support collision body visualization for rigid object and articulation

embodichain/lab/sim/objects/articulation.py

@@ -579,6 +579,9 @@ def __init__(
         # set default collision filter
         self._set_default_collision_filter()
 
+        # flag for collision visible node existence
+        self._has_collision_visible_node = False
+
     def __str__(self) -> str:
         parent_str = super().__str__()
         return parent_str + f" | dof: {self.dof} | num_links: {self.num_links}"
@@ -1535,6 +1538,57 @@ def get_visual_material_inst(
                 result.append(mat_dict)
         return result
 
+    def set_collision_render_visibility(
+        self,
+        collision_visible: bool = True,
+        render_visible: bool = True,
+        link_names: Optional[List[str]] = None,
+        collision_visible_rgba: Optional[Sequence[float]] = None,
+    ):
+        """set collision
+
+        Args:
+            collision_visible (bool, optional): is collision body visible. Defaults to True.
+            render_visible (bool, optional): is render body visible. Defaults to True.
+            link_names (Optional[List[str]], optional): links to set visibility. Defaults to None.
+            collision_visible_rgba (Optional[Sequence[float]], optional): collision body visible rgba. Defaults to None.
+        """
+        collision_visible_rgba = (
+            collision_visible_rgba
+            if collision_visible_rgba is not None
+            else (0.8, 0.2, 0.2, 0.7)
+        )
+        if len(collision_visible_rgba) != 4:
+            logger.log_error(
+                f"Invalid collision_visible_rgba {collision_visible_rgba}, should be a sequence of 4 floats."
+            )
+        collision_visible_rgba = np.array(
+            [
+                collision_visible_rgba[0],
+                collision_visible_rgba[1],
+                collision_visible_rgba[2],
+                collision_visible_rgba[3],
+            ]
+        )
+        link_names = self.link_names if link_names is None else link_names
+
+        # create collision visible node if not exist
+        if collision_visible:
+            if not self._has_collision_visible_node:
+                for i, env_idx in enumerate(self._all_indices):
+                    for link_name in link_names:
+                        self._entities[env_idx].create_physical_visible_node(
+                            collision_visible_rgba, link_name
+                        )
+                self._has_collision_visible_node = True
+
+        # set visibility
+        for i, env_idx in enumerate(self._all_indices):
+            for link_name in link_names:
+                self._entities[env_idx].set_physical_visible(
+                    collision_visible, render_visible, link_name
+                )
+
     def destroy(self) -> None:
         env = self._world.get_env()
         arenas = env.get_all_arenas()

embodichain/lab/sim/objects/rigid_object.py

@@ -196,6 +196,9 @@ def __init__(
         # set default collision filter
         self._set_default_collision_filter()
 
+        # reserve flag for collision visible node existence
+        self._has_collision_visible_node = False
+
     def __str__(self) -> str:
         parent_str = super().__str__()
         return (
@@ -631,6 +634,51 @@ def clear_dynamics(self, env_ids: Optional[Sequence[int]] = None) -> None:
                 data_type=RigidBodyGPUAPIWriteType.TORQUE,
             )
 
+    def set_collision_render_visibility(
+        self,
+        collision_visible: bool = True,
+        render_visible: bool = True,
+        collision_visible_rgba: Optional[Sequence[float]] = None,
+    ):
+        """set collion render visibility
+
+        Args:
+            collision_visible (bool, optional): is collision body visible. Defaults to True.
+            render_visible (bool, optional): is render body visible. Defaults to True.
+            collision_visible_rgba (Optional[Sequence[float]], optional): collision body visible rgba. Defaults to None.
+        """
+        collision_visible_rgba = (
+            collision_visible_rgba
+            if collision_visible_rgba is not None
+            else (0.8, 0.2, 0.2, 0.7)
+        )
+        if len(collision_visible_rgba) != 4:
+            logger.log_error(
+                f"Invalid collision_visible_rgba {collision_visible_rgba}, should be a sequence of 4 floats."
+            )
+
+        # create collision visible node if not exist
+        if collision_visible:
+            if not self._has_collision_visible_node:
+                for i, env_idx in enumerate(self._all_indices):
+                    self._entities[env_idx].create_physical_visible_node(
+                        np.array(
+                            [
+                                collision_visible_rgba[0],
+                                collision_visible_rgba[1],
+                                collision_visible_rgba[2],
+                                collision_visible_rgba[3],
+                            ]
+                        )
+                    )
+                self._has_collision_visible_node = True
+
+        # create collision visible node if not exist
+        for i, env_idx in enumerate(self._all_indices):
+            self._entities[env_idx].set_physical_visible(
+                collision_visible, render_visible
+            )
+
     def reset(self, env_ids: Optional[Sequence[int]] = None) -> None:
         local_env_ids = self._all_indices if env_ids is None else env_ids
         num_instances = len(local_env_ids)

scripts/tutorials/sim/create_robot.py

@@ -46,7 +46,7 @@ def main():
         description="Create and simulate a robot in SimulationManager"
     )
     parser.add_argument(
-        "--num_envs", type=int, default=1, help="Number of environments to simulate"
+        "--num_envs", type=int, default=4, help="Number of environments to simulate"
     )
     parser.add_argument(
         "--device",
@@ -87,6 +87,12 @@ def main():
     if not args.headless:
         sim.open_window()
 
+    robot.set_collision_render_visibility(
+        True, False, collision_visible_rgba=(0.1, 0.1, 0.9, 0.4)
+    )
+    time.sleep(1.0)
+    robot.set_collision_render_visibility(False, True)
+
     # Run simulation loop
     run_simulation(sim, robot)
 

scripts/tutorials/sim/create_scene.py

@@ -24,8 +24,9 @@
 
 from embodichain.lab.sim import SimulationManager, SimulationManagerCfg
 from embodichain.lab.sim.cfg import RigidBodyAttributesCfg
-from embodichain.lab.sim.shapes import CubeCfg
+from embodichain.lab.sim.shapes import CubeCfg, MeshCfg
 from embodichain.lab.sim.objects import RigidObject, RigidObjectCfg
+from dexsim.utility.path import get_resources_data_path
 
 
 def main():
@@ -88,10 +89,48 @@ def main():
         )
     )
 
+    cow: RigidObject = sim.add_rigid_object(
+        cfg=RigidObjectCfg(
+            uid="cow",
+            shape=MeshCfg(
+                fpath=get_resources_data_path("Model", "cow", "cow.obj"),
+            ),
+            body_type="dynamic",
+            attrs=RigidBodyAttributesCfg(
+                mass=1.0,
+                dynamic_friction=0.5,
+                static_friction=0.5,
+                restitution=0.1,
+            ),
+            init_pos=[1.5, 0.0, 1.0],
+        )
+    )
+
+    cow1: RigidObject = sim.add_rigid_object(
+        cfg=RigidObjectCfg(
+            uid="cow1",
+            shape=MeshCfg(
+                fpath=get_resources_data_path("Model", "cow", "cow.obj"),
+            ),
+            body_type="dynamic",
+            attrs=RigidBodyAttributesCfg(
+                mass=1.0,
+                dynamic_friction=0.5,
+                static_friction=0.5,
+                restitution=0.1,
+            ),
+            init_pos=[1.5, 1.5, 1.0],
+        )
+    )
+
     print("[INFO]: Scene setup complete!")
     print(f"[INFO]: Running simulation with {args.num_envs} environment(s)")
     print("[INFO]: Press Ctrl+C to stop the simulation")
 
+    cow.set_collision_render_visibility(
+        True, False, collision_visible_rgba=(0.1, 0.1, 0.9, 0.4)
+    )
+
     # Open window when the scene has been set up
     if not args.headless:
         sim.open_window()

tests/sim/objects/test_articulation.py

@@ -175,6 +175,42 @@ def test_remove_articulation(self):
             self.art.uid not in self.sim.asset_uids
         ), "FAIL: Articulation UID still present after removal"
 
+    def test_set_collision_render_visibility(self):
+        """Test setting collision and render visibility of the duck object."""
+
+        # Set collision with color
+        self.art.set_collision_render_visibility(
+            collision_visible=True,
+            render_visible=True,
+            collision_visible_rgba=(0.1, 0.1, 0.9, 0.4),
+        )
+
+        # Set collision visible, render invisible
+        self.art.set_collision_render_visibility(
+            collision_visible=True, render_visible=False
+        )
+
+        # Set collision invisible, render visible
+        self.art.set_collision_render_visibility(
+            collision_visible=False, render_visible=True
+        )
+
+        # Set both visible
+        self.art.set_collision_render_visibility(
+            collision_visible=True, render_visible=True
+        )
+
+        # Set both invisible
+        self.art.set_collision_render_visibility(
+            collision_visible=False, render_visible=False
+        )
+
+        # set visible with link names
+        all_link_names = self.art.link_names
+        self.art.set_collision_render_visibility(
+            collision_visible=True, render_visible=False, link_names=all_link_names[:3]
+        )
+
     def teardown_method(self):
         """Clean up resources after each test method."""
         self.sim.destroy()

tests/sim/objects/test_rigid_object.py

@@ -67,6 +67,7 @@ def setup_simulation(self, sim_device):
                 uid="table", shape=MeshCfg(fpath=table_path), body_type="static"
             ),
         )
+
         self.chair: RigidObject = self.sim.add_rigid_object(
             cfg=RigidObjectCfg(
                 uid="chair", shape=MeshCfg(fpath=chair_path), body_type="kinematic"
@@ -253,6 +254,36 @@ def test_remove(self):
             self.duck.uid not in self.sim.asset_uids
         ), "Duck UID still present after removal"
 
+    def test_set_collision_render_visibility(self):
+        """Test setting collision and render visibility of the duck object."""
+
+        # Set collision with color
+        self.table.set_collision_render_visibility(
+            collision_visible=True,
+            render_visible=True,
+            collision_visible_rgba=(0.1, 0.1, 0.9, 0.4),
+        )
+
+        # Set collision visible, render invisible
+        self.table.set_collision_render_visibility(
+            collision_visible=True, render_visible=False
+        )
+
+        # Set collision invisible, render visible
+        self.table.set_collision_render_visibility(
+            collision_visible=False, render_visible=True
+        )
+
+        # Set both visible
+        self.table.set_collision_render_visibility(
+            collision_visible=True, render_visible=True
+        )
+
+        # Set both invisible
+        self.table.set_collision_render_visibility(
+            collision_visible=False, render_visible=False
+        )
+
     def teardown_method(self):
         """Clean up resources after each test method."""
         self.sim.destroy()