Refactors environment cloner to directly work with physx and usd apis, removing isaac-sim cloner dependency #3944
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ooctipus
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jtigue-bdai,
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Greptile Overview
Greptile Summary
Replaces Isaac Sim GridCloner dependency with internal USD and PhysX replication APIs, enabling heterogeneous environment cloning with per-object replication for improved performance.
Key Changes:
- New
cloner.pymodule withusd_replicate,physx_replicate,filter_collisions, andgrid_transformsfunctions - Heterogeneous cloning support via prototype-based replication with configurable assignment (random vs round-robin)
- Scene-level
random_heterogenous_cloningflag replaces spawner-levelrandom_choice - Removed hardcoded regex validation allowing spawners to work with regex patterns in prim paths
- Template path (
/World/template) used for prototype staging before environment distribution - Significant performance improvement: simulation start time reduced from ~27.5s to ~5.2s (8192 envs)
Architecture:
Assets spawn as prototypes in /World/template, then cloner distributes them across environments based on mapping strategy. For homogeneous scenes (all prototypes → env_0), whole environment cloning is used. For heterogeneous scenes, per-object cloning optimizes PhysX parsing.
Confidence Score: 3/5
- Safe to merge with one critical fix needed for
clone_in_fabricsupport - The PR successfully refactors cloning logic and shows significant performance improvements. However, the
clone_in_fabricconfiguration option fromInteractiveSceneCfgis not passed tophysx_replicate(), breaking fabric-based cloning functionality. This is a critical issue that will cause the config option to be silently ignored. - Pay close attention to
source/isaaclab/isaaclab/scene/interactive_scene.py:214whereclone_in_fabricparameter must be added
Important Files Changed
File Analysis
| Filename | Score | Overview |
|---|---|---|
| source/isaaclab/isaaclab/scene/cloner.py | 4/5 | New file with usd_replicate, physx_replicate, filter_collisions, and grid_transforms functions replacing Isaac Sim Cloner |
| source/isaaclab/isaaclab/scene/interactive_scene.py | 3/5 | Major refactor replacing GridCloner with internal replicators, adds heterogeneous cloning support, missing clone_in_fabric parameter forwarding |
| source/isaaclab/isaaclab/scene/interactive_scene_cfg.py | 5/5 | Added random_heterogenous_cloning config flag to control prototype assignment strategy |
Sequence Diagram
sequenceDiagram
participant User
participant InteractiveScene
participant Spawner
participant USD as usd_replicate
participant PhysX as physx_replicate
User->>InteractiveScene: Initialize with InteractiveSceneCfg
InteractiveScene->>InteractiveScene: Create template_path (/World/template)
InteractiveScene->>InteractiveScene: Create env_0 empty Xform
InteractiveScene->>USD: Clone env_0 to env_1..N with positions
InteractiveScene->>InteractiveScene: _add_entities_from_cfg()
loop For each asset in config
InteractiveScene->>Spawner: Spawn prototypes in /World/template/{proto_name}_*
Spawner-->>InteractiveScene: Prototypes created
end
InteractiveScene->>InteractiveScene: clone_environments()
InteractiveScene->>InteractiveScene: Build clone_plan (src, dest, mapping)
alt random_heterogenous_cloning == True
InteractiveScene->>InteractiveScene: Randomly assign prototypes to envs
else
InteractiveScene->>InteractiveScene: Round-robin assignment (env % num_protos)
end
InteractiveScene->>USD: Replicate prototypes to environments
alt All prototypes map to env_0
InteractiveScene->>PhysX: Clone whole env_0 to all envs
else
InteractiveScene->>PhysX: Clone per-object from env_{proto_idx}
end
InteractiveScene->>USD: Final replication with positions
InteractiveScene->>InteractiveScene: Deactivate template_path
opt filter_collisions enabled
InteractiveScene->>InteractiveScene: filter_collisions()
end
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Greptile Overview
Greptile Summary
This PR refactors IsaacLab's environment cloning system to use direct PhysX and USD APIs instead of Isaac Sim's GridCloner, significantly improving heterogeneous scene cloning performance.
Key Changes:
- Introduces new
cloner.pymodule withusd_replicate,physx_replicate,filter_collisions, andgrid_transformsfunctions - Implements template/prototype-based cloning architecture where assets spawn as prototypes under
/World/template, then clone to environments - Adds
random_heterogenous_cloningscene-level flag to control prototype assignment (random vs round-robin) - Removes regex validation checks that previously prevented spawning with regex patterns in leaf prim paths
- Deprecates
random_choiceinMultiAssetSpawnerCfgandMultiUsdFileCfgin favor of scene-level control - Simplifies multi-asset spawner logic by delegating cloning responsibility to scene manager
Performance Impact:
Simulation start time improved from 27.5s to 5.2s (5.3x faster) for 8192 heterogeneous environments.
Breaking Changes:
- Spawner behavior changes from direct environment cloning to prototype-based cloning
- Asset prim paths now use
{ENV_REGEX_NS}placeholder instead of hardcoded/World/envs/env_.*
Confidence Score: 3/5
- Safe to merge with one critical bug fix required
- The refactor is well-structured with significant performance improvements, but has a critical bug where
clone_in_fabricconfig is not passed tophysx_replicate. The architectural changes are sound, tests have been updated, and the codebase is more maintainable. However, the missing parameter could affect users who configure fabric cloning. - source/isaaclab/isaaclab/scene/interactive_scene.py requires the
use_fabricparameter fix at line 214
Important Files Changed
File Analysis
| Filename | Score | Overview |
|---|---|---|
| source/isaaclab/isaaclab/scene/cloner.py | 4/5 | New cloning implementation with usd_replicate, physx_replicate, filter_collisions, and grid_transforms functions |
| source/isaaclab/isaaclab/scene/interactive_scene.py | 3/5 | Refactored to use new internal replicators, removed GridCloner dependency, added template/prototype-based cloning |
| source/isaaclab/isaaclab/sim/spawners/wrappers/wrappers.py | 4/5 | Simplified multi-asset spawning to only create prototypes, removed manual cloning logic |
| source/isaaclab/isaaclab/scene/interactive_scene_cfg.py | 5/5 | Added random_heterogenous_cloning flag to control prototype assignment at scene level |
Sequence Diagram
sequenceDiagram
participant User
participant InteractiveScene
participant Spawner
participant cloner
participant USD/PhysX
User->>InteractiveScene: Initialize scene with config
InteractiveScene->>InteractiveScene: Create /World/envs/env_0
InteractiveScene->>InteractiveScene: Initialize /World/template
loop For each asset in config
InteractiveScene->>Spawner: spawn(prim_path="/World/template/.../proto_asset_.*")
Spawner->>USD/PhysX: Create prototype prims under template
USD/PhysX-->>Spawner: Prototypes created
Spawner-->>InteractiveScene: Return first prototype prim
end
InteractiveScene->>cloner: usd_replicate(env_0 with positions)
cloner->>USD/PhysX: Clone empty env prims with grid positions
USD/PhysX-->>cloner: Env prims created
InteractiveScene->>InteractiveScene: clone_environments()
alt Homogeneous (all proto_idx == 0)
InteractiveScene->>cloner: physx_replicate(env_0 -> all envs)
cloner->>USD/PhysX: Replicate physics from single source
else Heterogeneous
InteractiveScene->>cloner: physx_replicate(per-object sources)
cloner->>USD/PhysX: Replicate physics per prototype
end
InteractiveScene->>cloner: usd_replicate(prototypes -> envs)
cloner->>USD/PhysX: Copy USD specs with transforms
InteractiveScene->>InteractiveScene: Deactivate /World/template
opt If filter_collisions enabled
InteractiveScene->>cloner: filter_collisions()
cloner->>USD/PhysX: Create inverted collision groups
end
InteractiveScene-->>User: Scene ready
15 files reviewed, 1 comment
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Greptile Overview
Greptile Summary
This PR refactors environment cloning to use direct PhysX and USD APIs, removing the Isaac Sim Cloner dependency. The refactor introduces template-based prototype cloning with heterogeneous scene support.
Key Changes:
- New
cloner.pymodule withusd_replicate(),physx_replicate(), andclone_from_template()functions - Assets spawn to
/World/templatewith prototypes, then get distributed across environments - Scene-level
random_heterogenous_cloningflag controls random vs round-robin prototype assignment - Deprecates
random_choiceinMultiAssetSpawnerCfgandMultiUsdFileCfg - Simplified spawner wrappers by removing manual cloning logic
- Performance improvement: simulation start time reduced from ~27.5s to ~5.2s (8192 envs)
Critical Issues Found:
cloner_cfgnever populated with values fromself.cfg(interactive_scene.py:137) -random_heterogenous_cloningwon't work- Missing
use_fabricparameter inphysx_replicate()call (cloner.py:151) replicate_argsundefined whenclone_usd=Falsebutclone_physx=True(cloner.py:150-151)
Confidence Score: 1/5
- This PR has critical bugs that will cause runtime failures and break advertised functionality
- Three critical logic errors found: (1) config values never transferred to cloner_cfg breaks the new random_heterogenous_cloning feature, (2) missing use_fabric parameter means clone_in_fabric config is ignored, (3) undefined replicate_args causes NameError in certain config combinations. These bugs will cause failures in production.
- Pay close attention to
source/isaaclab/isaaclab/scene/cloner.pyandsource/isaaclab/isaaclab/scene/interactive_scene.py- both contain critical bugs
Important Files Changed
File Analysis
| Filename | Score | Overview |
|---|---|---|
| source/isaaclab/isaaclab/scene/cloner.py | 1/5 | New cloner module with critical bugs: missing use_fabric parameter, uninitialized replicate_args when clone_usd=False |
| source/isaaclab/isaaclab/scene/interactive_scene.py | 1/5 | Major refactor replacing Isaac Sim Cloner; critical bug: cloner_cfg never populated with config values like random_heterogenous_cloning |
| source/isaaclab/isaaclab/sim/spawners/wrappers/wrappers.py | 4/5 | Simplifies multi-asset spawning by removing manual cloning logic; spawns prototypes directly to template paths |
Sequence Diagram
sequenceDiagram
participant User as User Config
participant IS as InteractiveScene
participant Cloner as cloner.clone_from_template
participant USD as usd_replicate
participant PhysX as physx_replicate
participant Spawner as MultiAssetSpawner
User->>IS: Create scene with config
IS->>IS: Initialize cloner_cfg (line 137)
Note over IS: BUG: Config values not transferred!
IS->>Spawner: Spawn assets to /World/template
Spawner->>Spawner: Create prototypes (proto_asset_0, proto_asset_1, ...)
IS->>Cloner: clone_from_template(stage, num_clones, cloner_cfg)
Cloner->>Cloner: Discover prototypes under template_root
Cloner->>Cloner: Build per-prototype mapping (random or round-robin)
alt cfg.clone_usd = True
Cloner->>USD: usd_replicate() - Copy USD specs
USD->>USD: Copy prims depth-first with transforms
end
alt cfg.clone_physx = True
Cloner->>PhysX: physx_replicate() - Register with PhysX
Note over PhysX: BUG: use_fabric not passed!
Note over PhysX: BUG: replicate_args undefined if clone_usd=False!
PhysX->>PhysX: replicate() per source prim
end
Cloner->>Cloner: Deactivate template_root prim
IS->>IS: Apply collision filtering if enabled
15 files reviewed, 3 comments
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Greptile Overview
Greptile Summary
Refactors environment cloning to use direct PhysX and USD APIs, removing Isaac Sim Cloner dependency. Introduces heterogeneous cloning support with per-object replication, improving PhysX cloning time for heterogeneous scenes (simulation start time reduced from ~27s to ~5s for 8192 envs).
Key Changes:
- Adds new
source/isaaclab/isaaclab/scene/cloner.pymodule withusd_replicate(),physx_replicate(), andclone_from_template()functions - Introduces
TemplateCloneCfgconfiguration class withrandom_heterogenous_cloningflag for controlling prototype assignment - Adds comprehensive test suite in
test_cloner.pycovering USD/PhysX replication scenarios - Optimizes cloning by detecting homogeneous vs heterogeneous environments and using appropriate replication strategy
Critical Issues Found:
- Missing
clone_in_fabricfield inTemplateCloneCfg(line 85) - will causeAttributeErrorwhen accessed - Undefined
replicate_argsvariable whenclone_usd=Falsebutclone_physx=True(line 149-150) - will causeNameError - Missing
use_fabricparameter inphysx_replicate()call (line 150) - ignores user's fabric configuration fromInteractiveSceneCfg.clone_in_fabric
These bugs are consistent with issues flagged in previous comments for interactive_scene.py calls.
Confidence Score: 1/5
- This PR has critical runtime errors that will break functionality in production
- Score of 1 reflects multiple critical bugs that will cause runtime crashes: (1) AttributeError when accessing missing
cfg.clone_in_fabricfield, (2) NameError whenreplicate_argsis undefined in specific configuration combinations, (3) configuration being silently ignored. These are not edge cases - they affect core cloning functionality documented in previous review comments for other files - Pay critical attention to
source/isaaclab/isaaclab/scene/cloner.py- contains multiple blocking bugs that must be fixed before merge
Important Files Changed
File Analysis
| Filename | Score | Overview |
|---|---|---|
| source/isaaclab/isaaclab/scene/cloner.py | 1/5 | New cloner module with critical bugs: (1) missing clone_in_fabric config field causes AttributeError, (2) undefined replicate_args when clone_usd=False and clone_physx=True causes NameError, (3) missing use_fabric parameter in physx_replicate call ignores user configuration |
| source/isaaclab/test/sim/test_cloner.py | 5/5 | New comprehensive test suite for cloner utilities covering USD replication with masks/positions, depth-ordering, PhysX replication, and template-based cloning with heterogeneous assets |
Sequence Diagram
sequenceDiagram
participant User
participant InteractiveScene
participant clone_from_template
participant usd_replicate
participant physx_replicate
participant PhysXReplicator
User->>InteractiveScene: clone_environments()
alt Scene setup from config (heterogeneous)
InteractiveScene->>clone_from_template: clone_from_template(stage, num_clones, cfg)
clone_from_template->>clone_from_template: Discover prototypes under template_root
clone_from_template->>clone_from_template: Build prototype mapping (random or round-robin)
clone_from_template->>usd_replicate: Initial prototype stamping
clone_from_template->>clone_from_template: Deactivate template_root
alt clone_usd enabled
alt All prototypes map to env_0 (homogeneous)
clone_from_template->>usd_replicate: Clone whole env_0 to all envs
else Heterogeneous environments
clone_from_template->>usd_replicate: Clone per-object to destinations
end
end
alt clone_physx enabled
Note over clone_from_template: BUG: replicate_args undefined if clone_usd=False
clone_from_template->>physx_replicate: physx_replicate(replicate_args)
Note over clone_from_template: BUG: Missing use_fabric parameter
end
else Manual scene setup (homogeneous)
InteractiveScene->>InteractiveScene: Create mapping for env_0 -> all envs
alt copy_from_source = False
InteractiveScene->>physx_replicate: physx_replicate(replicate_args)
Note over InteractiveScene: BUG: Missing use_fabric parameter
end
InteractiveScene->>usd_replicate: usd_replicate with positions
end
usd_replicate->>usd_replicate: Sort by path depth (parents first)
usd_replicate->>usd_replicate: Copy USD specs per environment
usd_replicate->>usd_replicate: Author xformOp:translate/orient if provided
physx_replicate->>PhysXReplicator: register_replicator(stage_id, callbacks)
PhysXReplicator->>PhysXReplicator: For each source, replicate to mapped envs
PhysXReplicator->>PhysXReplicator: unregister_replicator()
2 files reviewed, 3 comments
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Greptile Overview
Greptile Summary
Refactors environment cloning to use direct USD/PhysX APIs, removing Isaac Sim Cloner dependency. Adds heterogeneous cloning support with per-object replication and scene-level random_heterogenous_cloning flag.
Key Changes:
- New
cloner.pymodule withclone_from_template(),usd_replicate(),physx_replicate()functions - Replaces
GridClonerwith internal replication logic inInteractiveScene - Improved PhysX cloning performance (27.5s → 5.2s simulation start time for 8192 envs)
- Adds
clone_in_fabricconfig option for PhysX fabric support
Critical Issue:
cloner.py:152referencesreplicate_argswhich is only defined insideif cfg.clone_usd:block (lines 136-149), causingNameErrorwhenclone_usd=Falsebutclone_physx=True
Confidence Score: 1/5
- Critical bug will cause runtime crash with certain config combinations
- The
replicate_argsundefined variable bug incloner.py:152is a critical logical error that will cause immediateNameErrorwhenclone_usd=Falseandclone_physx=True. This configuration is valid according to the config class and would be expected to work, but will crash at runtime. Tests don't cover this edge case. - source/isaaclab/isaaclab/scene/cloner.py requires immediate fix for undefined variable bug
Important Files Changed
File Analysis
| Filename | Score | Overview |
|---|---|---|
| source/isaaclab/isaaclab/scene/cloner.py | 1/5 | New cloner module with critical bug: replicate_args undefined when clone_usd=False but clone_physx=True (line 152) |
| source/isaaclab/test/sim/test_cloner.py | 4/5 | Comprehensive test suite for new cloner utilities, covers USD/PhysX replication with good edge cases |
Sequence Diagram
sequenceDiagram
participant IS as InteractiveScene
participant CT as clone_from_template
participant UR as usd_replicate
participant PR as physx_replicate
participant Stage as USD Stage
IS->>IS: Initialize scene with TemplateCloneCfg
IS->>IS: Create env_0 prim
IS->>UR: Clone env_0 to env_1..N (with positions)
IS->>IS: _add_entities_from_cfg()
Note over IS: Spawns prototypes in /World/template
IS->>CT: clone_from_template()
Note over CT: Discovers prototypes under template_root
CT->>CT: Build clone_plan with mapping
Note over CT: Random or round-robin assignment
CT->>UR: usd_replicate(prototypes to envs)
UR->>Stage: Copy USD specs depth-first
Note over UR: Parents before children
alt cfg.clone_usd == True
CT->>CT: Build replicate_args
alt All protos map to env_0
CT->>UR: Replicate whole env_0
else Heterogeneous
CT->>UR: Replicate per-object
end
end
alt cfg.clone_physx == True
CT->>PR: physx_replicate(replicate_args)
Note right of CT: BUG: replicate_args undefined<br/>if clone_usd=False
PR->>Stage: Register PhysX replication
end
IS->>IS: filter_collisions()
Note over IS: Create collision groups per env
2 files reviewed, 2 comments
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Greptile Overview
Greptile Summary
This PR successfully refactors the cloner to use direct PhysX and USD APIs, removing the Isaac Sim Cloner dependency and delivering significant performance improvements (27.5s → 5.2s simulation start time).
Key Changes:
- New
cloner.pymodule withusd_replicate(),physx_replicate(), andclone_from_template()functions InteractiveScenerefactored to use new cloner APIs- Adds heterogeneous cloning support with
random_heterogenous_cloningconfig flag - Comprehensive test suite in
test_cloner.py
Critical Issues Found:
cloner.py:152:replicate_argsundefined whenclone_usd=Falseandclone_physx=True- causesNameErrorat runtimeinteractive_scene.py:137:cloner_cfginstantiated with defaults but never populated with scene-specific values (num_clones,random_heterogenous_cloning,clone_in_fabric, etc.)
Both issues will cause runtime failures in specific configurations.
Confidence Score: 1/5
- This PR has critical bugs that will cause runtime failures in multiple configurations
- Two critical logic errors identified: (1)
replicate_argsundefined whenclone_usd=Falseandclone_physx=Truecausing NameError, and (2)cloner_cfgnever populated with scene config values, causing cloner to use incorrect default values. Both issues will break functionality and need to be fixed before merge. - Pay close attention to
source/isaaclab/isaaclab/scene/cloner.py(lines 151-152) andsource/isaaclab/isaaclab/scene/interactive_scene.py(lines 137-138)
Important Files Changed
File Analysis
| Filename | Score | Overview |
|---|---|---|
| source/isaaclab/isaaclab/scene/cloner.py | 1/5 | New cloner module with critical bug: replicate_args undefined when clone_usd=False and clone_physx=True causing NameError |
| source/isaaclab/isaaclab/scene/interactive_scene.py | 2/5 | Refactored to use new cloner module; cloner_cfg instantiated with defaults but never populated with scene-specific config values |
| source/isaaclab/test/sim/test_cloner.py | 3/5 | New test file with good coverage, but missing test case for clone_usd=False with clone_physx=True configuration |
Sequence Diagram
sequenceDiagram
participant User
participant InteractiveScene
participant TemplateCloneCfg
participant clone_from_template
participant usd_replicate
participant physx_replicate
participant Stage
User->>InteractiveScene: __init__(cfg)
InteractiveScene->>TemplateCloneCfg: create default config
Note over InteractiveScene,TemplateCloneCfg: BUG: config values not populated
InteractiveScene->>Stage: DefinePrim(env_0)
InteractiveScene->>usd_replicate: replicate env_0 to env_1..N
alt Scene setup from config
InteractiveScene->>InteractiveScene: _add_entities_from_cfg()
Note over InteractiveScene: Creates template prototypes
InteractiveScene->>InteractiveScene: clone_environments()
InteractiveScene->>clone_from_template: clone templates
clone_from_template->>Stage: discover prototypes
clone_from_template->>clone_from_template: build clone_plan mapping
clone_from_template->>usd_replicate: replicate prototypes
alt cfg.clone_usd = True
clone_from_template->>usd_replicate: replicate environments
Note over clone_from_template: Sets replicate_args
end
alt cfg.clone_physx = True
clone_from_template->>physx_replicate: replicate with PhysX
Note over clone_from_template: BUG: replicate_args may be undefined
end
else Scene setup manually
InteractiveScene->>usd_replicate: replicate env_0
InteractiveScene->>physx_replicate: replicate physics
end
alt cfg.filter_collisions
InteractiveScene->>InteractiveScene: filter_collisions()
end
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Greptile Overview
Greptile Summary
Refactors environment cloning from Isaac Sim's GridCloner to custom usd_replicate and physx_replicate functions, adds heterogeneous cloning support with per-object replication.
Key Changes:
- New
cloner.pymodule withclone_from_template(),usd_replicate(),physx_replicate()for direct USD/PhysX API usage InteractiveSceneupdated to use new cloner with template-based prototype spawning under/World/template- Added scene-level
random_heterogenous_cloningflag for controlling prototype distribution - Simplified
spawn_multi_assetto spawn prototypes directly without manual cloning logic - Deprecated
random_choiceinMultiAssetSpawnerCfgandMultiUsdFileCfg
Critical Issues Found:
interactive_scene.py:137-cloner_cfgcreated with defaults but never populated with actual scene configuration values (num_clones,clone_regex,random_heterogenous_cloning,clone_in_fabric,device)interactive_scene.py:149-154- Dead code attempting to use unpopulatedclone_plandict, will causeValueErrorif_global_template_prim_pathscontains items
Confidence Score: 1/5
- Critical configuration bug will cause cloner to use wrong settings, potentially breaking heterogeneous scene cloning
- The
cloner_cfgbug at line 137 is critical - configuration values fromInteractiveSceneCfgare never passed to the cloner, meaning features likerandom_heterogenous_cloningandclone_in_fabricwon't work as intended. The dead code at lines 149-154 will crash if collision filtering with template paths is attempted. While the core cloner implementation is clean, the integration layer has fundamental bugs. - Pay immediate attention to
source/isaaclab/isaaclab/scene/interactive_scene.py- lines 137 and 149-154 must be fixed before merge
Important Files Changed
File Analysis
| Filename | Score | Overview |
|---|---|---|
| source/isaaclab/isaaclab/scene/cloner.py | 4/5 | New file introducing usd_replicate, physx_replicate, and clone_from_template functions - clean implementation with proper depth-ordered USD replication |
| source/isaaclab/isaaclab/scene/interactive_scene.py | 1/5 | Critical bugs: cloner_cfg never populated with scene config (line 137), clone_plan dead code causes runtime error (lines 149-154) |
| source/isaaclab/isaaclab/sim/spawners/wrappers/wrappers.py | 4/5 | Simplified spawn_multi_asset by removing manual cloning logic, now spawns prototypes directly at template paths |
| source/isaaclab/test/sim/test_cloner.py | 4/5 | New tests cover usd_replicate, physx_replicate, and clone_from_template - good coverage but missing edge cases |
Sequence Diagram
sequenceDiagram
participant User
participant InteractiveScene
participant Spawner as spawn_multi_asset
participant Cloner as clone_from_template
participant USD as usd_replicate
participant PhysX as physx_replicate
User->>InteractiveScene: __init__(cfg)
InteractiveScene->>InteractiveScene: Create cloner_cfg (TemplateCloneCfg)
Note over InteractiveScene: BUG: cloner_cfg not populated with cfg values
InteractiveScene->>USD: usd_replicate() env_0 xforms
InteractiveScene->>InteractiveScene: _add_entities_from_cfg()
loop For each asset in cfg
InteractiveScene->>Spawner: spawn_multi_asset(prim_path, cfg)
Note over Spawner: prim_path = "/World/template/.../proto_asset_.*"
loop For each asset variant
Spawner->>Spawner: Spawn prototype at template path
end
Spawner-->>InteractiveScene: Return first proto prim
end
InteractiveScene->>InteractiveScene: clone_environments()
InteractiveScene->>Cloner: clone_from_template(stage, num_clones, cloner_cfg)
Cloner->>Cloner: Discover prototypes under template_root
Cloner->>Cloner: Build per-prototype mapping (random or modulo)
Cloner->>USD: usd_replicate(sources, destinations, env_ids, mask)
USD->>USD: Sort by path depth (parents before children)
loop For each depth level
USD->>USD: Copy prim specs with Sdf.CopySpec
USD->>USD: Author xformOp:translate/orient if provided
end
Cloner->>Cloner: Deactivate template_root
alt All prototypes map to env_0
Cloner->>USD: usd_replicate() whole env_0 with positions
Cloner->>PhysX: physx_replicate() whole env mapping
else Heterogeneous mapping
Cloner->>USD: usd_replicate() per-object
Cloner->>PhysX: physx_replicate() per-object mapping
end
PhysX->>PhysX: Register replicator callbacks
PhysX->>PhysX: Call replicate() per source
PhysX->>PhysX: Unregister replicator
Cloner-->>InteractiveScene: Cloning complete
alt filter_collisions enabled
InteractiveScene->>Cloner: filter_collisions(stage, paths)
end
InteractiveScene-->>User: Scene ready
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Greptile Overview
Greptile Summary
Refactors environment cloning to use direct USD/PhysX APIs instead of Isaac Sim's GridCloner, introducing heterogeneous cloning with per-object replication and a scene-level random_heterogenous_cloning flag.
Major changes:
- New
cloner.pymodule withusd_replicate(),physx_replicate(), andclone_from_template()functions InteractiveScenerefactored to use new cloner APIs and prepare templates under/World/template- Deprecates
random_choiceinMultiAssetSpawnerCfg/MultiUsdFileCfgin favor of scene-level control - Significant performance improvement: simulation start time reduced from 27.5s to 5.2s (8192 envs)
Critical issues found:
cloner_cfgatinteractive_scene.py:139never populated with scene config values (num_clones, clone_regex, random_heterogenous_cloning, clone_in_fabric, device)clone_plandict atinteractive_scene.py:151created but never populated before use at lines 154-156, causing ValueError when _global_template_prim_paths is non-empty
Confidence Score: 1/5
- This PR has critical bugs that will cause runtime failures in common scenarios
- Two critical logic bugs in interactive_scene.py: (1) cloner_cfg never populated with required config values, (2) clone_plan dict accessed before being populated. These will cause failures when using heterogeneous cloning or global collision filters.
- source/isaaclab/isaaclab/scene/interactive_scene.py requires immediate fixes to cloner_cfg initialization and clone_plan usage
Important Files Changed
File Analysis
| Filename | Score | Overview |
|---|---|---|
| source/isaaclab/isaaclab/scene/cloner.py | 4/5 | New cloner module with USD/PhysX replication; implementation looks solid with proper depth ordering and mapping logic |
| source/isaaclab/isaaclab/scene/interactive_scene.py | 1/5 | Critical bugs: cloner_cfg never populated with scene config; clone_plan dict created but never populated before use causing ValueError |
| source/isaaclab/test/sim/test_cloner.py | 4/5 | Good test coverage for USD/PhysX replication and template cloning |
Sequence Diagram
sequenceDiagram
participant User
participant InteractiveScene
participant Cloner
participant USDStage
participant PhysXReplicator
User->>InteractiveScene: __init__(cfg)
InteractiveScene->>InteractiveScene: Create cloner_cfg (BUG: not populated!)
InteractiveScene->>InteractiveScene: _add_entities_from_cfg()
InteractiveScene->>USDStage: Spawn prototypes to /World/template
InteractiveScene->>InteractiveScene: clone_plan created (BUG: never populated!)
InteractiveScene->>InteractiveScene: clone_environments()
InteractiveScene->>Cloner: clone_from_template(stage, num_clones, cloner_cfg)
Cloner->>USDStage: Discover prototypes under template_root
Cloner->>Cloner: Build prototype mapping (random or modulo)
Cloner->>Cloner: usd_replicate(sources, destinations, mapping)
Cloner->>USDStage: Copy USD specs in depth order
Cloner->>USDStage: Author xformOp:translate/orient
alt cfg.clone_physx
Cloner->>PhysXReplicator: physx_replicate(sources, destinations, mapping)
PhysXReplicator->>PhysXReplicator: Register replicator callbacks
PhysXReplicator->>USDStage: Replicate PhysX schemas
PhysXReplicator->>PhysXReplicator: Unregister replicator
end
Cloner-->>InteractiveScene: Cloning complete
InteractiveScene->>Cloner: filter_collisions(stage, env_prim_paths)
Cloner->>USDStage: Create PhysicsCollisionGroups per env
14 files reviewed, 2 comments
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Greptile Overview
Greptile Summary
Refactors environment cloning to work directly with PhysX and USD APIs, removing the Isaac Sim GridCloner dependency. Introduces heterogeneous cloning with per-object replication and scene-level control via random_heterogenous_cloning flag.
Key Changes:
- Replaces
GridClonerwith newcloner.pymodule implementingusd_replicate(),physx_replicate(), andclone_from_template() - Adds template-based cloning with prototype discovery and flexible env-to-prototype mapping
- Spawners now create prototypes directly instead of copying templates
- Removes
random_choicefrom spawner configs in favor of scene-levelrandom_heterogenous_cloning
Critical Issue:
The cloner_cfg object is initialized with default values but never populated with scene configuration (clone_regex, random_heterogenous_cloning, clone_in_fabric, device). This causes the cloner to use incorrect values, potentially breaking heterogeneous cloning, fabric cloning, and device allocation.
Confidence Score: 2/5
- Critical configuration bug will cause incorrect cloning behavior in production
- Major refactor with a critical bug where
cloner_cfgis never populated with scene configuration values. This will cause heterogeneous cloning to use wrong randomization, fabric cloning to be ignored, and device allocation to default to CPU. Previous comments identified this issue but it remains unfixed. - source/isaaclab/isaaclab/scene/interactive_scene.py requires immediate fix for cloner_cfg initialization at line 139
Important Files Changed
File Analysis
| Filename | Score | Overview |
|---|---|---|
| source/isaaclab/isaaclab/scene/interactive_scene.py | 2/5 | Refactors cloning from GridCloner to direct PhysX/USD APIs. Critical bug: cloner_cfg initialized with defaults but never populated with scene config (clone_regex, random_heterogenous_cloning, clone_in_fabric, device), causing incorrect cloning behavior. |
Sequence Diagram
sequenceDiagram
participant User
participant InteractiveScene
participant Cloner
participant USD
participant PhysX
User->>InteractiveScene: __init__(cfg)
InteractiveScene->>InteractiveScene: Create cloner_cfg (with defaults)
Note over InteractiveScene: BUG: Config values not populated
InteractiveScene->>InteractiveScene: _add_entities_from_cfg()
InteractiveScene->>InteractiveScene: Replace prim_path regex with template path
Note over InteractiveScene: Uses cloner_cfg.template_root
InteractiveScene->>InteractiveScene: Spawn assets as prototypes
InteractiveScene->>InteractiveScene: clone_environments()
alt cfg.replicate_physics == True
InteractiveScene->>USD: Set envIdInBoundsBitCount
end
alt _is_scene_setup_from_cfg()
InteractiveScene->>Cloner: clone_from_template(stage, num_clones, cloner_cfg)
Cloner->>Cloner: Discover prototypes under template_root
Cloner->>Cloner: Build per-prototype mapping
Note over Cloner: BUG: Uses wrong device/clone_regex/etc
alt random_heterogenous_cloning
Cloner->>Cloner: Random prototype assignment
else
Cloner->>Cloner: Round-robin assignment (modulo)
end
Cloner->>USD: usd_replicate(prototypes)
USD-->>Cloner: Prototypes replicated
alt clone_physx == True
Cloner->>PhysX: physx_replicate(mapping)
Note over PhysX: BUG: Missing use_fabric parameter
PhysX-->>Cloner: Physics replicated
end
Cloner-->>InteractiveScene: Cloning complete
else
InteractiveScene->>USD: usd_replicate(env_0)
InteractiveScene->>PhysX: physx_replicate(env_0)
end
alt filter_collisions == True
InteractiveScene->>Cloner: filter_collisions(global_prim_paths)
Cloner->>USD: Create collision groups
Cloner-->>InteractiveScene: Collisions filtered
end
InteractiveScene-->>User: Scene ready
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Greptile Overview
Greptile Summary
Refactors environment cloning to use new internal usd_replicate and physx_replicate functions instead of Isaac Sim's GridCloner, removing hard dependency on Isaac Sim Cloner API.
Key Changes:
- Replaces
GridClonerwith custom template-based cloning via newclonermodule - Adds heterogeneous environment support with per-object replication when
replicate_physics=False - Introduces
random_heterogenous_cloningconfig flag for prototype assignment control - Significantly improves simulation startup time (27.5s → 5.2s in multi_asset demo with 8192 envs)
- Assets now spawn to
/World/templatewithproto_asset_*naming, then replicate to environments
Latest commit (1f2eece) addressed:
cloner_cfgnow properly initialized withclone_regex,random_heterogenous_cloning,clone_in_fabric, anddeviceparameters
Remaining concerns from prior reviews:
- Issues in
cloner.py(not in scope of this file review): missingreplicate_argsdefinition whenclone_usd=Falseandclone_physx=True, missinguse_fabricparameter inphysx_replicatecalls
Confidence Score: 3/5
- Proceed with caution - the refactored
interactive_scene.pyappears correct, but critical bugs exist in the companioncloner.pymodule that will cause runtime failures - Score of 3 reflects that
interactive_scene.pyitself has been properly updated with correct configuration initialization (thanks to commit 1f2eece), but the PR introduces a newcloner.pydependency with critical bugs flagged in previous comments. While this specific file review shows no new issues ininteractive_scene.py, the overall PR safety is compromised by issues in the cloner module. - Pay close attention to
source/isaaclab/isaaclab/scene/cloner.py(not in this review scope) - it contains critical bugs that will causeNameErrorwhenclone_usd=Falseandclone_physx=True, and missinguse_fabricparameters inphysx_replicatecalls
Important Files Changed
File Analysis
| Filename | Score | Overview |
|---|---|---|
| source/isaaclab/isaaclab/scene/interactive_scene.py | 3/5 | Major refactor replacing Isaac Sim Cloner with custom USD/PhysX replication. Previous comments identified critical issues with cloner_cfg missing num_clones parameter (defaults to 1) and missing handling in cloner.py for clone_usd=False case. |
Sequence Diagram
sequenceDiagram
participant User
participant InteractiveScene
participant TemplateCloneCfg
participant CloneFromTemplate
participant UsdReplicate
participant PhysxReplicate
participant FilterCollisions
User->>InteractiveScene: __init__(cfg)
InteractiveScene->>InteractiveScene: Create env_prim_paths list
InteractiveScene->>InteractiveScene: DefinePrim(env_0)
InteractiveScene->>TemplateCloneCfg: Create cloner_cfg
Note over TemplateCloneCfg: clone_regex, random_heterogenous_cloning,<br/>clone_in_fabric, device
InteractiveScene->>InteractiveScene: grid_transforms() → env_origins
InteractiveScene->>UsdReplicate: Replicate env_0 to env_1..N with positions
alt Scene setup from config
InteractiveScene->>InteractiveScene: _add_entities_from_cfg()
Note over InteractiveScene: Assets spawn to /World/template<br/>with proto_asset_* naming
InteractiveScene->>InteractiveScene: Convert template paths to env paths
InteractiveScene->>InteractiveScene: clone_environments()
alt replicate_physics=True
InteractiveScene->>InteractiveScene: Set physxScene:envIdInBoundsBitCount=4
end
InteractiveScene->>CloneFromTemplate: clone_from_template(stage, num_clones, cloner_cfg)
CloneFromTemplate->>CloneFromTemplate: Discover prototypes under template_root
CloneFromTemplate->>CloneFromTemplate: Build proto→env mapping (random or round-robin)
CloneFromTemplate->>UsdReplicate: Replicate prototypes to destinations
CloneFromTemplate->>CloneFromTemplate: Deactivate template_root
alt All envs use proto_0 (homogeneous)
CloneFromTemplate->>UsdReplicate: Clone env_0 to all envs with positions
else Heterogeneous prototypes
CloneFromTemplate->>UsdReplicate: Clone per-prototype instances
end
alt clone_physx=True
CloneFromTemplate->>PhysxReplicate: Replicate physics with mapping
end
alt filter_collisions=True
InteractiveScene->>FilterCollisions: filter_collisions(global_prim_paths)
FilterCollisions->>FilterCollisions: Create PhysicsCollisionGroups per env
FilterCollisions->>FilterCollisions: Set inverted filtering
end
else Manual scene setup
InteractiveScene->>InteractiveScene: clone_environments()
InteractiveScene->>InteractiveScene: Create mapping (all envs → env_0)
alt copy_from_source=False
InteractiveScene->>PhysxReplicate: Replicate physics
end
InteractiveScene->>UsdReplicate: Replicate USD with positions
end
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Greptile Overview
Greptile Summary
Refactors environment cloning from Isaac Sim's GridCloner to custom USD/PhysX replication APIs, improving heterogeneous scene cloning performance (5.2s vs 27.5s simulation start in 8192 env benchmark).
Key Changes:
- New
cloner.pymodule withusd_replicate(),physx_replicate(), andclone_from_template()functions InteractiveScenenow usesTemplateCloneCfgfor prototype-based cloning with random or deterministic assignment- Adds
random_heterogenous_cloningflag toInteractiveSceneCfgfor controlling prototype distribution - Test files updated to use new cloner API
Critical Issues:
cloner.py:154:replicate_argsundefined whenclone_usd=Falseandclone_physx=True, causingNameErrorinteractive_scene.py:189: Missinguse_fabricparameter inphysx_replicate()callcloner.py:88-89:clone_in_fabricfield properly added to config (previous comments resolved)
Architecture:
The refactor moves from a monolithic cloner to composable USD/PhysX replication, enabling per-object cloning for heterogeneous environments while preserving whole-environment replication for homogeneous cases.
Confidence Score: 2/5
- This PR has critical bugs that will cause runtime errors in certain configurations
- The PR contains a critical
NameErrorincloner.py:154wherereplicate_argsis undefined whenclone_usd=Falseandclone_physx=True. This will crash at runtime for any code path using that configuration. Additionally, the missinguse_fabricparameter ininteractive_scene.py:189means the configuration flag won't be respected. While the refactor architecture is sound and performance improvements are significant, these blocking bugs must be fixed before merge. - Pay close attention to
source/isaaclab/isaaclab/scene/cloner.py(lines 137-154) andsource/isaaclab/isaaclab/scene/interactive_scene.py(line 189)
Important Files Changed
File Analysis
| Filename | Score | Overview |
|---|---|---|
| source/isaaclab/isaaclab/scene/cloner.py | 2/5 | New cloner module with critical bug: replicate_args undefined when clone_usd=False and clone_physx=True, causing NameError at line 154. Missing use_fabric parameter in physx_replicate calls. |
| source/isaaclab/isaaclab/scene/interactive_scene.py | 3/5 | Refactored to use new cloner module instead of Isaac Sim GridCloner. The cloner_cfg is properly initialized with scene config values. The use_fabric parameter is missing in direct physx_replicate call at line 189. |
Sequence Diagram
sequenceDiagram
participant InteractiveScene
participant clone_from_template
participant usd_replicate
participant physx_replicate
participant USD Stage
participant PhysX Replicator
InteractiveScene->>InteractiveScene: __init__
InteractiveScene->>InteractiveScene: Create cloner_cfg (TemplateCloneCfg)
InteractiveScene->>usd_replicate: Replicate empty env_0 to all envs
usd_replicate->>USD Stage: Copy env_0 prim to env_1...env_N
InteractiveScene->>InteractiveScene: _add_entities_from_cfg()
Note over InteractiveScene: Spawn prototypes in /World/template
InteractiveScene->>InteractiveScene: clone_environments()
InteractiveScene->>clone_from_template: Clone prototypes to envs
clone_from_template->>clone_from_template: Discover prototypes
clone_from_template->>clone_from_template: Build prototype mapping
Note over clone_from_template: Random or round-robin assignment
clone_from_template->>usd_replicate: Replicate prototypes
usd_replicate->>USD Stage: Copy prototype specs to destinations
alt All prototypes map to env_0
clone_from_template->>usd_replicate: Clone whole env_0
usd_replicate->>USD Stage: Copy entire env_0 to all envs
else Heterogeneous mapping
clone_from_template->>usd_replicate: Clone per-object
usd_replicate->>USD Stage: Copy individual objects per env
end
alt cfg.clone_physx is True
clone_from_template->>physx_replicate: Replicate for PhysX
physx_replicate->>PhysX Replicator: Register replicator
physx_replicate->>PhysX Replicator: Call replicate() per source
physx_replicate->>PhysX Replicator: Unregister replicator
end
InteractiveScene->>InteractiveScene: filter_collisions()
InteractiveScene->>USD Stage: Create collision groups
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Greptile Overview
Greptile Summary
This PR replaces the Isaac Sim GridCloner dependency with custom usd_replicate and physx_replicate functions in a new cloner.py module. The refactor enables heterogeneous environment cloning where different prototypes can be distributed across environments either randomly or deterministically.
Key Changes:
- New
cloner.pymodule withTemplateCloneCfg,clone_from_template(),usd_replicate(),physx_replicate(), and helper functions InteractiveScenerefactored to use new cloner instead ofGridClonerfrom Isaac Sim- Template-based cloning: assets spawn to
/World/template/proto_asset_*then replicate to environments - Scene-level
random_heterogenous_cloningflag controls prototype distribution (random vs round-robin) - Spawner wrappers simplified to create prototypes without manual cloning logic
- Test updates for new path templating format
Critical Issues Found:
- In
cloner.py:153-154,replicate_argsis only defined inside conditional blocks guarded bycfg.clone_usd, but line 154 uses it unconditionally whencfg.clone_physx=True, causingNameErrorwhenclone_usd=Falseandclone_physx=True - In
interactive_scene.py:189,physx_replicate()call missing requireduse_fabricparameter
Confidence Score: 2/5
- This PR has critical runtime errors that will cause crashes in specific configurations
- Two critical logic bugs identified: (1) undefined variable
replicate_argswhenclone_usd=Falseandclone_physx=Trueincloner.pycausingNameError, and (2) missing requireduse_fabricparameter ininteractive_scene.pycausing incorrect PhysX behavior. Both issues will cause runtime failures in production. - Pay close attention to
source/isaaclab/isaaclab/scene/cloner.py(critical undefined variable bug) andsource/isaaclab/isaaclab/scene/interactive_scene.py(missing parameter)
Important Files Changed
File Analysis
| Filename | Score | Overview |
|---|---|---|
| source/isaaclab/isaaclab/scene/cloner.py | 2/5 | new cloner module with USD and PhysX replication functions - critical bug where replicate_args undefined when clone_usd=False and clone_physx=True |
| source/isaaclab/isaaclab/scene/interactive_scene.py | 3/5 | refactored to use new cloner module instead of Isaac Sim GridCloner - missing use_fabric parameter in physx_replicate call |
| source/isaaclab/test/sensors/test_contact_sensor.py | 5/5 | test updated to use new {ENV_REGEX_NS} template format instead of hardcoded paths - straightforward migration |
Sequence Diagram
sequenceDiagram
participant User
participant InteractiveScene
participant Cloner
participant USD
participant PhysX
User->>InteractiveScene: Initialize scene with cfg
InteractiveScene->>InteractiveScene: Create env_prim_paths list
InteractiveScene->>Cloner: grid_transforms() for env positions
InteractiveScene->>Cloner: usd_replicate() empty env prims
InteractiveScene->>InteractiveScene: _add_entities_from_cfg()
Note over InteractiveScene: Assets spawn to template root<br/>with proto_asset_* naming
InteractiveScene->>InteractiveScene: clone_environments()
alt replicate_physics=True
InteractiveScene->>USD: Set physxScene:envIdInBoundsBitCount
end
alt scene setup from cfg
InteractiveScene->>Cloner: clone_from_template()
Cloner->>Cloner: Discover prototypes in template_root
Cloner->>Cloner: Build clone_plan with random/round-robin mapping
alt clone_usd=True
Cloner->>USD: usd_replicate() templates to envs
end
alt clone_physx=True
Cloner->>PhysX: physx_replicate() with use_fabric flag
end
else manual scene setup
InteractiveScene->>Cloner: physx_replicate() directly (missing use_fabric!)
InteractiveScene->>Cloner: usd_replicate() with positions
end
alt filter_collisions=True
InteractiveScene->>Cloner: filter_collisions()
Cloner->>USD: Create collision groups per env
end
2 files reviewed, 2 comments
Comment on lines
153
to
154
| if cfg.clone_physx: | ||
| physx_replicate(stage, *replicate_args, use_fabric=cfg.clone_in_fabric) |
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logic: replicate_args only defined when cfg.clone_usd=True (inside blocks at lines 140-146 and 150-151) - causes NameError if clone_usd=False but clone_physx=True
Suggested change
| if cfg.clone_physx: | |
| physx_replicate(stage, *replicate_args, use_fabric=cfg.clone_in_fabric) | |
| if cfg.clone_physx: | |
| if not cfg.clone_usd: | |
| # replicate_args not defined above when clone_usd=False, so build it here | |
| if torch.all(proto_idx == 0): | |
| replicate_args = [clone_path_fmt.format(0)], [clone_path_fmt], world_indices, clone_plan["mapping"] | |
| else: | |
| src = [tpl.format(int(idx)) for tpl, idx in zip(clone_plan["dest"], proto_idx.tolist())] | |
| replicate_args = src, clone_plan["dest"], world_indices, clone_plan["mapping"] | |
| physx_replicate(stage, *replicate_args, use_fabric=cfg.clone_in_fabric) |
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Greptile Overview
Greptile Summary
This PR adds cloning infrastructure updates to test files by integrating the new cloner.usd_replicate() API. The changes in the test files are minimal and focused:
Test File Changes:
- Adds
from isaaclab.scene import clonerimport - Inserts
cloner.usd_replicate()calls in scene generation functions to replicate the/World/Table_0prim across environments - Both test files follow identical patterns for integrating the new cloning API
Key Points:
- The test changes themselves are straightforward additions that integrate the new cloning system
- The changes are consistent with the PR's goal of refactoring cloner logic into
usd_replicateandphysx_replicate - Previous comments have identified critical bugs in the core cloner module (not in these test files) including:
- Missing
use_fabricparameter inphysx_replicatecalls - Undefined
replicate_argswhenclone_usd=Falsebutclone_physx=True - Missing population of
cloner_cfgwith scene config values - Missing
clone_in_fabricfield inTemplateCloneCfg
- Missing
Test File Specific Observations:
The test files add the cloning calls after object creation, which ensures the Table prims are replicated before simulation starts. This is the expected integration pattern for the new API.
Confidence Score: 4/5
- Test files are safe with straightforward cloning API integration, but core cloner module has critical bugs
- The test file changes themselves are simple and correct - they just add calls to the new
cloner.usd_replicate()API. However, the score is 4/5 (not 5/5) because previous review comments have identified multiple critical bugs in the core cloner module (source/isaaclab/isaaclab/scene/cloner.py and interactive_scene.py) that these tests depend on. These bugs include undefined variables, missing parameters, and unpopulated config values that could cause runtime errors. - The test files in this changeset are fine, but the core cloner implementation files (cloner.py and interactive_scene.py) have critical bugs that need fixing before these tests will work reliably
Important Files Changed
File Analysis
| Filename | Score | Overview |
|---|---|---|
| source/isaaclab/test/assets/test_rigid_object.py | 4/5 | Adds cloner.usd_replicate() call for Table cloning in test setup - straightforward integration of new cloning API |
| source/isaaclab/test/assets/test_rigid_object_collection.py | 4/5 | Adds cloner.usd_replicate() call for Table cloning in test setup - mirrors changes in test_rigid_object.py |
Sequence Diagram
sequenceDiagram
participant Test as Test Function
participant Gen as generate_cubes_scene()
participant Prim as prim_utils
participant Obj as RigidObject/Collection
participant Clone as cloner.usd_replicate()
participant Stage as USD Stage
Test->>Gen: Call with num_cubes/num_envs
Gen->>Prim: create_prim() for Table_0
Note over Prim: Create initial Table prim
Gen->>Obj: Initialize RigidObject(Cfg)
Note over Obj: Object references /World/Table_.*/Object
Gen->>Clone: usd_replicate(sources=[Table_0], dest=[Table_{}])
Clone->>Stage: Replicate Table_0 to Table_1, Table_2, etc
Note over Stage: USD prims cloned across environments
Gen-->>Test: Return object & origins
Test->>Test: sim.reset() & run tests
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Greptile Overview
Greptile Summary
Refactors test suite to work with new cloning APIs (usd_replicate, physx_replicate) replacing Isaac Sim's GridCloner. Changes follow two patterns:
- Prototype-based tests (
test_spawn_shapes.py,test_stage_in_memory.py): Remove multi-env creation loops, create single prototype, let spawner handle replication - Manual replication tests (
test_articulation.py,test_deformable_object.py): Add explicitcloner.usd_replicate()calls but incorrectly create all envs before replication - Camera tests (
test_multi_tiled_camera.py): Add helper to replicate camera groups, update regex patterns
Critical issues:
test_articulation.pyandtest_deformable_object.pycreate all environment prims in loops, then callusd_replicate()to copy to same destinations - causes duplicate prim errors- Tests will fail at runtime when
usd_replicate()attempts to create prims that already exist
Confidence Score: 2/5
- Not safe to merge - critical logic errors in test setup will cause runtime failures
- Two test files have fundamental logic errors where all environment prims are pre-created, then
usd_replicate()tries to copy to those same paths causing duplicate creation failures. These tests will not pass. - Pay close attention to
test_articulation.pyandtest_deformable_object.py- both have duplicate prim creation issues
Important Files Changed
File Analysis
| Filename | Score | Overview |
|---|---|---|
| source/isaaclab/test/assets/test_articulation.py | 3/5 | Adds cloner.usd_replicate() call after creating environment prims, but all envs are already created in loop at line 178 - potential duplicate creation issue |
| source/isaaclab/test/assets/test_deformable_object.py | 4/5 | Adds cloner.usd_replicate() for table cloning - change appears consistent with refactor pattern |
| source/isaaclab/test/sensors/test_multi_tiled_camera.py | 4/5 | Adds _replicate_group_origins() helper and updates path patterns from .* to _.* - consistent refactor to use new cloning APIs |
| source/isaaclab/test/sim/test_spawn_shapes.py | 5/5 | Removes multi-environment creation loops to only create single prototype - correctly adapts tests to new cloning paradigm where spawners handle replication |
| source/isaaclab/test/sim/test_stage_in_memory.py | 4/5 | Changes from creating cloned envs to creating asset prototypes under single parent, updates path patterns from env_.* to asset_.* - aligns with new prototype-based cloning |
Sequence Diagram
sequenceDiagram
participant Test as Test Setup
participant USD as USD Stage
participant Cloner as cloner.usd_replicate()
Note over Test,Cloner: test_articulation.py (INCORRECT)
Test->>USD: Create /World/Env_0 (line 178)
Test->>USD: Create /World/Env_1 (line 178)
Test->>USD: Create /World/Env_2 (line 178)
Test->>Cloner: usd_replicate([Env_0], [Env_{}])
Cloner->>USD: Try to create /World/Env_1 (EXISTS!)
USD-->>Cloner: Error: Prim already exists
Note over Test,Cloner: test_spawn_shapes.py (CORRECT)
Test->>USD: Create /World/env_0 only
Test->>USD: Spawn cone at /World/env_.*/Cone
Note over USD: Spawner handles replication internally
Additional Comments (2)
-
source/isaaclab/test/assets/test_articulation.py, line 177-187 (link)logic: All envs already created in loop (lines 177-178), then
usd_replicatetries to copy/World/Env_0to destinations that already exist - causing duplicate prim creation -
source/isaaclab/test/assets/test_deformable_object.py, line 60-95 (link)logic: All tables already created in loop (lines 61-62), then
usd_replicatetries to copy/World/Table_0to destinations that already exist
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Greptile Overview
Greptile Summary
Refactors environment cloning to use internal usd_replicate and physx_replicate APIs instead of Isaac Sim's GridCloner, removing the hard dependency.
Key changes:
- Replaces
GridClonerwith new template-based cloning system (cloner.TemplateCloneCfg) - Adds heterogeneous cloning support with per-object replication when environments differ
- Introduces
random_heterogenous_cloningflag for prototype assignment control - Improves PhysX cloning performance for heterogeneous scenes (5.2s vs 27.5s simulation startup in benchmarks)
- Adds test skip for Repose-Cube with
create_stage_in_memory
Issue found:
- Missing
use_fabricparameter inphysx_replicatecall atinteractive_scene.py:189- causes config optionclone_in_fabricto be ignored in non-cfg scene setup path
Confidence Score: 3/5
- Safe to merge after fixing the missing
use_fabricparameter - Major refactor with significant performance improvements, but missing parameter causes config option to be ignored in one code path. The bug is localized and easy to fix - it only affects users who manually clone environments without using config-based scene setup and have
clone_in_fabricenabled. - source/isaaclab/isaaclab/scene/interactive_scene.py:189 needs the
use_fabricparameter added
Important Files Changed
File Analysis
| Filename | Score | Overview |
|---|---|---|
| source/isaaclab/isaaclab/scene/interactive_scene.py | 3/5 | Refactors cloning logic to use new internal replicators; missing use_fabric parameter in physx_replicate call at line 189 |
| source/isaaclab_tasks/test/env_test_utils.py | 5/5 | Adds skip condition for Repose-Cube environments when running with create_stage_in_memory - straightforward test fix |
Sequence Diagram
sequenceDiagram
participant User
participant InteractiveScene
participant Cloner
participant USD_Stage
participant PhysX
User->>InteractiveScene: __init__(cfg)
InteractiveScene->>InteractiveScene: Create cloner_cfg
InteractiveScene->>Cloner: grid_transforms()
Cloner-->>InteractiveScene: env origins
InteractiveScene->>Cloner: usd_replicate() [env xforms]
Cloner->>USD_Stage: Create env_0 to env_N prims
alt Scene from config
InteractiveScene->>InteractiveScene: _add_entities_from_cfg()
InteractiveScene->>InteractiveScene: Spawn assets to template
InteractiveScene->>InteractiveScene: clone_environments()
alt replicate_physics=True
InteractiveScene->>USD_Stage: Set envIdInBoundsBitCount
end
alt Scene setup from cfg
InteractiveScene->>Cloner: clone_from_template()
Cloner->>Cloner: Discover prototypes
Cloner->>Cloner: Build clone mapping
Cloner->>Cloner: usd_replicate() [prototypes]
Cloner->>USD_Stage: Clone prototype specs
alt clone_physx=True
Cloner->>PhysX: physx_replicate()
PhysX-->>Cloner: Physics setup
end
else Manual scene
InteractiveScene->>Cloner: physx_replicate() [missing use_fabric!]
InteractiveScene->>Cloner: usd_replicate()
end
InteractiveScene->>Cloner: filter_collisions()
Cloner->>USD_Stage: Create collision groups
end
2 files reviewed, 1 comment
Contributor
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Greptile Overview
Greptile Summary
Updates test files to use new cloner.usd_replicate API instead of relying on automatic cloning from spawners.
test_articulation.pyandtest_deformable_object.py: Added explicitusd_replicatecalls after creating base environments to clone them - implementations are correcttest_multi_tiled_camera.py: Introduced_replicate_group_originshelper function and updated prim path patterns from*to_*, but the helper has a critical bug where it attempts to read translations from prims that haven't been created yet
Confidence Score: 2/5
- This PR has a critical logic error in test_multi_tiled_camera.py that will cause runtime failures
- Two test files have correct implementations, but test_multi_tiled_camera.py contains a logic bug where
_replicate_group_originsreads translations from non-existent prims before replication occurs, which will causeAttributeErroror returnNonevalues - source/isaaclab/test/sensors/test_multi_tiled_camera.py requires immediate attention to fix the
_replicate_group_originsfunction
Important Files Changed
File Analysis
| Filename | Score | Overview |
|---|---|---|
| source/isaaclab/test/assets/test_articulation.py | 5/5 | Added usd_replicate call to clone environments after articulation creation - implementation looks correct |
| source/isaaclab/test/assets/test_deformable_object.py | 5/5 | Added usd_replicate call to clone table environments after deformable object creation - implementation looks correct |
| source/isaaclab/test/sensors/test_multi_tiled_camera.py | 2/5 | Added _replicate_group_origins helper and updated prim paths, but function reads non-existent prim translations before replication |
Sequence Diagram
sequenceDiagram
participant Test as Test Function
participant PrimUtils as prim_utils
participant Stage as USD Stage
participant Cloner as cloner.usd_replicate
participant Asset as Asset (Articulation/DeformableObject/Camera)
Note over Test: test_articulation.py & test_deformable_object.py
Test->>PrimUtils: create_prim(env_paths)
PrimUtils->>Stage: Create base environment(s)
Test->>Asset: Initialize Asset with prim_path pattern
Asset->>Stage: Spawn asset in base environment
Test->>Cloner: usd_replicate(sources, destinations, env_ids, positions)
Cloner->>Stage: Replicate prims to all environments
Stage-->>Test: Cloning complete
Note over Test: test_multi_tiled_camera.py (ISSUE)
Test->>Asset: Initialize TiledCamera
Asset->>Stage: Create camera in Origin_i_0
Test->>Test: Call _replicate_group_origins(i, num_cameras)
Test->>Stage: Read translations from Origin_i_{0..N-1}
Note over Test,Stage: BUG: Origins 1..N-1 don't exist yet!
Test->>Cloner: usd_replicate(sources, destinations, positions)
Cloner->>Stage: Attempt replication with invalid positions
3 files reviewed, 1 comment
| 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)]) |
Contributor
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logic: reading translations from prims that don't exist yet - only /World/Origin_{group_index}_0 exists before usd_replicate runs, but this tries to read positions for all j in range(num_cameras)
Contributor
Greptile OverviewGreptile SummaryThis PR refactors environment cloning to remove the Isaac Sim Key Changes
Critical Bug Found
Other Issues
Confidence Score: 1/5
Important Files ChangedFile Analysis
Sequence DiagramsequenceDiagram
participant User
participant InteractiveScene
participant Spawner
participant Cloner
participant USD_Stage
participant PhysX
User->>InteractiveScene: __init__(cfg)
InteractiveScene->>InteractiveScene: create cloner_cfg
InteractiveScene->>USD_Stage: create /World/template
InteractiveScene->>USD_Stage: create env_0 prim
InteractiveScene->>Cloner: usd_replicate(env_0 to env_1..N)
Cloner->>USD_Stage: replicate empty env prims
InteractiveScene->>InteractiveScene: _add_entities_from_cfg()
loop for each asset config
InteractiveScene->>Spawner: spawn asset
Note over Spawner: prototype path = /World/template/.../proto_asset_.*
Spawner->>USD_Stage: spawn prototypes (proto_asset_0, proto_asset_1, ...)
Spawner-->>InteractiveScene: return prim
end
InteractiveScene->>InteractiveScene: clone_environments()
alt replicate_physics=True
InteractiveScene->>Cloner: clone_from_template(clone_physx=True)
Cloner->>Cloner: discover prototypes
Cloner->>Cloner: build mapping (random or modulo)
Cloner->>Cloner: check if all envs use proto_0
alt homogeneous (all proto_0)
Cloner->>Cloner: prepare whole-env replication args
opt clone_usd=True
Cloner->>USD_Stage: usd_replicate entire env_0
end
Cloner->>PhysX: physx_replicate entire env_0
else heterogeneous (mixed prototypes)
Cloner->>Cloner: prepare per-object replication args
opt clone_usd=True
Cloner->>USD_Stage: usd_replicate per object
end
Cloner->>PhysX: physx_replicate per object
Note over Cloner,PhysX: BUG: replicate_args undefined if clone_usd=False!
end
else replicate_physics=False
InteractiveScene->>Cloner: clone_from_template(clone_physx=False)
Cloner->>USD_Stage: usd_replicate only
end
opt filter_collisions=True
InteractiveScene->>Cloner: filter_collisions()
Cloner->>PhysX: setup collision groups
end
InteractiveScene-->>User: scene ready
|
|
|
||
| if not copy_from_source: | ||
| # skip physx cloning, this means physx will walk and parse the stage one by one faithfully | ||
| cloner.physx_replicate(self.stage, *replicate_args) |
Contributor
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logic: missing use_fabric parameter - should pass self.cfg.clone_in_fabric
Suggested change
| cloner.physx_replicate(self.stage, *replicate_args) | |
| cloner.physx_replicate(self.stage, *replicate_args, use_fabric=self.cfg.clone_in_fabric) |
Contributor
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Greptile Overview
Greptile Summary
This PR refactors environment cloning to remove the Isaac Sim GridCloner dependency and introduces new internal replicators (usd_replicate, physx_replicate). It adds heterogeneous cloning support with per-object replication for PhysX.
Key Changes
- New
cloner.pymodule with template-based cloning functions (clone_from_template,usd_replicate,physx_replicate,filter_collisions,grid_transforms) InteractiveScenerefactored to use new cloner instead ofGridCloner- Added
TemplateCloneCfgfor controlling prototype assignment (random vs round-robin) - Spawners now create prototypes in
/World/template, then cloner distributes to environments - Performance improvement: simulation start time reduced from 27.5s to 5.2s (8192 envs)
Critical Issues Found
cloner.py:155:NameErrorwhenclone_usd=Falseandclone_physx=True-replicate_argsonly defined inside theif cfg.clone_usd:blockinteractive_scene.py:191: Missinguse_fabricparameter inphysx_replicatecall
Confidence Score: 1/5
- This PR has critical runtime errors that will cause crashes in specific configurations
- Score reflects a critical
NameErrorbug incloner.py:155that occurs whenclone_usd=Falseandclone_physx=True, plus a missing config parameter. These are not edge cases - they represent valid configuration combinations that will crash at runtime - Pay close attention to
source/isaaclab/isaaclab/scene/cloner.pyline 155 - this MUST be fixed before merge
Important Files Changed
File Analysis
| Filename | Score | Overview |
|---|---|---|
| source/isaaclab/isaaclab/scene/cloner.py | 2/5 | New file with critical bug: replicate_args undefined when clone_usd=False and clone_physx=True (line 155) |
| source/isaaclab/isaaclab/scene/interactive_scene.py | 3/5 | Refactored to use new cloner module; missing use_fabric parameter in physx_replicate call at line 191 |
Sequence Diagram
sequenceDiagram
participant User
participant InteractiveScene
participant Cloner
participant USD
participant PhysX
User->>InteractiveScene: __init__(cfg)
InteractiveScene->>InteractiveScene: Create TemplateCloneCfg
InteractiveScene->>InteractiveScene: Define env_0 prim
InteractiveScene->>InteractiveScene: Define template root
InteractiveScene->>Cloner: grid_transforms(num_envs, spacing)
Cloner-->>InteractiveScene: positions, orientations
InteractiveScene->>Cloner: usd_replicate(env_0 to all envs)
Cloner->>USD: Copy env_0 spec to env_1..N
InteractiveScene->>InteractiveScene: _add_entities_from_cfg()
Note over InteractiveScene: Spawners create prototypes<br/>in /World/template
InteractiveScene->>InteractiveScene: clone_environments()
InteractiveScene->>Cloner: clone_from_template(stage, num_clones, cfg)
Cloner->>Cloner: Discover prototypes under template_root
Cloner->>Cloner: Build mapping (random or round-robin)
Cloner->>Cloner: usd_replicate(prototypes to envs)
Cloner->>USD: Copy prototype specs to destinations
alt cfg.clone_physx is True
Cloner->>Cloner: physx_replicate(replicate_args)
Cloner->>PhysX: Register replicator
Cloner->>PhysX: replicate() for each source
Cloner->>PhysX: Unregister replicator
end
Cloner->>USD: SetActive(template_root, False)
alt cfg.filter_collisions
InteractiveScene->>Cloner: filter_collisions(stage, paths)
Cloner->>USD: Create collision groups
Cloner->>USD: Setup inverted filtering
end
2 files reviewed, no comments
Contributor
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Greptile Overview
Greptile Summary
Refactors environment cloning to use internal usd_replicate and physx_replicate functions instead of Isaac Sim's GridCloner, removing the hard dependency. Adds heterogeneous cloning support with per-object replication when environments differ.
Key changes:
- Introduced new
cloner.pymodule withTemplateCloneCfg,clone_from_template(),usd_replicate(), andphysx_replicate()functions - Refactored
InteractiveSceneto use new cloner APIs, removingGridClonerdependency - Added
random_heterogenous_cloningflag toInteractiveSceneCfgfor prototype assignment control - Improved PhysX cloning time for heterogeneous scenes while preserving whole-env replication for homogeneous settings
- Removed
clone_in_fabric=Truefrom most environment configs (now defaults to False)
Critical issues found:
cloner.py:154-replicate_argsundefined whenclone_usd=Falsebutclone_physx=True, causingNameErrorinteractive_scene.py:191- Missinguse_fabricparameter inphysx_replicate()call- Test coverage missing for the
clone_usd=Falsewithclone_physx=Trueedge case
Confidence Score: 2/5
- This PR has critical bugs that will cause runtime failures in certain configurations
- Score reflects critical logic errors in
cloner.pywherereplicate_argsis undefined whenclone_usd=Falsebutclone_physx=True, causingNameError. Additionally, missinguse_fabricparameter ininteractive_scene.py:191means the config option won't be respected. These are not edge cases - they affect core functionality when users have heterogeneous environments withreplicate_physics=False. - Pay close attention to
source/isaaclab/isaaclab/scene/cloner.py(lines 148-155) andsource/isaaclab/isaaclab/scene/interactive_scene.py(line 191)
Important Files Changed
File Analysis
| Filename | Score | Overview |
|---|---|---|
| source/isaaclab/isaaclab/scene/cloner.py | 2/5 | New cloning module with critical bugs in clone_from_template - replicate_args undefined when clone_usd=False but clone_physx=True, and missing use_fabric parameter in physx_replicate calls |
| source/isaaclab/isaaclab/scene/interactive_scene.py | 3/5 | Refactored to use new cloner module - cloner_cfg properly initialized but missing use_fabric parameter in physx_replicate call at line 191 |
| source/isaaclab/isaaclab/scene/interactive_scene_cfg.py | 5/5 | Adds random_heterogenous_cloning config flag for controlling prototype assignment strategy |
| source/isaaclab/test/sim/test_cloner.py | 4/5 | New test coverage for cloner functions - tests USD replication, depth ordering, PhysX replication, but missing test case for clone_usd=False with clone_physx=True edge case |
Sequence Diagram
sequenceDiagram
participant User
participant InteractiveScene
participant Spawner
participant Cloner
participant USD
participant PhysX
User->>InteractiveScene: __init__(cfg)
InteractiveScene->>InteractiveScene: Create env_prim_paths[]
InteractiveScene->>Cloner: grid_transforms(num_envs, spacing)
Cloner-->>InteractiveScene: env_origins
InteractiveScene->>Cloner: usd_replicate(env_0 -> env_1..N)
Cloner->>USD: Copy empty env prims with positions
InteractiveScene->>InteractiveScene: _add_entities_from_cfg()
loop For each asset in cfg
InteractiveScene->>InteractiveScene: Resolve prim_path to template path
InteractiveScene->>Spawner: spawn(template_path/proto_asset_.*)
Spawner->>USD: Create prototypes in /World/template
end
InteractiveScene->>InteractiveScene: clone_environments()
alt replicate_physics == True
InteractiveScene->>USD: Set physxScene:envIdInBoundsBitCount
end
alt Scene setup from cfg
InteractiveScene->>Cloner: clone_from_template(stage, num_clones, cfg)
Cloner->>Cloner: Discover prototypes in template_root
Cloner->>Cloner: Build mapping (random or modulo)
Cloner->>Cloner: usd_replicate(prototypes)
Cloner->>USD: Copy prims depth-first
alt All envs use proto_0
Cloner->>Cloner: usd_replicate(env_0 -> all envs)
Cloner->>USD: Clone whole env_0 with positions
else Heterogeneous envs
Cloner->>Cloner: usd_replicate(per-object)
Cloner->>USD: Clone objects individually
end
alt clone_physx == True
Cloner->>Cloner: physx_replicate()
Cloner->>PhysX: Register replicator callbacks
PhysX->>PhysX: Replicate physics properties
Cloner->>PhysX: Unregister replicator
end
else Manual scene setup
InteractiveScene->>Cloner: physx_replicate(env_0 -> all)
InteractiveScene->>Cloner: usd_replicate(env_0 -> all)
end
alt filter_collisions == True
InteractiveScene->>Cloner: filter_collisions()
Cloner->>USD: Create collision groups per env
end
12 files reviewed, no comments
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| if cfg.clone_physx: | ||
| physx_replicate(stage, *replicate_args, use_fabric=cfg.clone_in_fabric) |
Contributor
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logic: replicate_args only defined when cfg.clone_usd=True (lines 140-152) but used unconditionally here - causes NameError if clone_usd=False and clone_physx=True
Suggested change
| if cfg.clone_physx: | |
| physx_replicate(stage, *replicate_args, use_fabric=cfg.clone_in_fabric) | |
| if cfg.clone_physx: | |
| if not cfg.clone_usd: | |
| # replicate_args not defined above when clone_usd=False | |
| if torch.all(proto_idx == 0): | |
| replicate_args = [clone_path_fmt.format(0)], [clone_path_fmt], world_indices, clone_plan["mapping"] | |
| else: | |
| src = [tpl.format(int(idx)) for tpl, idx in zip(clone_plan["dest"], proto_idx.tolist())] | |
| replicate_args = src, clone_plan["dest"], world_indices, clone_plan["mapping"] | |
| physx_replicate(stage, *replicate_args, use_fabric=cfg.clone_in_fabric) |
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Description
This PR refactors cloner logic into usd_replicate, physx_replicate, (also test to work for newton_replicate but not include in this PR)
At the highest level, This PR decouples cloning responsibility away from spawner, and delegate it to a dedicated lab cloner. The only job for spawner is to spawn prototype, and if any cloning is intended, one needs to use the cloner(either USD cloner, Physx Cloner, or Newton Cloner, whether that be homogeneous cloning or heterogeneous cloning).
In detail this PR
Adds heterogeneous cloning to InteractiveScene with per-object replication when envs differ, improving PhysX cloning time for heterogeneous scenes while perserving whole env replication in homogenous setting.
Introduces scene-level flag InteractiveSceneCfg.random_heterogenous_cloning (defaults True) to control prototype assignment:
---True: randomly assigns a prototype per env.
---False: uses round‑robin (env_index % num_prototypes) for determinism (previous behavior).
Removes hard dependency on the Isaac Sim Cloner; uses internal replicators usd_replicate and physx_replicate.
Deprecates random_choice in MultiAssetSpawnerCfg and MultiUsdFileCfg in favor of the scene-level flag for consistent, scalable control.
While this PR tries to preserve as much original behavior as possible,
with new refactors, it makes cloning with explicit constraints and composition, even proportion very easy, and I will be working on that as next goal.
Perf
Runing
scripts/demos/multi_asset.pywith 8192 envsBefore:
After:
Type of change
Screenshots
Please attach before and after screenshots of the change if applicable.
Checklist
pre-commitchecks with./isaaclab.sh --formatconfig/extension.tomlfileCONTRIBUTORS.mdor my name already exists there