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Merged
xyao-nv merged 3 commits into from
Feb 9, 2026
Merged

Add configurable object scale for library objects (Rigid Objs) #398

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a718ff8
allow user to modfy scale when loading rigid obj asset
xyao-nv Feb 9, 2026
3bcc106
add args into example
xyao-nv Feb 9, 2026
587e16e
remove cli args
xyao-nv Feb 9, 2026
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165 changes: 126 additions & 39 deletions isaaclab_arena/assets/object_library.py
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Original file line number Diff line number Diff line change
Expand Up @@ -45,16 +45,22 @@ class LibraryObject(Object):
asset_cfg_addon: dict[str, Any] = {}

def __init__(
self, instance_name: str | None = None, prim_path: str | None = None, initial_pose: Pose | None = None, **kwargs
self,
instance_name: str | None = None,
prim_path: str | None = None,
initial_pose: Pose | None = None,
scale: tuple[float, float, float] | None = None,
**kwargs,
):
name = instance_name if instance_name is not None else self.name
scale = scale if scale is not None else self.scale
super().__init__(
name=name,
prim_path=prim_path,
tags=self.tags,
usd_path=self.usd_path,
object_type=self.object_type,
scale=self.scale,
scale=scale,
initial_pose=initial_pose,
spawn_cfg_addon=self.spawn_cfg_addon,
asset_cfg_addon=self.asset_cfg_addon,
Expand All @@ -73,9 +79,13 @@ class CrackerBox(LibraryObject):
usd_path = f"{ISAAC_NUCLEUS_DIR}/Props/YCB/Axis_Aligned_Physics/003_cracker_box.usd"

def __init__(
self, instance_name: str | None = None, prim_path: str | None = None, initial_pose: Pose | None = None
self,
instance_name: str | None = None,
prim_path: str | None = None,
initial_pose: Pose | None = None,
scale: tuple[float, float, float] | None = None,
):
super().__init__(instance_name=instance_name, prim_path=prim_path, initial_pose=initial_pose)
super().__init__(instance_name=instance_name, prim_path=prim_path, initial_pose=initial_pose, scale=scale)


@register_asset
Expand All @@ -89,9 +99,13 @@ class MustardBottle(LibraryObject):
usd_path = f"{ISAAC_NUCLEUS_DIR}/Props/YCB/Axis_Aligned_Physics/006_mustard_bottle.usd"

def __init__(
self, instance_name: str | None = None, prim_path: str | None = None, initial_pose: Pose | None = None
self,
instance_name: str | None = None,
prim_path: str | None = None,
initial_pose: Pose | None = None,
scale: tuple[float, float, float] | None = None,
):
super().__init__(instance_name=instance_name, prim_path=prim_path, initial_pose=initial_pose)
super().__init__(instance_name=instance_name, prim_path=prim_path, initial_pose=initial_pose, scale=scale)


@register_asset
Expand All @@ -105,9 +119,13 @@ class SugarBox(LibraryObject):
usd_path = f"{ISAAC_NUCLEUS_DIR}/Props/YCB/Axis_Aligned_Physics/004_sugar_box.usd"

def __init__(
self, instance_name: str | None = None, prim_path: str | None = None, initial_pose: Pose | None = None
self,
instance_name: str | None = None,
prim_path: str | None = None,
initial_pose: Pose | None = None,
scale: tuple[float, float, float] | None = None,
):
super().__init__(instance_name=instance_name, prim_path=prim_path, initial_pose=initial_pose)
super().__init__(instance_name=instance_name, prim_path=prim_path, initial_pose=initial_pose, scale=scale)


@register_asset
Expand All @@ -121,9 +139,13 @@ class TomatoSoupCan(LibraryObject):
usd_path = f"{ISAAC_NUCLEUS_DIR}/Props/YCB/Axis_Aligned_Physics/005_tomato_soup_can.usd"

def __init__(
self, instance_name: str | None = None, prim_path: str | None = None, initial_pose: Pose | None = None
self,
instance_name: str | None = None,
prim_path: str | None = None,
initial_pose: Pose | None = None,
scale: tuple[float, float, float] | None = None,
):
super().__init__(instance_name=instance_name, prim_path=prim_path, initial_pose=initial_pose)
super().__init__(instance_name=instance_name, prim_path=prim_path, initial_pose=initial_pose, scale=scale)


@register_asset
Expand All @@ -137,9 +159,13 @@ class PowerDrill(LibraryObject):
usd_path = f"{ISAACLAB_NUCLEUS_DIR}/Arena/assets/object_library/power_drill_physics/power_drill_physics.usd"

def __init__(
self, instance_name: str | None = None, prim_path: str | None = None, initial_pose: Pose | None = None
self,
instance_name: str | None = None,
prim_path: str | None = None,
initial_pose: Pose | None = None,
scale: tuple[float, float, float] | None = None,
):
super().__init__(instance_name=instance_name, prim_path=prim_path, initial_pose=initial_pose)
super().__init__(instance_name=instance_name, prim_path=prim_path, initial_pose=initial_pose, scale=scale)


@register_asset
Expand Down Expand Up @@ -251,9 +277,13 @@ class OfficeTable(LibraryObject):
scale = (1.0, 1.0, 0.7)

def __init__(
self, instance_name: str | None = None, prim_path: str | None = None, initial_pose: Pose | None = None
self,
instance_name: str | None = None,
prim_path: str | None = None,
initial_pose: Pose | None = None,
scale: tuple[float, float, float] | None = None,
):
super().__init__(instance_name=instance_name, prim_path=prim_path, initial_pose=initial_pose)
super().__init__(instance_name=instance_name, prim_path=prim_path, initial_pose=initial_pose, scale=scale)


@register_asset
Expand All @@ -268,9 +298,13 @@ class BlueSortingBin(LibraryObject):
scale = (4.0, 2.0, 1.0)

def __init__(
self, instance_name: str | None = None, prim_path: str | None = None, initial_pose: Pose | None = None
self,
instance_name: str | None = None,
prim_path: str | None = None,
initial_pose: Pose | None = None,
scale: tuple[float, float, float] | None = None,
):
super().__init__(prim_path=prim_path, initial_pose=initial_pose)
super().__init__(instance_name=instance_name, prim_path=prim_path, initial_pose=initial_pose, scale=scale)


@register_asset
Expand All @@ -285,9 +319,13 @@ class BlueExhaustPipe(LibraryObject):
scale = (0.55, 0.55, 1.4)

def __init__(
self, instance_name: str | None = None, prim_path: str | None = None, initial_pose: Pose | None = None
self,
instance_name: str | None = None,
prim_path: str | None = None,
initial_pose: Pose | None = None,
scale: tuple[float, float, float] | None = None,
):
super().__init__(instance_name=instance_name, prim_path=prim_path, initial_pose=initial_pose)
super().__init__(instance_name=instance_name, prim_path=prim_path, initial_pose=initial_pose, scale=scale)


@register_asset
Expand All @@ -302,9 +340,13 @@ class BrownBox(LibraryObject):
scale = (1.0, 1.0, 1.0)

def __init__(
self, instance_name: str | None = None, prim_path: str | None = None, initial_pose: Pose | None = None
self,
instance_name: str | None = None,
prim_path: str | None = None,
initial_pose: Pose | None = None,
scale: tuple[float, float, float] | None = None,
):
super().__init__(instance_name=instance_name, prim_path=prim_path, initial_pose=initial_pose)
super().__init__(instance_name=instance_name, prim_path=prim_path, initial_pose=initial_pose, scale=scale)


@register_asset
Expand All @@ -324,12 +366,17 @@ class Mug(LibraryObject, Placeable):
orientation_threshold = 0.5

def __init__(
self, instance_name: str | None = None, prim_path: str | None = None, initial_pose: Pose | None = None
self,
instance_name: str | None = None,
prim_path: str | None = None,
initial_pose: Pose | None = None,
scale: tuple[float, float, float] | None = None,
):
super().__init__(
instance_name=instance_name,
prim_path=prim_path,
initial_pose=initial_pose,
scale=scale,
upright_axis_name=self.upright_axis_name,
orientation_threshold=self.orientation_threshold,
)
Expand Down Expand Up @@ -406,9 +453,13 @@ class DexCube(LibraryObject):
object_type = ObjectType.RIGID

def __init__(
self, instance_name: str | None = None, prim_path: str | None = None, initial_pose: Pose | None = None
self,
instance_name: str | None = None,
prim_path: str | None = None,
initial_pose: Pose | None = None,
scale: tuple[float, float, float] | None = None,
):
super().__init__(instance_name=instance_name, prim_path=prim_path, initial_pose=initial_pose)
super().__init__(instance_name=instance_name, prim_path=prim_path, initial_pose=initial_pose, scale=scale)


@register_asset
Expand Down Expand Up @@ -555,9 +606,13 @@ class Broccoli(LibraryObject):
object_type = ObjectType.RIGID

def __init__(
self, instance_name: str | None = None, prim_path: str | None = None, initial_pose: Pose | None = None
self,
instance_name: str | None = None,
prim_path: str | None = None,
initial_pose: Pose | None = None,
scale: tuple[float, float, float] | None = None,
):
super().__init__(instance_name=instance_name, prim_path=prim_path, initial_pose=initial_pose)
super().__init__(instance_name=instance_name, prim_path=prim_path, initial_pose=initial_pose, scale=scale)


@register_asset
Expand All @@ -579,9 +634,13 @@ class SweetPotato(LibraryObject):
scale = (1.5, 1.5, 1.5)

def __init__(
self, instance_name: str | None = None, prim_path: str | None = None, initial_pose: Pose | None = None
self,
instance_name: str | None = None,
prim_path: str | None = None,
initial_pose: Pose | None = None,
scale: tuple[float, float, float] | None = None,
):
super().__init__(instance_name=instance_name, prim_path=prim_path, initial_pose=initial_pose)
super().__init__(instance_name=instance_name, prim_path=prim_path, initial_pose=initial_pose, scale=scale)


@register_asset
Expand All @@ -603,9 +662,13 @@ class Jug(LibraryObject):
scale = (2.0, 2.0, 2.0)

def __init__(
self, instance_name: str | None = None, prim_path: str | None = None, initial_pose: Pose | None = None
self,
instance_name: str | None = None,
prim_path: str | None = None,
initial_pose: Pose | None = None,
scale: tuple[float, float, float] | None = None,
):
super().__init__(instance_name=instance_name, prim_path=prim_path, initial_pose=initial_pose)
super().__init__(instance_name=instance_name, prim_path=prim_path, initial_pose=initial_pose, scale=scale)


@register_asset
Expand All @@ -621,9 +684,13 @@ class RanchDressingBottle(LibraryObject):
scale = (0.8, 0.8, 1.2)

def __init__(
self, instance_name: str | None = None, prim_path: str | None = None, initial_pose: Pose | None = None
self,
instance_name: str | None = None,
prim_path: str | None = None,
initial_pose: Pose | None = None,
scale: tuple[float, float, float] | None = None,
):
super().__init__(instance_name=instance_name, prim_path=prim_path, initial_pose=initial_pose)
super().__init__(instance_name=instance_name, prim_path=prim_path, initial_pose=initial_pose, scale=scale)


@register_asset
Expand All @@ -646,8 +713,13 @@ class RedCube(LibraryObject):
default_prim_path = "{ENV_REGEX_NS}/RedCube"
scale = (0.02, 0.02, 0.02)

def __init__(self, prim_path: str | None = None, initial_pose: Pose | None = None):
super().__init__(prim_path=prim_path, initial_pose=initial_pose)
def __init__(
self,
prim_path: str | None = None,
initial_pose: Pose | None = None,
scale: tuple[float, float, float] | None = None,
):
super().__init__(prim_path=prim_path, initial_pose=initial_pose, scale=scale)


@register_asset
Expand All @@ -669,8 +741,13 @@ class GreenCube(LibraryObject):
default_prim_path = "{ENV_REGEX_NS}/GreenCube"
scale = (0.02, 0.02, 0.02)

def __init__(self, prim_path: str | None = None, initial_pose: Pose | None = None):
super().__init__(prim_path=prim_path, initial_pose=initial_pose)
def __init__(
self,
prim_path: str | None = None,
initial_pose: Pose | None = None,
scale: tuple[float, float, float] | None = None,
):
super().__init__(prim_path=prim_path, initial_pose=initial_pose, scale=scale)


@register_asset
Expand All @@ -686,8 +763,13 @@ class RedContainer(LibraryObject):
default_prim_path = "{ENV_REGEX_NS}/red_container"
scale = (0.5, 0.5, 0.5)

def __init__(self, prim_path: str | None = None, initial_pose: Pose | None = None):
super().__init__(prim_path=prim_path, initial_pose=initial_pose)
def __init__(
self,
prim_path: str | None = None,
initial_pose: Pose | None = None,
scale: tuple[float, float, float] | None = None,
):
super().__init__(prim_path=prim_path, initial_pose=initial_pose, scale=scale)


@register_asset
Expand All @@ -703,5 +785,10 @@ class GreenContainer(LibraryObject):
default_prim_path = "{ENV_REGEX_NS}/green_container"
scale = (0.5, 0.5, 0.5)

def __init__(self, prim_path: str | None = None, initial_pose: Pose | None = None):
super().__init__(prim_path=prim_path, initial_pose=initial_pose)
def __init__(
self,
prim_path: str | None = None,
initial_pose: Pose | None = None,
scale: tuple[float, float, float] | None = None,
):
super().__init__(prim_path=prim_path, initial_pose=initial_pose, scale=scale)
49 changes: 49 additions & 0 deletions isaaclab_arena/tests/test_object_scale.py
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Original file line number Diff line number Diff line change
@@ -0,0 +1,49 @@
# Copyright (c) 2026, The Isaac Lab Arena Project Developers (https://github.com/isaac-sim/IsaacLab-Arena/blob/main/CONTRIBUTORS.md).
# All rights reserved.
#
# SPDX-License-Identifier: Apache-2.0

"""Tests for object scale parameter (LibraryObject and subclasses)."""

from isaaclab_arena.tests.utils.subprocess import run_simulation_app_function

HEADLESS = True


def _test_object_scale_default_and_override(simulation_app):
from isaaclab_arena.assets.asset_registry import AssetRegistry

asset_registry = AssetRegistry()

cracker_box_default = asset_registry.get_asset_by_name("cracker_box")()
assert cracker_box_default.scale == (1.0, 1.0, 1.0)

# Same object with explicit scale override
custom_scale = (2.0, 2.0, 2.0)
cracker_box_scaled = asset_registry.get_asset_by_name("cracker_box")(scale=custom_scale)
assert cracker_box_scaled.scale == custom_scale

dex_cube_default = asset_registry.get_asset_by_name("dex_cube")()
assert dex_cube_default.scale == (0.8, 0.8, 0.8)

# Override object's own scale
override_scale = (0.5, 0.5, 0.5)
dex_cube_scaled = asset_registry.get_asset_by_name("dex_cube")(scale=override_scale)
assert dex_cube_scaled.scale == override_scale

dex_cube_none = asset_registry.get_asset_by_name("dex_cube")(scale=None)
assert dex_cube_none.scale == (0.8, 0.8, 0.8)

return True


def test_object_scale_default_and_override():
result = run_simulation_app_function(
_test_object_scale_default_and_override,
headless=HEADLESS,
)
assert result, "Test failed"


if __name__ == "__main__":
test_object_scale_default_and_override()