i, num_cameras_per_tiled_camera)
         tiled_cameras.append(camera)
 
     # modify scene to be less stochastic
@@ -417,9 +443,10 @@ def test_frame_different_poses_multi_tiled_camera(setup_camera):
 
         # Create camera
         camera_cfg = copy.deepcopy(camera_cfg)
-        camera_cfg.prim_path = f"/World/Origin_{i}.*/CameraSensor"
+        camera_cfg.prim_path = f"/World/Origin_{i}_.*/CameraSensor"
         camera_cfg.offset = TiledCameraCfg.OffsetCfg(pos=positions[i], rot=rotations[i], convention="ros")
         camera = TiledCamera(camera_cfg)
+        _replicate_group_origins(i, num_cameras_per_tiled_camera)
         tiled_cameras.append(camera)
 
     # Play sim

source/isaaclab/test/sim/test_spawn_shapes.py

@@ -249,25 +249,18 @@ def test_spawn_cone_clones_invalid_paths(sim):
 
 def test_spawn_cone_clones(sim):
     """Test spawning of cone clones."""
-    num_clones = 10
-    for i in range(num_clones):
-        prim_utils.create_prim(f"/World/env_{i}", "Xform", translation=(i, i, 0))
+    prim_utils.create_prim("/World/env_0", "Xform", translation=(0, 0, 0))
     # Spawn cone on valid cloning path
     cfg = sim_utils.ConeCfg(radius=1.0, height=2.0, copy_from_source=True)
     prim = cfg.func("/World/env_.*/Cone", cfg)
     # Check validity
     assert prim.IsValid()
     assert prim_utils.get_prim_path(prim) == "/World/env_0/Cone"
-    # find matching prims
-    prims = prim_utils.find_matching_prim_paths("/World/env_*/Cone")
-    assert len(prims) == num_clones
 
 
 def test_spawn_cone_clone_with_all_props_global_material(sim):
     """Test spawning of cone clones with global material reference."""
-    num_clones = 10
-    for i in range(num_clones):
-        prim_utils.create_prim(f"/World/env_{i}", "Xform", translation=(i, i, 0))
+    prim_utils.create_prim("/World/env_0", "Xform", translation=(0, 0, 0))
     # Spawn cone on valid cloning path
     cfg = sim_utils.ConeCfg(
         radius=1.0,
@@ -284,9 +277,6 @@ def test_spawn_cone_clone_with_all_props_global_material(sim):
     # Check validity
     assert prim.IsValid()
     assert prim_utils.get_prim_path(prim) == "/World/env_0/Cone"
-    # find matching prims
-    prims = prim_utils.find_matching_prim_paths("/World/env_*/Cone")
-    assert len(prims) == num_clones
     # find matching material prims
     prims = prim_utils.find_matching_prim_paths("/Looks/visualMaterial.*")
     assert len(prims) == 1