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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 + ")")
| 423 | Python | 25.499998 | 70 | 0.628842 |
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)
| 287 | Python | 19.571427 | 63 | 0.71777 |
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)
| 254 | Python | 18.615383 | 63 | 0.712598 |
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()
| 2,093 | Python | 23.348837 | 79 | 0.548973 |
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()))
| 280 | Python | 20.615383 | 63 | 0.685714 |
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)
| 929 | Python | 29.999999 | 93 | 0.620022 |
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)
| 329 | Python | 20.999999 | 63 | 0.741641 |
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)
| 561 | Python | 25.761904 | 63 | 0.645276 |
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)
| 317 | Python | 20.199999 | 63 | 0.741325 |
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)
| 285 | Python | 19.42857 | 63 | 0.729825 |
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))
| 383 | Python | 20.333332 | 63 | 0.634465 |
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)
| 702 | Python | 28.291665 | 114 | 0.709402 |
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) | 294 | Python | 23.583331 | 63 | 0.744898 |
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)
| 585 | Python | 24.47826 | 63 | 0.623932 |
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)
| 937 | Python | 30.266666 | 93 | 0.602988 |
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))
| 1,225 | Python | 31.263157 | 79 | 0.553469 |
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)
| 519 | Python | 22.636363 | 63 | 0.676301 |
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)
| 913 | Python | 24.388888 | 63 | 0.751369 |
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)
| 595 | Python | 26.090908 | 73 | 0.754622 |
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)
| 1,256 | Python | 32.972972 | 89 | 0.565287 |
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)
| 464 | Python | 24.833332 | 63 | 0.69181 |
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)
| 1,621 | Python | 30.192307 | 97 | 0.530537 |
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))
| 1,122 | Python | 31.085713 | 102 | 0.674688 |
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)
| 1,807 | Python | 28.16129 | 73 | 0.729386 |
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")
| 2,026 | Python | 30.184615 | 128 | 0.670286 |
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)
| 1,599 | Python | 30.999999 | 87 | 0.61601 |
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}")
| 558 | Python | 24.40909 | 64 | 0.636201 |
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"])
| 844 | Python | 34.208332 | 101 | 0.75237 |
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)
| 1,953 | Python | 37.313725 | 131 | 0.596518 |
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}")
| 932 | Python | 28.156249 | 101 | 0.631974 |
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()}")
| 921 | Python | 30.793102 | 81 | 0.592834 |
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)
| 1,211 | Python | 28.560975 | 64 | 0.535095 |
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}")
| 1,731 | Python | 33.639999 | 91 | 0.635471 |
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)
| 1,239 | Python | 29.999999 | 68 | 0.544794 |
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)
| 1,226 | Python | 28.214285 | 90 | 0.553018 |
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}")
| 1,205 | Python | 28.414633 | 95 | 0.585062 |
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)
| 1,431 | Python | 30.822222 | 104 | 0.703704 |
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()
| 8,017 | Python | 38.112195 | 162 | 0.583385 |
ft-lab/omniverse_sample_scripts/Operation/CommandsExecute/SelectNone.py | import omni.kit
omni.kit.commands.execute("SelectNone")
| 57 | Python | 13.499997 | 39 | 0.789474 |
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))
| 124 | Python | 14.624998 | 40 | 0.709677 |
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)
| 698 | Python | 28.124999 | 63 | 0.719198 |
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)
| 337 | Python | 24.999998 | 63 | 0.750742 |
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
| 538 | Python | 23.499999 | 78 | 0.689591 |
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)
| 839 | Python | 24.454545 | 73 | 0.697259 |
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()
| 952 | Python | 21.690476 | 72 | 0.656513 |
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)
| 601 | Python | 18.419354 | 77 | 0.673877 |
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)
| 218 | Python | 20.899998 | 63 | 0.711009 |
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")
| 913 | Python | 32.851851 | 105 | 0.542169 |
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')
| 313 | Python | 23.153844 | 63 | 0.674121 |
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")
| 2,919 | Python | 32.563218 | 105 | 0.517643 |
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()
| 352 | Python | 24.214284 | 74 | 0.735795 |
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()
| 1,467 | Python | 28.359999 | 108 | 0.57805 |
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()
| 2,432 | Python | 31.013157 | 135 | 0.567845 |
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}")
| 1,093 | Python | 20.88 | 63 | 0.638609 |
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}")
| 1,007 | Python | 27.799999 | 111 | 0.621648 |
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}")
| 558 | Python | 26.949999 | 63 | 0.543011 |
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}")
| 498 | Python | 26.722221 | 65 | 0.670683 |
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}")
| 145 | Python | 23.333329 | 63 | 0.634483 |
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))
| 834 | Python | 32.399999 | 78 | 0.647482 |
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()}")
| 212 | Python | 29.428567 | 63 | 0.613208 |
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}")
| 364 | Python | 25.071427 | 91 | 0.620879 |
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])}")
| 792 | Python | 23.030302 | 63 | 0.52399 |
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}")
| 1,557 | Python | 24.129032 | 63 | 0.552344 |
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}")
| 638 | Python | 30.949998 | 80 | 0.681818 |
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 !!")
| 2,648 | Python | 29.102272 | 127 | 0.481495 |
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 )")
| 6,201 | Python | 28.393365 | 98 | 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())
| 32,163 | Python | 33.734341 | 157 | 0.567049 |
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)")
| 5,518 | Python | 26.733668 | 148 | 0.436934 |
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)")
| 1,359 | Python | 33.871794 | 113 | 0.554084 |
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()}")
| 325 | Python | 24.076921 | 63 | 0.723077 |
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}")
| 327 | Python | 26.333331 | 101 | 0.746177 |
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")
| 712 | Python | 40.941174 | 119 | 0.738764 |
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")
| 11,389 | Python | 42.473282 | 130 | 0.588375 |
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")
| 11,682 | Python | 42.431227 | 322 | 0.598185 |
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")
| 13,782 | Python | 44.488449 | 196 | 0.600929 |
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
| 650 | Python | 22.249999 | 56 | 0.550769 |
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
| 4,275 | Python | 42.632653 | 118 | 0.509474 |
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
| 1,705 | Python | 39.619047 | 134 | 0.559531 |
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()
| 2,607 | Python | 31.6 | 100 | 0.498274 |
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)
| 5,746 | Python | 36.318182 | 138 | 0.59102 |
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)
| 617 | Python | 33.333331 | 80 | 0.606159 |
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
| 537 | Python | 34.866664 | 70 | 0.55121 |
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)
| 4,640 | Python | 32.388489 | 96 | 0.567026 |
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 * | 253 | Python | 30.749996 | 35 | 0.770751 |
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])
| 7,517 | Python | 36.402985 | 120 | 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)
| 6,373 | 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
| 9,688 | Python | 34.752767 | 120 | 0.55192 |
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)
| 5,705 | Python | 35.576923 | 120 | 0.57844 |
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
| 3,519 | Python | 38.111111 | 104 | 0.577721 |
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
| 11,903 | Python | 38.287129 | 120 | 0.614971 |
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
| 4,039 | Python | 32.666666 | 112 | 0.549641 |
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"
| 13,127 | Python | 45.553191 | 124 | 0.475585 |
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) | 2,139 | Python | 37.90909 | 120 | 0.57223 |
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")
| 142 | Python | 22.83333 | 72 | 0.711268 |
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()
| 3,547 | Python | 29.852174 | 72 | 0.666479 |
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 | 117 | 0.681189 |
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
| 22,236 | Python | 42.262646 | 155 | 0.533189 |
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
| 3,109 | Python | 42.194444 | 118 | 0.705693 |
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
| 4,328 | Python | 43.628866 | 116 | 0.677218 |
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