Dynamic Shop Product Placer for IsaacSim

A Python script that dynamically places products in an empty shop environment using USD and IsaacSim. This project loads an empty shop USD file and programmatically recreates the product placement from a populated version, enabling dynamic product simulation with physics.

🎯 Project Overview

This tool solves the problem of having to manually place products in a shop simulation. Instead of loading a pre-populated shop scene, it:

1. Loads an empty shop environment (Shop Minimal Empty.usda)
2. Dynamically places 37 products at their exact original positions
3. Organizes products hierarchically by category and shelf level
4. Enables physics simulation for realistic product behavior
5. Sets initial velocities for dynamic objects
6. 🎲 Randomizes 3 products with random rotations for variety each run

📁 Project Structure

Dynamic_Shop/
├── .vscode/                       # VS Code workspace settings
├── .venv/                         # Python virtual environment (optional)
├── assets/
│   ├── Shop Minimal Empty.usda    # Empty shop environment (required)
│   ├── Shop Minimal.usda          # Populated shop (reference)
│   ├── product_data.json          # JSON product data (required)
│   └── product_data.txt           # Legacy text format (reference)
├── docs/
│   ├── PHYSICS_TROUBLESHOOTING.md # Physics debugging guide
│   ├── RANDOMIZATION_FEATURE.md   # Randomization feature documentation
│   └── README_UPDATE_SUMMARY.md   # Documentation update history
├── helpers/
│   ├── analyze_physics.py         # Physics settings analysis
│   ├── count_products.py          # Product counting utility
│   ├── run_all.py                 # Run all helper scripts
│   ├── test_and_usage.py          # Complete test suite
│   ├── test_product_data.py       # JSON data validation
│   ├── test_randomization.py      # Randomization testing
│   ├── verify_data.py             # Data integrity checks
│   ├── verify_readme.py           # Documentation verification
│   └── README.md                  # Helper scripts documentation
├── __pycache__/                   # Python bytecode cache (auto-generated)
├── dynamic_shop_placer.py         # Main IsaacSim script
└── README.md                      # This file

🛠️ Requirements

• NVIDIA Isaac Sim (tested with version supporting USD/PySDK)
• Python 3.7+ (with Isaac Sim's Python environment)
• USD Python bindings (included with Isaac Sim)
• Internet connection (for loading YCB dataset assets)
• Required files:
  • assets/Shop Minimal Empty.usda (empty shop environment)
  • assets/product_data.json (product placement data)

🚀 Quick Start

1. Verification (Optional)

First, verify everything is set up correctly:

python verify_data.py

This will check file structure and validate product data.

2. Run in Isaac Sim

1. Open Isaac Sim
2. Load the script: Open dynamic_shop_placer.py in Isaac Sim's Script Editor
3. Execute: Run the script
4. Watch: Products will be placed dynamically in the empty shop!

3. Alternative Command Line (if configured)

python dynamic_shop_placer.py

🏪 Product Inventory

The script places 37 products across 12 categories:

Lower Shelf Items (/World/Shelf/Items_Lower/)

• 🥇 Mustard Bottles (3 items) - Static placement

  • mustard_bottle_1, mustard_bottle_2, mustard_bottle_3

• 🥫 Spam Cans (3 items) - Physics enabled

  • potted_meat_can_1, potted_meat_can_2, potted_meat_can_3

• 🐟 Tuna Cans (4 items) - Physics enabled

  • tuna_fish_can_1, tuna_fish_can_2, tuna_fish_can_3, tuna_fish_can_4

• 🧽 Bleach Cleanser (3 items) - Physics + Initial Velocities

  • bleach_cleanser_1, bleach_cleanser_2, bleach_cleanser_3

Upper Shelf Items (/World/Shelf/Items_Upper/)

• 📦 Cracker Boxes (3 items) - Static placement

  • cracker_box_1, cracker_box_2, cracker_box_3

• 🥫 Tomato Soup Cans (3 items) - Static placement

  • tomato_soup_can_1, tomato_soup_can_2, tomato_soup_can_3

• ☕ Mugs (3 items) - Physics enabled

  • mug_1, mug_2, mug_3

• 🧀 Mac-n-Cheese Boxes (3 items) - Physics enabled

  • mac_n_cheese_1, mac_n_cheese_2, mac_n_cheese_3

Top Shelf Items (/World/Shelf/Items_Top/)

• 🥫 Master Chef Cans (3 items) - Physics enabled

  • master_chef_can_1, master_chef_can_2, master_chef_can_3

• 🥣 Bowls (3 items) - Physics enabled

  • bowl_1, bowl_2, bowl_3

• ☕ Top Shelf Mugs (3 items) - Physics enabled

  • sm_mug_1, sm_mug_2, sm_mug_3

• 🍮 Pudding Boxes (3 items) - Physics enabled

  • pudding_box_1, pudding_box_2, pudding_box_3

⚡ Features

Transform System

• Precise positioning: Products placed at exact coordinates from original shop
• Dual rotation support: Handles both Euler angles (rotateZYX) and quaternions (orient)
• Accurate scaling: Maintains original size relationships
• 🎲 Random rotation: Automatically randomizes 3 products with random but valid rotation values for variety

Physics Integration

• Selective physics: 16 products have physics enabled, 9 are static
• Enhanced collision detection: ConvexHull and mesh collision for physics-enabled products
• Configuration options: Global physics toggle and collision enforcement settings
• Initial motion: Some products start with angular/linear velocities
• Rigid body dynamics: Full IsaacSim physics simulation
• Fall-through prevention: Comprehensive collision setup prevents products falling through surfaces

Asset Management

• External references: Uses YCB dataset from Omniverse content servers
• Payload system: Efficient loading of external USD assets
• Automatic hierarchy: Creates organized scene structure

Error Handling

• Graceful failures: Continues placement even if individual products fail
• Progress reporting: Console output shows placement status
• Validation: Built-in integrity checks for transform data

🔧 Technical Details

Coordinate System

• Origin: Shop front at X=-25
• Shelf depth: Y coordinates 44-48 (4-unit depth)
• Height levels: Z coordinates 0.8-3.1 (ground to top shelf)
• Scale: 1.333x uniform scaling for most products

Asset Sources

Products use three official Omniverse asset libraries:

• YCB Dataset: Yale-CMU-Berkeley Object and Model Set (34 products)

  https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.5/Isaac/Props/YCB/
  

• Isaac Props Food: Isaac Sim food assets (3 Mac-n-Cheese products)

  https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.5/Isaac/Props/Food/
  

• Isaac Props Mugs: Isaac Sim mug assets (3 mugs)

  https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.5/Isaac/Props/Mugs/
  

Scene Hierarchy

/World/Shelf/
├── Items_Lower/
│   ├── MustardBottles/    (3 items - static)
│   ├── Spam/              (3 items - physics)
│   ├── TunaCans/          (4 items - physics)
│   └── Cleaner/           (3 items - physics)
├── Items_Upper/
│   ├── Crackers/          (3 items - static)
│   ├── TomatoCans/        (3 items - static)
│   ├── Mugs/              (3 items - physics)
│   └── Mac_n_Cheese/      (3 items - physics)
└── Items_Top/
    ├── MasterChefCan/     (3 items - physics)
    ├── Bowl/              (3 items - physics)
    ├── TopMugs/           (3 items - physics)
    └── Pudding/           (3 items - physics)

⚙️ Configuration Options

The script includes several configuration options at the top of dynamic_shop_placer.py:

ENABLE_PHYSICS_FOR_ALL = True      # Set to False to make all products static
FORCE_COLLISION_FOR_PHYSICS = True # Ensure collision detection for physics products

Physics Troubleshooting

• Products falling through? → Set ENABLE_PHYSICS_FOR_ALL = False
• Want realistic physics? → Keep both options True (default)
• Console shows collision setup messages → Physics working correctly

🎮 Usage Examples

Basic Usage

# In Isaac Sim Script Editor
from dynamic_shop_placer import DynamicShopPlacer
import asyncio

placer = DynamicShopPlacer()
asyncio.ensure_future(placer.setup_scene())

Custom Product Addition

# Add your own product to PRODUCT_DATA dictionary
PRODUCT_DATA["my_custom_product"] = {
    "asset": "path/to/your/asset.usd",
    "translate": (-25.0, 45.0, 1.0),
    "rotate": (0, 0, 0),
    "scale": (1.0, 1.0, 1.0),
    "physics_enabled": True
}

Physics Customization

# Modify physics properties in place_product method
if product_data.get("physics_enabled", False):
    rigid_body_api = UsdPhysics.RigidBodyAPI.Apply(product_prim)
    rigid_body_api.CreateRigidBodyEnabledAttr(True)
    # Add custom physics properties here

🛠️ Customization

Adding New Products

1. Extract transform data from your source USD file
2. Add entry to PRODUCT_DATA dictionary with required fields:
   • asset: USD file path/URL
   • translate: (x, y, z) position
   • rotate OR orient: rotation data
   • scale: (sx, sy, sz) scaling
   • physics_enabled: boolean for physics
3. Update category mapping in place_product method

Modifying Shop Layout

• Change base environment: Replace Shop Minimal Empty.usda path
• Adjust hierarchy: Modify create_product_hierarchy method
• Update coordinates: Change translate values in PRODUCT_DATA

Physics Tuning

• Collision approximation: Change from "convexHull" to "meshSimplification"
• Material properties: Add friction, restitution, density
• Velocity limits: Set maximum speeds for stability

🧪 Testing & Verification

Helper Scripts Directory

The helpers/ directory contains comprehensive testing and verification tools:

# Run all verification tests at once
python helpers/run_all.py

# Individual verification scripts
python helpers/test_product_data.py    # JSON data validation
python helpers/verify_data.py          # Comprehensive data checks
python helpers/analyze_physics.py      # Physics settings analysis
python helpers/count_products.py       # Product inventory count

# Testing specific features
python helpers/test_randomization.py   # Test rotation randomization
python helpers/test_and_usage.py       # Complete test suite
python helpers/verify_readme.py        # Documentation validation

Note: Helper scripts run independently and do NOT require Isaac Sim.

Verification Scripts

# Check data integrity and file structure
python verify_data.py

# Detailed testing with full instructions
python test_and_usage.py

Test Results

• ✅ 37 products validated with complete transform data
• ✅ All required files present
• ✅ Physics configuration verified
• ✅ Asset URLs validated

🚨 Troubleshooting

Common Issues

Products don't appear:

• Check internet connection (external asset URLs)
• Verify Shop Minimal Empty.usda exists in ./assets/
• Ensure Isaac Sim has proper permissions

Physics not working:

• Enable physics in Isaac Sim simulation
• Check that physics scene is properly initialized
• Verify product has collision geometry

Transform errors:

• Validate coordinate system matches your shop
• Check rotation format (Euler vs quaternion)
• Ensure scale values are positive

Performance issues:

• Reduce number of physics-enabled products
• Use lower-resolution collision meshes
• Disable initial velocities for better stability

Debug Mode

Enable verbose logging by modifying the script:

# Add at top of DynamicShopPlacer class
self.debug = True

# Add in place_product method
if self.debug:
    print(f"Debug: Placing {product_id} with data: {product_data}")

📊 Performance Metrics

• Load time: ~5-10 seconds (depending on network)
• Placement time: ~3-5 seconds for all 37 products
• Memory usage: ~50-100MB additional (asset caching)
• Physics simulation: 60 FPS with 22 dynamic objects

🤝 Contributing

1. Fork the repository
2. Create feature branch: git checkout -b feature/new-products
3. Add your products to PRODUCT_DATA
4. Test thoroughly with verify_data.py
5. Submit pull request with description

📚 Additional Documentation

The docs/ directory contains specialized documentation:

• PHYSICS_TROUBLESHOOTING.md - Comprehensive physics debugging guide
• RANDOMIZATION_FEATURE.md - Detailed randomization feature documentation
• README_UPDATE_SUMMARY.md - Documentation update history and changes

📚 References

• Isaac Sim Documentation
• USD Python API
• YCB Object Dataset
• Omniverse USD Composer

📄 License

This project is provided as-is for educational and research purposes. Product assets are from the YCB dataset and Omniverse content library.

🔄 Version History

• v1.3: Added 12 new products from Items Top shelf (Master Chef Cans, Rubik's Cubes, Top Mugs, Pudding Boxes), total now 37 products across 12 categories with 3-tier shelf system
• v1.2: Added 6 new products (Mugs & Mac-n-Cheese), enhanced physics with collision detection, added configuration options
• v1.1: Added randomization feature (3 random products get randomized rotations each run)
• v1.0: Initial release with 19 products and full physics support
• v0.9: Beta version with basic product placement
• v0.5: Proof of concept with static products only

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Happy Simulating! 🚀

For support, questions, or feature requests, please check the troubleshooting section or refer to the detailed usage instructions in test_and_usage.py.