Adds semantic tags into spawner configuration (#186)

# Description

This MR adds support for adding semantic tag labels to the spawner
config. It uses the format provided by replicator to label something as
a class type name and class data name. For example: ("fruit",
"avocado").

## Type of change

- New feature (non-breaking change which adds functionality)
- This change requires a documentation update

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./orbit.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [x] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file

source/extensions/omni.isaac.orbit/config/extension.toml

@@ -1,7 +1,7 @@
 [package]
 
 # Note: Semantic Versioning is used: https://semver.org/
-version = "0.9.10"
+version = "0.9.11"
 
 # Description
 title = "ORBIT framework for Robot Learning"

source/extensions/omni.isaac.orbit/docs/CHANGELOG.rst

@@ -1,6 +1,17 @@
 Changelog
 ---------
 
+0.9.11 (2023-10-17)
+~~~~~~~~~~~~~~~~~~~
+
+Added
+^^^^^
+
+* Added the support for semantic tags into the :class:`omni.isaac.orbit.sim.spawner.SpawnerCfg` class. This allows
+  the user to specify the semantic tags for a prim when spawning it into the scene. It follows the same format as
+  Omniverse Replicator.
+
+
 0.9.10 (2023-10-16)
 ~~~~~~~~~~~~~~~~~~~
 

source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/lights/lights.py

@@ -55,10 +55,10 @@ def spawn_light(
     cfg = cfg.to_dict()
     # delete spawner func specific parameters
     del cfg["prim_type"]
-    # delete meta parameters from base class
-    del cfg["func"]
-    del cfg["visible"]
-    del cfg["copy_from_source"]
+    # delete custom attributes in the config that are not USD parameters
+    non_usd_cfg_param_names = ["func", "copy_from_source", "visible", "semantic_tags"]
+    for param_name in non_usd_cfg_param_names:
+        del cfg[param_name]
     # set into USD API
     for attr_name, value in cfg.items():
         # special operation for texture properties

source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/sensors/sensors.py

@@ -97,6 +97,8 @@ def spawn_camera(
         attribute_types = CUSTOM_PINHOLE_CAMERA_ATTRIBUTES
     else:
         attribute_types = CUSTOM_FISHEYE_CAMERA_ATTRIBUTES
+    # custom attributes in the config that are not USD Camera parameters
+    non_usd_cfg_param_names = ["func", "copy_from_source", "lock_camera", "visible", "semantic_tags"]
 
     # get camera prim
     prim = prim_utils.get_prim_at_path(prim_path)
@@ -110,7 +112,7 @@ def spawn_camera(
     # set attribute values
     for param_name, param_value in cfg.__dict__.items():
         # check if value is valid
-        if param_value is None or param_name in ["func", "copy_from_source", "lock_camera", "visible"]:
+        if param_value is None or param_name in non_usd_cfg_param_names:
             continue
         # obtain prim property name
         if param_name in attribute_types:

source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/spawners/spawner_cfg.py

@@ -38,6 +38,22 @@ class SpawnerCfg:
     visible: bool = True
     """Whether the spawned asset should be visible. Defaults to True."""
 
+    semantic_tags: list[tuple[str, str]] | None = None
+    """List of semantic tags to add to the spawned asset. Defaults to None,
+    which means no semantic tags will be added.
+
+    The semantic tags follow the `Replicator Semantic` tagging system. Each tag is a tuple of the
+    form ``(type, data)``, where ``type`` is the type of the tag and ``data`` is the semantic label
+    associated with the tag. For example, to annotate a spawned asset in the class avocado, the semantic
+    tag would be ``[("class", "avocado")]``.
+
+    You can specify multiple semantic tags by passing in a list of tags. For example, to annotate a
+    spawned asset in the class avocado and the color green, the semantic tags would be
+    ``[("class", "avocado"), ("color", "green")]``.
+
+    .. _Replicator Semantic: https://docs.omniverse.nvidia.com/extensions/latest/ext_replicator/semantics_schema_editor.html
+    """
+
     copy_from_source: bool = True
     """Whether to copy the asset from the source prim or inherit it. Defaults to True.
 

source/extensions/omni.isaac.orbit/omni/isaac/orbit/sim/utils.py

@@ -15,7 +15,7 @@
 import omni.kit.commands
 from omni.isaac.cloner import Cloner
 from omni.isaac.version import get_version
-from pxr import PhysxSchema, Sdf, Usd, UsdPhysics, UsdShade
+from pxr import PhysxSchema, Sdf, Semantics, Usd, UsdPhysics, UsdShade
 
 from omni.isaac.orbit.utils.string import to_camel_case
 
@@ -220,6 +220,21 @@ def wrapper(prim_path: str, cfg: SpawnerCfg, *args, **kwargs):
         # set the prim visibility
         if hasattr(cfg, "visible"):
             prim_utils.set_prim_visibility(prim, cfg.visible)
+        # set the semantic annotations
+        if hasattr(cfg, "semantic_tags") and cfg.semantic_tags is not None:
+            # note: taken from replicator scripts.utils.utils.py
+            for semantic_type, semantic_value in cfg.semantic_tags:
+                # deal with spaces by replacing them with underscores
+                semantic_type_sanitized = semantic_type.replace(" ", "_")
+                semantic_value_sanitized = semantic_value.replace(" ", "_")
+                # set the semantic API for the instance
+                instance_name = f"{semantic_type_sanitized}_{semantic_value_sanitized}"
+                sem = Semantics.SemanticsAPI.Apply(prim, instance_name)
+                # create semantic type and data attributes
+                sem.CreateSemanticTypeAttr()
+                sem.CreateSemanticDataAttr()
+                sem.GetSemanticTypeAttr().Set(semantic_type)
+                sem.GetSemanticDataAttr().Set(semantic_value)
         # activate rigid body contact sensors
         if hasattr(cfg, "activate_contact_sensors") and cfg.activate_contact_sensors:
             schemas.activate_contact_sensors(prim_paths[0], cfg.activate_contact_sensors)

source/extensions/omni.isaac.orbit/test/sim/test_spawn_sensors.py

@@ -101,10 +101,13 @@ def _validate_properties_on_prim(self, prim_path: str, cfg: object, custom_attr:
             cfg: The configuration object.
             custom_attr: The custom attributes for sensor.
         """
+        # delete custom attributes in the config that are not USD parameters
+        non_usd_cfg_param_names = ["func", "copy_from_source", "lock_camera", "visible", "semantic_tags"]
+        # get prim
         prim = prim_utils.get_prim_at_path(prim_path)
         for attr_name, attr_value in cfg.__dict__.items():
             # skip names we know are not present
-            if attr_name in ["func", "copy_from_source", "lock_camera", "visible"] or attr_value is None:
+            if attr_name in non_usd_cfg_param_names or attr_value is None:
                 continue
             # obtain prim property name
             if attr_name in custom_attr: