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ft-lab/omniverse_sample_scripts/Scene/Traverse_mesh.py
from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf # Get stage. stage = omni.usd.get_context().get_stage() defaultPrim = stage.GetDefaultPrim() if defaultPrim.IsValid(): prims = [] for prim in Usd.PrimRange(defaultPrim): if prim.IsA(UsdGeom.Mesh): # For Mesh. prims.append(prim) for prim in prims: print(prim.GetName() + " (" + prim.GetPath().pathString + ")")
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ft-lab/omniverse_sample_scripts/Scene/Layers/GetSublayers.py
from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf # Get stage. stage = omni.usd.get_context().get_stage() # Get root layer. rootLayer = stage.GetRootLayer() # Get subLayer paths. sublayerPaths = rootLayer.subLayerPaths for path in sublayerPaths: print(" " + path)
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ft-lab/omniverse_sample_scripts/Scene/Layers/GetRealPath.py
from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf # Get stage. stage = omni.usd.get_context().get_stage() # Get root layer. rootLayer = stage.GetRootLayer() # Get real path. realPath = rootLayer.realPath print("realPath : " + realPath)
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ft-lab/omniverse_sample_scripts/Audio/PlaySound.py
import omni.audioplayer # need "omni.audioplayer" extension. import time import asyncio # ----------------------------------------------. # AudioPlayer. # ----------------------------------------------. class AudioPlayer: _player = None _filePath = None _loadSuccess = False _loadBusy = False def __init__(self): pass def startup (self): self._player = omni.audioplayer.create_audio_player() def shutdown (self): self.stop() self._player = None def _file_loaded (self, success : bool): self._loadSuccess = success if success: print("load success!") soundLength = self._player.get_sound_length() print(f"sound length : {soundLength} sec") else: print("load failed...") self._loadBusy = False # Load sound from file. def loadFromFile (self, filePath : str): self._loadSuccess = False if self._player == None: return self._filePath = filePath self._loadBusy = True self._player.load_sound(filePath, self._file_loaded) # Wait for it to finish loading. def isLoad (self): while self._loadBusy: time.sleep(0.1) return self._loadSuccess # Called when playback is finished. def _play_finished (self): print("play finished.") # Play sound. def play (self): if self._player == None: return False self._player.play_sound(self._filePath, None, self._play_finished, 0.0) # Stop sound. def stop (self): if self._player != None: self._player.stop_sound() # ----------------------------------------------. # Initialize AudioPlayer. audio = AudioPlayer() audio.startup() # Load sound file. # Specify an Audio file name that matches your environment. audio.loadFromFile("./audio/HitWall.ogg") if audio.isLoad(): for i in range(3): # Play sound. audio.play() # Wait one seconds. time.sleep(1.0) # Terminate AudioPlayer. audio.shutdown()
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ft-lab/omniverse_sample_scripts/Prim/IsValid.py
from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf # Get stage. stage = omni.usd.get_context().get_stage() path = "/World" # Get prim. prim = stage.GetPrimAtPath(path) # Use IsValid to check if the specified Prim exists. print(path + " : " + str(prim.IsValid()))
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ft-lab/omniverse_sample_scripts/Prim/GetSingleSided.py
from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf # Get stage. stage = omni.usd.get_context().get_stage() # Get selection. selection = omni.usd.get_context().get_selection() paths = selection.get_selected_prim_paths() for path in paths: # Get prim. prim = stage.GetPrimAtPath(path) if prim.IsValid() == False: continue try: singleSidedAttr = prim.GetAttribute("singleSided") if singleSidedAttr != None and singleSidedAttr.IsValid(): # Get singleSided (True/False). if singleSidedAttr.Get() != None: print("[" + prim.GetName() + "] singleSided : " + str(singleSidedAttr.Get())) # Set singleSided. #if prim.GetTypeName() == 'Mesh': # singleSidedAttr = prim.CreateAttribute("singleSided", Sdf.ValueTypeNames.Bool) # singleSidedAttr.Set(True) except Exception as e: print(e)
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ft-lab/omniverse_sample_scripts/Prim/CreateXform.py
from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf # Get stage. stage = omni.usd.get_context().get_stage() # Get default prim. defaultPrim = stage.GetDefaultPrim() defaultPrimPath = defaultPrim.GetPath().pathString path = defaultPrimPath + '/xform' # Create empty node(Xform). UsdGeom.Xform.Define(stage, path)
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ft-lab/omniverse_sample_scripts/Prim/GetParent.py
from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf # Get stage. stage = omni.usd.get_context().get_stage() # Get selection. selection = omni.usd.get_context().get_selection() paths = selection.get_selected_prim_paths() for path in paths: # Get prim. prim = stage.GetPrimAtPath(path) if prim.IsValid() == False: continue # Get parent prim. parentPrim = prim.GetParent() if parentPrim.IsValid(): print("[ " + prim.GetPath().pathString + " ]") print(" Parent : " + parentPrim.GetPath().pathString)
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ft-lab/omniverse_sample_scripts/Prim/CreateScope.py
from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf # Get stage. stage = omni.usd.get_context().get_stage() # Get default prim. defaultPrim = stage.GetDefaultPrim() defaultPrimPath = defaultPrim.GetPath().pathString path = defaultPrimPath + '/scope' # Create scope. UsdGeom.Scope.Define(stage, path)
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ft-lab/omniverse_sample_scripts/Prim/SetDefaultPrim.py
from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf # Get stage. stage = omni.usd.get_context().get_stage() # Create empty node(Xform). path = "/NewWorld" UsdGeom.Xform.Define(stage, path) prim = stage.GetPrimAtPath(path) # Set default prim. stage.SetDefaultPrim(prim)
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ft-lab/omniverse_sample_scripts/Prim/GetPrimNamePath.py
from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf # Get stage. stage = omni.usd.get_context().get_stage() # Get prim. orgPath = "/World/defaultLight" prim = stage.GetPrimAtPath(orgPath) if prim.IsValid(): # Get Prim name. name = prim.GetName() print("Name : " + str(name)) # Get Prim path. path = prim.GetPath() print("Path : " + str(path))
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ft-lab/omniverse_sample_scripts/Prim/RemovePrim.py
from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf # Get stage. stage = omni.usd.get_context().get_stage() # Get prim. path = "/World/Sphere" prim = stage.GetPrimAtPath(path) if prim.IsValid(): # Remove prim. # See here : https://graphics.pixar.com/usd/release/api/class_usd_stage.html#ac605faad8fc2673263775b1eecad2955 # For example, if Prim is used in a layer, RemovePrim will not remove it completely. #stage.RemovePrim(path) # Prepare specified paths as candidates for deletion. edit = Sdf.NamespaceEdit.Remove(path) batchE = Sdf.BatchNamespaceEdit() batchE.Add(edit) # Execute Deletion. stage.GetEditTarget().GetLayer().Apply(batchE)
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ft-lab/omniverse_sample_scripts/Prim/GetDefaultPrim.py
from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf # Get stage. stage = omni.usd.get_context().get_stage() # Get default prim. defaultPrim = stage.GetDefaultPrim() # Default prim path. defaultPrimPath = defaultPrim.GetPath().pathString print("DefaultPrim : " + defaultPrimPath)
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ft-lab/omniverse_sample_scripts/Prim/GetChildren.py
from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf # Get stage. stage = omni.usd.get_context().get_stage() # Get selection. selection = omni.usd.get_context().get_selection() paths = selection.get_selected_prim_paths() for path in paths: # Get prim. prim = stage.GetPrimAtPath(path) if prim.IsValid() == False: continue # Get children. pChildren = prim.GetChildren() if len(pChildren) >= 1: print("[ " + prim.GetPath().pathString + " ]") for cPrim in pChildren: print(" " + cPrim.GetPath().pathString)
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ft-lab/omniverse_sample_scripts/Prim/GetDoubleSided.py
from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf # Get stage. stage = omni.usd.get_context().get_stage() # Get selection. selection = omni.usd.get_context().get_selection() paths = selection.get_selected_prim_paths() for path in paths: # Get prim. prim = stage.GetPrimAtPath(path) if prim.IsValid() == False: continue try: gprim = UsdGeom.Gprim(prim) doubleSidedAttr = gprim.GetDoubleSidedAttr() if doubleSidedAttr != None and doubleSidedAttr.IsValid(): # Get doubleSided (True/False). # The Omniverse Viewport does not reflect "doubleSided", but "singleSided". if doubleSidedAttr.Get() != None: print("[" + prim.GetName() + "] doubleSided : " + str(doubleSidedAttr.Get())) # Set DoubleSided. #doubleSidedAttr.Set(True) except Exception as e: print(e)
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ft-lab/omniverse_sample_scripts/Prim/CalcWorldBoundingBox.py
from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf import omni.usd # Get stage. stage = omni.usd.get_context().get_stage() # Get selection. selection = omni.usd.get_context().get_selection() paths = selection.get_selected_prim_paths() # -------------------------------------------------. # Calculate bounding box in world coordinates. # -------------------------------------------------. def _calcWorldBoundingBox (prim : Usd.Prim): # Calc world boundingBox. bboxCache = UsdGeom.BBoxCache(Usd.TimeCode.Default(), ["default"]) bboxD = bboxCache.ComputeWorldBound(prim).ComputeAlignedRange() bb_min = Gf.Vec3f(bboxD.GetMin()) bb_max = Gf.Vec3f(bboxD.GetMax()) return bb_min, bb_max # -------------------------------------------------. for path in paths: # Get prim. prim = stage.GetPrimAtPath(path) if prim.IsValid() == False: continue print("[ " + str(prim.GetName()) + "] ") bbMin, bbMax = _calcWorldBoundingBox(prim) print(" BoundingBox : " + str(bbMin) + " - " + str(bbMax)) sx = bbMax[0] - bbMin[0] sy = bbMax[1] - bbMin[1] sz = bbMax[2] - bbMin[2] print(" BoundingBoxSize : " + str(sx) + " x " + str(sy) + " x " + str(sz))
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ft-lab/omniverse_sample_scripts/Prim/RenamePrim.py
from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf # Get stage. stage = omni.usd.get_context().get_stage() # Get prim. path = "/World/Sphere" prim = stage.GetPrimAtPath(path) if prim.IsValid(): # Rename prim. # Prepare specified paths as candidates for rename. # "/World/Sphere" to "/World/Sphere2" edit = Sdf.NamespaceEdit.Rename(path, "Sphere2") batchE = Sdf.BatchNamespaceEdit() batchE.Add(edit) # Execute rename. stage.GetEditTarget().GetLayer().Apply(batchE)
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ft-lab/omniverse_sample_scripts/Prim/Reference/InternalReferenceTest.py
from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf # Get stage. stage = omni.usd.get_context().get_stage() # Get default prim. defaultPrim = stage.GetDefaultPrim() defaultPrimPath = defaultPrim.GetPath().pathString # Create sphere. orgPath = defaultPrimPath + '/org' UsdGeom.Xform.Define(stage, orgPath) spherePath = orgPath + '/sphere' sphereGeom = UsdGeom.Sphere.Define(stage, spherePath) # Set radius. sphereGeom.CreateRadiusAttr(2.0) # Set color. sphereGeom.CreateDisplayColorAttr([(1.0, 0.0, 0.0)]) # Create empty node(Xform). path = defaultPrimPath + '/refShape' UsdGeom.Xform.Define(stage, path) prim = stage.GetPrimAtPath(path) # Set position. UsdGeom.XformCommonAPI(prim).SetTranslate((5.0, 0.0, 0.0)) # Remove references. prim.GetReferences().ClearReferences() # Add a internal reference. # The Path to be added must be an Xform. prim.GetReferences().AddInternalReference(orgPath)
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ft-lab/omniverse_sample_scripts/Prim/Reference/ReferenceTest2.py
from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf # Get stage. stage = omni.usd.get_context().get_stage() # Get default prim. defaultPrim = stage.GetDefaultPrim() defaultPrimPath = defaultPrim.GetPath().pathString # Create empty node(Xform). path = defaultPrimPath + '/refShape' UsdGeom.Xform.Define(stage, path) prim = stage.GetPrimAtPath(path) # Remove references. prim.GetReferences().ClearReferences() # Add a reference. #usdPath = "./cyawan/cyawan.usdc" usdPath = "https://ft-lab.github.io/usd/omniverse/usd/cyawan/cyawan.usdc" prim.GetReferences().AddReference(usdPath)
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ft-lab/omniverse_sample_scripts/Prim/Reference/GetReferencePayload.py
# "Pcp" added below. from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf, Pcp # Get stage. stage = omni.usd.get_context().get_stage() # Get selection. selection = omni.usd.get_context().get_selection() paths = selection.get_selected_prim_paths() for path in paths: prim = stage.GetPrimAtPath(path) if prim.IsValid(): # If Prim has Reference or Payload. if prim.HasAuthoredReferences() or prim.HasPayload(): query = Usd.PrimCompositionQuery.GetDirectRootLayerArcs(prim) qList = query.GetCompositionArcs() if qList != None: for arc in qList: arcType = arc.GetArcType() if arcType != Pcp.ArcTypeReference and arcType != Pcp.ArcTypePayload: continue # Get AssetPath. editorProxy, reference = arc.GetIntroducingListEditor() assetPath = reference.assetPath if arcType == Pcp.ArcTypeReference: print("[" + prim.GetName() + "] has reference > " + assetPath) if arcType == Pcp.ArcTypePayload: print("[" + prim.GetName() + "] has payload. > " + assetPath)
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ft-lab/omniverse_sample_scripts/Prim/Kind/SetComponent.py
from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf # Get stage. stage = omni.usd.get_context().get_stage() # Get selection. selection = omni.usd.get_context().get_selection() paths = selection.get_selected_prim_paths() for path in paths: # Get prim. prim = stage.GetPrimAtPath(path) if prim.IsValid() == False: continue # Change the value of Kind in Prim to Component. Usd.ModelAPI(prim).SetKind(Kind.Tokens.component)
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ft-lab/omniverse_sample_scripts/Prim/Skeleton/GetJoints.py
from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf # Get stage. stage = omni.usd.get_context().get_stage() # Get selection. selection = omni.usd.get_context().get_selection() paths = selection.get_selected_prim_paths() # -------------------------------------------------------------------. # Traverse. # -------------------------------------------------------------------. def Traverse (prim): if prim.IsValid() == None: return # For Skeleton, get the Joints information. if prim.GetTypeName() == 'Skeleton': jointAttr = prim.GetAttribute("joints") bindTransformsAttr = prim.GetAttribute("bindTransforms") restTransformsAttr = prim.GetAttribute("restTransforms") if jointAttr.IsValid() and bindTransformsAttr.IsValid() and restTransformsAttr.IsValid(): jCou = len(jointAttr.Get()) print("[ " + prim.GetPath().pathString + " ]") for i in range(jCou): jointName = jointAttr.Get()[i] bindTransform = bindTransformsAttr.Get()[i] restTransform = restTransformsAttr.Get()[i] print(str(i) + " : " + jointName) print(" bindTransform : " + str(bindTransform)) print(" restTransform : " + str(restTransform)) # Recursively traverse the hierarchy. pChildren = prim.GetChildren() for cPrim in pChildren: Traverse(cPrim) # -------------------------------------------------------------------. for path in paths: # Get prim. prim = stage.GetPrimAtPath(path) Traverse(prim)
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ft-lab/omniverse_sample_scripts/Prim/Skeleton/GetSkeletonTransforms.py
from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, UsdSkel, Sdf, Gf, Tf import omni.kit # Get stage. stage = omni.usd.get_context().get_stage() # Get selection. selection = omni.usd.get_context().get_selection() paths = selection.get_selected_prim_paths() skel_cache = UsdSkel.Cache() #time_code = omni.timeline.get_timeline_interface().get_current_time() * stage.GetTimeCodesPerSecond() time_code = Usd.TimeCode.Default() for path in paths: # Get prim. prim = stage.GetPrimAtPath(path) if prim.IsValid() and prim.GetTypeName() == 'Skeleton': # Get transform from cache. skel_query = skel_cache.GetSkelQuery(UsdSkel.Skeleton(prim)) transforms = skel_query.ComputeJointLocalTransforms(time_code) # joints name. jointNames = skel_query.GetJointOrder() # joints matrix to translate, rotations, scales. translates, rotations, scales = UsdSkel.DecomposeTransforms(transforms) print(jointNames) print(" Translates : " + str(translates)) print(" Rotations : " + str(rotations)) print(" Scales : " + str(scales))
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ft-lab/omniverse_sample_scripts/Prim/PointInstancer/PointInstancer_01.py
from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf import random # Get stage. stage = omni.usd.get_context().get_stage() # Get default prim. defaultPrim = stage.GetDefaultPrim() defaultPrimPath = defaultPrim.GetPath().pathString # Create empty node(Xform). path = defaultPrimPath + '/trees' UsdGeom.Xform.Define(stage, path) prim = stage.GetPrimAtPath(path) # Create PointInstancer. pointInstancerPath = path + '/pointInstancer' pointInstancer = UsdGeom.PointInstancer.Define(stage, pointInstancerPath) # Create Reference. refPath = pointInstancerPath + '/asset' UsdGeom.Xform.Define(stage, refPath) prim = stage.GetPrimAtPath(refPath) # Set Kind. #Usd.ModelAPI(prim).SetKind(Kind.Tokens.component) Usd.ModelAPI(prim).SetKind("component") # Set the asset to be referenced. pointInstancer.CreatePrototypesRel().AddTarget(refPath) # Remove references. prim.GetReferences().ClearReferences() # Add a reference. #usdPath = "./simpleTree.usda" usdPath = "https://ft-lab.github.io/usd/omniverse/usd/simpleTree.usda" prim.GetReferences().AddReference(usdPath) # Points data. positions = [] scales = [] protoIndices = [] orientations = [] areaSize = 1000.0 treesCou = 50 for i in range(treesCou): px = random.random() * areaSize - (areaSize * 0.5) pz = random.random() * areaSize - (areaSize * 0.5) scale = random.random() * 0.5 + 0.8 positions.append(Gf.Vec3f(px, 0.0, pz)) # Position. orientations.append(Gf.Quath()) # Rotation. scales.append(Gf.Vec3f(scale, scale, scale)) # Scale. protoIndices.append(0) # asset index. pointInstancer.CreatePositionsAttr(positions) pointInstancer.CreateOrientationsAttr(orientations) pointInstancer.CreateScalesAttr(scales) pointInstancer.CreateProtoIndicesAttr(protoIndices)
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ft-lab/omniverse_sample_scripts/Prim/Variant/Variant_01.py
from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf # Reference : https://github.com/PixarAnimationStudios/USD/blob/release/extras/usd/tutorials/authoringVariants/authorVariants.py # Get stage. stage = omni.usd.get_context().get_stage() # Get default prim. defaultPrim = stage.GetDefaultPrim() defaultPrimPath = defaultPrim.GetPath().pathString # Create empty node(Xform). path = defaultPrimPath + '/Chair' UsdGeom.Xform.Define(stage, path) prim = stage.GetPrimAtPath(path) # Set VariantSet. variantSet = prim.GetVariantSet('variantGroup') variantSet.AddVariant('chair1') variantSet.AddVariant('chair2') variantSet.AddVariant('chair3') # -----------------------------------------------. # Set Chair. # -----------------------------------------------. def SetChair (index : int, path : str, colorV): # Create reference. # The USD file to be referenced should be changed to suit your environment. usdPath = "https://ft-lab.github.io/usd/omniverse/usd/simple_chair.usda" path2 = path + '/simple_chair_' + str(index) UsdGeom.Xform.Define(stage, path2) prim2 = stage.GetPrimAtPath(path2) prim2.GetReferences().AddReference(usdPath) path3 = path2 + '/simple_chair' targetPrim = UsdGeom.Gprim.Get(stage, path3) try: # Clear Material. UsdShade.MaterialBindingAPI(targetPrim).UnbindAllBindings() # Set Display Color. colorAttr = targetPrim.GetDisplayColorAttr() colorAttr.Set([colorV]) except Exception as e: pass # -----------------------------------------------. # Set 'chair1'. variantSet.SetVariantSelection("chair1") with variantSet.GetVariantEditContext(): SetChair(1, path, (1,0,0)) # Set 'chair2'. variantSet.SetVariantSelection("chair2") with variantSet.GetVariantEditContext(): SetChair(2, path, (0,1,0)) # Set 'chair3'. variantSet.SetVariantSelection("chair3") with variantSet.GetVariantEditContext(): SetChair(3, path, (0,0,1)) # Select current variant. variantSet.SetVariantSelection("chair1")
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ft-lab/omniverse_sample_scripts/Prim/Transform/SetRotate.py
from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf import omni.usd import omni.timeline # Get stage. stage = omni.usd.get_context().get_stage() # Get selection. selection = omni.usd.get_context().get_selection() paths = selection.get_selected_prim_paths() # --------------------------------------------------. # Set Rotate. # --------------------------------------------------. def _setRotate (prim : Usd.Prim, rV : Gf.Vec3f): if prim == None: return # Get rotOrder. # If rotation does not exist, rotOrder = UsdGeom.XformCommonAPI.RotationOrderXYZ. xformAPI = UsdGeom.XformCommonAPI(prim) time_code = Usd.TimeCode.Default() translation, rotation, scale, pivot, rotOrder = xformAPI.GetXformVectors(time_code) # Convert rotOrder to "xformOp:rotateXYZ" etc. t = xformAPI.ConvertRotationOrderToOpType(rotOrder) rotateAttrName = "xformOp:" + UsdGeom.XformOp.GetOpTypeToken(t) # Set rotate. rotate = prim.GetAttribute(rotateAttrName).Get() if rotate != None: # Specify a value for each type. if type(rotate) == Gf.Vec3f: prim.GetAttribute(rotateAttrName).Set(Gf.Vec3f(rV)) elif type(rotate) == Gf.Vec3d: prim.GetAttribute(rotateAttrName).Set(Gf.Vec3d(rV)) else: # xformOpOrder is also updated. xformAPI.SetRotate(Gf.Vec3f(rV), rotOrder) for path in paths: prim = stage.GetPrimAtPath(path) if prim.IsValid() == True: # Print prim name. print(f"[ {prim.GetName()} ]") rV = Gf.Vec3f(10.0, 25.0, 12.0) _setRotate(prim, rV)
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ft-lab/omniverse_sample_scripts/Prim/Transform/GetTransformOrder.py
from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf # Get stage. stage = omni.usd.get_context().get_stage() # Get selection. selection = omni.usd.get_context().get_selection() paths = selection.get_selected_prim_paths() for path in paths: prim = stage.GetPrimAtPath(path) if prim.IsValid() == True: # Print prim name. print(f"[ {prim.GetName()} ]") # Order of Transform elements. transformOrder = prim.GetAttribute('xformOpOrder').Get() for sV in transformOrder: print(f" {sV}")
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ft-lab/omniverse_sample_scripts/Prim/Transform/SetTransform.py
from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf # Get stage. stage = omni.usd.get_context().get_stage() # Create cube. pathName = '/World/cube' cubeGeom = UsdGeom.Cube.Define(stage, pathName) # Set cube size. cubeGeom.CreateSizeAttr(10.0) # Set color. cubeGeom.CreateDisplayColorAttr([(0.0, 1.0, 0.0)]) # Set transform. prim = stage.GetPrimAtPath(pathName) prim.CreateAttribute("xformOp:translate", Sdf.ValueTypeNames.Float3, False).Set(Gf.Vec3f(0, 10, 0)) prim.CreateAttribute("xformOp:scale", Sdf.ValueTypeNames.Float3, False).Set(Gf.Vec3f(1, 2, 1)) prim.CreateAttribute("xformOp:rotateXYZ", Sdf.ValueTypeNames.Float3, False).Set(Gf.Vec3f(120, 45, 0)) transformOrder = prim.CreateAttribute("xformOpOrder", Sdf.ValueTypeNames.String, False) transformOrder.Set(["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"])
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ft-lab/omniverse_sample_scripts/Prim/Transform/SetPivot.py
from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf import omni.usd import omni.timeline # Get stage. stage = omni.usd.get_context().get_stage() # Get selection. selection = omni.usd.get_context().get_selection() paths = selection.get_selected_prim_paths() # --------------------------------------------------. # Set pivot. # --------------------------------------------------. def _setPivot (prim : Usd.Prim, pV : Gf.Vec3f): pivot = prim.GetAttribute("xformOp:translate:pivot").Get() if pivot != None: # Specify a value for each type. if type(pivot) == Gf.Vec3f: prim.GetAttribute("xformOp:translate:pivot").Set(Gf.Vec3f(pV)) elif type(pivot) == Gf.Vec3d: prim.GetAttribute("xformOp:translate:pivot").Set(Gf.Vec3d(pV)) else: # xformOpOrder is also updated. # ["xformOp:translate", "xformOp:translate:pivot", "xformOp:rotateXYZ", "xformOp:scale", "!invert!xformOp:translate:pivot"] # The following do not work correctly? #xformAPI = UsdGeom.XformCommonAPI(prim) #xformAPI.SetPivot(Gf.Vec3f(pV)) prim.CreateAttribute("xformOp:translate:pivot", Sdf.ValueTypeNames.Float3, False).Set(Gf.Vec3f(pV)) # ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale", "xformOp:translate:pivot", "!invert!xformOp:translate:pivot"] transformOrder = prim.GetAttribute("xformOpOrder").Get() orderList = [] for sV in transformOrder: orderList.append(sV) orderList.append("xformOp:translate:pivot") orderList.append("!invert!xformOp:translate:pivot") prim.GetAttribute("xformOpOrder").Set(orderList) # --------------------------------------------------. for path in paths: prim = stage.GetPrimAtPath(path) if prim.IsValid() == True: # Print prim name. print(f"[ {prim.GetName()} ]") pV = Gf.Vec3f(10.0, 20.0, 0.0) _setPivot(prim, pV)
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ft-lab/omniverse_sample_scripts/Prim/Transform/GetWorldTransform.py
from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, UsdSkel, Sdf, Gf, Tf import omni.kit # Get stage. stage = omni.usd.get_context().get_stage() # Get selection. selection = omni.usd.get_context().get_selection() paths = selection.get_selected_prim_paths() xformCache = UsdGeom.XformCache(0) for path in paths: prim = stage.GetPrimAtPath(path) if prim.IsValid(): # Get world Transform. globalPose = xformCache.GetLocalToWorldTransform(prim) print(globalPose) # Decompose transform. translate, rotation, scale = UsdSkel.DecomposeTransform(globalPose) # Conv Quat to eular angles. # Rotate XYZ. rV = Gf.Rotation(rotation).Decompose(Gf.Vec3d(0, 0, 1), Gf.Vec3d(0, 1, 0), Gf.Vec3d(1, 0, 0)) rV = Gf.Vec3d(rV[2], rV[1], rV[0]) print(f"==> translate : {translate}") print(f"==> rotation : {rV}") print(f"==> scale : {scale}")
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ft-lab/omniverse_sample_scripts/Prim/Transform/GetTransform.py
from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf # Get stage. stage = omni.usd.get_context().get_stage() # Get selection. selection = omni.usd.get_context().get_selection() paths = selection.get_selected_prim_paths() for path in paths: prim = stage.GetPrimAtPath(path) if prim.IsValid() == True: # Print prim name. print('[ ' + prim.GetName() + ' ]') # Order of Transform elements. transformOrder = prim.GetAttribute('xformOpOrder') if transformOrder.IsValid() and transformOrder.Get() != None: print(f" TransformOrder : {transformOrder.Get()}") for transV in transformOrder.Get(): # 'xformOp:scale', 'xformOp:rotateXYZ', 'xformOp:translate', etc. tV = prim.GetAttribute(transV) if tV.IsValid(): print(f" {transV} ( {tV.GetTypeName()} ) : {tV.Get()}")
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ft-lab/omniverse_sample_scripts/Prim/Transform/SetScale.py
from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf import omni.usd import omni.timeline # Get stage. stage = omni.usd.get_context().get_stage() # Get selection. selection = omni.usd.get_context().get_selection() paths = selection.get_selected_prim_paths() # --------------------------------------------------. # Set scale. # --------------------------------------------------. def _setScale (prim : Usd.Prim, sV : Gf.Vec3f): if prim == None: return scale = prim.GetAttribute("xformOp:scale").Get() if scale != None: # Specify a value for each type. if type(scale) == Gf.Vec3f: prim.GetAttribute("xformOp:scale").Set(Gf.Vec3f(sV)) elif type(scale) == Gf.Vec3d: prim.GetAttribute("xformOp:scale").Set(Gf.Vec3d(sV)) else: # xformOpOrder is also updated. xformAPI = UsdGeom.XformCommonAPI(prim) xformAPI.SetScale(Gf.Vec3f(sV)) # --------------------------------------------------. for path in paths: prim = stage.GetPrimAtPath(path) if prim.IsValid() == True: # Print prim name. print(f"[ {prim.GetName()} ]") sV = Gf.Vec3f(1.1, 1.2, 1.3) _setScale(prim, sV)
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ft-lab/omniverse_sample_scripts/Prim/Transform/GetTransformVectors.py
from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf import omni.usd import omni.timeline # Get stage. stage = omni.usd.get_context().get_stage() # Get selection. selection = omni.usd.get_context().get_selection() paths = selection.get_selected_prim_paths() time_code = Usd.TimeCode.Default() for path in paths: prim = stage.GetPrimAtPath(path) if prim.IsValid() == True: # Print prim name. print(f"[ {prim.GetName()} ]") # Get transform. # However, the type that can be obtained here is different from the actual Type. xformAPI = UsdGeom.XformCommonAPI(prim) translation, rotation, scale, pivot, rotOrder = xformAPI.GetXformVectors(time_code) print("** GetXformVectors **") print(f"translation : {type(translation)} {translation}") print(f"rotation : {type(rotation)} {rotation}") print(f"scale : {type(scale)} {scale}") print(f"pivot : {type(pivot)} {pivot}") print(f"rotOrder : {type(rotOrder)} {rotOrder}") print("** prim.GetAttribute **") trans = prim.GetAttribute("xformOp:translate").Get() print(f"trans : {type(trans)} {trans}") # Convert rotOrder to "xformOp:rotateXYZ" etc. t = xformAPI.ConvertRotationOrderToOpType(rotOrder) rotateAttrName = "xformOp:" + UsdGeom.XformOp.GetOpTypeToken(t) rotate = prim.GetAttribute(rotateAttrName).Get() print(f"rotate ({rotateAttrName}) : {type(rotate)} {rotate}") scale = prim.GetAttribute("xformOp:scale").Get() print(f"scale : {type(scale)} {scale}") pivot = prim.GetAttribute("xformOp:translate:pivot").Get() print(f"pivot : {type(pivot)} {pivot}")
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ft-lab/omniverse_sample_scripts/Prim/Transform/SetTranslate.py
from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf import omni.usd import omni.timeline # Get stage. stage = omni.usd.get_context().get_stage() # Get selection. selection = omni.usd.get_context().get_selection() paths = selection.get_selected_prim_paths() # --------------------------------------------------. # Set translate. # --------------------------------------------------. def _setTranslate (prim : Usd.Prim, tV : Gf.Vec3f): if prim == None: return trans = prim.GetAttribute("xformOp:translate").Get() if trans != None: # Specify a value for each type. if type(trans) == Gf.Vec3f: prim.GetAttribute("xformOp:translate").Set(Gf.Vec3f(tV)) elif type(trans) == Gf.Vec3d: prim.GetAttribute("xformOp:translate").Set(Gf.Vec3d(tV)) else: # xformOpOrder is also updated. xformAPI = UsdGeom.XformCommonAPI(prim) xformAPI.SetTranslate(Gf.Vec3d(tV)) # -------------------------------------------------. for path in paths: prim = stage.GetPrimAtPath(path) if prim.IsValid() == True: # Print prim name. print('[ ' + prim.GetName() + ' ]') tV = Gf.Vec3f(10, 20, 30) _setTranslate(prim, tV)
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ft-lab/omniverse_sample_scripts/Prim/Transform/DeletePivot.py
from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf import omni.usd import omni.kit.commands # Get stage. stage = omni.usd.get_context().get_stage() # Get selection. selection = omni.usd.get_context().get_selection() paths = selection.get_selected_prim_paths() # --------------------------------------------------. # Delete pivot. # --------------------------------------------------. def _deletePivot (prim : Usd.Prim): if prim == None: return path = prim.GetPath().pathString + ".xformOp:translate:pivot" omni.kit.commands.execute('RemoveProperty', prop_path=path) transformOrder = prim.GetAttribute("xformOpOrder").Get() if transformOrder != None: orderList = [] for sV in transformOrder: if sV == "xformOp:translate:pivot" or sV == "!invert!xformOp:translate:pivot": continue orderList.append(sV) prim.GetAttribute("xformOpOrder").Set(orderList) # --------------------------------------------------. for path in paths: prim = stage.GetPrimAtPath(path) if prim.IsValid() == True: # Print prim name. print('[ ' + prim.GetName() + ' ]') # Delete pivot. _deletePivot(prim)
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ft-lab/omniverse_sample_scripts/Prim/Transform/GetLocalMatrix.py
from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf # Get stage. stage = omni.usd.get_context().get_stage() # Get selection. selection = omni.usd.get_context().get_selection() paths = selection.get_selected_prim_paths() xformCache = UsdGeom.XformCache(0) for path in paths: prim = stage.GetPrimAtPath(path) if prim.IsValid() == True: # Print prim name. print(f"[ {prim.GetName()} ]") # Calc local matrix. matrix = xformCache.GetLocalTransformation(prim)[0] print(matrix) # Decompose matrix. # If the result is False, then reduce the value of eps and call Factor again. eps = 1e-10 result = matrix.Factor(eps) if result[0]: scale = result[2] rotate = result[3].ExtractRotation() translation = result[4] # Convert Rotate to Euler. # Rotate XYZ. rotateE = rotate.Decompose(Gf.Vec3d(0, 0, 1), Gf.Vec3d(0, 1, 0), Gf.Vec3d(1, 0, 0)) rotateE = Gf.Vec3d(rotateE[2], rotateE[1], rotateE[0]) print(f"Translation : {translation}") print(f"rotate : {rotateE}") print(f"scale : {scale}")
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ft-lab/omniverse_sample_scripts/Operation/FocusPrim.py
# "omni.kit.viewport_legacy" is no longer available in kit104. #import omni.kit.viewport_legacy from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf import omni.kit.commands # Kit104 : changed from omni.kit.viewport_legacy to omni.kit.viewport.utility.get_active_viewport_window import omni.kit.viewport.utility # Get active viewport window. active_vp_window = omni.kit.viewport.utility.get_active_viewport_window() viewport_api = active_vp_window.viewport_api # Get camera path ("/OmniverseKit_Persp" etc). cameraPath = viewport_api.camera_path.pathString # Get stage. stage = omni.usd.get_context().get_stage() #time_code = omni.timeline.get_timeline_interface().get_current_time() * stage.GetTimeCodesPerSecond() time_code = Usd.TimeCode() # Get active camera. cameraPrim = stage.GetPrimAtPath(cameraPath) if cameraPrim.IsValid(): camera = UsdGeom.Camera(cameraPrim) # UsdGeom.Camera cameraV = camera.GetCamera(time_code) # Gf.Camera # Aspect ratio. aspect = cameraV.aspectRatio # Taret prim path. targetPrimPath = "/World/Sphere" prim = stage.GetPrimAtPath(targetPrimPath) if prim.IsValid(): # Set focus. omni.kit.commands.execute('FramePrimsCommand', prim_to_move=Sdf.Path(cameraPath), prims_to_frame=[targetPrimPath], time_code=time_code, usd_context_name='', aspect_ratio=aspect)
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ft-lab/omniverse_sample_scripts/Operation/GamePad/GamePad_moveSelectPrim.py
from pxr import Usd, UsdGeom, UsdSkel, UsdPhysics, UsdShade, Sdf, Gf, Tf import carb import carb.input import omni.kit.app import omni.ext # Reference : kit/exts/omni.kit.debug.input # Get stage. stage = omni.usd.get_context().get_stage() # ------------------------------------------. # Move the selected Prim. # ------------------------------------------. def moveSelectedPrim (mV : Gf.Vec3f): # Get selection. selection = omni.usd.get_context().get_selection() paths = selection.get_selected_prim_paths() for path in paths: prim = stage.GetPrimAtPath(path) Gf.Vec3f(0, 0, 0) if prim.IsValid() == True: # Get translate. transformOrder = prim.GetAttribute('xformOpOrder') if transformOrder.IsValid(): tV = prim.GetAttribute("xformOp:translate") if tV.IsValid(): pos = Gf.Vec3f(tV.Get()) # Update translate. pos += mV tV.Set(pos) # ------------------------------------------. # Gamepad discription. # ------------------------------------------. class GamepadDesc: def _cleanup(self): self.name = None self.guid = None self.gamepad_device = None self.input_device = None self.is_connected = False self.input_val = {} def __init__(self): self._cleanup() def __del__(self): self._cleanup() # ------------------------------------------. # Input with GamePad. # ------------------------------------------. class InputGamePad: _gamepads = None _input = None _input_provider = None _gamepad_connection_subs = None _gamepad_inputs = None _app = None _pre_update_sub = None def __init__(self): pass def _update_gamepad_connection_state(self, gamepad_device, connection_state): for gamepad_desc in self._gamepads: if gamepad_desc.gamepad_device == gamepad_device: gamepad_desc.is_connected = connection_state # gamepad connection event. def _gamepad_connection_event(self, event): # Gamepad created. if event.type == carb.input.GamepadConnectionEventType.CREATED: gamepad_desc = GamepadDesc() gamepad_desc.name = self._input.get_gamepad_name(event.gamepad) gamepad_desc.guid = self._input.get_gamepad_guid(event.gamepad) gamepad_desc.gamepad_device = event.gamepad gamepad_desc.input_device = event.device self._gamepads.append(gamepad_desc) print("carb.input.GamepadConnectionEventType.CREATED") print("name : " + str(gamepad_desc.name)) print("guid : " + str(gamepad_desc.guid)) # Gamepad destroyed. elif event.type == carb.input.GamepadConnectionEventType.DESTROYED: for gamepad_desc in self._gamepads: if gamepad_desc.gamepad_device == event.gamepad: self._gamepads.remove(gamepad_desc) print("carb.input.GamepadConnectionEventType.DESTROYED") # Gamepad connected. elif event.type == carb.input.GamepadConnectionEventType.CONNECTED: self._update_gamepad_connection_state(event.gamepad, True) print(" carb.input.GamepadConnectionEventType.CONNECTED") # Gamepad disconnected. elif event.type == carb.input.GamepadConnectionEventType.DISCONNECTED: self._update_gamepad_connection_state(event.gamepad, False) print(" carb.input.GamepadConnectionEventType.DISCONNECTED") # gamepad update event. def _update_gamepads_data(self, event): gamepad_descD = None for gamepad_desc in self._gamepads: gamepad_descD = gamepad_desc for gamepad_input in self._gamepad_inputs: # Store value. val = self._input.get_gamepad_value(gamepad_descD.gamepad_device, gamepad_input) gamepad_descD.input_val[gamepad_input] = float(val) # gamepad_input : DPAD (0.0 or 1.0). # carb.input.GamepadInput.DPAD_DOWN # carb.input.GamepadInput.DPAD_UP # carb.input.GamepadInput.DPAD_LEFT # carb.input.GamepadInput.DPAD_RIGHT # gamepad_input : buttons (0.0 or 1.0). # carb.input.GamepadInput.X # carb.input.GamepadInput.Y # carb.input.GamepadInput.A # carb.input.GamepadInput.B # carb.input.GamepadInput.MENU1 (Back) # carb.input.GamepadInput.MENU2 (Start) # gamepad_input : stick (0.0 - 1.0). # carb.input.GamepadInput.LEFT_STICK_DOWN # carb.input.GamepadInput.LEFT_STICK_UP # carb.input.GamepadInput.LEFT_STICK_LEFT # carb.input.GamepadInput.LEFT_STICK_RIGHT # carb.input.GamepadInput.RIGHT_STICK_DOWN # carb.input.GamepadInput.RIGHT_STICK_UP # carb.input.GamepadInput.RIGHT_STICK_LEFT # carb.input.GamepadInput.RIGHT_STICK_RIGHT # gamepad_input : stick push (0.0 or 1.0). # carb.input.GamepadInput.LEFT_STICK # carb.input.GamepadInput.RIGHT_STICK # gamepad_input : trigger (0.0 - 1.0). # carb.input.GamepadInput.LEFT_TRIGGER # carb.input.GamepadInput.RIGHT_TRIGGER # gamepad_input : shoulder (0.0 or 1.0). # carb.input.GamepadInput.LEFT_SHOULDER # carb.input.GamepadInput.RIGHT_SHOULDER if gamepad_descD == None: return # Move the selected Prim. mV = Gf.Vec3f(0, 0, 0) scaleV = 2.0 minV = 0.3 if gamepad_desc.input_val[carb.input.GamepadInput.LEFT_STICK_DOWN] > minV: mV[2] += scaleV * gamepad_desc.input_val[carb.input.GamepadInput.LEFT_STICK_DOWN] if gamepad_desc.input_val[carb.input.GamepadInput.LEFT_STICK_UP] > minV: mV[2] -= scaleV * gamepad_desc.input_val[carb.input.GamepadInput.LEFT_STICK_UP] if gamepad_desc.input_val[carb.input.GamepadInput.LEFT_STICK_LEFT] > minV: mV[0] -= scaleV * gamepad_desc.input_val[carb.input.GamepadInput.LEFT_STICK_LEFT] if gamepad_desc.input_val[carb.input.GamepadInput.LEFT_STICK_RIGHT] > minV: mV[0] += scaleV * gamepad_desc.input_val[carb.input.GamepadInput.LEFT_STICK_RIGHT] moveSelectedPrim(mV) def startup (self): self._gamepads = [] self._input = carb.input.acquire_input_interface() self._input_provider = carb.input.acquire_input_provider() self._gamepad_connection_subs = self._input.subscribe_to_gamepad_connection_events(self._gamepad_connection_event) # Creating a dict of processed GamepadInput enumeration for convenience def filter_gamepad_input_attribs(attr): return not callable(getattr(carb.input.GamepadInput, attr)) and not attr.startswith("__") and attr != "name" and attr != "COUNT" self._gamepad_inputs = dict((getattr(carb.input.GamepadInput, attr), attr) for attr in dir(carb.input.GamepadInput) if filter_gamepad_input_attribs(attr)) self._app = omni.kit.app.get_app() self._pre_update_sub = self._app.get_pre_update_event_stream().create_subscription_to_pop( self._update_gamepads_data, name="GamePad test" ) def shutdown (self): self._input.unsubscribe_to_gamepad_connection_events(self._gamepad_connection_subs) self._gamepad_connection_subs = None self._gamepad_inputs = None self._gamepads = None self._app = None self._pre_update_sub = None self._input_provider = None self._input = None gamePadV = InputGamePad() gamePadV.startup() # stop. #gamePadV.shutdown()
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ft-lab/omniverse_sample_scripts/Operation/CommandsExecute/SelectNone.py
import omni.kit omni.kit.commands.execute("SelectNone")
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ft-lab/omniverse_sample_scripts/Operation/CommandsExecute/GetCommandsList.py
import omni.kit # Get commands list (dict). listA = omni.kit.commands.get_commands() keys = listA.keys() print(str(keys))
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ft-lab/omniverse_sample_scripts/Operation/CommandsExecute/CopyPrim.py
from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf import omni.kit # Get stage. stage = omni.usd.get_context().get_stage() # Get selection. selection = omni.usd.get_context().get_selection() selectedPaths = selection.get_selected_prim_paths() newPrimPathList = [] for path in selectedPaths: # Duplicate Prim from specified path. omni.kit.commands.execute("CopyPrim", path_from=path) # Stores the path of the newly duplicated Prim. selection = omni.usd.get_context().get_selection() paths = selection.get_selected_prim_paths() if len(paths) >= 1: newPrimPathList.append(paths[0]) # Show the path of the newly duplicated Prim. print(newPrimPathList)
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ft-lab/omniverse_sample_scripts/Operation/CommandsExecute/DeletePrims.py
from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf import omni.kit # Get stage. stage = omni.usd.get_context().get_stage() # Get selection. selection = omni.usd.get_context().get_selection() selectedPaths = selection.get_selected_prim_paths() # Delete prims. omni.kit.commands.execute("DeletePrims", paths=selectedPaths)
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ft-lab/omniverse_sample_scripts/Operation/CommandsExecute/RenamePrim.py
from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf import omni.kit # Get stage. stage = omni.usd.get_context().get_stage() # Get selection. selection = omni.usd.get_context().get_selection() selectedPaths = selection.get_selected_prim_paths() for path in selectedPaths: # Get prim. prim = stage.GetPrimAtPath(path) if prim.IsValid() == False: continue newPathName = path + "_rename" # Rename Prim name. omni.kit.commands.execute("MovePrim", path_from=path, path_to=newPathName) break
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ft-lab/omniverse_sample_scripts/Operation/CommandsExecute/MovePrim.py
from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf import omni.kit # Get stage. stage = omni.usd.get_context().get_stage() # Get default prim. defaultPrim = stage.GetDefaultPrim() # Create empty node(Xform). defaultPrimPath = defaultPrim.GetPath().pathString xformPath = defaultPrimPath + '/Xform' UsdGeom.Xform.Define(stage, xformPath) # Get selection. selection = omni.usd.get_context().get_selection() selectedPaths = selection.get_selected_prim_paths() for path in selectedPaths: # Get prim. prim = stage.GetPrimAtPath(path) if prim.IsValid() == False: continue pathTo = xformPath + "/" + str(prim.GetName()) # Change Prim's path. # path_from : Path of the original Prim. # path_to : Path to move to. omni.kit.commands.execute("MovePrim", path_from=path, path_to=pathTo)
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ft-lab/omniverse_sample_scripts/Operation/UNDO/CreateSphereUndo.py
from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf import omni.kit.commands import omni.kit.undo # Get stage. stage = omni.usd.get_context().get_stage() # Process to create a sphere. class MyCreateSphere (omni.kit.commands.Command): _path = "" def __init__ (self, path : str): self._path = path def do (self): sphereGeom = UsdGeom.Sphere.Define(stage, self._path) # Set radius. sphereGeom.CreateRadiusAttr(5.0) # Set color. sphereGeom.CreateDisplayColorAttr([(1.0, 0.0, 0.0)]) # Set position. UsdGeom.XformCommonAPI(sphereGeom).SetTranslate((0.0, 5.0, 0.0)) def undo (self): stage.RemovePrim(self._path) # Create sphere. pathName = '/World/sphere' # Register a Class and run it. omni.kit.commands.register(MyCreateSphere) omni.kit.commands.execute("MyCreateSphere", path=pathName) # UNDO. omni.kit.undo.undo() # REDO. omni.kit.undo.redo()
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ft-lab/omniverse_sample_scripts/Operation/UNDO/simpleClassUndo.py
# From "Bundled Extensions/omni.kit.commands" in Omniverse Kit documentation. import omni.kit.commands import omni.kit.undo # Class for UNDO processing. class MyOrange (omni.kit.commands.Command): def __init__ (self, bar: list): self._bar = bar def do (self): self._bar.append('orange') def undo (self): del self._bar[-1] # Register a Class and run it. omni.kit.commands.register(MyOrange) my_list = [] omni.kit.commands.execute("MyOrange", bar=my_list) print(my_list) # UNDO. omni.kit.undo.undo() print(my_list) # REDO. omni.kit.undo.redo() print(my_list)
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ft-lab/omniverse_sample_scripts/Operation/Selection/GetSelection.py
from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf # Get selection. selection = omni.usd.get_context().get_selection() paths = selection.get_selected_prim_paths() for path in paths: print(path)
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ft-lab/omniverse_sample_scripts/Operation/Selection/EventSelection.py
from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf # Get context. context = omni.usd.get_context() # Get stage. stage = context.get_stage() # ---------------------------------------------. # Selected event. # ---------------------------------------------. def onStageEvent(evt): if evt.type == int(omni.usd.StageEventType.SELECTION_CHANGED): # Get selection paths. selection = omni.usd.get_context().get_selection() paths = selection.get_selected_prim_paths() for path in paths: prim = stage.GetPrimAtPath(path) if prim.IsValid() == True: print('Selected [ ' + prim.GetName() + ' ]') # ------------------------------------------------. # Register for stage events. # Specify "subs=None" to end the event. subs = context.get_stage_event_stream().create_subscription_to_pop(onStageEvent, name="sampleStageEvent")
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ft-lab/omniverse_sample_scripts/Operation/Selection/IsSelected.py
from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf # Get selection. selection = omni.usd.get_context().get_selection() pathStr = '/World' selectedF = selection.is_prim_path_selected(pathStr) if selectedF: print('[' + pathStr + ' ] Selected') else: print('[' + pathStr + ' ] Not selected')
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ft-lab/omniverse_sample_scripts/Operation/Selection/EventSelection_showFacesCount.py
from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf import omni.ui import omni.kit.app # Get context. context = omni.usd.get_context() # Get stage. stage = context.get_stage() # Get main window viewport. window = omni.ui.Window('Viewport') # ---------------------------------------------. # Get the number of faces in the mesh. # ---------------------------------------------. def GetFacesCount (prim): if prim.IsValid() == None: return 0 typeName = prim.GetTypeName() allCou = 0 if typeName == 'Mesh': m = UsdGeom.Mesh(prim) # If it is displayed. if m.ComputeVisibility() == 'inherited': # Get the number of faces of Mesh. allCou += len(m.GetFaceVertexCountsAttr().Get()) # Recursively traverse the hierarchy. pChildren = prim.GetChildren() for cPrim in pChildren: allCou += GetFacesCount(cPrim) return allCou # ---------------------------------------------. # Update Viewport UI. # Show the number of faces of the selected shape in the Viewport. # ---------------------------------------------. def UpdateViewportUI(paths): if len(paths) == 0: with window.frame: with omni.ui.VStack(height=0): with omni.ui.Placer(offset_x=20, offset_y=0): omni.ui.Spacer(width=0, height=8) return with window.frame: with omni.ui.VStack(height=0): with omni.ui.Placer(offset_x=20, offset_y=50): f = omni.ui.Label("--- Selection Shapes ---") f.visible = True f.set_style({"color": 0xff00ffff, "font_size": 32}) with omni.ui.Placer(offset_x=20, offset_y=0): omni.ui.Spacer(width=0, height=8) # Show selection shape name. for path in paths: prim = stage.GetPrimAtPath(path) if prim.IsValid() == True: facesCou = GetFacesCount(prim) with omni.ui.Placer(offset_x=28, offset_y=0): f2 = omni.ui.Label('[ ' + prim.GetName() + ' ] faces ' + str(facesCou)) f2.visible = True f2.set_style({"color": 0xff00ff00, "font_size": 32}) # ---------------------------------------------. # Selected event. # ---------------------------------------------. def onStageEvent(evt): if evt.type == int(omni.usd.StageEventType.SELECTION_CHANGED): # Get selection paths. selection = omni.usd.get_context().get_selection() paths = selection.get_selected_prim_paths() # Show selected shapes info. UpdateViewportUI(paths) # ------------------------------------------------. # Register for stage events. # Specify "subs=None" to end the event. subs = context.get_stage_event_stream().create_subscription_to_pop(onStageEvent, name="sampleStageEvent")
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ft-lab/omniverse_sample_scripts/Operation/Selection/Select.py
from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf # Get selection. selection = omni.usd.get_context().get_selection() # Select one. selection.set_selected_prim_paths(['/World'], True) # Multiple selection. selection.set_selected_prim_paths(['/World', '/World/defaultLight'], True) # Deselection. selection.clear_selected_prim_paths()
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ft-lab/omniverse_sample_scripts/Operation/Keyboard/InputKeyboard.py
from pxr import Usd, UsdGeom, UsdSkel, UsdShade, Sdf, Gf, Tf import carb import carb.input import omni.kit.app import omni.ext # ------------------------------------------. # Input with Keyboard. # ------------------------------------------. class InputKeyboard: _keyboard = None _input = None _keyboard_subs = None def __init__(self): pass # Keyboard event. def _keyboard_event (self, event : carb.input.KeyboardEvent): if event.type == carb.input.KeyboardEventType.KEY_PRESS: print("KEY_PRESS : " + str(event.input)) if event.type == carb.input.KeyboardEventType.KEY_RELEASE: print("KEY_RELEASE : " + str(event.input)) return True def startup (self): # Assign keyboard event. appwindow = omni.appwindow.get_default_app_window() self._keyboard = appwindow.get_keyboard() self._input = carb.input.acquire_input_interface() self._keyboard_subs = self._input.subscribe_to_keyboard_events(self._keyboard, self._keyboard_event) def shutdown (self): # Release keyboard event. if self._input != None: self._input.unsubscribe_to_keyboard_events(self._keyboard, self._keyboard_subs) self._keyboard_subs = None self._keyboard = None self._input = None # -----------------------------------------. keyboardV = InputKeyboard() keyboardV.startup() # stop. #keyboardV.shutdown()
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ft-lab/omniverse_sample_scripts/Operation/Keyboard/InputKeyboard_ShowViewport.py
from pxr import Usd, UsdGeom, UsdSkel, UsdShade, Sdf, Gf, Tf import carb import carb.input import carb.events import omni.kit.app import omni.ext # ------------------------------------------. # Input with Keyboard. # ------------------------------------------. class InputKeyboard: _keyboard = None _input = None _keyboard_subs = None _update_subs = None _window = None _keyboard_input_value = None def __init__(self): pass # Keyboard event. def _keyboard_event (self, event): if event.type == carb.input.KeyboardEventType.KEY_PRESS: self._keyboard_input_value = event.input print("KEY_PRESS : " + str(event.input)) if event.type == carb.input.KeyboardEventType.KEY_RELEASE: print("KEY_RELEASE : " + str(event.input)) return True # UI Update event. def _on_update (self, e: carb.events.IEvent): with self._window.frame: with omni.ui.VStack(height=0): with omni.ui.Placer(offset_x=20, offset_y=50): # Set label. f = omni.ui.Label("Input : " + str(self._keyboard_input_value)) f.visible = True f.set_style({"color": 0xff00ffff, "font_size": 20}) def startup (self): # Assign keyboard event. appwindow = omni.appwindow.get_default_app_window() self._keyboard = appwindow.get_keyboard() self._input = carb.input.acquire_input_interface() self._keyboard_subs = self._input.subscribe_to_keyboard_events(self._keyboard, self._keyboard_event) # Get main window viewport. self._window = omni.ui.Window('Viewport') # Assing update event. self._update_subs = omni.kit.app.get_app().get_update_event_stream().create_subscription_to_pop(self._on_update, name="update") def shutdown (self): # Release update event. if self._update_subs != None: self._update_subs.unsubscribe() # Release keyboard event. if self._input != None: self._input.unsubscribe_to_keyboard_events(self._keyboard, self._keyboard_subs) self._keyboard_subs = None self._keyboard = None self._input = None self._update_subs = None # -----------------------------------------. keyboardV = InputKeyboard() keyboardV.startup() # stop. #keyboardV.shutdown()
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ft-lab/omniverse_sample_scripts/Math/CalcMatrix.py
from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf # Identity matrix. m = Gf.Matrix4f() print(m) # Initialize with rotation and translate. rotV = Gf.Rotation(Gf.Vec3d(1, 0, 0), 90.0) transV = Gf.Vec3f(10, 5, 2.3) m1 = Gf.Matrix4f(rotV, transV) print(m1) # Get data. for i in range(4): print(f"{m1[i,0]} , {m1[i,1]} , {m1[i,2]} , {m1[i,3]}") # Set identity. m1.SetIdentity() print(m1) # Matrix multiplication. rot1 = Gf.Rotation(Gf.Vec3d(1, 0, 0), 90.0) m2 = Gf.Matrix4f(rot1, Gf.Vec3f()) rot2 = Gf.Rotation(Gf.Vec3d(0, 1, 0), 30.0) m3 = Gf.Matrix4f(rot2, Gf.Vec3f()) m4 = m2 * m3 # Gf.Matrix4f * Gf.Matrix4f print(m4) rot3 = rot1 * rot2 # Gf.Rotation * Gf.Rotation print(Gf.Matrix4f(rot3, Gf.Vec3f())) # Inverse matrix. m4Inv = m4.GetInverse() print(m4Inv) # vector3 * matrix4. rotV = Gf.Rotation(Gf.Vec3d(1, 0, 0), 90.0) transV = Gf.Vec3f(10, 5, 2.3) m5 = Gf.Matrix4f(rotV, transV) v1 = Gf.Vec3f(1.2, 1.0, 2.5) v2 = m5.Transform(v1) print(f"{v2}") # vector3 * matrix4 (Ignore position). v1 = Gf.Vec3f(1.2, 1.0, 2.5) v2 = m5.TransformDir(v1) print(f"{v2}")
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ft-lab/omniverse_sample_scripts/Math/DecomposeTransform2.py
from pxr import Usd, UsdGeom, UsdSkel, UsdPhysics, UsdShade, Sdf, Gf, Tf # Dump matrix. def DumpMatrix(m : Gf.Matrix4d): print("---------------------") for i in range(4): print(f"{mm[i,0]} {mm[i,1]} {mm[i,2]} {mm[i,3]}") print("") # Create Matrix4. translate = Gf.Vec3d(10.5, 2.8, 6.0) rotation = Gf.Rotation(Gf.Vec3d(0, 1, 0), 20) * Gf.Rotation(Gf.Vec3d(0, 0, 1), 45) scale = Gf.Vec3d(2.0, 0.5, 1.0) mm = Gf.Matrix4d().SetScale(scale) * Gf.Matrix4d(rotation, Gf.Vec3d(0)) * Gf.Matrix4d().SetTranslate(translate) DumpMatrix(mm) # Decompose matrix. mm2 = mm.RemoveScaleShear() rTrans = mm2.ExtractTranslation() rRot = mm2.ExtractRotation() mm3 = mm * mm2.GetInverse() rScale = Gf.Vec3d(mm3[0][0], mm3[1][1], mm3[2][2]) rAxisX = Gf.Vec3d(1, 0, 0) rAxisY = Gf.Vec3d(0, 1, 0) rAxisZ = Gf.Vec3d(0, 0, 1) rRotE = rRot.Decompose(rAxisZ, rAxisY, rAxisX) rRotE = Gf.Vec3d(rRotE[2], rRotE[1], rRotE[0]) print(f"Trans : {rTrans}") print(f"Rot : {rRotE}") print(f"Scale : {rScale}")
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ft-lab/omniverse_sample_scripts/Math/CalcDotCrossProduct.py
from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf v1 = Gf.Vec3f(1.0, 2.0, -5.0) v2 = Gf.Vec3f(2.5, 14.0, 12.0) # Dot : Inner product. print(f"{v1} x {v2} = {v1 * v2}") print(f"{v1} x {v2} = {Gf.Dot(v1, v2)}") # Cross : Outer product. vx = v1[1] * v2[2] - v1[2] * v2[1] vy = v1[2] * v2[0] - v1[0] * v2[2] vz = v1[0] * v2[1] - v1[1] * v2[0] print(f"Cross product : ( {vx}, {vy}, {vz} )") v1_2 = Gf.Vec4f(v1[0], v1[1], v1[2],1.0) v2_2 = Gf.Vec4f(v2[0], v2[1], v2[2],1.0) v3_2 = Gf.HomogeneousCross(v1_2, v2_2) print(f"Cross product : {v3_2}")
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ft-lab/omniverse_sample_scripts/Math/TransRotationFrom2Vec.py
from pxr import Usd, UsdGeom, UsdShade, Sdf, Gf, Tf # No need to normalize. dirA = Gf.Vec3f(1.0, 0.0, 0.0).GetNormalized() dirB = Gf.Vec3f(-0.2, 12.0, 15.0).GetNormalized() print(f"dirA : {dirA}") print(f"dirB : {dirB}") # Calculate the rotation to transform dirA to dirB. rot = Gf.Rotation().SetRotateInto(Gf.Vec3d(dirA), Gf.Vec3d(dirB)) # Check that rot is correct. # v will have the same result as dirB. m = Gf.Matrix4f(rot, Gf.Vec3f(0, 0, 0)) v = m.Transform(dirA) print(f"dirA * m = {v}")
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ft-lab/omniverse_sample_scripts/Math/NormalizeVector3.py
from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf v1 = Gf.Vec3f(1.0, 2.0, -5.0) v1N = v1.GetNormalized() print(f"{v1} ==> {v1N}")
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ft-lab/omniverse_sample_scripts/Math/QuatToRotation.py
from pxr import Usd, UsdGeom, UsdSkel, UsdPhysics, UsdShade, Sdf, Gf, Tf rotation = Gf.Quatf(0.7071, 0.7071, 0, 0) print(f"quat : {rotation}") # Convert from quaternion to Euler's rotation angles(degree). # Rotate XYZ. rot = Gf.Rotation(rotation) rV = rot.Decompose(Gf.Vec3d(0, 0, 1), Gf.Vec3d(0, 1, 0), Gf.Vec3d(1, 0, 0)) rV = Gf.Vec3d(rV[2], rV[1], rV[0]) print(f"Euler's rotation angles : {rV}") # RotationXYZ to quaternion. rotX = Gf.Rotation(Gf.Vec3d(1, 0, 0), 90.0) rotY = Gf.Rotation(Gf.Vec3d(0, 1, 0), 30.0) rotZ = Gf.Rotation(Gf.Vec3d(0, 0, 1), -10.0) rotXYZ = rotX * rotY * rotZ q = rotXYZ.GetQuat() print("quaternion : " + str(q)) # Quaternion to RotateXYZ. rV = rotXYZ.Decompose(Gf.Vec3d(0, 0, 1), Gf.Vec3d(0, 1, 0), Gf.Vec3d(1, 0, 0)) rV = Gf.Vec3d(rV[2], rV[1], rV[0]) print(" Euler's rotation angles : " + str(rV))
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ft-lab/omniverse_sample_scripts/Math/GetVector3Length.py
from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf v1 = Gf.Vec3f(1.0, 2.0, -5.0) v2 = Gf.Vec3f(2.5, 14.0, 12.0) print(f"{v1} : Length = {v1.GetLength()}") print(f"{v2} : Length = {v2.GetLength()}")
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ft-lab/omniverse_sample_scripts/Math/VectorToRotationAngle.py
from pxr import Usd, UsdGeom, UsdShade, Sdf, Gf, Tf dirV = Gf.Vec3f(20.0, 5.0, -25.0) yUp = Gf.Vec3f(0, 1, 0) m = Gf.Matrix4f().SetLookAt(Gf.Vec3f(0, 0, 0), dirV.GetNormalized(), yUp) # Rotate XYZ. rV = m.ExtractRotation().Decompose(Gf.Vec3d(0, 0, 1), Gf.Vec3d(0, 1, 0), Gf.Vec3d(1, 0, 0)) rV = Gf.Vec3d(rV[2], rV[1], rV[0]) print(f"rotateXYZ(Euler) : {rV}")
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ft-lab/omniverse_sample_scripts/Math/CalcVector3.py
from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf # float vector. print("\nfloat vector ----\n") v1 = Gf.Vec3f(1.0, 2.0, -5.0) v2 = Gf.Vec3f(2.5, 14.0, 12.0) v = v1 + v2 print(f"{v1} + {v2} = {v}") v = v1 / 2 print(f"{v1} / 2 = {v}") print(f"v.x = {v[0]} type = {type(v[0])}") print(f"v.y = {v[1]} type = {type(v[1])}") print(f"v.z = {v[2]} type = {type(v[2])}") # double vector. # It seems to be internally converted to Gf.Vec3f. print("\ndouble vector ----\n") v1d = Gf.Vec3d(1.0, 2.0, -5.0) v2d = Gf.Vec3d(2.5, 14.0, 12.0) v = v1d + v2d print("v.x = " + str(v1d[0]) + " type = " + str(type(v1d[0]))) v = v1d / 2 print(f"{v1d} / 2 = {v}") print(f"v.x = {v[0]} type = {type(v[0])}") print(f"v.y = {v[1]} type = {type(v[1])}") print(f"v.z = {v[2]} type = {type(v[2])}")
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ft-lab/omniverse_sample_scripts/Math/ConvRGB2SRGB.py
from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf import math def rgb_to_srgb (v : float, quantum_max : float = 1.0): if v <= 0.0031308: return (v * 12.92) v = v / quantum_max v = math.pow(v, 1.0 / 2.4) * 1.055 - 0.055 return (v * quantum_max) def srgb_to_rgb (v : float, quantum_max : float = 1.0): v = v / quantum_max if v <= 0.04045: return (v / 12.92) v = math.pow((v + 0.055) / 1.055, 2.4) return (v * quantum_max) # Conv RGB to sRGB. def conv_RGB_to_sRGB (col : Gf.Vec3f): retCol = Gf.Vec3f(col) if retCol[0] > 0.0 and retCol[0] < 1.0: retCol[0] = rgb_to_srgb(retCol[0]) if retCol[1] > 0.0 and retCol[1] < 1.0: retCol[1] = rgb_to_srgb(retCol[1]) if retCol[2] > 0.0 and retCol[2] < 1.0: retCol[2] = rgb_to_srgb(retCol[2]) return retCol # Conv sRGB to RGB (Linear). def conv_sRGB_to_RGB (col : Gf.Vec3f): retCol = Gf.Vec3f(col) if retCol[0] > 0.0 and retCol[0] < 1.0: retCol[0] = srgb_to_rgb(retCol[0]) if retCol[1] > 0.0 and retCol[1] < 1.0: retCol[1] = srgb_to_rgb(retCol[1]) if retCol[2] > 0.0 and retCol[2] < 1.0: retCol[2] = srgb_to_rgb(retCol[2]) return retCol # ---------------------------------------. # Original color (sRGB). col = Gf.Vec3f(0.5, 0.4, 0.7) # sRGB to RGB (sRGB to linear). col_linear = conv_sRGB_to_RGB(col) # RGB to sRGB (linear to sRGB). col2 = conv_RGB_to_sRGB(col_linear) print(f"col : {col}") print(f"col_linear : {col_linear}") print(f"col2 : {col2}")
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ft-lab/omniverse_sample_scripts/Math/DecomposeTransform.py
from pxr import Usd, UsdGeom, UsdSkel, UsdPhysics, UsdShade, Sdf, Gf, Tf translate = Gf.Vec3f(10.5, 2.8, 6.0) rotation = Gf.Quatf(0.7071, 0.7071, 0, 0) # Gf.Rotation(Gf.Vec3d(1, 0, 0), 90) scale = Gf.Vec3f(2.0, 0.5, 1.0) print(f"translate : {translate}") print(f"rotation : {rotation}") print(f"scale : {scale}") # Make transform. transM = UsdSkel.MakeTransform(translate, rotation, Gf.Vec3h(scale)) print(f"transform : {transM}") # Decompose transform. translate2, rotation2, scale2 = UsdSkel.DecomposeTransform(transM) print(f"==> translate : {translate2}") print(f"==> rotation : {rotation2}") print(f"==> scale : {scale2}")
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ft-lab/omniverse_sample_scripts/PLATEAU/divide_GeoTiff_images.py
# ---------------------------------------------------------------------. # PLATEAU GeoTIFF images split 10x10 and saved as jpeg. # ---------------------------------------------------------------------. from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf import omni.usd import omni.kit.commands import glob import os from PIL import Image # Allows handling of large size images. Image.MAX_IMAGE_PIXELS = 1000000000 # --------------------------------------. # Input Parameters. # --------------------------------------. # Source path (Root path with PLATEAU GeoTIFF). in_plateau_obj_path = "K:\\Modeling\\PLATEAU\\Tokyo_23ku\\13100_tokyo23-ku_2020_ortho_2_op" # Folder to save the split images. in_save_folder_path = "K:\\Modeling\\PLATEAU\\Tokyo_23ku\\13100_tokyo23-ku_2020_ortho_2_op\\divide_images" # --------------------------------------. # Load image and divide (10 x 10). # --------------------------------------. def load_divideImage (filePath : str, savePath : str): fName = os.path.basename(filePath) # Remove extension. fName2 = os.path.splitext(fName)[0] try: srcImage = Image.open(filePath) # Get image size. wid = srcImage.size[0] hei = srcImage.size[1] # 10x10 division. wid_10 = (float)(wid) / 10.0 hei_10 = (float)(hei) / 10.0 index = 0 fy1 = hei_10 * 9.0 for y in range(10): fx1 = 0.0 for x in range(10): img = srcImage.crop(((int)(fx1 + 0.5), (int)(fy1 + 0.5), (int)(fx1 + wid_10 + 0.5), (int)(fy1 + hei_10 + 0.5))) # Save file name ('533925' + '02' ==> '53392502.jpg'). dstName = fName2 + str(index).zfill(2) + ".jpg" dstPath = savePath + "/" + dstName img.save(dstPath) index += 1 fx1 += wid_10 fy1 -= hei_10 except Exception as e: pass # --------------------------------------. # Divide GeoTiff images. # --------------------------------------. def divide_geoTiff (savePath : str): if os.path.exists(in_plateau_obj_path) == False: return # Create a save folder. if os.path.exists(in_save_folder_path) == False: os.makedirs(in_save_folder_path) # Divide and save images. for path in glob.glob(in_plateau_obj_path + "/images/*.tif"): load_divideImage(path, savePath) fName = os.path.basename(path) print("Divide [" + fName + "]") # --------------------------------------. # --------------------------------------. divide_geoTiff(in_save_folder_path) print("Save success !!")
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ft-lab/omniverse_sample_scripts/PLATEAU/calcDistanceWithLatLong.py
# ------------------------------------------------------------------. # 2点の緯度経度を指定したときの距離を計算. # 参考 : https://vldb.gsi.go.jp/sokuchi/surveycalc/surveycalc/bl2stf.html # ------------------------------------------------------------------. import math # --------------------------------------. # Input Parameters. # --------------------------------------. # Latitude and longitude of the starting point. in_lat1 = 35.680908 in_longi1 = 139.767348 # Latitude and longitude of the end point. in_lat2 = 35.666436 in_longi2 = 139.758191 # -----------------------------------------. # 前処理. # -----------------------------------------. # 赤道半径 (km). R = 6378.137 # 極半径 (km). R2 = 6356.752 # 扁平率 (ref : https://ja.wikipedia.org/wiki/%E5%9C%B0%E7%90%83). # 「f = 1.0 - (R2 / R)」の計算になる. # 「f = 1.0 / 298.257222101」のほうがより正確. f = 1.0 / 298.257222101 # 度数をラジアンに変換. lat1R = in_lat1 * math.pi / 180.0 longi1R = in_longi1 * math.pi / 180.0 lat2R = in_lat2 * math.pi / 180.0 longi2R = in_longi2 * math.pi / 180.0 l = longi2R - longi1R l2 = l if l > math.pi: l2 = l - math.pi * 2.0 elif l < -math.pi: l2 = l + math.pi * 2.0 L = abs(l2) L2 = math.pi - L delta = 0.0 if l2 >= 0.0: depta = lat2R - lat1R else: depta = lat1R - lat2R sigma = lat1R + lat2R if l2 >= 0.0: u1 = math.atan((1.0 - f) * math.tan(lat1R)) else: u1 = math.atan((1.0 - f) * math.tan(lat2R)) if l2 >= 0.0: u2 = math.atan((1.0 - f) * math.tan(lat2R)) else: u2 = math.atan((1.0 - f) * math.tan(lat1R)) sigma2 = u1 + u2 delta2 = u2 - u1 xi = math.cos(sigma2 / 2.0) xi2 = math.sin(sigma2 / 2.0) eta = math.sin(delta2 / 2.0) eta2 = math.cos(delta2 / 2.0) x = math.sin(u1) * math.sin(u2) y = math.cos(u1) * math.cos(u2) c = y * math.cos(L) + x ep = f * (2.0 - f) / math.pow(1.0 - f, 2.0) distanceV = 0.0 # 最終的な距離が返る(km). # -----------------------------------------. # ゾーンの判断、θの反復計算. # -----------------------------------------. t0 = 0.0 if c >= 0.0: # Zone(1). t0 = L * (1.0 + f * y) elif c < 0.0 and c >= -math.cos((3.0 * math.pi / 180.0) * math.cos(u1)): # Zone(2). t0 = L2 else: # Zone(3). rr = 1.0 - (1.0/4.0) * f * (1.0 + f) * math.pow(math.sin(u1), 2.0) rr += (3.0/16.0) * f * f * math.pow(math.sin(u1), 4.0) rr = f * math.pi * math.pow(math.cos(u1), 2.0) * rr d1 = L2 * math.cos(u1) - rr d2 = abs(sigma2) + rr q = L2 / (f * math.pi) f1 = (1.0/4.0) * f * (1.0 + 0.5 * f) gam0 = q + f1 * q - f1 * math.pow(q, 3.0) if sigma != 0.0: A0 = math.atan(d1 / d2) B0 = math.asin(rr / math.sqrt(d1 * d1 + d2 * d2)) v = A0 + B0 j = gam0 / math.cos(u1) k = (1.0 + f1) * abs(sigma2) * (1.0 - f * y) / (f * math.pi * y) j1 = j / (1.0 + k * (1.0 / math.cos(v))) v2 = math.asin(j1) v3 = math.asin((math.cos(u1) / math.cos(u2)) * j1) t0 = math.tan((v2 + v3) / 2.0) * math.sin(abs(sigma2) / 2.0) t0 /= math.cos(delta2 / 2.0) t0 = 2.0 * math.atan(t0) else: if d1 > 0.0: t0 = L2 elif d1 == 0.0: gam2 = math.pow(math.sin(u1), 2.0) n0 = math.sqrt(1.0 + ep * gam2) + 1.0 n0 = (ep * gam2) / math.pow(n0, 2.0) A = (1.0 + n0) * (1.0 + (5.0/4.0) * n0 * n0) distanceV = (1.0 - f) * R * A * math.pi else: gV = gam0 gam2 = 0.0 while True: gam2 = 1.0 - gV * gV D = (1.0/4.0) * f * (1.0 + f) - (3.0/16.0) * f * f * gam2 gV2 = q / (1.0 - D * gam2) if abs(gV2 - gV) < (1e-15): break m = 1.0 - q * (1.0 / math.cos(u1)) n = (D * gam2) / (1.0 - D * gam2) w = m - n + m * n n0 = math.sqrt(1.0 + ep * gam2) + 1.0 n0 = (ep * gam2) / math.pow(n0, 2.0) A = (1.0 + n0) * (1.0 + (5.0/4.0) * n0 * n0) distanceV = (1.0 - f) * R * A * math.pi if distanceV == 0.0: tV = t0 while True: if c >= 0.0: g = math.pow(eta, 2.0) * math.pow(math.cos(tV / 2.0), 2.0) g += math.pow(xi, 2.0) * math.pow(math.sin(tV / 2.0), 2.0) g = math.sqrt(g) h = math.pow(eta2, 2.0) * math.pow(math.cos(tV / 2.0), 2.0) h += math.pow(xi2, 2.0) * math.pow(math.sin(tV / 2.0), 2.0) h = math.sqrt(h) else: g = math.pow(eta, 2.0) * math.pow(math.sin(tV / 2.0), 2.0) g += math.pow(xi, 2.0) * math.pow(math.cos(tV / 2.0), 2.0) g = math.sqrt(g) h = math.pow(eta2, 2.0) * math.pow(math.sin(tV / 2.0), 2.0) h += math.pow(xi2, 2.0) * math.pow(math.cos(tV / 2.0), 2.0) h = math.sqrt(h) sig = 2.0 * math.atan(g / h) J = 2.0 * g * h K = h * h - g * g gam = y * math.sin(tV) / J gam2 = 1.0 - gam * gam v = gam2 * K - 2.0 * x v2 = v + x D = (1.0 / 4.0) * f * (1.0 + f) - (3.0 / 16.0) * f * f * gam2 E = (1.0 - D * gam2) * f * gam * (sig + D * J * (v + D * K * (2.0 * v * v - gam2 * gam2))) if c >= 0.0: F = tV - L - E else: F = tV - L2 + E G = f * gam * gam * (1.0 - 2.0 * D * gam2) G += f * v2 * (sig / J) * (1.0 - D * gam2 + 0.5 * f * gam * gam) G += (1.0 / 4.0) * f * f * v * v2 tV = tV - F / (1.0 - G) # -----------------------------------------. # 測地線長の計算. # -----------------------------------------. if abs(F) < (1e-15): n0 = math.sqrt(1.0 + ep * gam2) + 1.0 n0 = (ep * gam2) / math.pow(n0, 2.0) A = (1.0 + n0) * (1.0 + (5.0/4.0) * n0 * n0) B = ep * (1.0 - 3.0 * n0 * n0 / 8.0) B /= math.pow(math.sqrt(1.0 + ep * gam2) + 1.0, 2.0) s1 = (1.0/6.0) * B * v * (1.0 - 4.0 * K * K) * (3.0 * gam2 * gam2 - 4.0 * v * v) s2 = K * (gam2 * gam2 - 2.0 * v * v) - s1 s3 = sig - B * J * (v - (1.0/4.0) * B * s2) distanceV = (1.0 - f) * R * A * s3 break print("Distance : " + str(distanceV * 1000.0) + " m ( " + str(distanceV) + " km )")
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0.393646
ft-lab/omniverse_sample_scripts/PLATEAU/import_PLATEAU_tokyo23ku_obj.py
# ---------------------------------------------------------------------. # Import PLATEAU obj for Tokyo23-ku in LOD1. # Specify the path where the local "13100_tokyo23-ku_2020_obj_3_op.zip" was extracted in in_plateau_obj_path. # # It also assigns textures created from GeoTIFF to dem. # Please use "divide_GeoTiff_images.py" to convert GeoTIFF into jpeg images by dividing them into 10x10 segments in advance. # ---------------------------------------------------------------------. from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf import omni.usd import omni.client import glob import carb import os import asyncio import omni.kit.asset_converter # Get stage. stage = omni.usd.get_context().get_stage() # Get default prim. defaultPrim = stage.GetDefaultPrim() defaultPrimPath = defaultPrim.GetPath().pathString if defaultPrimPath == "": defaultPrimPath = "/World" # --------------------------------------. # Input Parameters. # --------------------------------------. # Source path (Root path with PLATEAU obj). in_plateau_obj_path = "K:\\Modeling\\PLATEAU\\Tokyo_23ku\\13100_tokyo23-ku_2020_obj_3_op" # dem textures path. # See : divide_GeoTiff_images.py in_dem_textures_path = "K:\\Modeling\\PLATEAU\\Tokyo_23ku\\13100_tokyo23-ku_2020_ortho_2_op\\divide_images" # output folder. # If specified, all usd and texture files are output to the specified folder. in_output_folder = "omniverse://localhost/PLATEAU/Tokyo_23ku" # Convert obj to USD (Skipped if already converted to USD). in_convert_to_usd = True # Folder to store output USD. # If not specified, in_plateau_obj_path + "\\output_usd" in_output_usd_folder = "" # Load LOD2. in_load_lod2 = False # Load LOD1 & LOD2. in_load_lod1_lod2 = False # Assign texture to dem. in_assign_dem_texture = True # Load bridge. in_load_bridge = False # Load tran. in_load_tran = False # Load map area. mapIndexList = [533925, 533926, 533934, 533935, 533936, 533937, 533944, 533945, 533946, 533947, 533954, 533955, 533956, 533957] # --------------------------------------. # Path of PLATEAU data. # --------------------------------------. # topographic. dem_path = in_plateau_obj_path + "/dem" # building. buliding_lod1_path = in_plateau_obj_path + "/bldg/lod1" buliding_lod2_path = in_plateau_obj_path + "/bldg/lod2" # bridge. bridge_path = in_plateau_obj_path + "/brid" # tran. tran_path = in_plateau_obj_path + "/tran" # ----------------------------------------------------. # Pass the process to Omniverse. # ----------------------------------------------------. async def _omniverse_sync_wait(): await omni.kit.app.get_app().next_update_async() # --------------------------------------. # Exist path (file/folder). # Support on Nucleus. # --------------------------------------. async def ocl_existPath_async (path : str): (result, entry) = await omni.client.stat_async(path) if result == omni.client.Result.ERROR_NOT_FOUND: return False return True # ----------------------------------------------------. # Convert file name to a string that can be used in USD Prim name. # @param[in] fName file name. # @return USD Prim name. # ----------------------------------------------------. def convFileNameToUSDPrimName (fName : str): # Remove extension. fName2 = os.path.splitext(fName)[0] retName = "" for i in range(len(fName2)): c = fName2[i] if retName == "": if (c >= 'a' and c <= 'z') or (c >= 'A' and c <= 'Z') or c == '_': pass else: retName += '_' if (c >= '0' and c <= '9') or (c >= 'a' and c <= 'z') or (c >= 'A' and c <= 'Z') or c == '_': retName += c elif c == ' ': retName += '_' else: retName += str(c.encode('utf-8').hex()) return retName # --------------------------------------. # Set rotate. # @param[in] prim target prim. # @param[in] (rx, ry, rz) Rotate (angle). # --------------------------------------. def setRotate (prim : Usd.Prim, rx : float, ry : float, rz : float): if prim.IsValid(): tV = prim.GetAttribute("xformOp:rotateXYZ") if tV.IsValid(): prim.CreateAttribute("xformOp:rotateXYZ", Sdf.ValueTypeNames.Float3, False).Set(Gf.Vec3f(rx, ry, rz)) tV = prim.GetAttribute("xformOp:orient") if tV.IsValid(): rotX = Gf.Rotation(Gf.Vec3d(1, 0, 0), rx) rotY = Gf.Rotation(Gf.Vec3d(0, 1, 0), ry) rotZ = Gf.Rotation(Gf.Vec3d(0, 0, 1), rz) rotXYZ = rotZ * rotY * rotX if type(tV.Get()) == Gf.Quatd: tV.Set(rotXYZ.GetQuat()) elif type(tV.Get()) == Gf.Quatf: tV.Set(Gf.Quatf(rotXYZ.GetQuat())) # --------------------------------------. # Set scale. # @param[in] prim target prim. # @param[in] (sx, sy, sz) Scale. # --------------------------------------. def setScale (prim : Usd.Prim, sx : float, sy : float, sz : float): if prim.IsValid(): tV = prim.GetAttribute("xformOp:scale") if tV.IsValid(): prim.CreateAttribute("xformOp:scale", Sdf.ValueTypeNames.Float3, False).Set(Gf.Vec3f(sx, sy, sz)) # --------------------------------------. # Set translate. # @param[in] prim target prim. # @param[in] (tx, ty, tz) translate. # --------------------------------------. def setTranslate (prim : Usd.Prim, tx : float, ty : float, tz : float): if prim.IsValid(): tV = prim.GetAttribute("xformOp:translate") if tV.IsValid(): prim.CreateAttribute("xformOp:translate", Sdf.ValueTypeNames.Float3, False).Set(Gf.Vec3f(tx, ty, tz)) # --------------------------------------. # Create new Material (OmniPBR). # @param[in] materialPrimPath Prim path of Material # @param[in] targetPrimPath Prim path to bind Material. # @param[in] textureFilePath File path of Diffuse texture. # @param[in] diffuseColor Diffuse Color. # --------------------------------------. def createMaterialOmniPBR (materialPrimPath : str, targetPrimPath : str = "", textureFilePath : str = "", diffuseColor : Gf.Vec3f = Gf.Vec3f(0.2, 0.2, 0.2)): material = UsdShade.Material.Define(stage, materialPrimPath) shaderPath = materialPrimPath + '/Shader' shader = UsdShade.Shader.Define(stage, shaderPath) shader.SetSourceAsset('OmniPBR.mdl', 'mdl') shader.GetPrim().CreateAttribute('info:mdl:sourceAsset:subIdentifier', Sdf.ValueTypeNames.Token, False, Sdf.VariabilityUniform).Set('OmniPBR') # Set Diffuse color. shader.CreateInput('diffuse_color_constant', Sdf.ValueTypeNames.Color3f).Set((diffuseColor[0], diffuseColor[1], diffuseColor[2])) # Set Metallic. shader.CreateInput('metallic_constant', Sdf.ValueTypeNames.Float).Set(0.0) # Set Roughness. shader.CreateInput('reflection_roughness_constant', Sdf.ValueTypeNames.Float).Set(0.8) # Set Specular. shader.CreateInput('specular_level', Sdf.ValueTypeNames.Float).Set(0.0) # Set texture. if textureFilePath != "": diffTexIn = shader.CreateInput('diffuse_texture', Sdf.ValueTypeNames.Asset) diffTexIn.Set(textureFilePath) diffTexIn.GetAttr().SetColorSpace('sRGB') # Connecting Material to Shader. mdlOutput = material.CreateSurfaceOutput('mdl') mdlOutput.ConnectToSource(shader, 'out') # Bind material. if targetPrimPath != "": tPrim = stage.GetPrimAtPath(targetPrimPath) if tPrim.IsValid(): UsdShade.MaterialBindingAPI(tPrim).Bind(material) return materialPrimPath # --------------------------------------. # Create Xform (e.g. map_533946). # --------------------------------------. def createXfrom_mapIndex (mapIndex : int, materialPath : str): mapPrimPath = defaultPrimPath + "/map_" + str(mapIndex) prim = stage.GetPrimAtPath(mapPrimPath) if prim.IsValid() == False: UsdGeom.Xform.Define(stage, mapPrimPath) prim = stage.GetPrimAtPath(mapPrimPath) # Bind material. if materialPath != "": matPrim = stage.GetPrimAtPath(materialPath) if matPrim.IsValid(): material = UsdShade.Material(matPrim) UsdShade.MaterialBindingAPI(prim).Bind(material) return mapPrimPath # --------------------------------------. # load dem. # @param[in] _mapIndex map index. # @param[in] _materialPath material prim path. # --------------------------------------. async def loadDem (_mapIndex : int, _materialPath : str): if (await ocl_existPath_async(dem_path)) == False: return mapPrimPath = createXfrom_mapIndex(_mapIndex, _materialPath) demPrimPath = mapPrimPath + "/dem" UsdGeom.Xform.Define(stage, demPrimPath) # Scope specifying the Material. materialPrimPath = "" if in_assign_dem_texture: materialPrimPath = defaultPrimPath + "/Looks/map_" + str(_mapIndex) prim = stage.GetPrimAtPath(materialPrimPath) if prim.IsValid() == False: UsdGeom.Scope.Define(stage, materialPrimPath) # Must be pre-converted if using USD. src_dem_path = "" if in_convert_to_usd: path = in_output_usd_folder if path == "": path = in_plateau_obj_path + "/output_usd" if (await ocl_existPath_async(path)): path += "/dem/" + str(_mapIndex) + "*" src_dem_path = path + "/" + str(_mapIndex) + "*.usd" if src_dem_path == "": src_dem_path = dem_path + "/" + str(_mapIndex) + "*.obj" for path in glob.glob(src_dem_path, recursive=True): fName = os.path.basename(path) # Get map index from file name. mapIndex = 0 p1 = fName.find('_') if p1 > 0: mapIndex = int(fName[0:p1]) # When usd file is output on Nucleus, check the corresponding file. if in_output_folder != "": fName2 = str(mapIndex) + "_dem.usd" newPath = in_output_folder + "/data" newPath += "/dem/" + str(mapIndex) + "/" + fName2 if (await ocl_existPath_async(newPath)): path = newPath # Convert Prim name. primName = convFileNameToUSDPrimName(fName) # Create Xform. newPath = demPrimPath + "/" + primName UsdGeom.Xform.Define(stage, newPath) prim = stage.GetPrimAtPath(newPath) # Remove references. prim.GetReferences().ClearReferences() # Add a reference. prim.GetReferences().AddReference(path) setRotate(prim, -90.0, 0.0, 0.0) setScale(prim, 100.0, 100.0, 100.0) # Assign texture. if in_assign_dem_texture and mapIndex > 0: mapFilePath = in_dem_textures_path + "/" + str(mapIndex) + ".jpg" if in_output_folder != "": mapFilePath2 = in_output_folder + "/data/geotiff_images" mapFilePath2 += "/" + str(mapIndex) + ".jpg" if (await ocl_existPath_async(mapFilePath2)): mapFilePath = mapFilePath2 if (await ocl_existPath_async(mapFilePath)): # Create material. materialName = "mat_dem_" + str(mapIndex) matPath = materialPrimPath + "/" + materialName createMaterialOmniPBR(matPath, newPath, mapFilePath) # Pass the process to Omniverse. asyncio.ensure_future(_omniverse_sync_wait()) # --------------------------------------. # load building. # @param[in] _mapIndex map index. # @param[in] _useLOD2 If LOD2 is available, use LOD2. # @param[in] _materialPath material prim path. # --------------------------------------. async def loadBuilding (_mapIndex : int, _useLOD2 : bool, _materialPath : str): if (await ocl_existPath_async(buliding_lod1_path)) == False: return mapPrimPath = createXfrom_mapIndex(_mapIndex, _materialPath) buildingPath = mapPrimPath + "/building" if _useLOD2: buildingPath += "_lod2" else: buildingPath += "_lod1" UsdGeom.Xform.Define(stage, buildingPath) # Must be pre-converted if using USD. src_bldg_path = "" if in_convert_to_usd: path = in_output_usd_folder if path == "": path = in_plateau_obj_path + "/output_usd" if (await ocl_existPath_async(path)): path += "/building/lod2/" + str(_mapIndex) + "*" src_bldg_path = path + "/" + str(_mapIndex) + "*.usd" if src_bldg_path == "": src_bldg_path = buliding_lod2_path + "/**/" + str(_mapIndex) + "*.obj" # If LOD2 exists. useLOD2Dict = dict() if _useLOD2 and (await ocl_existPath_async(buliding_lod2_path)): # Search subdirectories. for path in glob.glob(src_bldg_path, recursive=True): fName = os.path.basename(path) # e.g. 53392641_bldg_6677.obj p1 = fName.find('_') if p1 > 0: s = fName[0:p1] # When usd file is output on Nucleus, check the corresponding file. if in_output_folder != "": mIndex = int(s) fName2 = str(mIndex) + "_bldg.usd" newPath = in_output_folder + "/data" newPath += "/building/lod2/" + str(mIndex) + "/" + fName2 if (await ocl_existPath_async(newPath)): path = newPath useLOD2Dict[int(s)] = path # Must be pre-converted if using USD. src_bldg_path = "" if in_convert_to_usd: path = in_output_usd_folder if path == "": path = in_plateau_obj_path + "/output_usd" if (await ocl_existPath_async(path)): path += "/building/lod1/" + str(_mapIndex) + "*" src_bldg_path = path + "/" + str(_mapIndex) + "*.usd" if src_bldg_path == "": src_bldg_path = buliding_lod1_path + "/**/" + str(_mapIndex) + "*.obj" # Search subdirectories. for path in glob.glob(src_bldg_path, recursive=True): fName = os.path.basename(path) chkF = False p1 = fName.find('_') if p1 > 0: s = fName[0:p1] mIndex = int(s) # When usd file is output on Nucleus, check the corresponding file. if (not in_load_lod1_lod2) or (in_load_lod1_lod2 and not _useLOD2): if in_output_folder != "": fName2 = str(mIndex) + "_bldg.usd" newPath = in_output_folder + "/data" newPath += "/building/lod1/" + str(mIndex) + "/" + fName2 if (await ocl_existPath_async(newPath)): path = newPath chkF = True # Refer to LOD2 path. if mIndex in useLOD2Dict: path = useLOD2Dict[mIndex] fName = os.path.basename(path) chkF = True if not chkF: continue # Conv Prim name. primName = convFileNameToUSDPrimName(fName) # Create Xform. newPath = buildingPath + "/" + primName UsdGeom.Xform.Define(stage, newPath) prim = stage.GetPrimAtPath(newPath) # Remove references. prim.GetReferences().ClearReferences() # Add a reference. prim.GetReferences().AddReference(path) setRotate(prim, -90.0, 0.0, 0.0) setScale(prim, 100.0, 100.0, 100.0) # Pass the process to Omniverse. asyncio.ensure_future(_omniverse_sync_wait()) # --------------------------------------. # load bridge. # @param[in] _mapIndex map index. # @param[in] _materialPath material prim path. # --------------------------------------. async def loadBridge (_mapIndex : int, _materialPath : str): if (await ocl_existPath_async(bridge_path)) == False: return mapPrimPath = createXfrom_mapIndex(_mapIndex, _materialPath) bridgePath = mapPrimPath + "/bridge" UsdGeom.Xform.Define(stage, bridgePath) # Must be pre-converted if using USD. src_brid_path = "" if in_convert_to_usd: path = in_output_usd_folder if path == "": path = in_plateau_obj_path + "/output_usd" if (await ocl_existPath_async(path)): path += "/bridge/" + str(_mapIndex) + "*" src_brid_path = path + "/" + str(_mapIndex) + "*.usd" if src_brid_path == "": src_brid_path = bridge_path + "/**/" + str(_mapIndex) + "*.obj" # Search subdirectories. for path in glob.glob(src_brid_path, recursive=True): fName = os.path.basename(path) mIndex = 0 p1 = fName.find('_') if p1 > 0: s = fName[0:p1] mIndex = int(s) if mIndex == 0: continue # Conv Prim name. primName = convFileNameToUSDPrimName(fName) # When usd file is output on Nucleus, check the corresponding file. if in_output_folder != "": fName2 = str(mIndex) + "_brid.usd" newPath = in_output_folder + "/data" newPath += "/bridge/" + str(mIndex) + "/" + fName2 if (await ocl_existPath_async(newPath)): path = newPath # Create Xform. newPath = bridgePath + "/" + primName UsdGeom.Xform.Define(stage, newPath) prim = stage.GetPrimAtPath(newPath) # Remove references. prim.GetReferences().ClearReferences() # Add a reference. prim.GetReferences().AddReference(path) setRotate(prim, -90.0, 0.0, 0.0) setScale(prim, 100.0, 100.0, 100.0) # Pass the process to Omniverse. asyncio.ensure_future(_omniverse_sync_wait()) # --------------------------------------. # load tran. # @param[in] _mapIndex map index. # @param[in] _materialPath material prim path. # --------------------------------------. async def loadTran (_mapIndex : int, _materialPath : str): if (await ocl_existPath_async(tran_path)) == False: return mapPrimPath = createXfrom_mapIndex(_mapIndex, _materialPath) tranPath = mapPrimPath + "/tran" UsdGeom.Xform.Define(stage, tranPath) # Must be pre-converted if using USD. src_tran_path = "" if in_convert_to_usd: path = in_output_usd_folder if path == "": path = in_plateau_obj_path + "/output_usd" if (await ocl_existPath_async(path)): path += "/tran/" + str(_mapIndex) + "*" src_tran_path = path + "/" + str(_mapIndex) + "*.usd" if src_tran_path == "": src_tran_path = tran_path + "/**/" + str(_mapIndex) + "*.obj" # Search subdirectories. for path in glob.glob(src_tran_path, recursive=True): fName = os.path.basename(path) mIndex = 0 p1 = fName.find('_') if p1 > 0: s = fName[0:p1] mIndex = int(s) if mIndex == 0: continue # Conv Prim name. primName = convFileNameToUSDPrimName(fName) # When usd file is output on Nucleus, check the corresponding file. if in_output_folder != "": fName2 = str(mIndex) + "_tran.usd" newPath = in_output_folder + "/data" newPath += "/tran/" + str(mIndex) + "/" + fName2 if (await ocl_existPath_async(newPath)): path = newPath # Create Xform. newPath = tranPath + "/" + primName UsdGeom.Xform.Define(stage, newPath) prim = stage.GetPrimAtPath(newPath) # Remove references. prim.GetReferences().ClearReferences() # Add a reference. prim.GetReferences().AddReference(path) setRotate(prim, -90.0, 0.0, 0.0) setScale(prim, 100.0, 100.0, 100.0) heightPos = 5.0 setTranslate(prim, 0.0, heightPos, 0.0) # Create/Set material. matPath = "/World/Looks/mat_trans" primM = stage.GetPrimAtPath(matPath) if not primM.IsValid(): col = Gf.Vec3f(0, 1, 0) createMaterialOmniPBR(matPath, "", "", col) primM = stage.GetPrimAtPath(matPath) material = UsdShade.Material(primM) UsdShade.MaterialBindingAPI(prim).Bind(material) # Pass the process to Omniverse. asyncio.ensure_future(_omniverse_sync_wait()) # --------------------------------------. # Convert obj files to USD. # --------------------------------------. # Get target path for converting dem obj to usd. async def get_ObjToUsdDem (_mapIndex : int, _dstPath : str): if (await ocl_existPath_async(dem_path)) == False: return dstPath = _dstPath + "/dem" if (await ocl_existPath_async(dstPath)) == False: result = omni.client.create_folder(dstPath) if result != omni.client.Result.OK: return srcObjPathList = [] dstUsdPathList = [] for path in glob.glob(dem_path + "/" + str(_mapIndex) + "*.obj"): fName = os.path.basename(path) # Get map index from file name. mapIndex = 0 p1 = fName.find('_') if p1 > 0: mapIndex = int(fName[0:p1]) dstPath2 = dstPath + "/" + str(mapIndex) if (await ocl_existPath_async(dstPath2)) == False: omni.client.create_folder(dstPath2) usdPath = dstPath2 + "/" + str(mapIndex) + "_dem.usd" if (await ocl_existPath_async(usdPath)): continue srcObjPathList.append(path) dstUsdPathList.append(usdPath) return srcObjPathList, dstUsdPathList # Get target path for converting bldg obj to usd. async def get_ObjToUsdBuilding (_mapIndex : int, _dstPath : str): srcObjPathList = [] dstUsdPathList = [] if (await ocl_existPath_async(buliding_lod1_path)): dstPath = _dstPath + "/building/lod1" for path in glob.glob(buliding_lod1_path + "/**/" + str(_mapIndex) + "*.obj", recursive=True): if (await ocl_existPath_async(dstPath)) == False: omni.client.create_folder(dstPath) fName = os.path.basename(path) # Get map index from file name. mapIndex = 0 p1 = fName.find('_') if p1 > 0: mapIndex = int(fName[0:p1]) dstPath2 = dstPath + "/" + str(mapIndex) if (await ocl_existPath_async(dstPath2)) == False: omni.client.create_folder(dstPath2) usdPath = dstPath2 + "/" + str(mapIndex) + "_bldg.usd" if (await ocl_existPath_async(usdPath)): continue srcObjPathList.append(path) dstUsdPathList.append(usdPath) if (await ocl_existPath_async(buliding_lod2_path)) and in_load_lod2: dstPath = _dstPath + "/building/lod2" for path in glob.glob(buliding_lod2_path + "/**/" + str(_mapIndex) + "*.obj", recursive=True): if (await ocl_existPath_async(dstPath)) == False: omni.client.create_folder(dstPath) fName = os.path.basename(path) # Get map index from file name. mapIndex = 0 p1 = fName.find('_') if p1 > 0: mapIndex = int(fName[0:p1]) dstPath2 = dstPath + "/" + str(mapIndex) if (await ocl_existPath_async(dstPath2)) == False: omni.client.create_folder(dstPath2) usdPath = dstPath2 + "/" + str(mapIndex) + "_bldg.usd" if (await ocl_existPath_async(usdPath)): continue srcObjPathList.append(path) dstUsdPathList.append(usdPath) return srcObjPathList, dstUsdPathList # Get target path for converting bridge obj to usd. async def get_ObjToUsdBridge (_mapIndex : int, _dstPath : str): srcObjPathList = [] dstUsdPathList = [] if (await ocl_existPath_async(bridge_path)): dstPath = _dstPath + "/bridge" for path in glob.glob(bridge_path + "/**/" + str(_mapIndex) + "*.obj", recursive=True): if (await ocl_existPath_async(dstPath)) == False: omni.client.create_folder(dstPath) fName = os.path.basename(path) # Get map index from file name. mapIndex = 0 p1 = fName.find('_') if p1 > 0: mapIndex = int(fName[0:p1]) dstPath2 = dstPath + "/" + str(mapIndex) if (await ocl_existPath_async(dstPath2)) == False: omni.client.create_folder(dstPath2) usdPath = dstPath2 + "/" + str(mapIndex) + "_brid.usd" if (await ocl_existPath_async(usdPath)): continue srcObjPathList.append(path) dstUsdPathList.append(usdPath) return srcObjPathList, dstUsdPathList # Get target path for converting tran obj to usd. async def get_ObjToUsdTran (_mapIndex : int, _dstPath : str): srcObjPathList = [] dstUsdPathList = [] if (await ocl_existPath_async(tran_path)): dstPath = _dstPath + "/tran" if (await ocl_existPath_async(dstPath)) == False: omni.client.create_folder(dstPath) for path in glob.glob(tran_path + "/**/" + str(_mapIndex) + "*.obj", recursive=True): fName = os.path.basename(path) # Get map index from file name. mapIndex = 0 p1 = fName.find('_') if p1 > 0: mapIndex = int(fName[0:p1]) dstPath2 = dstPath + "/" + str(mapIndex) if (await ocl_existPath_async(dstPath2)) == False: omni.client.create_folder(dstPath2) usdPath = dstPath2 + "/" + str(mapIndex) + "_tran.usd" if (await ocl_existPath_async(usdPath)): continue srcObjPathList.append(path) dstUsdPathList.append(usdPath) return srcObjPathList, dstUsdPathList # Convert asset file(obj/fbx/glTF, etc) to usd. async def convert_asset_to_usd (input_path_list, output_path_list): # Input options are defaults. converter_context = omni.kit.asset_converter.AssetConverterContext() converter_context.ignore_materials = False converter_context.ignore_camera = False converter_context.ignore_animations = False converter_context.ignore_light = False converter_context.export_preview_surface = False converter_context.use_meter_as_world_unit = False converter_context.create_world_as_default_root_prim = True converter_context.embed_textures = True converter_context.convert_fbx_to_y_up = False converter_context.convert_fbx_to_z_up = False converter_context.merge_all_meshes = False converter_context.use_double_precision_to_usd_transform_op = False converter_context.ignore_pivots = False converter_context.keep_all_materials = True converter_context.smooth_normals = True instance = omni.kit.asset_converter.get_instance() for i in range(len(input_path_list)): input_asset = input_path_list[i] output_usd = output_path_list[i] task = instance.create_converter_task(input_asset, output_usd, None, converter_context) # Wait for completion. success = await task.wait_until_finished() if not success: carb.log_error(task.get_status(), task.get_detailed_error()) break # convert obj(dem/dldg/drid/tran) to usd. async def convertObjToUsd (): if (await ocl_existPath_async(in_plateau_obj_path)) == False: return dstPath = in_output_usd_folder if dstPath == "": dstPath = in_plateau_obj_path + "/output_usd" if in_output_folder != "": dstPath = in_output_folder + "/data" if (await ocl_existPath_async(dstPath)) == False: result = omni.client.create_folder(dstPath) if result != omni.client.Result.OK: return srcObjPathList = [] dstUsdPathList = [] for mapIndex in mapIndexList: ##sList, dList = get_ObjToUsdDem(mapIndex, dstPath) sList, dList = await get_ObjToUsdDem(mapIndex, dstPath) srcObjPathList.extend(sList) dstUsdPathList.extend(dList) for mapIndex in mapIndexList: #sList, dList = get_ObjToUsdBuilding(mapIndex, dstPath) sList, dList = await get_ObjToUsdBuilding(mapIndex, dstPath) srcObjPathList.extend(sList) dstUsdPathList.extend(dList) if in_load_bridge: for mapIndex in mapIndexList: #sList, dList = get_ObjToUsdBridge(mapIndex, dstPath) sList, dList = await get_ObjToUsdBridge(mapIndex, dstPath) srcObjPathList.extend(sList) dstUsdPathList.extend(dList) if in_load_tran: for mapIndex in mapIndexList: #sList, dList = get_ObjToUsdTran(mapIndex, dstPath) sList, dList = await get_ObjToUsdTran(mapIndex, dstPath) srcObjPathList.extend(sList) dstUsdPathList.extend(dList) # Wait for usd conversion. if len(srcObjPathList) > 0: task = asyncio.create_task(convert_asset_to_usd(srcObjPathList, dstUsdPathList)) await task print(f"PLATEAU : convert obj to usd ({ len(srcObjPathList) })") asyncio.ensure_future(_omniverse_sync_wait()) # Copy geoTiff images. async def copyGEOTiffImages (srcPath : str, _mapIndex : int): if in_output_folder == "": return if (await ocl_existPath_async(srcPath)) == False: return dstPath = in_output_folder + "/data/geotiff_images" if (await ocl_existPath_async(dstPath)) == False: result = omni.client.create_folder(dstPath) if result != omni.client.Result.OK: return imgCou = 0 for path in glob.glob(srcPath + "/" + str(_mapIndex) + "*.*"): fName = os.path.basename(path) dPath = dstPath + "/" + fName if (await ocl_existPath_async(dPath)): continue try: # TODO : Warning ? result = omni.client.copy(path, dPath) if result == omni.client.Result.OK: imgCou += 1 except: pass if imgCou > 0: print(f"PLATEAU : copy GEOTiff images ({ imgCou })") # --------------------------------------. # load PLATEAU data. # --------------------------------------. async def load_PLATEAU (): if (await ocl_existPath_async(in_plateau_obj_path)) == False: return print("PLATEAU : Start processing.") # Convert obj to usd. if in_convert_to_usd: task = asyncio.create_task(convertObjToUsd()) await task # Copy GEOTiff images. if in_dem_textures_path != "": for mapIndex in mapIndexList: await copyGEOTiffImages(in_dem_textures_path, mapIndex) # Create OmniPBR material. materialLooksPath = defaultPrimPath + "/Looks" prim = stage.GetPrimAtPath(materialLooksPath) if prim.IsValid() == False: UsdGeom.Scope.Define(stage, materialLooksPath) defaultMaterialPath = createMaterialOmniPBR(materialLooksPath + "/defaultMaterial") for mapIndex in mapIndexList: task_dem = asyncio.create_task(loadDem(mapIndex, defaultMaterialPath)) await task_dem if not in_load_lod1_lod2: task_building = asyncio.create_task(loadBuilding(mapIndex, in_load_lod2, defaultMaterialPath)) await task_building else: task_building_lod1 = asyncio.create_task(loadBuilding(mapIndex, False, defaultMaterialPath)) await task_building_lod1 task_building_lod2 = asyncio.create_task(loadBuilding(mapIndex, True, defaultMaterialPath)) await task_building_lod2 if in_load_bridge and in_load_lod2: task_bridge = asyncio.create_task(loadBridge(mapIndex, defaultMaterialPath)) await task_bridge if in_load_tran: task_tran = asyncio.create_task(loadTran(mapIndex, defaultMaterialPath)) await task_tran print(f"PLATEAU : map_index[{mapIndex}]") print("PLATEAU : Processing is complete.") # --------------------------------------. # --------------------------------------. asyncio.ensure_future(load_PLATEAU())
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ft-lab/omniverse_sample_scripts/PLATEAU/calcLatLongToOmniverse.py
# ------------------------------------------------------------------. # 緯度経度を平面直角座標に変換し、Omniverse(USD)のY-Up/cmに変換. # 参考 : https://vldb.gsi.go.jp/sokuchi/surveycalc/surveycalc/bl2xyf.html # # ただし、日本地図上での計算になる点に注意. # ------------------------------------------------------------------. import math # --------------------------------------. # Input Parameters. # --------------------------------------. # Latitude and longitude. in_lat = 35.680908 in_longi = 139.767348 # ---------------------------------------------------------. # 平面直角座標系の原点の緯度と経度を取得. # 参考 : https://www.gsi.go.jp/LAW/heimencho.html # 東京都の場合は9を指定. # ---------------------------------------------------------. def getOriginLatAndLongi (index : int = 9): latV0 = 0.0 longiV0 = 0.0 # I. if index == 1: latV0 = 33.0 longiV0 = 129.5 # II. elif index == 2: latV0 = 33.0 longiV0 = 131.0 # III. elif index == 3: latV0 = 36.0 longiV0 = 131.16666666 # IV. elif index == 4: latV0 = 33.0 longiV0 = 133.5 # V. elif index == 5: latV0 = 36.0 longiV0 = 134.33333333 # VI. elif index == 6: latV0 = 36.0 longiV0 = 136.0 # VII. elif index == 7: latV0 = 36.0 longiV0 = 137.16666666 # VIII. elif index == 8: latV0 = 36.0 longiV0 = 138.5 # IX. // 東京都(デフォルト). elif index == 9: latV0 = 36.0 longiV0 = 139.83333333 # X. elif index == 10: latV0 = 40.0 longiV0 = 140.83333333 # XI. elif index == 11: latV0 = 44.0 longiV0 = 140.25 # XII. elif index == 12: latV0 = 44.0 longiV0 = 142.25 # XIII. elif index == 13: latV0 = 44.0 longiV0 = 144.25 # XIV. elif index == 14: latV0 = 26.0 longiV0 = 142.0 # XV. elif index == 15: latV0 = 26.0 longiV0 = 127.5 # XVI. elif index == 16: latV0 = 26.0 longiV0 = 124.0 # XVII. elif index == 17: latV0 = 26.0 longiV0 = 131.0 # XVIII. elif index == 18: latV0 = 20.0 longiV0 = 136.0 # XIX. elif index == 19: latV0 = 26.0 longiV0 = 154.0 return latV0, longiV0 # ---------------------------------------------. # 緯度経度を平面直角座標に変換. # @param[in] latV 緯度 (10進数の度数指定). # @param[in] longiV 経度 (10進数の度数指定). # @param[in] originIndex 平面直角座標系の原点の番号. # https://www.gsi.go.jp/LAW/heimencho.html # @return x, y (m単位) # ---------------------------------------------. def calcLatLongToHeimenChokaku (latV : float, longiV : float, originIndex : int = 9): # 赤道半径 (km) = 楕円体の長半径. R = 6378.137 # 極半径 (km). R2 = 6356.752 # 逆扁平率. F = 298.257222101 # 平面直角座標系のX軸上における縮尺係数. m0 = 0.9999 # 平面直角座標系の原点の緯度と経度. # https://www.gsi.go.jp/LAW/heimencho.html # 地域によってこれは変わる。東京の場合はIX(9)番目のものを使用. latV0, longiV0 = getOriginLatAndLongi(originIndex) # 度数をラジアンに変換. lat0R = latV0 * math.pi / 180.0 longi0R = longiV0 * math.pi / 180.0 latR = latV * math.pi / 180.0 longiR = longiV * math.pi / 180.0 n = 1.0 / (2.0 * F - 1.0) A0 = 1.0 + (n**2) / 4.0 + (n**4) / 64.0 A1 = (-3.0 / 2.0) * (n - (n**3) / 8.0 - (n**5) / 64.0) A2 = (15.0 / 16.0) * ((n**2) - (n**4) / 4.0) A3 = (-35.0/ 48.0) * ((n**3) - (5.0 / 16.0) * (n**5)) A4 = (315.0 / 512.0) * (n**4) A5 = (-693.0/1280.0) * (n**5) A_Array = [A0, A1, A2, A3 , A4, A5] a1 = (1.0 / 2.0) * n - (2.0 / 3.0) * (n**2) + (5.0 / 16.0) * (n**3) + (41.0 / 180.0) * (n**4) - (127.0 / 288.0) * (n**5) a2 = (13.0 / 48.0) * (n**2) - (3.0 / 5.0) * (n**3) + (557.0 / 1440.0) * (n**4) + (281.0 / 630.0) * (n**5) a3 = (61.0 / 240.0) * (n**3) - (103.0 / 140.0) * (n**4) + (15061.0 / 26880.0) * (n**5) a4 = (49561.0 / 161280.0) * (n**4) - (179.0 / 168.0) * (n**5) a5 = (34729.0 / 80640.0) * (n**5) a_Array = [0.0, a1, a2, a3, a4, a5] A_ = ((m0 * R) / (1.0 + n)) * A0 v = 0.0 for i in range(5): v += A_Array[i + 1] * math.sin(2.0 * (float)(i + 1) * lat0R) S_ = ((m0 * R) / (1.0 + n)) * (A0 * lat0R + v) lambdaC = math.cos(longiR - longi0R) lambdaS = math.sin(longiR - longi0R) t = math.sinh(math.atanh(math.sin(latR)) - ((2.0 * math.sqrt(n)) / (1.0 + n)) * math.atanh(((2.0 * math.sqrt(n)) / (1.0 + n)) * math.sin(latR))) t_ = math.sqrt(1.0 + t * t) xi2 = math.atan(t / lambdaC) eta2 = math.atanh(lambdaS / t_) v = 0.0 for i in range(5): v += a_Array[i + 1] * math.sin(2.0 * (float)(i + 1) * xi2) * math.cosh(2.0 * (float)(i + 1) * eta2) x = A_ * (xi2 + v) - S_ v = 0.0 for i in range(5): v += a_Array[i + 1] * math.cos(2.0 * (float)(i + 1) * xi2) * math.sinh(2.0 * (float)(i + 1) * eta2) y = A_ * (eta2 + v) # kmからmに変換して返す. return (x * 1000.0), (y * 1000.0) # ----------------------------------------------------------. # 緯度経度から平面直角座標に変換(単位 m). originIndex = 9 # Tokyo. x,y = calcLatLongToHeimenChokaku(in_lat, in_longi, originIndex) print("Latitude = " + str(in_lat)) print("Longitude = " + str(in_longi)) print(" X = " + str(x) + " (m)") print(" Y = " + str(y) + " (m)") # Omniverse(USD)のY-up/右手座標系/cmに変換. x2 = y * 100.0 z2 = -x * 100.0 print("[ Omniverse ] (Y-up/right hand/cm)") print(" x = " + str(x2) + " (cm)") print(" z = " + str(z2) + " (cm)")
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ft-lab/omniverse_sample_scripts/PLATEAU/calcDistance.py
from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf import omni.usd # Get stage. stage = omni.usd.get_context().get_stage() # -------------------------------------------------. # Calculate bounding box in world coordinates. # -------------------------------------------------. def _calcWorldBoundingBox (prim : Usd.Prim): # Calc world boundingBox. bboxCache = UsdGeom.BBoxCache(Usd.TimeCode.Default(), ["default"]) bboxD = bboxCache.ComputeWorldBound(prim).ComputeAlignedRange() bb_min = Gf.Vec3f(bboxD.GetMin()) bb_max = Gf.Vec3f(bboxD.GetMax()) return bb_min, bb_max # -------------------------------------------------. # Calculate the distance between two selected shapes. # -------------------------------------------------. # Get selection. selection = omni.usd.get_context().get_selection() paths = selection.get_selected_prim_paths() wPosList = [] for path in paths: # Get prim. prim = stage.GetPrimAtPath(path) if prim.IsValid(): bbMin, bbMax = _calcWorldBoundingBox(prim) wCenter = Gf.Vec3f((bbMax[0] + bbMin[0]) * 0.5, (bbMax[1] + bbMin[1]) * 0.5, (bbMax[2] + bbMin[2]) * 0.5) wPosList.append(wCenter) continue if len(wPosList) == 2: distV = (wPosList[1] - wPosList[0]).GetLength() print("Distance : " + str(distV) + " cm ( " + str(distV * 0.01) + " m)")
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ft-lab/omniverse_sample_scripts/Animation/GetTimeCode.py
from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf # Get stage. stage = omni.usd.get_context().get_stage() # Get TimeCode. print(f"Start TimeCode : {stage.GetStartTimeCode()}") print(f"End TimeCode : {stage.GetEndTimeCode()}") # Get frame rate. print(f"TimeCodesPerSecond : {stage.GetTimeCodesPerSecond()}")
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Python
24.076921
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ft-lab/omniverse_sample_scripts/Animation/GetCurrentTimeCode.py
from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf import omni.usd import omni.timeline # Get stage. stage = omni.usd.get_context().get_stage() # Get current timeCode. time_code = omni.timeline.get_timeline_interface().get_current_time() * stage.GetTimeCodesPerSecond() print(f"Current timeCode : {time_code}")
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ft-lab/Omniverse_OmniGraph_ClockSample/extension/ft_lab.OmniGraph.GetDateTime/ft_lab/OmniGraph/GetDateTime/extension.py
import omni.ext import importlib import os from .ogn import * # Any class derived from `omni.ext.IExt` in top level module (defined in `python.modules` of `extension.toml`) will be # instantiated when extension gets enabled and `on_startup(ext_id)` will be called. Later when extension gets disabled # on_shutdown() is called. class SimpleNodeExtension(omni.ext.IExt): # ext_id is current extension id. It can be used with extension manager to query additional information, like where # this extension is located on filesystem. def on_startup(self, ext_id): print("[ft_lab.OmniGraph.GetDateTime] startup") def on_shutdown(self): print("[ft_lab.OmniGraph.GetDateTime] shutdown")
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ft-lab/Omniverse_OmniGraph_ClockSample/extension/ft_lab.OmniGraph.GetDateTime/ft_lab/OmniGraph/GetDateTime/ogn/GetDateTimeDatabase.py
import omni.graph.core as og import omni.graph.core._omni_graph_core as _og import omni.graph.tools.ogn as ogn import numpy import sys import traceback import carb class GetDateTimeDatabase(og.Database): """Helper class providing simplified access to data on nodes of type ft_lab.OmniGraph.GetDateTime.GetDateTime Class Members: node: Node being evaluated Attribute Value Properties: Inputs: Outputs: outputs.a1_year outputs.a2_month outputs.a3_day outputs.b1_hour outputs.b2_minute outputs.b3_second """ # Omniverse Create 2022.3.3 (Kit.104) #GENERATOR_VERSION = (1, 17, 2) #TARGET_VERSION = (2, 65, 4) # Imprint the generator and target ABI versions in the file for JIT generation # USD Composer 2023.2.2 (Kit.105.1.2) GENERATOR_VERSION = (1, 41, 3) TARGET_VERSION = (2, 139, 12) # This is an internal object that provides per-class storage of a per-node data dictionary PER_NODE_DATA = {} INTERFACE = og.Database._get_interface([ ('outputs:a1_year', 'int', 0, 'Year', 'output year', {ogn.MetadataKeys.DEFAULT: '2000'}, True, 0, False, ''), ('outputs:a2_month', 'int', 0, 'Month', 'output month', {ogn.MetadataKeys.DEFAULT: '1'}, True, 0, False, ''), ('outputs:a3_day', 'int', 0, 'Day', 'output day', {ogn.MetadataKeys.DEFAULT: '1'}, True, 0, False, ''), ('outputs:b1_hour', 'int', 0, 'Hour', 'output hour', {ogn.MetadataKeys.DEFAULT: '1'}, True, 0, False, ''), ('outputs:b2_minute', 'int', 0, 'Minute', 'output minute', {ogn.MetadataKeys.DEFAULT: '0'}, True, 0, False, ''), ('outputs:b3_second', 'int', 0, 'Second', 'output second', {ogn.MetadataKeys.DEFAULT: '0'}, True, 0, False, ''), ]) # ----------------------------------------------------. # Processing Output Parameter. # ----------------------------------------------------. class ValuesForOutputs(og.DynamicAttributeAccess): LOCAL_PROPERTY_NAMES = { "a1_year", "a2_month", "a3_day", "b1_hour", "b2_month", "b3_second" } """Helper class that creates natural hierarchical access to output attributes""" def __init__(self, node: og.Node, attributes, dynamic_attributes: og.DynamicAttributeInterface): """Initialize simplified access for the attribute data""" context = node.get_graph().get_default_graph_context() super().__init__(context, node, attributes, dynamic_attributes) self._batchedWriteValues = { } @property def a1_year(self): value = self._batchedWriteValues.get(self._attributes.a1_year) if value: return value else: data_view = og.AttributeValueHelper(self._attributes.a1_year) return data_view.get() @a1_year.setter def a1_year(self, value): self._batchedWriteValues[self._attributes.a1_year] = value @property def a2_month(self): value = self._batchedWriteValues.get(self._attributes.a2_month) if value: return value else: data_view = og.AttributeValueHelper(self._attributes.a2_month) return data_view.get() @a2_month.setter def a2_month(self, value): self._batchedWriteValues[self._attributes.a2_month] = value @property def a3_day(self): value = self._batchedWriteValues.get(self._attributes.a3_day) if value: return value else: data_view = og.AttributeValueHelper(self._attributes.a3_day) return data_view.get() @a3_day.setter def a3_day(self, value): self._batchedWriteValues[self._attributes.a3_day] = value @property def b1_hour(self): value = self._batchedWriteValues.get(self._attributes.b1_hour) if value: return value else: data_view = og.AttributeValueHelper(self._attributes.b1_hour) return data_view.get() @b1_hour.setter def b1_hour(self, value): self._batchedWriteValues[self._attributes.b1_hour] = value @property def b2_minute(self): value = self._batchedWriteValues.get(self._attributes.b2_minute) if value: return value else: data_view = og.AttributeValueHelper(self._attributes.b2_minute) return data_view.get() @b2_minute.setter def b2_minute(self, value): self._batchedWriteValues[self._attributes.b2_minute] = value @property def b3_second(self): value = self._batchedWriteValues.get(self._attributes.b3_second) if value: return value else: data_view = og.AttributeValueHelper(self._attributes.b3_second) return data_view.get() @b3_second.setter def b3_second(self, value): self._batchedWriteValues[self._attributes.b3_second] = value def __getattr__(self, item: str): if item in self.LOCAL_PROPERTY_NAMES: return object.__getattribute__(self, item) else: return super().__getattr__(item) def __setattr__(self, item: str, new_value): if item in self.LOCAL_PROPERTY_NAMES: object.__setattr__(self, item, new_value) else: super().__setattr__(item, new_value) def _commit(self): _og._commit_output_attributes_data(self._batchedWriteValues) self._batchedWriteValues = { } class ValuesForState(og.DynamicAttributeAccess): """Helper class that creates natural hierarchical access to state attributes""" def __init__(self, node: og.Node, attributes, dynamic_attributes: og.DynamicAttributeInterface): """Initialize simplified access for the attribute data""" context = node.get_graph().get_default_graph_context() super().__init__(context, node, attributes, dynamic_attributes) def __init__(self, node): super().__init__(node) dynamic_attributes = self.dynamic_attribute_data(node, og.AttributePortType.ATTRIBUTE_PORT_TYPE_OUTPUT) self.outputs = GetDateTimeDatabase.ValuesForOutputs(node, self.attributes.outputs, dynamic_attributes) dynamic_attributes = self.dynamic_attribute_data(node, og.AttributePortType.ATTRIBUTE_PORT_TYPE_STATE) self.state = GetDateTimeDatabase.ValuesForState(node, self.attributes.state, dynamic_attributes) # ----------------------------------------------------. # Class defining the ABI interface for the node type. # ----------------------------------------------------. class abi: @staticmethod def get_node_type(): get_node_type_function = getattr(GetDateTimeDatabase.NODE_TYPE_CLASS, 'get_node_type', None) if callable(get_node_type_function): return get_node_type_function() return 'ft_lab.OmniGraph.GetDateTime.GetDateTime' @staticmethod def compute(context, node): def database_valid(): return True try: per_node_data = GetDateTimeDatabase.PER_NODE_DATA[node.node_id()] db = per_node_data.get('_db') if db is None: db = GetDateTimeDatabase(node) per_node_data['_db'] = db if not database_valid(): per_node_data['_db'] = None return False except: db = GetDateTimeDatabase(node) try: compute_function = getattr(GetDateTimeDatabase.NODE_TYPE_CLASS, 'compute', None) if callable(compute_function) and compute_function.__code__.co_argcount > 1: return compute_function(context, node) with og.in_compute(): return GetDateTimeDatabase.NODE_TYPE_CLASS.compute(db) except Exception as error: stack_trace = "".join(traceback.format_tb(sys.exc_info()[2].tb_next)) db.log_error(f'Assertion raised in compute - {error}\n{stack_trace}', add_context=False) finally: db.outputs._commit() return False @staticmethod def initialize(context, node): GetDateTimeDatabase._initialize_per_node_data(node) initialize_function = getattr(GetDateTimeDatabase.NODE_TYPE_CLASS, 'initialize', None) if callable(initialize_function): initialize_function(context, node) @staticmethod def release(node): release_function = getattr(GetDateTimeDatabase.NODE_TYPE_CLASS, 'release', None) if callable(release_function): release_function(node) GetDateTimeDatabase._release_per_node_data(node) @staticmethod def update_node_version(context, node, old_version, new_version): update_node_version_function = getattr(GetDateTimeDatabase.NODE_TYPE_CLASS, 'update_node_version', None) if callable(update_node_version_function): return update_node_version_function(context, node, old_version, new_version) return False @staticmethod def initialize_type(node_type): initialize_type_function = getattr(GetDateTimeDatabase.NODE_TYPE_CLASS, 'initialize_type', None) needs_initializing = True if callable(initialize_type_function): needs_initializing = initialize_type_function(node_type) if needs_initializing: node_type.set_metadata(ogn.MetadataKeys.EXTENSION, "ft_lab.OmniGraph.GetDateTime") node_type.set_metadata(ogn.MetadataKeys.UI_NAME, "Get DateTime") node_type.set_metadata(ogn.MetadataKeys.CATEGORIES, "examples") node_type.set_metadata(ogn.MetadataKeys.DESCRIPTION, "Get current date and time") node_type.set_metadata(ogn.MetadataKeys.LANGUAGE, "Python") # Set Icon(svg). icon_path = carb.tokens.get_tokens_interface().resolve("${ft_lab.OmniGraph.GetDateTime}") icon_path = icon_path + '/' + "data/icons/ft_lab.OmniGraph.GetDateTime.icon.svg" node_type.set_metadata(ogn.MetadataKeys.ICON_PATH, icon_path) GetDateTimeDatabase.INTERFACE.add_to_node_type(node_type) @staticmethod def on_connection_type_resolve(node): on_connection_type_resolve_function = getattr(GetDateTimeDatabase.NODE_TYPE_CLASS, 'on_connection_type_resolve', None) if callable(on_connection_type_resolve_function): on_connection_type_resolve_function(node) NODE_TYPE_CLASS = None @staticmethod def register(node_type_class): GetDateTimeDatabase.NODE_TYPE_CLASS = node_type_class og.register_node_type(GetDateTimeDatabase.abi, 1) @staticmethod def deregister(): og.deregister_node_type("ft_lab.OmniGraph.GetDateTime.GetDateTime")
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ft-lab/Omniverse_OmniGraph_ClockSample/extension/ft_lab.OmniGraph.GetDateTime/ft_lab/OmniGraph/GetDateTime/ogn/OutputToLCDDatabase.py
import omni.graph.core as og import omni.graph.core._omni_graph_core as _og import omni.graph.tools.ogn as ogn import numpy import sys import traceback import carb from typing import Any class OutputToLCDDatabase(og.Database): """Helper class providing simplified access to data on nodes of type ft_lab.OmniGraph.GetDateTime.OutputToDatabaseDatabase Class Members: node: Node being evaluated Attribute Value Properties: Inputs: inputs.a1_hourNum10Prim inputs.a2_hourNum1Prim inputs.b1_minuteNum10Prim inputs.b2_minuteNum1Prim inputs.c1_amPrim inputs.c2_pmPrim inputs.d1_hour inputs.d2_minute inputs.d3_second Outputs: """ # Omniverse Create 2022.3.3 (Kit.104) #GENERATOR_VERSION = (1, 17, 2) #TARGET_VERSION = (2, 65, 4) # Imprint the generator and target ABI versions in the file for JIT generation # USD Composer 2023.2.2 (Kit.105.1.2) GENERATOR_VERSION = (1, 41, 3) TARGET_VERSION = (2, 139, 12) # This is an internal object that provides per-class storage of a per-node data dictionary PER_NODE_DATA = {} INTERFACE = og.Database._get_interface([ ('inputs:a1_hourNum10Prim', 'token', 0, 'HourNum10 Prim', 'HourNum10 Prim', {}, True, None, False, ''), ('inputs:a2_hourNum1Prim', 'token', 0, 'HourNum1 Prim', 'HourNum1 Prim', {}, True, None, False, ''), ('inputs:b1_minuteNum10Prim', 'token', 0, 'MinuteNum10 Prim', 'MinuteNum10 Prim', {}, True, None, False, ''), ('inputs:b2_minuteNum1Prim', 'token', 0, 'MinuteNum1 Prim', 'MinuteNum1 Prim', {}, True, None, False, ''), ('inputs:c1_amPrim', 'token', 0, 'AM Prim', 'AM Prim', {}, True, None, False, ''), ('inputs:c2_pmPrim', 'token', 0, 'PM Prim', 'PM Prim', {}, True, None, False, ''), ('inputs:d1_hour', 'int', 0, 'Hour', 'Hour', {}, True, 0, False, ''), ('inputs:d2_minute', 'int', 0, 'Minute', 'Minute', {}, True, 0, False, ''), ('inputs:d3_second', 'int', 0, 'Second', 'Second', {}, True, 0, False, ''), ]) # ----------------------------------------------------. # Processing Input Parameters. # ----------------------------------------------------. class ValuesForInputs(og.DynamicAttributeAccess): LOCAL_PROPERTY_NAMES = {"a1_hourNum10Prim", "a2_hourNum1Prim", "b1_minuteNum10Prim", "b2_minuteNum1Prim", "c1_amPrim", "c2_pmPrim", "d1_hour", "d2_minute", "d3_second"} """Helper class that creates natural hierarchical access to input attributes""" def __init__(self, node: og.Node, attributes, dynamic_attributes: og.DynamicAttributeInterface): """Initialize simplified access for the attribute data""" context = node.get_graph().get_default_graph_context() super().__init__(context, node, attributes, dynamic_attributes) self._batchedReadAttributes = [self._attributes.a1_hourNum10Prim, self._attributes.a2_hourNum1Prim, self._attributes.b1_minuteNum10Prim, self._attributes.b2_minuteNum1Prim, self._attributes.c1_amPrim, self._attributes.c2_pmPrim, self._attributes.d1_hour, self._attributes.d2_minute, self._attributes.d3_second] self._batchedReadValues = ["", "", "", "", "", "", 0, 0, 0] @property def a1_hourNum10Prim(self): return self._batchedReadValues[0] @a1_hourNum10Prim.setter def a1_hourNum10Prim(self, value): self._batchedReadValues[0] = value @property def a2_hourNum1Prim(self): return self._batchedReadValues[1] @a2_hourNum1Prim.setter def a2_hourNum1Prim(self, value): self._batchedReadValues[1] = value @property def b1_minuteNum10Prim(self): return self._batchedReadValues[2] @b1_minuteNum10Prim.setter def b1_minuteNum10Prim(self, value): self._batchedReadValues[2] = value @property def b2_minuteNum1Prim(self): return self._batchedReadValues[3] @b2_minuteNum1Prim.setter def b2_minuteNum1Prim(self, value): self._batchedReadValues[3] = value @property def c1_amPrim(self): return self._batchedReadValues[4] @c1_amPrim.setter def c1_amPrim(self, value): self._batchedReadValues[4] = value @property def c2_pmPrim(self): return self._batchedReadValues[5] @c2_pmPrim.setter def c2_pmPrim(self, value): self._batchedReadValues[5] = value @property def d1_hour(self): return self._batchedReadValues[6] @d1_hour.setter def d1_hour(self, value): self._batchedReadValues[6] = value @property def d2_minute(self): return self._batchedReadValues[7] @d2_minute.setter def d2_minute(self, value): self._batchedReadValues[7] = value @property def d3_second(self): return self._batchedReadValues[8] @d3_second.setter def d3_second(self, value): self._batchedReadValues[8] = value def __getattr__(self, item: str): if item in self.LOCAL_PROPERTY_NAMES: return object.__getattribute__(self, item) else: return super().__getattr__(item) def __setattr__(self, item: str, new_value): if item in self.LOCAL_PROPERTY_NAMES: object.__setattr__(self, item, new_value) else: super().__setattr__(item, new_value) def _prefetch(self): readAttributes = self._batchedReadAttributes newValues = _og._prefetch_input_attributes_data(readAttributes) if len(readAttributes) == len(newValues): self._batchedReadValues = newValues class ValuesForState(og.DynamicAttributeAccess): """Helper class that creates natural hierarchical access to state attributes""" def __init__(self, node: og.Node, attributes, dynamic_attributes: og.DynamicAttributeInterface): """Initialize simplified access for the attribute data""" context = node.get_graph().get_default_graph_context() super().__init__(context, node, attributes, dynamic_attributes) def __init__(self, node): super().__init__(node) dynamic_attributes = self.dynamic_attribute_data(node, og.AttributePortType.ATTRIBUTE_PORT_TYPE_INPUT) self.inputs = OutputToLCDDatabase.ValuesForInputs(node, self.attributes.inputs, dynamic_attributes) dynamic_attributes = self.dynamic_attribute_data(node, og.AttributePortType.ATTRIBUTE_PORT_TYPE_STATE) self.state = OutputToLCDDatabase.ValuesForState(node, self.attributes.state, dynamic_attributes) # ----------------------------------------------------. # Class defining the ABI interface for the node type. # ----------------------------------------------------. class abi: @staticmethod def get_node_type(): get_node_type_function = getattr(OutputToLCDDatabase.NODE_TYPE_CLASS, 'get_node_type', None) if callable(get_node_type_function): return get_node_type_function() return 'ft_lab.OmniGraph.GetDateTime.OutputToLCD' @staticmethod def compute(context, node): def database_valid(): return True try: per_node_data = OutputToLCDDatabase.PER_NODE_DATA[node.node_id()] db = per_node_data.get('_db') if db is None: db = OutputToLCDDatabase(node) per_node_data['_db'] = db if not database_valid(): per_node_data['_db'] = None return False except: db = OutputToLCDDatabase(node) try: compute_function = getattr(OutputToLCDDatabase.NODE_TYPE_CLASS, 'compute', None) if callable(compute_function) and compute_function.__code__.co_argcount > 1: return compute_function(context, node) db.inputs._prefetch() db.inputs._setting_locked = True with og.in_compute(): return OutputToLCDDatabase.NODE_TYPE_CLASS.compute(db) except Exception as error: stack_trace = "".join(traceback.format_tb(sys.exc_info()[2].tb_next)) db.log_error(f'Assertion raised in compute - {error}\n{stack_trace}', add_context=False) finally: db.inputs._setting_locked = False #db.outputs._commit() return False @staticmethod def initialize(context, node): OutputToLCDDatabase._initialize_per_node_data(node) initialize_function = getattr(OutputToLCDDatabase.NODE_TYPE_CLASS, 'initialize', None) if callable(initialize_function): initialize_function(context, node) @staticmethod def release(node): release_function = getattr(OutputToLCDDatabase.NODE_TYPE_CLASS, 'release', None) if callable(release_function): release_function(node) OutputToLCDDatabase._release_per_node_data(node) @staticmethod def update_node_version(context, node, old_version, new_version): update_node_version_function = getattr(OutputToLCDDatabase.NODE_TYPE_CLASS, 'update_node_version', None) if callable(update_node_version_function): return update_node_version_function(context, node, old_version, new_version) return False @staticmethod def initialize_type(node_type): initialize_type_function = getattr(OutputToLCDDatabase.NODE_TYPE_CLASS, 'initialize_type', None) needs_initializing = True if callable(initialize_type_function): needs_initializing = initialize_type_function(node_type) if needs_initializing: node_type.set_metadata(ogn.MetadataKeys.EXTENSION, "ft_lab.OmniGraph.GetDateTime") node_type.set_metadata(ogn.MetadataKeys.UI_NAME, "Time output to LCD") node_type.set_metadata(ogn.MetadataKeys.CATEGORIES, "examples") node_type.set_metadata(ogn.MetadataKeys.DESCRIPTION, "Time output to LCD") node_type.set_metadata(ogn.MetadataKeys.LANGUAGE, "Python") # Set Icon(svg). icon_path = carb.tokens.get_tokens_interface().resolve("${ft_lab.OmniGraph.GetDateTime}") icon_path = icon_path + '/' + "data/icons/ft_lab.OmniGraph.GetDateTime.outputToLCD.svg" node_type.set_metadata(ogn.MetadataKeys.ICON_PATH, icon_path) OutputToLCDDatabase.INTERFACE.add_to_node_type(node_type) @staticmethod def on_connection_type_resolve(node): on_connection_type_resolve_function = getattr(OutputToLCDDatabase.NODE_TYPE_CLASS, 'on_connection_type_resolve', None) if callable(on_connection_type_resolve_function): on_connection_type_resolve_function(node) NODE_TYPE_CLASS = None @staticmethod def register(node_type_class): OutputToLCDDatabase.NODE_TYPE_CLASS = node_type_class og.register_node_type(OutputToLCDDatabase.abi, 1) @staticmethod def deregister(): og.deregister_node_type("ft_lab.OmniGraph.GetDateTime.OutputToLCD")
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ft-lab/Omniverse_OmniGraph_ClockSample/extension/ft_lab.OmniGraph.GetDateTime/ft_lab/OmniGraph/GetDateTime/ogn/RotationByTimeDatabase.py
import omni.graph.core as og import omni.graph.core._omni_graph_core as _og import omni.graph.tools.ogn as ogn import numpy import sys import traceback import carb class RotationByTimeDatabase(og.Database): """Helper class providing simplified access to data on nodes of type ft_lab.OmniGraph.GetDateTime.RotationByTime Class Members: node: Node being evaluated Attribute Value Properties: Inputs: inputs.a1_defaultRotateXYZ inputs.a2_rotationAxis inputs.b1_hour inputs.b2_minute inputs.b3_second Outputs: outputs.a1_hourRotateXYZ outputs.a2_minuteRotateXYZ outputs.a3_secondRotateXYZ """ # Omniverse Create 2022.3.3 (Kit.104) #GENERATOR_VERSION = (1, 17, 2) #TARGET_VERSION = (2, 65, 4) # Imprint the generator and target ABI versions in the file for JIT generation # USD Composer 2023.2.2 (Kit.105.1.2) GENERATOR_VERSION = (1, 41, 3) TARGET_VERSION = (2, 139, 12) # This is an internal object that provides per-class storage of a per-node data dictionary PER_NODE_DATA = {} INTERFACE = og.Database._get_interface([ ('inputs:a1_defaultRotateXYZ', 'float[3]', 0, 'Default RotateXYZ', 'Default rotateXYZ', {}, True, None, False, ''), ('inputs:a2_rotationAxis', 'int', 0, 'Rotation Axis', 'Rotation axis (0:X, 1:Y, 2:Z)', {}, True, None, False, ''), ('inputs:b1_hour', 'int', 0, 'Hour', 'Hour', {ogn.MetadataKeys.DEFAULT: '0'}, True, 0, False, ''), ('inputs:b2_minute', 'int', 0, 'Minute', 'Minute', {ogn.MetadataKeys.DEFAULT: '0'}, True, 0, False, ''), ('inputs:b3_second', 'int', 0, 'Second', 'Second', {ogn.MetadataKeys.DEFAULT: '0'}, True, 0, False, ''), ('outputs:a1_hourRotateXYZ', 'float[3]', 0, 'Hour RotateXYZ', 'Hour RotateXYZ', {}, True, None, False, ''), ('outputs:a2_minuteRotateXYZ', 'float[3]', 0, 'Minute RotateXYZ', 'Minute RotateXYZ', {}, True, None, False, ''), ('outputs:a3_secondRotateXYZ', 'float[3]', 0, 'Second RotateXYZ', 'Second RotateXYZ', {}, True, None, False, ''), ]) # ----------------------------------------------------. # Processing Input Parameters. # ----------------------------------------------------. class ValuesForInputs(og.DynamicAttributeAccess): LOCAL_PROPERTY_NAMES = {"a1_defaultRotateXYZ", "a2_rotationAxis", "b1_hour", "b2_minute", "b3_second"} """Helper class that creates natural hierarchical access to input attributes""" def __init__(self, node: og.Node, attributes, dynamic_attributes: og.DynamicAttributeInterface): """Initialize simplified access for the attribute data""" context = node.get_graph().get_default_graph_context() super().__init__(context, node, attributes, dynamic_attributes) self._batchedReadAttributes = [self._attributes.a1_defaultRotateXYZ, self._attributes.a2_rotationAxis, self._attributes.b1_hour, self._attributes.b2_minute, self._attributes.b3_second] self._batchedReadValues = [[0.0, 0.0, 0.0], 0, 0, 0, 0] @property def a1_defaultRotateXYZ(self): return self._batchedReadValues[0] @a1_defaultRotateXYZ.setter def a1_defaultRotateXYZ(self, value): self._batchedReadValues[0] = value @property def a2_rotationAxis(self): return self._batchedReadValues[1] @a2_rotationAxis.setter def a2_rotationAxis(self, value): self._batchedReadValues[1] = value @property def b1_hour(self): return self._batchedReadValues[2] @b1_hour.setter def b1_hour(self, value): self._batchedReadValues[2] = value @property def b2_minute(self): return self._batchedReadValues[3] @b2_minute.setter def b2_minute(self, value): self._batchedReadValues[3] = value @property def b3_second(self): return self._batchedReadValues[4] @b3_second.setter def b3_second(self, value): self._batchedReadValues[4] = value def __getattr__(self, item: str): if item in self.LOCAL_PROPERTY_NAMES: return object.__getattribute__(self, item) else: return super().__getattr__(item) def __setattr__(self, item: str, new_value): if item in self.LOCAL_PROPERTY_NAMES: object.__setattr__(self, item, new_value) else: super().__setattr__(item, new_value) def _prefetch(self): readAttributes = self._batchedReadAttributes newValues = _og._prefetch_input_attributes_data(readAttributes) if len(readAttributes) == len(newValues): self._batchedReadValues = newValues # ----------------------------------------------------. # Processing Output Parameter. # ----------------------------------------------------. class ValuesForOutputs(og.DynamicAttributeAccess): LOCAL_PROPERTY_NAMES = { "a1_hourRotateXYZ", "a2_minuiteRotateXYZ", "a3_secondRotateXYZ" } """Helper class that creates natural hierarchical access to output attributes""" def __init__(self, node: og.Node, attributes, dynamic_attributes: og.DynamicAttributeInterface): """Initialize simplified access for the attribute data""" context = node.get_graph().get_default_graph_context() super().__init__(context, node, attributes, dynamic_attributes) self._batchedWriteValues = { } @property def a1_hourRotateXYZ(self): value = self._batchedWriteValues.get(self._attributes.a1_hourRotateXYZ) if value: return value else: data_view = og.AttributeValueHelper(self._attributes.a1_hourRotateXYZ) return data_view.get() @a1_hourRotateXYZ.setter def a1_hourRotateXYZ(self, value): self._batchedWriteValues[self._attributes.a1_hourRotateXYZ] = value @property def a2_minuteRotateXYZ(self): value = self._batchedWriteValues.get(self._attributes.a2_minuteRotateXYZ) if value: return value else: data_view = og.AttributeValueHelper(self._attributes.a2_minuteRotateXYZ) return data_view.get() @a2_minuteRotateXYZ.setter def a2_minuteRotateXYZ(self, value): self._batchedWriteValues[self._attributes.a2_minuteRotateXYZ] = value @property def a3_secondRotateXYZ(self): value = self._batchedWriteValues.get(self._attributes.a3_secondRotateXYZ) if value: return value else: data_view = og.AttributeValueHelper(self._attributes.a3_secondRotateXYZ) return data_view.get() @a3_secondRotateXYZ.setter def a3_secondRotateXYZ(self, value): self._batchedWriteValues[self._attributes.a3_secondRotateXYZ] = value def __getattr__(self, item: str): if item in self.LOCAL_PROPERTY_NAMES: return object.__getattribute__(self, item) else: return super().__getattr__(item) def __setattr__(self, item: str, new_value): if item in self.LOCAL_PROPERTY_NAMES: object.__setattr__(self, item, new_value) else: super().__setattr__(item, new_value) def _commit(self): _og._commit_output_attributes_data(self._batchedWriteValues) self._batchedWriteValues = { } class ValuesForState(og.DynamicAttributeAccess): """Helper class that creates natural hierarchical access to state attributes""" def __init__(self, node: og.Node, attributes, dynamic_attributes: og.DynamicAttributeInterface): """Initialize simplified access for the attribute data""" context = node.get_graph().get_default_graph_context() super().__init__(context, node, attributes, dynamic_attributes) def __init__(self, node): super().__init__(node) dynamic_attributes = self.dynamic_attribute_data(node, og.AttributePortType.ATTRIBUTE_PORT_TYPE_INPUT) self.inputs = RotationByTimeDatabase.ValuesForInputs(node, self.attributes.inputs, dynamic_attributes) dynamic_attributes = self.dynamic_attribute_data(node, og.AttributePortType.ATTRIBUTE_PORT_TYPE_OUTPUT) self.outputs = RotationByTimeDatabase.ValuesForOutputs(node, self.attributes.outputs, dynamic_attributes) dynamic_attributes = self.dynamic_attribute_data(node, og.AttributePortType.ATTRIBUTE_PORT_TYPE_STATE) self.state = RotationByTimeDatabase.ValuesForState(node, self.attributes.state, dynamic_attributes) # ----------------------------------------------------. # Class defining the ABI interface for the node type. # ----------------------------------------------------. class abi: @staticmethod def get_node_type(): get_node_type_function = getattr(RotationByTimeDatabase.NODE_TYPE_CLASS, 'get_node_type', None) if callable(get_node_type_function): return get_node_type_function() return 'ft_lab.OmniGraph.GetDateTime.RotationByTime' @staticmethod def compute(context, node): def database_valid(): return True try: per_node_data = RotationByTimeDatabase.PER_NODE_DATA[node.node_id()] db = per_node_data.get('_db') if db is None: db = RotationByTimeDatabase(node) per_node_data['_db'] = db if not database_valid(): per_node_data['_db'] = None return False except: db = RotationByTimeDatabase(node) try: compute_function = getattr(RotationByTimeDatabase.NODE_TYPE_CLASS, 'compute', None) if callable(compute_function) and compute_function.__code__.co_argcount > 1: return compute_function(context, node) db.inputs._prefetch() db.inputs._setting_locked = True with og.in_compute(): return RotationByTimeDatabase.NODE_TYPE_CLASS.compute(db) except Exception as error: stack_trace = "".join(traceback.format_tb(sys.exc_info()[2].tb_next)) db.log_error(f'Assertion raised in compute - {error}\n{stack_trace}', add_context=False) finally: db.inputs._setting_locked = False db.outputs._commit() return False @staticmethod def initialize(context, node): RotationByTimeDatabase._initialize_per_node_data(node) initialize_function = getattr(RotationByTimeDatabase.NODE_TYPE_CLASS, 'initialize', None) if callable(initialize_function): initialize_function(context, node) @staticmethod def release(node): release_function = getattr(RotationByTimeDatabase.NODE_TYPE_CLASS, 'release', None) if callable(release_function): release_function(node) RotationByTimeDatabase._release_per_node_data(node) @staticmethod def update_node_version(context, node, old_version, new_version): update_node_version_function = getattr(RotationByTimeDatabase.NODE_TYPE_CLASS, 'update_node_version', None) if callable(update_node_version_function): return update_node_version_function(context, node, old_version, new_version) return False @staticmethod def initialize_type(node_type): initialize_type_function = getattr(RotationByTimeDatabase.NODE_TYPE_CLASS, 'initialize_type', None) needs_initializing = True if callable(initialize_type_function): needs_initializing = initialize_type_function(node_type) if needs_initializing: node_type.set_metadata(ogn.MetadataKeys.EXTENSION, "ft_lab.OmniGraph.GetDateTime") node_type.set_metadata(ogn.MetadataKeys.UI_NAME, "Rotation By Time") node_type.set_metadata(ogn.MetadataKeys.CATEGORIES, "examples") node_type.set_metadata(ogn.MetadataKeys.DESCRIPTION, "Rotation By Time") node_type.set_metadata(ogn.MetadataKeys.LANGUAGE, "Python") # Set Icon(svg). icon_path = carb.tokens.get_tokens_interface().resolve("${ft_lab.OmniGraph.GetDateTime}") icon_path = icon_path + '/' + "data/icons/ft_lab.OmniGraph.GetDateTime.rotationByTimeIcon.svg" node_type.set_metadata(ogn.MetadataKeys.ICON_PATH, icon_path) RotationByTimeDatabase.INTERFACE.add_to_node_type(node_type) @staticmethod def on_connection_type_resolve(node): on_connection_type_resolve_function = getattr(RotationByTimeDatabase.NODE_TYPE_CLASS, 'on_connection_type_resolve', None) if callable(on_connection_type_resolve_function): on_connection_type_resolve_function(node) NODE_TYPE_CLASS = None @staticmethod def register(node_type_class): RotationByTimeDatabase.NODE_TYPE_CLASS = node_type_class og.register_node_type(RotationByTimeDatabase.abi, 1) @staticmethod def deregister(): og.deregister_node_type("ft_lab.OmniGraph.GetDateTime.RotationByTime")
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ft-lab/Omniverse_OmniGraph_ClockSample/extension/ft_lab.OmniGraph.GetDateTime/ft_lab/OmniGraph/GetDateTime/nodes/GetDateTime.py
""" Get date time. """ import numpy as np import omni.ext import datetime class GetDateTime: @staticmethod def compute(db) -> bool: try: # Get current date and time. now = datetime.datetime.now() db.outputs.a1_year = now.year db.outputs.a2_month = now.month db.outputs.a3_day = now.day db.outputs.b1_hour = now.hour db.outputs.b2_minute = now.minute db.outputs.b3_second = now.second except TypeError as error: db.log_error(f"Processing failed : {error}") return False return True
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ft-lab/Omniverse_OmniGraph_ClockSample/extension/ft_lab.OmniGraph.GetDateTime/ft_lab/OmniGraph/GetDateTime/nodes/OutputToLCD.py
""" Time output to LCD (hh:mm). """ from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf import numpy as np import omni.ext class OutputToLCD: @staticmethod def compute(db) -> bool: try: hour = db.inputs.d1_hour minute = db.inputs.d2_minute second = db.inputs.d3_second # xABCDEFG => 0b01111110 = 0x7e = '0' nameList = ["A", "B", "C", "D", "E", "F", "G"] numMaskList = [0x7e, 0x30, 0x6d, 0x79, 0x33, 0x5b, 0x5f, 0x70, 0x7f, 0x7b] # Get stage. stage = omni.usd.get_context().get_stage() # Show/hide "AM" if db.inputs.c1_amPrim != None and db.inputs.c1_amPrim != "": prim = stage.GetPrimAtPath(db.inputs.c1_amPrim) if prim.IsValid(): primImageable = UsdGeom.Imageable(prim) primImageable.GetVisibilityAttr().Set('inherited' if hour < 12 else 'invisible') # Show/hide "PM" if db.inputs.c2_pmPrim != None and db.inputs.c2_pmPrim != "": prim = stage.GetPrimAtPath(db.inputs.c2_pmPrim) if prim.IsValid(): primImageable = UsdGeom.Imageable(prim) primImageable.GetVisibilityAttr().Set('inherited' if (hour >= 12) else 'invisible') # Hour : 10th digit. hour12 = hour if (hour < 12) else (hour - 12) if db.inputs.a1_hourNum10Prim != None and db.inputs.a1_hourNum10Prim != "": basePrimPath = db.inputs.a1_hourNum10Prim shiftV = 0x40 maskV = numMaskList[(int)(hour12 / 10) % 10] for i in range(7): primPath = f"{basePrimPath}/{nameList[i]}" prim = stage.GetPrimAtPath(primPath) if prim.IsValid(): primImageable = UsdGeom.Imageable(prim) primImageable.GetVisibilityAttr().Set('inherited' if ((maskV & shiftV) != 0) else 'invisible') shiftV >>= 1 # Hour : 1th digit. if db.inputs.a2_hourNum1Prim != None and db.inputs.a2_hourNum1Prim != "": basePrimPath = db.inputs.a2_hourNum1Prim shiftV = 0x40 maskV = numMaskList[(int)(hour12) % 10] for i in range(7): primPath = f"{basePrimPath}/{nameList[i]}" prim = stage.GetPrimAtPath(primPath) if prim.IsValid(): primImageable = UsdGeom.Imageable(prim) primImageable.GetVisibilityAttr().Set('inherited' if ((maskV & shiftV) != 0) else 'invisible') shiftV >>= 1 # Minute : 10th digit. if db.inputs.b1_minuteNum10Prim != None and db.inputs.b1_minuteNum10Prim != "": basePrimPath = db.inputs.b1_minuteNum10Prim shiftV = 0x40 maskV = numMaskList[(int)(minute / 10) % 10] for i in range(7): primPath = f"{basePrimPath}/{nameList[i]}" prim = stage.GetPrimAtPath(primPath) if prim.IsValid(): primImageable = UsdGeom.Imageable(prim) primImageable.GetVisibilityAttr().Set('inherited' if ((maskV & shiftV) != 0) else 'invisible') shiftV >>= 1 # Minute : 1th digit. if db.inputs.b2_minuteNum1Prim != None and db.inputs.b2_minuteNum1Prim != "": basePrimPath = db.inputs.b2_minuteNum1Prim shiftV = 0x40 maskV = numMaskList[(int)(minute) % 10] for i in range(7): primPath = f"{basePrimPath}/{nameList[i]}" prim = stage.GetPrimAtPath(primPath) if prim.IsValid(): primImageable = UsdGeom.Imageable(prim) primImageable.GetVisibilityAttr().Set('inherited' if ((maskV & shiftV) != 0) else 'invisible') shiftV >>= 1 except TypeError as error: db.log_error(f"Processing failed : {error}") return False return True
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ft-lab/Omniverse_OmniGraph_ClockSample/extension/ft_lab.OmniGraph.GetDateTime/ft_lab/OmniGraph/GetDateTime/nodes/RotationByTime.py
""" Rotation by time. """ import numpy as np import omni.ext class RotationByTime: @staticmethod def compute(db) -> bool: try: # Calculate clock rotation from seconds. if db.inputs.a2_rotationAxis >= 0 and db.inputs.a2_rotationAxis <= 2: v = db.outputs.a3_secondRotateXYZ v[0] = db.inputs.a1_defaultRotateXYZ[0] v[1] = db.inputs.a1_defaultRotateXYZ[1] v[2] = db.inputs.a1_defaultRotateXYZ[2] v[db.inputs.a2_rotationAxis] = ((float)(db.inputs.b3_second) / 60.0) * 360.0 # Calculate clock rotation from minutes. if db.inputs.a2_rotationAxis >= 0 and db.inputs.a2_rotationAxis <= 2: v = db.outputs.a2_minuteRotateXYZ v[0] = db.inputs.a1_defaultRotateXYZ[0] v[1] = db.inputs.a1_defaultRotateXYZ[1] v[2] = db.inputs.a1_defaultRotateXYZ[2] v[db.inputs.a2_rotationAxis] = ((float)(db.inputs.b2_minute * 60.0 + db.inputs.b3_second) / (60.0 * 60.0)) * 360.0 # Calculate clock rotation from hours. if db.inputs.a2_rotationAxis >= 0 and db.inputs.a2_rotationAxis <= 2: v = db.outputs.a1_hourRotateXYZ v[0] = db.inputs.a1_defaultRotateXYZ[0] v[1] = db.inputs.a1_defaultRotateXYZ[1] v[2] = db.inputs.a1_defaultRotateXYZ[2] v[db.inputs.a2_rotationAxis] = ((float)(db.inputs.b1_hour * 60.0 + db.inputs.b2_minute) / (60.0 * 24.0)) * 360.0 * 2.0 except TypeError as error: db.log_error(f"Processing failed : {error}") return False return True
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ft-lab/Omniverse_extension_SetOrigin/exts/ft_lab.Tools.SetOrigin/ft_lab/Tools/SetOrigin/extension.py
from pxr import Usd, UsdGeom, UsdSkel, UsdPhysics, UsdShade, UsdSkel, Sdf, Gf, Tf import omni.ext import omni.usd import omni.kit.menu.utils import omni.kit.undo import omni.kit.commands from omni.kit.menu.utils import MenuItemDescription import asyncio from .scripts.SetOrigin import SetOrigin # ----------------------------------------------------. class SetOriginExtension (omni.ext.IExt): # Menu list. _menu_list = None _sub_menu_list = None # Menu name. _menu_name = "Tools" # ------------------------------------------. # Initialize menu. # ------------------------------------------. def init_menu (self): async def _rebuild_menus(): await omni.kit.app.get_app().next_update_async() omni.kit.menu.utils.rebuild_menus() def menu_select (mode): if mode == 0: setOrigin = SetOrigin() setOrigin.doCenterOfGeometry() if mode == 1: setOrigin = SetOrigin() setOrigin.doLowerCenterOfGeometry() self._sub_menu_list = [ MenuItemDescription(name="Center of Geometry", onclick_fn=lambda: menu_select(0)), MenuItemDescription(name="Lower center of Geometry", onclick_fn=lambda: menu_select(1)), ] self._menu_list = [ MenuItemDescription(name="Set Origin", sub_menu=self._sub_menu_list), ] # Rebuild with additional menu items. omni.kit.menu.utils.add_menu_items(self._menu_list, self._menu_name) asyncio.ensure_future(_rebuild_menus()) # ------------------------------------------. # Term menu. # It seems that the additional items in the top menu will not be removed. # ------------------------------------------. def term_menu (self): async def _rebuild_menus(): await omni.kit.app.get_app().next_update_async() omni.kit.menu.utils.rebuild_menus() # Remove and rebuild the added menu items. omni.kit.menu.utils.remove_menu_items(self._menu_list, self._menu_name) asyncio.ensure_future(_rebuild_menus()) # ------------------------------------------. # ------------------------------------------. # Extension startup. # ------------------------------------------. def on_startup (self, ext_id): # Initialize menu. self.init_menu() # ------------------------------------------. # Extension shutdown. # ------------------------------------------. def on_shutdown(self): # Term menu. self.term_menu()
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ft-lab/Omniverse_extension_SetOrigin/exts/ft_lab.Tools.SetOrigin/ft_lab/Tools/SetOrigin/scripts/TransformUtil.py
from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf import omni.kit.commands # ---------------------------. # Set Translate. # ---------------------------. def TUtil_SetTranslate (prim : Usd.Prim, tV : Gf.Vec3f): trans = prim.GetAttribute("xformOp:translate").Get() if trans != None: # Specify a value for each type. if type(trans) == Gf.Vec3f: prim.GetAttribute("xformOp:translate").Set(Gf.Vec3f(tV)) elif type(trans) == Gf.Vec3d: prim.GetAttribute("xformOp:translate").Set(Gf.Vec3d(tV)) else: # xformOpOrder is also updated. xformAPI = UsdGeom.XformCommonAPI(prim) xformAPI.SetTranslate(Gf.Vec3d(tV)) # ---------------------------. # Set Scale. # ---------------------------. def TUtil_SetScale (prim : Usd.Prim, sV : Gf.Vec3f): scale = prim.GetAttribute("xformOp:scale").Get() if scale != None: # Specify a value for each type. if type(scale) == Gf.Vec3f: prim.GetAttribute("xformOp:scale").Set(Gf.Vec3f(sV)) elif type(scale) == Gf.Vec3d: prim.GetAttribute("xformOp:scale").Set(Gf.Vec3d(sV)) else: # xformOpOrder is also updated. xformAPI = UsdGeom.XformCommonAPI(prim) xformAPI.SetScale(Gf.Vec3f(sV)) # ---------------------------. # Set Rotate. # ---------------------------. def TUtil_SetRotate (prim : Usd.Prim, rV : Gf.Vec3f): # Get rotOrder. # If rotation does not exist, rotOrder = UsdGeom.XformCommonAPI.RotationOrderXYZ. xformAPI = UsdGeom.XformCommonAPI(prim) time_code = Usd.TimeCode.Default() translation, rotation, scale, pivot, rotOrder = xformAPI.GetXformVectors(time_code) # Convert rotOrder to "xformOp:rotateXYZ" etc. t = xformAPI.ConvertRotationOrderToOpType(rotOrder) rotateAttrName = "xformOp:" + UsdGeom.XformOp.GetOpTypeToken(t) # Set rotate. rotate = prim.GetAttribute(rotateAttrName).Get() if rotate != None: # Specify a value for each type. if type(rotate) == Gf.Vec3f: prim.GetAttribute(rotateAttrName).Set(Gf.Vec3f(rV)) elif type(rotate) == Gf.Vec3d: prim.GetAttribute(rotateAttrName).Set(Gf.Vec3d(rV)) else: # xformOpOrder is also updated. xformAPI.SetRotate(Gf.Vec3f(rV), rotOrder) # ---------------------------. # Set Pivot. # ---------------------------. def TUtil_SetPivot (prim : Usd.Prim, pV : Gf.Vec3f): pivot = prim.GetAttribute("xformOp:translate:pivot").Get() if pivot != None: # Specify a value for each type. if type(pivot) == Gf.Vec3f: prim.GetAttribute("xformOp:translate:pivot").Set(Gf.Vec3f(pV)) elif type(pivot) == Gf.Vec3d: prim.GetAttribute("xformOp:translate:pivot").Set(Gf.Vec3d(pV)) else: # xformOpOrder is also updated. # ["xformOp:translate", "xformOp:translate:pivot", "xformOp:rotateXYZ", "xformOp:scale", "!invert!xformOp:translate:pivot"] # The following do not work correctly? #xformAPI = UsdGeom.XformCommonAPI(prim) #xformAPI.SetPivot(Gf.Vec3f(pV)) prim.CreateAttribute("xformOp:translate:pivot", Sdf.ValueTypeNames.Float3, False).Set(Gf.Vec3f(pV)) # ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale", "xformOp:translate:pivot", "!invert!xformOp:translate:pivot"] transformOrder = prim.GetAttribute("xformOpOrder").Get() orderList = [] for sV in transformOrder: orderList.append(sV) orderList.append("xformOp:translate:pivot") orderList.append("!invert!xformOp:translate:pivot") prim.GetAttribute("xformOpOrder").Set(orderList) # -------------------------------------------. # Check the order of Pivot in OpOrder # @return -1 ... unknown # 0 ... No pivot. # 1 ... ["xformOp:translate", "xformOp:translate:pivot", "xformOp:rotateXYZ", "xformOp:scale", "!invert!xformOp:translate:pivot"] # 2 ... ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale", "xformOp:translate:pivot", "!invert!xformOp:translate:pivot"] # -------------------------------------------. def TUtil_ChkOrderOfPivot (prim : Usd.Prim): if prim == None: return transformOrder = prim.GetAttribute("xformOpOrder").Get() orderList = [] for sV in transformOrder: orderList.append(sV) orderLen = len(orderList) pos1 = -1 pos2 = -1 for i in range(orderLen): if orderList[i] == "xformOp:translate:pivot": pos1 = i elif orderList[i] == "!invert!xformOp:translate:pivot": pos2 = i if pos1 < 0 or pos2 < 0: return 0 # ["xformOp:translate", "xformOp:translate:pivot", "xformOp:rotateXYZ", "xformOp:scale", "!invert!xformOp:translate:pivot"] if pos1 == 1 and pos2 == orderLen - 1: return 1 # ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale", "xformOp:translate:pivot", "!invert!xformOp:translate:pivot"] if pos1 == orderLen - 2 and pos2 == orderLen - 1: return 2 return -1 # -------------------------------------------. # Delete Pivot. # -------------------------------------------. def TUtil_DeletePivot (prim : Usd.Prim): if prim == None: return path = prim.GetPath().pathString + ".xformOp:translate:pivot" omni.kit.commands.execute('RemoveProperty', prop_path=path) transformOrder = prim.GetAttribute("xformOpOrder").Get() if transformOrder != None: orderList = [] for sV in transformOrder: if sV == "xformOp:translate:pivot" or sV == "!invert!xformOp:translate:pivot": continue orderList.append(sV) prim.GetAttribute("xformOpOrder").Set(orderList)
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Python
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ft-lab/Omniverse_extension_SetOrigin/exts/ft_lab.Tools.SetOrigin/ft_lab/Tools/SetOrigin/scripts/MathUtil.py
# -----------------------------------------------------. # Math functions. # -----------------------------------------------------. from pxr import Usd, UsdGeom, UsdShade, Sdf, Gf, Tf # Get local matrix. def GetLocalMatrix (prim : Usd.Prim): xformCache = UsdGeom.XformCache() curM = xformCache.GetLocalToWorldTransform(prim) parentPrim = prim.GetParent() matrix = curM * xformCache.GetLocalToWorldTransform(parentPrim).GetInverse() return matrix # Get world matrix. def GetWorldMatrix (prim : Usd.Prim): xformCache = UsdGeom.XformCache() return xformCache.GetLocalToWorldTransform(prim)
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ft-lab/Omniverse_extension_SetOrigin/exts/ft_lab.Tools.SetOrigin/ft_lab/Tools/SetOrigin/scripts/CalcWorldBoundingBox.py
# -----------------------------------------------------. # # Calculate bounding box in world coordinates. # -----------------------------------------------------. from pxr import Usd, UsdGeom, UsdShade, Sdf, Gf, Tf def CalcWorldBoundingBox (prim : Usd.Prim): # Calc world boundingBox. bboxCache = UsdGeom.BBoxCache(Usd.TimeCode.Default(), ["default"]) bboxD = bboxCache.ComputeWorldBound(prim).ComputeAlignedRange() bb_min = Gf.Vec3f(bboxD.GetMin()) bb_max = Gf.Vec3f(bboxD.GetMax()) return bb_min, bb_max
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ft-lab/Omniverse_extension_SetOrigin/exts/ft_lab.Tools.SetOrigin/ft_lab/Tools/SetOrigin/scripts/SetOrigin.py
# -----------------------------------------------------. # Change the center. # -----------------------------------------------------. from pxr import Usd, UsdGeom, UsdShade, Sdf, Gf, Tf import omni.usd import omni.kit.commands import omni.kit.undo from .CalcWorldBoundingBox import * from .MathUtil import * from .TransformUtil import * # Check if Prim can handle. def _checkPrim (prim : Usd.Prim): if prim == None: return False if prim.IsA(UsdGeom.Mesh) == False and prim.IsA(UsdGeom.Xform) == False: return False # Skip for reference. #if prim.HasAuthoredReferences(): # return False return True # ------------------------------------------------------------------------. # Change Mesh Center # ------------------------------------------------------------------------. class ToolSetOrigin (omni.kit.commands.Command): _prim = None _centerWPos = None _targetCenterWPos = None _prevTranslate = None _prevPivot = None # prim : Target prim. # center_position : Position of the center in world coordinates. def __init__ (self, prim : Usd.Prim, center_position : Gf.Vec3f): self._prim = prim self._targetCenterWPos = center_position # Calculate world center from bounding box. bbMin, bbMax = CalcWorldBoundingBox(prim) self._centerWPos = (bbMin + bbMax) * 0.5 # Execute process. def do (self): if _checkPrim(self._prim) == False: return self._prevTranslate = self._prim.GetAttribute("xformOp:translate").Get() if self._prevTranslate == None: self._prevTranslate = Gf.Vec3f(0, 0, 0) self._prevPivot = self._prim.GetAttribute("xformOp:translate:pivot").Get() localM = GetWorldMatrix(self._prim).GetInverse() centerPosL = localM.Transform(self._targetCenterWPos) TUtil_SetPivot(self._prim, Gf.Vec3f(centerPosL)) # Calculate world center from bounding box. bbMin, bbMax = CalcWorldBoundingBox(self._prim) bbCenter = (bbMin + bbMax) * 0.5 # Recalculate the center position in world coordinates and correct for any misalignment. ddV = Gf.Vec3f(bbCenter - self._centerWPos) fMin = 1e-6 if abs(ddV[0]) > fMin or abs(ddV[1]) > fMin or abs(ddV[2]) > fMin: parentLocalM = GetWorldMatrix(self._prim.GetParent()).GetInverse() p1 = parentLocalM.Transform(self._centerWPos) p2 = parentLocalM.Transform(bbCenter) transV = self._prim.GetAttribute("xformOp:translate").Get() if transV == None: transV = Gf.Vec3f(0, 0, 0) transV = Gf.Vec3f(transV) + (p1 - p2) TUtil_SetTranslate(self._prim, Gf.Vec3f(transV)) # Undo process. def undo (self): if _checkPrim(self._prim) == False: return TUtil_SetTranslate(self._prim, Gf.Vec3f(self._prevTranslate)) if self._prevPivot != None: TUtil_SetPivot(self._prim, Gf.Vec3f(self._prevPivot)) else: TUtil_DeletePivot(self._prim) # ------------------------------------------------------------------------. class SetOrigin: def __init__(self): pass # Get selected Prim. def _getSelectedPrim (self): # Get stage. stage = omni.usd.get_context().get_stage() # Get selection. selection = omni.usd.get_context().get_selection() paths = selection.get_selected_prim_paths() prim = None for path in paths: prim = stage.GetPrimAtPath(path) break return prim def doCenterOfGeometry (self): prim = self._getSelectedPrim() if _checkPrim(prim) == False: return # Calculate world center from bounding box. bbMin, bbMax = CalcWorldBoundingBox(prim) bbCenter = (bbMin + bbMax) * 0.5 # Register a Class and run it. omni.kit.commands.register(ToolSetOrigin) omni.kit.commands.execute("ToolSetOrigin", prim=prim, center_position=bbCenter) def doLowerCenterOfGeometry (self): prim = self._getSelectedPrim() if _checkPrim(prim) == False: return # Calculate world lower center from bounding box. bbMin, bbMax = CalcWorldBoundingBox(prim) bbCenter = Gf.Vec3f((bbMin[0] + bbMax[0]) * 0.5, bbMin[1], (bbMin[2] + bbMax[2]) * 0.5) # Register a Class and run it. omni.kit.commands.register(ToolSetOrigin) omni.kit.commands.execute("ToolSetOrigin", prim=prim, center_position=bbCenter)
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omnioverflow/kit-extension-path-tracking/exts/ext.path.tracking/ext/path/tracking/__init__.py
from .scripts.debug_draw import * from .scripts.extension import * from .scripts.model import * from .scripts.path_tracker import * from .scripts.path_tracker import * from .scripts.ui import * from .scripts.utils import * from .scripts.vehicle import *
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omnioverflow/kit-extension-path-tracking/exts/ext.path.tracking/ext/path/tracking/scripts/vehicle.py
import omni.usd from enum import IntEnum from pxr import Gf, Usd, UsdGeom, PhysxSchema import numpy as np # ====================================================================================================================== # Vehicle # ====================================================================================================================== class Axle(IntEnum): FRONT = 0, REAR = 1 class Wheel(IntEnum): FRONT_LEFT = 0, FRONT_RIGHT = 1, REAR_LEFT = 2, REAR_RIGHT = 3 # ====================================================================================================================== class Vehicle(): """ A wrapper created to help manipulating state of a vehicle prim and its dynamic properties, such as acceleration, desceleration, steering etc. """ def __init__(self, vehicle_prim, max_steer_angle_radians, rear_steering=True): self._prim = vehicle_prim self._path = self._prim.GetPath() self._steer_delta = 0.01 self._stage = omni.usd.get_context().get_stage() self._rear_stearing = rear_steering self._wheel_prims = { Wheel.FRONT_LEFT: self._stage.GetPrimAtPath(f"{self._path}/LeftWheel1References"), Wheel.FRONT_RIGHT: self._stage.GetPrimAtPath(f"{self._path}/RightWheel1References"), Wheel.REAR_LEFT: self._stage.GetPrimAtPath(f"{self._path}/LeftWheel2References"), Wheel.REAR_RIGHT: self._stage.GetPrimAtPath(f"{self._path}/RightWheel2References") } steering_wheels = [Wheel.FRONT_LEFT, Wheel.FRONT_RIGHT] non_steering_wheels = [Wheel.REAR_LEFT, Wheel.REAR_RIGHT] if self._rear_stearing: steering_wheels, non_steering_wheels = non_steering_wheels, steering_wheels for wheel_prim_key in steering_wheels: self._set_max_steer_angle(self._wheel_prims[wheel_prim_key], max_steer_angle_radians) for wheel_prim_key in non_steering_wheels: self._set_max_steer_angle(self._wheel_prims[wheel_prim_key], 0.0) p = self._prim.GetAttribute("xformOp:translate").Get() self._p = Gf.Vec4f(p[0], p[1], p[2], 1.0) def _set_max_steer_angle(self, wheel_prim, max_steer_angle_radians): physx_wheel = PhysxSchema.PhysxVehicleWheelAPI(wheel_prim) physx_wheel.GetMaxSteerAngleAttr().Set(max_steer_angle_radians) def get_bbox_size(self): """Computes size of vehicle's oriented bounding box.""" purposes = [UsdGeom.Tokens.default_] bbox_cache = UsdGeom.BBoxCache(Usd.TimeCode.Default(), purposes) return bbox_cache.ComputeWorldBound(self._prim).ComputeAlignedRange().GetSize() def steer_left(self, value): if self._rear_stearing: self._steer_right_priv(value) else: self._steer_left_priv(value) def steer_right(self, value): if self._rear_stearing: self._steer_left_priv(value) else: self._steer_right_priv(value) def _steer_left_priv(self, value): self._prim.GetAttribute("physxVehicleController:steerLeft").Set(value) self._prim.GetAttribute("physxVehicleController:steerRight").Set(0.0) def _steer_right_priv(self, value): self._prim.GetAttribute("physxVehicleController:steerLeft").Set(0.0) self._prim.GetAttribute("physxVehicleController:steerRight").Set(value) def accelerate(self, value): self._vehicle().GetAttribute("physxVehicleController:accelerator").Set(value) def brake(self, value): self._prim.GetAttribute("physxVehicleController:brake").Set(value) def get_velocity(self): return self._prim.GetAttribute("physics:velocity").Get() def get_speed(self): return np.linalg.norm(self.get_velocity()) def curr_position(self): prim = self._vehicle() cache = UsdGeom.XformCache() T = cache.GetLocalToWorldTransform(prim) p = self._p * T return Gf.Vec3f(p[0], p[1], p[2]) def axle_front(self): return self.axle_position(Axle.FRONT) def axle_rear(self): return self.axle_position(Axle.REAR) def axle_position(self, type): cache = UsdGeom.XformCache() T = cache.GetLocalToWorldTransform(self._vehicle()) if type == Axle.FRONT: wheel_fl = self._wheel_prims[Wheel.FRONT_LEFT].GetAttribute("xformOp:translate").Get() wheel_fr = self._wheel_prims[Wheel.FRONT_RIGHT].GetAttribute("xformOp:translate").Get() wheel_fl[1] = 0.0 wheel_fr[1] = 0.0 wheel_fl = Gf.Vec4f(wheel_fl[0], wheel_fl[1], wheel_fl[2], 1.0) * T wheel_fr = Gf.Vec4f(wheel_fr[0], wheel_fr[1], wheel_fr[2], 1.0) * T wheel_fl = Gf.Vec3f(wheel_fl[0], wheel_fl[1], wheel_fl[2]) wheel_fr = Gf.Vec3f(wheel_fr[0], wheel_fr[1], wheel_fr[2]) return (wheel_fl + wheel_fr) / 2 elif type == Axle.REAR: wheel_rl = self._wheel_prims[Wheel.REAR_LEFT].GetAttribute("xformOp:translate").Get() wheel_rr = self._wheel_prims[Wheel.REAR_RIGHT].GetAttribute("xformOp:translate").Get() wheel_rl[1] = 0.0 wheel_rr[1] = 0.0 wheel_rl = Gf.Vec4f(wheel_rl[0], wheel_rl[1], wheel_rl[2], 1.0) * T wheel_rr = Gf.Vec4f(wheel_rr[0], wheel_rr[1], wheel_rr[2], 1.0) * T wheel_rl = Gf.Vec3f(wheel_rl[0], wheel_rl[1], wheel_rl[2]) wheel_rr = Gf.Vec3f(wheel_rr[0], wheel_rr[1], wheel_rr[2]) return (wheel_rl + wheel_rr) / 2 else: return None def _wheel_pos(self, type): R = self.rotation_matrix() wheel_pos = self._wheel_prims[type].GetAttribute("xformOp:translate").Get() wheel_pos = Gf.Vec4f(wheel_pos[0], wheel_pos[1], wheel_pos[2], 1.0) * R return Gf.Vec3f(wheel_pos[0], wheel_pos[1], wheel_pos[2]) + self.curr_position() def wheel_pos_front_left(self): return self._wheel_pos(Wheel.FRONT_LEFT) def wheel_pos_front_right(self): return self._wheel_pos(Wheel.FRONT_RIGHT) def wheel_pos_rear_left(self): return self._wheel_pos(Wheel.REAR_LEFT) def wheel_pos_rear_right(self): return self._wheel_pos(Wheel.REAR_RIGHT) def rotation_matrix(self): """ Produces vehicle's local-to-world rotation transform. """ cache = UsdGeom.XformCache() T = cache.GetLocalToWorldTransform(self._vehicle()) return Gf.Matrix4d(T.ExtractRotationMatrix(), Gf.Vec3d()) def forward(self): R = self.rotation_matrix() f = self._forward_local() return Gf.Vec4f(f[0], f[1], f[2], 1.0) * R def up(self): R = self.rotation_matrix() u = self._up_local() return Gf.Vec4f(u[0], u[1], u[2], 1.0) * R def _forward_local(self): return Gf.Vec3f(0.0, 0.0, 1.0) def _up_local(self): return Gf.Vec3f(0.0, 1.0, 0.0) def _vehicle(self): return self._stage.GetPrimAtPath(self._path) def is_close_to(self, point, lookahead_distance): if not point: raise Exception("[Vehicle] Point is None") curr_vehicle_pos = self.curr_position() if not curr_vehicle_pos: raise Exception("[Vechicle] Current position is None") distance = np.linalg.norm(curr_vehicle_pos - point) return tuple([distance, distance < lookahead_distance])
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Python
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0.579753
omnioverflow/kit-extension-path-tracking/exts/ext.path.tracking/ext/path/tracking/scripts/stepper.py
import omni.kit import omni.physx import omni.usd import omni.timeline from omni.physx.bindings._physx import SimulationEvent import math import threading """ Based on Nvidia's sample from omni.physx.vehicle Physics extension. """ # ====================================================================================================================== # # Scenario # # ====================================================================================================================== class Scenario: def __init__(self, secondsToRun, timeStep=1.0 / 60.0): self._targetIterationCount = math.ceil(secondsToRun / timeStep) def get_iteration_count(self): return self._targetIterationCount # override in subclass as needed def on_start(self): pass def on_end(self): pass def on_step(self, deltaTime, totalTime): pass # ====================================================================================================================== # # SimStepTracker # # ====================================================================================================================== class SimStepTracker: def __init__(self, scenario, scenarioDoneSignal): self._scenario = scenario self._targetIterationCount = scenario.get_iteration_count() self._scenarioDoneSignal = scenarioDoneSignal self._physx = omni.physx.get_physx_interface() self._physxSimEventSubscription = self._physx.get_simulation_event_stream_v2().create_subscription_to_pop( self._on_simulation_event ) self._hasStarted = False self._resetOnNextResume = False def abort(self): if self._hasStarted: self._on_stop() self._physxSimEventSubscription = None self._physx = ( None ) # should release automatically (note: explicit release call results in double release being reported) self._scenarioDoneSignal.set() def stop(self): self._scenario.on_end() self._scenarioDoneSignal.set() def reset_on_next_resume(self): self._resetOnNextResume = True def _on_stop(self): self._hasStarted = False self._physxStepEventSubscription = None # should unsubscribe automatically self._scenario.on_end() def _on_simulation_event(self, event): if event.type == int(SimulationEvent.RESUMED): if not self._hasStarted: self._scenario.on_start() self._iterationCount = 0 self._totalTime = 0 self._physxStepEventSubscription = self._physx.subscribe_physics_step_events(self._on_physics_step) self._hasStarted = True elif self._resetOnNextResume: self._resetOnNextResume = False # the simulation step callback is still registered and should remain so, thus no unsubscribe self._hasStarted = False self._scenario.on_end() self._scenario.on_start() self._iterationCount = 0 self._totalTime = 0 self._hasStarted = True # elif event.type == int(SimulationEvent.PAUSED): # self._on_pause() elif event.type == int(SimulationEvent.STOPPED): self._on_stop() def _on_physics_step(self, dt): if self._hasStarted: pass if self._iterationCount < self._targetIterationCount: self._scenario.on_step(dt, self._totalTime) self._iterationCount += 1 self._totalTime += dt else: self._scenarioDoneSignal.set() # ====================================================================================================================== # # StageEventListener # # ====================================================================================================================== class StageEventListener: def __init__(self, simStepTracker): self._simStepTracker = simStepTracker self._stageEventSubscription = ( omni.usd.get_context().get_stage_event_stream().create_subscription_to_pop(self._on_stage_event) ) self._stageIsClosing = False self.restart_after_stop = False def cleanup(self): self._stageEventSubscription = None def is_stage_closing(self): return self._stageIsClosing def _on_stage_event(self, event): # Check out omni.usd docs for more information regarding # omni.usd.StageEventType in particular. # https://docs.omniverse.nvidia.com/py/kit/source/extensions/omni.usd/docs/index.html if event.type == int(omni.usd.StageEventType.CLOSING): self._stop(stageIsClosing=True) elif event.type == int(omni.usd.StageEventType.SIMULATION_STOP_PLAY): if self.restart_after_stop: omni.timeline.get_timeline_interface().play() elif event.type == int(omni.usd.StageEventType.SIMULATION_START_PLAY): self.restart_after_stop = False elif event.type == int(omni.usd.StageEventType.ANIMATION_STOP_PLAY): pass def _stop(self, stageIsClosing=False): self._stageIsClosing = stageIsClosing self._simStepTracker.stop() # ====================================================================================================================== # # ScenarioManager # # ====================================================================================================================== class ScenarioManager: def __init__(self, scenario): self._scenario = scenario self._setup(scenario) def _setup(self, scenario): self._init_done = False scenarioDoneSignal = threading.Event() self._simStepTracker = SimStepTracker(scenario, scenarioDoneSignal) self._stageEventListener = StageEventListener(self._simStepTracker) def stop_scenario(self): self._stageEventListener._stop() def cleanup(self): self._stageEventListener.cleanup() self._simStepTracker.abort() @property def scenario(self): return self._scenario @scenario.setter def set_scenario(self, scenario): self.stop_scenario() self._setup(scenario)
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Python
32.197916
120
0.530206
omnioverflow/kit-extension-path-tracking/exts/ext.path.tracking/ext/path/tracking/scripts/path_tracker.py
import omni.usd from pxr import Gf, UsdGeom import math import numpy as np from .debug_draw import DebugRenderer from .stepper import Scenario from .vehicle import Axle, Vehicle # ====================================================================================================================== # # PurePursuitScenario # # ====================================================================================================================== class PurePursuitScenario(Scenario): def __init__(self, lookahead_distance, vehicle_path, trajectory_prim_path, meters_per_unit, close_loop_flag, enable_rear_steering): super().__init__(secondsToRun=10000.0, timeStep=1.0/25.0) self._MAX_STEER_ANGLE_RADIANS = math.pi / 3 self._lookahead_distance = lookahead_distance self._METERS_PER_UNIT = meters_per_unit self._max_speed = 250.0 self._stage = omni.usd.get_context().get_stage() self._vehicle = Vehicle( self._stage.GetPrimAtPath(vehicle_path), self._MAX_STEER_ANGLE_RADIANS, enable_rear_steering ) self._debug_render = DebugRenderer(self._vehicle.get_bbox_size()) self._path_tracker = PurePursuitPathTracker(math.pi/4) self._dest = None self._trajectory_prim_path = trajectory_prim_path self._trajectory = Trajectory(trajectory_prim_path, close_loop=close_loop_flag) self._stopped = False self.draw_track = False self._close_loop = close_loop_flag def on_start(self): self._vehicle.accelerate(1.0) def on_end(self): self._trajectory.reset() def _process(self, forward, up, dest_position, distance=None, is_close_to_dest=False): """ Steering/accleleration vehicle control heuristic. """ if (distance is None): distance, is_close_to_dest = self._vehicle.is_close_to(dest_position, self._lookahead_distance) curr_vehicle_pos = self._vehicle.curr_position() self._debug_render.update_vehicle(self._vehicle) self._debug_render.update_path_to_dest(curr_vehicle_pos, dest_position) # FIXME: - currently the extension expect Y-up axis which is not flexible. # Project onto XZ plane curr_vehicle_pos[1] = 0.0 forward[1] = 0.0 dest_position[1] = 0.0 speed = self._vehicle.get_speed() * self._METERS_PER_UNIT axle_front = Gf.Vec3f(self._vehicle.axle_position(Axle.FRONT)) axle_rear = Gf.Vec3f(self._vehicle.axle_position(Axle.REAR)) axle_front[1] = 0.0 axle_rear[1] = 0.0 # self._debug_render.update_path_tracking(axle_front, axle_rear, forward, dest_position) steer_angle = self._path_tracker.on_step( axle_front, axle_rear, forward, dest_position, curr_vehicle_pos ) if steer_angle < 0: self._vehicle.steer_left(abs(steer_angle)) else: self._vehicle.steer_right(steer_angle) # Accelerate/break control heuristic if abs(steer_angle) > 0.1 and speed > 5.0: self._vehicle.brake(1.0) self._vehicle.accelerate(0.0) else: if (speed >= self._max_speed): self._vehicle.brake(0.8) self._vehicle.accelerate(0.0) else: self._vehicle.brake(0.0) self._vehicle.accelerate(0.7) def _full_stop(self): self._vehicle.accelerate(0.0) self._vehicle.brake(1.0) def set_meters_per_unit(self, value): self._METERS_PER_UNIT = value def teardown(self): super().abort() self._dest.teardown() self._dest = None self._stage = None self._vehicle = None self._debug_render = None self._path_tracker = None def enable_debug(self, flag): self._debug_render.enable(flag) def on_step(self, deltaTime, totalTime): """ Updates vehicle control on sim update callback in order to stay on tracked path. """ forward = self._vehicle.forward() up = self._vehicle.up() if self._trajectory and self.draw_track: self._trajectory.draw() dest_position = self._trajectory.point() is_end_point = self._trajectory.is_at_end_point() # Run vehicle control unless reached the destination if dest_position: distance, is_close_to_dest = self._vehicle.is_close_to(dest_position, self._lookahead_distance) if (is_close_to_dest): dest_position = self._trajectory.next_point() else: # Compute vehicle steering and acceleration self._process(forward, up, dest_position, distance, is_close_to_dest) else: self._stopped = True self._full_stop() def recompute_trajectory(self): self._trajectory = Trajectory(self._trajectory_prim_path, self._close_loop) def set_lookahead_distance(self, distance): self._lookahead_distance = distance def set_close_trajectory_loop(self, flag): self._close_loop = flag self._trajectory.set_close_loop(flag) # ====================================================================================================================== # # PurePursuitPathTracker # # ====================================================================================================================== class PurePursuitPathTracker(): """ Implements path tracking in spirit of Pure Pursuit algorithm. References * Implementation of the Pure Pursuit Path tracking Algorithm, RC Conlter: https://www.ri.cmu.edu/pub_files/pub3/coulter_r_craig_1992_1/coulter_r_craig_1992_1.pdf * https://dingyan89.medium.com/three-methods-of-vehicle-lateral-control-pure-pursuit-stanley-and-mpc-db8cc1d32081 """ def __init__(self, max_steer_angle_radians): self._max_steer_angle_radians = max_steer_angle_radians self._debug_enabled = False def _steer_value_from_angle(self, angle): """ Computes vehicle's steering wheel angle in expected range [-1, 1]. """ return np.clip(angle / self._max_steer_angle_radians, -1.0, 1.0) def on_step(self, front_axle_pos, rear_axle_pos, forward, dest_pos, curr_pos): """ Recomputes vehicle's steering angle on a simulation step. """ front_axle_pos, rear_axle_pos = rear_axle_pos, front_axle_pos # Lookahead points to the next destination point lookahead = dest_pos - rear_axle_pos # Forward vector corrsponds to an axis segment front-to-rear forward = front_axle_pos - rear_axle_pos lookahead_dist = np.linalg.norm(lookahead) forward_dist = np.linalg.norm(forward) if self._debug_enabled: if lookahead_dist == 0.0 or forward_dist == 0.0: raise Exception("Pure pursuit aglorithm: invalid state") lookahead.Normalize() forward.Normalize() # Compute a signed angle alpha between lookahead and forward vectors, # /!\ left-handed rotation assumed. dot = lookahead[0] * forward[0] + lookahead[2] * forward[2] cross = lookahead[0] * forward[2] - lookahead[2] * forward[0] alpha = math.atan2(cross, dot) theta = math.atan(2.0 * forward_dist * math.sin(alpha) / lookahead_dist) steer_angle = self._steer_value_from_angle(theta) return steer_angle # ====================================================================================================================== # # Trajectory # # ====================================================================================================================== class Trajectory(): """ A helper class to access coordinates of points that form a BasisCurve prim. """ def __init__(self, prim_path, close_loop=True): stage = omni.usd.get_context().get_stage() basis_curves = UsdGeom.BasisCurves.Get(stage, prim_path) if (basis_curves and basis_curves is not None): curve_prim = stage.GetPrimAtPath(prim_path) self._points = basis_curves.GetPointsAttr().Get() self._num_points = len(self._points) cache = UsdGeom.XformCache() T = cache.GetLocalToWorldTransform(curve_prim) for i in range(self._num_points): p = Gf.Vec4d(self._points[i][0], self._points[i][1], self._points[i][2], 1.0) p_ = p * T self._points[i] = Gf.Vec3f(p_[0], p_[1], p_[2]) else: self._points = None self._num_points = 0 self._pointer = 0 self._close_loop = close_loop def point(self): """ Returns current point. """ return self._points[self._pointer] if self._pointer < len(self._points) else None def next_point(self): """ Next point on the curve. """ if (self._pointer < self._num_points): self._pointer = self._pointer + 1 if self._pointer >= self._num_points and self._close_loop: self._pointer = 0 return self.point() return None def is_at_end_point(self): """ Checks if the current point is the last one. """ return self._pointer == (self._num_points - 1) def reset(self): """ Resets current point to the first one. """ self._pointer = 0 def set_close_loop(self, flag): self._close_loop = flag
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omnioverflow/kit-extension-path-tracking/exts/ext.path.tracking/ext/path/tracking/scripts/extension.py
import omni.ext import omni.kit import omni.usd import carb import asyncio from .model import ExtensionModel from .ui import ExtensionUI # ====================================================================================================================== # # PathTrackingExtension # # ====================================================================================================================== class PathTrackingExtension(omni.ext.IExt): def __init__(self): self._DEFAULT_LOOKAHEAD = 550.0 # Any user-defined changes to the lookahead parameter will be clamped: self._MIN_LOOKAHEAD = 400.0 self._MAX_LOOKAHEAD = 2000.0 def on_startup(self, ext_id): if omni.usd.get_context().get_stage() is None: # Workaround for running within test environment. omni.usd.get_context().new_stage() # Usd listener could be used in the future if we could be interested # in recomputing changes in the vehicle planned trajectory "on the fly". # self._usd_listener = Tf.Notice.Register(Usd.Notice.ObjectsChanged, self._on_usd_change, None) self._stage_event_sub = omni.usd.get_context().get_stage_event_stream().create_subscription_to_pop( self._on_stage_event, name="Stage Open/Closing Listening" ) self._model = ExtensionModel( ext_id, default_lookahead_distance=self._DEFAULT_LOOKAHEAD, max_lookahed_distance=self._MAX_LOOKAHEAD, min_lookahed_distance=self._MIN_LOOKAHEAD ) self._ui = ExtensionUI(self) self._ui.build_ui(self._model.get_lookahead_distance(), attachments=[]) def on_shutdown(self): timeline = omni.timeline.get_timeline_interface() if timeline.is_playing(): timeline.stop() self._clear_attachments() self._usd_listener = None self._stage_event_sub = None self._ui.teardown() self._ui = None self._model.teardown() self._model = None def _update_ui(self): self._ui.update_attachment_info(self._model._vehicle_to_curve_attachments.keys()) # ====================================================================================================================== # Callbacks # ====================================================================================================================== def _on_click_start_scenario(self): async def start_scenario(model): timeline = omni.timeline.get_timeline_interface() if timeline.is_playing(): timeline.stop() await omni.kit.app.get_app().next_update_async() lookahead_distance = self._ui.get_lookahead_distance() model.load_simulation(lookahead_distance) omni.timeline.get_timeline_interface().play() run_loop = asyncio.get_event_loop() asyncio.run_coroutine_threadsafe(start_scenario(self._model), loop=run_loop) def _on_click_stop_scenario(self): async def stop_scenario(): timeline = omni.timeline.get_timeline_interface() if timeline.is_playing(): timeline.stop() await omni.kit.app.get_app().next_update_async() run_loop = asyncio.get_event_loop() asyncio.run_coroutine_threadsafe(stop_scenario(), loop=run_loop) def _on_click_load_sample_vehicle(self): self._model.load_sample_vehicle() def _on_click_load_ground_plane(self): self._model.load_ground_plane() def _on_click_load_basis_curve(self): self._model.load_sample_track() def _on_click_load_forklift(self): self._model.load_forklift_rig() def _on_click_attach_selected(self): selected_prim_paths = omni.usd.get_context().get_selection().get_selected_prim_paths() self._model.attach_selected_prims(selected_prim_paths) self._update_ui() def _clear_attachments(self): async def stop_scenario(): timeline = omni.timeline.get_timeline_interface() if timeline.is_playing(): timeline.stop() await omni.kit.app.get_app().next_update_async() run_loop = asyncio.get_event_loop() asyncio.run_coroutine_threadsafe(stop_scenario(), loop=run_loop) self._model.clear_attachments() self._update_ui() def _on_click_clear_attachments(self): self._clear_attachments() def _on_click_load_preset_scene(self): self._model.load_preset_scene() self._update_ui() def _on_stage_event(self, event: carb.events.IEvent): """Called on USD Context event""" if event.type == int(omni.usd.StageEventType.CLOSING): self._model.clear_attachments() self._update_ui() def _on_usd_change(self, objects_changed, stage): carb.log_info("_on_usd_change") for resync_path in objects_changed.GetResyncedPaths(): carb.log_info(resync_path) def _changed_enable_debug(self, model): self._model.set_enable_debug(model.as_bool) def _on_lookahead_distance_changed(self, distance): # self._clear_attachments() clamped_lookahead_distance = self._model.update_lookahead_distance(distance) self._ui.set_lookahead_distance(clamped_lookahead_distance) def _on_trajectory_loop_value_changed(self, widget_model): self._model.set_close_trajectory_loop(widget_model.as_bool) def _on_steering_changed(self, model): # First we have to stop current simulation. self._on_click_stop_scenario() self._model.set_enable_rear_steering(model.as_bool)
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omnioverflow/kit-extension-path-tracking/exts/ext.path.tracking/ext/path/tracking/scripts/utils.py
import omni.usd from pxr import UsdGeom, Sdf, Gf, UsdPhysics, PhysxSchema class Utils: @staticmethod def create_mesh_square_axis(stage, path, axis, halfSize): if axis == "X": points = [ Gf.Vec3f(0.0, -halfSize, -halfSize), Gf.Vec3f(0.0, halfSize, -halfSize), Gf.Vec3f(0.0, halfSize, halfSize), Gf.Vec3f(0.0, -halfSize, halfSize), ] normals = [Gf.Vec3f(1, 0, 0), Gf.Vec3f(1, 0, 0), Gf.Vec3f(1, 0, 0), Gf.Vec3f(1, 0, 0)] indices = [0, 1, 2, 3] vertexCounts = [4] # Create the mesh return Utils.create_mesh(stage, path, points, normals, indices, vertexCounts) elif axis == "Y": points = [ Gf.Vec3f(-halfSize, 0.0, -halfSize), Gf.Vec3f(halfSize, 0.0, -halfSize), Gf.Vec3f(halfSize, 0.0, halfSize), Gf.Vec3f(-halfSize, 0.0, halfSize), ] normals = [Gf.Vec3f(0, 1, 0), Gf.Vec3f(0, 1, 0), Gf.Vec3f(0, 1, 0), Gf.Vec3f(0, 1, 0)] indices = [0, 1, 2, 3] vertexCounts = [4] # Create the mesh return Utils.create_mesh(stage, path, points, normals, indices, vertexCounts) points = [ Gf.Vec3f(-halfSize, -halfSize, 0.0), Gf.Vec3f(halfSize, -halfSize, 0.0), Gf.Vec3f(halfSize, halfSize, 0.0), Gf.Vec3f(-halfSize, halfSize, 0.0), ] normals = [Gf.Vec3f(0, 0, 1), Gf.Vec3f(0, 0, 1), Gf.Vec3f(0, 0, 1), Gf.Vec3f(0, 0, 1)] indices = [0, 1, 2, 3] vertexCounts = [4] # Create the mesh mesh = Utils.create_mesh(stage, path, points, normals, indices, vertexCounts) # text coord texCoords = mesh.CreatePrimvar("st", Sdf.ValueTypeNames.TexCoord2fArray, UsdGeom.Tokens.varying) texCoords.Set([(0, 0), (1, 0), (1, 1), (0, 1)]) return mesh @staticmethod def create_mesh(stage, path, points, normals, indices, vertexCounts): mesh = UsdGeom.Mesh.Define(stage, path) # Fill in VtArrays mesh.CreateFaceVertexCountsAttr().Set(vertexCounts) mesh.CreateFaceVertexIndicesAttr().Set(indices) mesh.CreatePointsAttr().Set(points) mesh.CreateDoubleSidedAttr().Set(False) mesh.CreateNormalsAttr().Set(normals) return mesh @staticmethod def add_ground_plane(stage, planePath, axis, size=3000.0, position=Gf.Vec3f(0.0), color=Gf.Vec3f(0.2, 0.25, 0.25)): # plane xform, so that we dont nest geom prims planePath = omni.usd.get_stage_next_free_path(stage, planePath, True) planeXform = UsdGeom.Xform.Define(stage, planePath) planeXform.AddTranslateOp().Set(position) planeXform.AddOrientOp().Set(Gf.Quatf(1.0)) planeXform.AddScaleOp().Set(Gf.Vec3f(1.0)) # (Graphics) Plane mesh geomPlanePath = planePath + "/CollisionMesh" entityPlane = Utils.create_mesh_square_axis(stage, geomPlanePath, axis, size) entityPlane.CreateDisplayColorAttr().Set([color]) # (Collision) Plane colPlanePath = planePath + "/CollisionPlane" planeGeom = PhysxSchema.Plane.Define(stage, colPlanePath) planeGeom.CreatePurposeAttr().Set("guide") planeGeom.CreateAxisAttr().Set(axis) prim = stage.GetPrimAtPath(colPlanePath) UsdPhysics.CollisionAPI.Apply(prim) return planePath
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omnioverflow/kit-extension-path-tracking/exts/ext.path.tracking/ext/path/tracking/scripts/model.py
import omni from pxr import UsdGeom import omni.kit.commands from omni.physxvehicle.scripts.wizards import physxVehicleWizard as VehicleWizard from omni.physxvehicle.scripts.helpers.UnitScale import UnitScale from omni.physxvehicle.scripts.commands import PhysXVehicleWizardCreateCommand from .stepper import ScenarioManager from .path_tracker import PurePursuitScenario from .utils import Utils from pxr import UsdPhysics # ====================================================================================================================== # # ExtensionModel # # ====================================================================================================================== class ExtensionModel: ROOT_PATH = "/World" def __init__(self, extension_id, default_lookahead_distance, max_lookahed_distance, min_lookahed_distance): self._ext_id = extension_id self._METADATA_KEY = f"{extension_id.split('-')[0]}.metadata" self._lookahead_distance = default_lookahead_distance self._min_lookahead_distance = min_lookahed_distance self._max_lookahead_distance = max_lookahed_distance self.METERS_PER_UNIT = 0.01 UsdGeom.SetStageMetersPerUnit(omni.usd.get_context().get_stage(), self.METERS_PER_UNIT) # Currently the extension expects Y-axis to be up-axis. # Conventionally Y-up is often used in graphics, including Kit-apps. # TODO: refactor impl to avoid breaking things when changing up-axis settings. self._up_axis = "Y" self._vehicle_to_curve_attachments = {} self._scenario_managers = [] self._dirty = False # Enables debug overlay with additional info regarding current vehicle state. self._enable_debug = False # Closed trajectory loop self._closed_trajectory_loop = False self._rear_steering = False def teardown(self): self.stop_scenarios() self._scenario_managers = None def attach_vehicle_to_curve(self, wizard_vehicle_path, curve_path): """ Links a vehicle prim (must be WizardVehicle Xform) to the path (BasisCurve) to be tracked by the vechile. Currently we expect two prims to be selected: - WizardVehicle - BasisCurve (corresponding curve/trajectory the vehicle must track) """ stage = omni.usd.get_context().get_stage() prim0 = stage.GetPrimAtPath(wizard_vehicle_path) prim1 = stage.GetPrimAtPath(curve_path) if prim0.IsA(UsdGeom.BasisCurves): # Fix order of selected prims: WizardVehicle should be first prim0, prim1 = prim1, prim0 wizard_vehicle_path, curve_path = curve_path, wizard_vehicle_path if prim0.IsA(UsdGeom.Xformable): key = wizard_vehicle_path + "/Vehicle" self._vehicle_to_curve_attachments[key] = curve_path self._dirty = True def attach_selected_prims(self, selected_prim_paths): """ Attaches selected prims paths from a stage to be considered as a vehicle and path to be tracked correspondingly. The selected prim paths should include a WizardVehicle Xform that represents vehicle, and a BasisCurves that represents tracked path. """ if len(selected_prim_paths) == 2: self.attach_vehicle_to_curve( wizard_vehicle_path=selected_prim_paths[0], curve_path=selected_prim_paths[1] ) def attach_preset_metadata(self, metadata): """ Does vehicle-to-curve attachment from the metadata dictionary directly. """ self.attach_vehicle_to_curve( wizard_vehicle_path=metadata["WizardVehicle"], curve_path=metadata["BasisCurve"] ) def _cleanup_scenario_managers(self): """Cleans up scenario managers. Often useful when tracked data becomes obsolete.""" self.stop_scenarios() for manager in self._scenario_managers: manager.cleanup() self._scenario_managers.clear() self._dirty = True def clear_attachments(self): """ Removes previously added path tracking attachments. """ self._cleanup_scenario_managers() self._vehicle_to_curve_attachments.clear() def stop_scenarios(self): """ Stops path tracking scenarios. """ for manager in self._scenario_managers: manager.stop_scenario() def load_simulation(self, lookahead_distance): """ Load scenarios with vehicle-to-curve attachments. Note that multiple vehicles could run at the same time. """ if self._dirty: self._cleanup_scenario_managers() for vehicle_path in self._vehicle_to_curve_attachments: scenario = PurePursuitScenario( lookahead_distance, vehicle_path, self._vehicle_to_curve_attachments[vehicle_path], self.METERS_PER_UNIT, self._closed_trajectory_loop, self._rear_steering ) scenario.enable_debug(self._enable_debug) scenario_manager = ScenarioManager(scenario) self._scenario_managers.append(scenario_manager) self._dirty = False self.recompute_trajectories() def recompute_trajectories(self): """ Update tracked trajectories. Often needed when BasisCurve defining a trajectory in the scene was updated by a user. """ for i in range(len(self._scenario_managers)): manager = self._scenario_managers[i] manager.scenario.recompute_trajectory() def set_enable_debug(self, flag): """ Enables/disables debug overlay. """ self._enable_debug = flag for manager in self._scenario_managers: manager.scenario.enable_debug(flag) def set_close_trajectory_loop(self, flag): """ Enables closed loop path tracking. """ self._closed_trajectory_loop = flag for manager in self._scenario_managers: manager.scenario.set_close_trajectory_loop(flag) def set_enable_rear_steering(self, flag): """ Enables rear steering for the vehicle. """ self._rear_steering = flag # Mark simulation config as dirty in order to re-create vehicle object. self._dirty = True def load_ground_plane(self): """ Helper to quickly load a preset ground plane prim. """ stage = omni.usd.get_context().get_stage() path = omni.usd.get_stage_next_free_path(stage, "/GroundPlane", False) Utils.add_ground_plane(stage, path, self._up_axis) def get_unit_scale(self, stage): metersPerUnit = UsdGeom.GetStageMetersPerUnit(stage) lengthScale = 1.0 / metersPerUnit kilogramsPerUnit = UsdPhysics.GetStageKilogramsPerUnit(stage) massScale = 1.0 / kilogramsPerUnit return UnitScale(lengthScale, massScale) def load_sample_vehicle(self): """ Load a preset vechile from a USD data provider shipped with the extension. """ usd_context = omni.usd.get_context() stage = usd_context.get_stage() vehicleData = VehicleWizard.VehicleData(self.get_unit_scale(stage), VehicleWizard.VehicleData.AXIS_Y, VehicleWizard.VehicleData.AXIS_Z) root_vehicle_path = self.ROOT_PATH + VehicleWizard.VEHICLE_ROOT_BASE_PATH root_vehicle_path = omni.usd.get_stage_next_free_path(stage, root_vehicle_path, True) root_shared_path = self.ROOT_PATH + VehicleWizard.SHARED_DATA_ROOT_BASE_PATH root_vehicle_path = omni.usd.get_stage_next_free_path(stage, root_shared_path, True) vehicleData.rootVehiclePath = root_vehicle_path vehicleData.rootSharedPath = root_shared_path (success, (messageList, scenePath)) = PhysXVehicleWizardCreateCommand.execute(vehicleData) assert (success) assert (not messageList) assert (scenePath and scenePath is not None) return root_vehicle_path def load_sample_track(self): """ Load a sample BasisCurve serialiazed in USD. """ usd_context = omni.usd.get_context() ext_path = omni.kit.app.get_app().get_extension_manager().get_extension_path(self._ext_id) basis_curve_prim_path = "/BasisCurves" basis_curve_prim_path = omni.usd.get_stage_next_free_path( usd_context.get_stage(), basis_curve_prim_path, True ) basis_curve_usd_path = f"{ext_path}/data/usd/curve.usd" omni.kit.commands.execute( "CreateReferenceCommand", path_to=basis_curve_prim_path, asset_path=basis_curve_usd_path, usd_context=usd_context, ) def load_forklift_rig(self): """Load a forklift model from USD with already exisitng physx vehicle rig.""" usd_context = omni.usd.get_context() ext_path = omni.kit.app.get_app().get_extension_manager().get_extension_path(self._ext_id) forklift_prim_path = "/ForkliftRig" forklift_prim_path = omni.usd.get_stage_next_free_path( usd_context.get_stage(), forklift_prim_path, True ) vehicle_usd_path = f"{ext_path}/data/usd/forklift/forklift_rig.usd" omni.kit.commands.execute( "CreateReferenceCommand", path_to=forklift_prim_path, asset_path=vehicle_usd_path, usd_context=usd_context, ) return forklift_prim_path def load_preset_scene(self): """ Loads a preset scene with vehicle template and predefined curve for path tracking. """ default_prim_path = self.ROOT_PATH stage = omni.usd.get_context().get_stage() if not stage.GetPrimAtPath(default_prim_path): omni.kit.commands.execute( "CreatePrim", prim_path=default_prim_path, prim_type="Xform", select_new_prim=True, attributes={} ) stage.SetDefaultPrim(stage.GetPrimAtPath(default_prim_path)) self.load_ground_plane() vehicle_prim_path = self.load_sample_vehicle() self.load_sample_track() metadata_vehicle_to_curve = self.get_attachment_presets(vehicle_prim_path) self.attach_preset_metadata(metadata_vehicle_to_curve) def get_attachment_presets(self, vehicle_path): """ Prim paths for the preset scene with prim paths for vehicle-to-curve attachment. """ stage = omni.usd.get_context().get_stage() vehicle_prim = stage.GetPrimAtPath(vehicle_path) metadata = vehicle_prim.GetCustomData() # Vehicle-to-Curve attachment of the preset is stored in the metadata. attachment_preset = metadata.get(self._METADATA_KEY) if not attachment_preset or attachment_preset is None: # Fallback to defaults attachment_preset = { "WizardVehicle": vehicle_path, "BasisCurve": "/World/BasisCurves/BasisCurves" } return attachment_preset def get_lookahead_distance(self): return self._lookahead_distance def update_lookahead_distance(self, distance): """Updates the lookahead distance parameter for pure pursuit""" clamped_distance = max( self._min_lookahead_distance, min(self._max_lookahead_distance, distance) ) for scenario_manager in self._scenario_managers: scenario_manager.scenario.set_lookahead_distance(clamped_distance) return clamped_distance
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omnioverflow/kit-extension-path-tracking/exts/ext.path.tracking/ext/path/tracking/scripts/debug_draw.py
import carb from omni.debugdraw import get_debug_draw_interface """ Note: DebugRenderer relies on `omni.debugdraw` utility to optionally provide a debug overlay with additional info regarding current state of vehicle, path tracking destination etc. Using omni.ui.scene would be more future proof as it will break dependency on `omni.debugdraw` which may change or not guaranteed to be kept in the future in Kit-based apps. """ class DebugRenderer(): def __init__(self, vehicle_bbox_size): self._debug_draw = get_debug_draw_interface() self._curr_time = 0.0 self._color = 0x60FF0000 self._line_thickness = 2.0 self._size = max(vehicle_bbox_size) self._enabled = True # update_stream = omni.kit.app.get_app().get_update_event_stream() # self._update_sub = update_stream.create_subscription_to_pop(self._on_update, name="omni.physx update") def _draw_segment(self, start, end, color, thickness): self._debug_draw.draw_line( carb.Float3(start[0], start[1], start[2]), color, thickness, carb.Float3(end[0], end[1], end[2]), color, thickness ) def update_path_tracking(self, front_axle_pos, rear_axle_pos, forward, dest_pos): if not self._enabled: return color = 0xFF222222 thickness = 10.0 self._draw_segment(rear_axle_pos, dest_pos, color, thickness) color = 0xFF00FA9A self._draw_segment(rear_axle_pos, front_axle_pos, color, thickness) def update_vehicle(self, vehicle): if not self._enabled: return curr_vehicle_pos = vehicle.curr_position() forward = vehicle.forward() up = vehicle.up() t = self._line_thickness * 2 x = curr_vehicle_pos[0] y = curr_vehicle_pos[1] z = curr_vehicle_pos[2] s = self._size / 2 # Draw forward self._debug_draw.draw_line( carb.Float3(x, y, z), 0xFF0000FF, t, carb.Float3(x + s * forward[0], y + s * forward[1], z + s * forward[2]), 0xFF0000FF, t ) # Draw up self._debug_draw.draw_line( carb.Float3(x, y, z), 0xFF00FF00, t, carb.Float3(x + s * up[0], y + s * up[1], z + s * up[2]), 0xFF00FF00, t ) # /!\ Uncomment additional debug overlay drawing below if needed # Draw axle axis connecting front to rear # af = vehicle.axle_front() # ar = vehicle.axle_rear() # axle_color = 0xFF8A2BE2 # self._debug_draw.draw_line( # carb.Float3(af[0], af[1], af[2]), # axle_color, t*4, # carb.Float3(ar[0], ar[1], ar[2]), # axle_color, t*4 # ) # Draw front axle # fl = vehicle.wheel_pos_front_left() # fr = vehicle.wheel_pos_front_right() # front_axle_color = 0xFFFF0000 # self._debug_draw.draw_line( # carb.Float3(fl[0], fl[1], fl[2]), # front_axle_color, t*2, # carb.Float3(fr[0], fr[1], fr[2]), # front_axle_color, t*2 # ) # Draw rear axle # rl = vehicle.wheel_pos_rear_left() # rr = vehicle.wheel_pos_rear_right() # rear_axle_color = 0xFFAAAAAA # self._debug_draw.draw_line( # carb.Float3(rl[0], rl[1], rl[2]), # rear_axle_color, t*2, # carb.Float3(rr[0], rr[1], rr[2]), # rear_axle_color, t*2 # ) def update_path_to_dest(self, vehicle_pos, dest_pos): if not self._enabled: return if dest_pos: self._debug_draw.draw_line( carb.Float3(vehicle_pos[0], vehicle_pos[1], vehicle_pos[2]), self._color, self._line_thickness, carb.Float3(dest_pos[0], dest_pos[1], dest_pos[2]), self._color, self._line_thickness ) def enable(self, value): self._enabled = value
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omnioverflow/kit-extension-path-tracking/exts/ext.path.tracking/ext/path/tracking/scripts/ui.py
from ctypes import alignment import omni.ui as ui from typing import List DEFAULT_BTN_HEIGHT = 22 COLLAPSABLE_FRAME_HEIGHT = 32 LINE_HEIGHT = 32 LABEL_WIDTH = 150 LABEL_INNER_WIDTH = 70 ELEM_MARGIN = 4 BTN_WIDTH = 32 VSPACING = ELEM_MARGIN * 2 BORDER_RADIUS = 4 CollapsableFrameStyle = { "CollapsableFrame": { "background_color": 0xFF333333, "secondary_color": 0xFF333333, "color": 0xFF00b976, "border_radius": BORDER_RADIUS, "border_color": 0x0, "border_width": 0, "font_size": 14, "padding": ELEM_MARGIN * 2, "margin_width": ELEM_MARGIN, "margin_height": ELEM_MARGIN, }, "CollapsableFrame:hovered": {"secondary_color": 0xFF3C3C3C}, "CollapsableFrame:pressed": {"secondary_color": 0xFF333333}, "Button": {"margin_height": 0, "margin_width": ELEM_MARGIN, "border_radius": BORDER_RADIUS}, "Button:selected": {"background_color": 0xFF666666}, "Button.Label:disabled": {"color": 0xFF888888}, "Slider": {"margin_height": 0, "margin_width": ELEM_MARGIN, "border_radius": BORDER_RADIUS}, "Slider:disabled": {"color": 0xFF888888}, "ComboBox": {"margin_height": 0, "margin_width": ELEM_MARGIN, "border_radius": BORDER_RADIUS}, "Label": {"margin_height": 0, "margin_width": ELEM_MARGIN}, "Label:disabled": {"color": 0xFF888888}, } TREE_VIEW_STYLE = { "TreeView:selected": {"background_color": 0x66FFFFFF}, "TreeView.Item": {"color": 0xFFCCCCCC}, "TreeView.Item:selected": {"color": 0xFFCCCCCC}, "TreeView.Header": {"background_color": 0xFF000000}, } IMPORTANT_BUTTON_STYLE = { "Button": { "background_color": 0x7000b976 } } class AttachedItem(ui.AbstractItem): """Single item of the model""" def __init__(self, text): super().__init__() self.name_model = ui.SimpleStringModel(text) class AttachmentModel(ui.AbstractItemModel): """ Represents the list active vehicle-to-curve attachments. It is used to make a single level tree appear like a simple list. """ def __init__(self, items: List[object]): super().__init__() self.attachments_changed(items) def get_item_children(self, item): """Returns all the children when the widget asks it.""" if item is not None: # Since we are doing a flat list, we return the children of root only. # If it's not root we return. return [] return self._attachments def get_item_value_model_count(self, item): """The number of columns""" return 1 def get_item_value_model(self, item, column_id): """ Return value model. It's the object that tracks the specific value. In our case we use ui.SimpleStringModel. """ if item and isinstance(item, AttachedItem): return item.name_model def attachments_changed(self, attachments): self._attachments = [] i = 1 for attachment in attachments: self._attachments.append(AttachedItem(f"[{i}] {attachment}")) i = i + 1 self._item_changed(None) class ExtensionUI(): def __init__(self, controller): self._controller = controller def build_ui(self, lookahead_distance, attachments): self._window = ui.Window("Vehicle Path Tracking Extension (Beta)", width=300, height=300) with self._window.frame: with ui.HStack(): # Column #1 with ui.VStack(): self._settings_frame = ui.CollapsableFrame( "SETTINGS", collapsed=False, height=COLLAPSABLE_FRAME_HEIGHT, style=CollapsableFrameStyle ) with self._settings_frame: with ui.VStack(): width = 64 height = 16 with ui.HStack(width=width, height=height): ui.Label("Enable debug: ") enable_debug_checkbox = ui.CheckBox() enable_debug_checkbox.model.add_value_changed_fn( self._controller._changed_enable_debug ) ui.Spacer(height=LINE_HEIGHT/4) ui.Label("REFERENCE COORDINATE SYSTEM: Up-axis: Y-axis (fixed)") ui.Spacer(height=LINE_HEIGHT/4) with ui.HStack(width=width, height=height): ui.Label("Pure Pursuit look ahead distance: ") self._lookahead_field = ui.FloatField(width=64.0) self._lookahead_field.model.set_value(lookahead_distance) self._lookahead_field.model.add_end_edit_fn(self._notify_lookahead_distance_changed) with ui.HStack(width=width, height=height): ui.Label("Trajectory Loop:") self._checkbox_trajectory_loop = ui.CheckBox(name="TracjectoryLoop") self._checkbox_trajectory_loop.model.set_value(False) self._checkbox_trajectory_loop.model.add_value_changed_fn( self._controller._on_trajectory_loop_value_changed ) # FIXME: Fix regression in rear steering behaviour. # (Issue #13) # with ui.HStack(width=width, height=height): # ui.Label("Enable rear steering:") # self._checkbox_rear_steering = ui.CheckBox(name="RearSteering") # self._checkbox_rear_steering.model.set_value(False) # self._checkbox_rear_steering.model.add_value_changed_fn( # self._controller._on_steering_changed # ) self._controls_frame = ui.CollapsableFrame("CONTROLS", collapsed=False, height=COLLAPSABLE_FRAME_HEIGHT, style=CollapsableFrameStyle ) with self._controls_frame: with ui.HStack(): with ui.VStack(): ui.Button( "Start Scenario", clicked_fn=self._controller._on_click_start_scenario, height=DEFAULT_BTN_HEIGHT, style=IMPORTANT_BUTTON_STYLE ) ui.Spacer(height=LINE_HEIGHT/8) ui.Button( "Stop Scenario", clicked_fn=self._controller._on_click_stop_scenario, height=DEFAULT_BTN_HEIGHT, style=IMPORTANT_BUTTON_STYLE ) ui.Line(height=LINE_HEIGHT/2) ui.Button( "Load a preset scene", clicked_fn=self._controller._on_click_load_preset_scene, height=DEFAULT_BTN_HEIGHT ) ui.Line(height=LINE_HEIGHT/2) ui.Button( "Load a ground plane", clicked_fn=self._controller._on_click_load_ground_plane, height=DEFAULT_BTN_HEIGHT ) ui.Spacer(height=LINE_HEIGHT/8) ui.Button( "Load a sample vehicle template", clicked_fn=self._controller._on_click_load_sample_vehicle, height=DEFAULT_BTN_HEIGHT ) ui.Spacer(height=LINE_HEIGHT/8) ui.Button( "Load a sample BasisCurve", clicked_fn=self._controller._on_click_load_basis_curve, height=DEFAULT_BTN_HEIGHT ) # FIXME: re-enable Forklift once the new updated # meta-data for it will be provided. # ui.Spacer(height=LINE_HEIGHT/8) # ui.Button( # "Load a Forklift", # clicked_fn=self._controller._on_click_load_forklift, # height=DEFAULT_BTN_HEIGHT # ) self._atachments_frame = ui.CollapsableFrame( "VEHICLE-TO-CURVE ATTACHMENTS", collapsed=False, height=COLLAPSABLE_FRAME_HEIGHT, style=CollapsableFrameStyle ) with self._atachments_frame: with ui.VStack(): ui.Label( "(1) Select WizardVehicle Xform and corresponding BasisCurve;\n(2) Click 'Attach Selected'", width=32 ) ui.Spacer(height=LINE_HEIGHT/8) ui.Button( "Attach Selected", clicked_fn=self._controller._on_click_attach_selected, height=DEFAULT_BTN_HEIGHT, style=IMPORTANT_BUTTON_STYLE ) ui.Spacer(height=LINE_HEIGHT/8) ui.Button( "Clear All Attachments", clicked_fn=self._controller._on_click_clear_attachments ) # Column #2 self._attachments_frame = ui.CollapsableFrame( "VEHICLE-TO-CURVE attachments", collapsed=False, height=COLLAPSABLE_FRAME_HEIGHT, style=CollapsableFrameStyle ) with self._attachments_frame: with ui.VStack(direction=ui.Direction.TOP_TO_BOTTOM, height=20, style=CollapsableFrameStyle): if attachments is not None and len(attachments) > 0: self._attachment_label = ui.Label( "Active vehicle-to-curve attachments:", alignment=ui.Alignment.TOP ) else: self._attachment_label = ui.Label("No active vehicle-to-curve attachments") self._attachment_model = AttachmentModel(attachments) tree_view = ui.TreeView( self._attachment_model, root_visible=False, header_visible=False, style={"TreeView.Item": {"margin": 4}} ) # viewport = ui.Workspace.get_window("Viewport") # self._window.dock_in(viewport, ui.DockPosition.BOTTOM) # Dock extension window alongside 'Property' extension. self._window.deferred_dock_in("Property") # dock_in_window is deprecated unfortunatelly # self._window.dock_in_window("Viewport", ui.DockPosition.RIGHT, ratio=0.1) def teardown(self): self._controller = None self._settings_frame = None self._controls_frame = None self._atachments_frame = None self._window = None def get_lookahead_distance(self): return self._lookahead_field.model.as_float def set_lookahead_distance(self, distance): self._lookahead_field.model.set_value(distance) def _notify_lookahead_distance_changed(self, model): self._controller._on_lookahead_distance_changed(model.as_float) def update_attachment_info(self, attachments): self._attachment_model.attachments_changed(attachments) if len(attachments) > 0: self._attachment_label.text = "Active vehicle-to-curve attachments:" else: self._attachment_label.text = "No active vehicle-to-curve attachments"
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omnioverflow/kit-extension-path-tracking/exts/ext.path.tracking/ext/path/tracking/tests/test_extension_model.py
from email.policy import default import omni.kit.app import omni.kit.commands import omni.usd from omni.kit.test import AsyncTestCaseFailOnLogError # from omni.kit.test_suite.helpers import wait_stage_loading from ..scripts.model import ExtensionModel # ====================================================================================================================== class TestExtensionModel(AsyncTestCaseFailOnLogError): async def setUp(self): usd_context = omni.usd.get_context() await usd_context.new_stage_async() ext_manager = omni.kit.app.get_app().get_extension_manager() self._ext_id = ext_manager.get_enabled_extension_id("ext.path.tracking") self._DEFAULT_LOOKAHEAD = 550.0 self._MAX_LOOKAHEAD = 1200.0 self._MIN_LOOKAHEAD = 300.0 async def tearDown(self): self._ext_id = None async def test_load_preset(self): ext_model = ExtensionModel(self._ext_id, default_lookahead_distance=self._DEFAULT_LOOKAHEAD, max_lookahed_distance=self._MAX_LOOKAHEAD, min_lookahed_distance=self._MIN_LOOKAHEAD ) ext_model.load_preset_scene() stage = omni.usd.get_context().get_stage() ground_plane = stage.GetPrimAtPath("/World/GroundPlane") vehicle_template = stage.GetPrimAtPath("/World/VehicleTemplate") curve = stage.GetPrimAtPath("/World/BasisCurves") self.assertTrue(ground_plane is not None) self.assertTrue(vehicle_template is not None) self.assertTrue(curve is not None) async def test_hello(self): ext_model = ExtensionModel(self._ext_id, default_lookahead_distance=self._DEFAULT_LOOKAHEAD, max_lookahed_distance=self._MAX_LOOKAHEAD, min_lookahed_distance=self._MIN_LOOKAHEAD ) async def test_attachments_preset(self): # TODO: provide impl self.assertTrue(True)
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omnioverflow/kit-extension-path-tracking/exts/ext.path.tracking/ext/path/tracking/tests/__init__.py
try: from .test_extension_model import * except: import carb carb.log_error("No tests for this module, check extension settings")
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terrylincn/omniverse-tutorials/animatedTop/generate_examples.py
# This is an example script from the USD tutorial, # "Transformations, Time-sampled Animation, and Layer Offsets". # # When run, it will generate a series of usda files in the current # directory that illustrate each of the steps in the tutorial. # from pxr import Usd, UsdGeom, Gf, Sdf def MakeInitialStage(path): stage = Usd.Stage.CreateNew(path) UsdGeom.SetStageUpAxis(stage, UsdGeom.Tokens.z) stage.SetStartTimeCode(0) stage.SetEndTimeCode(192) return stage def Step1(): stage = MakeInitialStage('Step1.usda') stage.SetMetadata('comment', 'Step 1: Start and end time codes') stage.Save() def AddReferenceToGeometry(stage, path): geom = UsdGeom.Xform.Define(stage, path) geom.GetPrim().GetReferences().AddReference('./top.geom.usd') return geom def Step2(): stage = MakeInitialStage('Step2.usda') stage.SetMetadata('comment', 'Step 2: Geometry reference') top = AddReferenceToGeometry(stage, '/Top') stage.Save() def AddSpin(top): spin = top.AddRotateZOp(opSuffix='spin') spin.Set(time=0, value=0) spin.Set(time=192, value=1440) def Step3(): stage = MakeInitialStage('Step3.usda') stage.SetMetadata('comment', 'Step 3: Adding spin animation') top = AddReferenceToGeometry(stage, '/Top') AddSpin(top) stage.Save() def AddTilt(top): tilt = top.AddRotateXOp(opSuffix='tilt') tilt.Set(value=12) def Step4(): stage = MakeInitialStage('Step4.usda') stage.SetMetadata('comment', 'Step 4: Adding tilt') top = AddReferenceToGeometry(stage, '/Top') AddTilt(top) AddSpin(top) stage.Save() def Step4A(): stage = MakeInitialStage('Step4A.usda') stage.SetMetadata('comment', 'Step 4A: Adding spin and tilt') top = AddReferenceToGeometry(stage, '/Top') AddSpin(top) AddTilt(top) stage.Save() def AddOffset(top): top.AddTranslateOp(opSuffix='offset').Set(value=(0, 0.1, 0)) def AddPrecession(top): precess = top.AddRotateZOp(opSuffix='precess') precess.Set(time=0, value=0) precess.Set(time=192, value=360) def Step5(): stage = MakeInitialStage('Step5.usda') stage.SetMetadata('comment', 'Step 5: Adding precession and offset') top = AddReferenceToGeometry(stage, '/Top') AddPrecession(top) AddOffset(top) AddTilt(top) AddSpin(top) stage.Save() def Step6(): # Use animated layer from Step5 anim_layer_path = './Step5.usda' stage = MakeInitialStage('Step6.usda') stage.SetMetadata('comment', 'Step 6: Layer offsets and animation') left = UsdGeom.Xform.Define(stage, '/Left') left_top = UsdGeom.Xform.Define(stage, '/Left/Top') left_top.GetPrim().GetReferences().AddReference( assetPath = anim_layer_path, primPath = '/Top') middle = UsdGeom.Xform.Define(stage, '/Middle') middle.AddTranslateOp().Set(value=(2, 0, 0)) middle_top = UsdGeom.Xform.Define(stage, '/Middle/Top') middle_top.GetPrim().GetReferences().AddReference( assetPath = anim_layer_path, primPath = '/Top', layerOffset = Sdf.LayerOffset(offset=96)) right = UsdGeom.Xform.Define(stage, '/Right') right.AddTranslateOp().Set(value=(4, 0, 0)) right_top = UsdGeom.Xform.Define(stage, '/Right/Top') right_top.GetPrim().GetReferences().AddReference( assetPath = anim_layer_path, primPath = '/Top', layerOffset = Sdf.LayerOffset(scale=0.25)) stage.Save() if __name__ == '__main__': Step1() Step2() Step3() Step4() Step4A() Step5() Step6()
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terrylincn/omniverse-tutorials/kaolin_data_generator_patch/extension.py
import os import re import json import random import asyncio import posixpath import threading import webbrowser from queue import Queue import glob from functools import partial import pathlib import carb import omni.ext import omni.syntheticdata as sd from omni import ui from carb import settings from pxr import Usd, UsdGeom, UsdShade, UsdLux, Vt, Gf, Sdf, Tf, Semantics import numpy as np import omni.syntheticdata as sd from omni.kit.pointcloud_generator import PointCloudGenerator from kaolin_app.research import utils from .utils import ( delete_sublayer, omni_shader, bottom_to_elevation, save_to_log, save_numpy_array, save_image, save_pointcloud, wait_for_loaded, ) from .sensors import _build_ui_sensor_selection from .ui import build_component_frame from .dr_components import sample_component _extension_instance = None FILE_DIR = os.path.dirname(os.path.realpath(__file__)) CACHE = os.path.join(FILE_DIR, ".cache") EXTENSION_NAME = "Data Generator" SCENE_PATH = "/World/visualize" NUM_WORKERS = 10 VALID_EXTENSIONS = ["*.usd", "*.usda", "*.usdc"] RENDERERS = ["RaytracedLighting", "PathTracing"] CAMERAS = ["UniformSampling", "Trajectory"] TRAJ_OPTIONS = ["Spiral", "CustomJson"] DEMO_URL = "https://docs.omniverse.nvidia.com/app_kaolin/app_kaolin/user_manual.html#data-generator" MAX_RESOLUTION = {"width": 7680, "height": 4320} MIN_RESOLUTION = {"width": 1024, "height": 1024} DR_COMPONENTS = [ "LightComponent", "MovementComponent", "RotationComponent", "ColorComponent", "TextureComponent", "MaterialComponent", "VisibilityComponent", ] class KaolinDataGeneratorError(Exception): pass class IOWorkerPool: def __init__(self, num_workers: int): self.save_queue = Queue() for _ in range(num_workers): t = threading.Thread(target=self._do_work) t.start() def add_to_queue(self, data: object): self.save_queue.put(data) def _do_work(self): while True: fn = self.save_queue.get(block=True) fn() self.save_queue.task_done() class Extension(omni.ext.IExt): def __init__(self): self.root_dir = None self._ref_idx = 0 self._filepicker = None self._outpicker = None self._configpicker = None self._jsonpicker = None self.camera = None self._preset_layer = None self.dr_components = {} self.asset_list = None self._progress_tup = None self.option_frame = None self.config = {} self.start_config = {} def get_name(self): return EXTENSION_NAME def on_startup(self, ext_id: str): global _extension_instance _extension_instance = self self._settings = carb.settings.get_settings() self.progress = None self._context = omni.usd.get_context() self._window = ui.Window(EXTENSION_NAME, width=500, height=500) self._menu_entry = omni.kit.ui.get_editor_menu().add_item( f"Window/Kaolin/{EXTENSION_NAME}", self._toggle_menu, toggle=True, value=True ) self._preview_window = ui.Window("Preview", width=500, height=500) self._preview_window.deferred_dock_in("Property") self._preview_window.visible = False self._filepicker = omni.kit.window.filepicker.FilePickerDialog( "Select Asset(s)", click_apply_handler=lambda f, d: self._on_filepick(f, d), apply_button_label="Open", item_filter_options=["usd", "usda", "usdc"], ) self._filepicker.hide() self._outpicker = omni.kit.window.filepicker.FilePickerDialog( "Select Output Directory", click_apply_handler=lambda _, x: self._on_outpick(x), apply_button_label="Select", enable_filename_input=False, ) self._outpicker.hide() self._configpicker = omni.kit.window.filepicker.FilePickerDialog( "Import Preset", click_apply_handler=self._on_load_config, apply_button_label="Open", item_filter_options=["usda"], ) self._configpicker.hide() self._jsonpicker = omni.kit.window.filepicker.FilePickerDialog( "Import Json trajectory file", click_apply_handler=lambda f, d: asyncio.ensure_future( self._import_trajectory_from_json(posixpath.join(d, f)) ), apply_button_label="Open", item_filter_fn=self._on_filter_json, ) self._jsonpicker.hide() self._configsaver = omni.kit.window.filepicker.FilePickerDialog( "Save Preset As...", click_apply_handler=self._on_save_config, apply_button_label="Save", item_filter_options=["usda"], ) cache = {} if not os.path.exists(CACHE): os.makedirs(CACHE, exist_ok=True) if posixpath.exists(os.path.join(CACHE, ".log")): with open(os.path.join(CACHE, ".log"), "r") as f: cache = json.load(f) self._cache = cache self._hide_filepickers() self.start_config = self._set_start_config() self.presets = [str(pathlib.Path(p).as_posix()) for p in glob.glob(posixpath.join(FILE_DIR, "presets/*.usda"))] self.stage_events_sub = self._context.get_stage_event_stream().create_subscription_to_pop(self._on_stage_event) self.sdv = sd.Extension.get_instance() self._vp_iface = omni.kit.viewport.get_viewport_interface() self.timeline = omni.timeline.get_timeline_interface() self._build_ui() def on_shutdown(self): global _extension_instance _extension_instance = None if self._preset_layer: delete_sublayer(self._preset_layer) self.progress = None if self._window: del self._window if self._filepicker: self._filepicker = None if self._outpicker: self._outpicker = None if self._configpicker: self._configpicker = None if self._jsonpicker: self._jsonpicker = None def _toggle_menu(self, *args): self._window.visible = not self._window.visible def clear(self): if self._preset_layer: delete_sublayer(self._preset_layer) # reset resolution self._settings.set("/app/renderer/resolution/width", self.start_config["width"]) self._settings.set("/app/renderer/resolution/height", self.start_config["height"]) # reset rendering mode self._settings.set("/rtx/rendermode", self.start_config["renderer"]) self._settings.set("/rtx-defaults/pathtracing/clampSpp", self.start_config["clampSpp"]) self._settings.set("/rtx-defaults/pathtracing/totalSpp", self.start_config["totalSpp"]) self._settings.set("/rtx/post/aa/op", self.start_config["aa"]) def _on_stage_event(self, e): pass def _reset(self): self._ref_idx = 0 self.asset_list = None def _show_filepicker(self, filepicker, default_dir: str = "", default_file: str = ""): cur_dir = filepicker.get_current_directory() show_dir = cur_dir if cur_dir else default_dir filepicker.show(show_dir) filepicker.set_filename(default_file) def _hide_filepickers(self): # Hide all filepickers self._configsaver.hide() self._filepicker._click_cancel_handler = self._filepicker.hide() self._outpicker._click_cancel_handler = self._outpicker.hide() self._jsonpicker._click_cancel_handler = self._jsonpicker.hide() self._configpicker._click_cancel_handler = self._configpicker.hide() self._configsaver._click_cancel_handler = self._configsaver.hide() def _set_start_config(self): return { "width": self._settings.get("/app/renderer/resolution/width"), "height": self._settings.get("/app/renderer/resolution/height"), "renderer": self._settings.get("/rtx/rendermode"), "clampSpp": self._settings.get("/rtx-defaults/pathtracing/clampSpp"), "totalSpp": self._settings.get("/rtx/pathtracing/totalSpp"), "aa": self._settings.get("/rtx/post/aa/op"), } def _on_filter_json(self, item: omni.kit.widget.filebrowser.filesystem_model.FileSystemItem): file_exts = ["json", "JSON"] for fex in file_exts: if item.name.endswith(fex) or item.is_folder: return True async def _import_trajectory_from_json(self, path: str): """ Import a trajectory from a JSON file in a predefined format. """ trajectory = self._on_load_json(path) self.config["jsonpath"] = path assert isinstance(trajectory, list) assert len(trajectory) > 0 # add trajectory prim stage = omni.usd.get_context().get_stage() timestamp_prim = stage.DefinePrim(f"{SCENE_PATH}/timestamp", "Xform") trajectory_rig = stage.DefinePrim(f"{timestamp_prim.GetPath()}/rig", "Xform") UsdGeom.Xformable(trajectory_rig).ClearXformOpOrder() UsdGeom.Xformable(trajectory_rig).AddTranslateOp(UsdGeom.XformOp.PrecisionDouble) UsdGeom.Xformable(trajectory_rig).AddOrientOp() # Set translation and orientation according to trajectory origins, scales, orientations = [], [], [] for idx, entry in enumerate(trajectory): # Set camera based on time, translation, quaternion in the json file. trans, quaternion, time = entry["t"], entry["q"], entry["time"] # The JSON format has different camera coordinate system conventions: # +X points right, +Y points down, camera faces in +Z. # Compared to Kit's conventions: # +X points right, -Y points down, camera faces in -Z. # So the Y and Z axes need to be flipped, and orientations need to be # rotated around X by 180 degrees for the coordinate systems to match. trans[1] = -trans[1] # Flip Y trans[2] = -trans[2] # Flip Z # Set translation and orientations according to time. trajectory_rig.GetAttribute("xformOp:translate").Set(Gf.Vec3d(trans), time=time) # Both the JSON format and Gf.Quatd use a "scalar first" ordering. # Flip Y and Z axes. quaternion[2] = -quaternion[2] quaternion[3] = -quaternion[3] trajectory_rig.GetAttribute("xformOp:orient").Set(Gf.Quatf(*quaternion), time=time) # Use prev and curr translation to generate a trajectory vis as PointInstancer orientation = Gf.Quath(*quaternion).GetNormalized() orientations.append(orientation) origins.append(Gf.Vec3d(trans)) scales.append([1.0, 1.0, 1.0]) # Define prim for visualization, each component will be a cone (like 3d vector) cone_height = 0.03 proto_prim = stage.DefinePrim(f"{SCENE_PATH}/proto", "Xform") proto_prim.GetAttribute("visibility").Set("invisible") cone_rig = stage.DefinePrim(f"{proto_prim.GetPath()}/cone", "Xform") cone = UsdGeom.Cone.Define(stage, (f"{cone_rig.GetPath()}/cone")) cone.GetRadiusAttr().Set(0.01) cone.GetHeightAttr().Set(cone_height) cone.GetAxisAttr().Set("Z") # cone rig UsdGeom.Xformable(cone_rig).ClearXformOpOrder() UsdGeom.Xformable(cone_rig).AddTranslateOp(UsdGeom.XformOp.PrecisionDouble).Set((0.0, cone_height / 2, 0.0)) # Setup point instancer instancer_prim = stage.DefinePrim(f"{SCENE_PATH}/Viz", "PointInstancer") instancer = UsdGeom.PointInstancer(instancer_prim) assert instancer instancer.CreatePrototypesRel().SetTargets([cone_rig.GetPath()]) # Populate point instancer with the calculated scales, positions, and orientations instancer.GetPositionsAttr().Set(origins) instancer.GetScalesAttr().Set(scales) indices = [0] * len(origins) instancer.GetProtoIndicesAttr().Set(indices) instancer.GetOrientationsAttr().Set(orientations) await self._preview_trajectory() def _move_camera(self, centre: Gf.Vec3d, azimuth: float, elevation: float, distance: float): stage = omni.usd.get_context().get_stage() rig = stage.GetPrimAtPath(f"{SCENE_PATH}/CameraRig") boom = stage.GetPrimAtPath(f"{rig.GetPath()}/Boom") camera = stage.GetPrimAtPath(f"{boom.GetPath()}/Camera") UsdGeom.Xformable(rig).ClearXformOpOrder() centre_op = UsdGeom.Xformable(rig).AddTranslateOp() centre_op.Set(tuple(centre)) rig_rotate_op = UsdGeom.Xformable(rig).AddRotateXYZOp() rig_rotate_op.Set((0.0, azimuth, 0.0)) UsdGeom.Xformable(boom).ClearXformOpOrder() boom_rotate_op = UsdGeom.Xformable(boom).AddRotateXYZOp() boom_rotate_op.Set((-elevation, 0.0, 0.0)) # Reset camera UsdGeom.Xformable(camera).ClearXformOpOrder() distance_op = UsdGeom.Xformable(camera).AddTranslateOp(UsdGeom.XformOp.PrecisionDouble) distance_op.Set((0.0, 0.0, distance)) UsdGeom.Xformable(camera).ComputeLocalToWorldTransform(0) def _get_value(self, option, default=None): if option not in self.config: self.config[option] = default if self.config[option]["mode"] == 0: return self.config[option]["fixed"] else: v_min, v_max = self.config[option]["random"] if isinstance(v_min, list): return [random.random() * (v_max_el - v_min_el) + v_min_el for v_min_el, v_max_el in zip(v_min, v_max)] else: return random.random() * (v_max - v_min) + v_min def _set_trajectory_camera_pose(self, cur_frame: int, num_frames: int): """ Calculate the camera pose based on a trajectory, number of frames to generate and current frame """ stage = omni.usd.get_context().get_stage() viz_prim = stage.GetPrimAtPath(f"{SCENE_PATH}/Viz") # Match transform of visualization prim tf = UsdGeom.Xformable(viz_prim).ComputeLocalToWorldTransform(0.0) # .GetInverse() camera_rig = stage.GetPrimAtPath(f"{SCENE_PATH}/CameraRig") UsdGeom.Xformable(camera_rig).ClearXformOpOrder() UsdGeom.Xformable(camera_rig).AddTransformOp().Set(tf) trajectory_rig = stage.GetPrimAtPath(f"{SCENE_PATH}/timestamp/rig") translations = trajectory_rig.GetAttribute("xformOp:translate") time_samples = translations.GetTimeSamples() if num_frames <= 1: cur_time = (time_samples[-1] - time_samples[0]) / 2.0 else: cur_time = (time_samples[-1] - time_samples[0]) / (num_frames - 1) * cur_frame translate = trajectory_rig.GetAttribute("xformOp:translate").Get(time=cur_time) orientation = trajectory_rig.GetAttribute("xformOp:orient").Get(time=cur_time) UsdGeom.Xformable(self.camera).ClearXformOpOrder() UsdGeom.Xformable(self.camera).AddTranslateOp(UsdGeom.XformOp.PrecisionDouble).Set(translate) UsdGeom.Xformable(self.camera).AddOrientOp().Set(orientation) def _get_spiral_camera_pose(self, frame, total_frames): """ Calculate the rotation with respect to X & Y based on the current iteration of all the sampling """ distance = self._get_value("distance") min_ele, max_ele = tuple(self.config["elevation"]["random"]) numrot = self.config["num_rotations"] if total_frames > 1: az_step = 360 * numrot / (total_frames - 1) ele_step = (max_ele - min_ele) / (total_frames - 1) else: az_step = 0 ele_step = 0 az = frame * az_step ele = min_ele + frame * ele_step return az, ele, distance def _normalize(self, prim: Usd.Prim): prim_range = UsdGeom.Imageable(prim).ComputeLocalBound(0, "default").GetRange() range_min = prim_range.GetMin() range_max = prim_range.GetMax() size = prim_range.GetSize() sf = 1.0 / max(size) offset = (range_max + range_min) / 2 * sf UsdGeom.Xformable(prim).AddTranslateOp().Set(-offset) UsdGeom.Xformable(prim).AddScaleOp().Set((sf, sf, sf)) def _change_up_axis(self, model): # TODO type self.config["up_axis"] = model.as_int def add_semantics(self, prim: Usd.Prim, semantic_label: str): if not prim.HasAPI(Semantics.SemanticsAPI): sem = Semantics.SemanticsAPI.Apply(prim, "Semantics") sem.CreateSemanticTypeAttr() sem.CreateSemanticDataAttr() sem.GetSemanticTypeAttr().Set("class") sem.GetSemanticDataAttr().Set(semantic_label) def create_asset_prim(self): stage = omni.usd.get_context().get_stage() asset_prim = stage.GetPrimAtPath(f"{SCENE_PATH}/Asset") if not asset_prim: asset_prim = stage.DefinePrim(f"{SCENE_PATH}/Asset", "Xform") rig_prim = stage.GetPrimAtPath(f"{asset_prim.GetPath()}/Rig") if not rig_prim: rig_prim = stage.DefinePrim(f"{asset_prim.GetPath()}/Rig", "Xform") UsdGeom.Xformable(rig_prim).AddTranslateOp() UsdGeom.Xformable(rig_prim).AddRotateXOp() translate_op = rig_prim.GetAttribute("xformOp:translate") if not translate_op: translate_op = UsdGeom.Xformable(rig_prim).AddTranslateOp() translate_op.Set((0.0, 0.0, 0.0)) rotatex_op = rig_prim.GetAttribute("xformOp:rotateX") if not rotatex_op: UsdGeom.Xformable(rig_prim).AddRotateXOp() ref_prim = stage.DefinePrim(f"{SCENE_PATH}/Asset/Rig/Preview") self.add_semantics(ref_prim, "asset") return asset_prim async def _run(self): i = 0 while i < len(self.asset_list): self.progress["bar1"].set_value(i / len(self.asset_list)) if self.progress["stop_signal"]: break load_success = False # If asset fails to load, remove from list and try the next one while not load_success and i < len(self.asset_list): carb.log_info(f"[kaolin_app.research.data_generator] Loading asset {self.asset_list[i]}...") load_success = await self.load_asset(self.asset_list[i], use_cache=True) if not load_success: self.asset_list.pop(i) if self.progress["stop_signal"]: break for j in range(self.config["renders_per_asset"]): self.progress["bar2"].set_value(j / self.config["renders_per_asset"]) if self.progress["stop_signal"]: break app = omni.kit.app.get_app_interface() await app.next_update_async() await self.render_asset(j, self.config["renders_per_asset"]) self._preview_window.visible = False await self._save_gt(i * self.config["renders_per_asset"] + j) i += 1 self._ref_idx += 1 async def run(self): root_layer = omni.usd.get_context().get_stage().GetRootLayer() if len(root_layer.subLayerPaths) == 0 or self._preset_layer != Sdf.Find(root_layer.subLayerPaths[-1]): self._on_preset_changed(self.presets[self._preset_model.get_item_value_model().as_int], update_config=False) if not self.config["out_dir"]: m = self._ui_modal("Output Dir Not Specified", "Please specify an output directory.") # TODO Notification return is_custom_json_mode = ( self.config["cameramode"] == "Trajectory" and self.config["trajectorymode"] == "CustomJson" ) if is_custom_json_mode and not os.path.exists(self.config.get("jsonpath", "")): if not self.config.get("jsonpath"): title = "JSON Path Not Specified" else: title = "Invalid JSON Path Specified" m = self._ui_modal(title, "Please specify a valid path to a trajectory JSON file.") # TODO Notification return # Set small camera near plane cur_clipping_range = self.camera.GetAttribute("clippingRange").Get() self.camera.GetAttribute("clippingRange").Set((0.01, cur_clipping_range[1])) # Hide path visualization if exists if omni.usd.get_context().get_stage().GetPrimAtPath(f"{SCENE_PATH}/Viz"): self._set_visible(f"{SCENE_PATH}/Viz", False) # Set SPP per config self._settings.set("/rtx/pathtracing/spp", self.config["spp"]) # Capture scene state cur_sel = omni.usd.get_context().get_selection().get_selected_prim_paths() display_mode = self._settings.get("/persistent/app/viewport/displayOptions") # Clear scene state omni.usd.get_context().get_selection().clear_selected_prim_paths() self._settings.set("/persistent/app/viewport/displayOptions", 0) if self.asset_list is None: self.asset_list = await utils.path.get_usd_files_async(self.root_dir) self._ui_toggle_visible([self.option_frame, self.progress["block"]]) # Reset Camera if not self.camera.GetAttribute("xformOp:translate"): UsdGeom.Xformable(self.camera).AddTranslateOp() self.camera.GetAttribute("xformOp:translate").Set((0, 0, 0)) if not self.camera.GetAttribute("xformOp:rotateXYZ"): UsdGeom.Xformable(self.camera).AddRotateXYZOp() self.camera.GetAttribute("xformOp:rotateXYZ").Set((0, 0, 0)) try: await self._run() except Exception as e: raise e finally: self.progress["stop_signal"] = False self._ui_toggle_visible([self.option_frame, self.progress["block"]]) # Re-apply scene state omni.usd.get_context().get_selection().set_selected_prim_paths(cur_sel, True) self._settings.set("/persistent/app/viewport/displayOptions", display_mode) self._settings.set("/rtx/pathtracing/spp", 1) self.camera.GetAttribute("clippingRange").Set((1.0, cur_clipping_range[1])) if omni.usd.get_context().get_stage().GetPrimAtPath(f"{SCENE_PATH}/Viz"): self._set_visible(f"{SCENE_PATH}/Viz", True) async def preview(self): root_layer = omni.usd.get_context().get_stage().GetRootLayer() if len(root_layer.subLayerPaths) == 0 or self._preset_layer != Sdf.Find(root_layer.subLayerPaths[-1]): self._on_preset_changed(self.presets[self._preset_model.get_item_value_model().as_int], update_config=False) if self.asset_list is None: self.asset_list = await utils.path.get_usd_files_async(self.root_dir) # Hide path visualization if exists if omni.usd.get_context().get_stage().GetPrimAtPath(f"{SCENE_PATH}/Viz"): self._set_visible(f"{SCENE_PATH}/Viz", False) success = False # draw assets at random. Remove invalid assets if detected. while not success and len(self.asset_list) > 0: sel = random.randrange(len(self.asset_list)) success = await self.load_asset(self.asset_list[sel], use_cache=False) if not success: self.asset_list.pop(sel) await self.render_asset(random.randrange(100), 100) # ensure material is loaded await wait_for_loaded() self.sdv.build_visualization_ui(self._preview_window, "Viewport") self._preview_window.visible = True # Set camera target to facilitate camera control viewport = omni.kit.viewport.get_viewport_interface().get_viewport_window() viewport.set_camera_target(str(self.camera.GetPath()), 0.0, 0.0, 0.0, True) def _add_ref(self, ref_prim, file): # Check if file has a default prim - if not, use the first prim ref_prim.GetReferences().ClearReferences() file_stage = Usd.Stage.Open(file) if file_stage.HasDefaultPrim(): ref_prim.GetPrim().GetReferences().AddReference(file) else: top_level_prims = file_stage.GetPseudoRoot().GetChildren() if len(top_level_prims) == 0: raise KaolinDataGeneratorError(f"Asset at {file} appears to be empty") root_prim = top_level_prims[0] ref_prim.GetPrim().GetReferences().AddReference(file, str(root_prim.GetPath())) return True async def load_asset(self, path: str, use_cache: bool = False): # TODO docstring stage = omni.usd.get_context().get_stage() ref_prim = stage.GetPrimAtPath(f"{SCENE_PATH}/Asset/Rig/Preview") if not ref_prim: self.create_asset_prim() ref_prim = stage.GetPrimAtPath(f"{SCENE_PATH}/Asset/Rig/Preview") self._set_visible(str(ref_prim.GetPath()), True) try: self._add_ref(ref_prim, path) except Tf.ErrorException: carb.log_warn(f"Error opening {path}.") return False except KaolinDataGeneratorError as e: carb.log_warn(e.args[0]) return False # set transforms UsdGeom.Xformable(ref_prim).ClearXformOpOrder() if self.config.get("up_axis", 0): UsdGeom.Xformable(ref_prim).AddRotateXOp().Set(-90.0) # If Z up, rotate about X axis if self.config.get("asset_normalize"): self._normalize(ref_prim) if self.config["asset_override_bottom_elev"]: bottom_to_elevation(ref_prim.GetParent(), 0.0) else: ref_prim.GetParent().GetAttribute("xformOp:translate").Set((0.0, 0.0, 0.0)) # ensure material is loaded await asyncio.sleep(1) await wait_for_loaded() asset_size = UsdGeom.Imageable(ref_prim).ComputeLocalBound(0, "default").GetRange().GetSize() if all([s < 1e-10 for s in asset_size]): # Stage is empty, skip asset carb.log_warn(f"Asset at {path} appears to be empty.") print( asset_size, ref_prim, ref_prim.GetAttribute("visibility").Get(), ref_prim.GetMetadata("references").GetAddedOrExplicitItems()[0].assetPath, ) return False return True async def render_asset(self, cur_frame: int = 0, num_frames: int = 0) -> None: # TODO docstring self._settings.set("/app/hydraEngine/waitIdle", True) # Necessary, waitIdle resets itself to false stage = omni.usd.get_context().get_stage() if not self.camera: rig = stage.DefinePrim(f"{SCENE_PATH}/CameraRig", "Xform") boom = stage.DefinePrim(f"{rig.GetPath()}/Boom", "Xform") self.camera = stage.DefinePrim(f"{boom.GetPath()}/Camera", "Camera") self.camera.GetAttribute("clippingRange").Set((1.0, 1000000)) self._vp_iface.get_viewport_window().set_active_camera(str(self.camera.GetPath())) if self.config.get("cameramode") == "Trajectory": if self.config["trajectorymode"] == "Spiral": centre = self._get_value("centre") azimuth, elevation, distance = self._get_spiral_camera_pose(cur_frame, num_frames) self._move_camera(centre, azimuth, elevation, distance) elif self.config["trajectorymode"] == "CustomJson": self._move_camera((0, 0, 0), 0, 0, 0) self._set_trajectory_camera_pose(cur_frame, num_frames) else: centre = self._get_value("centre") azimuth = self._get_value("azimuth") elevation = self._get_value("elevation") distance = self._get_value("distance") self._move_camera(centre, azimuth, elevation, distance) # Set focal length focal_length_defaults = {"fixed": 24.0, "mode": 0, "random": Gf.Vec2f([1.0, 120.0])} focal_length = self._get_value("camera_focal_length", focal_length_defaults) self.camera.GetAttribute("focalLength").Set(focal_length) self.move_asset() self.sample_components() app = omni.kit.app.get_app_interface() await app.next_update_async() # This next frame await is needed to avoid camera transform remaining in place def _get_camera_properties(self): width = self._settings.get("/app/renderer/resolution/width") height = self._settings.get("/app/renderer/resolution/height") tf_mat = np.array(UsdGeom.Xformable(self.camera).ComputeLocalToWorldTransform(0.0).GetInverse()).tolist() tf_mat[-1][2] *= 100 clippingrange = self.camera.GetAttribute("clippingRange").Get() clippingrange[0] = 1 cam_props = { "resolution": {"width": width, "height": height}, "clipping_range": tuple(clippingrange),#tuple(self.camera.GetAttribute("clippingRange").Get()), "horizontal_aperture": self.camera.GetAttribute("horizontalAperture").Get(), "focal_length": self.camera.GetAttribute("focalLength").Get(), "tf_mat": tf_mat,#np.array(UsdGeom.Xformable(self.camera).ComputeLocalToWorldTransform(0.0).GetInverse()).tolist(), } return cam_props def _get_filepath_from_primpath(self, prim_path): """ Called to get file path from a prim object. """ if not prim_path: return "" prim = omni.usd.get_context().get_stage().GetPrimAtPath(prim_path) if prim: metadata = prim.GetMetadata("references") if prim and metadata: return metadata.GetAddedOrExplicitItems()[0].assetPath return "" def _get_frame_metadata( self, bbox_2d_tight: np.ndarray = None, bbox_2d_loose: np.ndarray = None, bbox_3d: np.ndarray = None ): frame = {"camera_properties": self._get_camera_properties()} if bbox_2d_tight is not None: frame["bbox_2d_tight"] = self._get_bbox_2d_data(bbox_2d_tight) if bbox_2d_loose is not None: frame["bbox_2d_loose"] = self._get_bbox_2d_data(bbox_2d_loose) if bbox_3d is not None: frame["bbox_3d"] = self._get_bbox_3d_data(bbox_3d) ref_prim_path = f"{SCENE_PATH}/Asset/Rig/Preview" stage = omni.usd.get_context().get_stage() ref_prim = stage.GetPrimAtPath(ref_prim_path) tf = np.array(UsdGeom.Xformable(ref_prim).ComputeLocalToWorldTransform(0.0)).tolist() ref = self._get_filepath_from_primpath(ref_prim_path) if os.path.isfile(self.root_dir): rel_ref = os.path.basename(ref) else: rel_ref = posixpath.relpath(ref, self.root_dir) frame["asset_transforms"] = [(rel_ref, tf)] json_buffer = bytes(json.dumps(frame, indent=4), encoding="utf-8") return json_buffer def _get_bbox_2d_data(self, bboxes): # TODO type bbox_2d_list = [] for bb_data in bboxes: ref = self._get_filepath_from_primpath(bb_data["name"]) rel_ref = posixpath.relpath(ref, self.root_dir) if ref else "" bb_dict = { "file": rel_ref, "class": bb_data["semanticLabel"], "bbox": {a: bb_data[a].item() for a in ["x_min", "y_min", "x_max", "y_max"]}, } bbox_2d_list.append(bb_dict) return bbox_2d_list def _get_bbox_3d_data(self, bboxes): # TODO type bbox_3d_list = [] for bb_data in bboxes: ref = self._get_filepath_from_primpath(bb_data["name"]) rel_ref = posixpath.relpath(ref, self.root_dir) if ref else "" bb_dict = { "file": rel_ref, "class": bb_data["semanticLabel"], "bbox": {a: bb_data[a].item() for a in ["x_min", "y_min", "x_max", "y_max", "z_min", "z_max"]}, } bb_dict["transform"] = bb_data["transform"].tolist() bbox_3d_list.append(bb_dict) return bbox_3d_list def move_asset(self): stage = omni.usd.get_context().get_stage() if self.config["asset_override_bottom_elev"]: ref_prim = stage.GetPrimAtPath(f"{SCENE_PATH}/Asset/Rig/Preview") bottom_to_elevation(ref_prim.GetParent(), self.config["asset_bottom_elev"]) async def _save_gt(self, idx: int): vp = self._vp_iface.get_viewport_window() self._sensors = self.sdv._sensors["Viewport"] await sd.sensors.initialize_async( vp, [st for _, s in self._sensors.items() if s["enabled"] for st in s["sensors"]] ) io_tasks = [] img_funcs = {"rgb": partial(sd.sensors.get_rgb, vp), "normals": partial(sd.visualize.get_normals, vp)} np_funcs = { "depth": partial(sd.sensors.get_depth_linear, vp), "instance": partial(sd.sensors.get_instance_segmentation, vp, parsed=(self._sensors["instance"]["mode"])), "semantic": partial(sd.sensors.get_semantic_segmentation, vp), } for sensor, write_fn in img_funcs.items(): if self._sensors[sensor]["enabled"]: filepath = posixpath.join(self.config["out_dir"], f"{idx}_{sensor}.png") data = write_fn() io_tasks.append(save_image(filepath, data)) carb.log_info(f"[kaolin.data_generator] Saving {sensor} to {filepath}") for sensor, write_fn in np_funcs.items(): if self._sensors[sensor]["enabled"]: filepath = posixpath.join(self.config["out_dir"], f"{idx}_{sensor}.npy") data = write_fn() io_tasks.append(save_numpy_array(filepath, data)) carb.log_info(f"[kaolin.data_generator] Saving {sensor} to {filepath}") bbox_2d_tight, bbox_2d_loose, bbox_3d = None, None, None if self._sensors["bbox_2d_tight"]["enabled"]: bbox_2d_tight = sd.sensors.get_bounding_box_2d_tight(vp) if self._sensors["bbox_2d_loose"]["enabled"]: bbox_2d_loose = sd.sensors.get_bounding_box_2d_loose(vp) if self._sensors["bbox_3d"]["enabled"]: bbox_3d = sd.sensors.get_bounding_box_3d(vp, parsed=self._sensors["bbox_3d"]["mode"]) if self._sensors["pointcloud"]["enabled"]: pc_gen = PointCloudGenerator() pc_gen.stage = omni.usd.get_context().get_stage() pc_gen.ref = pc_gen.stage.GetPrimAtPath(f"{SCENE_PATH}/Asset/Rig") pc_gen.height_resolution = self._sensors["pointcloud"]["sampling_resolution"] pc_gen.width_resolution = self._sensors["pointcloud"]["sampling_resolution"] pointcloud = await pc_gen.generate_pointcloud() filepath = posixpath.join(self.config["out_dir"], f"{idx}_pointcloud.usd") up_axis = ["Y", "Z"][self.config.get("up_axis", 0)] io_tasks.append(save_pointcloud(filepath, pointcloud, up_axis)) filepath = posixpath.join(self.config["out_dir"], f"{idx}_metadata.json") frame = self._get_frame_metadata(bbox_2d_tight, bbox_2d_loose, bbox_3d) # TODO: fix and remove this io_tasks.append(omni.client.write_file_async(filepath, frame)) await asyncio.gather(*io_tasks) def sample_components(self): # TODO docstring for _, components in self.dr_components.items(): for component in components: sample_component(component) def _set_visible(self, path: str, value: bool): opts = ["invisible", "inherited"] stage = omni.usd.get_context().get_stage() prim = stage.GetPrimAtPath(path) if prim and prim.GetAttribute("visibility"): prim.GetAttribute("visibility").Set(opts[value]) def _on_value_changed(self, option, value, idx: int = None, idx_opt=None): # TODO type has_mode = isinstance(self.config[option], dict) if has_mode: mode = ["fixed", "random"][self.config[option]["mode"]] if idx is not None and idx_opt is not None: self.config[option][mode][idx_opt][idx] = value elif idx is not None: self.config[option][mode][idx] = value else: self.config[option][mode] = value else: if idx is not None and idx_opt is not None: self.config[option][idx_opt][idx] = value elif idx is not None: self.config[option][idx] = value else: self.config[option] = value def _on_mode_changed(self, option, model): # TODO type idx = model.get_item_value_model().get_value_as_int() self.config[option]["mode"] = idx self._build_ui() def _on_filepick(self, filename: str, dirpath: str): if dirpath: path = posixpath.join(dirpath, filename) if utils.path.exists(path): self._filepicker.hide() save_to_log(CACHE, {"root_dir": dirpath, "root_file": filename}) self._ui_root_dir.set_value(path) def _on_outpick(self, path: str): self._outpicker.hide() save_to_log(CACHE, {"out_dir": path}) self._ui_out_dir.set_value(path) def _on_load_config(self, filename: str, dirpath: str): self._configpicker.hide() path = posixpath.join(dirpath, filename) assert re.search("^.*\.(usd|usda|usdc|USD|USDA|USDC)$", path) # Confirm path is a valid USD assert utils.path.exists(path) # Ensure path exists save_to_log(CACHE, {"config_dir": dirpath}) if path not in self.presets: self.presets.append(path) self._preset_model.append_child_item(None, ui.SimpleStringModel(posixpath.splitext(filename)[0])) self._preset_model.get_item_value_model().set_value(self.presets.index(path)) def _on_load_json(self, path: str): self._jsonpicker.hide() assert re.search("^.*\.(json)$", path) # Confirm path is a valid json file assert utils.path.exists(path) # Ensure path exists save_to_log(CACHE, {"json_dir": posixpath.dirname(path)}) with open(path, "r") as f: data = json.load(f) return data async def _on_root_dir_changed(self, path: str): """ root usd directory changed """ if utils.path.exists(path): self._settings.set("/kaolin/mode", 2) # Set app in data generation mode self._reset() self._settings.set("/app/asyncRendering", False) # Necessary to ensure correct GT output self._settings.set("/app/hydraEngine/waitIdle", True) # Necessary to ensure correct GT output omni.usd.get_context().new_stage() stage = omni.usd.get_context().get_stage() vis_prim = stage.GetPrimAtPath(SCENE_PATH) if vis_prim and self._preset_layer is None: omni.kit.commands.execute("DeletePrimsCommand", paths=[vis_prim.GetPath()]) elif vis_prim and stage.GetPrimAtPath(f"{vis_prim.GetPath()}/Asset/Rig"): rig = stage.GetPrimAtPath(f"{vis_prim.GetPath()}/Asset/Rig") for child in rig.GetChildren(): self._set_visible(str(child.GetPath()), False) self.root_dir = path self.asset_list = await utils.path.get_usd_files_async(self.root_dir) if not self.option_frame: self._build_ui() if self.option_frame: self.option_frame.visible = True await self.preview() self._preview_window.visible = False else: carb.log_error(f"[kaolin_app.research.data_generator] Directory not found: '{path}'") def _set_settings(self, width: int, height: int, renderer: str, **kwargs): self._settings.set("/app/renderer/resolution/width", width) self._settings.set("/app/renderer/resolution/height", height) self._settings.set("/rtx/rendermode", renderer) self._settings.set("/app/viewport/grid/enabled", False) self._settings.set("/app/viewport/grid/showOrigin", False) def _on_save_config(self, filename: str, dirname: str): assert utils.path.exists(dirname) self._configsaver.hide() # add sensor config to main config self.config["sensors"] = {s: True for s, v in self.sdv._sensors["Viewport"].items() if v["enabled"]} save_to_log(CACHE, {"config_dir": dirname}) if self._preset_layer is None: raise ValueError("Something went wrong, Unable to save config.") # Create new layer filename = f"{posixpath.splitext(filename)[0]}.usda" new_path = posixpath.join(dirname, filename) if Sdf.Find(new_path) == self._preset_layer: new_layer = self._preset_layer else: # Transfer layer content over to new layer new_layer = Sdf.Layer.CreateNew(new_path) new_layer.TransferContent(self._preset_layer) new_layer.customLayerData = {"DataGenerator": self.config} new_layer.Save() self._on_load_config(filename, dirname) def _on_resolution_changed(self, model, option): # TODO type value = model.as_int self.config.update({option: value}) self._settings.set(f"/app/renderer/resolution/{option}", value) model.set_value(value) def _on_preset_changed(self, path: str, update_config: bool = True) -> None: stage = omni.usd.get_context().get_stage() root_layer = stage.GetRootLayer() if self._preset_layer is not None: delete_sublayer(self._preset_layer) vis_prim = stage.GetPrimAtPath(SCENE_PATH) if vis_prim: omni.kit.commands.execute("DeletePrimsCommand", paths=[vis_prim.GetPath()]) omni.kit.commands.execute( "CreateSublayerCommand", layer_identifier=root_layer.identifier, sublayer_position=-1, new_layer_path=path, transfer_root_content=False, create_or_insert=False, ) self._preset_layer = Sdf.Find(root_layer.subLayerPaths[-1]) if update_config: config = self._preset_layer.customLayerData.get("DataGenerator") if config: self.config = config if "sensors" in self.config: # Enable sensors for s in self.config["sensors"]: self.sdv._sensors["Viewport"][s]["enabled"] = True # Set preset as authoring layer edit_target = Usd.EditTarget(self._preset_layer) stage = omni.usd.get_context().get_stage() if not stage.IsLayerMuted(self._preset_layer.identifier): stage.SetEditTarget(edit_target) self.dr_components = {} for prim in stage.Traverse(): if str(prim.GetTypeName()) in DR_COMPONENTS: key = prim.GetParent().GetName() self.dr_components.setdefault(key, []).append(prim) self.camera = stage.GetPrimAtPath(f"{SCENE_PATH}/CameraRig/Boom/Camera") self.create_asset_prim() self.option_frame.clear() with self.option_frame: self._build_ui_options() async def _preview_trajectory(self): stage = omni.usd.get_context().get_stage() trajectory_viz = stage.GetPrimAtPath(f"{SCENE_PATH}/Viz") if not trajectory_viz: carb.log_warn("Unable to preview trajectory, no trajectory detected.") return trajectory_viz.GetAttribute("visibility").Set("inherited") viewport = omni.kit.viewport.get_viewport_interface() omni.usd.get_context().get_selection().set_selected_prim_paths([f"{SCENE_PATH}/Viz"], True) await omni.kit.app.get_app_interface().next_update_async() viewport.get_viewport_window().focus_on_selected() omni.usd.get_context().get_selection().clear_selected_prim_paths() def _set_trajecotry_preview_visibility(self): show_preview = ( self.config.get("cameramode") == "Trajectory" and self.config.get("trajectory_mode") == "CustomJson" ) self._set_visible(f"{SCENE_PATH}/Viz", show_preview) def _on_trajectory_mode_changed(self, trajectory_mode_model): trajectory_mode = TRAJ_OPTIONS[trajectory_mode_model.get_item_value_model().as_int] self.config.update({"trajectorymode": trajectory_mode}) self._set_trajecotry_preview_visibility() def _ui_modal(self, title: str, text: str, no_close: bool = False, ok_btn: bool = True): """ Create a modal window. """ window_flags = ui.WINDOW_FLAGS_NO_RESIZE window_flags |= ui.WINDOW_FLAGS_NO_SCROLLBAR window_flags |= ui.WINDOW_FLAGS_MODAL if no_close: window_flags |= ui.WINDOW_FLAGS_NO_CLOSE modal = ui.Window(title, width=400, height=100, flags=window_flags) with modal.frame: with ui.VStack(spacing=5): text = ui.Label(text, word_wrap=True, style={"alignment": ui.Alignment.CENTER}) if ok_btn: btn = ui.Button("OK") btn.set_clicked_fn(lambda: self._ui_toggle_visible([modal])) return modal def _ui_create_xyz(self, option, value=(0, 0, 0), idx=None, dtype=float): # TODO type colors = {"X": 0xFF5555AA, "Y": 0xFF76A371, "Z": 0xFFA07D4F} with ui.HStack(): for i, (label, colour) in enumerate(colors.items()): if i != 0: ui.Spacer(width=4) with ui.ZStack(height=14): with ui.ZStack(width=16): ui.Rectangle(name="vector_label", style={"background_color": colour, "border_radius": 3}) ui.Label(label, alignment=ui.Alignment.CENTER) with ui.HStack(): ui.Spacer(width=14) self._ui_create_value(option, value[i], idx_opt=idx, idx=i, dtype=dtype) ui.Spacer(width=4) def _ui_create_value(self, option, value=0.0, idx=None, idx_opt=None, dtype=float): # TODO type if dtype == int: widget = ui.IntDrag(min=0, max=int(1e6)) elif dtype == float: widget = ui.FloatDrag(min=-1e6, max=1e6, step=0.1, style={"border_radius": 1}) elif dtype == bool: widget = ui.CheckBox() else: raise NotImplementedError widget.model.set_value(value) widget.model.add_value_changed_fn( lambda m: self._on_value_changed(option, m.get_value_as_float(), idx=idx, idx_opt=idx_opt) ) # widget.model.add_value_changed_fn(lambda _: asyncio.ensure_future(self.render_asset()) return widget def _ui_simple_block(self, label, option, is_xyz=False, dtype=float): # TODO type ui_fn = self._ui_create_xyz if is_xyz else self._ui_create_value with ui.HStack(spacing=5): ui.Label(label, width=120, height=10) ui_fn(option, value=self.config[option], dtype=dtype) def _ui_option_block(self, label, option, is_xyz=False, dtype=float): """ Create option block on the UI """ if option not in self.config: return None ui_fn = self._ui_create_xyz if is_xyz else self._ui_create_value option_block = ui.HStack(spacing=5) with option_block: ui.Label(label, width=120, height=10) model = ui.ComboBox(self.config[option]["mode"], "Fixed", "Random", width=80).model # create option based on "fixed" or "random" option_0 = ui.HStack(spacing=5) # fixed option_1 = ui.VStack(spacing=5) # random with option_0: ui_fn(option, value=self.config[option]["fixed"], dtype=dtype) with option_1: for i, m in enumerate(["Min", "Max"]): with ui.HStack(spacing=5): ui.Label(m, width=30) ui_fn(option, value=self.config[option]["random"][i], idx=i, dtype=dtype) if self.config[option]["mode"] == 0: option_1.visible = False else: option_0.visible = False model.add_item_changed_fn(lambda m, i: self._ui_toggle_visible([option_0, option_1])) model.add_item_changed_fn( lambda m, i: self.config[option].update({"mode": m.get_item_value_model().as_int}) ) return option_block def _ui_toggle_visible(self, ui_elements): # TODO type for ui_el in ui_elements: ui_el.visible = not ui_el.visible def _build_run_ui(self): with self._window.frame: pass def _ui_up_axis(self): collection = ui.RadioCollection() with ui.HStack(): ui.Label("Up Axis", width=120) with ui.HStack(): ui.RadioButton(text="Y", radio_collection=collection, height=30) ui.RadioButton(text="Z", radio_collection=collection, height=30) collection.model.add_value_changed_fn(self._change_up_axis) collection.model.set_value(self.config.get("up_axis", 0)) def _build_ui(self): with self._window.frame: with ui.ScrollingFrame(): with ui.VStack(spacing=5): with ui.HStack(spacing=5, height=15): ui.Label("Root Dir", width=55) self._ui_root_dir = ui.StringField().model if self.root_dir: self._ui_root_dir.set_value(self.root_dir) self._ui_root_dir.add_value_changed_fn( lambda m: asyncio.ensure_future(self._on_root_dir_changed(m.as_string)) ) browse = ui.Button( image_url="resources/icons/folder.png", width=30, height=25, style={"Button": {"margin": 0, "padding": 5, "alignment": ui.Alignment.CENTER}}, ) browse.set_clicked_fn( lambda f=self._filepicker: self._show_filepicker(f, self._cache.get("root_dir", "")) ) if self.root_dir: with ui.HStack(height=0): ui.Label("Presets", width=60) self._preset_model = ui.ComboBox( 0, *[posixpath.splitext(posixpath.basename(p))[0] for p in self.presets] ).model config_dir = self._cache.get("config_dir", "") config_file = self._cache.get("config_file", "") ui.Button( "Save As...", clicked_fn=lambda f=self._configsaver: self._show_filepicker( f, config_dir, config_file ), ) ui.Button( "Import", clicked_fn=lambda f=self._configpicker: self._show_filepicker( f, config_dir, config_file ), ) self.option_frame = ui.VStack(spacing=5) self.option_frame.visible = False self._preset_model.add_item_changed_fn( lambda m, i: self._on_preset_changed(self.presets[m.get_item_value_model().as_int]) ) if self.presets and not self._preset_layer: self._on_preset_changed(self.presets[0]) self._build_progress_ui() ui.Spacer() ui.Button("Demo", clicked_fn=lambda: webbrowser.open(DEMO_URL), height=60) def _build_ui_options(self): # Output with ui.CollapsableFrame(title="Output", height=10): with ui.VStack(spacing=5): with ui.HStack(spacing=5, height=10): ui.Label( "Output Dir", width=120, height=10, tooltip="Select directory to save output to. Existing files of the same name will be overwritten.", ) self._ui_out_dir = ui.StringField().model self._ui_out_dir.set_value(self.config["out_dir"]) self._ui_out_dir.add_value_changed_fn(lambda m: self.config.update({"out_dir": m.as_string})) browse = ui.Button( image_url="resources/icons/folder.png", width=30, height=25, style={"Button": {"margin": 0, "padding": 5, "alignment": ui.Alignment.CENTER}}, ) browse.set_clicked_fn( lambda f=self._outpicker: self._show_filepicker(f, self._cache.get("out_dir", "")) ) with ui.HStack(spacing=5, height=10): ui.Label( "Renders per Scene", width=120, height=10, tooltip="Number of randomized scenes to be captured before re-sampling a new scene.", ) model = ui.IntDrag(min=1, max=int(1e6)).model model.set_value(self.config["renders_per_asset"]) model.add_value_changed_fn( lambda m: self.config.update({"renders_per_asset": m.get_value_as_int()}) ) _build_ui_sensor_selection("Viewport") # Assets with ui.CollapsableFrame(title="Assets", height=10): with ui.VStack(spacing=5): self._ui_simple_block("Fix Bottom Elevation", "asset_override_bottom_elev", dtype=bool) self._ui_simple_block("Normalize", "asset_normalize", dtype=bool) self._ui_up_axis() ui.Spacer() # Camera with ui.CollapsableFrame(title="Camera", height=10): with ui.VStack(spacing=5): with ui.HStack(spacing=5): ui.Label( "Camera Mode", width=120, height=10, tooltip="Select random camera poses or follow a trajectory.", ) cur_camera_idx = CAMERAS.index(self.config.get("cameramode", "UniformSampling")) camera_mode_model = ui.ComboBox(cur_camera_idx, *CAMERAS, width=150).model camera_mode_model.add_item_changed_fn( lambda m, i: self.config.update({"cameramode": CAMERAS[m.get_item_value_model().as_int]}) ) if "camera_focal_length" not in self.config: self.config["camera_focal_length"] = {"fixed": 24.0, "mode": 0, "random": Gf.Vec2f([1.0, 120.0])} uniform_options = [ self._ui_option_block("Focal Length", "camera_focal_length"), self._ui_option_block("Look-at Position", "centre", is_xyz=True), self._ui_option_block("Distance", "distance"), self._ui_option_block("Elevation", "elevation"), self._ui_option_block("Azimuth", "azimuth"), ] if cur_camera_idx == 1: self._ui_toggle_visible(uniform_options) camera_mode_model.add_item_changed_fn(lambda m, i: self._ui_toggle_visible(uniform_options)) camera_mode_model.add_item_changed_fn(lambda *_: self._set_trajecotry_preview_visibility()) # an indicator on turning on the trajectory traject_block = ui.VStack(spacing=5) with traject_block: with ui.HStack(spacing=5): ui.Label("Trajectory Mode", width=120, height=10, tooltip="Trajectory mode") if "trajectorymode" not in self.config: self.config["trajectorymode"] = "Spiral" cur_traj_idx = TRAJ_OPTIONS.index(self.config.get("trajectorymode", "Spiral")) trajmodel = ui.ComboBox(cur_traj_idx, *TRAJ_OPTIONS, width=150).model trajmodel.add_item_changed_fn(lambda m, _: self._on_trajectory_mode_changed(m)) # spiral option spiral_block = ui.VStack(spacing=5) with spiral_block: self._ui_option_block("Distance", "distance") # distance block with ui.HStack(spacing=5): # elevation range block ui.Label("Elevation Range", width=120, height=10, tooltip="Elevation range two numbers") ui.Spacer(width=10) for i, m in enumerate(["Min", "Max"]): with ui.HStack(spacing=5): ui.Label(m, width=30) val = self.config["elevation"]["random"] self._ui_create_value("elevation", value=val[i], idx=i, dtype=float) with ui.HStack(spacing=5): # rotation block ui.Label("Number of Rotations", width=120, height=10) self.config["num_rotations"] = 3 n_rot = self.config.get("num_rotations") self._ui_create_value("num_rotations", value=n_rot, dtype=int) ui.Spacer() spiral_block.visible = cur_traj_idx == 0 trajmodel.add_item_changed_fn(lambda m, i: self._ui_toggle_visible([spiral_block])) # jsonoption json_block = ui.VStack(spacing=5) with json_block: with ui.HStack(spacing=5, height=15): ui.Label("Json path", width=55) ui.Button( "Json File", clicked_fn=lambda f=self._jsonpicker: self._show_filepicker( f, self._cache.get("json_dir", "") ), ) if self.config.get("jsonpath") and os.path.exists(self.config["jsonpath"]): asyncio.ensure_future(self._import_trajectory_from_json(self.config["jsonpath"])) ui.Button( "View Trajectory", clicked_fn=lambda: asyncio.ensure_future(self._preview_trajectory()) ) ui.Spacer() json_block.visible = cur_traj_idx == 1 trajmodel.add_item_changed_fn(lambda m, i: self._ui_toggle_visible([json_block])) traject_block.visible = cur_camera_idx == 1 camera_mode_model.add_item_changed_fn(lambda m, i: self._ui_toggle_visible([traject_block])) ui.Spacer() ui.Spacer() # Create UI elements for DR Components for title, components in self.dr_components.items(): build_component_frame(title, components) # Render with ui.CollapsableFrame(title="Render Settings", height=10): self._settings.set("/rtx/rendermode", self.config["renderer"]) self._settings.set("/rtx/pathtracing/totalSpp", self.config["spp"]) self._settings.set("/rtx/pathtracing/optixDenoiser/enabled", self.config["denoiser"]) self._settings.set("/rtx/pathtracing/clampSpp", 0) # Disable spp clamping self._settings.set("/rtx/post/aa/op", 2) with ui.VStack(spacing=5): with ui.HStack(spacing=5): ui.Label("Resolution", width=120) ui.Label("Width", width=40, tooltip="Rendered resolution width, in pixels.") width = ui.IntDrag(min=MIN_RESOLUTION["width"], max=MAX_RESOLUTION["width"]).model width.add_value_changed_fn(lambda m: self._on_resolution_changed(m, "width")) ui.Spacer(width=10) ui.Label("Height", width=40, tooltip="Rendered resolution height, in pixels.") height = ui.IntDrag(min=MIN_RESOLUTION["height"], max=MAX_RESOLUTION["height"]).model height.add_value_changed_fn(lambda m: self._on_resolution_changed(m, "height")) width.set_value(self.config.get("width", self._settings.get("/app/renderer/resolution/width"))) height.set_value(self.config.get("height", self._settings.get("/app/renderer/resolution/height"))) with ui.HStack(spacing=5): ui.Label("Renderer", width=120, tooltip="Render Mode") cur_renderer_idx = RENDERERS.index(self.config["renderer"]) model = ui.ComboBox(cur_renderer_idx, *RENDERERS, width=200).model model.add_item_changed_fn( lambda m, i: self.config.update({"renderer": RENDERERS[m.get_item_value_model().as_int]}) ) model.add_item_changed_fn( lambda m, i: self._settings.set("/rtx/rendermode", RENDERERS[m.get_item_value_model().as_int]) ) pt_block = ui.VStack(spacing=5) with pt_block: with ui.HStack(spacing=5): ui.Label( "Samples Per Pixel", width=120, tooltip="Number of samples taken at each pixel, per frame." ) spp = ui.IntDrag().model spp.set_value(self.config["spp"]) spp.add_value_changed_fn( lambda m: self.config.update({"spp": m.as_int}) ) # Only change SPP during run spp.add_value_changed_fn( lambda m: self._settings.set("/rtx/pathtracing/totalSpp", m.as_int) ) # SPP Max with ui.HStack(spacing=5): ui.Label("Denoiser", width=120, tooltip="Toggle denoiser") denoiser = ui.CheckBox().model denoiser.set_value(self.config["denoiser"]) denoiser.add_value_changed_fn(lambda m: self.config.update({"denoiser": m.as_bool})) denoiser.add_value_changed_fn( lambda m: self._settings.set("/rtx/pathtracing/optixDenoiser/enabled", m.as_bool) ) ui.Spacer() pt_block.visible = bool(cur_renderer_idx) model.add_item_changed_fn(lambda m, i: self._ui_toggle_visible([pt_block])) with ui.HStack(): ui.Label("Subdiv", width=120, tooltip="Subdivision Global Refinement Level") with ui.HStack(): ui.Label("Refinement Level", width=100, tooltip="Subdivision Global Refinement Level") subdiv = ui.IntDrag(min=0, max=2).model subdiv.add_value_changed_fn(lambda m: self.config.update({"subdiv": m.as_int})) subdiv.add_value_changed_fn( lambda m: self._settings.set("/rtx/hydra/subdivision/refinementLevel", m.as_int) ) ui.Spacer() with ui.HStack(spacing=5): btn = ui.Button("Preview", height=40, tooltip="Render a preview with the current settings.") btn.set_clicked_fn(lambda: asyncio.ensure_future(self.preview())) btn = ui.Button("Run", height=40, tooltip="Generate and save groundtruth with the current settings.") btn.set_clicked_fn(lambda: asyncio.ensure_future(self.run())) def _build_progress_ui(self): self.progress = {"block": ui.VStack(spacing=5), "stop_signal": False} self.progress["block"].visible = False with self.progress["block"]: with ui.HStack(height=0): ui.Label( "TOTAL", width=80, style={"font_size": 20.0}, tooltip="Render progress of all scenes to be rendered.", ) self.progress["bar1"] = ui.ProgressBar(height=40, style={"font_size": 20.0}).model with ui.HStack(height=0): ui.Label( "Per Scene", width=80, style={"font_size": 16.0}, tooltip="Render progress of the total number of renders for this scenes", ) self.progress["bar2"] = ui.ProgressBar(height=20, style={"font_size": 16.0}).model btn = ui.Button("Cancel", height=60) btn.set_clicked_fn(lambda: self.progress.update({"stop_signal": True})) @staticmethod def get_instance(): return _extension_instance
66,049
Python
45.612562
127
0.570062
terrylincn/omniverse-tutorials/code_demo_mesh100/demo.py
import omni from pxr import Usd, UsdLux, UsdGeom, UsdShade, Sdf, Gf, Vt, UsdPhysics from omni.physx import get_physx_interface from omni.physx.bindings._physx import SimulationEvent from omni.physx.scripts.physicsUtils import * import random stage = omni.usd.get_context().get_stage() # set up axis to z UsdGeom.SetStageUpAxis(stage, UsdGeom.Tokens.z) UsdGeom.SetStageMetersPerUnit(stage, 0.01) defaultPrimPath = str(stage.GetDefaultPrim().GetPath()) # light sphereLight = UsdLux.SphereLight.Define(stage, defaultPrimPath + "/SphereLight") sphereLight.CreateRadiusAttr(150) sphereLight.CreateIntensityAttr(30000) sphereLight.AddTranslateOp().Set(Gf.Vec3f(650.0, 0.0, 1150.0)) # Physics scene UsdPhysics.Scene.Define(stage, defaultPrimPath + "/physicsScene") rows = 10 cols = 10 sphereCount = rows*cols _colors = [] material_scope_path = defaultPrimPath + "/Looks" UsdGeom.Scope.Define(stage, material_scope_path) # Trianglemesh materials for i in range(rows): for j in range(cols): mtl_path = material_scope_path + "/OmniPBR" + str(i*cols+j) mat_prim = stage.DefinePrim(mtl_path, "Material") material_prim = UsdShade.Material.Get(stage, mat_prim.GetPath()) material = UsdPhysics.MaterialAPI.Apply(material_prim.GetPrim()) mu = 0.0 + ((i * cols + j) % sphereCount) * 0.01 material.CreateRestitutionAttr().Set(mu) if material_prim: shader_mtl_path = stage.DefinePrim("{}/Shader".format(mtl_path), "Shader") shader_prim = UsdShade.Shader.Get(stage, shader_mtl_path.GetPath()) if shader_prim: shader_out = shader_prim.CreateOutput("out", Sdf.ValueTypeNames.Token) material_prim.CreateSurfaceOutput("mdl").ConnectToSource(shader_out) material_prim.CreateVolumeOutput("mdl").ConnectToSource(shader_out) material_prim.CreateDisplacementOutput("mdl").ConnectToSource(shader_out) shader_prim.GetImplementationSourceAttr().Set(UsdShade.Tokens.sourceAsset) shader_prim.SetSourceAsset(Sdf.AssetPath("OmniPBR.mdl"), "mdl") shader_prim.SetSourceAssetSubIdentifier("OmniPBR", "mdl") color = Gf.Vec3f(random.random(), random.random(), random.random()) shader_prim.GetPrim().CreateAttribute("inputs:diffuse_tint", Sdf.ValueTypeNames.Color3f).Set(color) _colors.append(color) # Triangle mesh with multiple materials path = defaultPrimPath + "/triangleMesh" _mesh_path = path mesh = UsdGeom.Mesh.Define(stage, path) # Fill in VtArrays points = [] normals = [] indices = [] vertexCounts = [] for i in range(rows): for j in range(cols): subset = UsdGeom.Subset.Define(stage, path + "/subset" + str(i*cols+j)) subset.CreateElementTypeAttr().Set("face") subset_indices = [i*cols+j] rel = subset.GetPrim().CreateRelationship("material:binding", False) rel.SetTargets([Sdf.Path(material_scope_path + "/OmniPBR" + str(i*cols+j))]) points.append(Gf.Vec3f(-stripSize/2 + stripSize * i, -stripSize/2 + stripSize * j, 0.0)) points.append(Gf.Vec3f(-stripSize/2 + stripSize * (i + 1), -stripSize/2 + stripSize * j, 0.0)) points.append(Gf.Vec3f(-stripSize/2 + stripSize * (i + 1), -stripSize/2 + stripSize * (j + 1), 0.0)) points.append(Gf.Vec3f(-stripSize/2 + stripSize * i,-stripSize/2 + stripSize * (j + 1), 0.0)) for k in range(4): normals.append(Gf.Vec3f(0, 0, 1)) indices.append(k + (i * cols + j) * 4) subset.CreateIndicesAttr().Set(subset_indices) vertexCounts.append(4) mesh.CreateFaceVertexCountsAttr().Set(vertexCounts) mesh.CreateFaceVertexIndicesAttr().Set(indices) mesh.CreatePointsAttr().Set(points) mesh.CreateDoubleSidedAttr().Set(False) mesh.CreateNormalsAttr().Set(normals) UsdPhysics.CollisionAPI.Apply(mesh.GetPrim()) meshCollisionAPI = UsdPhysics.MeshCollisionAPI.Apply(mesh.GetPrim()) meshCollisionAPI.CreateApproximationAttr().Set("none") # Sphere material sphereMaterialpath = defaultPrimPath + "/sphereMaterial" UsdShade.Material.Define(stage, sphereMaterialpath) material = UsdPhysics.MaterialAPI.Apply(stage.GetPrimAtPath(sphereMaterialpath)) material.CreateRestitutionAttr().Set(0.9) # Spheres stripSize = 100.0 for i in range(rows): for j in range(cols): spherePath = "/sphere" + str(i) size = 25.0 position = Gf.Vec3f(i * stripSize, j * stripSize, 250.0) sphere_prim = add_rigid_sphere(stage, spherePath, size, position) # Add material collisionSpherePath = defaultPrimPath + spherePath add_physics_material_to_prim(stage, sphere_prim, Sdf.Path(sphereMaterialpath)) # apply contact report contactReportAPI = PhysxSchema.PhysxContactReportAPI.Apply(sphere_prim) contactReportAPI.CreateThresholdAttr().Set(200000) collider0 = None collider1 = None def _on_simulation_event(event): global collider0, collider1, _mesh_path, stage, _colors if event.type == int(SimulationEvent.CONTACT_DATA): if collider1 == _mesh_path: usdGeom = UsdGeom.Mesh.Get(stage, collider0) color = Vt.Vec3fArray([_colors[event.payload['faceIndex1']]]) usdGeom.GetDisplayColorAttr().Set(color) if event.type == int(SimulationEvent.CONTACT_FOUND): contactDict = resolveContactEventPaths(event) collider0 = contactDict["collider0"] collider1 = contactDict["collider1"] if event.type == int(SimulationEvent.CONTACT_PERSISTS): contactDict = resolveContactEventPaths(event) collider0 = contactDict["collider0"] collider1 = contactDict["collider1"] events = get_physx_interface().get_simulation_event_stream() _simulation_event_sub = events.create_subscription_to_pop(_on_simulation_event)
5,922
Python
40.41958
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j3soon/OmniIsaacGymEnvs-DofbotReacher/omniisaacgymenvs/extension.py
# Copyright (c) 2018-2023, NVIDIA CORPORATION. All rights reserved. # # NVIDIA CORPORATION and its licensors retain all intellectual property # and proprietary rights in and to this software, related documentation # and any modifications thereto. Any use, reproduction, disclosure or # distribution of this software and related documentation without an express # license agreement from NVIDIA CORPORATION is strictly prohibited. # import asyncio import inspect import os import traceback import weakref from abc import abstractmethod import hydra import omni.ext import omni.timeline import omni.ui as ui import omni.usd from hydra import compose, initialize from omegaconf import OmegaConf from omni.isaac.cloner import GridCloner from omni.isaac.core.utils.extensions import disable_extension, enable_extension from omni.isaac.core.utils.torch.maths import set_seed from omni.isaac.core.utils.viewports import set_camera_view from omni.isaac.core.world import World from omniisaacgymenvs.envs.vec_env_rlgames_mt import VecEnvRLGamesMT from omniisaacgymenvs.utils.config_utils.sim_config import SimConfig from omniisaacgymenvs.utils.hydra_cfg.reformat import omegaconf_to_dict, print_dict from omniisaacgymenvs.utils.rlgames.rlgames_train_mt import RLGTrainer, Trainer from omniisaacgymenvs.utils.task_util import import_tasks, initialize_task from omni.isaac.ui.callbacks import on_open_folder_clicked, on_open_IDE_clicked from omni.isaac.ui.menu import make_menu_item_description from omni.isaac.ui.ui_utils import ( btn_builder, dropdown_builder, get_style, int_builder, multi_btn_builder, multi_cb_builder, scrolling_frame_builder, setup_ui_headers, str_builder, ) from omni.kit.menu.utils import MenuItemDescription, add_menu_items, remove_menu_items from omni.kit.viewport.utility import get_active_viewport, get_viewport_from_window_name from omni.kit.viewport.utility.camera_state import ViewportCameraState from pxr import Gf ext_instance = None class RLExtension(omni.ext.IExt): def on_startup(self, ext_id: str): self._render_modes = ["Full render", "UI only", "None"] self._env = None self._task = None self._ext_id = ext_id ext_manager = omni.kit.app.get_app().get_extension_manager() extension_path = ext_manager.get_extension_path(ext_id) self._ext_path = os.path.dirname(extension_path) if os.path.isfile(extension_path) else extension_path self._ext_file_path = os.path.abspath(__file__) self._initialize_task_list() self.start_extension( "", "", "RL Examples", "RL Examples", "", "A set of reinforcement learning examples.", self._ext_file_path, ) self._task_initialized = False self._task_changed = False self._is_training = False self._render = True self._resume = False self._test = False self._evaluate = False self._checkpoint_path = "" self._timeline = omni.timeline.get_timeline_interface() self._viewport = get_active_viewport() self._viewport.updates_enabled = True global ext_instance ext_instance = self def _initialize_task_list(self): self._task_map, _ = import_tasks() self._task_list = list(self._task_map.keys()) self._task_list.sort() self._task_list.remove("CartpoleCamera") # we cannot run camera-based training from extension workflow for now. it requires a specialized app file. self._task_name = self._task_list[0] self._parse_config(self._task_name) self._update_task_file_paths(self._task_name) def _update_task_file_paths(self, task): self._task_file_path = os.path.abspath(inspect.getfile(self._task_map[task])) self._task_cfg_file_path = os.path.join(os.path.dirname(self._ext_file_path), f"cfg/task/{task}.yaml") self._train_cfg_file_path = os.path.join(os.path.dirname(self._ext_file_path), f"cfg/train/{task}PPO.yaml") def _parse_config(self, task, num_envs=None, overrides=None): hydra.core.global_hydra.GlobalHydra.instance().clear() initialize(version_base=None, config_path="cfg") overrides_list = [f"task={task}"] if overrides is not None: overrides_list += overrides if num_envs is None: self._cfg = compose(config_name="config", overrides=overrides_list) else: self._cfg = compose(config_name="config", overrides=overrides_list + [f"num_envs={num_envs}"]) self._cfg_dict = omegaconf_to_dict(self._cfg) self._sim_config = SimConfig(self._cfg_dict) def start_extension( self, menu_name: str, submenu_name: str, name: str, title: str, doc_link: str, overview: str, file_path: str, number_of_extra_frames=1, window_width=550, keep_window_open=False, ): window = ui.Workspace.get_window("Property") if window: window.visible = False window = ui.Workspace.get_window("Render Settings") if window: window.visible = False menu_items = [make_menu_item_description(self._ext_id, name, lambda a=weakref.proxy(self): a._menu_callback())] if menu_name == "" or menu_name is None: self._menu_items = menu_items elif submenu_name == "" or submenu_name is None: self._menu_items = [MenuItemDescription(name=menu_name, sub_menu=menu_items)] else: self._menu_items = [ MenuItemDescription( name=menu_name, sub_menu=[MenuItemDescription(name=submenu_name, sub_menu=menu_items)] ) ] add_menu_items(self._menu_items, "Isaac Examples") self._task_dropdown = None self._cbs = None self._build_ui( name=name, title=title, doc_link=doc_link, overview=overview, file_path=file_path, number_of_extra_frames=number_of_extra_frames, window_width=window_width, keep_window_open=keep_window_open, ) return def _build_ui( self, name, title, doc_link, overview, file_path, number_of_extra_frames, window_width, keep_window_open ): self._window = omni.ui.Window( name, width=window_width, height=0, visible=keep_window_open, dockPreference=ui.DockPreference.LEFT_BOTTOM ) with self._window.frame: self._main_stack = ui.VStack(spacing=5, height=0) with self._main_stack: setup_ui_headers(self._ext_id, file_path, title, doc_link, overview) self._controls_frame = ui.CollapsableFrame( title="World Controls", width=ui.Fraction(1), height=0, collapsed=False, style=get_style(), horizontal_scrollbar_policy=ui.ScrollBarPolicy.SCROLLBAR_AS_NEEDED, vertical_scrollbar_policy=ui.ScrollBarPolicy.SCROLLBAR_ALWAYS_ON, ) with self._controls_frame: with ui.VStack(style=get_style(), spacing=5, height=0): with ui.HStack(style=get_style()): with ui.VStack(style=get_style(), width=ui.Fraction(20)): dict = { "label": "Select Task", "type": "dropdown", "default_val": 0, "items": self._task_list, "tooltip": "Select a task", "on_clicked_fn": self._on_task_select, } self._task_dropdown = dropdown_builder(**dict) with ui.Frame(tooltip="Open Source Code"): ui.Button( name="IconButton", width=20, height=20, clicked_fn=lambda: on_open_IDE_clicked(self._ext_path, self._task_file_path), style=get_style()["IconButton.Image::OpenConfig"], alignment=ui.Alignment.LEFT_CENTER, tooltip="Open in IDE", ) with ui.Frame(tooltip="Open Task Config"): ui.Button( name="IconButton", width=20, height=20, clicked_fn=lambda: on_open_IDE_clicked(self._ext_path, self._task_cfg_file_path), style=get_style()["IconButton.Image::OpenConfig"], alignment=ui.Alignment.LEFT_CENTER, tooltip="Open in IDE", ) with ui.Frame(tooltip="Open Training Config"): ui.Button( name="IconButton", width=20, height=20, clicked_fn=lambda: on_open_IDE_clicked(self._ext_path, self._train_cfg_file_path), style=get_style()["IconButton.Image::OpenConfig"], alignment=ui.Alignment.LEFT_CENTER, tooltip="Open in IDE", ) dict = { "label": "Number of environments", "tooltip": "Enter the number of environments to construct", "min": 0, "max": 8192, "default_val": self._cfg.task.env.numEnvs, } self._num_envs_int = int_builder(**dict) dict = { "label": "Load Environment", "type": "button", "text": "Load", "tooltip": "Load Environment and Task", "on_clicked_fn": self._on_load_world, } self._load_env_button = btn_builder(**dict) dict = { "label": "Rendering Mode", "type": "dropdown", "default_val": 0, "items": self._render_modes, "tooltip": "Select a rendering mode", "on_clicked_fn": self._on_render_mode_select, } self._render_dropdown = dropdown_builder(**dict) dict = { "label": "Configure Training", "count": 3, "text": ["Resume from Checkpoint", "Test", "Evaluate"], "default_val": [False, False, False], "tooltip": [ "", "Resume training from checkpoint", "Play a trained policy", "Evaluate a policy during training", ], "on_clicked_fn": [ self._on_resume_cb_update, self._on_test_cb_update, self._on_evaluate_cb_update, ], } self._cbs = multi_cb_builder(**dict) dict = { "label": "Load Checkpoint", "tooltip": "Enter path to checkpoint file", "on_clicked_fn": self._on_checkpoint_update, } self._checkpoint_str = str_builder(**dict) dict = { "label": "Train/Test", "count": 2, "text": ["Start", "Stop"], "tooltip": [ "", "Launch new training/inference run", "Terminate current training/inference run", ], "on_clicked_fn": [self._on_train, self._on_train_stop], } self._buttons = multi_btn_builder(**dict) return def create_task(self): headless = self._cfg.headless enable_viewport = "enable_cameras" in self._cfg.task.sim and self._cfg.task.sim.enable_cameras self._env = VecEnvRLGamesMT( headless=headless, sim_device=self._cfg.device_id, enable_livestream=self._cfg.enable_livestream, enable_viewport=enable_viewport, launch_simulation_app=False, ) self._task = initialize_task(self._cfg_dict, self._env, init_sim=False) self._task_initialized = True def _on_task_select(self, value): if self._task_initialized and value != self._task_name: self._task_changed = True self._task_initialized = False self._task_name = value self._parse_config(self._task_name) self._num_envs_int.set_value(self._cfg.task.env.numEnvs) self._update_task_file_paths(self._task_name) def _on_render_mode_select(self, value): if value == self._render_modes[0]: self._viewport.updates_enabled = True window = ui.Workspace.get_window("Viewport") window.visible = True if self._env: self._env._update_viewport = True self._env._render_mode = 0 elif value == self._render_modes[1]: self._viewport.updates_enabled = False window = ui.Workspace.get_window("Viewport") window.visible = False if self._env: self._env._update_viewport = False self._env._render_mode = 1 elif value == self._render_modes[2]: self._viewport.updates_enabled = False window = ui.Workspace.get_window("Viewport") window.visible = False if self._env: self._env._update_viewport = False self._env._render_mode = 2 def _on_render_cb_update(self, value): self._render = value print("updates enabled", value) self._viewport.updates_enabled = value if self._env: self._env._update_viewport = value if value: window = ui.Workspace.get_window("Viewport") window.visible = True else: window = ui.Workspace.get_window("Viewport") window.visible = False def _on_single_env_cb_update(self, value): visibility = "invisible" if value else "inherited" stage = omni.usd.get_context().get_stage() env_root = stage.GetPrimAtPath("/World/envs") if env_root.IsValid(): for i, p in enumerate(env_root.GetChildren()): p.GetAttribute("visibility").Set(visibility) if value: stage.GetPrimAtPath("/World/envs/env_0").GetAttribute("visibility").Set("inherited") env_pos = self._task._env_pos[0].cpu().numpy().tolist() camera_pos = [env_pos[0] + 10, env_pos[1] + 10, 3] camera_target = [env_pos[0], env_pos[1], env_pos[2]] else: camera_pos = [10, 10, 3] camera_target = [0, 0, 0] camera_state = ViewportCameraState("/OmniverseKit_Persp", get_active_viewport()) camera_state.set_position_world(Gf.Vec3d(*camera_pos), True) camera_state.set_target_world(Gf.Vec3d(*camera_target), True) def _on_test_cb_update(self, value): self._test = value if value is True and self._checkpoint_path.strip() == "": self._checkpoint_str.set_value(f"runs/{self._task_name}/nn/{self._task_name}.pth") def _on_resume_cb_update(self, value): self._resume = value if value is True and self._checkpoint_path.strip() == "": self._checkpoint_str.set_value(f"runs/{self._task_name}/nn/{self._task_name}.pth") def _on_evaluate_cb_update(self, value): self._evaluate = value def _on_checkpoint_update(self, value): self._checkpoint_path = value.get_value_as_string() async def _on_load_world_async(self, use_existing_stage): # initialize task if not initialized if not self._task_initialized or not omni.usd.get_context().get_stage().GetPrimAtPath("/World/envs").IsValid(): self._parse_config(task=self._task_name, num_envs=self._num_envs_int.get_value_as_int()) self.create_task() else: # update config self._parse_config(task=self._task_name, num_envs=self._num_envs_int.get_value_as_int()) self._task.update_config(self._sim_config) # clear scene # self._env._world.scene.clear() self._env._world._sim_params = self._sim_config.get_physics_params() await self._env._world.initialize_simulation_context_async() set_camera_view(eye=[10, 10, 3], target=[0, 0, 0], camera_prim_path="/OmniverseKit_Persp") if not use_existing_stage: # clear scene self._env._world.scene.clear() # clear environments added to world omni.usd.get_context().get_stage().RemovePrim("/World/collisions") omni.usd.get_context().get_stage().RemovePrim("/World/envs") # create scene await self._env._world.reset_async_set_up_scene() # update num_envs in envs self._env.update_task_params() else: self._task.initialize_views(self._env._world.scene) def _on_load_world(self): # stop simulation before updating stage self._timeline.stop() asyncio.ensure_future(self._on_load_world_async(use_existing_stage=False)) def _on_train_stop(self): if self._task_initialized: asyncio.ensure_future(self._env._world.stop_async()) async def _on_train_async(self, overrides=None): try: # initialize task if not initialized print("task initialized:", self._task_initialized) if not self._task_initialized: # if this is the first launch of the extension, we do not want to re-create stage if stage already exists use_existing_stage = False if omni.usd.get_context().get_stage().GetPrimAtPath("/World/envs").IsValid(): use_existing_stage = True print(use_existing_stage) await self._on_load_world_async(use_existing_stage) # update config self._parse_config(task=self._task_name, num_envs=self._num_envs_int.get_value_as_int(), overrides=overrides) sim_config = SimConfig(self._cfg_dict) self._task.update_config(sim_config) cfg_dict = omegaconf_to_dict(self._cfg) # sets seed. if seed is -1 will pick a random one self._cfg.seed = set_seed(self._cfg.seed, torch_deterministic=self._cfg.torch_deterministic) cfg_dict["seed"] = self._cfg.seed self._checkpoint_path = self._checkpoint_str.get_value_as_string() if self._resume or self._test: self._cfg.checkpoint = self._checkpoint_path self._cfg.test = self._test self._cfg.evaluation = self._evaluate cfg_dict["checkpoint"] = self._cfg.checkpoint cfg_dict["test"] = self._cfg.test cfg_dict["evaluation"] = self._cfg.evaluation rlg_trainer = RLGTrainer(self._cfg, cfg_dict) if not rlg_trainer._bad_checkpoint: trainer = Trainer(rlg_trainer, self._env) await self._env._world.reset_async_no_set_up_scene() self._env._render_mode = self._render_dropdown.get_item_value_model().as_int await self._env.run(trainer) await omni.kit.app.get_app().next_update_async() except Exception as e: print(traceback.format_exc()) finally: self._is_training = False def _on_train(self): # stop simulation if still running self._timeline.stop() self._on_render_mode_select(self._render_modes[self._render_dropdown.get_item_value_model().as_int]) if not self._is_training: self._is_training = True asyncio.ensure_future(self._on_train_async()) return def _menu_callback(self): self._window.visible = not self._window.visible return def _on_window(self, status): return def on_shutdown(self): self._extra_frames = [] if self._menu_items is not None: self._sample_window_cleanup() self.shutdown_cleanup() global ext_instance ext_instance = None return def shutdown_cleanup(self): return def _sample_window_cleanup(self): remove_menu_items(self._menu_items, "Isaac Examples") self._window = None self._menu_items = None self._buttons = None self._load_env_button = None self._task_dropdown = None self._cbs = None self._checkpoint_str = None return def get_instance(): return ext_instance
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j3soon/OmniIsaacGymEnvs-DofbotReacher/omniisaacgymenvs/envs/vec_env_rlgames_mt.py
# Copyright (c) 2018-2022, NVIDIA Corporation # All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions are met: # # 1. Redistributions of source code must retain the above copyright notice, this # list of conditions and the following disclaimer. # # 2. Redistributions in binary form must reproduce the above copyright notice, # this list of conditions and the following disclaimer in the documentation # and/or other materials provided with the distribution. # # 3. Neither the name of the copyright holder nor the names of its # contributors may be used to endorse or promote products derived from # this software without specific prior written permission. # # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE # DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE # FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL # DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR # SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, # OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE # OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. import numpy as np import torch from omni.isaac.gym.vec_env import TaskStopException, VecEnvMT from .vec_env_rlgames import VecEnvRLGames # VecEnv Wrapper for RL training class VecEnvRLGamesMT(VecEnvRLGames, VecEnvMT): def _parse_data(self, data): self._obs = data["obs"] self._rew = data["rew"].to(self._task.rl_device) self._states = torch.clamp(data["states"], -self._task.clip_obs, self._task.clip_obs).to(self._task.rl_device) self._resets = data["reset"].to(self._task.rl_device) self._extras = data["extras"] def step(self, actions): if self._stop: raise TaskStopException() if self._task.randomize_actions: actions = self._task._dr_randomizer.apply_actions_randomization( actions=actions, reset_buf=self._task.reset_buf ) actions = torch.clamp(actions, -self._task.clip_actions, self._task.clip_actions).to(self._task.device) self.send_actions(actions) data = self.get_data() if self._task.randomize_observations: self._obs = self._task._dr_randomizer.apply_observations_randomization( observations=self._obs.to(self._task.rl_device), reset_buf=self._task.reset_buf ) self._obs = torch.clamp(self._obs, -self._task.clip_obs, self._task.clip_obs).to(self._task.rl_device) obs_dict = {} obs_dict["obs"] = self._obs obs_dict["states"] = self._states return obs_dict, self._rew, self._resets, self._extras
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j3soon/OmniIsaacGymEnvs-DofbotReacher/omniisaacgymenvs/envs/vec_env_rlgames.py
# Copyright (c) 2018-2022, NVIDIA Corporation # All rights reserved. # # Redistribution and use in source and binary forms, with or without # modification, are permitted provided that the following conditions are met: # # 1. Redistributions of source code must retain the above copyright notice, this # list of conditions and the following disclaimer. # # 2. Redistributions in binary form must reproduce the above copyright notice, # this list of conditions and the following disclaimer in the documentation # and/or other materials provided with the distribution. # # 3. Neither the name of the copyright holder nor the names of its # contributors may be used to endorse or promote products derived from # this software without specific prior written permission. # # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" # AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE # DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE # FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL # DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR # SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, # OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE # OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. from datetime import datetime import numpy as np import torch from omni.isaac.gym.vec_env import VecEnvBase # VecEnv Wrapper for RL training class VecEnvRLGames(VecEnvBase): def _process_data(self): self._obs = torch.clamp(self._obs, -self._task.clip_obs, self._task.clip_obs).to(self._task.rl_device) self._rew = self._rew.to(self._task.rl_device) self._states = torch.clamp(self._states, -self._task.clip_obs, self._task.clip_obs).to(self._task.rl_device) self._resets = self._resets.to(self._task.rl_device) self._extras = self._extras def set_task(self, task, backend="numpy", sim_params=None, init_sim=True, rendering_dt=1.0 / 60.0) -> None: super().set_task(task, backend, sim_params, init_sim, rendering_dt) self.num_states = self._task.num_states self.state_space = self._task.state_space def step(self, actions): if self._task.randomize_actions: actions = self._task._dr_randomizer.apply_actions_randomization( actions=actions, reset_buf=self._task.reset_buf ) actions = torch.clamp(actions, -self._task.clip_actions, self._task.clip_actions).to(self._task.device) self._task.pre_physics_step(actions) if (self.sim_frame_count + self._task.control_frequency_inv) % self._task.rendering_interval == 0: for _ in range(self._task.control_frequency_inv - 1): self._world.step(render=False) self.sim_frame_count += 1 self._world.step(render=self._render) self.sim_frame_count += 1 else: for _ in range(self._task.control_frequency_inv): self._world.step(render=False) self.sim_frame_count += 1 self._obs, self._rew, self._resets, self._extras = self._task.post_physics_step() if self._task.randomize_observations: self._obs = self._task._dr_randomizer.apply_observations_randomization( observations=self._obs.to(device=self._task.rl_device), reset_buf=self._task.reset_buf ) self._states = self._task.get_states() self._process_data() obs_dict = {"obs": self._obs, "states": self._states} return obs_dict, self._rew, self._resets, self._extras def reset(self, seed=None, options=None): """Resets the task and applies default zero actions to recompute observations and states.""" now = datetime.now().strftime("%Y-%m-%d %H:%M:%S") print(f"[{now}] Running RL reset") self._task.reset() actions = torch.zeros((self.num_envs, self._task.num_actions), device=self._task.rl_device) obs_dict, _, _, _ = self.step(actions) return obs_dict
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