Refactors environment cloner to directly work with physx and usd apis, removing isaac-sim cloner dependency

source/isaaclab/config/extension.toml

@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.48.4"
+version = "0.49.0"
 
 # Description
 title = "Isaac Lab framework for Robot Learning"

source/isaaclab/docs/CHANGELOG.rst

@@ -1,6 +1,39 @@
 Changelog
 ---------
 
+
+0.49.0 (2025-11-14)
+~~~~~~~~~~~~~~~~~~~
+
+* Removed hard dependency on the Isaac Sim Cloner for scene replication. Replication now uses internal utilities
+  :func:`~isaaclab.scene.cloner.usd_replicate` and :func:`~isaaclab.scene.cloner.physx_replicate`, reducing coupling
+  to Isaac Sim. Public APIs in :class:`~isaaclab.scene.interactive_scene.InteractiveScene` remain unchanged; code
+  directly importing the external Cloner should migrate to these utilities.
+
+
+Added
+^^^^^
+
+* Added optional random prototype selection during environment cloning in
+  :class:`~isaaclab.scene.interactive_scene.InteractiveScene` via
+  :attr:`~isaaclab.scene.interactive_scene_cfg.InteractiveSceneCfg.random_heterogenous_cloning`.
+  Defaults to ``True``; round-robin (modulo) mapping remains available by setting it to ``False``.
+
+* Added flexible per-object cloning path in
+  :class:`~isaaclab.scene.interactive_scene.InteractiveScene`: when environments are heterogeneous
+  (different prototypes across envs), replication switches to per-object instead of whole-env cloning.
+  This reduces PhysX cloning time in heterogeneous scenes.
+
+
+Deprecated
+^^^^^^^^^^
+
+* Deprecated :attr:`~isaaclab.sim.spawners.wrappers.MultiAssetSpawnerCfg.random_choice` and
+  :attr:`~isaaclab.sim.spawners.wrappers.MultiUsdFileCfg.random_choice`. Use
+  :attr:`~isaaclab.scene.interactive_scene_cfg.InteractiveSceneCfg.random_heterogenous_cloning` to control whether
+  assets are selected randomly (``True``) or via round-robin (``False``) across environments.
+
+
 0.48.4 (2025-11-14)
 ~~~~~~~~~~~~~~~~~~~
 

source/isaaclab/isaaclab/assets/asset_base.py

@@ -73,14 +73,8 @@ def __init__(self, cfg: AssetBaseCfg):
         # get stage handle
         self.stage = get_current_stage()
 
-        # check if base asset path is valid
-        # note: currently the spawner does not work if there is a regex pattern in the leaf
-        #   For example, if the prim path is "/World/Robot_[1,2]" since the spawner will not
-        #   know which prim to spawn. This is a limitation of the spawner and not the asset.
-        asset_path = self.cfg.prim_path.split("/")[-1]
-        asset_path_is_regex = re.match(r"^[a-zA-Z0-9/_]+$", asset_path) is None
         # spawn the asset
-        if self.cfg.spawn is not None and not asset_path_is_regex:
+        if self.cfg.spawn is not None:
             self.cfg.spawn.func(
                 self.cfg.prim_path,
                 self.cfg.spawn,

source/isaaclab/isaaclab/assets/rigid_object_collection/rigid_object_collection.py

@@ -67,17 +67,10 @@ def __init__(self, cfg: RigidObjectCollectionCfg):
         self.cfg = cfg.copy()
         # flag for whether the asset is initialized
         self._is_initialized = False
-        self._prim_paths = []
         # spawn the rigid objects
         for rigid_object_cfg in self.cfg.rigid_objects.values():
-            # check if the rigid object path is valid
-            # note: currently the spawner does not work if there is a regex pattern in the leaf
-            #   For example, if the prim path is "/World/Object_[1,2]" since the spawner will not
-            #   know which prim to spawn. This is a limitation of the spawner and not the asset.
-            asset_path = rigid_object_cfg.prim_path.split("/")[-1]
-            asset_path_is_regex = re.match(r"^[a-zA-Z0-9/_]+$", asset_path) is None
             # spawn the asset
-            if rigid_object_cfg.spawn is not None and not asset_path_is_regex:
+            if rigid_object_cfg.spawn is not None:
                 rigid_object_cfg.spawn.func(
                     rigid_object_cfg.prim_path,
                     rigid_object_cfg.spawn,
@@ -88,7 +81,7 @@ def __init__(self, cfg: RigidObjectCollectionCfg):
             matching_prims = sim_utils.find_matching_prims(rigid_object_cfg.prim_path)
             if len(matching_prims) == 0:
                 raise RuntimeError(f"Could not find prim with path {rigid_object_cfg.prim_path}.")
-            self._prim_paths.append(rigid_object_cfg.prim_path)
+
         # stores object names
         self._object_names_list = []
 
@@ -747,7 +740,7 @@ def _on_prim_deletion(self, prim_path: str) -> None:
         if prim_path == "/":
             self._clear_callbacks()
             return
-        for prim_path_expr in self._prim_paths:
+        for prim_path_expr in [obj.prim_path for obj in self.cfg.rigid_objects.values()]:
             result = re.match(
                 pattern="^" + "/".join(prim_path_expr.split("/")[: prim_path.count("/") + 1]) + "$", string=prim_path
             )