Add support for spawning meshes from obj and stl files

CONTRIBUTORS.md

@@ -104,6 +104,7 @@ Guidelines for modifications:
 * Vladimir Fokow
 * Wei Yang
 * Xavier Nal
+* Xudong Han
 * Yang Jin
 * Yujian Zhang
 * Zhengyu Zhang

docs/source/api/lab/isaaclab.sim.spawners.rst

@@ -110,6 +110,7 @@ Meshes
     MeshCuboidCfg
     MeshCylinderCfg
     MeshSphereCfg
+    MeshFileCfg
 
 .. autoclass:: MeshCfg
     :members:
@@ -150,6 +151,13 @@ Meshes
     :show-inheritance:
     :exclude-members: __init__, func
 
+.. autofunction:: spawn_mesh_file
+
+.. autoclass:: MeshFileCfg
+    :members:
+    :show-inheritance:
+    :exclude-members: __init__, func
+
 Lights
 ------
 

source/isaaclab/isaaclab/sim/spawners/meshes/__init__.py

@@ -21,4 +21,4 @@
 """
 
 from .meshes import spawn_mesh_capsule, spawn_mesh_cone, spawn_mesh_cuboid, spawn_mesh_cylinder, spawn_mesh_sphere
-from .meshes_cfg import MeshCapsuleCfg, MeshCfg, MeshConeCfg, MeshCuboidCfg, MeshCylinderCfg, MeshSphereCfg
+from .meshes_cfg import MeshCapsuleCfg, MeshCfg, MeshConeCfg, MeshCuboidCfg, MeshCylinderCfg, MeshFileCfg, MeshSphereCfg

source/isaaclab/isaaclab/sim/spawners/meshes/meshes.py

@@ -230,6 +230,43 @@ def spawn_mesh_cone(
     return prim_utils.get_prim_at_path(prim_path)
 
 
+@clone
+def spawn_mesh_file(
+    prim_path: str,
+    cfg: meshes_cfg.MeshFileCfg,
+    translation: tuple[float, float, float] | None = None,
+    orientation: tuple[float, float, float, float] | None = None,
+) -> Usd.Prim:
+    """Create a USD-Mesh prim from the given mesh file.
+
+    .. note::
+        This function is decorated with :func:`clone` that resolves prim path into list of paths
+        if the input prim path is a regex pattern. This is done to support spawning multiple assets
+        from a single and cloning the USD prim at the given path expression.
+
+    Args:
+        prim_path: The prim path or pattern to spawn the asset at. If the prim path is a regex pattern,
+            then the asset is spawned at all the matching prim paths.
+        cfg: The configuration instance.
+        translation: The translation to apply to the prim w.r.t. its parent prim. Defaults to None, in which case
+            this is set to the origin.
+        orientation: The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None,
+            in which case this is set to identity.
+
+    Returns:
+        The created prim.
+
+    Raises:
+        ValueError: If a prim already exists at the given path.
+    """
+    # load the mesh from file
+    mesh = trimesh.load_mesh(cfg.file_path)
+    # spawn mesh if it doesn't exist.
+    _spawn_mesh_geom_from_mesh(prim_path, cfg, mesh, translation, orientation, cfg.scale)
+    # return the prim
+    return prim_utils.get_prim_at_path(prim_path)
+
+
 """
 Helper functions.
 """

source/isaaclab/isaaclab/sim/spawners/meshes/meshes_cfg.py

@@ -142,3 +142,18 @@ class MeshConeCfg(MeshCfg):
     """Height of the v (in m)."""
     axis: Literal["X", "Y", "Z"] = "Z"
     """Axis of the cone. Defaults to "Z"."""
+
+
+@configclass
+class MeshFileCfg(MeshCfg):
+    """Configuration parameters for a mesh prim with deformable properties.
+
+    See :meth:`spawn_mesh_file` for more information.
+    """
+
+    func: Callable = meshes.spawn_mesh_file
+
+    file_path: str = MISSING
+    """Path to the mesh file (in OBJ, STL, or FBX format)."""
+    scale: tuple[float, float, float] = (1.0, 1.0, 1.0)
+    """Scale of the mesh (in m)."""

source/isaaclab/test/sim/test_spawn_meshes.py

@@ -111,6 +111,21 @@ def test_spawn_sphere(self):
         # Check properties
         prim = prim_utils.get_prim_at_path("/World/Sphere/geometry/mesh")
         self.assertEqual(prim.GetPrimTypeInfo().GetTypeName(), "Mesh")
+
+    def test_spawn_meshfile(self):
+        """Test spawning of UsdGeomMesh as a mesh prim from file."""
+        # Spawn mesh
+        cfg = sim_utils.MeshFileCfg(
+            file_path="_isaac_sim/standalone_examples/data/torus/torus.stl"
+        )
+        prim = cfg.func("/World/Torus", cfg)
+        # Check validity
+        self.assertTrue(prim.IsValid())
+        self.assertTrue(prim_utils.is_prim_path_valid("/World/Torus"))
+        self.assertEqual(prim.GetPrimTypeInfo().GetTypeName(), "Xform")
+        # Check properties
+        prim = prim_utils.get_prim_at_path("/World/Torus/geometry/mesh")
+        self.assertEqual(prim.GetPrimTypeInfo().GetTypeName(), "Mesh")
 
     """
     Physics properties.