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PegasusSimulator/PegasusSimulator/docs/source/api/sensors.sensor.rst

Sensor ====== .. automodule:: pegasus.simulator.logic.sensors.sensor :members: :undoc-members: :show-inheritance:

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PegasusSimulator/PegasusSimulator/docs/source/api/vehicles.vehicle.rst

Vehicle ======= .. automodule:: pegasus.simulator.logic.vehicles.vehicle :members: :undoc-members: :show-inheritance:

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PegasusSimulator/PegasusSimulator/docs/source/api/state.rst

State ===== .. automodule:: pegasus.simulator.logic.state :members: :undoc-members: :show-inheritance:

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PegasusSimulator/PegasusSimulator/docs/source/api/sensors.magnetometer.rst

Magnetometer ============ To simulate the measurements produced by a magnetometer, we resort to the same declination D, nclination I angles, and magnetic strength S pre-computed tables provided in PX4-SITL :cite:p:`px4`, obtained from the World Magnetic Model (WMM) from 2018 :cite:p:`compute_mag_components`. .. automodule:: pegasus.simulator.logic.sensors.magnetometer :members: :undoc-members: :show-inheritance:

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PegasusSimulator/PegasusSimulator/docs/source/api/backends.backend.rst

Backend ======= .. automodule:: pegasus.simulator.logic.backends.backend :members: :undoc-members: :show-inheritance:

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PegasusSimulator/PegasusSimulator/docs/source/api/params.rst

Params ====== .. automodule:: pegasus.simulator.params :members: :undoc-members: :show-inheritance:

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PegasusSimulator/PegasusSimulator/docs/source/api/backends.ros2_backend.rst

ROS2 Backend ============ .. automodule:: pegasus.simulator.logic.backends.ros2_backend :members: :undoc-members: :show-inheritance:

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PegasusSimulator/PegasusSimulator/docs/source/api/sensors.imu.rst

Imu === The IMU is composed of a gyroscope and an accelerometer, which measure the angular velocity and acceleration of the vehicle in the body frame, respectively. The bias/drift of the imu is given by a slowly varying random walk processes of diffusion, as described in :cite:p:`kalibr`, :cite:p:`maybeck`. .. automodule:: pegasus.simulator.logic.sensors.imu :members: :undoc-members: :show-inheritance:

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PegasusSimulator/PegasusSimulator/docs/source/api/vehicles.multirotor.rst

Multirotor ========== .. automodule:: pegasus.simulator.logic.vehicles.multirotor :members: :undoc-members: :show-inheritance:

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PegasusSimulator/PegasusSimulator/docs/source/api/graphs.ros2_camera.rst

ROS2 Camera =========== .. automodule:: pegasus.simulator.logic.graphs.ros2_camera :members: :undoc-members: :show-inheritance:

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PegasusSimulator/PegasusSimulator/docs/source/api/sensors.gps.rst

GPS === In order to guarantee full compatibility with the PX4 navigation system, the projection from local to global coordinate system, i.e., latitude and longitude is performed by transforming the vehicle position, to the geographic coordinate system using the azymuthal equidistant projection in accordance with the World Geodetic System (WGS84) :cite:p:`azimuthal_projection`, :cite:p:`Snyder1987`. .. automodule:: pegasus.simulator.logic.sensors.gps :members: :undoc-members: :show-inheritance:

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PegasusSimulator/PegasusSimulator/docs/source/api/sensors.barometer.rst

Barometer ========= This sensor follows the International Standard Atmosphere (ISA) model :cite:p:`baromter_implementation` . .. automodule:: pegasus.simulator.logic.sensors.barometer :members: :undoc-members: :show-inheritance:

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PegasusSimulator/PegasusSimulator/docs/source/api/graphs.graph.rst

Graph ====== .. automodule:: pegasus.simulator.logic.graphs.graph :members: :undoc-members: :show-inheritance:

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PegasusSimulator/PegasusSimulator/docs/source/api/index.rst

API Reference ============= Sensors ------- .. toctree:: :maxdepth: 2 sensors.sensor sensors.barometer sensors.gps sensors.imu sensors.magnetometer Graphs ------ .. toctree:: :maxdepth: 2 graphs.graph graphs.ros2_camera Dynamics -------- .. toctree:: :maxdepth: 2 dynamics.drag dynamics.linear_drag Thruster -------- .. toctree:: :maxdepth: 2 thrusters.quadratic_thrust_curve Control Backends ---------------- .. toctree:: :maxdepth: 2 backends.backend backends.mavlink_backend backends.ros2_backend Vehicle ------- .. toctree:: :maxdepth: 2 state vehicles.vehicle vehicles.vehicle_manager vehicles.multirotor Pegasus Interace ---------------- .. toctree:: :maxdepth: 2 pegasus_interface Default Params -------------- .. toctree:: :maxdepth: 2 params

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PegasusSimulator/PegasusSimulator/docs/source/features/vehicles.rst

Vehicles ======== In this first version of the Pegasus Simulator we only provide the implementation for a generic ``Multirotor`` Vehicles and a 3D asset for the ``3DR Iris quadrotor`` . Please check the :ref:`Roadmap` section for future plans regarding new vehicles topologies and the :ref:`Contributing` section to contribute if you have a new vehicle model that you would like to be added. To create a Multirotor object from scratch, consider the following example code: .. code:: Python from pegasus.simulator.params import ROBOTS from pegasus.simulator.logic.dynamics import LinearDrag from pegasus.simulator.logic.thrusters import QuadraticThrustCurve from pegasus.simulator.logic.sensors import Barometer, IMU, Magnetometer, GPS from pegasus.simulator.logic.vehicles.multirotor import Multirotor, MultirotorConfig # Auxiliary scipy import to set the rotation of the vehicle in quaternion from scipy.spatial.transform import Rotation # Create a multirotor configuration object multirotor_config = MultirotorConfig() multirotor_config.stage_prefix="quadrotor" multirotor_config.usd_file = "" # The default thrust curve for a quadrotor and dynamics relating to drag multirotor_config.thrust_curve = QuadraticThrustCurve() multirotor_config.drag = LinearDrag([0.50, 0.30, 0.0]) # Set the sensors for a quadrotor # For each sensor we are using the default parameters, but you can also pass in a dictionary # to configure them. Check the Sensors API documentation for more information. multirotor_config.sensors = [Barometer(), IMU(), Magnetometer(), GPS()] # The backends for actually sending commands to the vehicle. # By default use mavlink (with default mavlink configurations). # It can also be your own custom Control Backend implementation! # # Note: you can have multiple backends (this is usefull for creating backends # for logging purposes) but only the first backend in the list will be used # to send commands to the vehicles. The others will just be used to receive the # current state of the vehicle and the data produced by the sensors multirotor_config.backends = [MavlinkBackend()] # Create and spawn the multirotor object in the scene Multirotor( stage_prefix="/World/quadrotor", # The path to the multirotor USD file usd_file=ROBOTS['Iris'], vehicle_id=0, init_pos=[0.0, 0.0, 0.07], init_orientation=Rotation.from_euler("XYZ", [0.0, 0.0, 0.0], degrees=True).as_quat(), config=config_multirotor, ) To define and use a custom multirotor frame, you must adhere to the adopted convention. Therefore, a vehicle must be made in a USD file and have a ``/body`` and multiple ``/rotor<id>`` Xform objects. Each rotor ``/rotor<id>`` must have inside a Revolut Joint named ``/rotor<id>`` where the ``<id>`` of the joint must coincide with the Xform name. An example tree of the 3DR Iris quadrotor is presented bellow. .. image:: /_static/features/vehicle_standard.png :width: 600px :align: center :alt: Vehicle standard for defining the frames Additionally, you should set the mass and moments of inertial of the materials the compose the vehicle directly in the USD file, as well as the physics colliders.

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PegasusSimulator/PegasusSimulator/docs/source/features/px4_integration.rst

PX4 Integration =============== The ``PX4-Autopilot`` support is provided by making use of the ``Control Backends API`` , and implementing a custom ``MavlinkBackend`` which contains a built-in tool to launch and kill PX4 in SITL mode automatically. To instantiate a ``MavlinkBackend`` via Python scripting, consider the following example: .. code:: Python # Import the Mavlink backend module from pegasus.simulator.logic.backends.mavlink_backend import MavlinkBackend, MavlinkBackendConfig # Create the multirotor configuration # In this example we are showing the default parameters that are used if you do not specify them mavlink_config = MavlinkBackendConfig({"vehicle_id": 0, "connection_type": "tcpin", "connection_ip": "localhost", # The actual port that gets used = "connection_baseport" + "vehicle_id" "connection_baseport": 4560, "enable_lockstep": True, "num_rotors": 4, "input_offset": [0.0, 0.0, 0.0, 0.0], "input_scaling": [1000.0, 1000.0, 1000.0, 1000.0], "zero_position_armed": [100.0, 100.0, 100.0, 100.0], "update_rate": 250.0, # Settings for automatically launching PX4 # If px4_autolaunch==False, then "px4_dir" and "px4_vehicle_model" are unused "px4_autolaunch": True, "px4_dir": "PegasusInterface().px4_path", "px4_vehicle_model": "iris", }) config_multirotor.backends = [MavlinkBackend(mavlink_config)] .. note:: In general, the Pegasus Simulator does not need to know where you have PX4 running to simulate the vehicle and send data through ``MAVLink`` . However, if you intend to use the provided ``PX4 auto-launch`` feature, you must inform Pegasus Simulator where you have your local install of PX4. By default, the simulator expects PX4 to be located at ``~/PX4-Autopilot`` directory. You can set the default path for the ``PX4-Autopilot`` by either: 1. Using the GUI of the Pegasus Simulator when operating in extension mode. .. image:: /_static/pegasus_GUI_px4_dir.png :width: 600px :align: center :alt: Setting the PX4 path 2. Use the methods provided by :class:`PegasusInterface`, i.e: .. code:: Python from pegasus.simulator.params import SIMULATION_ENVIRONMENTS from pegasus.simulator.logic.interface.pegasus_interface import PegasusInterface # Start the Pegasus Interface pg = PegasusInterface() # Set the default PX4 installation path used by the simulator # This will be saved for future runs pg.set_px4_path("path_to_px4_directory")

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PegasusSimulator/PegasusSimulator/docs/source/features/environments.rst

Environments ============ At the moment, we only provide in the :ref:`Params` API a dictionary named ``SIMULATION_ENVIRONMENTS`` which stores the path to ``Isaac Sim`` pre-made worlds. As we update this simulation framework, expect the list of default simulation environments to grow. List of provided simulation environments ---------------------------------------- .. table:: :widths: 25 17 +----------------------------+--------------------------+ | World | Name | +============================+==========================+ | |default_environment| | Default Environment | +----------------------------+--------------------------+ | |black_gridroom| | Black Gridroom | +----------------------------+--------------------------+ | |curved_gridroom| | Curved Gridroom | +----------------------------+--------------------------+ | |hospital| | Hospital | +----------------------------+--------------------------+ | |office| | Office | +----------------------------+--------------------------+ | |simple_room| | Simple Room | +----------------------------+--------------------------+ | |warehouse| | Warehouse | +----------------------------+--------------------------+ | |warehouse_with_forklifts| | Warehouse with Forklifts | +----------------------------+--------------------------+ | |warehouse_with_shelves| | Warehouse with Shelves | +----------------------------+--------------------------+ | |full_warehouse| | Full Warehouse | +----------------------------+--------------------------+ | |flat_plane| | Flat Plane | +----------------------------+--------------------------+ | |rought_plane| | Rough Plane | +----------------------------+--------------------------+ | |slope_plane| | Slope Plane | +----------------------------+--------------------------+ | |stairs_plane| | Stairs Plane | +----------------------------+--------------------------+ To spawn one of the provided environments when using the Pegasus Simulator in standalone application mode, you can just add to your code: .. code:: Python from pegasus.simulator.params import SIMULATION_ENVIRONMENTS from pegasus.simulator.logic.interface.pegasus_interface import PegasusInterface # Start the Pegasus Interface pg = PegasusInterface() # Load the environment pg.load_environment(SIMULATION_ENVIRONMENTS["Curved Gridroom"]) To index the dictionary of pre-made simulation environments, just use the names of the columns table. .. note:: In this initial version it is not possible to spawn a custom 3D USD world using the Pegasus Simulator GUI. If you use the Pegasus Simulator in extension mode and want to use your custom worlds, for now you need manually drag and drop the assets into the viewport like a cavemen 👌️. This is for sure a feature in the :ref:`Roadmap`. However, when using the Pegasus Simulator in standalone application mode, i.e. Python scripting, you can load your own custom USD files using the ``load_environment(usd_path)`` method. .. Definition of the image alias .. |default_environment| image:: /_static/worlds/Default\ Environment.png .. |black_gridroom| image:: /_static/worlds/Black\ Gridroom.png .. |curved_gridroom| image:: /_static/worlds/Curved\ Gridroom.png .. |hospital| image:: /_static/worlds/Hospital.png .. |office| image:: /_static/worlds/Office.png .. |simple_room| image:: /_static/worlds/Simple\ Room.png .. |warehouse| image:: /_static/worlds/Warehouse.png .. |warehouse_with_forklifts| image:: /_static/worlds/Warehouse\ with\ Forklifts.png .. |warehouse_with_shelves| image:: /_static/worlds/Warehouse\ with\ Shelves.png .. |full_warehouse| image:: /_static/worlds/Full\ Warehouse.png .. |flat_plane| image:: /_static/worlds/Flat\ Plane.png .. |rought_plane| image:: /_static/worlds/Rough\ Plane.png .. |slope_plane| image:: /_static/worlds/Slope\ Plane.png .. |stairs_plane| image:: /_static/worlds/Stairs\ Plane.png Setting the Map Global Coordinates ---------------------------------- By default, the latitude, longitude and altitude of the origin of the simulated world is set to the geographic coordinates of `Instituto Superior Técnico, Lisbon (Portugal)`, i.e.: - **latitude=** 90.0 (º) - **longitude=** 38.736832 (º) - **altitude=** -9.137977 (m) You can change the default coordinates by either: 1. Using the GUI of the Pegasus Simulator when operating in extension mode. .. image:: /_static/features/setting_geographic_coordinates.png :width: 600px :align: center :alt: Setting the geographic coordinates 2. Use the methods provided by :class:`PegasusInterface`, i.e: .. code:: Python from pegasus.simulator.params import SIMULATION_ENVIRONMENTS from pegasus.simulator.logic.interface.pegasus_interface import PegasusInterface # Start the Pegasus Interface pg = PegasusInterface() # Change only the global coordinates for this instance of the code # Future code runs will keep the same default coordinates pg.set_global_coordinates(latitude, longitude, altitude) # Change the default global coordinates for the simulator # This will be saved for future runs pg.set_new_global_coordinates(latitude, longitude, altitude)

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PegasusSimulator/PegasusSimulator/docs/source/references/roadmap.rst

Roadmap ======= In this section a basic feature roadmap is presented. The features in this roadmap are subject to changes. There are no specific delivery dates nor priority table. Some of the unchecked features might already be implemented but not yet documented. If there is some feature missing that you would like to see added, please check the :ref:`Contributing` section. * Supported sensors * |check_| Baromter * |check_| GPS * |check_| IMU (Accelerometer + Gyroscope) * |check_| Magnetometer * |check_| Camera (Implemented as a Graph Node) * |uncheck_| UDP Camera * Supported actuators * |check_| Quadratic Thrust Curve * |uncheck_| Gimbal Control * Base vehicles * |check_| 3DR Iris * |uncheck_| Typhoon * |uncheck_| Fixed-wing plane * |uncheck_| VTOL * API backends * |check_| Mavlink (with direct PX4 integration) * |check_| Direct ROS 2 interface * |uncheck_| Python backend for Reinforcement Learning (RL) * UI * |check_| Select from NVIDIA samples worlds * |check_| Select from Pegasus sample vehicles * |uncheck_| Support for custom vehicles in the UI dropdown * |uncheck_| Support for custom worlds in the UI dropdown * |uncheck_| Add an option to clone and compile PX4-Autopilot directly from the Pegasus Simulator UI .. |check| raw:: html <input checked="" type="checkbox"> .. |check_| raw:: html <input checked="" disabled="" type="checkbox"> .. |uncheck| raw:: html <input type="checkbox"> .. |uncheck_| raw:: html <input disabled="" type="checkbox">

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PegasusSimulator/PegasusSimulator/docs/source/references/changelog.rst

Changelog ========= All notable changes to this project are documented in this file. The format is based on `Keep a Changelog <https://keepachangelog.com/en/1.0.0/>`__. The changelog for the Pegasus Simulator is located in the ``docs`` directory of the extension. If you propose any changes to the project via Pull Requests, please also update the changelog file accordingly. Check the :ref:`Contributing` section for more informations. .. include:: ../../../extensions/pegasus.simulator/docs/CHANGELOG.md :parser: myst_parser.sphinx_ :start-line: 3

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PegasusSimulator/PegasusSimulator/docs/source/references/known_issues.rst

Known Issues ============ ROS 2 control backend not-working properly ------------------------------------------ At the moment, the Isaac Sim support for ROS 2 Humble (Ubuntu 22.04LTS) is still a little bit shaky. Since this extension was developed on Ubuntu 22.04LTS, I was not able to fully test this functionality yet. Therefore, ROS 2 control backend was temporarily disabled in the GUI and the only control backend available when using Pegasus Simulator in extension mode is the PX4/MAVLink one. This functionality will be re-activated as soon as it becomes stable. For the meantime, you can use the `ROS 2 interface provided by the PX4 team <https://docs.px4.io/main/en/ros/ros2_comm.html>`__.

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PegasusSimulator/PegasusSimulator/docs/source/references/bibliography.rst

Bibliography ============ .. bibliography::

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PegasusSimulator/PegasusSimulator/docs/source/references/license.rst

License ======= Pegasus Simulator License ------------------------- | The Pegasus Simulator is an open-source framework that follows a `BSD-3 Clause License <https://opensource.org/licenses/BSD-3-Clause/>`__. | **Author and lead developer:** Marcelo Jacinto (marcelo.jacinto@tecnico.ulisboa.pt) .. code-block:: text BSD 3-Clause License Copyright (c) 2023, Pegasus Simulator, Marcelo Jacinto All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * 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. * 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. This framework is built on top of `NVIDIA Omniverse <https://docs.omniverse.nvidia.com/>`__ and `Isaac Sim <https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/overview.html>`__ which is made available for free under the individual license. The license files for all the NVIDIA assets used in this framework are available in NVIDIA's `documentation <https://docs.omniverse.nvidia.com/app_isaacsim/common/licenses.html>`_. 3DR Iris Asset -------------- .. include:: /licenses/assets/iris-license.rst

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PegasusSimulator/PegasusSimulator/docs/source/references/contributing.rst

Contributing ============ The Pegasus Simulator is an open-source effort, started by me, Marcelo Jacinto in January/2023. It is a tool that was created with the original purpose of serving my Ph.D. workplan for the next 4 years, which means that you can expect this repository to be mantained by me directly, hopefully until 2027. With that said, it is very likely that you will stumble upon bugs on the code or missing features. Information on how to contribute with code, documentation or suggestions for the project roadmap can be found in the following sections. Issues, Bug Reporting and Feature Requests ------------------------------------------ - **Bug reports:** Report bugs you find in the Github Issue tab. - **Feature requests:** Suggest new features you would like to see in the Github Discussions tab. - **Code contributions:** Submit a Github Pull Request (read the next section). Branch and Version Model ------------------------ This project uses a two-branch Git model: - **main:** By default points to the latest stable tag version of the project. - **dev:** Corresponds to an unstable versions of the code that are not well tested yet. In this project, we avoid performing merges and give preference to a fork/pull-request structure. All code contributions have to be made under the permissive BSD 3-clause license and all code must not impose any further constraints on the use. Contributing with Code ---------------------- Please follow these steps to contribute with code: 1. Create an issue in Github issue tab to discuss new changes or additions to the code. 2. `Fork <https://docs.github.com/en/get-started/quickstart/fork-a-repo>`__ the repository. 3. `Create a new branch <https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/proposing-changes-to-your-work-with-pull-requests/creating-and-deleting-branches-within-your-repository>`__ for your changes. 4. Make your changes. 5. Run pre-commit on all files to make sure the code is well formated (check :ref:`Code Style` section). 6. Commit the changes following the guide in the :ref:`Commit Messages` section. 7. Update the documentation accordingly (check :ref:`Contributing with Documentation` section). 8. Push your changes to your forked repository. 9. `Submit a pull request <https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/proposing-changes-to-your-work-with-pull-requests/creating-a-pull-request-from-a-fork>`__ to the main branch of this project. 10. Ensure all the checks on the pull request are successful. After sending a pull request, the developer team will review your code, provide feedback. .. note:: Ensure that your code is well-formatted, documented and working. Commit Messages ~~~~~~~~~~~~~~~ Each commit message should be short and provide a good description of what is being changed or added to the code. As such, we suggest that every commit message start by: * ``feat``: For new features. * ``fix``: For bug fixes. * ``rem``: For removing code or features. * ``doc``: For adding or changing documentation. * ``chore``: When none of the above are a good fit. Here is an example of a "good" commit: .. code:: bash git commit -m "feat: new vehicle thurster dynamics" .. note:: We do not enforce strictly this commit policy, but it is highly recommended. Pull Requests ~~~~~~~~~~~~~ The description of the Pull Request should include: - An overview of what is adding, changing or removing; enough to understand the broad purpose of the code - Links to related issues, supporting information or research papers (if useful). - Information about what code testing has been conducted. Code Style ~~~~~~~~~~ The inline code documentation follows the `Google Style Guides <https://google.github.io/styleguide/pyguide.html>`__ while the Python code follows the `PEP guidelines <https://peps.python.org/pep-0008/>`__. We use the `pre-commit <https://pre-commit.com/>`__ tool tools for maintaining code quality and consistency over the codebase. You can install ``pre-commit`` by running: .. code:: bash pip install pre-commit If you do not want to polute your python environment, please use `venv <https://docs.python.org/3/library/venv.html>`__ or `conda <https://docs.conda.io/en/latest/>`__. To run ``pre-commit`` over the entire repository, execute: .. code:: bash pre-commit run --all-files Contributing with Documentation ------------------------------- I know, everyone hates to write documentation - its boring... but it is needed. That's why we tried to make it easy to contribute to it. All the source files for the documentation are located in the ``docs`` directory. The documentation is written in `reStructuredText <https://www.sphinx-doc.org/en/master/>`__ format. We use Sphinx with the `Read the Docs Theme <https://readthedocs.org/projects/sphinx/>`__ for generating the documentation. Sending a pull request for the documentation is the same as sending a pull request for the codebase. Please follow the steps mentioned in the :ref:`Contributing with Code` section. To build the documentation, you need to install a few python dependencies. If you do not want to polute your python environment, please use `venv <https://docs.python.org/3/library/venv.html>`__ or `conda <https://docs.conda.io/en/latest/>`__. To generate the html documentation, execute the following commands: 1. Enter the ``docs`` directory. .. code:: bash # (relative to the root of the repository) cd docs 2. Install the python dependencies. .. code:: bash pip install -r requirements.txt 3. Build the documentation. .. code:: bash make html 4. Open the documentation in a browser. .. code:: bash xdg-open _build/html/index.html Contributing with Assets ------------------------ Creating 3D models is an hard and time consuming task. We encourage people to share models that they feel will be usefull for the community, as long as: 1. The assets are appropriately licensed. 2. They can be distributed in an open-source repository. .. note:: Currently, we still do not have a standard approach for submitting open-source assets to be incorporated into Pegasus Simulator, but a possible solution in the future might lie either on hosting small sized ones on this repository and large worlds in a nucleus server. If you have a great idea regarding this subject, share it with us on the Github Issues tab! Sponsor the project ------------------- If you want to be a part of this project, or sponsor my work with some graphics cards, jetson developer boards and other development material, please reach out to me directly at ``marcelo.jacinto@tecnico.ulisboa.pt``. Current sponsors: - Dynamics Systems and Ocean Robotics (DSOR) group of the Institute for Systems and Robotics (ISR), a research unit of the Laboratory of Robotics and Engineering Systems (LARSyS). - Instituto Superior Técnico, Universidade de Lisboa The work developed by Marcelo Jacinto and João Pinto was supported by Ph.D. grants funded by Fundação para as Ciências e Tecnologias (FCT). .. raw:: html <p float="left" align="center"> <img src="../../_static/dsor_logo.png" width="90" align="center" /> <img src="../../_static/logo_isr.png" width="200" align="center"/> <img src="../../_static/larsys_logo.png" width="200" align="center"/> <img src="../../_static/ist_logo.png" width="200" align="center"/> <img src="../../_static/logo_fct.png" width="200" align="center"/> </p>

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Conv-AI/ov_extension/CHANGELOG.md

# Changelog All notable changes to this project will be documented in this file. # Release 1.0.3 **Fixed** - Extension failed to install on latest Omniverse apps. # Release 1.0.2 **Improved** - Action Graph for the demo stage. # Release 1.0.1 **Fixed** - UI bug preventing Convai window from appearing. # Release 1.0.0 **Added** - GRPC streaming for reduced latency. - Demo stage with Nvidia character. # Release 0.1.0-alpha - Added REST APIs integration.

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Conv-AI/ov_extension/README.md

# Convai Omniverse Extension ## Introduction The Convai Omniverse Extension provides seamless integration between [Convai](https://convai.com/) API and Omniverse, allowing users to connect their 3D character assets with intelligent conversational agents. With this extension, users can define their character's backstory and voice at Convai and easily connect the character using its character ID. ## Installation To install the Convai Omniverse Extension, follow these steps: 1. Clone the latest version of the repo. 2. Open Omniverse app of your choice (e.g Code) and from the `Window` menu click `Extensions`. 3. In the extensions tab, click the gear icon in the top right. <p align="left"> <img height="350" src="images/extensions.png?raw=true"> </p> 4. Click the green plus icon in the `Edit` column and add the absolute path to the `exts` folder found in the repository directory. <p align="left"> <img height="350" src="images/SearchPath.png?raw=true"> </p> 5. Select the `Third Party` tab and search for `Convai` in the top left search bar, make sure to check `Enabled`. <p align="left"> <img height="250" src="images/ConvaiSearch.png?raw=true"> </p> 6. The Convai window should appear, drag it and dock it in any suitable area of the UI. 7. If the Convai window does not appear, go to the `Window` menu and select `Convai` from the list. ## Configuration To add your API Key and Character ID, follow these steps: 1. Sign up at [Convai](https://convai.com/). 2. On the website click the gear icon in the top-right corner of the playground then copy and paste the API key into the `Convai API Key` field in the Convai extension window. 3. Go to the [Dashboard](https://convai.com/pipeline/dashboard) and on the left panel and either create a new character or select a sample one. 4. Copy the Character ID and paste it in the `Character ID` field in the extension window. ## Actions: Actions can be used to trigger events with the same name as the action in the `Action graph`. They can be used to run animations based on the action received. To try out actions: 1. Add a few comma seperated actions to `Comma seperated actions` field (e.g jump, kick, dance, etc.). 2. The character will select one of the actions based on the conversation and run any event with the same name as the action in the `Action Graph`. ## Running the Demo 1. Open your chosen Omniverse app (e.g., Code). 2. Go to `File->Open` and navigate to the repo directory. 3. Navigate to `<repo directory>/ConvaiDemoStage/ConvaiDemo.usd` and click `open it. 4. Click the `play` button from the `Toolbar` menu on the left. <p align="left"> <img height="350" src="images/PlayToolbar.png?raw=true"> </p> 5. Click `Start Talking` in the `Convai` window to talk to the character then click `Stop` to send the request. ## Notes - The extension is tested in Omniverse Code, but you are welcome to try it out in other apps as well. - The demo stage includes only talk and idle animations. However, it is possible to add more animations and trigger them using the action selected by the character. More on that in the future.

Markdown

Conv-AI/ov_extension/exts/convai/convai/extension.py

import math, os import asyncio import numpy as np import omni.ext import carb.events import omni.ui as ui import configparser import pyaudio import grpc from .rpc import service_pb2 as convai_service_msg from .rpc import service_pb2_grpc as convai_service from .convai_audio_player import ConvaiAudioPlayer from typing import Generator import io from pydub import AudioSegment import threading import traceback import time from collections import deque import random from functools import partial __location__ = os.path.realpath(os.path.join(os.getcwd(), os.path.dirname(__file__))) CHUNK = 1024 FORMAT = pyaudio.paInt16 CHANNELS = 1 RATE = 12000 def log(text: str, warning: bool =False): print(f"[convai] {'[Warning]' if warning else ''} {text}") class ConvaiExtension(omni.ext.IExt): WINDOW_NAME = "Convai" MENU_PATH = f"Window/{WINDOW_NAME}" def on_startup(self, ext_id: str): self.IsCapturingAudio = False self.on_new_frame_sub = None self.channel_address = None self.channel = None self.SessionID = None self.channelState = grpc.ChannelConnectivity.IDLE self.client = None self.ConvaiGRPCGetResponseProxy = None self.PyAudio = pyaudio.PyAudio() self.stream = None self.Tick = False self.TickThread = None self.ConvaiAudioPlayer = ConvaiAudioPlayer(self._on_start_talk_callback, self._on_stop_talk_callback) self.LastReadyTranscription = "" self.ResponseTextBuffer = "" self.OldCharacterID = "" self.response_UI_Label_text = "" self.action_UI_Label_text = "<Action>" self.transcription_UI_Label_text = "" # self.response_UI_Label_text = "<Response will apear here>" self.response_UI_Label_text = "" # Turn off response text due to unknown crash self.StartTalking_Btn_text = "Start Talking" self.StartTalking_Btn_state = True self.UI_Lock = threading.Lock() self.Mic_Lock = threading.Lock() self.UI_update_counter = 0 self.on_new_update_sub = None ui.Workspace.set_show_window_fn(ConvaiExtension.WINDOW_NAME, partial(self.show_window, None)) ui.Workspace.show_window(ConvaiExtension.WINDOW_NAME) # # Put the new menu editor_menu = omni.kit.ui.get_editor_menu() if editor_menu: self._menu = editor_menu.add_item( ConvaiExtension.MENU_PATH, self.show_window, toggle=True, value=True ) # self.show_window(None, True) self.read_channel_address_from_config() self.create_channel() log("ConvaiExtension started") def setup_UI(self): self._window = ui.Window(ConvaiExtension.WINDOW_NAME, width=300, height=300) self._window.set_visibility_changed_fn(self._visiblity_changed_fn) with self._window.frame: with ui.VStack(): with ui.HStack(height = ui.Length(30)): l = ui.Label("Convai API key") self.APIKey_input_UI = ui.StringField() ui.Spacer(height=5) with ui.HStack(height = ui.Length(30)): l = ui.Label("Character ID") self.CharID_input_UI = ui.StringField() ui.Spacer(height=5) # with ui.HStack(height = ui.Length(30)): # l = ui.Label("Session(Leave empty for 1st time)") # self.session_input_UI = ui.StringField() # ui.Spacer(height=5) with ui.HStack(height = ui.Length(30)): l = ui.Label("Comma seperated actions") self.actions_input_UI = ui.StringField() self.actions_input_UI.set_tooltip("e.g. Dances, Jumps") ui.Spacer(height=5) # self.response_UI_Label = ui.Label("", height = ui.Length(60), word_wrap = True) # self.response_UI_Label.alignment = ui.Alignment.CENTER self.action_UI_Label = ui.Label("<Action>", height = ui.Length(30), word_wrap = False) self.action_UI_Label.alignment = ui.Alignment.CENTER ui.Spacer(height=5) self.StartTalking_Btn = ui.Button("Start Talking", clicked_fn=lambda: self.on_start_talking_btn_click(), height = ui.Length(30)) self.transcription_UI_Label = ui.Label("", height = ui.Length(60), word_wrap = True) self.transcription_UI_Label.alignment = ui.Alignment.CENTER if self.on_new_update_sub is None: self.on_new_update_sub = ( omni.kit.app.get_app() .get_update_event_stream() .create_subscription_to_pop(self._on_UI_update_event, name="convai new UI update") ) self.read_UI_from_config() return self._window def _on_UI_update_event(self, e): if self.UI_update_counter>1000: self.UI_update_counter = 0 self.UI_update_counter += 1 if self._window is None: return if self.UI_Lock.locked(): log("UI_Lock is locked", 1) return with self.UI_Lock: # self.response_UI_Label.text = str(self.response_UI_Label_text) self.action_UI_Label.text = str(self.action_UI_Label_text) self.transcription_UI_Label.text = str(self.transcription_UI_Label_text) self.StartTalking_Btn.text = self.StartTalking_Btn_text self.StartTalking_Btn.enabled = self.StartTalking_Btn_state def start_tick(self): if self.Tick: log("Tick already started", 1) return self.Tick = True self.TickThread = threading.Thread(target=self._on_tick) self.TickThread.start() def stop_tick(self): if self.TickThread and self.Tick: self.Tick = False self.TickThread.join() def read_channel_address_from_config(self): config = configparser.ConfigParser() config.read(os.path.join(__location__, 'convai.env')) self.channel_address = config.get("CONVAI", "CHANNEL") def read_UI_from_config(self): config = configparser.ConfigParser() config.read(os.path.join(__location__, 'convai.env')) api_key = config.get("CONVAI", "API_KEY") self.APIKey_input_UI.model.set_value(api_key) character_id = config.get("CONVAI", "CHARACTER_ID") self.CharID_input_UI.model.set_value(character_id) actions_text = config.get("CONVAI", "ACTIONS") self.actions_input_UI.model.set_value(actions_text) def save_config(self): config = configparser.ConfigParser() config.read(os.path.join(__location__, 'convai.env')) config.set("CONVAI", "API_KEY", self.APIKey_input_UI.model.get_value_as_string()) config.set("CONVAI", "CHARACTER_ID", self.CharID_input_UI.model.get_value_as_string()) config.set("CONVAI", "ACTIONS", self.actions_input_UI.model.get_value_as_string()) # config.set("CONVAI", "CHANNEL", self.channel_address) with open(os.path.join(__location__, 'convai.env'), 'w') as file: config.write(file) def create_channel(self): if (self.channel): log("gRPC channel already created") return self.channel = grpc.secure_channel(self.channel_address, grpc.ssl_channel_credentials()) # self.channel.subscribe(self.on_channel_state_change, True) log("Created gRPC channel") def close_channel(self): if (self.channel): self.channel.close() self.channel = None log("close_channel - Closed gRPC channel") else: log("close_channel - gRPC channel already closed") def on_start_talking_btn_click(self): if (self.IsCapturingAudio): # Change UI with self.UI_Lock: self.StartTalking_Btn_text = "Processing..." # self.StartTalking_Btn_text = "Start Talking" self.StartTalking_Btn_state = False # Reset response UI text self.response_UI_Label_text = "" # Do one last mic read self.read_mic_and_send_to_grpc(True) # time.sleep(0.01) # Stop Mic self.stop_mic() else: # Reset Session ID if Character ID changes if self.OldCharacterID != self.CharID_input_UI.model.get_value_as_string(): self.OldCharacterID = self.CharID_input_UI.model.get_value_as_string() self.SessionID = "" with self.UI_Lock: # Reset transcription UI text self.transcription_UI_Label_text = "" self.LastReadyTranscription = "" # Change Btn text self.StartTalking_Btn_text = "Stop" # Open Mic stream self.start_mic() # Stop any on-going audio self.ConvaiAudioPlayer.stop() # Save API key, character ID and session ID self.save_config() # Create gRPC stream self.ConvaiGRPCGetResponseProxy = ConvaiGRPCGetResponseProxy(self) def on_shutdown(self): self.clean_grpc_stream() self.close_channel() self.stop_tick() if self._menu: self._menu = None if self._window: self._window.destroy() self._window = None # Deregister the function that shows the window from omni.ui ui.Workspace.set_show_window_fn(ConvaiExtension.WINDOW_NAME, None) log("ConvaiExtension shutdown") def start_mic(self): if self.IsCapturingAudio == True: log("start_mic - mic is already capturing audio", 1) return self.stream = self.PyAudio.open(format=FORMAT, channels=CHANNELS, rate=RATE, input=True, frames_per_buffer=CHUNK) self.IsCapturingAudio = True self.start_tick() log("start_mic - Started Recording") def stop_mic(self): if self.IsCapturingAudio == False: log("stop_mic - mic has not started yet", 1) return self.stop_tick() if self.stream: self.stream.stop_stream() self.stream.close() else: log("stop_mic - could not close mic stream since it is None", 1) self.IsCapturingAudio = False log("stop_mic - Stopped Recording") def clean_grpc_stream(self): if self.ConvaiGRPCGetResponseProxy: self.ConvaiGRPCGetResponseProxy.Parent = None del self.ConvaiGRPCGetResponseProxy self.ConvaiGRPCGetResponseProxy = None # self.close_channel() def on_transcription_received(self, Transcription: str, IsTranscriptionReady: bool, IsFinal: bool): ''' Called when user transcription is received ''' self.UI_Lock.acquire() self.transcription_UI_Label_text = self.LastReadyTranscription + " " + Transcription self.UI_Lock.release() if IsTranscriptionReady: self.LastReadyTranscription = self.LastReadyTranscription + " " + Transcription def on_data_received(self, ReceivedText: str, ReceivedAudio: bytes, SampleRate: int, IsFinal: bool): ''' Called when new text and/or Audio data is received ''' self.ResponseTextBuffer += str(ReceivedText) if IsFinal: with self.UI_Lock: self.response_UI_Label_text = self.ResponseTextBuffer self.transcription_UI_Label_text = self.ResponseTextBuffer self.ResponseTextBuffer = "" self.ConvaiAudioPlayer.append_to_stream(ReceivedAudio) return def on_actions_received(self, Action: str): ''' Called when actions are received ''' # Action.replace(".", "") self.UI_Lock.acquire() for InputAction in self.parse_actions(): # log (f"on_actions_received: {Action} - {InputAction} - {InputAction.find(Action)}") if Action.find(InputAction) >= 0: self.action_UI_Label_text = InputAction self.fire_event(InputAction) self.UI_Lock.release() return self.action_UI_Label_text = "None" self.UI_Lock.release() def on_session_ID_received(self, SessionID: str): ''' Called when new SessionID is received ''' self.SessionID = SessionID def on_finish(self): ''' Called when the response stream is done ''' self.ConvaiGRPCGetResponseProxy = None with self.UI_Lock: self.StartTalking_Btn_text = "Start Talking" self.StartTalking_Btn_state = True self.clean_grpc_stream() log("Received on_finish") def on_failure(self, ErrorMessage: str): ''' Called when there is an unsuccessful response ''' log(f"on_failure called with message: {ErrorMessage}", 1) with self.UI_Lock: self.transcription_UI_Label_text = "ERROR: Please double check API key and the character ID - Send logs to support@convai.com for further assistance." self.stop_mic() self.on_finish() def _on_tick(self): while self.Tick: time.sleep(0.1) if self.IsCapturingAudio == False or self.ConvaiGRPCGetResponseProxy is None: continue self.read_mic_and_send_to_grpc(False) def _on_start_talk_callback(self): self.fire_event("start") log("Character Started Talking") def _on_stop_talk_callback(self): self.fire_event("stop") log("Character Stopped Talking") def read_mic_and_send_to_grpc(self, LastWrite): with self.Mic_Lock: if self.stream: data = self.stream.read(CHUNK) else: log("read_mic_and_send_to_grpc - could not read mic stream since it is none", 1) data = bytes() if self.ConvaiGRPCGetResponseProxy: self.ConvaiGRPCGetResponseProxy.write_audio_data_to_send(data, LastWrite) else: log("read_mic_and_send_to_grpc - ConvaiGRPCGetResponseProxy is not valid", 1) def fire_event(self, event_name): def registered_event_name(event_name): """Returns the internal name used for the given custom event name""" n = "omni.graph.action." + event_name return carb.events.type_from_string(n) reg_event_name = registered_event_name(event_name) message_bus = omni.kit.app.get_app().get_message_bus_event_stream() message_bus.push(reg_event_name, payload={}) def parse_actions(self): actions = ["None"] + self.actions_input_UI.model.get_value_as_string().split(',') actions = [a.lstrip(" ").rstrip(" ") for a in actions] return actions def show_window(self, menu, value): # with self.UI_Lock: if value: self.setup_UI() self._window.set_visibility_changed_fn(self._visiblity_changed_fn) else: if self._window: self._window.visible = False def _visiblity_changed_fn(self, visible): # with self.UI_Lock: # Called when the user pressed "X" self._set_menu(visible) if not visible: # Destroy the window, since we are creating new window # in show_window asyncio.ensure_future(self._destroy_window_async()) def _set_menu(self, value): """Set the menu to create this window on and off""" editor_menu = omni.kit.ui.get_editor_menu() if editor_menu: editor_menu.set_value(ConvaiExtension.MENU_PATH, value) async def _destroy_window_async(self): # with self.UI_Lock: # wait one frame, this is due to the one frame defer # in Window::_moveToMainOSWindow() await omni.kit.app.get_app().next_update_async() if self._window: self._window.destroy() self._window = None class ConvaiGRPCGetResponseProxy: def __init__(self, Parent: ConvaiExtension): self.Parent = Parent self.AudioBuffer = deque(maxlen=4096*2) self.InformOnDataReceived = False self.LastWriteReceived = False self.client = None self.NumberOfAudioBytesSent = 0 self.call = None self._write_task = None self._read_task = None # self._main_task = asyncio.ensure_future(self.activate()) self.activate() log("ConvaiGRPCGetResponseProxy constructor") def activate(self): # Validate API key if (len(self.Parent.APIKey_input_UI.model.get_value_as_string()) == 0): self.Parent.on_failure("API key is empty") return # Validate Character ID if (len(self.Parent.CharID_input_UI.model.get_value_as_string()) == 0): self.Parent.on_failure("Character ID is empty") return # Validate Channel if self.Parent.channel is None: log("grpc - self.Parent.channel is None", 1) self.Parent.on_failure("gRPC channel was not created") return # Create the stub self.client = convai_service.ConvaiServiceStub(self.Parent.channel) threading.Thread(target=self.init_stream).start() def init_stream(self): log("grpc - stream initialized") try: for response in self.client.GetResponse(self.create_getGetResponseRequests()): if response.HasField("audio_response"): log("gRPC - audio_response: {} {} {}".format(response.audio_response.audio_config, response.audio_response.text_data, response.audio_response.end_of_response)) log("gRPC - session_id: {}".format(response.session_id)) self.Parent.on_session_ID_received(response.session_id) self.Parent.on_data_received( response.audio_response.text_data, response.audio_response.audio_data, response.audio_response.audio_config.sample_rate_hertz, response.audio_response.end_of_response) elif response.HasField("action_response"): log(f"gRPC - action_response: {response.action_response.action}") self.Parent.on_actions_received(response.action_response.action) elif response.HasField("user_query"): log(f"gRPC - user_query: {response.user_query}") self.Parent.on_transcription_received(response.user_query.text_data, response.user_query.is_final, response.user_query.end_of_response) else: log("Stream Message: {}".format(response)) time.sleep(0.1) except Exception as e: if 'response' in locals() and response is not None and response.HasField("audio_response"): self.Parent.on_failure(f"gRPC - Exception caught in loop: {str(e)} - Stream Message: {response}") else: self.Parent.on_failure(f"gRPC - Exception caught in loop: {str(e)}") traceback.print_exc() return self.Parent.on_finish() def create_initial_GetResponseRequest(self)-> convai_service_msg.GetResponseRequest: action_config = convai_service_msg.ActionConfig( classification = 'singlestep', context_level = 1 ) action_config.actions[:] = self.Parent.parse_actions() action_config.objects.append( convai_service_msg.ActionConfig.Object( name = "dummy", description = "A dummy object." ) ) log(f"gRPC - actions parsed: {action_config.actions}") action_config.characters.append( convai_service_msg.ActionConfig.Character( name = "User", bio = "Person playing the game and asking questions." ) ) get_response_config = convai_service_msg.GetResponseRequest.GetResponseConfig( character_id = self.Parent.CharID_input_UI.model.get_value_as_string(), api_key = self.Parent.APIKey_input_UI.model.get_value_as_string(), audio_config = convai_service_msg.AudioConfig( sample_rate_hertz = RATE ), action_config = action_config ) if self.Parent.SessionID and self.Parent.SessionID != "": get_response_config.session_id = self.Parent.SessionID return convai_service_msg.GetResponseRequest(get_response_config = get_response_config) def create_getGetResponseRequests(self)-> Generator[convai_service_msg.GetResponseRequest, None, None]: req = self.create_initial_GetResponseRequest() yield req # for i in range(0, 10): while 1: IsThisTheFinalWrite = False GetResponseData = None if (0): # check if this is a text request pass else: data, IsThisTheFinalWrite = self.consume_from_audio_buffer() if len(data) == 0 and IsThisTheFinalWrite == False: time.sleep(0.05) continue # Load the audio data to the request self.NumberOfAudioBytesSent += len(data) # if len(data): # log(f"len(data) = {len(data)}") GetResponseData = convai_service_msg.GetResponseRequest.GetResponseData(audio_data = data) # Prepare the request req = convai_service_msg.GetResponseRequest(get_response_data = GetResponseData) yield req if IsThisTheFinalWrite: log(f"gRPC - Done Writing - {self.NumberOfAudioBytesSent} audio bytes sent") break time.sleep(0.1) def write_audio_data_to_send(self, Data: bytes, LastWrite: bool): self.AudioBuffer.append(Data) if LastWrite: self.LastWriteReceived = True log(f"gRPC LastWriteReceived") # if self.InformOnDataReceived: # # Inform of new data to send # self._write_task = asyncio.ensure_future(self.write_stream()) # # Reset # self.InformOnDataReceived = False def finish_writing(self): self.write_audio_data_to_send(bytes(), True) def consume_from_audio_buffer(self): Length = len(self.AudioBuffer) IsThisTheFinalWrite = False data = bytes() if Length: data = self.AudioBuffer.pop() # self.AudioBuffer = bytes() if self.LastWriteReceived and Length == 0: IsThisTheFinalWrite = True else: IsThisTheFinalWrite = False if IsThisTheFinalWrite: log(f"gRPC Consuming last mic write") return data, IsThisTheFinalWrite def __del__(self): self.Parent = None # if self._main_task: # self._main_task.cancel() # if self._write_task: # self._write_task.cancel() # if self._read_task: # self._read_task.cancel() # if self.call: # self.call.cancel() log("ConvaiGRPCGetResponseProxy Destructor")

Python

Conv-AI/ov_extension/exts/convai/convai/convai_audio_player.py

# from .extension import ConvaiExtension, log # from test import ConvaiExtension, log import pyaudio from pydub import AudioSegment import io class ConvaiAudioPlayer: def __init__(self, start_taking_callback, stop_talking_callback): self.start_talking_callback = start_taking_callback self.stop_talking_callback = stop_talking_callback self.AudioSegment = None self.pa = pyaudio.PyAudio() self.pa_stream = None self.IsPlaying = False def append_to_stream(self, data: bytes): segment = AudioSegment.from_wav(io.BytesIO(data)).fade_in(100).fade_out(100) if self.AudioSegment is None: self.AudioSegment = segment else: self.AudioSegment._data += segment._data self.play() def play(self): if self.IsPlaying: return print("ConvaiAudioPlayer - Started playing") self.start_talking_callback() self.pa_stream = self.pa.open( format=pyaudio.get_format_from_width(self.AudioSegment.sample_width), channels=self.AudioSegment.channels, rate=self.AudioSegment.frame_rate, output=True, stream_callback=self.stream_callback ) self.IsPlaying = True def pause(self): ''' Pause playing ''' self.IsPlaying = False def stop(self): ''' Pause playing and clear audio ''' self.pause() self.AudioSegment = None def stream_callback(self, in_data, frame_count, time_info, status_flags): if not self.IsPlaying: frames = bytes() else: frames = self.consume_frames(frame_count) if self.AudioSegment and len(frames) < frame_count*self.AudioSegment.frame_width: print("ConvaiAudioPlayer - Stopped playing") self.stop_talking_callback() self.IsPlaying = False return frames, pyaudio.paComplete else: return frames, pyaudio.paContinue def consume_frames(self, count: int): if self.AudioSegment is None: return bytes() FrameEnd = self.AudioSegment.frame_width*count if FrameEnd > len(self.AudioSegment._data): return bytes() FramesToReturn = self.AudioSegment._data[0:FrameEnd] if FrameEnd == len(self.AudioSegment._data): self.AudioSegment._data = bytes() else: self.AudioSegment._data = self.AudioSegment._data[FrameEnd:] # print("self.AudioSegment._data = self.AudioSegment._data[FrameEnd:]") return FramesToReturn if __name__ == '__main__': import time import pyaudio import grpc from rpc import service_pb2 as convai_service_msg from rpc import service_pb2_grpc as convai_service from typing import Generator import io from pydub import AudioSegment import configparser CHUNK = 1024 FORMAT = pyaudio.paInt16 CHANNELS = 1 RATE = 16000 RECORD_SECONDS = 3 p = pyaudio.PyAudio() stream = p.open(format=FORMAT, channels=CHANNELS, rate=RATE, input=True, frames_per_buffer=CHUNK) audio_player = ConvaiAudioPlayer(None) def start_mic(): global stream stream = PyAudio.open(format=FORMAT, channels=CHANNELS, rate=RATE, input=True, frames_per_buffer=CHUNK) print("start_mic - Started Recording") def stop_mic(): global stream if stream: stream.stop_stream() stream.close() else: print("stop_mic - could not close mic stream since it is None") return print("stop_mic - Stopped Recording") def getGetResponseRequests(api_key: str, character_id: str, session_id: str = "") -> Generator[convai_service_msg.GetResponseRequest, None, None]: action_config = convai_service_msg.ActionConfig( classification = 'multistep', context_level = 1 ) action_config.actions[:] = ["fetch", "jump", "dance", "swim"] action_config.objects.append( convai_service_msg.ActionConfig.Object( name = "ball", description = "A round object that can bounce around." ) ) action_config.objects.append( convai_service_msg.ActionConfig.Object( name = "water", description = "Liquid found in oceans, seas and rivers that you can swim in. You can also drink it." ) ) action_config.characters.append( convai_service_msg.ActionConfig.Character( name = "User", bio = "Person playing the game and asking questions." ) ) action_config.characters.append( convai_service_msg.ActionConfig.Character( name = "Learno", bio = "A medieval farmer from a small village." ) ) get_response_config = convai_service_msg.GetResponseRequest.GetResponseConfig( character_id = character_id, api_key = api_key, audio_config = convai_service_msg.AudioConfig( sample_rate_hertz = 16000 ), action_config = action_config ) # session_id = "f50b7bf00ad50f5c2c22065965948c16" if session_id != "": get_response_config.session_id = session_id yield convai_service_msg.GetResponseRequest( get_response_config = get_response_config ) for i in range(0, int(RATE / CHUNK * RECORD_SECONDS)): data = stream.read(CHUNK) yield convai_service_msg.GetResponseRequest( get_response_data = convai_service_msg.GetResponseRequest.GetResponseData( audio_data = data ) ) stream.stop_stream() stream.close() print("* recording stopped") config = configparser.ConfigParser() config.read("exts\convai\convai\convai.env") api_key = config.get("CONVAI", "API_KEY") character_id = config.get("CONVAI", "CHARACTER_ID") channel_address = config.get("CONVAI", "CHANNEL") channel = grpc.secure_channel(channel_address, grpc.ssl_channel_credentials()) client = convai_service.ConvaiServiceStub(channel) for response in client.GetResponse(getGetResponseRequests(api_key, character_id)): if response.HasField("audio_response"): print("Stream Message: {} {} {}".format(response.session_id, response.audio_response.audio_config, response.audio_response.text_data)) audio_player.append_to_stream(response.audio_response.audio_data) else: print("Stream Message: {}".format(response)) p.terminate() # start_mic() time.sleep(10) # while 1: # audio_player = ConvaiAudioPlayer(None) # # data = stream.read(CHUNK) # # _, data = scipy.io.wavfile.read("F:/Work/Convai/Tests/Welcome.wav") # f = open("F:/Work/Convai/Tests/Welcome.wav", "rb") # data = f.read() # print(type(data)) # audio_player.append_to_stream(data) # time.sleep(0.2) # break # # stop_mic() # time.sleep(2) # with keyboard.Listener(on_press=on_press,on_release=on_release): # while(1): # time.sleep(0.1) # continue # print("running")

Python

Conv-AI/ov_extension/exts/convai/convai/rpc/service_pb2_grpc.py

# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT! """Client and server classes corresponding to protobuf-defined services.""" import grpc from . import service_pb2 as service__pb2 class ConvaiServiceStub(object): """Missing associated documentation comment in .proto file.""" def __init__(self, channel): """Constructor. Args: channel: A grpc.Channel. """ self.Hello = channel.unary_unary( '/service.ConvaiService/Hello', request_serializer=service__pb2.HelloRequest.SerializeToString, response_deserializer=service__pb2.HelloResponse.FromString, ) self.HelloStream = channel.stream_stream( '/service.ConvaiService/HelloStream', request_serializer=service__pb2.HelloRequest.SerializeToString, response_deserializer=service__pb2.HelloResponse.FromString, ) self.SpeechToText = channel.stream_stream( '/service.ConvaiService/SpeechToText', request_serializer=service__pb2.STTRequest.SerializeToString, response_deserializer=service__pb2.STTResponse.FromString, ) self.GetResponse = channel.stream_stream( '/service.ConvaiService/GetResponse', request_serializer=service__pb2.GetResponseRequest.SerializeToString, response_deserializer=service__pb2.GetResponseResponse.FromString, ) self.GetResponseSingle = channel.unary_stream( '/service.ConvaiService/GetResponseSingle', request_serializer=service__pb2.GetResponseRequestSingle.SerializeToString, response_deserializer=service__pb2.GetResponseResponse.FromString, ) class ConvaiServiceServicer(object): """Missing associated documentation comment in .proto file.""" def Hello(self, request, context): """Missing associated documentation comment in .proto file.""" context.set_code(grpc.StatusCode.UNIMPLEMENTED) context.set_details('Method not implemented!') raise NotImplementedError('Method not implemented!') def HelloStream(self, request_iterator, context): """Missing associated documentation comment in .proto file.""" context.set_code(grpc.StatusCode.UNIMPLEMENTED) context.set_details('Method not implemented!') raise NotImplementedError('Method not implemented!') def SpeechToText(self, request_iterator, context): """Missing associated documentation comment in .proto file.""" context.set_code(grpc.StatusCode.UNIMPLEMENTED) context.set_details('Method not implemented!') raise NotImplementedError('Method not implemented!') def GetResponse(self, request_iterator, context): """Missing associated documentation comment in .proto file.""" context.set_code(grpc.StatusCode.UNIMPLEMENTED) context.set_details('Method not implemented!') raise NotImplementedError('Method not implemented!') def GetResponseSingle(self, request, context): """Missing associated documentation comment in .proto file.""" context.set_code(grpc.StatusCode.UNIMPLEMENTED) context.set_details('Method not implemented!') raise NotImplementedError('Method not implemented!') def add_ConvaiServiceServicer_to_server(servicer, server): rpc_method_handlers = { 'Hello': grpc.unary_unary_rpc_method_handler( servicer.Hello, request_deserializer=service__pb2.HelloRequest.FromString, response_serializer=service__pb2.HelloResponse.SerializeToString, ), 'HelloStream': grpc.stream_stream_rpc_method_handler( servicer.HelloStream, request_deserializer=service__pb2.HelloRequest.FromString, response_serializer=service__pb2.HelloResponse.SerializeToString, ), 'SpeechToText': grpc.stream_stream_rpc_method_handler( servicer.SpeechToText, request_deserializer=service__pb2.STTRequest.FromString, response_serializer=service__pb2.STTResponse.SerializeToString, ), 'GetResponse': grpc.stream_stream_rpc_method_handler( servicer.GetResponse, request_deserializer=service__pb2.GetResponseRequest.FromString, response_serializer=service__pb2.GetResponseResponse.SerializeToString, ), 'GetResponseSingle': grpc.unary_stream_rpc_method_handler( servicer.GetResponseSingle, request_deserializer=service__pb2.GetResponseRequestSingle.FromString, response_serializer=service__pb2.GetResponseResponse.SerializeToString, ), } generic_handler = grpc.method_handlers_generic_handler( 'service.ConvaiService', rpc_method_handlers) server.add_generic_rpc_handlers((generic_handler,)) # This class is part of an EXPERIMENTAL API. class ConvaiService(object): """Missing associated documentation comment in .proto file.""" @staticmethod def Hello(request, target, options=(), channel_credentials=None, call_credentials=None, insecure=False, compression=None, wait_for_ready=None, timeout=None, metadata=None): return grpc.experimental.unary_unary(request, target, '/service.ConvaiService/Hello', service__pb2.HelloRequest.SerializeToString, service__pb2.HelloResponse.FromString, options, channel_credentials, insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def HelloStream(request_iterator, target, options=(), channel_credentials=None, call_credentials=None, insecure=False, compression=None, wait_for_ready=None, timeout=None, metadata=None): return grpc.experimental.stream_stream(request_iterator, target, '/service.ConvaiService/HelloStream', service__pb2.HelloRequest.SerializeToString, service__pb2.HelloResponse.FromString, options, channel_credentials, insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def SpeechToText(request_iterator, target, options=(), channel_credentials=None, call_credentials=None, insecure=False, compression=None, wait_for_ready=None, timeout=None, metadata=None): return grpc.experimental.stream_stream(request_iterator, target, '/service.ConvaiService/SpeechToText', service__pb2.STTRequest.SerializeToString, service__pb2.STTResponse.FromString, options, channel_credentials, insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def GetResponse(request_iterator, target, options=(), channel_credentials=None, call_credentials=None, insecure=False, compression=None, wait_for_ready=None, timeout=None, metadata=None): return grpc.experimental.stream_stream(request_iterator, target, '/service.ConvaiService/GetResponse', service__pb2.GetResponseRequest.SerializeToString, service__pb2.GetResponseResponse.FromString, options, channel_credentials, insecure, call_credentials, compression, wait_for_ready, timeout, metadata) @staticmethod def GetResponseSingle(request, target, options=(), channel_credentials=None, call_credentials=None, insecure=False, compression=None, wait_for_ready=None, timeout=None, metadata=None): return grpc.experimental.unary_stream(request, target, '/service.ConvaiService/GetResponseSingle', service__pb2.GetResponseRequestSingle.SerializeToString, service__pb2.GetResponseResponse.FromString, options, channel_credentials, insecure, call_credentials, compression, wait_for_ready, timeout, metadata)

Python

Conv-AI/ov_extension/exts/convai/config/extension.toml

[python.pipapi] # Commands passed to pip install before extension gets enabled. Can also contain flags, like `--upgrade`, `--no--index`, etc. # Refer to: https://pip.pypa.io/en/stable/reference/requirements-file-format/ requirements = [ "scipy", "wavio", "sounddevice", "requests", "googleapis-common-protos", "grpcio==1.51.1", "grpcio-tools==1.51.1", "protobuf==4.21.10", "PyAudio==0.2.12", "pydub==0.25.1" ] # Allow going to online index. Required to be set to true for pip install call. use_online_index = true # Ignore import check for modules. ignore_import_check = false [package] # Semantic Versionning is used: https://semver.org/ version = "1.0.3" # The title and description fields are primarily for displaying extension info in UI title = "Convai" description="Integrate Convai API with Omniverse." icon = "data/icon.png" preview_image = "data/preview.png" # Path (relative to the root) or content of readme markdown file for UI. readme = "docs/README.md" feature = true # URL of the extension source repository. repository = "https://github.com/Conv-AI/ov_extension" # One of categories for UI. category = "Convai" # Keywords for the extension keywords = ["kit", "convai", "chatgpt", "chatbot"] # Use omni.ui to build simple UI [dependencies] "omni.kit.uiapp" = {} "omni.anim.graph.bundle" = {} # Main python module this extension provides, it will be publicly available as "import convai". [[python.module]] name = "convai"

TOML

Steigner/Isaac-ur_rtde/isaac_rtde.py

# MIT License # Copyright (c) 2023 Fravebot # Permission is hereby granted, free of charge, to any person obtaining a copy # of this software and associated documentation files (the "Software"), to deal # in the Software without restriction, including without limitation the rights # to use, copy, modify, merge, publish, distribute, sublicense, and/or sell # copies of the Software, and to permit persons to whom the Software is # furnished to do so, subject to the following conditions: # The above copyright notice and this permission notice shall be included in all # copies or substantial portions of the Software. # THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR # IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, # FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE # AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER # LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, # OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE # SOFTWARE. # Author: Martin Juříček # Isaac Sim app library from omni.isaac.kit import SimulationApp simulation_app = SimulationApp({"headless": False}) # Isaac Sim extenstions + core libraries from omni.isaac.motion_generation.lula import RmpFlow from omni.isaac.motion_generation import ArticulationMotionPolicy from omni.isaac.core.robots import Robot from omni.isaac.core.objects import cuboid from omni.isaac.core import World from omni.isaac.core.utils.stage import add_reference_to_stage from omni.isaac.core.utils.nucleus import get_assets_root_path from omni.isaac.motion_generation.interface_config_loader import ( load_supported_motion_policy_config, ) # ur rtde communication import rtde_control import rtde_receive import numpy as np import argparse import sys parser = argparse.ArgumentParser() parser.add_argument( "--robot-ip", type=str, default="127.0.0.1", help="IP adress of robot Real world UR Polyscope or VM UR Polyscope", ) arg = parser.parse_args() # set up paths and prims robot_name = "UR5e" prim_path = "/UR5e" usd_path = get_assets_root_path() + "/Isaac/Robots/UniversalRobots/ur5e/ur5e.usd" # set references to staget in isaac add_reference_to_stage(usd_path=usd_path, prim_path=prim_path) # add world my_world = World(stage_units_in_meters=1.0) my_world.scene.add_default_ground_plane() # add robot to world robot = my_world.scene.add(Robot(prim_path=prim_path, name=robot_name)) # The load_supported_motion_policy_config() function is currently the simplest way to load supported robots. # In the future, Isaac Sim will provide a centralized registry of robots with Lula robot description files # and RMP configuration files stored alongside the robot USD. rmp_config = load_supported_motion_policy_config(robot_name, "RMPflow") # Initialize an RmpFlow object and set up rmpflow = RmpFlow(**rmp_config) physics_dt = 1.0/60 articulation_rmpflow = ArticulationMotionPolicy(robot, rmpflow, physics_dt) articulation_controller = robot.get_articulation_controller() # Make a target to follow target_cube = cuboid.VisualCuboid( "/World/target", position=np.array([0.5, 0, 0.5]), color=np.array([1.0, 0, 0]), size=0.1, scale=np.array([0.5,0.5,0.5]) ) # Make an obstacle to avoid ground = cuboid.VisualCuboid( "/World/ground", position=np.array([0.0, 0, -0.0525]), color=np.array([0, 1.0, 0]), size=0.1, scale=np.array([40,40,1]) ) rmpflow.add_obstacle(ground) # prereset world my_world.reset() # IP adress of robot Real world UR Polyscope or VM UR Polyscope try: rtde_r = rtde_receive.RTDEReceiveInterface(arg.robot_ip) rtde_c = rtde_control.RTDEControlInterface(arg.robot_ip) robot.set_joint_positions(np.array(rtde_r.getActualQ())) except: print("[ERROR] Robot is not connected") # close isaac sim simulation_app.close() sys.exit() while simulation_app.is_running(): # on step render my_world.step(render=True) if my_world.is_playing(): # first frame -> reset world if my_world.current_time_step_index == 0: my_world.reset() # set target to RMP Flow rmpflow.set_end_effector_target( target_position=target_cube.get_world_pose()[0], target_orientation=target_cube.get_world_pose()[1] ) # Parameters velocity = 0.1 acceleration = 0.1 dt = 1.0/500 # 2ms lookahead_time = 0.1 gain = 300 # jointq = get joints positions joint_q = robot.get_joint_positions() # time start period t_start = rtde_c.initPeriod() # run servoJ rtde_c.servoJ(joint_q, velocity, acceleration, dt, lookahead_time, gain) rtde_c.waitPeriod(t_start) # Query the current obstacle position rmpflow.update_world() actions = articulation_rmpflow.get_next_articulation_action() articulation_controller.apply_action(actions) # get actual q from robot and update isaac model robot.set_joint_positions(np.array(rtde_r.getActualQ())) # rtde control stop script and disconnect rtde_c.servoStop() rtde_c.stopScript() rtde_r.disconnect() # close isaac sim simulation_app.close()

Python

Steigner/Isaac-ur_rtde/README.md

# Nvidia Isaac Universal Robots RTDE communication ## Introduction This example was created in collaboration with [Fravebot](https://www.fravebot.com/) company. This example is a simple demonstration of using Nvidia's Isaac Sim software to control a collaborative robot UR5e from Universal Robots. ```javascript Software ------------------------------------ | Nvidia Isaac Sim version 2022.2.0 | Isaac Python version 3.7 | - ur-rtde 1.5.5 ``` 1) [Nvidia Isaac Requirements](https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/requirements.html) 2) [Nvidia Omniverse Isaac Instalation](https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/install_workstation.html) 3) Install [ur_rtde](https://gitlab.com/sdurobotics/ur_rtde) (Check docs Win/Lin). After install python bindings: ```console user@user-pc:~/.../isaac_sim-2022.2.0$ ./python.sh -m pip install ur_rtde ``` ## How-to-Start 1) Go to workspace Nvidia Omniverse Isaac 2) Clone repository 3) Run VM Polyscope or Real Robot. 4) Run command (robot-ip is ip adress of robot VM or Real): ```console user@user-pc:~/.../isaac_sim-2022.2.0$ ./python.sh test_fravebot/isaac_rtde.py --robot-ip 192.168.200.135 ``` ## Video! <p align="center"> <a href="https://www.youtube.com/watch?v=L3BNDRvnJjo"><img src="https://upload.wikimedia.org/wikipedia/commons/0/09/YouTube_full-color_icon_%282017%29.svg" alt="Nvidia Isaac Sim Universal Robots UR5e RTDE"/></a> </p> ## :information_source: Contacts :mailbox: juricek@fravebot.com

Markdown

HC2ER/OmniverseExtension-hnadi.tools.exploded_view/README.md

## Adding This Extension   1. Download the package. 2. Go into the local address where you install Omniverse apps (code or create). 3. Just put the whole folder into "exts" or "extscache" folders where other extensions are installed. Both folders are OK. ## Using This Extension An exploded view is very useful to show the details of products in many fields like architecture and mechanical engineering... This extension provides an easy and reliable way to make exploded view in Omniverse. ### Step1: Match the formats   * Because of the core algorithm reads and manipulates the transform: translate and xformOp: translate: pivot attribute of prims, before selecting, every single item needs to have a proper pivot coordinate around its geometric center, as well as the parent group if you want to choose it immediately. If the formats do not match, change the model in DCC, or directly change their properties if already imported in Omniverse. ### Step2: Create the Exploded Model  1. Select a group or all items at once and click the "Select Prims" button. 2. Change the X, Y, and Z ratio to control the explosion distance in different directions. 3. Change the coordinates of Pivot to control the explosion centre. * All items in the Exploded_Model will change dynamically with the change of X, Y, Z ratio and Pivot. ### Step3: Edit the Exploded Model   1. Select prims and click the "Add" or "Remove" button to add or remove them into or from the existed Exploded_Model. 2. Select prims and click the "Bind" button if you want to keep the relative distances of selected items during explosion. 3. Select a group and click the "Unbind" button to unleash their relative distances during explosion. * The Pivot of the Exploded_Model will change dynamically with adding or removing prims. ### Other Functions   1. Click the "Axono" button and adjust the distance of the camera if you want an axonometric view. 2. Click the "Eye" button to hide or show the ORIGINAL prims. 3. Click the "Reset" button to reset the X, Y, Z ratio and Pivot. 4. Click the "Clear" button to delete the Exploded_Model. ### Future Development * Add some animation functions to show the process of explosion. * Improve the running speed and manipulation logic. If you have any other questions about this extension, welcome to send the message or contact 460855381@qq.com.

Markdown

HC2ER/OmniverseExtension-hnadi.tools.exploded_view/hnadi/tools/exploded_view/exploded_view.py

from .utils import get_name_from_path, get_pure_list import omni.usd import omni.kit.commands from pxr import Usd, Sdf, Gf # ----------------------------------------------------SELECT------------------------------------------------------------- def select_explode_Xform(x_coord, y_coord, z_coord, x_ratio, y_ratio, z_ratio): global original_path global current_model_path global item_count global default_pivot global item_list0 global translate_list0 # Get current stage and active prim_paths stage = omni.usd.get_context().get_stage() selected_prim_path = omni.usd.get_context().get_selection().get_selected_prim_paths() if not selected_prim_path: return # A: If the whole group is selected if len(selected_prim_path) == 1: # Test members selected_prim_path = omni.usd.get_context().get_selection().get_selected_prim_paths() group_prim = stage.GetPrimAtPath(selected_prim_path[0]) children_prims_list = group_prim.GetChildren() # If no members if len(children_prims_list) <= 1: print("Please select a valid group or all items at once!") return else: original_path = selected_prim_path item_count = len(children_prims_list) omni.kit.commands.execute('CopyPrim', path_from= selected_prim_path[0], path_to='/World/Exploded_Model', exclusive_select=False) selected_prim_path = omni.usd.get_context().get_selection().get_selected_prim_paths() # print(selected_prim_path[-1]) # sub_group_prim = stage.GetPrimAtPath(selected_prim_path[0]) # sub_children_prims_list = group_prim.GetChildren() # original_path = selected_prim_path # item_count = len(selected_prim_path) # for i in sub_children_prim_list: # name = get_name_from_path(i) # name_list.append(name) omni.kit.commands.execute('SelectPrims', old_selected_paths=selected_prim_path, new_selected_paths=[selected_prim_path[-1]], expand_in_stage=True) # B: If multiple prims are selected separately else: original_path = selected_prim_path item_count = len(selected_prim_path) name_list = [] group_list = [] for i in selected_prim_path: name = get_name_from_path(i) name_list.append(name) # Copy omni.kit.commands.execute('CopyPrim', path_from = i, path_to ='/World/item_01', exclusive_select=False) if selected_prim_path.index(i)<= 8: group_list.append(f'/World/item_0{selected_prim_path.index(i)+1}') else: group_list.append(f'/World/item_{selected_prim_path.index(i)+1}') # Group omni.kit.commands.execute('GroupPrims', prim_paths=group_list) # Change group name selected_prim_path = omni.usd.get_context().get_selection().get_selected_prim_paths() omni.kit.commands.execute('MovePrims', paths_to_move={selected_prim_path[0]: '/World/Exploded_Model'}) # obj = stage.GetObjectAtPath(selected_prim_path[0]) # default_pivot = obj.GetAttribute('xformOp:translate:pivot').Get() # Change members names back selected_prim_path = omni.usd.get_context().get_selection().get_selected_prim_paths() group_prim = stage.GetPrimAtPath(selected_prim_path[0]) children_prims_list = group_prim.GetChildren() # Move members out of the group for i in children_prims_list: ind = children_prims_list.index(i) if ind <= 8: omni.kit.commands.execute('MovePrims', paths_to_move={f"{selected_prim_path[0]}/item_0{ind+1}": f"{selected_prim_path[0]}/" + name_list[ind]}) else: omni.kit.commands.execute('MovePrims', paths_to_move={f"{selected_prim_path[0]}/item_{ind+1}": f"{selected_prim_path[0]}/" + name_list[ind]}) # Choose Exploded_Model and get current path,count,pivot selected_prim_path = omni.usd.get_context().get_selection().get_selected_prim_paths() current_model_path = selected_prim_path obj = stage.GetObjectAtPath(selected_prim_path[0]) default_pivot = obj.GetAttribute('xformOp:translate:pivot').Get() print(obj) print(default_pivot) # Get origin translate_list outer_group_prim = stage.GetPrimAtPath(current_model_path[0]) children_prims_list = outer_group_prim.GetChildren() item_list0 = children_prims_list translate_list0 = [] for i in children_prims_list: sub_children_prim_list = i.GetChildren() if len(sub_children_prim_list) <= 1: translate = i.GetAttribute('xformOp:translate').Get() else: translate = i.GetAttribute('xformOp:translate:pivot').Get() translate_list0.append(translate) # print("--------------------------------------------") # print(original_path) # print(current_model_path) # print(item_count) # print(default_pivot) # print(item_list0) # print(translate_list0) # print("--------------------------------------------") # Create Explosion_Centre omni.kit.commands.execute('CreatePrimWithDefaultXform', prim_type='Xform', attributes={}) selected_prim_path = omni.usd.get_context().get_selection().get_selected_prim_paths() world_pivot_path = selected_prim_path omni.kit.commands.execute('ChangeProperty', prop_path=Sdf.Path(f"{world_pivot_path[0]}" + ".xformOp:translate"), value=Gf.Vec3d(default_pivot[0], default_pivot[1], default_pivot[2]), prev=Gf.Vec3d(0, 0, 0)) obj1 = stage.GetObjectAtPath(selected_prim_path[0]) default_pivot = obj1.GetAttribute('xformOp:translate').Get() omni.kit.commands.execute('MovePrims', paths_to_move={f"{world_pivot_path[0]}": f"{current_model_path[0]}/" + "Explosion_Centre"}) # Set_default_button_value x_coord.model.set_value(default_pivot[0]) y_coord.model.set_value(default_pivot[1]) z_coord.model.set_value(default_pivot[2]) x_ratio.model.set_value(0) y_ratio.model.set_value(0) z_ratio.model.set_value(0) # End omni.kit.commands.execute('SelectPrims', old_selected_paths=[], new_selected_paths=[f'{current_model_path[0]}'], expand_in_stage=True) return #------------------------------------------------------REMOVE----------------------------------------------------------- def remove_item(x_coord, y_coord, z_coord, x_ratio, y_ratio, z_ratio): try: global original_path global current_model_path global item_count global default_pivot global item_list0 global translate_list0 stage = omni.usd.get_context().get_stage() selected_prim_path = omni.usd.get_context().get_selection().get_selected_prim_paths() if not selected_prim_path: return # Remove correct items for i in selected_prim_path: path = str(i) name = get_name_from_path(path) if path != f"{current_model_path[0]}/" + "Explosion_Centre": if path != current_model_path[0] and path.find(current_model_path[0]) != -1: omni.kit.commands.execute('SelectPrims', old_selected_paths=[], new_selected_paths=[f'{current_model_path[0]}'], expand_in_stage=True) selected_prim_path = omni.usd.get_context().get_selection().get_selected_prim_paths() obj0 = stage.GetObjectAtPath(selected_prim_path[0]) children_prims_list_z0 = obj0.GetChildren() new_count = len(children_prims_list_z0) if new_count == 2: print("Cannot remove the only item in Exploded_Model!") return else: # Restore values to 0 to record the postions x = x_ratio.model.get_value_as_float() y = y_ratio.model.get_value_as_float() z = z_ratio.model.get_value_as_float() # If 0，pass if x == 0.0 and y== 0.0 and z == 0.0: pass # If not, set 0 else: x_ratio.model.set_value(0.0) y_ratio.model.set_value(0.0) z_ratio.model.set_value(0.0) omni.kit.commands.execute('MovePrim', path_from = path, path_to = "World/" + name) else: omni.kit.commands.execute('SelectPrims', old_selected_paths=[], new_selected_paths=[f'{current_model_path[0]}'], expand_in_stage=True) print("Please select a valid item to remove!") else: omni.kit.commands.execute('SelectPrims', old_selected_paths=[], new_selected_paths=[f'{current_model_path[0]}'], expand_in_stage=True) print("Cannot remove Explosion_Centre!") omni.kit.commands.execute('SelectPrims', old_selected_paths=[], new_selected_paths=[f'{current_model_path[0]}'], expand_in_stage=True) selected_prim_path = omni.usd.get_context().get_selection().get_selected_prim_paths() obj = stage.GetObjectAtPath(selected_prim_path[0]) children_prims_list_z = obj.GetChildren() new_count2 = len(children_prims_list_z) -1 # If any item is removed if new_count2 < item_count: # Refresh item_count item_count = new_count2 obj = stage.GetObjectAtPath(selected_prim_path[0]) # Refresh item_list0 and translate_list0 outer_group_prim = stage.GetPrimAtPath(current_model_path[0]) children_prims_list0 = outer_group_prim.GetChildren() children_prims_list = get_pure_list(children_prims_list0) item_list0 = children_prims_list translate_list0 = [] for i in children_prims_list: sub_children_prim_list = i.GetChildren() if len(sub_children_prim_list) <= 1: translate = i.GetAttribute('xformOp:translate').Get() else: translate = i.GetAttribute('xformOp:translate:pivot').Get() translate_list0.append(translate) # Refresh pivot group_list = [] name_list = [] for i in item_list0: item_path = str(i.GetPath()) name = get_name_from_path(item_path) name_list.append(name) group_list.append(item_path) # S1 group omni.kit.commands.execute('GroupPrims', prim_paths=group_list) # change group name selected_prim_path = omni.usd.get_context().get_selection().get_selected_prim_paths() omni.kit.commands.execute('MovePrims', paths_to_move={selected_prim_path[0]: f"{current_model_path[0]}/Sub_Exploded_Model"}) # S2 Get new pivot by group omni.kit.commands.execute('SelectPrims', old_selected_paths=[], new_selected_paths=[f"{current_model_path[0]}/Sub_Exploded_Model"], expand_in_stage=True) selected_prim_path = omni.usd.get_context().get_selection().get_selected_prim_paths() obj = stage.GetObjectAtPath(selected_prim_path[0]) default_pivot = obj.GetAttribute('xformOp:translate:pivot').Get() # S3 Move members out of the group group_path = selected_prim_path outer_group_prim = stage.GetPrimAtPath(group_path[0]) children_prims_list = outer_group_prim.GetChildren() for i in children_prims_list: index = children_prims_list.index(i) name = name_list[index] omni.kit.commands.execute('MovePrim', path_from = f"{group_path[0]}/{name_list[index]}", path_to = f"{current_model_path[0]}/{name_list[index]}") # S4 Delete the group omni.kit.commands.execute('DeletePrims', paths=[f"{current_model_path[0]}/Sub_Exploded_Model"]) # S5 Change pivot omni.kit.commands.execute('ChangeProperty', prop_path=Sdf.Path(f"{current_model_path[0]}/Explosion_Centre" + ".xformOp:translate"), value=Gf.Vec3d(default_pivot[0], default_pivot[1], default_pivot[2]), prev=Gf.Vec3d(0, 0, 0)) # Restore_default_panel x_coord.model.set_value(default_pivot[0]) y_coord.model.set_value(default_pivot[1]) z_coord.model.set_value(default_pivot[2]) if x == 0.0 and y== 0.0 and z == 0.0: pass else: x_ratio.model.set_value(x) y_ratio.model.set_value(y) z_ratio.model.set_value(z) # Select omni.kit.commands.execute('SelectPrims', old_selected_paths=[], new_selected_paths=[f'{current_model_path[0]}'], expand_in_stage=True) return # If no remove actions，return else: omni.kit.commands.execute('SelectPrims', old_selected_paths=[], new_selected_paths=[f'{current_model_path[0]}'], expand_in_stage=True) return except: print("Create a model to explode at first!") return #---------------------------------------------------------ADD----------------------------------------------------------- def add_item(x_coord, y_coord, z_coord, x_ratio, y_ratio, z_ratio): try: global original_path global current_model_path global item_count global default_pivot global item_list0 global translate_list0 stage = omni.usd.get_context().get_stage() selected_prim_path = omni.usd.get_context().get_selection().get_selected_prim_paths() if not selected_prim_path: return # Add correct items for i in selected_prim_path: path = str(i) name = get_name_from_path(path) if path.find(current_model_path[0]) == -1: # Restore values to 0 to record the postions x = x_ratio.model.get_value_as_float() y = y_ratio.model.get_value_as_float() z = z_ratio.model.get_value_as_float() # If 0, pass if x == 0.0 and y== 0.0 and z == 0.0: pass # If not, set 0 else: x_ratio.model.set_value(0.0) y_ratio.model.set_value(0.0) z_ratio.model.set_value(0.0) omni.kit.commands.execute('MovePrim', path_from = path, path_to = f"{current_model_path[0]}/" + name) else: omni.kit.commands.execute('SelectPrims', old_selected_paths=[], new_selected_paths=[f'{current_model_path[0]}'], expand_in_stage=True) print("The selected item already existed in the model!") omni.kit.commands.execute('SelectPrims', old_selected_paths=[], new_selected_paths=[f'{current_model_path[0]}'], expand_in_stage=True) selected_prim_path = omni.usd.get_context().get_selection().get_selected_prim_paths() obj = stage.GetObjectAtPath(selected_prim_path[0]) children_prims_list_z = obj.GetChildren() new_count2 = len(children_prims_list_z) - 1 # print(new_count2) # If any items is added if new_count2 > item_count: # Refresh item_count item_count = new_count2 obj = stage.GetObjectAtPath(selected_prim_path[0]) # Refresh item_list0 and translate_list0 outer_group_prim = stage.GetPrimAtPath(current_model_path[0]) children_prims_list0 = outer_group_prim.GetChildren() children_prims_list = get_pure_list(children_prims_list0) item_list0 = children_prims_list translate_list0 = [] for i in children_prims_list: sub_children_prim_list = i.GetChildren() if len(sub_children_prim_list) <= 1: translate = i.GetAttribute('xformOp:translate').Get() else: translate = i.GetAttribute('xformOp:translate:pivot').Get() translate_list0.append(translate) # Refresh pivot group_list = [] name_list = [] for i in item_list0: item_path = str(i.GetPath()) name = get_name_from_path(item_path) name_list.append(name) group_list.append(item_path) # S1 Group omni.kit.commands.execute('GroupPrims', prim_paths=group_list) # Change group name selected_prim_path = omni.usd.get_context().get_selection().get_selected_prim_paths() omni.kit.commands.execute('MovePrims', paths_to_move={selected_prim_path[0]: f"{current_model_path[0]}/Sub_Exploded_Model"}) # S2 Get new pivot by group omni.kit.commands.execute('SelectPrims', old_selected_paths=[], new_selected_paths=[f"{current_model_path[0]}/Sub_Exploded_Model"], expand_in_stage=True) selected_prim_path = omni.usd.get_context().get_selection().get_selected_prim_paths() obj = stage.GetObjectAtPath(selected_prim_path[0]) default_pivot = obj.GetAttribute('xformOp:translate:pivot').Get() print(default_pivot) # S3 Move members out of the group group_path = selected_prim_path outer_group_prim = stage.GetPrimAtPath(group_path[0]) children_prims_list = outer_group_prim.GetChildren() for i in children_prims_list: index = children_prims_list.index(i) name = name_list[index] omni.kit.commands.execute('MovePrim', path_from= f"{group_path[0]}/{name_list[index]}", path_to=f"{current_model_path[0]}/{name_list[index]}") # S4 Delete the group omni.kit.commands.execute('DeletePrims', paths=[f"{current_model_path[0]}/Sub_Exploded_Model"]) # S5 Change pivot omni.kit.commands.execute('ChangeProperty', prop_path=Sdf.Path(f"{current_model_path[0]}/Explosion_Centre" + ".xformOp:translate"), value=Gf.Vec3d(default_pivot[0], default_pivot[1], default_pivot[2]), prev=Gf.Vec3d(0, 0, 0)) # Restore_default_panel x_coord.model.set_value(default_pivot[0]) y_coord.model.set_value(default_pivot[1]) z_coord.model.set_value(default_pivot[2]) if x == 0.0 and y== 0.0 and z == 0.0: pass else: x_ratio.model.set_value(x) y_ratio.model.set_value(y) z_ratio.model.set_value(z) # Select omni.kit.commands.execute('SelectPrims', old_selected_paths=[], new_selected_paths=[f'{current_model_path[0]}'], expand_in_stage=True) return # If no add actions，return else: omni.kit.commands.execute('SelectPrims', old_selected_paths=[], new_selected_paths=[f'{current_model_path[0]}'], expand_in_stage=True) return except: print("Create a model to explode at first!") return #--------------------------------------------------------BIND----------------------------------------------------------- def bind_item(x_coord, y_coord, z_coord, x_ratio, y_ratio, z_ratio): try: global original_path global current_model_path global item_count global default_pivot global item_list0 global translate_list0 stage = omni.usd.get_context().get_stage() selected_prim_path = omni.usd.get_context().get_selection().get_selected_prim_paths() if not selected_prim_path: return if len(selected_prim_path) < 2: omni.kit.commands.execute('SelectPrims', old_selected_paths=[], new_selected_paths=[f'{current_model_path[0]}'], expand_in_stage=True) print("Bind at least 2 items in the model!") return group_list = [] for i in selected_prim_path: path = str(i) name = get_name_from_path(path) if path != f"{current_model_path[0]}/" + "Explosion_Centre": if path.find(current_model_path[0]) != -1: group_list.append(i) else: omni.kit.commands.execute('SelectPrims', old_selected_paths=[], new_selected_paths=[f'{current_model_path[0]}'], expand_in_stage=True) print("Cannot bind the Explosion_Centre!") # Restore values to 0 to bind x = x_ratio.model.get_value_as_float() y = y_ratio.model.get_value_as_float() z = z_ratio.model.get_value_as_float() # If 0，pass if x == 0.0 and y== 0.0 and z == 0.0: pass # If not，set 0 else: x_ratio.model.set_value(0.0) y_ratio.model.set_value(0.0) z_ratio.model.set_value(0.0) # Bind items omni.kit.commands.execute('GroupPrims', prim_paths=group_list) selected_prim_path = omni.usd.get_context().get_selection().get_selected_prim_paths() group_path = selected_prim_path[0] # print(group_path) omni.kit.commands.execute('SelectPrims', old_selected_paths=[], new_selected_paths=[f'{current_model_path[0]}'], expand_in_stage=True) selected_prim_path = omni.usd.get_context().get_selection().get_selected_prim_paths() obj = stage.GetObjectAtPath(selected_prim_path[0]) children_prims_list_z = obj.GetChildren() new_count2 = len(children_prims_list_z) - 1 # print(new_count2) # If bind actions if new_count2 < item_count: # Refresh item_count item_count = new_count2 obj = stage.GetObjectAtPath(selected_prim_path[0]) # Refresh item_list0 and translate_list0 outer_group_prim = stage.GetPrimAtPath(current_model_path[0]) children_prims_list0 = outer_group_prim.GetChildren() children_prims_list = get_pure_list(children_prims_list0) item_list0 = children_prims_list translate_list0 = [] for i in children_prims_list: sub_children_prim_list = i.GetChildren() if len(sub_children_prim_list) <= 1: translate = i.GetAttribute('xformOp:translate').Get() else: translate = i.GetAttribute('xformOp:translate:pivot').Get() translate_list0.append(translate) # Refresh pivot default_pivot = default_pivot # Restore_default_panel x_coord.model.set_value(default_pivot[0]) y_coord.model.set_value(default_pivot[1]) z_coord.model.set_value(default_pivot[2]) if x == 0.0 and y== 0.0 and z == 0.0: pass else: x_ratio.model.set_value(x) y_ratio.model.set_value(y) z_ratio.model.set_value(z) # Select omni.kit.commands.execute('SelectPrims', old_selected_paths=[], new_selected_paths=[f'{current_model_path[0]}'], expand_in_stage=True) return # If no bind，return else: omni.kit.commands.execute('SelectPrims', old_selected_paths=[], new_selected_paths=[f'{current_model_path[0]}'], expand_in_stage=True) return except: print("Create a model to explode at first!") return #------------------------------------------------------UNBIND----------------------------------------------------------- def unbind_item(x_coord, y_coord, z_coord, x_ratio, y_ratio, z_ratio): try: global original_path global current_model_path global item_count global default_pivot global item_list0 global translate_list0 stage = omni.usd.get_context().get_stage() selected_prim_path = omni.usd.get_context().get_selection().get_selected_prim_paths() if not selected_prim_path: return # Test valid group for i in selected_prim_path: path0 = str(i) if path0 != current_model_path[0] and path0.find(current_model_path[0]) != -1: outer_group_prim = stage.GetPrimAtPath(path0) children_prims_list0 = outer_group_prim.GetChildren() if len(children_prims_list0) < 1: omni.kit.commands.execute('SelectPrims', old_selected_paths=[], new_selected_paths=[f'{current_model_path[0]}'], expand_in_stage=True) print("Please select a valid group!") return else: if selected_prim_path.index(i) == 0: # Restore values to 0 to unbind x = x_ratio.model.get_value_as_float() y = y_ratio.model.get_value_as_float() z = z_ratio.model.get_value_as_float() # If 0，pass if x == 0.0 and y== 0.0 and z == 0.0: pass # If not，set 0 else: x_ratio.model.set_value(0.0) y_ratio.model.set_value(0.0) z_ratio.model.set_value(0.0) for j in children_prims_list0: path = str(j.GetPath()) name = get_name_from_path(path) omni.kit.commands.execute('MovePrims', paths_to_move={path: f"{current_model_path[0]}/{name}"}) # Delete group omni.kit.commands.execute('DeletePrims', paths=[path0]) else: omni.kit.commands.execute('SelectPrims', old_selected_paths=[], new_selected_paths=[f'{current_model_path[0]}'], expand_in_stage=True) print("Please unbind a valid group!") return omni.kit.commands.execute('SelectPrims', old_selected_paths=[], new_selected_paths=[f'{current_model_path[0]}'], expand_in_stage=True) selected_prim_path = omni.usd.get_context().get_selection().get_selected_prim_paths() obj = stage.GetObjectAtPath(selected_prim_path[0]) children_prims_list_z = obj.GetChildren() new_count2 = len(children_prims_list_z) - 1 # print(new_count2) # If unbind actions if new_count2 >= item_count: # Refresh item_count item_count = new_count2 obj = stage.GetObjectAtPath(selected_prim_path[0]) # Refresh item_list0 and translate_list0 outer_group_prim = stage.GetPrimAtPath(current_model_path[0]) children_prims_list0 = outer_group_prim.GetChildren() children_prims_list = get_pure_list(children_prims_list0) item_list0 = children_prims_list translate_list0 = [] for i in children_prims_list: sub_children_prim_list = i.GetChildren() if len(sub_children_prim_list) <= 1: translate = i.GetAttribute('xformOp:translate').Get() else: translate = i.GetAttribute('xformOp:translate:pivot').Get() translate_list0.append(translate) # Refresh pivot default_pivot = default_pivot # Restore_default_panel x_coord.model.set_value(default_pivot[0]) y_coord.model.set_value(default_pivot[1]) z_coord.model.set_value(default_pivot[2]) if x == 0.0 and y== 0.0 and z == 0.0: pass else: x_ratio.model.set_value(x) y_ratio.model.set_value(y) z_ratio.model.set_value(z) # Select omni.kit.commands.execute('SelectPrims', old_selected_paths=[], new_selected_paths=[f'{current_model_path[0]}'], expand_in_stage=True) return # If no unbind，return else: omni.kit.commands.execute('SelectPrims', old_selected_paths=[], new_selected_paths=[f'{current_model_path[0]}'], expand_in_stage=True) return except: print("Create a model to explode at first!") return #------------------------------------------------------ONCHANGE---------------------------------------------------------- def on_pivot_change(x_coord, y_coord, z_coord, x_button, y_button, z_button, a:float): try: global original_path global current_model_path global item_count global default_pivot global item_list0 global translate_list0 stage = omni.usd.get_context().get_stage() # Select Model if not current_model_path: print("Please select items to explode at first") return omni.kit.commands.execute('SelectPrims', old_selected_paths=[], new_selected_paths=[f'{current_model_path[0]}'], expand_in_stage=True) # Get x,y,z value x_position = x_coord.model.get_value_as_float() y_position = y_coord.model.get_value_as_float() z_position = z_coord.model.get_value_as_float() # print(x_position, y_position, z_position) # Change pivot omni.kit.commands.execute('TransformPrimSRT', path=Sdf.Path(f"{current_model_path[0]}/" + "Explosion_Centre"), new_translation=Gf.Vec3d(x_position, y_position, z_position), old_translation=Gf.Vec3d(0, 0, 0)) # Get new pivot obj2 = stage.GetObjectAtPath(f"{current_model_path[0]}/" + "Explosion_Centre") pivot = obj2.GetAttribute('xformOp:translate').Get() # Get x,y,z ratio x_ratio = x_button.model.get_value_as_float() y_ratio = y_button.model.get_value_as_float() z_ratio = z_button.model.get_value_as_float() # Calculate each item group_prim = stage.GetPrimAtPath(current_model_path[0]) children_prims_list0 = group_prim.GetChildren() children_prims_list = get_pure_list(children_prims_list0) # Move each item for item in children_prims_list: sub_children_prim_list = item.GetChildren() index = children_prims_list.index(item) translate = translate_list0[index] # print(translate) item_path = item.GetPrimPath() # print(item_path) if len(sub_children_prim_list) <= 1: # If single item x_distance = (translate[0] - pivot[0]) * x_ratio y_distance = (translate[1] - pivot[1]) * y_ratio z_distance = (translate[2] - pivot[2]) * z_ratio omni.kit.commands.execute('TransformPrimSRT', path=Sdf.Path(item_path), new_translation=Gf.Vec3d(translate[0] + x_distance, translate[1] + y_distance, translate[2] + z_distance), old_translation=translate) else: # If group item x_distance = (translate[0] - pivot[0]) * x_ratio y_distance = (translate[1] - pivot[1]) * y_ratio z_distance = (translate[2] - pivot[2]) * z_ratio omni.kit.commands.execute('TransformPrimSRT', path=Sdf.Path(item_path), new_translation=Gf.Vec3d(x_distance, y_distance, z_distance), old_translation=translate) # End omni.kit.commands.execute('SelectPrims', old_selected_paths=[], new_selected_paths=[f"{current_model_path[0]}/" + "Explosion_Centre"], expand_in_stage=True) except: x_coord.model.set_value(0.0) y_coord.model.set_value(0.0) z_coord.model.set_value(0.0) x_button.model.set_value(0.0) y_button.model.set_value(0.0) z_button.model.set_value(0.0) print("Create a model to explode at first!") return def on_ratio_change(x_button, y_button, z_button, x_coord, y_coord, z_coord, a:float): try: global original_path global current_model_path global item_count global default_pivot global item_list0 global translate_list0 stage = omni.usd.get_context().get_stage() # Select Model if not current_model_path: print("Please select items to explode at first") return omni.kit.commands.execute('SelectPrims', old_selected_paths=[], new_selected_paths=[f'{current_model_path[0]}'], expand_in_stage=True) # Get x,y,z value x_position = x_coord.model.get_value_as_float() y_position = y_coord.model.get_value_as_float() z_position = z_coord.model.get_value_as_float() # print(x_position, y_position, z_position) # Change pivot omni.kit.commands.execute('TransformPrimSRT', path=Sdf.Path(f"{current_model_path[0]}/" + "Explosion_Centre"), new_translation=Gf.Vec3d(x_position, y_position, z_position), old_translation=Gf.Vec3d(0, 0, 0)) # Get new pivot obj = stage.GetObjectAtPath(f"{current_model_path[0]}/" + "Explosion_Centre") pivot = obj.GetAttribute('xformOp:translate').Get() # Get x,y,z ratio x_ratio = x_button.model.get_value_as_float() y_ratio = y_button.model.get_value_as_float() z_ratio = z_button.model.get_value_as_float() # Calculate each item group_prim = stage.GetPrimAtPath(current_model_path[0]) children_prims_list0 = group_prim.GetChildren() children_prims_list = get_pure_list(children_prims_list0) # Move each item for item in children_prims_list: sub_children_prim_list = item.GetChildren() index = children_prims_list.index(item) translate = translate_list0[index] item_path = item.GetPrimPath() if len(sub_children_prim_list) <= 1: # If single item x_distance = (translate[0] - pivot[0]) * x_ratio y_distance = (translate[1] - pivot[1]) * y_ratio z_distance = (translate[2] - pivot[2]) * z_ratio omni.kit.commands.execute('TransformPrimSRT', path=Sdf.Path(item_path), new_translation=Gf.Vec3d(translate[0] + x_distance, translate[1] + y_distance, translate[2] + z_distance), old_translation=translate) else: # If group item x_distance = (translate[0] - pivot[0]) * x_ratio y_distance = (translate[1] - pivot[1]) * y_ratio z_distance = (translate[2] - pivot[2]) * z_ratio omni.kit.commands.execute('TransformPrimSRT', path=Sdf.Path(item_path), new_translation=Gf.Vec3d(x_distance, y_distance, z_distance), old_translation=translate) # End omni.kit.commands.execute('SelectPrims', old_selected_paths=[], new_selected_paths=[f"{current_model_path[0]}/" + "Explosion_Centre"], expand_in_stage=True) except: x_coord.model.set_value(0.0) y_coord.model.set_value(0.0) z_coord.model.set_value(0.0) x_button.model.set_value(0.0) y_button.model.set_value(0.0) z_button.model.set_value(0.0) print("Create a model to explode at first!") return #-------------------------------------------------SECONDARY FUNCTION------------------------------------------------------ def hide_unhide_original_model(): try: global original_path global item_count stage = omni.usd.get_context().get_stage() visible_count = 0 for i in original_path: obj = stage.GetObjectAtPath(i) visual_attr = obj.GetAttribute('visibility').Get() # print(type(visual_attr)) # print(visual_attr) if visual_attr == "inherited": visible_count += 1 # print(original_path) # print(visible_count) # print(item_count) # All light if visible_count == 1: omni.kit.commands.execute('ChangeProperty', prop_path=Sdf.Path(f"{original_path[0]}.visibility"), value='invisible', prev=None) # All light elif visible_count < item_count: for i in original_path: omni.kit.commands.execute('ChangeProperty', prop_path=Sdf.Path(f"{i}.visibility"), value='inherited', prev=None) # All dark elif visible_count == item_count: for i in original_path: omni.kit.commands.execute('ChangeProperty', prop_path=Sdf.Path(f"{i}.visibility"), value='invisible', prev=None) return except: print("Cannot find ORIGINAL prims to hide or show!") return def set_camera(): stage = omni.usd.get_context().get_stage() world = stage.GetObjectAtPath('/World') children_refs = world.GetChildren() for i in children_refs: path = str(i) if path.find('/World/Axonometric_View') != -1: print("Axonometric camera already existed!") omni.kit.commands.execute('SelectPrims', old_selected_paths=[], new_selected_paths=['/World/Axonometric_View'], expand_in_stage=True) return omni.kit.commands.execute('DuplicateFromActiveViewportCameraCommand', viewport_name='Viewport') omni.kit.commands.execute('CreatePrim', prim_path='/World/Camera', prim_type='Camera') selected_prim_path = omni.usd.get_context().get_selection().get_selected_prim_paths() camera_path = selected_prim_path omni.kit.commands.execute('MovePrims', paths_to_move={camera_path[0]: '/World/Axonometric_View'}) omni.kit.commands.execute('MovePrim', path_from=camera_path[0], path_to='/World/Axonometric_View', time_code=Usd.TimeCode.Default(), keep_world_transform=True) omni.kit.commands.execute('ChangeProperty', prop_path=Sdf.Path('/World/Axonometric_View.focalLength'), value=500.0, prev=0) return def reset_model(x_coord, y_coord, z_coord, x_ratio, y_ratio, z_ratio): try: global default_pivot x_coord.model.set_value(default_pivot[0]) y_coord.model.set_value(default_pivot[1]) z_coord.model.set_value(default_pivot[2]) x = x_ratio.model.get_value_as_float() y = y_ratio.model.get_value_as_float() z = z_ratio.model.get_value_as_float() # If 0，pass if x == 0.0 and y== 0.0 and z == 0.0: pass # If not, set 0 else: x_ratio.model.set_value(0.0) y_ratio.model.set_value(0.0) z_ratio.model.set_value(0.0) return except: print("Create a model to explode at first!") return def clear(x_coord, y_coord, z_coord, x_ratio, y_ratio, z_ratio): try: global original_path global current_model_path global item_count global default_pivot global item_list0 global translate_list0 omni.kit.commands.execute('DeletePrims', paths=[current_model_path[0]]) original_path = None current_model_path = None item_count = None default_pivot = None item_list0 = None translate_list0 = None x_coord.model.set_value(0.0) y_coord.model.set_value(0.0) z_coord.model.set_value(0.0) x_ratio.model.set_value(0.0) y_ratio.model.set_value(0.0) z_ratio.model.set_value(0.0) print("All data clear") return except: print("Create a model to explode at first!") return

Python

HC2ER/OmniverseExtension-hnadi.tools.exploded_view/hnadi/tools/exploded_view/extension.py

import omni.ext import omni.usd from .exploded_view_ui import Cretae_UI_Framework class Main_Entrance(omni.ext.IExt): def on_startup(self, ext_id): Cretae_UI_Framework(self) def on_shutdown(self): print("[hnadi.tools.exploded_view] shutdown") self._window.destroy() self._window = None stage = omni.usd.get_context().get_stage()

Python

HC2ER/OmniverseExtension-hnadi.tools.exploded_view/hnadi/tools/exploded_view/utils.py

def get_name_from_path(path:str): reverse_str = list(reversed(path)) num = len(reverse_str)-((reverse_str.index("/"))+1) name = path[num+1:] return name def get_pure_list(list:list): new_list = [] for i in list: full_path0 = i.GetPrimPath() full_path = str(full_path0) if get_name_from_path(full_path) != "Explosion_Centre": new_list.append(i) # print(new_list) return new_list

Python

HC2ER/OmniverseExtension-hnadi.tools.exploded_view/hnadi/tools/exploded_view/exploded_view_style.py

# Copyright (c) 2022, HNADIACE.  All rights reserved. __all__ = ["HNADI_window_style"] from omni.ui import color as cl from omni.ui import constant as fl from omni.ui import url import omni.kit.app import omni.ui as ui import pathlib EXTENSION_FOLDER_PATH = pathlib.Path( omni.kit.app.get_app().get_extension_manager().get_extension_path_by_module(__name__) ) ##颜色预设## #主题色 main_color = cl.hnadi_color = cl("#F5B81B") #主字体色 white = cl.hnadi_text_color = cl("#DADADA") # 最浅色 #窗口 cl.window_label_bg = cl("#0F0F0F") # 窗口标题背景色 cl.window_bg = cl("#252525") # 窗口背景色，60~90%透明度（透明度不知道定义） #折叠框架 cl.clloapsible_bg_label = cl("#252525") #按钮 cl.button_bg = cl("#252525") # 常规背景色+边框#9393939，1px cl.button_bg_hover = cl("#98999C") cl.button_bg_click = cl("#636363") cl.button_label = cl("#939393") # 按钮常规字体颜色 cl.button_label_hover = cl("#383838") # 按钮悬停时字体颜色 cl.button_label_click = cl("#DADADA") #下拉框 cl.combobox_bg = cl("#252525") cl.combobox_label = cl("#939393") cl.combobox_bg_hover = cl("#0F0F0F") cl.combobox_label_hover = cl("#AFAFAF") #勾选框/还原按钮 cl.revert_arrow_enabled = cl("#AFAFAF") # 启用状态 cl.revert_arrow_disabled = cl("#383838") # 禁用状态 cl.checkbox_hover = cl("#DADADA") cl.checkbox_click = cl("#F5B81B") #边界线框 border_color = cl.border = cl("#636363") # 1px-2px厚度 #滑块 cl.slider_fill = cl("#F5B81B") # 滑块填充色，主题色 cl.slider_bg = cl("#252525") cl.floatslider_sele = cl("#BB8E1A") # 滑块点击效果 cl.slider_text_color = cl("98999C") #还原按钮 cl.revert_arrow_enabled = cl("#F5B81B") # 启用状态 cl.revert_arrow_disabled = cl("#383838") # 禁用状态 #好像用不到的 cl.transparent = cl(0, 0, 0, 0) # HC Color black = cl("#252525") white = cl("#FFFFFF") cls_temperature_gradient = [cl("#fe0a00"), cl("#f4f467"), cl("#a8b9ea"), cl("#2c4fac"), cl("#274483"), cl("#1f334e")] ## 间距预设 ## fl.window_attr_hspacing = 8 # 文字与功能框间距（全部） fl.window_attr_spacing = 4 # 纵向间距 fl.group_spacing = 4 # 组间间距 fl.spacing = 4 fl.border_radius = 4 fl.border_width = 1 ## 字体大小 ## fl.window_title_font_size = 18 fl.collapsable_font_size = 16 fl.text_font_size = 14 ## 链接 ## url.icon_achiview = f"{EXTENSION_FOLDER_PATH}/image/achi_view.png" url.icon_achiview_click = f"{EXTENSION_FOLDER_PATH}/image/achi_view_click.png" url.icon_bowlgenerator = f"{EXTENSION_FOLDER_PATH}/image/bowl_generator.png" url.icon_bowlgenerator_click = f"{EXTENSION_FOLDER_PATH}/image/bowl_generator_click.png" url.icon_buildingblock = f"{EXTENSION_FOLDER_PATH}/image/building_block.png" url.icon_buildingblock_click = f"{EXTENSION_FOLDER_PATH}/image/building_blockc_click.png" url.icon_draincurve = f"{EXTENSION_FOLDER_PATH}/image/drain_curve.png" url.icon_draincurve_click = f"{EXTENSION_FOLDER_PATH}/image/drain_curve_click.png" url.icon_explodedview = f"{EXTENSION_FOLDER_PATH}/image/exploded_view.png" url.icon_explodedview_click = f"{EXTENSION_FOLDER_PATH}/image/exploded_view_click.png" url.icon_isochronouscircle = f"{EXTENSION_FOLDER_PATH}/image/isochronouscircle.png" url.icon_isochronouscircle_click = f"{EXTENSION_FOLDER_PATH}/image/isochronouscircle_click.png" url.icon_light_studio = f"{EXTENSION_FOLDER_PATH}/image/light_studio.png" url.icon_lightstudio_click = f"{EXTENSION_FOLDER_PATH}/image/light_studio_click.png" url.icon_solarpanel = f"{EXTENSION_FOLDER_PATH}/image/solar_panel.png" url.icon_solarpanel_click = f"{EXTENSION_FOLDER_PATH}/image/solar_panel_click.png" url.closed_arrow_icon = f"{EXTENSION_FOLDER_PATH}/image/closed.svg" url.radio_btn_on_icon = f"{EXTENSION_FOLDER_PATH}/image/Slice 3.png" url.radio_btn_off_icon = f"{EXTENSION_FOLDER_PATH}/image/Slice 1.png" url.radio_btn_hovered_icon = f"{EXTENSION_FOLDER_PATH}/image/Slice 2.png" ## Style格式说明 ## """ "Button":{"border_width":0.5} # 1———为一类控件指定样式,直接"WidgetType":{} "Button::B1":{XXXX} # 2———为一类控件下的某个实例指定特殊样式,"WidgetType::InstanceName":{} "Button::B1:hovered/pressed":{XXXX} # 3———为一类控件的某个实例的某个状态指定样式,"WidgetType::InstanceName:State":{} "Button.Label::B1":{} # 3———为一类控件的某个实例的某种属性指定样式,"WidgetType.AttributeName::InstanceName":{} """ HNADI_window_style = { # 属性字体 attribute_name "Label::attribute_name": { "alignment": ui.Alignment.RIGHT_CENTER, "margin_height": fl.window_attr_spacing, "margin_width": fl.window_attr_hspacing, "color": cl.button_label, }, "Label::attribute_name:hovered": {"color": cl.hnadi_text_color}, # 可折叠标题 # 可折叠标题文字 collapsable_name "Label::collapsable_name": { "alignment": ui.Alignment.LEFT_CENTER, "color": cl.hnadi_text_color, "font_size": fl.collapsable_font_size, }, # 可折叠标题命名（间隔属性） group "CollapsableFrame::group": {"margin_height": fl.group_spacing}, # HeaderLine 线 "HeaderLine": {"color": cl(.5, .5, .5, .5)}, # 滑杆 "Slider": { "border_radius": fl.border_radius, "color": cl.slider_text_color, "background_color": cl.slider_bg, "secondary_color": cl.slider_fill, "secondary_selected_color": cl.floatslider_sele, "draw_mode": ui.SliderDrawMode.HANDLE, }, # FloatSlider attribute_float "Slider::attribute_float": {"draw_mode": ui.SliderDrawMode.FILLED}, "Slider::attribute_float:hovered": { "color": cl.slider_text_color, "background_color": cl.slider_bg }, "Slider::attribute_float:pressed": {"color": cl.slider_text_color}, # IntSlider attribute_int "Slider::attribute_int": { "secondary_color": cl.slider_fill, "secondary_selected_color": cl.floatslider_sele, }, "Slider::attribute_int:hovered": {"color": cl.slider_text_color}, "Slider::attribute_float:pressed": {"color": cl.slider_text_color}, # 按钮 tool_button "Button::tool_button": { "background_color": cl.button_bg, "border_width": fl.border_width, "border_color": cl.border, "border_radius": fl.border_radius, }, "Button::tool_button:hovered": {"background_color": cl.button_bg_hover}, "Button::tool_button:pressed": {"background_color": cl.button_bg_click}, "Button::tool_button:checked": {"background_color": cl.button_bg_click}, "Button::tool_button:pressed": {"background_color": cl.slider_fill}, "Button.Label::tool_button:hovered": {"color": cl.button_label_hover}, "Button.Label::tool_button:pressed": {"color": white}, "Button.Label::tool_button": {"color": cl.button_label}, # # 图片按钮 image_button # "Button::image_button": { # "background_color": cl.transparent, # "border_radius": fl.border_radius, # "fill_policy": ui.FillPolicy.PRESERVE_ASPECT_FIT, # }, # "Button.Image::image_button": { # "image_url": url.icon_achiview, # "alignment": ui.Alignment.CENTER_TOP, # "border_radius": fl.border_radius, # }, # "Button.Image::image_button:checked": {"image_url": url.icon_achiview_click}, # "Button::image_button:hovered": {"background_color": cl.button_bg_hover}, # "Button::image_button:pressed": {"background_color": cl.button_bg_click}, # "Button::image_button:checked": {"background_color": cl.imagebutton_bg_click}, # Field attribute_field "Field": { "background_color": cl.slider_bg, "border_radius": fl.border_radius, "border_color": cl.border, "border_width": fl.border_width, }, "Field::attribute_field": { "corner_flag": ui.CornerFlag.RIGHT, "font_size": fl.text_font_size, }, "Field::attribute_field:hovered":{"background_color": cl.combobox_bg_hover}, "Field::attribute_field:pressed":{"background_color": cl.combobox_bg_hover}, # cl.slider_fill # # 下拉框 "Rectangle::box": { "background_color": cl.slider_fill, "border_radius": fl.border_radius, "border_color": cl.slider_fill, "border_width": 0, "color": cl.combobox_label, }, # "ComboBox::dropdown_menu":{ # "background_color": cl.combobox_bg, # "secondary_color": 0x0, # "font_size": fl.text_font_size, # }, # "ComboBox::dropdown_menu:hovered":{ # "color": cl.combobox_label_hover, # "background_color": cl.combobox_bg_hover, # "secondary_color": cl.combobox_bg_hover, # }, # "ComboBox::dropdown_menu:pressed":{ # "background_color": cl.combobox_bg_hover, # "border_color": cl.border, # }, # "Rectangle::combobox_icon_cover": {"background_color": cl.field_bg}, # RadioButtion # "Button::radiobutton":{ # "background_color":cl.transparent, # "image_url": url.radio_btn_off_icon, # }, # "Button::radiobutton:pressed":{"image_url": url.radio_btn_on_icon}, # "Button::radiobutton:checked":{"image_url": url.radio_btn_on_icon}, #图片 # "Image::radio_on": {"image_url": url.radio_btn_on_icon}, # "Image::radio_off": {"image_url": url.radio_btn_off_icon}, # "Image::collapsable_opened": {"color": cl.example_window_text, "image_url": url.example_window_icon_opened}, # "Image::collapsable_closed": {"color": cl.example_window_text, "image_url": url.example_window_icon_closed}, # "Image::collapsable_closed": { # "color": cl.collapsible_header_text, # "image_url": url.closed_arrow_icon, # }, # "Image::collapsable_closed:hovered": { # "color": cl.collapsible_header_text_hover, # "image_url": url.closed_arrow_icon, # }, }

Python

HC2ER/OmniverseExtension-hnadi.tools.exploded_view/hnadi/tools/exploded_view/exploded_view_ui.py

from os import path from data.image_path import image_path from functools import partial import omni.ui as ui from .exploded_view import select_explode_Xform, on_ratio_change, on_pivot_change, remove_item, add_item, bind_item, unbind_item, hide_unhide_original_model, reset_model, clear, set_camera from .exploded_view_style import HNADI_window_style, main_color, white, border_color # Connect to Extension class Cretae_UI_Framework(ui.Window): def __init__(self, transformer) -> None: self = transformer spacer_distance = distance = 6 overall_width = 380 overall_height = 395 self._window = ui.Window("Exploded View", width=overall_width, height=overall_height) with self._window.frame: with ui.VStack(style=HNADI_window_style): # Column1 Main Functions UI with ui.HStack(height = 170): # two big buttons ui.Spacer(width=6) with ui.VStack(width = 120): ui.Spacer(height = distance - 1) select_button = create_button_type1(name="Select Prims", tooltip="Select a group or all items at once to explode.", pic=image_path.select, height=102, spacing=-45) ui.Spacer(height = 4) camera_button = create_button_type1_1(name="Axono", tooltip="Set an axonometirc camera.", pic=image_path.Axono, height=53, spacing=-20) ui.Spacer(width = 10) # four main control sliders with ui.VStack(): ui.Spacer(height = distance+2) x_button = create_floatfield_ui(label="X ratio", tooltip="Explosion distance ratio in X direction", max=100.0) ui.Spacer(height = 2) y_button = create_floatfield_ui(label="Y ratio", tooltip="Explosion distance ratio in Y direction", max=100.0) ui.Spacer(height = 2) z_button = create_floatfield_ui(label="Z ratio", tooltip="Explosion distance ratio in Z direction", max=100.0) ui.Spacer(height = 2) ui.Spacer(height = 4) with ui.HStack(): ui.Label("Pivot", name="attribute_name", width = 40, height=25, tooltip="Coordinates of the Explosion_Centre") ui.Spacer(width=10) with ui.HStack(): x_coord = create_coord_ui(name="X", color=0xFF5555AA) ui.Spacer(width=10) y_coord = create_coord_ui(name="Y", color=0xFF76A371) ui.Spacer(width=10) z_coord = create_coord_ui(name="Z", color=0xFFA07D4F) ui.Spacer(width=6) # Column2 Edit Functions UI with ui.CollapsableFrame("Edit Exploded Model", name="group", build_header_fn=_build_collapsable_header): with ui.VStack(): with ui.HStack(): ui.Spacer(width=6) add_button = create_button_type2(name="Add", tooltip="Add items into the Exploded_Model.", pic=image_path.add1, spacing=-85) ui.Spacer(width=1) bind_button = create_button_type2(name="Bind", tooltip="Bind items together to keep their relative distances during explosion.", pic=image_path.bind, spacing=-75) ui.Spacer(width=6) with ui.HStack(): ui.Spacer(width=6) remove_button = create_button_type2(name="Remove", tooltip="Remove items from the Exploded_Model", pic=image_path.remove1, spacing=-85) ui.Spacer(width=1) unbind_button = create_button_type2(name="Unbind", tooltip="Unbind items.", pic=image_path.unbind, spacing=-75) ui.Spacer(width=6) ui.Spacer(height = 5) ui.Spacer(height = 6) # Column3 Other Functions UI with ui.HStack(): ui.Spacer(width=6) hideorshow_button = create_button_type3(tooltip="Hide or show the ORIGINAL prims.", pic=image_path.hide_show) reset_button = create_button_type3(tooltip="Reset the Exploded_Model.", pic=image_path.reset) clear_button = create_button_type3(tooltip="Delete the Exploded_Model and all data.", pic=image_path.clear) ui.Spacer(width=6) # Connect functions to button select_button.set_clicked_fn(partial(select_explode_Xform, x_coord, y_coord, z_coord, x_button, y_button, z_button)) camera_button.set_clicked_fn(set_camera) x_button.model.add_value_changed_fn(partial(on_ratio_change, x_button, y_button, z_button, x_coord, y_coord, z_coord)) y_button.model.add_value_changed_fn(partial(on_ratio_change, x_button, y_button, z_button, x_coord, y_coord, z_coord)) z_button.model.add_value_changed_fn(partial(on_ratio_change, x_button, y_button, z_button, x_coord, y_coord, z_coord)) x_coord.model.add_value_changed_fn(partial(on_pivot_change, x_coord, y_coord, z_coord, x_button, y_button, z_button)) y_coord.model.add_value_changed_fn(partial(on_pivot_change, x_coord, y_coord, z_coord, x_button, y_button, z_button)) z_coord.model.add_value_changed_fn(partial(on_pivot_change, x_coord, y_coord, z_coord, x_button, y_button, z_button)) add_button.set_clicked_fn(partial(add_item, x_coord, y_coord, z_coord, x_button, y_button, z_button)) remove_button.set_clicked_fn(partial(remove_item, x_coord, y_coord, z_coord, x_button, y_button, z_button)) bind_button.set_clicked_fn(partial(bind_item, x_coord, y_coord, z_coord, x_button, y_button, z_button)) unbind_button.set_clicked_fn(partial(unbind_item, x_coord, y_coord, z_coord, x_button, y_button, z_button)) hideorshow_button.set_clicked_fn(hide_unhide_original_model) reset_button.set_clicked_fn(partial(reset_model, x_coord, y_coord, z_coord, x_button, y_button, z_button)) clear_button.set_clicked_fn(partial(clear, x_coord, y_coord, z_coord, x_button, y_button, z_button)) def _build_collapsable_header(collapsed, title): """Build a custom title of CollapsableFrame""" with ui.VStack(): ui.Spacer(height=5) with ui.HStack(): ui.Label(title, name="collapsable_name") if collapsed: image_name = "collapsable_opened" else: image_name = "collapsable_closed" ui.Image(name=image_name, width=10, height=10) ui.Spacer(height=5) ui.Line(style_type_name_override="HeaderLine") # UI button style def create_coord_ui(color:str, name:str): with ui.ZStack(width=13, height=25): ui.Rectangle(name="vector_label", width=15, style={"background_color":main_color, "border_radius":3}) ui.Label(name, alignment=ui.Alignment.CENTER, style={"color":white}) coord_button =ui.FloatDrag(min=-99999999.9, max=99999999.9) return coord_button def create_floatfield_ui(label:str, max:float, tooltip:str, min=0.0): with ui.HStack(): ui.Label(label, name="attribute_name", width=40, height=25, tooltip=tooltip) ui.Spacer(width=1.5) button = ui.FloatField(min=min, max=max, height=25) button.model.set_value(0.0) return button def create_button_type1(name, tooltip, pic, height, spacing=-45): style = { "Button":{"stack_direction":ui.Direction.TOP_TO_BOTTOM}, "Button.Label":{"alignment":ui.Alignment.CENTER_BOTTOM}, # "border_width": 0.1, # "border_color": border_color, "border_radius": 4, "Button.Image":{# "color":0xffFFFFFF, "image_url":pic, "alignment":ui.Alignment.CENTER_BOTTOM,}, ":hovered":{ "background_gradient_color":main_color, "background_color":0X500066FF}} button = ui.Button(name, height=height, width=120, tooltip=tooltip, style=style) button.spacing = spacing return button def create_button_type1_1(name, tooltip, pic, height, spacing=-20): style = { "Button":{"stack_direction":ui.Direction.LEFT_TO_RIGHT}, "Button.Image":{# "color":0xffFFFFFF, "image_url":pic, "alignment":ui.Alignment.CENTER_BOTTOM,}, "Button.Label":{"alignment":ui.Alignment.CENTER}, "border_radius": 4, ":hovered":{ "background_gradient_color":main_color, "background_color":0X500066FF}} button = ui.Button(name, height=height, width=120, tooltip=tooltip, style=style) button.spacing = spacing return button def create_button_type2(name, tooltip, pic, height=40, spacing=-75): style={ "Button":{"stack_direction":ui.Direction.LEFT_TO_RIGHT}, "Button.Image":{# "color":0xffFFFFFF, "image_url":pic, "alignment":ui.Alignment.CENTER,}, "Button.Label":{"alignment":ui.Alignment.CENTER}, "background_color":0x10CCCCCC, ":hovered":{ "background_gradient_color":0X500066FF, "background_color":main_color}, "Button:pressed:":{"background_color":0xff000000}} button = ui.Button(name, height=height, tooltip=tooltip, style=style) button.spacing = spacing return button def create_button_type3(tooltip, pic, height=50): style = { "Button":{"stack_direction":ui.Direction.TOP_TO_BOTTOM}, "Button.Image":{# "color":0xffFFFFFF, "image_url":pic, "alignment":ui.Alignment.CENTER,}, "Button.Label":{"alignment":ui.Alignment.CENTER}, "border_radius": 4, ":hovered":{ "background_gradient_color":main_color, "background_color":0X500066FF}} button = ui.Button("", height = height, style = style, tooltip = tooltip) return button

Python

HC2ER/OmniverseExtension-hnadi.tools.exploded_view/config/extension.toml

[package] # Semantic Versionning is used: https://semver.org/ version = "1.1.0" # The title and description fields are primarily for displaying extension info in UI title = "exploded view" description="This extension provides an easy and reliable way to create exploded view for selected prims." # Path (relative to the root) or content of readme markdown file for UI. icon = "data/title.png" preview_image = "data/1.png" readme = "docs/README.md" changelog = "docs/CHANGELOG.md" # URL of the extension source repository. # repository = "https://github.com" # One of categories for UI. category = "Other" # Keywords for the extension keywords = ["kit", "Layout Authoring", "Omni.ui", "Exploded View", "HNADI", "HC"] # Use omni.ui to build simple UI [dependencies] "omni.kit.uiapp" = {} # Main python module this extension provides, it will be publicly available as "import omni.tools.quick_array". [[python.module]] name = "hnadi.tools.exploded_view"

TOML

HC2ER/OmniverseExtension-hnadi.tools.exploded_view/data/image_path.py

from os import path class image_path: D = path.dirname(__file__) add1 = D + "/add1.png" Axono = D + "/Axono.png" bind = D + "/bind.png" clear = D + "/clear.png" hide_show = D + "/hide&show.png" preview = D + "/preview.png" remove1 = D + "/remove1.png" reset = D + "/reset.png" select = D + "/select.png" title = D + "/title.png" unbind = D + "/unbind.png"

Python

gazebosim/gz-omni/PACKAGE-INFO.yaml

Package : ignition-conection Version : 000-linux-x86_64 Maintainers : N/A Description : N/A Repository : https://github.com/ignitionrobotics/ign-omni Branch : main

YAML

gazebosim/gz-omni/launcher.toml

#displayed application name name = "Ignition Omni Connector" #displayed before application name in launcher productArea = "Omniverse" #unique identifier for component, all lower case, persists between versions slug = "ignitionomni" ## install and launch instructions by environment # Windows # [defaults.windows-x86_64] # entrypoint = "explorer.exe" # args = ["${productRoot}"] [defaults.windows-x86_64.environment] [defaults.windows-x86_64.install] pre-install = "" pre-install-args = [] install = "" install-args = [] post-install = "" post-install-args = [] [defaults.windows-x86_64.uninstall] pre-uninstall = "" pre-uninstall-args = [] uninstall = "" uninstall-args = [] post-uninstall = "" post-uninstall-args = [] [defaults.windows-x86_64.register] command = '' args = [] [defaults.windows-x86_64.unregister] command = '' args = [] # Linux #[defaults.linux-x86_64] #entrypoint = "gnome-terminal" #args = ["--working-directory=${productRoot}"] [defaults.linux-x86_64.environment] [defaults.linux-x86_64.install] pre-install = "" pre-install-args = [] install = "" install-args = [] post-install = "" post-install-args = [] [defaults.linux-x86_64.uninstall] pre-uninstall = "" pre-uninstall-args = [] uninstall = "" uninstall-args = [] post-uninstall = "" post-uninstall-args = [] [defaults.linux-x86_64.register] command = '' args = [] [defaults.linux-x86_64.unregister] command = '' args = []

TOML

gazebosim/gz-omni/README.md

# ign-omni  **NOTES**: - This repository is under development, you might find compilation errors, malfunctions or some undocumented features. - This code will only run on Linux (for now). - You should [install Ignition Fortress](https://ignitionrobotics.org/docs/fortress) (from source). **Requirements**: - ROS 2 Galactic. - Ignition Gazebo Fortress - ubuntu 20.04 **Features**: - Ignition -> IsaacSim - Move/rotate models - Create/remove models - Joints - Sensors (lidar, cameras) - IsaacSim -> Ignition - Create/remove models ## Tutorials - [How to compile it](tutorials/01_compile.md) - [Quickstart](tutorials/02_quickstart.md) - [Mobile base simulation (turtlebot3) (Nav2)](tutorials/03_ROS_simulation.md) - [Articulated arm Isaac Sim -> Ignition (Moveit 2)](tutorials/04_articulated_arm_issacsim_to_ignition.md) - [Hybrid simulation (Nav2)](tutorials/05_hybrid_simulation.md) ## ROSCon 2022 [](https://vimeo.com/767140085)

Markdown

gazebosim/gz-omni/tools/repoman/package.py

import os import sys import packmanapi packagemaker_path = packmanapi.install("packagemaker", package_version="4.0.0-rc9", link_path='_packages/packagemaker') sys.path.append('_packages/packagemaker') import packagemaker def main(): pkg = packagemaker.PackageDesc() pkg.version = os.getenv('BUILD_NUMBER', '0') pkg.output_folder = '_unsignedpackages' pkg.name = 'samples' pkg.files = [ ('_build/windows-x86_64/release/*.exe'), ('_build/windows-x86_64/release/*.dll'), ] packagemaker.package(pkg) if __name__ == '__main__' or __name__ == '__mp_main__': main()

Python

gazebosim/gz-omni/tools/repoman/repoman.py

import os import sys import packmanapi SCRIPT_DIR = os.path.dirname(os.path.realpath(__file__)) REPO_ROOT_DIR = os.path.join(SCRIPT_DIR, "..", "..") HOST_DEPS_PATH = os.path.join(REPO_ROOT_DIR, "_build", "host-deps") repoman_link_path = os.path.abspath(os.path.join(HOST_DEPS_PATH, "nvtools_repoman")) packmanapi.install("repo_repoman", package_version="0.1.1-beta2", link_path=repoman_link_path) sys.path.append(repoman_link_path) import api

Python

gazebosim/gz-omni/tools/repoman/findwindowsbuildtools.py

import os import sys import argparse import subprocess import json from xml.etree import ElementTree import repoman import packmanapi DEPS = { "nvtools_build": { "version": "0.2.0", "link_path_host": "nvtools_build", } } ''' buildtools: C:/Program Files (x86)/Microsoft Visual Studio/2019/BuildTools vc: ../_build/host-deps/buildtools/VC/Tools/MSVC/14.27.29110 ''' def update_host_deps(host_deps_path:str, vs_path:str = "", msvc_ver:str = ""): # Preserving comments in the XML host_deps file # credit: https://stackoverflow.com/questions/33573807/faithfully-preserve-comments-in-parsed-xml class CommentedTreeBuilder(ElementTree.TreeBuilder): def comment(self, data): self.start(ElementTree.Comment, {}) self.data(data) self.end(ElementTree.Comment) parser = ElementTree.XMLParser(target=CommentedTreeBuilder()) # python 3.8 adds insert_comments #parser = ElementTree.XMLParser(target=ElementTree.TreeBuilder(insert_comments=True)) vc_path = os.path.join("..", "_build", "host-deps", "buildtools", "VC", "Tools", "MSVC", msvc_ver) # Use winsdk.bat from Visual Studio tools to find the Windows SDK windows_sdk_dir = "" windows_sdk_ver = "" windows_sdk_bin_dir = "" windows_sdk_lib_dir = "" windows_sdk_include_dir = "" winsdk_bat_path = os.path.join(vs_path, "Common7", "Tools", "vsdevcmd", "core", "winsdk.bat") if os.path.exists(winsdk_bat_path): # We have a batch wrapper that calls the winsdk.bat file and emits the important env vars to be processed script_path = os.path.split(os.path.abspath(__file__))[0] cmd_line = [] cmd_line.append(os.path.join(script_path, "print_winsdk_env_vars.bat")) cmd_line.append(winsdk_bat_path) completed = subprocess.run(cmd_line, capture_output=True) for line in completed.stdout.decode().splitlines(): if "WindowsSDKDir" in line: windows_sdk_dir = line.split("=")[1].rstrip("\\") elif "WindowsSdkVersion" in line: windows_sdk_ver = line.split("=")[1].rstrip("\\") if os.path.exists(windows_sdk_dir): windows_sdk_bin_dir = os.path.join(windows_sdk_dir, "bin", windows_sdk_ver) windows_sdk_include_dir = os.path.join(windows_sdk_dir, "include", windows_sdk_ver) windows_sdk_lib_dir = os.path.join(windows_sdk_dir, "lib", windows_sdk_ver) # Read the XML tree from the host_deps file tree = ElementTree.parse(host_deps_path, parser) root = tree.getroot() # Replace the builtools and vc paths find_replace_dict = { "buildtools": vs_path, "vc": vc_path, "winsdk": windows_sdk_dir, "winsdk_bin": windows_sdk_bin_dir, "winsdk_include": windows_sdk_include_dir, "winsdk_lib": windows_sdk_lib_dir, } for dependency in root.findall("dependency"): for find_key in find_replace_dict.keys(): if "name" in dependency.attrib.keys() and find_key == dependency.attrib["name"] and find_replace_dict[find_key] != "": for source in dependency.iter("source"): source.attrib["path"] = find_replace_dict[find_key] print("Updating <%s> attribute with <%s>" % (dependency.attrib["name"],source.attrib["path"])) tree.write(host_deps_path) ''' find_vs will search through the display names of the installed Visual Studio versions and return the installation path for the first one that matches the input string provided current display names: * Visual Studio Community 2019 * Visual Studio Professional 2019 * Visual Studio Professional 2017 ''' def find_vs(search_str:str, listall:bool = False) -> str: program_files = os.getenv("ProgramFiles(x86)") if not program_files: print("ERROR: No Program Files (x86) directory found") return None vswhere_path = os.path.join(program_files, "Microsoft Visual Studio", "Installer", "vswhere.exe") if not os.path.exists(vswhere_path): print("ERROR: vswhere.exe is not found here, so no Visual Studio installations found: " + vswhere_path) return None # Run vswhere with a json-formatted output cmd_line = list() cmd_line.append(vswhere_path) cmd_line.append("-products") cmd_line.append("*") cmd_line.append("-format") cmd_line.append("json") completed = subprocess.run(cmd_line, capture_output=True) version_strings = completed.stdout.decode() version_json = json.loads(version_strings) # Find the requested version using the displayName attribute last_version = None for vs_version in version_json: if listall: print(vs_version["displayName"]) last_version = vs_version["installationPath"] elif search_str in vs_version["displayName"]: return vs_version["installationPath"] return last_version ''' find_msvc_ver will list the first MSVC version found in a Visual Studio installation vs_install_path = "C:\\Program Files (x86)\\Microsoft Visual Studio\\2019\\Community" returns something like "14.25.28610" ''' def find_msvc_ver(vs_install_path:str) -> str: # return first folder found in "VC/Tools/MSVC" msvc_folder = os.path.join(vs_install_path, "VC", "Tools", "MSVC") if not os.path.exists(msvc_folder): print("ERROR: No MSVC folder found at " + msvc_folder) return None msvc_vers = os.listdir(msvc_folder) if len(msvc_vers) > 0: return msvc_vers[0] else: print("ERROR: No MSVC folder found at " + msvc_folder) return None def run_command(): parser = argparse.ArgumentParser() parser.add_argument('-v', '--visual-studio-version', default='2019', dest='vs_ver', help='Different Visual Studio installation \"displayNames\" will be searched with this substring', required=False) parser.add_argument('-l', '--list-all', dest='list_all', action='store_true', help="Enable this to simply just list all Visual Studio installations rather than updating the host_deps file", required=False) parser.add_argument('-d', '--host-deps-path', dest='host_deps_path', help="The path to the host_deps.packman.xml file", required=False) args, _ = parser.parse_known_args() if not args.list_all: print("Searching for an install of Visual Studio <%s>" % (args.vs_ver)) vs_path = find_vs(args.vs_ver, args.list_all) if not vs_path: print("ERROR: No Visual Studio Installation Found") exit(1) if not args.list_all and vs_path: print("VS " + args.vs_ver + " found in: " + vs_path) msvc_version = find_msvc_ver(vs_path) if msvc_version: print("VS " + args.vs_ver + " MSVC ver: " + msvc_version) if args.host_deps_path and vs_path and msvc_version: update_host_deps(args.host_deps_path, vs_path = vs_path, msvc_ver = msvc_version) print("Update host dependencies file: " + args.host_deps_path) if __name__ == "__main__" or __name__ == "__mp_main__": run_command()

Python

gazebosim/gz-omni/tools/repoman/clean.py

import os import sys import platform def clean(): folders = [ '_build', '_compiler', '_builtpackages' ] for folder in folders: # having to do the platform check because its safer when you might be removing # folders with windows junctions. if os.path.exists(folder): print("Removing %s" % folder) if platform.system() == 'Windows': os.system("rmdir /q /s %s > nul 2>&1" % folder) else: os.system("rm -r -f %s > /dev/null 2>&1" % folder) if os.path.exists(folder): print("Warning: %s was not successfully removed, most probably due to a file lock on 1 or more of the files." % folder) if __name__ == "__main__" or __name__ == "__mp_main__": clean()

Python

gazebosim/gz-omni/tools/repoman/build.py

import os import sys import argparse import repoman import packmanapi DEPS = { "nvtools_build": { "version": "0.3.2", "link_path_host": "nvtools_build", } } def run_command(): platform_host = repoman.api.get_and_validate_host_platform(["windows-x86_64", "linux-x86_64"]) repo_folders = repoman.api.get_repo_paths() repoman.api.fetch_deps(DEPS, platform_host, repo_folders["host_deps"]) BUILD_SCRIPT = os.path.join(repo_folders["host_deps"], "nvtools_build", "build.py") # Fetch the asset dependencies parser = argparse.ArgumentParser() parser.add_argument('-p', '--platform-target', dest='platform_target', required=False) options, _ = parser.parse_known_args() # Checking if platform was passed # We cannot use argparse's default, as we also need to set up the command line argument # if it wasn't supplied. It is possible to also check for the host platform, if we want to # make different default behavior when building on windows. if not repoman.api.has_options_arg(options, 'platform_target'): options.platform_target = 'linux-x86_64' sys.argv.extend(["--platform-target", options.platform_target]) # We need the host-deps before we can run MSBuild packmanapi.pull(os.path.join(repo_folders["root"], repo_folders["host_deps_xml"]), platform=platform_host) # Construct arguments for the underlying script script_argv = sys.argv[1:] script_argv.extend(["--root", repo_folders["root"]]) script_argv.extend(["--deps-host", repo_folders["host_deps_xml"]]) script_argv.extend(["--deps-target", repo_folders["target_deps_xml"]]) if platform_host == "windows-x86_64": script_argv.extend(["--premake-tool", os.path.join(repo_folders["host_deps"], "premake", "premake5.exe")]) # Look for different MSBuild versions ms_build_path = "" ms_build_locations = [ r"buildtools\MSBuild\15.0\Bin\MSBuild.exe", r"buildtools\MSBuild\Current\Bin\MSBuild.exe", ] for ms_build_location in ms_build_locations: print("Checking if MSBuild.exe located here: " + os.path.join(repo_folders["host_deps"], ms_build_location)) if os.path.exists(os.path.join(repo_folders["host_deps"], ms_build_location)): ms_build_path = os.path.join(repo_folders["host_deps"], ms_build_location) break print("Building using this MSBuild: " + ms_build_path) script_argv.extend(["--msbuild-tool", ms_build_path]) script_argv.extend(["--vs-version", "vs2019"]) script_argv.extend(["--sln", os.path.join(repo_folders["compiler"], r"vs2019\Samples.sln")]) elif platform_host == "linux-x86_64": script_argv.extend(["--premake-tool", os.path.join(repo_folders["host_deps"], "premake", "premake5")]) # Execute module script and set globals repoman.api.run_script_with_custom_args(BUILD_SCRIPT, script_argv) if __name__ == "__main__" or __name__ == "__mp_main__": run_command()

Python

gazebosim/gz-omni/tools/repoman/filecopy.py

import os import sys import argparse import packmanapi import repoman DEPS = { "nvfilecopy": { "version": "1.4", "link_path_host": "nvtools_nvfilecopy", } } if __name__ == "__main__" or __name__ == "__mp_main__": repo_folders = repoman.api.get_repo_paths() deps_folders = repoman.api.fetch_deps(DEPS, None, repo_folders["host_deps"]) sys.path.append(deps_folders["nvfilecopy"]) import nvfilecopy parser = argparse.ArgumentParser() parser.add_argument('-p', '--platform-target', dest='platform_target', required=True) options, _ = parser.parse_known_args() platform_target = repoman.api.validate_platform( "target", options.platform_target, ["windows-x86_64", "linux-x86_64", "linux-aarch64"] ) nvfilecopy.process_json_file(sys.argv[len(sys.argv) - 1], platform_target)

Python

gazebosim/gz-omni/tutorials/03_ROS_simulation.md

# Run a more complex simulation <!-- TODO: Replace this with turtlebot4 instructions https://github.com/ignitionrobotics/ign-omni/pull/17 --> For example you can run the turtlebot3. Compile the code from this PR https://github.com/ROBOTIS-GIT/turtlebot3_simulations/pull/180 Use ROS 2 Galactic. ``` mkdir -p ~/turtlebot3_ws/src cd ~/turtlebot3_ws/src git clone https://github.com/ahcorde/turtlebot3_simulations -b ahcorde/ignition_support git clone https://github.com/ignitionrobotics/ign_ros2_control -b galactic rosdep install --from-paths ./ -i -y --rosdistro galactic ``` Compile it ```bash cd ~/turtlebot3_ws/ source /opt/ros/galactic/setup.sh export IGNITION_VERSION=fortress colcon build --merge-install --event-handlers console_direct+ ``` ## Run Ignition This should run in a separate terminal using your normal Ignition Gazebo installation. ```bash source ~/turtlebot3_ws/install/setup.bash TURTLEBOT3_MODEL=waffle ros2 launch turtlebot3_ignition ignition.launch.py ``` ## Run IsaacSim Launch `IsaacSim` and activate the `live sync`  ## Run the connector Create this directory `omniverse://localhost/Users/ignition/` in the nucleus server and run the connector ```bash export IGN_GAZEBO_RESOURCE_PATH="~/turtlebot3_ws/src/turtlebot3_simulations/turtlebot3_gazebo/models:/opt/ros/galactic/share" reset && bash run_ignition_omni.sh -p omniverse://localhost/Users/ignition/turtlebot3.usd -w empty -v --pose ignition ``` 

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gazebosim/gz-omni/tutorials/01_compile.md

# How to compile it ## Install Ignition ```bash sudo apt update sudo apt install python3-pip wget lsb-release gnupg curl sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add - sudo apt-get update sudo apt-get install python3-vcstool python3-colcon-common-extensions sudo apt-get install git libfreeimage-dev sudo apt-get install ignition-edifice ``` For more information, see https://ignitionrobotics.org/docs/edifice/install_ubuntu_src. # Compile ignition-omniverse We need to compile some Ignition packages from source with a specific flag due the `omni-client` library. To make this process simple we have created the [`ign-omni-meta` repository](https://github.com/ignitionrobotics/ign-omni-meta). To compile this libraries you should run: ```bash mkdir -p ~/ign-omni/src cd ~/ign-omni/src git clone https://github.com/ignitionrobotics/ign-omni-meta vcs import . < ign-omni-meta/repos.yaml cd protobuf git -C . apply ../ign-omni-meta/protobuf-cmake.patch cd ~/ign-omni colcon build --merge-install --event-handlers console_direct+ --packages-select protobuf cp src/ign-omni-meta/colcon.meta . colcon build --merge-install --event-handlers console_direct+ --packages-up-to ignition-omniverse1 ``` You can ignore the following message: ```bash WARNING:colcon.colcon_cmake.task.cmake.build:Could not run installation step for package 'ignition-omniverse1' because it has no 'install' target ``` **Note: There will be 2 builds of ignition, the default build when ignition-edifice is compiled from source, and a special build with pre cxx11 abi compiled as part of ignition-omniverse.**

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gazebosim/gz-omni/tutorials/02_quickstart.md

# Run it Please review this [tutorial](./01_compile.md) if you need to install ign-omni. ## Run Ignition Run the `shapes.sdf` world in Ignition Gazebo. This should run in a separate terminal using your normal Ignition Gazebo installation. ```bash ign gazebo -v 4 shapes.sdf ``` ## Run IsaacSim If not already done so, install nvidia omniverse, isaac sim and omniverse nucleus, for more information, see https://www.nvidia.com/en-us/omniverse/. ### (Optional) Create ignition user in nucleus When nucleus is first installed, it will prompt you to create a user. If the ignition user is not created at this time, it can be created later via the omniverse app.  Launch `IsaacSim` and activate the `live sync`  ## Run the connector **Note**: `ignition-omni` will be built under `src/ign-omni/_build`, this is because it uses a custom build system by NVidia which is hard coded to put output in that directory. In this case you need to source the special workspace that we have created with the `ign-omni-meta` repository. In a new terminal ```bash source ~/ign-omni/install/setup.bash cd ~/ign-omni/src/ign-omni bash run_ignition_omni.sh -p omniverse://localhost/Users/ignition/shapes.usd -w shapes --pose ignition ``` You may replace `ignition` with any user registered in nucleus. Open the `shapes.usd` in Isaac Sim and optionally enable live sync. 

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gazebosim/gz-omni/tutorials/05_hybrid_simulation.md

# Hybrid simulation This demo explains how to use the hybrid simulation. The concept of Hybrid simulation is defined as: *A user can separate their simulation workload between Ignition and Isaac Sim, with both systems running in parallel. For example, sensors can be handled by Isaac Sim, with rendering handled by Ignition, or vice versa.* We can define more tangible examples, we can use some of the ROS frameworks such as the Nav stack or Moveit to use the ROS data from both simulators. For example: - Moveit: We can simulate in Ignition the joints of an articulated arm (sensing the data from the joints and sending commands to the joints) and in Isaac Sim we can simulate a camera attached to the robot or looking at the scene. - Nav stack: We can simulate in Ignition the diff drive controller and simulate all the sensors in Isaac Sim (Lidar, cameras, etc). The possibilities are huge you just need to configure your on setup. In the following image is explained how the hybrid simulation works.  Both simulators will be connected using the `ign-omni` connector. The connector will share the data of the models pose and joints state. Then we can use ROS to send sensor data to the ROS network or received some commands to operate a motor. Once the connector is running we need to defined which data from sensor or actuators is going to be provided by the different simulator. - Isaac Sim can share the data in the ROS network using some the predefined ROS plugins  - Ignition uses `ros_ign_bridge`, this package provides a network bridge which enables the exchange of messages between ROS 2 and Ignition Transport. You can follow this tutorial to learn more about [how to use ROS Ignition bridges](https://docs.ros.org/en/galactic/Tutorials/Simulators/Ignition/Setting-up-a-Robot-Simulation-Ignition.html) ## Demo In particular will follow this steps: - Launch a world containing a ROS 2-controlled robot. - Enable hybrid simulation, sharing the workload between Ignition and Isaac Sim - Control the robot from ROS 2 - Visualize the data in the ROS network from both simulators in Rviz2 ## Prerequisites - ign-omni Connector (see the [compile instructions](01_compile.md)) - [Turtebot4 Simulation](https://github.com/turtlebot/turtlebot4_simulator) - Omniverse Issac Sim - [ROS & ROS2 Bridge](https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/ext_omni_isaac_ros_bridge.html) - [How to use ROS Ignition bridges](https://docs.ros.org/en/galactic/Tutorials/Simulators/Ignition/Setting-up-a-Robot-Simulation-Ignition.html) - ros_ign_bridge - ROS 2: `sudo apt-get install ros-galactic-ros-ign-bridge` ## Launch a world containing a ROS 2-controlled robot In this case we are going to simulate the Turtebot4 available in this [repository](https://github.com/turtlebot/turtlebot4_simulator). But first we are going to modify the lidar ros_ign_bridge bridge. Edit the file `~/turtlebot4_ws/src/turtlebot4_simulator/turtlebot4_ignition_bringup/launch/ros_ign_bridge.launch.py`. We should remap the `/scan` ROS 2 topic to `/scan_ignition`. The original file is: ```python remappings=[ (['/world/', LaunchConfiguration('world'), '/model/', LaunchConfiguration('robot_name'), '/link/rplidar_link/sensor/rplidar/scan'], '/scan') ]) ``` And you should modify it: ```python remappings=[ (['/world/', LaunchConfiguration('world'), '/model/', LaunchConfiguration('robot_name'), '/link/rplidar_link/sensor/rplidar/scan'], '/scan_ignition') ]) ``` Now you should compile it. Follow the instructions in the [README.md](https://github.com/turtlebot/turtlebot4_simulator/blob/galactic/README.md) file to install it. ## Running the connector (ign-omni) If you need to compile `ign-omni`, please review this [instructions](01_compile.md). **Note**: `ignition-omni` will be built under `src/ign-omni/_build`, this is because it uses a custom build system by NVidia which is hard coded to put output in that directory. In this case you need to source the special workspace that we have created with the `ign-omni-meta` repository. Create an empty file in Nucleus in the following directory `omniverse://localhost/Users/ignition/turtlebot4.usd` ## Running the example: ### Run the ROS 2 simulation You should run the Turtlebot4 simulation in Ignition, we are going to set to true the `slam` option to be able to create a map and navigate in the scene and we are going to set `rviz` to true too, in this case to visualize all the data from the nav2 stack in Rviz2: ```bash source ~/turtlebot4_ws/install/setup.bash ros2 launch turtlebot4_ignition_bringup ignition.launch.py slam:=sync nav2:=true rviz:=true ``` ### Run the connector Once the simulation in Ignition is running we need to define some arguments to run the connector: ```bash Ignition omniverse connector Usage: ./_build/linux-x86_64/debug/ignition-omniverse1 [OPTIONS] Options: -h,--help Print this help message and exit -p,--path TEXT REQUIRED Location of the omniverse stage. e.g. "omniverse://localhost/Users/ignition/stage.usd" -w,--world TEXT REQUIRED Name of the ignition world --pose ENUM:value in {ignition->0,isaacsim->1} OR {0,1} REQUIRED Which simulator will handle the poses -v,--verbose ``` In particular we need to define: - `-p,--path`: this is the file inside Omniverse, Isaac Sim and the connector are going to share it thanks to live sync mode. **This file must live in Omniverse**. - `-w,--world`: The name of the Ignition world - `--pose`: This option has two values: `ignition` or `isaacsim`. It defines how will handle the models pose and the joint states. ```bash source ~/ign-omni/install/setup.bash cd ~/ign-omni/src/ign-omni export IGN_GAZEBO_RESOURCE_PATH=$IGN_GAZEBO_RESOURCE_PATH:`echo $HOME`/turtlebot4_ws/install/share/:`echo $HOME`/turtlebot4_ws/install/turtlebot4_description/share/:`echo $HOME`/turtlebot4_ws/install/irobot_create_description/share/ bash run_ignition_omni.sh -p omniverse://localhost/Users/ignition/turtlebot4.usd -w depot -v --pose ignition ``` ### Run Issac Sim Launch `IssacSim`, load the file `omniverse://localhost/Users/ignition/turtlebot4.usd` and activate the `live sync`  ### Let's configure Issac Sim Include the LIDAR ROS plugin in Issac Sim  Configure the Plugin: - The frame_id should be `turtlebot4/rplidar_link/rplidar` - The laser scan topic `/scan_isaac` - The lidar prim `/depot/turtlebot4/rplidar_link/rplidar`  Configure the Issac Sim lidar: - Disable `highLod` - In case you want to visualize the data from the laser enable `drawLines`  Now enable the ROS 2 extension  There is an issue with the ROS 2 clock, for this reason we need to create a simple republisher to update the timestamp of the lidar msgs. Create a file called `lidar_republisher.py` and include this code: ```python import rclpy from rclpy.node import Node from sensor_msgs.msg import LaserScan class MinimalSubscriber(Node): def __init__(self): super().__init__('minimal_subscriber') self.subscription = self.create_subscription( LaserScan, '/scan_isaac', self.listener_callback, 10) self.subscription # prevent unused variable warning self.publisher_ = self.create_publisher(LaserScan, '/scan', 10) my_new_param = rclpy.parameter.Parameter( 'use_sim_time', rclpy.Parameter.Type.BOOL, True ) all_new_parameters = [my_new_param] self.set_parameters(all_new_parameters) def listener_callback(self, msg): msg.header.stamp = self.get_clock().now().to_msg() self.publisher_.publish(msg) def main(args=None): rclpy.init(args=args) minimal_subscriber = MinimalSubscriber() rclpy.spin(minimal_subscriber) minimal_subscriber.destroy_node() rclpy.shutdown() if __name__ == '__main__': main() ``` **Note: With this script you can choose how is going to provide the data from the lidar** - If you define `/scan_isaac` the data used is provided by Isaac Sim. - If you define `/scan_ignition` the data used is provided by Ignition Gazebo. Launch the node: ```bash source ~/turtlebot4_ws/install/setup.bash python3 lidar_republisher.py ``` At this point you should be able to visualize the map in Rviz2. then you should be able to set some `Nav2 Goal` using the Rviz2 GUI.  

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gazebosim/gz-omni/tutorials/04_articulated_arm_issacsim_to_ignition.md

# Articulated arm connection from Isaac Sim to Ignition In this tutorial we well explain how to use the connector from Issac Sim to Ignition ## Prerequisites - sdformat with USD support (see the [sdformat installation instructions](http://sdformat.org/tutorials?tut=install)) - Ignition fuel tools cli command (see the [ign fuel tools installation instructions](https://ignitionrobotics.org/api/fuel_tools/7.0/install.html)) - ign-omni Connector (see the [compile instructions](01_compile.md)) - Omniverse Issac Sim - ros_ign_bridge - ROS: `sudo apt-get install ros-noetic-ros-ign-bridge` ## Convert USD to SDF If sdformat is built with USD support, there should be a `usd2sdf` cli program. ```bash SDF to USD converter Usage: sdf2usd [OPTIONS] [input] [output] Positionals: input TEXT Input filename. Defaults to input.sdf unless otherwise specified. output TEXT Output filename. Defaults to output.usd unless otherwise specified. Options: -h,--help Print this help message and exit --help-all Show all help --version ``` - Convert the Panda Franka Emika robot to USD. Create the following file `panda.sdf`: ```xml <?xml version="1.0" ?> <sdf version="1.6"> <world name="fuel"> <physics name="1ms" type="ignored"> <max_step_size>0.001</max_step_size> <real_time_factor>1.0</real_time_factor> </physics> <scene> <ambient>1.0 1.0 1.0 1.0</ambient> <background>0.8 0.8 0.8 1.0</background> <grid>false</grid> <origin_visual>false</origin_visual> </scene> <plugin filename="ignition-gazebo-physics-system" name="ignition::gazebo::systems::Physics"> </plugin> <plugin filename="ignition-gazebo-sensors-system" name="ignition::gazebo::systems::Sensors"> <render_engine>ogre2</render_engine> </plugin> <plugin filename="ignition-gazebo-user-commands-system" name="ignition::gazebo::systems::UserCommands"> </plugin> <plugin filename="ignition-gazebo-scene-broadcaster-system" name="ignition::gazebo::systems::SceneBroadcaster"> </plugin> <light type="directional" name="sun"> <cast_shadows>true</cast_shadows> <pose>0 0 10 0 0 0</pose> <diffuse>0.8 0.8 0.8 1</diffuse> <specular>0.2 0.2 0.2 1</specular> <attenuation> <range>1000</range> <constant>0.9</constant> <linear>0.01</linear> <quadratic>0.001</quadratic> </attenuation> <direction>-0.5 0.1 -0.9</direction> </light> <include> <name>panda</name> <pose>0 0 0 0 0 0</pose> <uri>https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Panda with Ignition position controller model</uri> </include> <model name="ground_plane"> <static>true</static> <link name="link"> <collision name="collision"> <geometry> <plane> <normal>0 0 1</normal> <size>100 100</size> </plane> </geometry> </collision> <visual name="visual"> <geometry> <plane> <normal>0 0 1</normal> <size>100 100</size> </plane> </geometry> <material> <ambient>0.8 0.8 0.8 1</ambient> <diffuse>0.8 0.8 0.8 1</diffuse> <specular>0.8 0.8 0.8 1</specular> </material> </visual> </link> </model> </world> </sdf> ``` - Download the panda model from fuel: ```bash ign fuel download --url "https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Panda with Ignition position controller model" ``` - Run the converter: ```bash sdf2usd /panda.sdf panda.usd ``` - Copy the file in this path `omniverse://localhost/Users/ignition/panda.usd`:  - Load the model in Issac Sim and activate the `live sync`  - Configure the ROS Plugins: - Add ROS Clock plugin - Add ROS joint state - Configure *articulationPrim* to `/fuel/panda` - Launch the simulation in Ignition Gazebo: ```bash ign gazebo panda.sdf -v 4 -r ``` - Launch the connector: ```bash source ~/ign-omni/install/setup.bash cd ~/ign-omni/src/ign-omni bash run_ignition_omni.sh -p omniverse://localhost/Users/ignition/panda.usd -w fuel --pose ignition ``` - Right now Issac Sim does not provide the joint angle, but this data is provided in ROS. You should launch a ROS -> Ignition bridge: ```bash rosrun ros_ign_bridge parameter_bridge /joint_states@sensor_msgs/JointState]ignition.msgs.Model ``` - Then you can move the robot. There is a workspace available here `.local/share/ov/pkg/isaac_sim-2021.2.1/ros_workspace/` that you need to compile it and run: ```bash rosrun isaac_moveit franka_isaac_execution.launch ```

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gazebosim/gz-omni/PACKAGE-LICENSES/sqlite-LICENSE.md

** ** The author disclaims copyright to this source code. In place of ** a legal notice, here is a blessing: ** ** May you do good and not evil. ** May you find forgiveness for yourself and forgive others. ** May you share freely, never taking more than you give. **

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gazebosim/gz-omni/PACKAGE-LICENSES/openssl-LICENSE.md

LICENSE ISSUES ============== The OpenSSL toolkit stays under a double license, i.e. both the conditions of the OpenSSL License and the original SSLeay license apply to the toolkit. See below for the actual license texts. OpenSSL License --------------- /* ==================================================================== * Copyright (c) 1998-2019 The OpenSSL Project. 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. All advertising materials mentioning features or use of this * software must display the following acknowledgment: * "This product includes software developed by the OpenSSL Project * for use in the OpenSSL Toolkit. (http://www.openssl.org/)" * * 4. The names "OpenSSL Toolkit" and "OpenSSL Project" must not be used to * endorse or promote products derived from this software without * prior written permission. For written permission, please contact * openssl-core@openssl.org. * * 5. Products derived from this software may not be called "OpenSSL" * nor may "OpenSSL" appear in their names without prior written * permission of the OpenSSL Project. * * 6. Redistributions of any form whatsoever must retain the following * acknowledgment: * "This product includes software developed by the OpenSSL Project * for use in the OpenSSL Toolkit (http://www.openssl.org/)" * * THIS SOFTWARE IS PROVIDED BY THE OpenSSL PROJECT ``AS IS'' AND ANY * EXPRESSED 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 OpenSSL PROJECT OR * ITS 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. * ==================================================================== * * This product includes cryptographic software written by Eric Young * (eay@cryptsoft.com). This product includes software written by Tim * Hudson (tjh@cryptsoft.com). * */ Original SSLeay License ----------------------- /* Copyright (C) 1995-1998 Eric Young (eay@cryptsoft.com) * All rights reserved. * * This package is an SSL implementation written * by Eric Young (eay@cryptsoft.com). * The implementation was written so as to conform with Netscapes SSL. * * This library is free for commercial and non-commercial use as long as * the following conditions are aheared to. The following conditions * apply to all code found in this distribution, be it the RC4, RSA, * lhash, DES, etc., code; not just the SSL code. The SSL documentation * included with this distribution is covered by the same copyright terms * except that the holder is Tim Hudson (tjh@cryptsoft.com). * * Copyright remains Eric Young's, and as such any Copyright notices in * the code are not to be removed. * If this package is used in a product, Eric Young should be given attribution * as the author of the parts of the library used. * This can be in the form of a textual message at program startup or * in documentation (online or textual) provided with the package. * * 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 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. All advertising materials mentioning features or use of this software * must display the following acknowledgement: * "This product includes cryptographic software written by * Eric Young (eay@cryptsoft.com)" * The word 'cryptographic' can be left out if the rouines from the library * being used are not cryptographic related :-). * 4. If you include any Windows specific code (or a derivative thereof) from * the apps directory (application code) you must include an acknowledgement: * "This product includes software written by Tim Hudson (tjh@cryptsoft.com)" * * THIS SOFTWARE IS PROVIDED BY ERIC YOUNG ``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 AUTHOR 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. * * The licence and distribution terms for any publically available version or * derivative of this code cannot be changed. i.e. this code cannot simply be * copied and put under another distribution licence * [including the GNU Public Licence.] */

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gazebosim/gz-omni/PACKAGE-LICENSES/ptex-LICENSE.md

PTEX components are licensed under the following terms: PTEX SOFTWARE Copyright 2014 Disney Enterprises, Inc. All rights reserved Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * 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. * The names "Disney", "Walt Disney Pictures", "Walt Disney Animation Studios" or the names of its contributors may NOT be used to endorse or promote products derived from this software without specific prior written permission from Walt Disney Pictures. Disclaimer: THIS SOFTWARE IS PROVIDED BY WALT DISNEY PICTURES AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, NONINFRINGEMENT AND TITLE ARE DISCLAIMED. IN NO EVENT SHALL WALT DISNEY PICTURES, 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 BASED 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 DAMAGES.

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gazebosim/gz-omni/PACKAGE-LICENSES/python-LICENSE.md

A. HISTORY OF THE SOFTWARE ========================== Python was created in the early 1990s by Guido van Rossum at Stichting Mathematisch Centrum (CWI, see http://www.cwi.nl) in the Netherlands as a successor of a language called ABC. Guido remains Python's principal author, although it includes many contributions from others. In 1995, Guido continued his work on Python at the Corporation for National Research Initiatives (CNRI, see http://www.cnri.reston.va.us) in Reston, Virginia where he released several versions of the software. In May 2000, Guido and the Python core development team moved to BeOpen.com to form the BeOpen PythonLabs team. In October of the same year, the PythonLabs team moved to Digital Creations, which became Zope Corporation. In 2001, the Python Software Foundation (PSF, see https://www.python.org/psf/) was formed, a non-profit organization created specifically to own Python-related Intellectual Property. Zope Corporation was a sponsoring member of the PSF. All Python releases are Open Source (see http://www.opensource.org for the Open Source Definition). Historically, most, but not all, Python releases have also been GPL-compatible; the table below summarizes the various releases. Release Derived Year Owner GPL- from compatible? (1) 0.9.0 thru 1.2 1991-1995 CWI yes 1.3 thru 1.5.2 1.2 1995-1999 CNRI yes 1.6 1.5.2 2000 CNRI no 2.0 1.6 2000 BeOpen.com no 1.6.1 1.6 2001 CNRI yes (2) 2.1 2.0+1.6.1 2001 PSF no 2.0.1 2.0+1.6.1 2001 PSF yes 2.1.1 2.1+2.0.1 2001 PSF yes 2.1.2 2.1.1 2002 PSF yes 2.1.3 2.1.2 2002 PSF yes 2.2 and above 2.1.1 2001-now PSF yes Footnotes: (1) GPL-compatible doesn't mean that we're distributing Python under the GPL. All Python licenses, unlike the GPL, let you distribute a modified version without making your changes open source. The GPL-compatible licenses make it possible to combine Python with other software that is released under the GPL; the others don't. (2) According to Richard Stallman, 1.6.1 is not GPL-compatible, because its license has a choice of law clause. According to CNRI, however, Stallman's lawyer has told CNRI's lawyer that 1.6.1 is "not incompatible" with the GPL. Thanks to the many outside volunteers who have worked under Guido's direction to make these releases possible. B. TERMS AND CONDITIONS FOR ACCESSING OR OTHERWISE USING PYTHON =============================================================== PYTHON SOFTWARE FOUNDATION LICENSE VERSION 2 -------------------------------------------- 1. This LICENSE AGREEMENT is between the Python Software Foundation ("PSF"), and the Individual or Organization ("Licensee") accessing and otherwise using this software ("Python") in source or binary form and its associated documentation. 2. Subject to the terms and conditions of this License Agreement, PSF hereby grants Licensee a nonexclusive, royalty-free, world-wide license to reproduce, analyze, test, perform and/or display publicly, prepare derivative works, distribute, and otherwise use Python alone or in any derivative version, provided, however, that PSF's License Agreement and PSF's notice of copyright, i.e., "Copyright (c) 2001, 2002, 2003, 2004, 2005, 2006, 2007, 2008, 2009, 2010, 2011, 2012, 2013, 2014, 2015, 2016, 2017, 2018, 2019, 2020 Python Software Foundation; All Rights Reserved" are retained in Python alone or in any derivative version prepared by Licensee. 3. In the event Licensee prepares a derivative work that is based on or incorporates Python or any part thereof, and wants to make the derivative work available to others as provided herein, then Licensee hereby agrees to include in any such work a brief summary of the changes made to Python. 4. PSF is making Python available to Licensee on an "AS IS" basis. PSF MAKES NO REPRESENTATIONS OR WARRANTIES, EXPRESS OR IMPLIED. BY WAY OF EXAMPLE, BUT NOT LIMITATION, PSF MAKES NO AND DISCLAIMS ANY REPRESENTATION OR WARRANTY OF MERCHANTABILITY OR FITNESS FOR ANY PARTICULAR PURPOSE OR THAT THE USE OF PYTHON WILL NOT INFRINGE ANY THIRD PARTY RIGHTS. 5. PSF SHALL NOT BE LIABLE TO LICENSEE OR ANY OTHER USERS OF PYTHON FOR ANY INCIDENTAL, SPECIAL, OR CONSEQUENTIAL DAMAGES OR LOSS AS A RESULT OF MODIFYING, DISTRIBUTING, OR OTHERWISE USING PYTHON, OR ANY DERIVATIVE THEREOF, EVEN IF ADVISED OF THE POSSIBILITY THEREOF. 6. This License Agreement will automatically terminate upon a material breach of its terms and conditions. 7. Nothing in this License Agreement shall be deemed to create any relationship of agency, partnership, or joint venture between PSF and Licensee. This License Agreement does not grant permission to use PSF trademarks or trade name in a trademark sense to endorse or promote products or services of Licensee, or any third party. 8. By copying, installing or otherwise using Python, Licensee agrees to be bound by the terms and conditions of this License Agreement. BEOPEN.COM LICENSE AGREEMENT FOR PYTHON 2.0 ------------------------------------------- BEOPEN PYTHON OPEN SOURCE LICENSE AGREEMENT VERSION 1 1. This LICENSE AGREEMENT is between BeOpen.com ("BeOpen"), having an office at 160 Saratoga Avenue, Santa Clara, CA 95051, and the Individual or Organization ("Licensee") accessing and otherwise using this software in source or binary form and its associated documentation ("the Software"). 2. 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BEOPEN SHALL NOT BE LIABLE TO LICENSEE OR ANY OTHER USERS OF THE SOFTWARE FOR ANY INCIDENTAL, SPECIAL, OR CONSEQUENTIAL DAMAGES OR LOSS AS A RESULT OF USING, MODIFYING OR DISTRIBUTING THE SOFTWARE, OR ANY DERIVATIVE THEREOF, EVEN IF ADVISED OF THE POSSIBILITY THEREOF. 5. This License Agreement will automatically terminate upon a material breach of its terms and conditions. 6. This License Agreement shall be governed by and interpreted in all respects by the law of the State of California, excluding conflict of law provisions. Nothing in this License Agreement shall be deemed to create any relationship of agency, partnership, or joint venture between BeOpen and Licensee. This License Agreement does not grant permission to use BeOpen trademarks or trade names in a trademark sense to endorse or promote products or services of Licensee, or any third party. As an exception, the "BeOpen Python" logos available at http://www.pythonlabs.com/logos.html may be used according to the permissions granted on that web page. 7. By copying, installing or otherwise using the software, Licensee agrees to be bound by the terms and conditions of this License Agreement. CNRI LICENSE AGREEMENT FOR PYTHON 1.6.1 --------------------------------------- 1. This LICENSE AGREEMENT is between the Corporation for National Research Initiatives, having an office at 1895 Preston White Drive, Reston, VA 20191 ("CNRI"), and the Individual or Organization ("Licensee") accessing and otherwise using Python 1.6.1 software in source or binary form and its associated documentation. 2. Subject to the terms and conditions of this License Agreement, CNRI hereby grants Licensee a nonexclusive, royalty-free, world-wide license to reproduce, analyze, test, perform and/or display publicly, prepare derivative works, distribute, and otherwise use Python 1.6.1 alone or in any derivative version, provided, however, that CNRI's License Agreement and CNRI's notice of copyright, i.e., "Copyright (c) 1995-2001 Corporation for National Research Initiatives; All Rights Reserved" are retained in Python 1.6.1 alone or in any derivative version prepared by Licensee. Alternately, in lieu of CNRI's License Agreement, Licensee may substitute the following text (omitting the quotes): "Python 1.6.1 is made available subject to the terms and conditions in CNRI's License Agreement. This Agreement together with Python 1.6.1 may be located on the Internet using the following unique, persistent identifier (known as a handle): 1895.22/1013. This Agreement may also be obtained from a proxy server on the Internet using the following URL: http://hdl.handle.net/1895.22/1013". 3. In the event Licensee prepares a derivative work that is based on or incorporates Python 1.6.1 or any part thereof, and wants to make the derivative work available to others as provided herein, then Licensee hereby agrees to include in any such work a brief summary of the changes made to Python 1.6.1. 4. CNRI is making Python 1.6.1 available to Licensee on an "AS IS" basis. CNRI MAKES NO REPRESENTATIONS OR WARRANTIES, EXPRESS OR IMPLIED. BY WAY OF EXAMPLE, BUT NOT LIMITATION, CNRI MAKES NO AND DISCLAIMS ANY REPRESENTATION OR WARRANTY OF MERCHANTABILITY OR FITNESS FOR ANY PARTICULAR PURPOSE OR THAT THE USE OF PYTHON 1.6.1 WILL NOT INFRINGE ANY THIRD PARTY RIGHTS. 5. 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Notwithstanding the foregoing, with regard to derivative works based on Python 1.6.1 that incorporate non-separable material that was previously distributed under the GNU General Public License (GPL), the law of the Commonwealth of Virginia shall govern this License Agreement only as to issues arising under or with respect to Paragraphs 4, 5, and 7 of this License Agreement. Nothing in this License Agreement shall be deemed to create any relationship of agency, partnership, or joint venture between CNRI and Licensee. This License Agreement does not grant permission to use CNRI trademarks or trade name in a trademark sense to endorse or promote products or services of Licensee, or any third party. 8. By clicking on the "ACCEPT" button where indicated, or by copying, installing or otherwise using Python 1.6.1, Licensee agrees to be bound by the terms and conditions of this License Agreement. ACCEPT CWI LICENSE AGREEMENT FOR PYTHON 0.9.0 THROUGH 1.2 -------------------------------------------------- Copyright (c) 1991 - 1995, Stichting Mathematisch Centrum Amsterdam, The Netherlands. All rights reserved. Permission to use, copy, modify, and distribute this software and its documentation for any purpose and without fee is hereby granted, provided that the above copyright notice appear in all copies and that both that copyright notice and this permission notice appear in supporting documentation, and that the name of Stichting Mathematisch Centrum or CWI not be used in advertising or publicity pertaining to distribution of the software without specific, written prior permission. STICHTING MATHEMATISCH CENTRUM DISCLAIMS ALL WARRANTIES WITH REGARD TO THIS SOFTWARE, INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS, IN NO EVENT SHALL STICHTING MATHEMATISCH CENTRUM BE LIABLE FOR ANY SPECIAL, INDIRECT OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE. Licenses and Acknowledgements for Incorporated Software This section is an incomplete, but growing list of licenses and acknowledgements for third-party software incorporated in the Python distribution. Mersenne Twister The _random module includes code based on a download from http://www.math.sci.hiroshima-u.ac.jp/~m-mat/MT/MT2002/emt19937ar.html. The following are the verbatim comments from the original code: A C-program for MT19937, with initialization improved 2002/1/26. Coded by Takuji Nishimura and Makoto Matsumoto. Before using, initialize the state by using init_genrand(seed) or init_by_array(init_key, key_length). Copyright (C) 1997 - 2002, Makoto Matsumoto and Takuji Nishimura, 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. The names of its contributors may not 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 OWNER 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. Any feedback is very welcome. http://www.math.sci.hiroshima-u.ac.jp/~m-mat/MT/emt.html email: m-mat @ math.sci.hiroshima-u.ac.jp (remove space) Sockets The socket module uses the functions, getaddrinfo(), and getnameinfo(), which are coded in separate source files from the WIDE Project, http://www.wide.ad.jp/. Copyright (C) 1995, 1996, 1997, and 1998 WIDE Project. 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 project 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 PROJECT 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 PROJECT 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. Asynchronous socket services The asynchat and asyncore modules contain the following notice: Copyright 1996 by Sam Rushing All Rights Reserved Permission to use, copy, modify, and distribute this software and its documentation for any purpose and without fee is hereby granted, provided that the above copyright notice appear in all copies and that both that copyright notice and this permission notice appear in supporting documentation, and that the name of Sam Rushing not be used in advertising or publicity pertaining to distribution of the software without specific, written prior permission. SAM RUSHING DISCLAIMS ALL WARRANTIES WITH REGARD TO THIS SOFTWARE, INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS, IN NO EVENT SHALL SAM RUSHING BE LIABLE FOR ANY SPECIAL, INDIRECT OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE. Cookie management The http.cookies module contains the following notice: Copyright 2000 by Timothy O'Malley <timo@alum.mit.edu> All Rights Reserved Permission to use, copy, modify, and distribute this software and its documentation for any purpose and without fee is hereby granted, provided that the above copyright notice appear in all copies and that both that copyright notice and this permission notice appear in supporting documentation, and that the name of Timothy O'Malley not be used in advertising or publicity pertaining to distribution of the software without specific, written prior permission. Timothy O'Malley DISCLAIMS ALL WARRANTIES WITH REGARD TO THIS SOFTWARE, INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS, IN NO EVENT SHALL Timothy O'Malley BE LIABLE FOR ANY SPECIAL, INDIRECT OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE. Execution tracing The trace module contains the following notice: portions copyright 2001, Autonomous Zones Industries, Inc., all rights... err... reserved and offered to the public under the terms of the Python 2.2 license. Author: Zooko O'Whielacronx http://zooko.com/ mailto:zooko@zooko.com Copyright 2000, Mojam Media, Inc., all rights reserved. Author: Skip Montanaro Copyright 1999, Bioreason, Inc., all rights reserved. Author: Andrew Dalke Copyright 1995-1997, Automatrix, Inc., all rights reserved. Author: Skip Montanaro Copyright 1991-1995, Stichting Mathematisch Centrum, all rights reserved. Permission to use, copy, modify, and distribute this Python software and its associated documentation for any purpose without fee is hereby granted, provided that the above copyright notice appears in all copies, and that both that copyright notice and this permission notice appear in supporting documentation, and that the name of neither Automatrix, Bioreason or Mojam Media be used in advertising or publicity pertaining to distribution of the software without specific, written prior permission. UUencode and UUdecode functions The uu module contains the following notice: Copyright 1994 by Lance Ellinghouse Cathedral City, California Republic, United States of America. All Rights Reserved Permission to use, copy, modify, and distribute this software and its documentation for any purpose and without fee is hereby granted, provided that the above copyright notice appear in all copies and that both that copyright notice and this permission notice appear in supporting documentation, and that the name of Lance Ellinghouse not be used in advertising or publicity pertaining to distribution of the software without specific, written prior permission. LANCE ELLINGHOUSE DISCLAIMS ALL WARRANTIES WITH REGARD TO THIS SOFTWARE, INCLUDING ALL IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS, IN NO EVENT SHALL LANCE ELLINGHOUSE CENTRUM BE LIABLE FOR ANY SPECIAL, INDIRECT OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE. Modified by Jack Jansen, CWI, July 1995: - Use binascii module to do the actual line-by-line conversion between ascii and binary. This results in a 1000-fold speedup. The C version is still 5 times faster, though. - Arguments more compliant with Python standard XML Remote Procedure Calls The xmlrpc.client module contains the following notice: The XML-RPC client interface is Copyright (c) 1999-2002 by Secret Labs AB Copyright (c) 1999-2002 by Fredrik Lundh By obtaining, using, and/or copying this software and/or its associated documentation, you agree that you have read, understood, and will comply with the following terms and conditions: Permission to use, copy, modify, and distribute this software and its associated documentation for any purpose and without fee is hereby granted, provided that the above copyright notice appears in all copies, and that both that copyright notice and this permission notice appear in supporting documentation, and that the name of Secret Labs AB or the author not be used in advertising or publicity pertaining to distribution of the software without specific, written prior permission. SECRET LABS AB AND THE AUTHOR DISCLAIMS ALL WARRANTIES WITH REGARD TO THIS SOFTWARE, INCLUDING ALL IMPLIED WARRANTIES OF MERCHANT- ABILITY AND FITNESS. IN NO EVENT SHALL SECRET LABS AB OR THE AUTHOR BE LIABLE FOR ANY SPECIAL, INDIRECT OR CONSEQUENTIAL DAMAGES OR ANY DAMAGES WHATSOEVER RESULTING FROM LOSS OF USE, DATA OR PROFITS, WHETHER IN AN ACTION OF CONTRACT, NEGLIGENCE OR OTHER TORTIOUS ACTION, ARISING OUT OF OR IN CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE. Select kqueue The select module contains the following notice for the kqueue interface: Copyright (c) 2000 Doug White, 2006 James Knight, 2007 Christian Heimes 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. THIS SOFTWARE IS PROVIDED BY THE AUTHOR 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 AUTHOR 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. SipHash24 The file Python/pyhash.c contains Marek Majkowski implementation of Dan Bernsteins SipHash24 algorithm. The contains the following note: <MIT License> Copyright (c) 2013 Marek Majkowski <marek@popcount.org> Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. </MIT License> Original location: https://github.com/majek/csiphash/ Solution inspired by code from: Samuel Neves (supercop/crypto_auth/siphash24/little) djb (supercop/crypto_auth/siphash24/little2) Jean-Philippe Aumasson (https://131002.net/siphash/siphash24.c) strtod and dtoa The file Python/dtoa.c, which supplies C functions dtoa and strtod for conversion of C doubles to and from strings, is derived from the file of the same name by David M. Gay, currently available from http://www.netlib.org/fp/. The original file, as retrieved on March 16, 2009, contains the following copyright and licensing notice: /**************************************************************** * * The author of this software is David M. Gay. * * Copyright (c) 1991, 2000, 2001 by Lucent Technologies. * * Permission to use, copy, modify, and distribute this software for any * purpose without fee is hereby granted, provided that this entire notice * is included in all copies of any software which is or includes a copy * or modification of this software and in all copies of the supporting * documentation for such software. * * THIS SOFTWARE IS BEING PROVIDED "AS IS", WITHOUT ANY EXPRESS OR IMPLIED * WARRANTY. IN PARTICULAR, NEITHER THE AUTHOR NOR LUCENT MAKES ANY * REPRESENTATION OR WARRANTY OF ANY KIND CONCERNING THE MERCHANTABILITY * OF THIS SOFTWARE OR ITS FITNESS FOR ANY PARTICULAR PURPOSE. * ***************************************************************/ OpenSSL The modules hashlib, posix, ssl, crypt use the OpenSSL library for added performance if made available by the operating system. Additionally, the Windows and Mac OS X installers for Python may include a copy of the OpenSSL libraries, so we include a copy of the OpenSSL license here: LICENSE ISSUES ============== The OpenSSL toolkit stays under a dual license, i.e. both the conditions of the OpenSSL License and the original SSLeay license apply to the toolkit. See below for the actual license texts. Actually both licenses are BSD-style Open Source licenses. In case of any license issues related to OpenSSL please contact openssl-core@openssl.org. OpenSSL License --------------- /* ==================================================================== * Copyright (c) 1998-2008 The OpenSSL Project. 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. All advertising materials mentioning features or use of this * software must display the following acknowledgment: * "This product includes software developed by the OpenSSL Project * for use in the OpenSSL Toolkit. (http://www.openssl.org/)"; * * 4. The names "OpenSSL Toolkit" and "OpenSSL Project" must not be used to * endorse or promote products derived from this software without * prior written permission. For written permission, please contact * openssl-core@openssl.org. * * 5. Products derived from this software may not be called "OpenSSL" * nor may "OpenSSL" appear in their names without prior written * permission of the OpenSSL Project. * * 6. Redistributions of any form whatsoever must retain the following * acknowledgment: * "This product includes software developed by the OpenSSL Project * for use in the OpenSSL Toolkit (http://www.openssl.org/)"; * * THIS SOFTWARE IS PROVIDED BY THE OpenSSL PROJECT ``AS IS'' AND ANY * EXPRESSED 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 OpenSSL PROJECT OR * ITS 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. * ==================================================================== * * This product includes cryptographic software written by Eric Young * (eay@cryptsoft.com). This product includes software written by Tim * Hudson (tjh@cryptsoft.com). * */ Original SSLeay License ----------------------- /* Copyright (C) 1995-1998 Eric Young (eay@cryptsoft.com) * All rights reserved. * * This package is an SSL implementation written * by Eric Young (eay@cryptsoft.com). * The implementation was written so as to conform with Netscapes SSL. * * This library is free for commercial and non-commercial use as long as * the following conditions are aheared to. The following conditions * apply to all code found in this distribution, be it the RC4, RSA, * lhash, DES, etc., code; not just the SSL code. The SSL documentation * included with this distribution is covered by the same copyright terms * except that the holder is Tim Hudson (tjh@cryptsoft.com). * * Copyright remains Eric Young's, and as such any Copyright notices in * the code are not to be removed. * If this package is used in a product, Eric Young should be given attribution * as the author of the parts of the library used. * This can be in the form of a textual message at program startup or * in documentation (online or textual) provided with the package. * * 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 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. All advertising materials mentioning features or use of this software * must display the following acknowledgement: * "This product includes cryptographic software written by * Eric Young (eay@cryptsoft.com)" * The word 'cryptographic' can be left out if the rouines from the library * being used are not cryptographic related :-). * 4. If you include any Windows specific code (or a derivative thereof) from * the apps directory (application code) you must include an acknowledgement: * "This product includes software written by Tim Hudson (tjh@cryptsoft.com)" * * THIS SOFTWARE IS PROVIDED BY ERIC YOUNG ``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 AUTHOR 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. * * The licence and distribution terms for any publically available version or * derivative of this code cannot be changed. i.e. this code cannot simply be * copied and put under another distribution licence * [including the GNU Public Licence.] */ libffi The _ctypes extension is built using an included copy of the libffi sources unless the build is configured --with-system-libffi: Copyright (c) 1996-2008 Red Hat, Inc and others. Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the ``Software''), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. THE SOFTWARE IS PROVIDED ``AS IS'', WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. zlib The zlib extension is built using an included copy of the zlib sources if the zlib version found on the system is too old to be used for the build: Copyright (C) 1995-2011 Jean-loup Gailly and Mark Adler This software is provided 'as-is', without any express or implied warranty. In no event will the authors be held liable for any damages arising from the use of this software. Permission is granted to anyone to use this software for any purpose, including commercial applications, and to alter it and redistribute it freely, subject to the following restrictions: 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. 3. This notice may not be removed or altered from any source distribution. Jean-loup Gailly Mark Adler jloup@gzip.org madler@alumni.caltech.edu cfuhash The implementation of the hash table used by the tracemalloc is based on the cfuhash project: Copyright (c) 2005 Don Owens All rights reserved. This code is released under the BSD license: Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * 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. * Neither the name of the author 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 OWNER 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.

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Copyright (c) 2006, Industrial Light & Magic, a division of Lucasfilm Entertainment Company Ltd. Portions contributed and copyright held by others as indicated. All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * 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. * Neither the name of Industrial Light & Magic nor the names of any other contributors to this software 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 OWNER 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.

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gazebosim/gz-omni/PACKAGE-LICENSES/zlib-LICENSE.md

zlib.h -- interface of the 'zlib' general purpose compression library version 1.2.11, January 15th, 2017 Copyright (C) 1995-2017 Jean-loup Gailly and Mark Adler This software is provided 'as-is', without any express or implied warranty. In no event will the authors be held liable for any damages arising from the use of this software. Permission is granted to anyone to use this software for any purpose, including commercial applications, and to alter it and redistribute it freely, subject to the following restrictions: 1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. 2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. 3. This notice may not be removed or altered from any source distribution. Jean-loup Gailly Mark Adler jloup@gzip.org madler@alumni.caltech.edu

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-------------------------------------------------------------------------- This program, "bzip2", the associated library "libbzip2", and all documentation, are copyright (C) 1996-2019 Julian R Seward. 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. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. 3. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. 4. The name of the author may not be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``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 AUTHOR 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. Julian Seward, jseward@acm.org bzip2/libbzip2 version 1.0.8 of 13 July 2019 --------------------------------------------------------------------------

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gazebosim/gz-omni/PACKAGE-LICENSES/boost-LICENSE.md

Boost Software License - Version 1.0 - August 17th, 2003 Permission is hereby granted, free of charge, to any person or organization obtaining a copy of the software and accompanying documentation covered by this license (the "Software") to use, reproduce, display, distribute, execute, and transmit the Software, and to prepare derivative works of the Software, and to permit third-parties to whom the Software is furnished to do so, all subject to the following: The copyright notices in the Software and this entire statement, including the above license grant, this restriction and the following disclaimer, must be included in all copies of the Software, in whole or in part, and all derivative works of the Software, unless such copies or derivative works are solely in the form of machine-executable object code generated by a source language processor. THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE, TITLE AND NON-INFRINGEMENT. IN NO EVENT SHALL THE COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE FOR ANY DAMAGES OR OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

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gazebosim/gz-omni/PACKAGE-LICENSES/nv_usd-LICENSE.md

Universal Scene Description (USD) components are licensed under the following terms: Modified Apache 2.0 License TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION 1. Definitions. "License" shall mean the terms and conditions for use, reproduction, and distribution as defined by Sections 1 through 9 of this document. "Licensor" shall mean the copyright owner or entity authorized by the copyright owner that is granting the License. "Legal Entity" shall mean the union of the acting entity and all other entities that control, are controlled by, or are under common control with that entity. For the purposes of this definition, "control" means (i) the power, direct or indirect, to cause the direction or management of such entity, whether by contract or otherwise, or (ii) ownership of fifty percent (50%) or more of the outstanding shares, or (iii) beneficial ownership of such entity. "You" (or "Your") shall mean an individual or Legal Entity exercising permissions granted by this License. "Source" form shall mean the preferred form for making modifications, including but not limited to software source code, documentation source, and configuration files. "Object" form shall mean any form resulting from mechanical transformation or translation of a Source form, including but not limited to compiled object code, generated documentation, and conversions to other media types. "Work" shall mean the work of authorship, whether in Source or Object form, made available under the License, as indicated by a copyright notice that is included in or attached to the work (an example is provided in the Appendix below). "Derivative Works" shall mean any work, whether in Source or Object form, that is based on (or derived from) the Work and for which the editorial revisions, annotations, elaborations, or other modifications represent, as a whole, an original work of authorship. For the purposes of this License, Derivative Works shall not include works that remain separable from, or merely link (or bind by name) to the interfaces of, the Work and Derivative Works thereof. "Contribution" shall mean any work of authorship, including the original version of the Work and any modifications or additions to that Work or Derivative Works thereof, that is intentionally submitted to Licensor for inclusion in the Work by the copyright owner or by an individual or Legal Entity authorized to submit on behalf of the copyright owner. For the purposes of this definition, "submitted" means any form of electronic, verbal, or written communication sent to the Licensor or its representatives, including but not limited to communication on electronic mailing lists, source code control systems, and issue tracking systems that are managed by, or on behalf of, the Licensor for the purpose of discussing and improving the Work, but excluding communication that is conspicuously marked or otherwise designated in writing by the copyright owner as "Not a Contribution." "Contributor" shall mean Licensor and any individual or Legal Entity on behalf of whom a Contribution has been received by Licensor and subsequently incorporated within the Work. 2. Grant of Copyright License. Subject to the terms and conditions of this License, each Contributor hereby grants to You a perpetual, worldwide, non-exclusive, no-charge, royalty-free, irrevocable copyright license to reproduce, prepare Derivative Works of, publicly display, publicly perform, sublicense, and distribute the Work and such Derivative Works in Source or Object form. 3. Grant of Patent License. Subject to the terms and conditions of this License, each Contributor hereby grants to You a perpetual, worldwide, non-exclusive, no-charge, royalty-free, irrevocable (except as stated in this section) patent license to make, have made, use, offer to sell, sell, import, and otherwise transfer the Work, where such license applies only to those patent claims licensable by such Contributor that are necessarily infringed by their Contribution(s) alone or by combination of their Contribution(s) with the Work to which such Contribution(s) was submitted. If You institute patent litigation against any entity (including a cross-claim or counterclaim in a lawsuit) alleging that the Work or a Contribution incorporated within the Work constitutes direct or contributory patent infringement, then any patent licenses granted to You under this License for that Work shall terminate as of the date such litigation is filed. 4. Redistribution. You may reproduce and distribute copies of the Work or Derivative Works thereof in any medium, with or without modifications, and in Source or Object form, provided that You meet the following conditions: (a) You must give any other recipients of the Work or Derivative Works a copy of this License; and (b) You must cause any modified files to carry prominent notices stating that You changed the files; and (c) You must retain, in the Source form of any Derivative Works that You distribute, all copyright, patent, trademark, and attribution notices from the Source form of the Work, excluding those notices that do not pertain to any part of the Derivative Works; and (d) If the Work includes a "NOTICE" text file as part of its distribution, then any Derivative Works that You distribute must include a readable copy of the attribution notices contained within such NOTICE file, excluding those notices that do not pertain to any part of the Derivative Works, in at least one of the following places: within a NOTICE text file distributed as part of the Derivative Works; within the Source form or documentation, if provided along with the Derivative Works; or, within a display generated by the Derivative Works, if and wherever such third-party notices normally appear. The contents of the NOTICE file are for informational purposes only and do not modify the License. You may add Your own attribution notices within Derivative Works that You distribute, alongside or as an addendum to the NOTICE text from the Work, provided that such additional attribution notices cannot be construed as modifying the License. You may add Your own copyright statement to Your modifications and may provide additional or different license terms and conditions for use, reproduction, or distribution of Your modifications, or for any such Derivative Works as a whole, provided Your use, reproduction, and distribution of the Work otherwise complies with the conditions stated in this License. 5. Submission of Contributions. Unless You explicitly state otherwise, any Contribution intentionally submitted for inclusion in the Work by You to the Licensor shall be under the terms and conditions of this License, without any additional terms or conditions. Notwithstanding the above, nothing herein shall supersede or modify the terms of any separate license agreement you may have executed with Licensor regarding such Contributions. 6. Trademarks. This License does not grant permission to use the trade names, trademarks, service marks, or product names of the Licensor and its affiliates, except as required to comply with Section 4(c) of the License and to reproduce the content of the NOTICE file. 7. Disclaimer of Warranty. Unless required by applicable law or agreed to in writing, Licensor provides the Work (and each Contributor provides its Contributions) on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied, including, without limitation, any warranties or conditions of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A PARTICULAR PURPOSE. You are solely responsible for determining the appropriateness of using or redistributing the Work and assume any risks associated with Your exercise of permissions under this License. 8. Limitation of Liability. In no event and under no legal theory, whether in tort (including negligence), contract, or otherwise, unless required by applicable law (such as deliberate and grossly negligent acts) or agreed to in writing, shall any Contributor be liable to You for damages, including any direct, indirect, special, incidental, or consequential damages of any character arising as a result of this License or out of the use or inability to use the Work (including but not limited to damages for loss of goodwill, work stoppage, computer failure or malfunction, or any and all other commercial damages or losses), even if such Contributor has been advised of the possibility of such damages. 9. Accepting Warranty or Additional Liability. While redistributing the Work or Derivative Works thereof, You may choose to offer, and charge a fee for, acceptance of support, warranty, indemnity, or other liability obligations and/or rights consistent with this License. However, in accepting such obligations, You may act only on Your own behalf and on Your sole responsibility, not on behalf of any other Contributor, and only if You agree to indemnify, defend, and hold each Contributor harmless for any liability incurred by, or claims asserted against, such Contributor by reason of your accepting any such warranty or additional liability. ============================================================ RapidJSON ============================================================ Tencent is pleased to support the open source community by making RapidJSON available. Copyright (C) 2015 THL A29 Limited, a Tencent company, and Milo Yip. All rights reserved. If you have downloaded a copy of the RapidJSON binary from Tencent, please note that the RapidJSON binary is licensed under the MIT License. If you have downloaded a copy of the RapidJSON source code from Tencent, please note that RapidJSON source code is licensed under the MIT License, except for the third-party components listed below which are subject to different license terms. Your integration of RapidJSON into your own projects may require compliance with the MIT License, as well as the other licenses applicable to the third-party components included within RapidJSON. To avoid the problematic JSON license in your own projects, it's sufficient to exclude the bin/jsonchecker/ directory, as it's the only code under the JSON license. A copy of the MIT License is included in this file. Other dependencies and licenses: Open Source Software Licensed Under the BSD License: -------------------------------------------------------------------- The msinttypes r29 Copyright (c) 2006-2013 Alexander Chemeris All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * 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. * Neither the name of 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 REGENTS 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 REGENTS AND 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. Open Source Software Licensed Under the JSON License: -------------------------------------------------------------------- json.org Copyright (c) 2002 JSON.org All Rights Reserved. JSON_checker Copyright (c) 2002 JSON.org All Rights Reserved. Terms of the JSON License: --------------------------------------------------- Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. The Software shall be used for Good, not Evil. THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. Terms of the MIT License: -------------------------------------------------------------------- Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. ============================================================ pygilstate_check ============================================================ The MIT License (MIT) Copyright (c) 2014, Pankaj Pandey Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. ============================================================ double-conversion ============================================================ Copyright 2006-2011, the V8 project authors. All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * 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. * Neither the name of Google Inc. 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 OWNER 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. ============================================================ OpenEXR/IlmBase/Half ============================================================ /////////////////////////////////////////////////////////////////////////// // // Copyright (c) 2002, Industrial Light & Magic, a division of Lucas // Digital Ltd. LLC // // All rights reserved. // // Redistribution and use in source and binary forms, with or without // modification, are permitted provided that the following conditions are // met: // * Redistributions of source code must retain the above copyright // notice, this list of conditions and the following disclaimer. // * 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. // * Neither the name of Industrial Light & Magic 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 // OWNER 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. // /////////////////////////////////////////////////////////////////////////// ============================================================ Apple Technical Q&A QA1361 - Detecting the Debugger https://developer.apple.com/library/content/qa/qa1361/_index.html ============================================================ Sample code project: Detecting the Debugger Version: 1.0 Abstract: Shows how to determine if code is being run under the debugger. IMPORTANT: This Apple software is supplied to you by Apple Inc. ("Apple") in consideration of your agreement to the following terms, and your use, installation, modification or redistribution of this Apple software constitutes acceptance of these terms. If you do not agree with these terms, please do not use, install, modify or redistribute this Apple software. In consideration of your agreement to abide by the following terms, and subject to these terms, Apple grants you a personal, non-exclusive license, under Apple's copyrights in this original Apple software (the "Apple Software"), to use, reproduce, modify and redistribute the Apple Software, with or without modifications, in source and/or binary forms; provided that if you redistribute the Apple Software in its entirety and without modifications, you must retain this notice and the following text and disclaimers in all such redistributions of the Apple Software. 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IN NO EVENT SHALL APPLE BE LIABLE FOR ANY SPECIAL, INDIRECT, INCIDENTAL OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) ARISING IN ANY WAY OUT OF THE USE, REPRODUCTION, MODIFICATION AND/OR DISTRIBUTION OF THE APPLE SOFTWARE, HOWEVER CAUSED AND WHETHER UNDER THEORY OF CONTRACT, TORT (INCLUDING NEGLIGENCE), STRICT LIABILITY OR OTHERWISE, EVEN IF APPLE HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. ============================================================ LZ4 ============================================================ LZ4 - Fast LZ compression algorithm Copyright (C) 2011-2017, Yann Collet. BSD 2-Clause License (http://www.opensource.org/licenses/bsd-license.php) Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * 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. 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. 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You can contact the author at : - LZ4 homepage : http://www.lz4.org - LZ4 source repository : https://github.com/lz4/lz4 ============================================================ stb ============================================================ stb_image - v2.19 - public domain image loader - http://nothings.org/stb no warranty implied; use at your own risk stb_image_resize - v0.95 - public domain image resizing by Jorge L Rodriguez (@VinoBS) - 2014 http://github.com/nothings/stb stb_image_write - v1.09 - public domain - http://nothings.org/stb/stb_image_write.h writes out PNG/BMP/TGA/JPEG/HDR images to C stdio - Sean Barrett 2010-2015 no warranty implied; use at your own risk ALTERNATIVE B - Public Domain (www.unlicense.org) This is free and unencumbered software released into the public domain. Anyone is free to copy, modify, publish, use, compile, sell, or distribute this software, either in source code form or as a compiled binary, for any purpose, commercial or non-commercial, and by any means. In jurisdictions that recognize copyright laws, the author or authors of this software dedicate any and all copyright interest in the software to the public domain. We make this dedication for the benefit of the public at large and to the detriment of our heirs and successors. We intend this dedication to be an overt act of relinquishment in perpetuity of all present and future rights to this software under copyright law. THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. 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gazebosim/gz-omni/PACKAGE-LICENSES/opensubdiv-LICENSE.md

Modified Apache 2.0 License TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION 1. Definitions. "License" shall mean the terms and conditions for use, reproduction, and distribution as defined by Sections 1 through 9 of this document. "Licensor" shall mean the copyright owner or entity authorized by the copyright owner that is granting the License. "Legal Entity" shall mean the union of the acting entity and all other entities that control, are controlled by, or are under common control with that entity. For the purposes of this definition, "control" means (i) the power, direct or indirect, to cause the direction or management of such entity, whether by contract or otherwise, or (ii) ownership of fifty percent (50%) or more of the outstanding shares, or (iii) beneficial ownership of such entity. "You" (or "Your") shall mean an individual or Legal Entity exercising permissions granted by this License. "Source" form shall mean the preferred form for making modifications, including but not limited to software source code, documentation source, and configuration files. "Object" form shall mean any form resulting from mechanical transformation or translation of a Source form, including but not limited to compiled object code, generated documentation, and conversions to other media types. "Work" shall mean the work of authorship, whether in Source or Object form, made available under the License, as indicated by a copyright notice that is included in or attached to the work (an example is provided in the Appendix below). "Derivative Works" shall mean any work, whether in Source or Object form, that is based on (or derived from) the Work and for which the editorial revisions, annotations, elaborations, or other modifications represent, as a whole, an original work of authorship. For the purposes of this License, Derivative Works shall not include works that remain separable from, or merely link (or bind by name) to the interfaces of, the Work and Derivative Works thereof. "Contribution" shall mean any work of authorship, including the original version of the Work and any modifications or additions to that Work or Derivative Works thereof, that is intentionally submitted to Licensor for inclusion in the Work by the copyright owner or by an individual or Legal Entity authorized to submit on behalf of the copyright owner. For the purposes of this definition, "submitted" means any form of electronic, verbal, or written communication sent to the Licensor or its representatives, including but not limited to communication on electronic mailing lists, source code control systems, and issue tracking systems that are managed by, or on behalf of, the Licensor for the purpose of discussing and improving the Work, but excluding communication that is conspicuously marked or otherwise designated in writing by the copyright owner as "Not a Contribution." "Contributor" shall mean Licensor and any individual or Legal Entity on behalf of whom a Contribution has been received by Licensor and subsequently incorporated within the Work. 2. Grant of Copyright License. Subject to the terms and conditions of this License, each Contributor hereby grants to You a perpetual, worldwide, non-exclusive, no-charge, royalty-free, irrevocable copyright license to reproduce, prepare Derivative Works of, publicly display, publicly perform, sublicense, and distribute the Work and such Derivative Works in Source or Object form. 3. Grant of Patent License. Subject to the terms and conditions of this License, each Contributor hereby grants to You a perpetual, worldwide, non-exclusive, no-charge, royalty-free, irrevocable (except as stated in this section) patent license to make, have made, use, offer to sell, sell, import, and otherwise transfer the Work, where such license applies only to those patent claims licensable by such Contributor that are necessarily infringed by their Contribution(s) alone or by combination of their Contribution(s) with the Work to which such Contribution(s) was submitted. If You institute patent litigation against any entity (including a cross-claim or counterclaim in a lawsuit) alleging that the Work or a Contribution incorporated within the Work constitutes direct or contributory patent infringement, then any patent licenses granted to You under this License for that Work shall terminate as of the date such litigation is filed. 4. Redistribution. You may reproduce and distribute copies of the Work or Derivative Works thereof in any medium, with or without modifications, and in Source or Object form, provided that You meet the following conditions: (a) You must give any other recipients of the Work or Derivative Works a copy of this License; and (b) You must cause any modified files to carry prominent notices stating that You changed the files; and (c) You must retain, in the Source form of any Derivative Works that You distribute, all copyright, patent, trademark, and attribution notices from the Source form of the Work, excluding those notices that do not pertain to any part of the Derivative Works; and (d) If the Work includes a "NOTICE" text file as part of its distribution, then any Derivative Works that You distribute must include a readable copy of the attribution notices contained within such NOTICE file, excluding those notices that do not pertain to any part of the Derivative Works, in at least one of the following places: within a NOTICE text file distributed as part of the Derivative Works; within the Source form or documentation, if provided along with the Derivative Works; or, within a display generated by the Derivative Works, if and wherever such third-party notices normally appear. The contents of the NOTICE file are for informational purposes only and do not modify the License. You may add Your own attribution notices within Derivative Works that You distribute, alongside or as an addendum to the NOTICE text from the Work, provided that such additional attribution notices cannot be construed as modifying the License. You may add Your own copyright statement to Your modifications and may provide additional or different license terms and conditions for use, reproduction, or distribution of Your modifications, or for any such Derivative Works as a whole, provided Your use, reproduction, and distribution of the Work otherwise complies with the conditions stated in this License. 5. Submission of Contributions. Unless You explicitly state otherwise, any Contribution intentionally submitted for inclusion in the Work by You to the Licensor shall be under the terms and conditions of this License, without any additional terms or conditions. Notwithstanding the above, nothing herein shall supersede or modify the terms of any separate license agreement you may have executed with Licensor regarding such Contributions. 6. Trademarks. This License does not grant permission to use the trade names, trademarks, service marks, or product names of the Licensor and its affiliates, except as required to comply with Section 4(c) of the License and to reproduce the content of the NOTICE file. 7. Disclaimer of Warranty. Unless required by applicable law or agreed to in writing, Licensor provides the Work (and each Contributor provides its Contributions) on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied, including, without limitation, any warranties or conditions of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A PARTICULAR PURPOSE. You are solely responsible for determining the appropriateness of using or redistributing the Work and assume any risks associated with Your exercise of permissions under this License. 8. Limitation of Liability. In no event and under no legal theory, whether in tort (including negligence), contract, or otherwise, unless required by applicable law (such as deliberate and grossly negligent acts) or agreed to in writing, shall any Contributor be liable to You for damages, including any direct, indirect, special, incidental, or consequential damages of any character arising as a result of this License or out of the use or inability to use the Work (including but not limited to damages for loss of goodwill, work stoppage, computer failure or malfunction, or any and all other commercial damages or losses), even if such Contributor has been advised of the possibility of such damages. 9. Accepting Warranty or Additional Liability. While redistributing the Work or Derivative Works thereof, You may choose to offer, and charge a fee for, acceptance of support, warranty, indemnity, or other liability obligations and/or rights consistent with this License. However, in accepting such obligations, You may act only on Your own behalf and on Your sole responsibility, not on behalf of any other Contributor, and only if You agree to indemnify, defend, and hold each Contributor harmless for any liability incurred by, or claims asserted against, such Contributor by reason of your accepting any such warranty or additional liability.

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gazebosim/gz-omni/PACKAGE-LICENSES/glew-LICENSE.md

The OpenGL Extension Wrangler Library Copyright (C) 2002-2007, Milan Ikits <milan ikits[]ieee org> Copyright (C) 2002-2007, Marcelo E. Magallon <mmagallo[]debian org> Copyright (C) 2002, Lev Povalahev All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * 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. * The name of the author 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 OWNER 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. Mesa 3-D graphics library Version: 7.0 Copyright (C) 1999-2007 Brian Paul All Rights Reserved. Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions: The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software. THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL BRIAN PAUL BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. Copyright (c) 2007 The Khronos Group Inc. Permission is hereby granted, free of charge, to any person obtaining a copy of this software and/or associated documentation files (the "Materials"), to deal in the Materials without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Materials, and to permit persons to whom the Materials are furnished to do so, subject to the following conditions: The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Materials. THE MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE MATERIALS OR THE USE OR OTHER DEALINGS IN THE MATERIALS.

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gazebosim/gz-omni/source/ignition_live/ThreadSafe.hpp

/* * Copyright (C) 2022 Open Source Robotics Foundation * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. * */ #ifndef IGNITION_OMNIVERSE_THREADSAFE_HPP #define IGNITION_OMNIVERSE_THREADSAFE_HPP #include <mutex> namespace ignition::omniverse { /// \brief Make an object threadsafe by locking it behind a mutex. template <typename T, typename MutexT = std::recursive_mutex> class ThreadSafe { public: class Ref { public: Ref(T& _data, MutexT& _m); ~Ref(); // don't allow copying and moving Ref(const Ref&) = delete; Ref(Ref&&) = delete; Ref& operator=(const Ref&) = delete; T& operator*(); T& operator->(); private: MutexT& m; T& data; }; /// \brief Takes ownership of the data. explicit ThreadSafe(T&& _data); // don't allow copying ThreadSafe(const ThreadSafe&) = delete; ThreadSafe& operator=(const ThreadSafe&) = delete; // moving is ok ThreadSafe(ThreadSafe&&) = default; /// \brief Locks the mutex Ref Lock(); private: T data; MutexT mutex; }; template <typename T, typename MutexT> ThreadSafe<T, MutexT>::Ref::Ref(T& _data, MutexT& _m) : data(_data), m(_m) { this->m.lock(); } template <typename T, typename MutexT> ThreadSafe<T, MutexT>::Ref::~Ref() { this->m.unlock(); } template <typename T, typename MutexT> T& ThreadSafe<T, MutexT>::Ref::operator*() { return this->data; } template <typename T, typename MutexT> T& ThreadSafe<T, MutexT>::Ref::operator->() { return this->data; } template <typename T, typename MutexT> ThreadSafe<T, MutexT>::ThreadSafe(T&& _data) : data(_data) { } template <typename T, typename MutexT> typename ThreadSafe<T, MutexT>::Ref ThreadSafe<T, MutexT>::Lock() { return Ref(this->data, this->mutex); } } // namespace ignition::omniverse #endif

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gazebosim/gz-omni/source/ignition_live/SetOp.hpp

/* * Copyright (C) 2022 Open Source Robotics Foundation * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. * */ #ifndef IGNITION_OMNIVERSE_SET_OP_HPP #define IGNITION_OMNIVERSE_SET_OP_HPP #include <pxr/base/gf/vec3f.h> #include <pxr/usd/usdGeom/xform.h> namespace ignition { namespace omniverse { // A utility class to set the position, rotation, or scale values class SetOp { public: SetOp(pxr::UsdGeomXformable& xForm, pxr::UsdGeomXformOp& op, pxr::UsdGeomXformOp::Type opType, const pxr::GfVec3d& value, const pxr::UsdGeomXformOp::Precision precision) { if (!op) { op = xForm.AddXformOp(opType, precision); } if (op.GetPrecision() == pxr::UsdGeomXformOp::Precision::PrecisionFloat) op.Set(pxr::GfVec3f(value)); else op.Set(value); } }; } // namespace omniverse } // namespace ignition #endif

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gazebosim/gz-omni/source/ignition_live/OmniClientpp.cpp

/* * Copyright (C) 2022 Open Source Robotics Foundation * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. * */ #include "OmniClientpp.hpp" #include <ignition/common/Console.hh> #include <OmniClient.h> namespace ignition::omniverse { OmniverseLock::OmniverseLock(const std::string& _url) : url(_url) { omniClientLock(this->url.c_str(), nullptr, nullptr); } OmniverseLock::~OmniverseLock() { omniClientUnlock(this->url.c_str(), nullptr, nullptr); } bool CheckClientResult(OmniClientResult result) { return result == eOmniClientResult_Ok || result == eOmniClientResult_OkLatest; } OmniverseSync::MaybeError<OmniClientListEntry> OmniverseSync::Stat( const std::string& url) noexcept { MaybeError<OmniClientListEntry> ret(eOmniClientResult_Error); omniClientWait(omniClientStat( url.c_str(), &ret, [](void* userData, OmniClientResult clientResult, const OmniClientListEntry* entry) noexcept { auto* ret = reinterpret_cast<MaybeError<OmniClientListEntry>*>(userData); if (!CheckClientResult(clientResult)) { *ret = clientResult; return; } *ret = *entry; })); return ret; } } // namespace ignition::omniverse

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gazebosim/gz-omni/source/ignition_live/OmniverseConnect.hpp

/* * Copyright (C) 2022 Open Source Robotics Foundation * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. * */ #ifndef IGNITION_OMNIVERSE_CONNECT_HPP #define IGNITION_OMNIVERSE_CONNECT_HPP #include "OmniClientpp.hpp" #include <pxr/usd/usd/stage.h> #include <OmniClient.h> #include <OmniUsdLive.h> #include <string> // Global for making the logging reasonable static std::mutex gLogMutex; namespace ignition::omniverse { static std::string normalizedStageUrl; // Stage URL really only needs to contain the server in the URL. eg. // omniverse://ov-prod void PrintConnectedUsername(const std::string& stageUrl); /// \brief Creates a new ignition stage in omniverse, does nothing if the /// stage already exists. /// \details The new stage is authored with ignition metadata. /// \return The url of the stage MaybeError<std::string, GenericError> CreateOmniverseModel( const std::string& destinationPath); void CheckpointFile(const char* stageUrl, const char* comment); // Startup Omniverse bool StartOmniverse(); } // namespace ignition::omniverse #endif

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gazebosim/gz-omni/source/ignition_live/GetOp.hpp

/* * Copyright (C) 2022 Open Source Robotics Foundation * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. * */ #ifndef IGNITION_OMNIVERSE_GET_OP_HPP #define IGNITION_OMNIVERSE_GET_OP_HPP #include <pxr/base/gf/vec3f.h> #include <pxr/base/gf/quatf.h> #include <pxr/usd/usdGeom/xform.h> #include <pxr/usd/usdGeom/xformCommonAPI.h> #include <ignition/math/Quaternion.hh> namespace ignition { namespace omniverse { // A utility class to get the position, rotation, or scale values class GetOp { public: GetOp(pxr::UsdGeomXformable& xForm) { this->position = pxr::GfVec3d(0); this->rotXYZ = pxr::GfVec3f(0); this->scale = pxr::GfVec3f(1); ignition::math::Quaterniond orientQuat; bool resetXformStack = false; std::vector<pxr::UsdGeomXformOp> xFormOps = xForm.GetOrderedXformOps(&resetXformStack); // Get the current xform op values for (size_t i = 0; i < xFormOps.size(); i++) { switch (xFormOps[i].GetOpType()) { case pxr::UsdGeomXformOp::TypeTranslate: translateOp = xFormOps[i]; translateOp.Get(&this->position); break; case pxr::UsdGeomXformOp::TypeRotateXYZ: rotateOp = xFormOps[i]; rotateOp.Get(&this->rotXYZ); break; case pxr::UsdGeomXformOp::TypeOrient: rotateOp = xFormOps[i]; rotateOp.Get(&this->rotQ); orientQuat = ignition::math::Quaterniond( this->rotQ.GetReal(), this->rotQ.GetImaginary()[0], this->rotQ.GetImaginary()[1], this->rotQ.GetImaginary()[2]); this->rotXYZ = pxr::GfVec3f( orientQuat.Roll(), orientQuat.Pitch(), orientQuat.Yaw()); break; case pxr::UsdGeomXformOp::TypeScale: scaleOp = xFormOps[i]; scaleOp.Get(&this->scale); break; } } } // Define storage for the different xform ops that Omniverse Kit likes to use pxr::UsdGeomXformOp translateOp; pxr::UsdGeomXformOp rotateOp; pxr::UsdGeomXformOp scaleOp; pxr::GfVec3d position; pxr::GfVec3f rotXYZ; pxr::GfVec3f scale; pxr::GfQuatf rotQ; }; } // namespace omniverse } // namespace ignition #endif

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gazebosim/gz-omni/source/ignition_live/Error.hpp

/* * Copyright (C) 2022 Open Source Robotics Foundation * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. * */ #ifndef IGNITION_OMNIVERSE_ERROR_HPP #define IGNITION_OMNIVERSE_ERROR_HPP #include <string> #include <variant> namespace ignition::omniverse { class GenericError { public: std::string message; explicit GenericError(const std::string& _message) : message(_message) {} friend std::ostream& operator<<(std::ostream& _output, const GenericError& _error) { _output << _error.message; return _output; } }; /// \brief Represents the result of a function which may contain an error. template <typename T, typename ErrorT> class MaybeError { public: // allow implicit conversion MaybeError(const T& _val) : data(_val) {} MaybeError(const ErrorT& _error) : data(_error) {} /// \brief `true` if there is no error explicit operator bool() const { return !std::holds_alternative<ErrorT>(this->data); } /// \brief Get the value of the result, throws if there is an error. const T& Value() const { return std::get<T>(this->data); } /// \brief Get the error, throws if there is no error. const ErrorT& Error() const { return std::get<ErrorT>(this->data); } private: std::variant<T, ErrorT> data; }; } // namespace ignition::omniverse #endif

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gazebosim/gz-omni/source/ignition_live/FUSDLayerNoticeListener.cpp

/* * Copyright (C) 2022 Open Source Robotics Foundation * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. * */ #include "FUSDLayerNoticeListener.hpp" #include <memory> #include <string> #include <ignition/transport/Node.hh> namespace ignition { namespace omniverse { class FUSDLayerNoticeListener::Implementation { public: std::shared_ptr<ThreadSafe<pxr::UsdStageRefPtr>> stage; std::string worldName; ignition::transport::Node node; }; FUSDLayerNoticeListener::FUSDLayerNoticeListener( std::shared_ptr<ThreadSafe<pxr::UsdStageRefPtr>> &_stage, const std::string& _worldName) : dataPtr(ignition::utils::MakeUniqueImpl<Implementation>()) { this->dataPtr->stage = _stage; this->dataPtr->worldName = _worldName; } void FUSDLayerNoticeListener::HandleGlobalLayerReload( const pxr::SdfNotice::LayerDidReloadContent& n) { igndbg << "HandleGlobalLayerReload called" << std::endl; } // Print some interesting info about the LayerNotice void FUSDLayerNoticeListener::HandleRootOrSubLayerChange( const class pxr::SdfNotice::LayersDidChangeSentPerLayer& _layerNotice, const pxr::TfWeakPtr<pxr::SdfLayer>& _sender) { auto iter = _layerNotice.find(_sender); for (auto & changeEntry : iter->second.GetEntryList()) { const pxr::SdfPath& sdfPath = changeEntry.first; if (changeEntry.second.flags.didRemoveNonInertPrim) { ignition::msgs::Entity req; req.set_name(sdfPath.GetName()); req.set_type(ignition::msgs::Entity::MODEL); ignition::msgs::Boolean rep; bool result; unsigned int timeout = 5000; bool executed = this->dataPtr->node.Request( "/world/" + this->dataPtr->worldName + "/remove", req, timeout, rep, result); if (executed) { if (rep.data()) { igndbg << "Model was removed [" << sdfPath.GetName() << "]" << std::endl; this->dataPtr->stage->Lock()->RemovePrim(sdfPath); } else { ignerr << "Error model was not removed [" << sdfPath.GetName() << "]" << std::endl; } } ignmsg << "Deleted " << sdfPath.GetName() << std::endl; } else if (changeEntry.second.flags.didAddNonInertPrim) { ignmsg << "Added" << sdfPath.GetName() << std::endl; } } } } }

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gazebosim/gz-omni/source/ignition_live/OmniverseConnect.cpp

/* * Copyright (C) 2022 Open Source Robotics Foundation * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. * */ #include "OmniverseConnect.hpp" #include <ignition/common/Console.hh> #include <pxr/base/gf/vec3f.h> #include <pxr/usd/usd/notice.h> #include <pxr/usd/usd/stage.h> #include <pxr/usd/usd/primRange.h> #include <pxr/usd/usdGeom/cylinder.h> #include <pxr/usd/usdGeom/metrics.h> #include <pxr/usd/usdGeom/xform.h> #include <iostream> #include <mutex> #include <string> namespace ignition { namespace omniverse { // Stage URL really only needs to contain the server in the URL. eg. // omniverse://ov-prod void PrintConnectedUsername(const std::string& stageUrl) { // Get the username for the connection std::string userName("_none_"); omniClientWait(omniClientGetServerInfo( stageUrl.c_str(), &userName, [](void* userData, OmniClientResult result, struct OmniClientServerInfo const* info) noexcept { std::string* userName = static_cast<std::string*>(userData); if (userData && userName && info && info->username) { userName->assign(info->username); } })); { std::unique_lock<std::mutex> lk(gLogMutex); ignmsg << "Connected username: " << userName << std::endl; } } // This struct is context for the omniClientStatSubscribe() callbacks struct StatSubscribeContext { std::string* stageUrlPtr; pxr::UsdStageRefPtr stage; }; // Called immediately due to the stat subscribe function static void clientStatCallback(void* userData, OmniClientResult result, struct OmniClientListEntry const* entry) noexcept { StatSubscribeContext* context = static_cast<StatSubscribeContext*>(userData); if (result != OmniClientResult::eOmniClientResult_Ok) { ignerr << "stage not found: " << *context->stageUrlPtr << std::endl; exit(1); } } // Called due to the stat subscribe function when the file is updated static void clientStatSubscribeCallback( void* userData, OmniClientResult result, OmniClientListEvent listEvent, struct OmniClientListEntry const* entry) noexcept { StatSubscribeContext* context = static_cast<StatSubscribeContext*>(userData); switch (listEvent) { case eOmniClientListEvent_Updated: { ignmsg << "Updated - user: " << entry->modifiedBy << " version: " << entry->version << std::endl; // Mark the last updated time // *context->lastUpdatedTimePtr = std::time(0); break; } case eOmniClientListEvent_Created: ignmsg << "Created: " << entry->createdBy << std::endl; break; case eOmniClientListEvent_Deleted: ignmsg << "Deleted: " << entry->createdBy << std::endl; exit(1); break; case eOmniClientListEvent_Locked: ignmsg << "Locked: " << entry->createdBy << std::endl; break; default: break; } } MaybeError<std::string, GenericError> CreateOmniverseModel( const std::string& destinationPath) { std::string stageUrl = destinationPath; // Normalize the URL because the omniUsdLiveSetModeForUrl() interface keys off // of the _normalized_ stage path std::string normalizedStageUrl; char* normalizedStageBuffer = nullptr; size_t bufferSize = 0; omniClientNormalizeUrl(stageUrl.c_str(), normalizedStageUrl.data(), &bufferSize); normalizedStageUrl.reserve(bufferSize); normalizedStageUrl += omniClientNormalizeUrl( stageUrl.c_str(), normalizedStageUrl.data(), &bufferSize); // according to usd docs, `UsdStage::Open` should auto create a new stage // if the path doesn't exist, but this doesn't work in omniverse for // some reason. So we check if the path exist and use `UsdStage::CreateNew`, // if it does not. auto entry = OmniverseSync::Stat(normalizedStageUrl); if (!entry) { if (entry.Error() != eOmniClientResult_ErrorNotFound) { auto errString = omniClientGetResultString(entry.Error()); return GenericError("Failure to create stage in Omniverse (" + std::string(errString) + ")"); } else { auto stage = pxr::UsdStage::CreateNew(normalizedStageUrl); // Specify ignition up-ness and units. pxr::UsdGeomSetStageUpAxis(stage, pxr::UsdGeomTokens->z); pxr::UsdGeomSetStageMetersPerUnit(stage, 1); stage->SetMetadata(pxr::SdfFieldKeys->Comment, "Created by ignition-omniverse"); stage->Save(); ignmsg << "Created omniverse stage at [" << normalizedStageUrl << "]" << std::endl; } } return normalizedStageUrl; } void CheckpointFile(const char* stageUrl, const char* comment) { bool bCheckpointsSupported = false; omniClientWait(omniClientGetServerInfo( stageUrl, &bCheckpointsSupported, [](void* UserData, OmniClientResult Result, OmniClientServerInfo const* Info) noexcept { if (Result == eOmniClientResult_Ok && Info && UserData) { bool* bCheckpointsSupported = static_cast<bool*>(UserData); *bCheckpointsSupported = Info->checkpointsEnabled; } })); if (bCheckpointsSupported) { const bool bForceCheckpoint = true; omniClientWait(omniClientCreateCheckpoint( stageUrl, comment, bForceCheckpoint, nullptr, [](void* userData, OmniClientResult result, char const* checkpointQuery) noexcept {})); } } // Startup Omniverse bool StartOmniverse() { // Register a function to be called whenever the library wants to print // something to a log omniClientSetLogCallback( [](char const* threadName, char const* component, OmniClientLogLevel level, char const* message) noexcept { std::unique_lock<std::mutex> lk(gLogMutex); switch (level) { case eOmniClientLogLevel_Debug: case eOmniClientLogLevel_Verbose: igndbg << "(" << component << ") " << message << std::endl; break; case eOmniClientLogLevel_Info: ignmsg << "(" << component << ") " << message << std::endl; break; case eOmniClientLogLevel_Warning: ignwarn << "(" << component << ") " << message << std::endl; break; case eOmniClientLogLevel_Error: ignerr << "(" << component << ") " << message << std::endl; break; default: igndbg << "(" << component << ") " << message << std::endl; } }); // The default log level is "Info", set it to "Debug" to see all messages omniClientSetLogLevel(eOmniClientLogLevel_Info); // Initialize the library and pass it the version constant defined in // OmniClient.h This allows the library to verify it was built with a // compatible version. It will return false if there is a version mismatch. if (!omniClientInitialize(kOmniClientVersion)) { return false; } omniClientRegisterConnectionStatusCallback( nullptr, [](void* userData, const char* url, OmniClientConnectionStatus status) noexcept { std::unique_lock<std::mutex> lk(gLogMutex); ignmsg << "Connection Status: " << omniClientGetConnectionStatusString(status) << " [" << url << "]" << std::endl; if (status == eOmniClientConnectionStatus_ConnectError) { // We shouldn't just exit here - we should clean up a bit, but we're // going to do it anyway ignerr << "Failed connection, exiting." << std::endl; exit(-1); } }); // Enable live updates omniUsdLiveSetDefaultEnabled(true); return true; } } // namespace omniverse } // namespace ignition

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gazebosim/gz-omni/source/ignition_live/Material.hpp

/* * Copyright (C) 2022 Open Source Robotics Foundation * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. * */ #ifndef IGNITION_OMNIVERSE_MATERIAL_HPP #define IGNITION_OMNIVERSE_MATERIAL_HPP #include <ignition/msgs/visual.pb.h> #include <pxr/usd/usd/stage.h> #include <pxr/usd/usdGeom/gprim.h> #include <pxr/usd/usdShade/material.h> namespace ignition { namespace omniverse { bool SetMaterial(const pxr::UsdGeomGprim& _gprim, const ignition::msgs::Visual& _visualMsg, const pxr::UsdStageRefPtr& _stage, const std::string& _stageDirUrl); } } // namespace ignition #endif

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gazebosim/gz-omni/source/ignition_live/Scene.cpp

/* * Copyright (C) 2022 Open Source Robotics Foundation * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. * */ #include "Scene.hpp" #include "FUSDLayerNoticeListener.hpp" #include "FUSDNoticeListener.hpp" #include "Material.hpp" #include "Mesh.hpp" #include <ignition/common/Console.hh> #include <ignition/common/Filesystem.hh> #include <ignition/math/Quaternion.hh> #include <pxr/usd/usd/primRange.h> #include <pxr/usd/usdGeom/camera.h> #include <pxr/usd/usdGeom/xform.h> #include <pxr/usd/usdLux/diskLight.h> #include <pxr/usd/usdLux/distantLight.h> #include <pxr/usd/usdLux/sphereLight.h> #include <algorithm> #include <chrono> #include <string> #include <thread> #include <vector> #include <pxr/base/tf/nullPtr.h> using namespace std::chrono_literals; namespace ignition { namespace omniverse { class Scene::Implementation { public: std::string worldName; std::shared_ptr<ThreadSafe<pxr::UsdStageRefPtr>> stage; ignition::transport::Node node; std::string stageDirUrl; std::unordered_map<uint32_t, pxr::UsdPrim> entities; std::unordered_map<std::string, uint32_t> entitiesByName; std::shared_ptr<FUSDLayerNoticeListener> USDLayerNoticeListener; std::shared_ptr<FUSDNoticeListener> USDNoticeListener; Simulator simulatorPoses = {Simulator::Ignition}; bool UpdateSensors(const ignition::msgs::Sensor &_sensor, const std::string &_usdSensorPath); bool UpdateLights(const ignition::msgs::Light &_light, const std::string &_usdLightPath); bool UpdateScene(const ignition::msgs::Scene &_scene); bool UpdateVisual(const ignition::msgs::Visual &_visual, const std::string &_usdPath); bool UpdateLink(const ignition::msgs::Link &_link, const std::string &_usdModelPath); bool UpdateJoint(const ignition::msgs::Joint &_joint, const std::string &_modelName); bool UpdateModel(const ignition::msgs::Model &_model); void SetPose(const pxr::UsdGeomXformCommonAPI &_prim, const ignition::msgs::Pose &_pose); void ResetPose(const pxr::UsdGeomXformCommonAPI &_prim); void SetScale(const pxr::UsdGeomXformCommonAPI &_xform, const ignition::msgs::Vector3d &_scale); void ResetScale(const pxr::UsdGeomXformCommonAPI &_prim); void CallbackPoses(const ignition::msgs::Pose_V &_msg); void CallbackJoint(const ignition::msgs::Model &_msg); void CallbackScene(const ignition::msgs::Scene &_scene); void CallbackSceneDeletion(const ignition::msgs::UInt32_V &_msg); }; ////////////////////////////////////////////////// Scene::Scene( const std::string &_worldName, const std::string &_stageUrl, Simulator _simulatorPoses) : dataPtr(ignition::utils::MakeUniqueImpl<Implementation>()) { ignmsg << "Opened stage [" << _stageUrl << "]" << std::endl; this->dataPtr->worldName = _worldName; this->dataPtr->stage = std::make_shared<ThreadSafe<pxr::UsdStageRefPtr>>( pxr::UsdStage::Open(_stageUrl)); this->dataPtr->stageDirUrl = ignition::common::parentPath(_stageUrl); this->dataPtr->simulatorPoses = _simulatorPoses; } // ////////////////////////////////////////////////// std::shared_ptr<ThreadSafe<pxr::UsdStageRefPtr>> &Scene::Stage() { return this->dataPtr->stage; } ////////////////////////////////////////////////// void Scene::Implementation::SetPose(const pxr::UsdGeomXformCommonAPI &_prim, const ignition::msgs::Pose &_pose) { if (this->simulatorPoses == Simulator::Ignition) { if (_prim) { pxr::UsdGeomXformCommonAPI xformApi(_prim); const auto &pos = _pose.position(); const auto &orient = _pose.orientation(); ignition::math::Quaterniond quat(orient.w(), orient.x(), orient.y(), orient.z()); xformApi.SetTranslate(pxr::GfVec3d(pos.x(), pos.y(), pos.z())); xformApi.SetRotate(pxr::GfVec3f( ignition::math::Angle(quat.Roll()).Degree(), ignition::math::Angle(quat.Pitch()).Degree(), ignition::math::Angle(quat.Yaw()).Degree()), pxr::UsdGeomXformCommonAPI::RotationOrderXYZ); } } } ////////////////////////////////////////////////// void Scene::Implementation::ResetPose(const pxr::UsdGeomXformCommonAPI &_prim) { pxr::UsdGeomXformCommonAPI xformApi(_prim); xformApi.SetTranslate(pxr::GfVec3d(0)); xformApi.SetRotate(pxr::GfVec3f(0)); } ////////////////////////////////////////////////// void Scene::Implementation::SetScale(const pxr::UsdGeomXformCommonAPI &_prim, const ignition::msgs::Vector3d &_scale) { pxr::UsdGeomXformCommonAPI xformApi(_prim); xformApi.SetScale(pxr::GfVec3f(_scale.x(), _scale.y(), _scale.z())); } ////////////////////////////////////////////////// void Scene::Implementation::ResetScale(const pxr::UsdGeomXformCommonAPI &_prim) { pxr::UsdGeomXformCommonAPI xformApi(_prim); xformApi.SetScale(pxr::GfVec3f(1)); } ////////////////////////////////////////////////// bool Scene::Implementation::UpdateVisual(const ignition::msgs::Visual &_visual, const std::string &_usdLinkPath) { auto stage = this->stage->Lock(); std::string visualName = _visual.name(); std::string suffix = "_visual"; std::size_t found = visualName.find("_visual"); if (found != std::string::npos) { suffix = ""; } std::string usdVisualPath = _usdLinkPath + "/" + _visual.name() + suffix; auto prim = stage->GetPrimAtPath(pxr::SdfPath(usdVisualPath)); if (prim) return true; auto usdVisualXform = pxr::UsdGeomXform::Define(*stage, pxr::SdfPath(usdVisualPath)); pxr::UsdGeomXformCommonAPI xformApi(usdVisualXform); if (_visual.has_scale()) { this->SetScale(xformApi, _visual.scale()); } else { this->ResetScale(xformApi); } if (_visual.has_pose()) { this->SetPose(xformApi, _visual.pose()); } else { this->ResetPose(xformApi); } this->entities[_visual.id()] = usdVisualXform.GetPrim(); this->entitiesByName[usdVisualXform.GetPrim().GetName()] = _visual.id(); std::string usdGeomPath(usdVisualPath + "/geometry"); const auto &geom = _visual.geometry(); switch (geom.type()) { case ignition::msgs::Geometry::BOX: { auto usdCube = pxr::UsdGeomCube::Define(*stage, pxr::SdfPath(usdGeomPath)); usdCube.CreateSizeAttr().Set(1.0); pxr::GfVec3f endPoint(0.5); pxr::VtArray<pxr::GfVec3f> extentBounds; extentBounds.push_back(-1.0 * endPoint); extentBounds.push_back(endPoint); usdCube.CreateExtentAttr().Set(extentBounds); pxr::UsdGeomXformCommonAPI cubeXformAPI(usdCube); cubeXformAPI.SetScale(pxr::GfVec3f( geom.box().size().x(), geom.box().size().y(), geom.box().size().z())); if (!SetMaterial(usdCube, _visual, *stage, this->stageDirUrl)) { ignwarn << "Failed to set material" << std::endl; } break; } // TODO: Support cone // case ignition::msgs::Geometry::CONE: case ignition::msgs::Geometry::CYLINDER: { auto usdCylinder = pxr::UsdGeomCylinder::Define(*stage, pxr::SdfPath(usdGeomPath)); double radius = geom.cylinder().radius(); double length = geom.cylinder().length(); usdCylinder.CreateRadiusAttr().Set(radius); usdCylinder.CreateHeightAttr().Set(length); pxr::GfVec3f endPoint(radius); endPoint[2] = length * 0.5; pxr::VtArray<pxr::GfVec3f> extentBounds; extentBounds.push_back(-1.0 * endPoint); extentBounds.push_back(endPoint); usdCylinder.CreateExtentAttr().Set(extentBounds); if (!SetMaterial(usdCylinder, _visual, *stage, this->stageDirUrl)) { ignwarn << "Failed to set material" << std::endl; } break; } case ignition::msgs::Geometry::PLANE: { auto usdCube = pxr::UsdGeomCube::Define(*stage, pxr::SdfPath(usdGeomPath)); usdCube.CreateSizeAttr().Set(1.0); pxr::GfVec3f endPoint(0.5); pxr::VtArray<pxr::GfVec3f> extentBounds; extentBounds.push_back(-1.0 * endPoint); extentBounds.push_back(endPoint); usdCube.CreateExtentAttr().Set(extentBounds); pxr::UsdGeomXformCommonAPI cubeXformAPI(usdCube); cubeXformAPI.SetScale( pxr::GfVec3f(geom.plane().size().x(), geom.plane().size().y(), 0.0025)); if (!SetMaterial(usdCube, _visual, *stage, this->stageDirUrl)) { ignwarn << "Failed to set material" << std::endl; } break; } case ignition::msgs::Geometry::ELLIPSOID: { auto usdEllipsoid = pxr::UsdGeomSphere::Define(*stage, pxr::SdfPath(usdGeomPath)); const auto maxRadii = ignition::math::Vector3d(geom.ellipsoid().radii().x(), geom.ellipsoid().radii().y(), geom.ellipsoid().radii().z()) .Max(); usdEllipsoid.CreateRadiusAttr().Set(0.5); pxr::UsdGeomXformCommonAPI xform(usdEllipsoid); xform.SetScale(pxr::GfVec3f{ static_cast<float>(geom.ellipsoid().radii().x() / maxRadii), static_cast<float>(geom.ellipsoid().radii().y() / maxRadii), static_cast<float>(geom.ellipsoid().radii().z() / maxRadii), }); // extents is the bounds before any transformation pxr::VtArray<pxr::GfVec3f> extentBounds; extentBounds.push_back(pxr::GfVec3f{static_cast<float>(-maxRadii)}); extentBounds.push_back(pxr::GfVec3f{static_cast<float>(maxRadii)}); usdEllipsoid.CreateExtentAttr().Set(extentBounds); if (!SetMaterial(usdEllipsoid, _visual, *stage, this->stageDirUrl)) { ignwarn << "Failed to set material" << std::endl; } break; } case ignition::msgs::Geometry::SPHERE: { auto usdSphere = pxr::UsdGeomSphere::Define(*stage, pxr::SdfPath(usdGeomPath)); double radius = geom.sphere().radius(); usdSphere.CreateRadiusAttr().Set(radius); pxr::VtArray<pxr::GfVec3f> extentBounds; extentBounds.push_back(pxr::GfVec3f(-1.0 * radius)); extentBounds.push_back(pxr::GfVec3f(radius)); usdSphere.CreateExtentAttr().Set(extentBounds); if (!SetMaterial(usdSphere, _visual, *stage, this->stageDirUrl)) { ignwarn << "Failed to set material" << std::endl; } break; } case ignition::msgs::Geometry::CAPSULE: { auto usdCapsule = pxr::UsdGeomCapsule::Define(*stage, pxr::SdfPath(usdGeomPath)); double radius = geom.capsule().radius(); double length = geom.capsule().length(); usdCapsule.CreateRadiusAttr().Set(radius); usdCapsule.CreateHeightAttr().Set(length); pxr::GfVec3f endPoint(radius); endPoint[2] += 0.5 * length; pxr::VtArray<pxr::GfVec3f> extentBounds; extentBounds.push_back(-1.0 * endPoint); extentBounds.push_back(endPoint); usdCapsule.CreateExtentAttr().Set(extentBounds); if (!SetMaterial(usdCapsule, _visual, *stage, this->stageDirUrl)) { ignwarn << "Failed to set material" << std::endl; } break; } case ignition::msgs::Geometry::MESH: { auto usdMesh = UpdateMesh(geom.mesh(), usdGeomPath, *stage); if (!usdMesh) { ignerr << "Failed to update visual [" << _visual.name() << "]" << std::endl; return false; } if (!SetMaterial(usdMesh, _visual, *stage, this->stageDirUrl)) { ignerr << "Failed to update visual [" << _visual.name() << "]" << std::endl; return false; } break; } default: ignerr << "Failed to update geometry (unsuported geometry type '" << _visual.type() << "')" << std::endl; return false; } // TODO(ahcorde): When usdphysics will be available in nv-usd we should // replace this code with pxr::UsdPhysicsCollisionAPI::Apply(geomPrim) pxr::TfToken appliedSchemaNamePhysicsCollisionAPI("PhysicsCollisionAPI"); pxr::SdfPrimSpecHandle primSpec = pxr::SdfCreatePrimInLayer( stage->GetEditTarget().GetLayer(), pxr::SdfPath(usdGeomPath)); pxr::SdfTokenListOp listOpPanda; // Use ReplaceOperations to append in place. if (!listOpPanda.ReplaceOperations(pxr::SdfListOpTypeExplicit, 0, 0, {appliedSchemaNamePhysicsCollisionAPI})) { ignerr << "Error Applying schema PhysicsCollisionAPI" << '\n'; } primSpec->SetInfo( pxr::UsdTokens->apiSchemas, pxr::VtValue::Take(listOpPanda)); return true; } ////////////////////////////////////////////////// bool Scene::Implementation::UpdateLink(const ignition::msgs::Link &_link, const std::string &_usdModelPath) { auto stage = this->stage->Lock(); std::string linkName = _link.name(); std::string suffix = "_link"; std::size_t found = linkName.find("_link"); if (found != std::string::npos) { suffix = ""; } std::string usdLinkPath = _usdModelPath + "/" + _link.name(); auto prim = stage->GetPrimAtPath(pxr::SdfPath(usdLinkPath)); if (prim) { return true; } else { usdLinkPath = _usdModelPath + "/" + _link.name() + suffix; prim = stage->GetPrimAtPath(pxr::SdfPath(usdLinkPath)); if (prim) { return true; } } auto xform = pxr::UsdGeomXform::Define(*stage, pxr::SdfPath(usdLinkPath)); pxr::UsdGeomXformCommonAPI xformApi(xform); if (_link.has_pose()) { this->SetPose(xformApi, _link.pose()); } else { this->ResetPose(xformApi); } this->entities[_link.id()] = xform.GetPrim(); this->entitiesByName[xform.GetPrim().GetName()] = _link.id(); for (const auto &visual : _link.visual()) { if (!this->UpdateVisual(visual, usdLinkPath)) { ignerr << "Failed to update link [" << _link.name() << "]" << std::endl; return false; } } for (const auto &sensor : _link.sensor()) { std::string usdSensorPath = usdLinkPath + "/" + sensor.name(); if (!this->UpdateSensors(sensor, usdSensorPath)) { ignerr << "Failed to add sensor [" << usdSensorPath << "]" << std::endl; return false; } } for (const auto &light : _link.light()) { if (!this->UpdateLights(light, usdLinkPath + "/" + light.name())) { ignerr << "Failed to add light [" << usdLinkPath + "/" + light.name() << "]" << std::endl; return false; } } return true; } ////////////////////////////////////////////////// bool Scene::Implementation::UpdateJoint( const ignition::msgs::Joint &_joint, const std::string &_modelName) { auto stage = this->stage->Lock(); auto jointUSD = stage->GetPrimAtPath(pxr::SdfPath("/" + worldName + "/" + _joint.name())); // TODO(ahcorde): This code is duplicated in the sdformat converter. if (!jointUSD) { jointUSD = stage->GetPrimAtPath( pxr::SdfPath( "/" + worldName + "/" + _modelName + "/" + _joint.name())); if (!jointUSD) { switch (_joint.type()) { case ignition::msgs::Joint::FIXED: { pxr::TfToken usdPrimTypeName("PhysicsFixedJoint"); auto jointFixedUSD = stage->DefinePrim( pxr::SdfPath("/" + this->worldName + "/" + _joint.name()), usdPrimTypeName); auto body0 = jointFixedUSD.CreateRelationship( pxr::TfToken("physics:body0"), false); body0.AddTarget(pxr::SdfPath( "/" + this->worldName + "/" + _joint.parent())); auto body1 = jointFixedUSD.CreateRelationship( pxr::TfToken("physics:body1"), false); body1.AddTarget(pxr::SdfPath( "/" + this->worldName + "/" + _joint.child())); jointFixedUSD.CreateAttribute(pxr::TfToken("physics:localPos1"), pxr::SdfValueTypeNames->Point3fArray, false).Set( pxr::GfVec3f(0, 0, 0)); jointFixedUSD.CreateAttribute(pxr::TfToken("physics:localPos0"), pxr::SdfValueTypeNames->Point3fArray, false).Set( pxr::GfVec3f(_joint.pose().position().x(), _joint.pose().position().y(), _joint.pose().position().z())); return true; } case ignition::msgs::Joint::REVOLUTE: { igndbg << "Creating a revolute joint" << '\n'; pxr::TfToken usdPrimTypeName("PhysicsRevoluteJoint"); auto revoluteJointUSD = stage->DefinePrim( pxr::SdfPath("/" + this->worldName + "/" + _joint.name()), usdPrimTypeName); igndbg << "\tParent " << "/" + this->worldName + "/" + _joint.parent() << '\n'; igndbg << "\tchild " << "/" + this->worldName + "/" + _joint.child() << '\n'; pxr::TfTokenVector identifiersBody0 = {pxr::TfToken("physics"), pxr::TfToken("body0")}; if (pxr::UsdRelationship body0 = revoluteJointUSD.CreateRelationship( pxr::TfToken(pxr::SdfPath::JoinIdentifier(identifiersBody0)), false)) { body0.AddTarget( pxr::SdfPath("/" + this->worldName + "/panda/" + _joint.parent()), pxr::UsdListPositionFrontOfAppendList); } else { igndbg << "Not able to create UsdRelationship for body1" << '\n'; } pxr::TfTokenVector identifiersBody1 = {pxr::TfToken("physics"), pxr::TfToken("body1")}; if (pxr::UsdRelationship body1 = revoluteJointUSD.CreateRelationship( pxr::TfToken(pxr::SdfPath::JoinIdentifier(identifiersBody1)), false)) { body1.AddTarget( pxr::SdfPath("/" + this->worldName + "/panda/" + _joint.child()), pxr::UsdListPositionFrontOfAppendList); } else { igndbg << "Not able to create UsdRelationship for body1" << '\n'; } ignition::math::Vector3i axis( _joint.axis1().xyz().x(), _joint.axis1().xyz().y(), _joint.axis1().xyz().z()); if (axis == ignition::math::Vector3i(1, 0, 0)) { revoluteJointUSD.CreateAttribute(pxr::TfToken("physics:axis"), pxr::SdfValueTypeNames->Token, false).Set(pxr::TfToken("X")); } else if (axis == ignition::math::Vector3i(0, 1, 0)) { revoluteJointUSD.CreateAttribute(pxr::TfToken("physics:axis"), pxr::SdfValueTypeNames->Token, false).Set(pxr::TfToken("Y")); } else if (axis == ignition::math::Vector3i(0, 0, 1)) { revoluteJointUSD.CreateAttribute(pxr::TfToken("physics:axis"), pxr::SdfValueTypeNames->Token, false).Set(pxr::TfToken("Z")); } revoluteJointUSD.CreateAttribute(pxr::TfToken("physics:localPos1"), pxr::SdfValueTypeNames->Point3f, false).Set( pxr::GfVec3f(0, 0, 0)); revoluteJointUSD.CreateAttribute(pxr::TfToken("physics:localPos0"), pxr::SdfValueTypeNames->Point3f, false).Set( pxr::GfVec3f( _joint.pose().position().x(), _joint.pose().position().y(), _joint.pose().position().z())); revoluteJointUSD.CreateAttribute( pxr::TfToken("drive:angular:physics:damping"), pxr::SdfValueTypeNames->Float, false).Set(100000.0f); revoluteJointUSD.CreateAttribute( pxr::TfToken("drive:angular:physics:stiffness"), pxr::SdfValueTypeNames->Float, false).Set(1000000.0f); revoluteJointUSD.CreateAttribute( pxr::TfToken("drive:angular:physics:targetPosition"), pxr::SdfValueTypeNames->Float, false).Set(0.0f); revoluteJointUSD.CreateAttribute( pxr::TfToken("physics:lowerLimit"), pxr::SdfValueTypeNames->Float, false).Set( static_cast<float>(_joint.axis1().limit_lower() * 180 / 3.1416)); revoluteJointUSD.CreateAttribute( pxr::TfToken("physics:upperLimit"), pxr::SdfValueTypeNames->Float, false).Set( static_cast<float>(_joint.axis1().limit_upper() * 180 / 3.1416)); pxr::TfToken appliedSchemaNamePhysicsArticulationRootAPI( "PhysicsArticulationRootAPI"); pxr::TfToken appliedSchemaNamePhysxArticulationAPI( "PhysxArticulationAPI"); pxr::SdfPrimSpecHandle primSpecPanda = pxr::SdfCreatePrimInLayer( stage->GetEditTarget().GetLayer(), pxr::SdfPath("/" + this->worldName + "/panda")); pxr::SdfTokenListOp listOpPanda; // Use ReplaceOperations to append in place. if (!listOpPanda.ReplaceOperations( pxr::SdfListOpTypeExplicit, 0, 0, {appliedSchemaNamePhysicsArticulationRootAPI, appliedSchemaNamePhysxArticulationAPI})) { ignerr << "Not able to setup the schema PhysxArticulationAPI " << "and PhysicsArticulationRootAPI\n"; } primSpecPanda->SetInfo( pxr::UsdTokens->apiSchemas, pxr::VtValue::Take(listOpPanda)); pxr::TfToken appliedSchemaName("PhysicsDriveAPI:angular"); pxr::SdfPrimSpecHandle primSpec = pxr::SdfCreatePrimInLayer( stage->GetEditTarget().GetLayer(), pxr::SdfPath("/" + this->worldName + "/" + _joint.name())); pxr::SdfTokenListOp listOp; // Use ReplaceOperations to append in place. if (!listOp.ReplaceOperations(pxr::SdfListOpTypeExplicit, 0, 0, {appliedSchemaName})) { ignerr << "Not able to setup the schema PhysicsDriveAPI\n"; } primSpec->SetInfo( pxr::UsdTokens->apiSchemas, pxr::VtValue::Take(listOp)); break; } default: return false; } } } auto attrTargetPos = jointUSD.GetAttribute( pxr::TfToken("drive:angular:physics:targetPosition")); if (attrTargetPos) { attrTargetPos.Set(pxr::VtValue( static_cast<float>( ignition::math::Angle(_joint.axis1().position()).Degree()))); } else { jointUSD.CreateAttribute( pxr::TfToken("drive:angular:physics:targetPosition"), pxr::SdfValueTypeNames->Float, false).Set( static_cast<float>( ignition::math::Angle(_joint.axis1().position()).Degree())); } return true; } ////////////////////////////////////////////////// bool Scene::Implementation::UpdateModel(const ignition::msgs::Model &_model) { auto stage = this->stage->Lock(); std::string modelName = _model.name(); if (modelName.empty()) return true; auto range = pxr::UsdPrimRange::Stage(*stage); for (auto const &prim : range) { if (prim.GetName().GetString() == modelName) { ignwarn << "The model [" << _model.name() << "] is already available" << " in Isaac Sim" << std::endl; std::string usdModelPath = "/" + worldName + "/" + modelName; auto prim = stage->GetPrimAtPath( pxr::SdfPath(usdModelPath)); if (prim) { this->entities[_model.id()] = prim; this->entitiesByName[prim.GetName()] = _model.id(); for (const auto &link : _model.link()) { std::string linkName = link.name(); std::string suffix = "_link"; std::size_t found = linkName.find("_link"); if (found != std::string::npos) { suffix = ""; } std::string usdLinkPath = usdModelPath + "/" + linkName + suffix; auto linkPrim = stage->GetPrimAtPath( pxr::SdfPath(usdLinkPath)); if (!linkPrim) { usdLinkPath = usdModelPath + "/" + linkName; linkPrim = stage->GetPrimAtPath( pxr::SdfPath(usdLinkPath)); } if (linkPrim) { this->entities[link.id()] = linkPrim; this->entitiesByName[linkPrim.GetName()] = link.id(); for (const auto &visual : link.visual()) { std::string visualName = visual.name(); std::string suffix = "_visual"; std::size_t found = visualName.find("_visual"); if (found != std::string::npos) { suffix = ""; } std::string usdvisualPath = usdLinkPath + "/" + visualName + suffix; auto visualPrim = stage->GetPrimAtPath( pxr::SdfPath(usdvisualPath)); if (visualPrim) { this->entities[visual.id()] = visualPrim; this->entitiesByName[visualPrim.GetName()] = visual.id(); } else { usdvisualPath = usdLinkPath + "/" + visualName; visualPrim = stage->GetPrimAtPath( pxr::SdfPath(usdvisualPath)); if (visualPrim) { this->entities[visual.id()] = visualPrim; this->entitiesByName[visualPrim.GetName()] = visual.id(); } } } for (const auto &light : link.light()) { std::string usdLightPath = usdLinkPath + "/" + light.name(); auto lightPrim = stage->GetPrimAtPath( pxr::SdfPath(usdLightPath)); if (lightPrim) { this->entities[light.id()] = lightPrim; this->entitiesByName[lightPrim.GetName()] = light.id(); } } } } } } } std::replace(modelName.begin(), modelName.end(), ' ', '_'); std::string usdModelPath = "/" + worldName + "/" + modelName; this->entitiesByName[modelName] = _model.id(); auto xform = pxr::UsdGeomXform::Define(*stage, pxr::SdfPath(usdModelPath)); pxr::UsdGeomXformCommonAPI xformApi(xform); if (_model.has_scale()) { this->SetScale(xformApi, _model.scale()); } else { this->ResetScale(xformApi); } if (_model.has_pose()) { this->SetPose(xformApi, _model.pose()); } else { this->ResetPose(xformApi); } this->entities[_model.id()] = xform.GetPrim(); for (const auto &link : _model.link()) { if (!this->UpdateLink(link, usdModelPath)) { ignerr << "Failed to update model [" << modelName << "]" << std::endl; return false; } } for (const auto &joint : _model.joint()) { if (!this->UpdateJoint(joint, _model.name())) { ignerr << "Failed to update model [" << modelName << "]" << std::endl; return false; } } return true; } ////////////////////////////////////////////////// bool Scene::Implementation::UpdateScene(const ignition::msgs::Scene &_scene) { for (const auto &model : _scene.model()) { if (!this->UpdateModel(model)) { ignerr << "Failed to add model [" << model.name() << "]" << std::endl; return false; } igndbg << "added model [" << model.name() << "]" << std::endl; } for (const auto &light : _scene.light()) { if (!this->UpdateLights(light, "/" + worldName + "/" + light.name())) { ignerr << "Failed to add light [" << light.name() << "]" << std::endl; return false; } } return true; } ////////////////////////////////////////////////// bool Scene::Implementation::UpdateSensors(const ignition::msgs::Sensor &_sensor, const std::string &_usdSensorPath) { auto stage = this->stage->Lock(); // TODO(ahcorde): This code is duplicated in the USD converter (sdformat) if (_sensor.type() == "camera") { auto usdCamera = pxr::UsdGeomCamera::Define( *stage, pxr::SdfPath(_usdSensorPath)); // TODO(ahcorde): The default value in USD is 50, but something more // similar to ignition Gazebo is 40. usdCamera.CreateFocalLengthAttr().Set( static_cast<float>(52.0f)); usdCamera.CreateClippingRangeAttr().Set(pxr::GfVec2f( static_cast<float>(_sensor.camera().near_clip()), static_cast<float>(_sensor.camera().far_clip()))); usdCamera.CreateHorizontalApertureAttr().Set( static_cast<float>( _sensor.camera().horizontal_fov() * 180.0f / IGN_PI)); ignition::math::Pose3d poseCameraYUp(0, 0, 0, IGN_PI_2, 0, -IGN_PI_2); ignition::math::Quaterniond q( _sensor.pose().orientation().w(), _sensor.pose().orientation().x(), _sensor.pose().orientation().y(), _sensor.pose().orientation().z()); ignition::math::Pose3d poseCamera( _sensor.pose().position().x(), _sensor.pose().position().y(), _sensor.pose().position().z(), q.Roll() * 180.0 / IGN_PI, q.Pitch() * 180.0 / IGN_PI, q.Yaw() * 180. / IGN_PI); poseCamera = poseCamera * poseCameraYUp; usdCamera.AddTranslateOp(pxr::UsdGeomXformOp::Precision::PrecisionDouble) .Set( pxr::GfVec3d( poseCamera.Pos().X(), poseCamera.Pos().Y(), poseCamera.Pos().Z())); usdCamera.AddRotateXYZOp(pxr::UsdGeomXformOp::Precision::PrecisionDouble) .Set( pxr::GfVec3d( poseCamera.Rot().Roll() * 180.0 / IGN_PI, poseCamera.Rot().Pitch() * 180.0 / IGN_PI, poseCamera.Rot().Yaw() * 180. / IGN_PI)); } else if (_sensor.type() == "gpu_lidar") { pxr::UsdGeomXform::Define( *stage, pxr::SdfPath(_usdSensorPath)); auto lidarPrim = stage->GetPrimAtPath( pxr::SdfPath(_usdSensorPath)); lidarPrim.SetTypeName(pxr::TfToken("Lidar")); lidarPrim.CreateAttribute(pxr::TfToken("minRange"), pxr::SdfValueTypeNames->Float, false).Set( static_cast<float>(_sensor.lidar().range_min())); lidarPrim.CreateAttribute(pxr::TfToken("maxRange"), pxr::SdfValueTypeNames->Float, false).Set( static_cast<float>(_sensor.lidar().range_max())); const auto horizontalFov = _sensor.lidar().horizontal_max_angle() - _sensor.lidar().horizontal_min_angle(); // TODO(adlarkin) double check if these FOV calculations are correct lidarPrim.CreateAttribute(pxr::TfToken("horizontalFov"), pxr::SdfValueTypeNames->Float, false).Set( static_cast<float>(horizontalFov * 180.0f / IGN_PI)); const auto verticalFov = _sensor.lidar().vertical_max_angle() - _sensor.lidar().vertical_min_angle(); lidarPrim.CreateAttribute(pxr::TfToken("verticalFov"), pxr::SdfValueTypeNames->Float, false).Set( static_cast<float>(verticalFov * 180.0f / IGN_PI)); lidarPrim.CreateAttribute(pxr::TfToken("horizontalResolution"), pxr::SdfValueTypeNames->Float, false).Set( static_cast<float>(_sensor.lidar().horizontal_resolution())); lidarPrim.CreateAttribute(pxr::TfToken("verticalResolution"), pxr::SdfValueTypeNames->Float, false).Set( static_cast<float>(_sensor.lidar().vertical_resolution())); } else { ignwarn << "This kind of sensor [" << _sensor.type() << "] is not supported" << std::endl; return true; } return true; } ////////////////////////////////////////////////// bool Scene::Implementation::UpdateLights(const ignition::msgs::Light &_light, const std::string &_usdLightPath) { // TODO: We can probably re-use code from sdformat auto stage = this->stage->Lock(); const pxr::SdfPath sdfLightPath(_usdLightPath); switch (_light.type()) { case ignition::msgs::Light::POINT: { auto pointLight = pxr::UsdLuxSphereLight::Define(*stage, sdfLightPath); pointLight.CreateTreatAsPointAttr().Set(true); this->entities[_light.id()] = pointLight.GetPrim(); this->entitiesByName[pointLight.GetPrim().GetName()] = _light.id(); pointLight.CreateRadiusAttr(pxr::VtValue(0.1f)); pointLight.CreateColorAttr(pxr::VtValue(pxr::GfVec3f( _light.diffuse().r(), _light.diffuse().g(), _light.diffuse().b()))); break; } case ignition::msgs::Light::SPOT: { auto diskLight = pxr::UsdLuxDiskLight::Define(*stage, sdfLightPath); this->entities[_light.id()] = diskLight.GetPrim(); this->entitiesByName[diskLight.GetPrim().GetName()] = _light.id(); diskLight.CreateColorAttr(pxr::VtValue(pxr::GfVec3f( _light.diffuse().r(), _light.diffuse().g(), _light.diffuse().b()))); break; } case ignition::msgs::Light::DIRECTIONAL: { auto directionalLight = pxr::UsdLuxDistantLight::Define(*stage, sdfLightPath); this->entities[_light.id()] = directionalLight.GetPrim(); this->entitiesByName[directionalLight.GetPrim().GetName()] = _light.id(); directionalLight.CreateColorAttr(pxr::VtValue(pxr::GfVec3f( _light.diffuse().r(), _light.diffuse().g(), _light.diffuse().b()))); break; } default: return false; } // This is a workaround to set the light's intensity attribute. Using the // UsdLuxLightAPI sets the light's "inputs:intensity" attribute, but isaac // sim reads the light's "intensity" attribute. Both inputs:intensity and // intensity are set to provide flexibility with other USD renderers const float usdLightIntensity = static_cast<float>(_light.intensity()) * 1000.0f; auto lightPrim = stage->GetPrimAtPath(sdfLightPath); lightPrim .CreateAttribute(pxr::TfToken("intensity"), pxr::SdfValueTypeNames->Float, false) .Set(usdLightIntensity); return true; } ////////////////////////////////////////////////// bool Scene::Init() { bool result; ignition::msgs::Empty req; ignition::msgs::Scene ignScene; if (!this->dataPtr->node.Request( "/world/" + this->dataPtr->worldName + "/scene/info", req, 5000, ignScene, result)) { ignwarn << "Error requesting scene info, make sure the world [" << this->dataPtr->worldName << "] is available, ignition-omniverse will keep trying..." << std::endl; if (!this->dataPtr->node.Request( "/world/" + this->dataPtr->worldName + "/scene/info", req, -1, ignScene, result)) { ignerr << "Error request scene info" << std::endl; return false; } } if (!this->dataPtr->UpdateScene(ignScene)) { ignerr << "Failed to init scene" << std::endl; return false; } std::vector<std::string> topics; this->dataPtr->node.TopicList(topics); for (auto const &topic : topics) { if (topic.find("/joint_state") != std::string::npos) { if (!this->dataPtr->node.Subscribe( topic, &Scene::Implementation::CallbackJoint, this->dataPtr.get())) { ignerr << "Error subscribing to topic [" << topic << "]" << std::endl; return false; } else { ignmsg << "Subscribed to topic: [joint_state]" << std::endl; } } } std::string topic = "/world/" + this->dataPtr->worldName + "/pose/info"; // Subscribe to a topic by registering a callback. if (!this->dataPtr->node.Subscribe( topic, &Scene::Implementation::CallbackPoses, this->dataPtr.get())) { ignerr << "Error subscribing to topic [" << topic << "]" << std::endl; return false; } else { ignmsg << "Subscribed to topic: [" << topic << "]" << std::endl; } topic = "/world/" + this->dataPtr->worldName + "/scene/info"; if (!this->dataPtr->node.Subscribe( topic, &Scene::Implementation::CallbackScene, this->dataPtr.get())) { ignerr << "Error subscribing to topic [" << topic << "]" << std::endl; return false; } else { ignmsg << "Subscribed to topic: [" << topic << "]" << std::endl; } topic = "/world/" + this->dataPtr->worldName + "/scene/deletion"; if (!this->dataPtr->node.Subscribe( topic, &Scene::Implementation::CallbackSceneDeletion, this->dataPtr.get())) { ignerr << "Error subscribing to topic [" << topic << "]" << std::endl; return false; } else { ignmsg << "Subscribed to topic: [" << topic << "]" << std::endl; } this->dataPtr->USDLayerNoticeListener = std::make_shared<FUSDLayerNoticeListener>( this->dataPtr->stage, this->dataPtr->worldName); auto LayerReloadKey = pxr::TfNotice::Register( pxr::TfCreateWeakPtr(this->dataPtr->USDLayerNoticeListener.get()), &FUSDLayerNoticeListener::HandleGlobalLayerReload); auto LayerChangeKey = pxr::TfNotice::Register( pxr::TfCreateWeakPtr(this->dataPtr->USDLayerNoticeListener.get()), &FUSDLayerNoticeListener::HandleRootOrSubLayerChange, this->dataPtr->stage->Lock()->GetRootLayer()); this->dataPtr->USDNoticeListener = std::make_shared<FUSDNoticeListener>( this->dataPtr->stage, this->dataPtr->worldName, this->dataPtr->simulatorPoses, this->dataPtr->entitiesByName); auto USDNoticeKey = pxr::TfNotice::Register( pxr::TfCreateWeakPtr(this->dataPtr->USDNoticeListener.get()), &FUSDNoticeListener::Handle); return true; } ////////////////////////////////////////////////// void Scene::Save() { this->Stage()->Lock()->Save(); } ////////////////////////////////////////////////// /// \brief Function called each time a topic update is received. void Scene::Implementation::CallbackPoses(const ignition::msgs::Pose_V &_msg) { for (const auto &poseMsg : _msg.pose()) { try { auto stage = this->stage->Lock(); const auto &prim = this->entities.at(poseMsg.id()); if (prim) { this->SetPose(pxr::UsdGeomXformCommonAPI(prim), poseMsg); } } catch (const std::out_of_range &) { ignwarn << "Error updating pose, cannot find [" << poseMsg.name() << " - " << poseMsg.id() << "]" << std::endl; } } } ////////////////////////////////////////////////// /// \brief Function called each time a topic update is received. void Scene::Implementation::CallbackJoint(const ignition::msgs::Model &_msg) { // this->UpdateModel(_msg); for (const auto &joint : _msg.joint()) { if (!this->UpdateJoint(joint, _msg.name())) { ignerr << "Failed to update model [" << _msg.name() << "]" << std::endl; return; } } } ////////////////////////////////////////////////// void Scene::Implementation::CallbackScene(const ignition::msgs::Scene &_scene) { this->UpdateScene(_scene); } ////////////////////////////////////////////////// void Scene::Implementation::CallbackSceneDeletion( const ignition::msgs::UInt32_V &_msg) { for (const auto id : _msg.data()) { try { auto stage = this->stage->Lock(); const auto &prim = this->entities.at(id); std::string primName = prim.GetName(); stage->RemovePrim(prim.GetPath()); ignmsg << "Removed [" << prim.GetPath() << "]" << std::endl; this->entities.erase(id); this->entitiesByName.erase(primName); } catch (const std::out_of_range &) { ignwarn << "Failed to delete [" << id << "] (Unable to find node)" << std::endl; } } } } // namespace omniverse } // namespace ignition

C++

gazebosim/gz-omni/source/ignition_live/Scene.hpp

/* * Copyright (C) 2021 Open Source Robotics Foundation * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not * use this file except in compliance with the License. You may obtain a copy of * the License at * * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. * */ #ifndef IGNITION_OMNIVERSE_SCENE_HPP #define IGNITION_OMNIVERSE_SCENE_HPP #include "Error.hpp" #include "ThreadSafe.hpp" #include <ignition/utils/ImplPtr.hh> #include <ignition/math/Pose3.hh> #include <ignition/msgs/joint.pb.h> #include <ignition/msgs/link.pb.h> #include <ignition/msgs/model.pb.h> #include <ignition/msgs/pose.pb.h> #include <ignition/msgs/pose_v.pb.h> #include <ignition/msgs/scene.pb.h> #include <ignition/msgs/vector3d.pb.h> #include <ignition/msgs/visual.pb.h> #include <ignition/transport.hh> #include <pxr/usd/usd/stage.h> #include <pxr/usd/usdGeom/sphere.h> #include <pxr/usd/usdGeom/capsule.h> #include <pxr/usd/usdGeom/cube.h> #include <pxr/usd/usdGeom/cylinder.h> #include <pxr/usd/usdGeom/mesh.h> #include <pxr/usd/usdShade/material.h> #include <pxr/usd/usdGeom/xformCommonAPI.h> #include <cstdint> #include <memory> #include <string> #include <thread> #include <unordered_map> namespace ignition { namespace omniverse { enum class Simulator : int { Ignition, IsaacSim }; class Scene { public: Scene( const std::string &_worldName, const std::string &_stageUrl, Simulator _simulatorPoses); /// \brief Initialize the scene and subscribes for updates. This blocks until /// the scene is initialized. /// \return true if success bool Init(); /// \brief Equivalent to `scene.Stage().Lock()->Save()`. void Save(); std::shared_ptr<ThreadSafe<pxr::UsdStageRefPtr>> &Stage(); /// \internal /// \brief Private data pointer IGN_UTILS_UNIQUE_IMPL_PTR(dataPtr) }; } // namespace omniverse } // namespace ignition #endif

C++

gazebosim/gz-omni/source/ignition_live/Mesh.hpp

/* * Copyright (C) 2022 Open Source Robotics Foundation * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. * */ #ifndef IGNITION_OMNIVERSE_MESH_HPP #define IGNITION_OMNIVERSE_MESH_HPP #include <ignition/msgs/meshgeom.pb.h> #include <pxr/usd/usd/stage.h> #include <pxr/usd/usdGeom/mesh.h> namespace ignition { namespace omniverse { pxr::UsdGeomMesh UpdateMesh(const ignition::msgs::MeshGeom& _meshMsg, const std::string& _path, const pxr::UsdStageRefPtr& _stage); } } // namespace ignition #endif

C++

gazebosim/gz-omni/source/ignition_live/Material.cpp

/* * Copyright (C) 2022 Open Source Robotics Foundation * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. * */ #include "Material.hpp" #include <ignition/common/Console.hh> #include <ignition/math/Color.hh> #include <pxr/usd/usd/tokens.h> #include <pxr/usd/usdGeom/gprim.h> #include <pxr/usd/usdShade/material.h> #include <pxr/usd/usdShade/materialBindingAPI.h> #include <iostream> #include <map> #include <memory> #include <string> #include <OmniClient.h> namespace ignition { namespace omniverse { /// Return the full path of an URL /// If the resource is a URI we try to find to file in the filesystem /// \brief _fullPath URI of the resource std::string checkURI(const std::string _fullPath) { // TODO (ahcorde): This code is duplicated is the USD converter (sdformat) ignition::common::URI uri(_fullPath); std::string fullPath = _fullPath; std::string home; if (!ignition::common::env("HOME", home, false)) { ignwarn << "The HOME environment variable was not defined, " << "so the resource [" << fullPath << "] could not be found\n"; return ""; } if (uri.Scheme() == "http" || uri.Scheme() == "https") { auto systemPaths = ignition::common::systemPaths(); std::vector<std::string> tokens = ignition::common::split(uri.Path().Str(), "/"); std::string server = tokens[0]; std::string versionServer = tokens[1]; std::string owner = ignition::common::lowercase(tokens[2]); std::string type = ignition::common::lowercase(tokens[3]); std::string modelName = ignition::common::lowercase(tokens[4]); std::string modelVersion = ignition::common::lowercase(tokens[5]); fullPath = ignition::common::joinPaths( home, ".ignition", "fuel", server, owner, type, modelName, modelVersion); systemPaths->AddFilePaths(fullPath); for (int i = 7; i < tokens.size(); i++) { fullPath = ignition::common::joinPaths( fullPath, ignition::common::lowercase(tokens[i])); systemPaths->AddFilePaths(fullPath); } } return fullPath; } /// \brief Copy a file in a directory /// \param[in] _path path where the copy will be located /// \param[in] _fullPath name of the file to copy /// \param[in] _stageDirUrl stage directory URL to copy materials if required bool copyMaterial( const std::string &_path, const std::string &_fullPath, const std::string &_stageDirUrl) { if (!_path.empty() && !_fullPath.empty()) { /// auto fileName = ignition::common::basename(_path); auto filePathIndex = _path.rfind(fileName); auto filePath = _path.substr(0, filePathIndex); if (!omniClientWaitFor(omniClientCopy( _fullPath.c_str(), std::string(_stageDirUrl + "/" + _path).c_str(), nullptr, nullptr), 1000)) { ignerr << "omniClientCopy timeout. Not able to copy file [" << _fullPath.c_str() << "]" << "in nucleus [" << std::string(_stageDirUrl + "/" + _path) << "]." ; } } return false; } /// \brief Create the path to copy the material /// \param[in] _uri full path of the file to copy /// \return A relative path to save the material, the path looks like: /// materials/textures/<filename with extension> std::string getMaterialCopyPath(const std::string &_uri) { return ignition::common::joinPaths( ".", "materials", "textures", ignition::common::basename(_uri)); } /// \brief Fill Material shader attributes and properties /// \param[in] _prim USD primitive /// \param[in] _name Name of the field attribute or property /// \param[in] _vType Type of the field /// \param[in] _value Value of the field /// \param[in] _customData Custom data to set the field /// \param[in] _displayName Display name /// \param[in] _displayGroup Display group /// \param[in] _doc Documentation of the field /// \param[in] _colorSpace if the material is a texture, we can specify the /// colorSpace of the image template <typename T> void CreateMaterialInput( const pxr::UsdPrim &_prim, const std::string &_name, const pxr::SdfValueTypeName &_vType, T _value, const std::map<pxr::TfToken, pxr::VtValue> &_customData, const pxr::TfToken &_displayName = pxr::TfToken(""), const pxr::TfToken &_displayGroup = pxr::TfToken(""), const std::string &_doc = "", const pxr::TfToken &_colorSpace = pxr::TfToken("")) { auto shader = pxr::UsdShadeShader(_prim); if (shader) { auto existingInput = shader.GetInput(pxr::TfToken(_name)); pxr::SdfValueTypeName vTypeName; if (_vType.IsScalar()) { vTypeName = _vType.GetScalarType(); } else if (_vType.IsArray()) { vTypeName = _vType.GetArrayType(); } auto surfaceInput = shader.CreateInput(pxr::TfToken(_name), vTypeName); surfaceInput.Set(_value); auto attr = surfaceInput.GetAttr(); for (const auto &[key, customValue] : _customData) { attr.SetCustomDataByKey(key, customValue); } if (!_displayName.GetString().empty()) { attr.SetDisplayName(_displayName); } if (!_displayGroup.GetString().empty()) { attr.SetDisplayGroup(_displayGroup); } if (!_doc.empty()) { attr.SetDocumentation(_doc); } if (!_colorSpace.GetString().empty()) { attr.SetColorSpace(_colorSpace); } } else { ignerr << "Not able to convert the prim to a UsdShadeShader" << std::endl; } } /// \param[in] _stageDirUrl stage directory URL to copy materials if required bool SetMaterial(const pxr::UsdGeomGprim &_gprim, const ignition::msgs::Visual &_visualMsg, const pxr::UsdStageRefPtr &_stage, const std::string &_stageDirUrl) { if (!_visualMsg.has_material()) { return true; } const std::string mtlPath = "/Looks/Material_" + _visualMsg.name() + "_" + std::to_string(_visualMsg.id()); pxr::UsdShadeMaterial material = pxr::UsdShadeMaterial::Define(_stage, pxr::SdfPath(mtlPath)); auto usdShader = pxr::UsdShadeShader::Define(_stage, pxr::SdfPath(mtlPath + "/Shader")); auto shaderPrim = usdShader.GetPrim(); auto shaderOut = pxr::UsdShadeConnectableAPI(shaderPrim) .CreateOutput(pxr::TfToken("out"), pxr::SdfValueTypeNames->Token); material.CreateSurfaceOutput(pxr::TfToken("mdl")).ConnectToSource(shaderOut); material.CreateVolumeOutput(pxr::TfToken("mdl")).ConnectToSource(shaderOut); material.CreateDisplacementOutput(pxr::TfToken("mdl")) .ConnectToSource(shaderOut); usdShader.GetImplementationSourceAttr().Set(pxr::UsdShadeTokens->sourceAsset); usdShader.SetSourceAsset(pxr::SdfAssetPath("OmniPBR.mdl"), pxr::TfToken("mdl")); usdShader.SetSourceAssetSubIdentifier(pxr::TfToken("OmniPBR"), pxr::TfToken("mdl")); std::map<pxr::TfToken, pxr::VtValue> customDataDiffuse = { {pxr::TfToken("default"), pxr::VtValue(pxr::GfVec3f(0.2, 0.2, 0.2))}, {pxr::TfToken("range:max"), pxr::VtValue(pxr::GfVec3f(100000, 100000, 100000))}, {pxr::TfToken("range:min"), pxr::VtValue(pxr::GfVec3f(0, 0, 0))}}; ignition::math::Color diffuse( _visualMsg.material().diffuse().r(), _visualMsg.material().diffuse().g(), _visualMsg.material().diffuse().b(), _visualMsg.material().diffuse().a()); CreateMaterialInput<pxr::GfVec3f>( shaderPrim, "diffuse_color_constant", pxr::SdfValueTypeNames->Color3f, pxr::GfVec3f(diffuse.R(), diffuse.G(), diffuse.B()), customDataDiffuse, pxr::TfToken("Base Color"), pxr::TfToken("Albedo"), "This is the base color"); std::map<pxr::TfToken, pxr::VtValue> customDataEmissive = { {pxr::TfToken("default"), pxr::VtValue(pxr::GfVec3f(1, 0.1, 0.1))}, {pxr::TfToken("range:max"), pxr::VtValue(pxr::GfVec3f(100000, 100000, 100000))}, {pxr::TfToken("range:min"), pxr::VtValue(pxr::GfVec3f(0, 0, 0))}}; ignition::math::Color emissive(_visualMsg.material().emissive().r(), _visualMsg.material().emissive().g(), _visualMsg.material().emissive().b(), _visualMsg.material().emissive().a()); CreateMaterialInput<pxr::GfVec3f>( shaderPrim, "emissive_color", pxr::SdfValueTypeNames->Color3f, pxr::GfVec3f(emissive.R(), emissive.G(), emissive.B()), customDataEmissive, pxr::TfToken("Emissive Color"), pxr::TfToken("Emissive"), "The emission color"); std::map<pxr::TfToken, pxr::VtValue> customDataEnableEmission = { {pxr::TfToken("default"), pxr::VtValue(0)}}; CreateMaterialInput<bool>( shaderPrim, "enable_emission", pxr::SdfValueTypeNames->Bool, emissive.A() > 0, customDataEnableEmission, pxr::TfToken("Enable Emissive"), pxr::TfToken("Emissive"), "Enables the emission of light from the material"); std::map<pxr::TfToken, pxr::VtValue> customDataIntensity = { {pxr::TfToken("default"), pxr::VtValue(40)}, {pxr::TfToken("range:max"), pxr::VtValue(100000)}, {pxr::TfToken("range:min"), pxr::VtValue(0)}}; CreateMaterialInput<float>( shaderPrim, "emissive_intensity", pxr::SdfValueTypeNames->Float, emissive.A(), customDataIntensity, pxr::TfToken("Emissive Intensity"), pxr::TfToken("Emissive"), "Intensity of the emission"); if (_visualMsg.material().has_pbr()) { auto pbr = _visualMsg.material().pbr(); std::map<pxr::TfToken, pxr::VtValue> customDataMetallicConstant = { {pxr::TfToken("default"), pxr::VtValue(0.5)}, {pxr::TfToken("range:max"), pxr::VtValue(1)}, {pxr::TfToken("range:min"), pxr::VtValue(0)} }; CreateMaterialInput<float>( shaderPrim, "metallic_constant", pxr::SdfValueTypeNames->Float, pbr.metalness(), customDataMetallicConstant, pxr::TfToken("Metallic Amount"), pxr::TfToken("Reflectivity"), "Metallic Material"); std::map<pxr::TfToken, pxr::VtValue> customDataRoughnessConstant = { {pxr::TfToken("default"), pxr::VtValue(0.5)}, {pxr::TfToken("range:max"), pxr::VtValue(1)}, {pxr::TfToken("range:min"), pxr::VtValue(0)} }; CreateMaterialInput<float>( shaderPrim, "reflection_roughness_constant", pxr::SdfValueTypeNames->Float, pbr.roughness(), customDataRoughnessConstant, pxr::TfToken("Roughness Amount"), pxr::TfToken("Reflectivity"), "Higher roughness values lead to more blurry reflections"); if (!pbr.albedo_map().empty()) { std::map<pxr::TfToken, pxr::VtValue> customDataDiffuseTexture = { {pxr::TfToken("default"), pxr::VtValue(pxr::SdfAssetPath())}, }; std::string copyPath = getMaterialCopyPath(pbr.albedo_map()); std::string albedoMapURI = checkURI(pbr.albedo_map()); std::string fullnameAlbedoMap = ignition::common::findFile( ignition::common::basename(albedoMapURI)); if (fullnameAlbedoMap.empty()) { fullnameAlbedoMap = pbr.albedo_map(); } copyMaterial(copyPath, fullnameAlbedoMap, _stageDirUrl); CreateMaterialInput<pxr::SdfAssetPath>( shaderPrim, "diffuse_texture", pxr::SdfValueTypeNames->Asset, pxr::SdfAssetPath(copyPath), customDataDiffuseTexture, pxr::TfToken("Base Map"), pxr::TfToken("Albedo"), "", pxr::TfToken("auto")); } if (!pbr.metalness_map().empty()) { std::map<pxr::TfToken, pxr::VtValue> customDataMetallnessTexture = { {pxr::TfToken("default"), pxr::VtValue(pxr::SdfAssetPath())}, }; std::string copyPath = getMaterialCopyPath(pbr.metalness_map()); std::string fullnameMetallnessMap = ignition::common::findFile( ignition::common::basename(pbr.metalness_map())); if (fullnameMetallnessMap.empty()) { fullnameMetallnessMap = pbr.metalness_map(); } copyMaterial(copyPath, fullnameMetallnessMap, _stageDirUrl); CreateMaterialInput<pxr::SdfAssetPath>( shaderPrim, "metallic_texture", pxr::SdfValueTypeNames->Asset, pxr::SdfAssetPath(copyPath), customDataMetallnessTexture, pxr::TfToken("Metallic Map"), pxr::TfToken("Reflectivity"), "", pxr::TfToken("raw")); } if (!pbr.normal_map().empty()) { std::map<pxr::TfToken, pxr::VtValue> customDataNormalTexture = { {pxr::TfToken("default"), pxr::VtValue(pxr::SdfAssetPath())}, }; std::string copyPath = getMaterialCopyPath(pbr.normal_map()); std::string fullnameNormalMap = ignition::common::findFile( ignition::common::basename(pbr.normal_map())); if (fullnameNormalMap.empty()) { fullnameNormalMap = pbr.normal_map(); } copyMaterial(copyPath, fullnameNormalMap, _stageDirUrl); CreateMaterialInput<pxr::SdfAssetPath>( shaderPrim, "normalmap_texture", pxr::SdfValueTypeNames->Asset, pxr::SdfAssetPath(copyPath), customDataNormalTexture, pxr::TfToken("Normal Map"), pxr::TfToken("Normal"), "", pxr::TfToken("raw")); } if (!pbr.roughness_map().empty()) { std::map<pxr::TfToken, pxr::VtValue> customDataRoughnessTexture = { {pxr::TfToken("default"), pxr::VtValue(pxr::SdfAssetPath())}, }; std::string copyPath = getMaterialCopyPath(pbr.roughness_map()); std::string fullnameRoughnessMap = ignition::common::findFile( ignition::common::basename(pbr.roughness_map())); if (fullnameRoughnessMap.empty()) { fullnameRoughnessMap = pbr.roughness_map(); } copyMaterial(copyPath, fullnameRoughnessMap, _stageDirUrl); CreateMaterialInput<pxr::SdfAssetPath>( shaderPrim, "reflectionroughness_texture", pxr::SdfValueTypeNames->Asset, pxr::SdfAssetPath(copyPath), customDataRoughnessTexture, pxr::TfToken("RoughnessMap Map"), pxr::TfToken("RoughnessMap"), "", pxr::TfToken("raw")); std::map<pxr::TfToken, pxr::VtValue> customDataRoughnessTextureInfluence = { {pxr::TfToken("default"), pxr::VtValue(0)}, {pxr::TfToken("range:max"), pxr::VtValue(1)}, {pxr::TfToken("range:min"), pxr::VtValue(0)} }; CreateMaterialInput<bool>( shaderPrim, "reflection_roughness_texture_influence", pxr::SdfValueTypeNames->Bool, true, customDataRoughnessTextureInfluence, pxr::TfToken("Roughness Map Influence"), pxr::TfToken("Reflectivity"), "", pxr::TfToken("raw")); } } pxr::UsdShadeMaterialBindingAPI(_gprim).Bind(material); return true; } } // namespace omniverse } // namespace ignition

C++

gazebosim/gz-omni/source/ignition_live/FUSDNoticeListener.cpp

/* * Copyright (C) 2022 Open Source Robotics Foundation * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. * */ #include "FUSDNoticeListener.hpp" #include "GetOp.hpp" #include <ignition/common/Console.hh> #include <pxr/usd/sdf/path.h> #include <pxr/usd/usd/notice.h> #include <pxr/usd/usd/primRange.h> #include <pxr/usd/usdGeom/sphere.h> #include <pxr/usd/usdGeom/cube.h> #include <pxr/usd/usdGeom/cylinder.h> #include <ignition/transport/Node.hh> #include <ignition/msgs/model.pb.h> #include <sdf/Collision.hh> #include <sdf/Geometry.hh> #include <sdf/Root.hh> #include <sdf/Link.hh> #include <sdf/Model.hh> #include <sdf/Sphere.hh> #include <sdf/Visual.hh> namespace ignition { namespace omniverse { class FUSDNoticeListener::Implementation { public: void ParseCube(const pxr::UsdPrim &_prim, sdf::Link &_link); void ParseCylinder(const pxr::UsdPrim &_prim, sdf::Link &_link); void ParseSphere(const pxr::UsdPrim &_prim, sdf::Link &_link); bool ParsePrim(const pxr::UsdPrim &_prim, sdf::Link &_link) { if (_prim.IsA<pxr::UsdGeomSphere>()) { ParseSphere(_prim, _link); return true; } else if (_prim.IsA<pxr::UsdGeomCylinder>()) { ParseCylinder(_prim, _link); } return false; } void CreateSDF(sdf::Link &_link, const pxr::UsdPrim &_prim) { if (!_prim) return; if (ParsePrim(_prim, _link)) { return; } else { auto children = _prim.GetChildren(); for (const pxr::UsdPrim &childPrim : children) { if (ParsePrim(childPrim, _link)) { return; } else { CreateSDF(_link, childPrim); } } } } void jointStateCb(const ignition::msgs::Model &_msg); std::shared_ptr<ThreadSafe<pxr::UsdStageRefPtr>> stage; std::string worldName; std::unordered_map<std::string, transport::Node::Publisher> revoluteJointPublisher; /// \brief Ignition communication node. public: transport::Node node; Simulator simulatorPoses; std::mutex jointStateMsgMutex; std::unordered_map<std::string, double> jointStateMap; std::unordered_map<std::string, uint32_t> * entitiesByName; }; void FUSDNoticeListener::Implementation::ParseCube( const pxr::UsdPrim &_prim, sdf::Link &_link) { // double size; // auto variant_cylinder = pxr::UsdGeomCube(_prim); // variant_cylinder.GetSizeAttr().Get(&size); } void FUSDNoticeListener::Implementation::ParseCylinder( const pxr::UsdPrim &_prim, sdf::Link &_link) { // auto variant_cylinder = pxr::UsdGeomCylinder(_prim); // double radius; // double height; // variant_cylinder.GetRadiusAttr().Get(&radius); // variant_cylinder.GetHeightAttr().Get(&height); } void FUSDNoticeListener::Implementation::ParseSphere( const pxr::UsdPrim &_prim, sdf::Link &_link) { double radius; auto variant_sphere = pxr::UsdGeomSphere(_prim); variant_sphere.GetRadiusAttr().Get(&radius); sdf::Visual visual; sdf::Collision collision; sdf::Geometry geom; sdf::Sphere sphere; geom.SetType(sdf::GeometryType::SPHERE); sphere.SetRadius(radius); geom.SetSphereShape(sphere); visual.SetName("sphere_visual"); visual.SetGeom(geom); collision.SetName("sphere_collision"); collision.SetGeom(geom); _link.AddVisual(visual); _link.AddCollision(collision); } FUSDNoticeListener::FUSDNoticeListener( std::shared_ptr<ThreadSafe<pxr::UsdStageRefPtr>> &_stage, const std::string &_worldName, Simulator _simulatorPoses, std::unordered_map<std::string, uint32_t> &_entitiesByName) : dataPtr(ignition::utils::MakeUniqueImpl<Implementation>()) { this->dataPtr->stage = _stage; this->dataPtr->worldName = _worldName; this->dataPtr->simulatorPoses = _simulatorPoses; this->dataPtr->entitiesByName = &_entitiesByName; std::string jointStateTopic = "/joint_states"; this->dataPtr->node.Subscribe( jointStateTopic, &FUSDNoticeListener::Implementation::jointStateCb, this->dataPtr.get()); } void FUSDNoticeListener::Implementation::jointStateCb( const ignition::msgs::Model &_msg) { std::lock_guard<std::mutex> lock(this->jointStateMsgMutex); for(int i = 0; i < _msg.joint_size(); ++i) { this->jointStateMap[_msg.joint(i).name()] = _msg.joint(i).axis1().position(); } } void FUSDNoticeListener::Handle( const class pxr::UsdNotice::ObjectsChanged &ObjectsChanged) { auto stage = this->dataPtr->stage->Lock(); for (const pxr::SdfPath &objectsChanged : ObjectsChanged.GetResyncedPaths()) { ignmsg << "Resynced Path: " << objectsChanged.GetText() << std::endl; auto modelUSD = stage->GetPrimAtPath(objectsChanged); std::string primName = modelUSD.GetName(); if (primName.find("ROS_") != std::string::npos || primName.find("PhysicsScene") != std::string::npos) { continue; } if (modelUSD) { std::string strPath = objectsChanged.GetText(); if (strPath.find("_link") != std::string::npos || strPath.find("_visual") != std::string::npos || strPath.find("geometry") != std::string::npos) { return; } auto it = this->dataPtr->entitiesByName->find(modelUSD.GetName().GetString()); if (it != this->dataPtr->entitiesByName->end()) { continue; } auto range = pxr::UsdPrimRange::Stage(*stage); for (auto const &prim : range) { if (prim.GetName().GetString() == primName) { continue; } } sdf::Root root; sdf::Model model; model.SetName(modelUSD.GetPath().GetName()); model.SetRawPose(ignition::math::Pose3d()); sdf::Link link; link.SetName(modelUSD.GetPath().GetName()); this->dataPtr->CreateSDF(link, modelUSD); model.AddLink(link); root.SetModel(model); // Prepare the input parameters. ignition::msgs::EntityFactory req; req.set_sdf(root.ToElement()->ToString("")); req.set_name(modelUSD.GetPath().GetName()); req.set_allow_renaming(false); igndbg << "root.ToElement()->ToString("") " << root.ToElement()->ToString("") << '\n'; ignition::msgs::Boolean rep; bool result; unsigned int timeout = 5000; bool executed = this->dataPtr->node.Request( "/world/" + this->dataPtr->worldName + "/create", req, timeout, rep, result); if (executed) { if (rep.data()) { igndbg << "Model was inserted [" << modelUSD.GetPath().GetName() << "]" << '\n'; } else { igndbg << "Error model was not inserted" << '\n'; } } } } ignition::msgs::Pose_V req; if (this->dataPtr->simulatorPoses == Simulator::IsaacSim) { // this loop checks all paths to find revolute joints // if there is some, we get the body0 and body1 and calculate the // joint angle. auto range = pxr::UsdPrimRange::Stage(*stage); { std::lock_guard<std::mutex> lock(this->dataPtr->jointStateMsgMutex); for (auto const &prim : range) { std::string primType = prim.GetPrimTypeInfo().GetTypeName().GetText(); if (primType == std::string("PhysicsRevoluteJoint")) { std::string topic = transport::TopicUtils::AsValidTopic( std::string("/model/") + std::string("panda") + std::string("/joint/") + prim.GetPath().GetName() + std::string("/0/cmd_pos")); auto pub = this->dataPtr->revoluteJointPublisher.find(topic); if (pub == this->dataPtr->revoluteJointPublisher.end()) { this->dataPtr->revoluteJointPublisher[topic] = this->dataPtr->node.Advertise<msgs::Double>(topic); } else { msgs::Double cmd; float pos = this->dataPtr->jointStateMap[prim.GetName()]; cmd.set_data(pos); pub->second.Publish(cmd); } } } } for (const pxr::SdfPath &objectsChanged : ObjectsChanged.GetChangedInfoOnlyPaths()) { if (std::string(objectsChanged.GetText()) == "/") continue; igndbg << "path " << objectsChanged.GetText() << std::endl; auto modelUSD = stage->GetPrimAtPath(objectsChanged.GetParentPath()); auto property = modelUSD.GetPropertyAtPath(objectsChanged); std::string strProperty = property.GetBaseName().GetText(); if (strProperty == "radius") { double radius; auto attribute = modelUSD.GetAttributeAtPath(objectsChanged); attribute.Get(&radius); } if (strProperty == "translate") { auto xform = pxr::UsdGeomXformable(modelUSD); auto transforms = GetOp(xform); auto currentPrim = modelUSD; ignition::math::Quaterniond q( transforms.rotXYZ[0], transforms.rotXYZ[1], transforms.rotXYZ[2]); if (currentPrim.GetName() == "geometry") { currentPrim = currentPrim.GetParent(); auto visualXform = pxr::UsdGeomXformable(currentPrim); auto visualOp = GetOp(visualXform); transforms.position += visualOp.position; ignition::math::Quaterniond qX, qY, qZ; ignition::math::Angle angleX(IGN_DTOR(visualOp.rotXYZ[0])); ignition::math::Angle angleY(IGN_DTOR(visualOp.rotXYZ[1])); ignition::math::Angle angleZ(IGN_DTOR(visualOp.rotXYZ[2])); qX = ignition::math::Quaterniond(angleX.Normalized().Radian(), 0, 0); qY = ignition::math::Quaterniond(0, angleY.Normalized().Radian(), 0); qZ = ignition::math::Quaterniond(0, 0, angleZ.Normalized().Radian()); q = ((q * qX) * qY) * qZ; transforms.scale = pxr::GfVec3f( transforms.scale[0] * visualOp.scale[0], transforms.scale[1] * visualOp.scale[1], transforms.scale[2] * visualOp.scale[2]); } auto currentPrimName = currentPrim.GetName().GetString(); int substrIndex = currentPrimName.size() - std::string("_visual").size(); if (substrIndex >= 0 && substrIndex < currentPrimName.size()) { if (currentPrimName.substr(substrIndex).find("_visual") != std::string::npos) { currentPrim = currentPrim.GetParent(); auto linkXform = pxr::UsdGeomXformable(currentPrim); auto linkOp = GetOp(linkXform); transforms.position += linkOp.position; ignition::math::Quaterniond qX, qY, qZ; ignition::math::Angle angleX(IGN_DTOR(linkOp.rotXYZ[0])); ignition::math::Angle angleY(IGN_DTOR(linkOp.rotXYZ[1])); ignition::math::Angle angleZ(IGN_DTOR(linkOp.rotXYZ[2])); qX = ignition::math::Quaterniond(angleX.Normalized().Radian(), 0, 0); qY = ignition::math::Quaterniond(0, angleY.Normalized().Radian(), 0); qZ = ignition::math::Quaterniond(0, 0, angleZ.Normalized().Radian()); q = ((q * qX) * qY) * qZ; transforms.scale = pxr::GfVec3f( transforms.scale[0] * linkOp.scale[0], transforms.scale[1] * linkOp.scale[1], transforms.scale[2] * linkOp.scale[2]); } } currentPrimName = currentPrim.GetName().GetString(); substrIndex = currentPrimName.size() - std::string("_link").size(); if (substrIndex >= 0 && substrIndex < currentPrimName.size()) { if (currentPrimName.substr(substrIndex).find("_link") != std::string::npos) { currentPrim = currentPrim.GetParent(); auto modelXform = pxr::UsdGeomXformable(currentPrim); auto modelOp = GetOp(modelXform); transforms.position += modelOp.position; ignition::math::Quaterniond qX, qY, qZ; ignition::math::Angle angleX(IGN_DTOR(modelOp.rotXYZ[0])); ignition::math::Angle angleY(IGN_DTOR(modelOp.rotXYZ[1])); ignition::math::Angle angleZ(IGN_DTOR(modelOp.rotXYZ[2])); qX = ignition::math::Quaterniond(angleX.Normalized().Radian(), 0, 0); qY = ignition::math::Quaterniond(0, angleY.Normalized().Radian(), 0); qZ = ignition::math::Quaterniond(0, 0, angleZ.Normalized().Radian()); q = ((q * qX) * qY) * qZ; transforms.scale = pxr::GfVec3f( transforms.scale[0] * modelOp.scale[0], transforms.scale[1] * modelOp.scale[1], transforms.scale[2] * modelOp.scale[2]); } } std::size_t found = std::string(currentPrim.GetName()).find("_link"); if (found != std::string::npos) continue; found = std::string(currentPrim.GetName()).find("_visual"); if (found != std::string::npos) continue; auto poseMsg = req.add_pose(); poseMsg->set_name(currentPrim.GetName()); poseMsg->mutable_position()->set_x(transforms.position[0]); poseMsg->mutable_position()->set_y(transforms.position[1]); poseMsg->mutable_position()->set_z(transforms.position[2]); poseMsg->mutable_orientation()->set_x(q.X()); poseMsg->mutable_orientation()->set_y(q.Y()); poseMsg->mutable_orientation()->set_z(q.Z()); poseMsg->mutable_orientation()->set_w(q.W()); } } if (req.pose_size() > 0) { bool result; ignition::msgs::Boolean rep; unsigned int timeout = 100; bool executed = this->dataPtr->node.Request( "/world/" + this->dataPtr->worldName + "/set_pose_vector", req, timeout, rep, result); if (executed) { if (!result) ignerr << "Service call failed" << std::endl; } else ignerr << "Service [/world/" << this->dataPtr->worldName << "/set_pose_vector] call timed out" << std::endl; } } } } // namespace omniverse } // namespace ignition

C++

gazebosim/gz-omni/source/ignition_live/Joint.hpp

/* * Copyright (C) 2022 Open Source Robotics Foundation * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. * */ #ifndef IGNITION_OMNIVERSE_JOINT_HPP #define IGNITION_OMNIVERSE_JOINT_HPP #include <ignition/msgs/joint.pb.h> #include <pxr/usd/usd/prim.h> #include <pxr/usd/usd/stage.h> namespace ignition::omniverse { pxr::UsdPrim CreateFixedJoint(const std::string& _path, const pxr::UsdStageRefPtr& _stage); pxr::UsdPrim CreateRevoluteJoint(const std::string& _path, const pxr::UsdStageRefPtr& _stage); } // namespace ignition::omniverse #endif

C++

gazebosim/gz-omni/source/ignition_live/Mesh.cpp

/* * Copyright (C) 2022 Open Source Robotics Foundation * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. * */ #include "Mesh.hpp" #include <ignition/common/Console.hh> #include <ignition/common/Mesh.hh> #include <ignition/common/MeshManager.hh> #include <ignition/common/SubMesh.hh> #include <ignition/common/URI.hh> #include <ignition/common/Util.hh> #include <pxr/usd/usdGeom/xformCommonAPI.h> namespace ignition::omniverse { bool endsWith(const std::string_view &str, const std::string_view &suffix) { return str.size() >= suffix.size() && 0 == str.compare(str.size() - suffix.size(), suffix.size(), suffix); } inline std::string removeDash(const std::string &_str) { std::string result = _str; std::replace(result.begin(), result.end(), '-', '_'); return result; } pxr::UsdGeomMesh UpdateMesh(const ignition::msgs::MeshGeom &_meshMsg, const std::string &_path, const pxr::UsdStageRefPtr &_stage) { ignition::common::URI uri(_meshMsg.filename()); std::string fullname; std::string home; if (!ignition::common::env("HOME", home, false)) { ignerr << "The HOME environment variable was not defined, " << "so the resource [" << fullname << "] could not be found\n"; return pxr::UsdGeomMesh(); } if (uri.Scheme() == "https" || uri.Scheme() == "http") { auto systemPaths = ignition::common::systemPaths(); std::vector<std::string> tokens = ignition::common::split(uri.Path().Str(), "/"); std::string server = tokens[0]; std::string versionServer = tokens[1]; std::string owner = ignition::common::lowercase(tokens[2]); std::string type = ignition::common::lowercase(tokens[3]); std::string modelName = ignition::common::lowercase(tokens[4]); std::string modelVersion = ignition::common::lowercase(tokens[5]); fullname = ignition::common::joinPaths( home, ".ignition", "fuel", server, owner, type, modelName, modelVersion); systemPaths->AddFilePaths(fullname); for (int i = 7; i < tokens.size(); i++) { fullname = ignition::common::joinPaths( fullname, ignition::common::lowercase(tokens[i])); systemPaths->AddFilePaths(fullname); } } else { fullname = ignition::common::findFile(_meshMsg.filename()); } auto ignMesh = ignition::common::MeshManager::Instance()->Load(fullname); // Some Meshes are splited in some submeshes, this loop check if the name // of the path is the same as the name of the submesh. In this case // we create a USD mesh per submesh. bool isUSDPathInSubMeshName = false; for (unsigned int i = 0; i < ignMesh->SubMeshCount(); ++i) { auto subMesh = ignMesh->SubMeshByIndex(i).lock(); if (ignMesh->SubMeshCount() != 1) { std::string pathLowerCase = ignition::common::lowercase(_path); std::string subMeshLowerCase = ignition::common::lowercase(subMesh->Name()); if (pathLowerCase.find(subMeshLowerCase) != std::string::npos) { isUSDPathInSubMeshName = true; break; } } } for (unsigned int i = 0; i < ignMesh->SubMeshCount(); ++i) { pxr::VtArray<pxr::GfVec3f> meshPoints; pxr::VtArray<pxr::GfVec2f> uvs; pxr::VtArray<pxr::GfVec3f> normals; pxr::VtArray<int> faceVertexIndices; pxr::VtArray<int> faceVertexCounts; auto subMesh = ignMesh->SubMeshByIndex(i).lock(); if (!subMesh) { ignerr << "Unable to get a shared pointer to submesh at index [" << i << "] of parent mesh [" << ignMesh->Name() << "]" << std::endl; return pxr::UsdGeomMesh(); } if (isUSDPathInSubMeshName) { if (ignMesh->SubMeshCount() != 1) { std::string pathLowerCase = ignition::common::lowercase(_path); std::string subMeshLowerCase = ignition::common::lowercase(subMesh->Name()); if (pathLowerCase.find(subMeshLowerCase) == std::string::npos) { continue; } } } // copy the submesh's vertices to the usd mesh's "points" array for (unsigned int v = 0; v < subMesh->VertexCount(); ++v) { const auto &vertex = subMesh->Vertex(v); meshPoints.push_back(pxr::GfVec3f(vertex.X(), vertex.Y(), vertex.Z())); } // copy the submesh's indices to the usd mesh's "faceVertexIndices" array for (unsigned int j = 0; j < subMesh->IndexCount(); ++j) faceVertexIndices.push_back(subMesh->Index(j)); // copy the submesh's texture coordinates for (unsigned int j = 0; j < subMesh->TexCoordCount(); ++j) { const auto &uv = subMesh->TexCoord(j); uvs.push_back(pxr::GfVec2f(uv[0], 1 - uv[1])); } // copy the submesh's normals for (unsigned int j = 0; j < subMesh->NormalCount(); ++j) { const auto &normal = subMesh->Normal(j); normals.push_back(pxr::GfVec3f(normal[0], normal[1], normal[2])); } // set the usd mesh's "faceVertexCounts" array according to // the submesh primitive type // TODO(adlarkin) support all primitive types. The computations are more // involved for LINESTRIPS, TRIFANS, and TRISTRIPS. I will need to spend // some time deriving what the number of faces for these primitive types // are, given the number of indices. The "faceVertexCounts" array will // also not have the same value for every element in the array for these // more complex primitive types (see the TODO note in the for loop below) unsigned int verticesPerFace = 0; unsigned int numFaces = 0; switch (subMesh->SubMeshPrimitiveType()) { case ignition::common::SubMesh::PrimitiveType::POINTS: verticesPerFace = 1; numFaces = subMesh->IndexCount(); break; case ignition::common::SubMesh::PrimitiveType::LINES: verticesPerFace = 2; numFaces = subMesh->IndexCount() / 2; break; case ignition::common::SubMesh::PrimitiveType::TRIANGLES: verticesPerFace = 3; numFaces = subMesh->IndexCount() / 3; break; case ignition::common::SubMesh::PrimitiveType::LINESTRIPS: case ignition::common::SubMesh::PrimitiveType::TRIFANS: case ignition::common::SubMesh::PrimitiveType::TRISTRIPS: default: ignerr << "Submesh " << subMesh->Name() << " has a primitive type that is not supported." << std::endl; return pxr::UsdGeomMesh(); } // TODO(adlarkin) update this loop to allow for varying element // values in the array (see TODO note above). Right now, the // array only allows for all elements to have one value, which in // this case is "verticesPerFace" for (unsigned int n = 0; n < numFaces; ++n) faceVertexCounts.push_back(verticesPerFace); std::string primName = _path + "/" + subMesh->Name(); primName = removeDash(primName); if (endsWith(primName, "/")) { primName.erase(primName.size() - 1); } auto usdMesh = pxr::UsdGeomMesh::Define(_stage, pxr::SdfPath(_path)); usdMesh.CreatePointsAttr().Set(meshPoints); usdMesh.CreateFaceVertexIndicesAttr().Set(faceVertexIndices); usdMesh.CreateFaceVertexCountsAttr().Set(faceVertexCounts); auto coordinates = usdMesh.CreatePrimvar( pxr::TfToken("st"), pxr::SdfValueTypeNames->Float2Array, pxr::UsdGeomTokens->vertex); coordinates.Set(uvs); usdMesh.CreateNormalsAttr().Set(normals); usdMesh.SetNormalsInterpolation(pxr::TfToken("vertex")); usdMesh.CreateSubdivisionSchemeAttr(pxr::VtValue(pxr::TfToken("none"))); const auto &meshMin = ignMesh->Min(); const auto &meshMax = ignMesh->Max(); pxr::VtArray<pxr::GfVec3f> extentBounds; extentBounds.push_back(pxr::GfVec3f(meshMin.X(), meshMin.Y(), meshMin.Z())); extentBounds.push_back(pxr::GfVec3f(meshMax.X(), meshMax.Y(), meshMax.Z())); usdMesh.CreateExtentAttr().Set(extentBounds); // TODO (ahcorde): Material inside the submesh int materialIndex = subMesh->MaterialIndex(); if (materialIndex != -1) { auto material = ignMesh->MaterialByIndex(materialIndex); // sdf::Material materialSdf = sdf::usd::convert(material); // auto materialUSD = ParseSdfMaterial(&materialSdf, _stage); // if(materialSdf.Emissive() != ignition::math::Color(0, 0, 0, 1) // || materialSdf.Specular() != ignition::math::Color(0, 0, 0, 1) // || materialSdf.PbrMaterial()) // { // if (materialUSD) // { // pxr::UsdShadeMaterialBindingAPI(usdMesh).Bind(materialUSD); // } // } } pxr::UsdGeomXformCommonAPI meshXformAPI(usdMesh); meshXformAPI.SetScale(pxr::GfVec3f( _meshMsg.scale().x(), _meshMsg.scale().y(), _meshMsg.scale().z())); return usdMesh; } return pxr::UsdGeomMesh(); } } // namespace ignition::omniverse

C++

gazebosim/gz-omni/source/ignition_live/main.cpp

/* * Copyright (C) 2022 Open Source Robotics Foundation * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. * */ #include "GetOp.hpp" #include "OmniverseConnect.hpp" #include "Scene.hpp" #include "SetOp.hpp" #include "ThreadSafe.hpp" #include <ignition/common/Console.hh> #include <ignition/common/SystemPaths.hh> #include <ignition/common/StringUtils.hh> #include <ignition/utils/cli.hh> #include <pxr/usd/sdf/path.h> #include <pxr/usd/usd/prim.h> #include <pxr/usd/usdGeom/xformCommonAPI.h> #include <string> using namespace ignition::omniverse; constexpr double kTargetFps = 60; constexpr std::chrono::duration<double> kUpdateRate(1 / kTargetFps); int main(int argc, char* argv[]) { CLI::App app("Ignition omniverse connector"); std::string destinationPath; app.add_option("-p,--path", destinationPath, // clang-format off "Location of the omniverse stage. e.g. \"omniverse://localhost/Users/ignition/stage.usd\"") // clang-format on ->required(); std::string worldName; ignition::omniverse::Simulator simulatorPoses{ ignition::omniverse::Simulator::Ignition}; app.add_option("-w,--world", worldName, "Name of the ignition world") ->required(); std::map<std::string, ignition::omniverse::Simulator> map{ {"ignition", ignition::omniverse::Simulator::Ignition}, {"isaacsim", ignition::omniverse::Simulator::IsaacSim}}; app.add_option("--pose", simulatorPoses, "Which simulator will handle the poses") ->required() ->transform(CLI::CheckedTransformer(map, CLI::ignore_case));; app.add_flag_callback("-v,--verbose", []() { ignition::common::Console::SetVerbosity(4); }); CLI11_PARSE(app, argc, argv); std::string ignGazeboResourcePath; auto systemPaths = ignition::common::systemPaths(); ignition::common::env("IGN_GAZEBO_RESOURCE_PATH", ignGazeboResourcePath); for (const auto& resourcePath : ignition::common::Split(ignGazeboResourcePath, ':')) { systemPaths->AddFilePaths(resourcePath); } // Connect with omniverse if (!StartOmniverse()) { ignerr << "Not able to start Omniverse" << std::endl; return -1; } // Open the USD model in Omniverse const std::string stageUrl = [&]() { auto result = CreateOmniverseModel(destinationPath); if (!result) { ignerr << result.Error() << std::endl; exit(-1); } return result.Value(); }(); omniUsdLiveSetModeForUrl(stageUrl.c_str(), OmniUsdLiveMode::eOmniUsdLiveModeEnabled); PrintConnectedUsername(stageUrl); Scene scene(worldName, stageUrl, simulatorPoses); if (!scene.Init()) { return -1; }; auto lastUpdate = std::chrono::steady_clock::now(); // don't spam the console, show the fps only once a sec auto nextShowFps = lastUpdate.time_since_epoch() + std::chrono::duration<double>(1); while (true) { std::this_thread::sleep_for((lastUpdate + kUpdateRate) - std::chrono::steady_clock::now()); auto now = std::chrono::steady_clock::now(); if (now.time_since_epoch() > nextShowFps) { double curFps = 1 / std::chrono::duration<double>(now - lastUpdate).count(); nextShowFps = now.time_since_epoch() + std::chrono::duration<double>(1); igndbg << "fps: " << curFps << std::endl; } lastUpdate = now; scene.Save(); omniUsdLiveProcess(); } return 0; }

C++

gazebosim/gz-omni/source/ignition_live/OmniClientpp.hpp

/* * Copyright (C) 2022 Open Source Robotics Foundation * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. * */ /** * C++ wrappers for various omniclient apis */ #ifndef IGNITION_OMNIVERSE_OMNICLIENTPP_HPP #define IGNITION_OMNIVERSE_OMNICLIENTPP_HPP #include "Error.hpp" #include <OmniClient.h> #include <ostream> #include <string> namespace ignition::omniverse { /// \brief RAII wrapper to omniClientLock and omniClientUnlock class OmniverseLock { public: OmniverseLock(const std::string& _url); ~OmniverseLock(); OmniverseLock(const OmniverseLock&) = delete; OmniverseLock(OmniverseLock&&) = delete; OmniverseLock& operator=(const OmniverseLock&) = delete; private: const std::string url; }; /// \brief Synchronous API for omniverse class OmniverseSync { public: template <typename T> using MaybeError = MaybeError<T, OmniClientResult>; static MaybeError<OmniClientListEntry> Stat(const std::string& url) noexcept; }; } // namespace ignition::omniverse #endif

C++

gazebosim/gz-omni/source/ignition_live/FUSDLayerNoticeListener.hpp

/* * Copyright (C) 2022 Open Source Robotics Foundation * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. * */ #ifndef IGNITION_OMNIVERSE_FUSDLAYERNOTICELISTENER_HPP #define IGNITION_OMNIVERSE_FUSDLAYERNOTICELISTENER_HPP #include "Scene.hpp" #include "ThreadSafe.hpp" #include <pxr/usd/usd/stage.h> #include <ignition/common/Console.hh> #include <ignition/utils/ImplPtr.hh> namespace ignition { namespace omniverse { class FUSDLayerNoticeListener : public pxr::TfWeakBase { public: FUSDLayerNoticeListener( std::shared_ptr<ThreadSafe<pxr::UsdStageRefPtr>> &_stage, const std::string& _worldName); void HandleGlobalLayerReload(const pxr::SdfNotice::LayerDidReloadContent& n); // Print some interesting info about the LayerNotice void HandleRootOrSubLayerChange( const class pxr::SdfNotice::LayersDidChangeSentPerLayer& _layerNotice, const pxr::TfWeakPtr<pxr::SdfLayer>& _sender); /// \internal /// \brief Private data pointer IGN_UTILS_UNIQUE_IMPL_PTR(dataPtr) }; } // namespace omniverse } // namespace ignition #endif

C++

gazebosim/gz-omni/source/ignition_live/FUSDNoticeListener.hpp

/* * Copyright (C) 2022 Open Source Robotics Foundation * * Licensed under the Apache License, Version 2.0 (the "License"); * you may not use this file except in compliance with the License. * You may obtain a copy of the License at * * http://www.apache.org/licenses/LICENSE-2.0 * * Unless required by applicable law or agreed to in writing, software * distributed under the License is distributed on an "AS IS" BASIS, * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. * See the License for the specific language governing permissions and * limitations under the License. * */ #ifndef IGNITION_OMNIVERSE_FUSDNOTICELISTENER_HPP #define IGNITION_OMNIVERSE_FUSDNOTICELISTENER_HPP #include <memory> #include <string> #include "ThreadSafe.hpp" #include "Scene.hpp" #include <pxr/usd/usd/notice.h> namespace ignition { namespace omniverse { class FUSDNoticeListener : public pxr::TfWeakBase { public: FUSDNoticeListener( std::shared_ptr<ThreadSafe<pxr::UsdStageRefPtr>> &_stage, const std::string &_worldName, Simulator _simulatorPoses, std::unordered_map<std::string, uint32_t> &entitiesByName); void Handle(const class pxr::UsdNotice::ObjectsChanged &ObjectsChanged); /// \internal /// \brief Private data pointer IGN_UTILS_UNIQUE_IMPL_PTR(dataPtr) }; } // namespace omniverse } // namespace ignition #endif

C++

NVlabs/ACID/README.md

[](https://github.com/NVlabs/ACID/blob/master/LICENSE)  # ACID: Action-Conditional Implicit Visual Dynamics for Deformable Object Manipulation ### [Project Page](https://b0ku1.github.io/acid/) | [Paper](https://arxiv.org/abs/2203.06856) <div style="text-align: center"> <img src="_media/model_figure.png" width="600"/> </div> This repository contains the codebase used in [**ACID: Action-Conditional Implicit Visual Dynamics for Deformable Object Manipulation**](https://b0ku1.github.io/acid/), which will appear in [RSS 2022](https://roboticsconference.org/program/papers/) and is nominated for Best Student Paper Award. Specifically, the repo contains code for: * [**PlushSim**](./PlushSim/), the simulation environment used to generate all manipulation data. * [**ACID model**](./ACID/), the implicit visual dynamics model's model and training code. If you find our code or paper useful, please consider citing ```bibtex @article{shen2022acid, title={ACID: Action-Conditional Implicit Visual Dynamics for Deformable Object Manipulation}, author={Shen, Bokui and Jiang, Zhenyu and Choy, Christopher and J. Guibas, Leonidas and Savarese, Silvio and Anandkumar, Anima and Zhu, Yuke}, journal={Robotics: Science and Systems (RSS)}, year={2022} } ``` # ACID model Please see the [README](./ACID/README.md) for more detailed information. # PlushSim Please see the [README](./PlushSim/README.md) for more detailed information. # License Please check the [LICENSE](./LICENSE) file. ACID may be used non-commercially, meaning for research or evaluation purposes only. For business inquiries, please contact researchinquiries@nvidia.com.

Markdown

NVlabs/ACID/PlushSim/README.md

[](https://github.com/NVlabs/ACID/blob/master/LICENSE)  # PlushSim <div style="text-align: center"> <img src="../_media/plushsim.png" width="600"/> </div> Our PlushSim simulation environment is based on [Omniverse Kit](https://docs.omniverse.nvidia.com/prod_kit/prod_kit.html). This codebase contains the docker image and the code to simulate and manipulate deformable objects. ## Prerequisites Omniverse Kit has a set of hardware requirements. Specifically, it requires a RTX gpu (e.g. RTX 2080, RTX 30x0, Titan RTX etc.). Also, a 16GB+ memory is recommended. The codebase is tested on Linux Ubuntu 20.04. ## Getting the Docker Image First, you need to install [Docker](https://docs.docker.com/engine/install/ubuntu/) and [NVIDIA Container Toolkit](https://github.com/NVIDIA/nvidia-docker) before proceeding. After you have installed Docker and NVIDIA container toolkit, you can obtain the PlushSim Docker image from DockerHub, with command: ``` docker pull b0ku1/acid-docker:cleaned ``` ## Preparing Simulation Assets You can download the simulation assets `raw_assets.zip` at: [Google Drive](https://drive.google.com/file/d/1OO8Wi0PHF3ROmW8088JNOMJn4EcDLDPB/view?usp=sharing). After you download it, unzip the assets within this directory. You should have a folder structure like: ``` PlushSim/ assets/ animals/ ... attic_clean/ ... ``` ## Generating Manipulation Trajectories Generating manipulation data consists of two steps: 1. Start Docker image, and mount the correct directory. 2. Run script To start the docker image with an interactive session, run the following command inside `PlushSim/`: ``` export PLUSHSIM_ROOT=$(pwd) docker run -it -v $PLUSHSIM_ROOT:/result --gpus all b0ku1/acid-docker:cleaned bash ``` Aftery entering the interactive session, you can run the following commands to start generating manipulation trajectories: ``` ./python.sh /result/scripts/data_gen_attic.py ``` The above scripts will generate sample interaction sequences in `PlushSim/interaction_sequence`. There are various command line arguments that you can give to `data_gen_attic.py`. Please see documentation of the python script. ## Visualizing the assets in GUI To visualize the assets in Omniverse GUI, you need to download and install [Omniverse](https://docs.omniverse.nvidia.com/prod_install-guide/prod_install-guide.html). The link contains NVIDIA's official instruction for installation. After you install Omniverse, you can open the `.usda` files in the assets folder. To run PlushSim's scripts outside of Docker (e.g. with your native Omniverse installation), you can find more information at [Omniverse Kit's Python Manual](https://docs.omniverse.nvidia.com/py/kit/index.html). For questions regarding Omniverse usage, please visit [NVIDIA developer forum](https://forums.developer.nvidia.com/c/omniverse/300). ## License Please check the [LICENSE](../LICENSE) file. ACID may be used non-commercially, meaning for research or evaluation purposes only. For business inquiries, please contact researchinquiries@nvidia.com. If you find our code or paper useful, please consider citing ```bibtex @article{shen2022acid, title={ACID: Action-Conditional Implicit Visual Dynamics for Deformable Object Manipulation}, author={Shen, Bokui and Jiang, Zhenyu and Choy, Christopher and J. Guibas, Leonidas and Savarese, Silvio and Anandkumar, Anima and Zhu, Yuke}, journal={Robotics: Science and Systems (RSS)}, year={2022} } ```

Markdown

NVlabs/ACID/PlushSim/scripts/python_app.py

#!/usr/bin/env python # Copyright (c) 2020, 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 carb import omni.kit.app import omni.kit import os import sys import time import asyncio import argparse DEFAULT_CONFIG = { "width": 1024, "height": 800, "renderer": "PathTracing", # Can also be RayTracedLighting "anti_aliasing": 3, # 3 for dlss, 2 for fxaa, 1 for taa, 0 to disable aa "samples_per_pixel_per_frame": 64, "denoiser": True, "subdiv_refinement_level": 0, "headless": True, "max_bounces": 4, "max_specular_transmission_bounces": 6, "max_volume_bounces": 4, "sync_loads": False, "experience": f'{os.environ["EXP_PATH"]}/omni.bloky.python.kit', } class OmniKitHelper: """Helper class for launching OmniKit from a Python environment. Launches and configures OmniKit and exposes useful functions. Typical usage example: .. highlight:: python .. code-block:: python config = {'width': 800, 'height': 600, 'renderer': 'PathTracing'} kit = OmniKitHelper(config) # Start omniverse kit # <Code to generate or load a scene> kit.update() # Render a single frame""" def __init__(self, config=DEFAULT_CONFIG): """The config variable is a dictionary containing the following entries Args: width (int): Width of the viewport and generated images. Defaults to 1024 height (int): Height of the viewport and generated images. Defaults to 800 renderer (str): Rendering mode, can be `RayTracedLighting` or `PathTracing`. Defaults to `PathTracing` samples_per_pixel_per_frame (int): The number of samples to render per frame, used for `PathTracing` only. Defaults to 64 denoiser (bool): Enable this to use AI denoising to improve image quality. Defaults to True subdiv_refinement_level (int): Number of subdivisons to perform on supported geometry. Defaults to 0 headless (bool): Disable UI when running. Defaults to True max_bounces (int): Maximum number of bounces, used for `PathTracing` only. Defaults to 4 max_specular_transmission_bounces(int): Maximum number of bounces for specular or transmission, used for `PathTracing` only. Defaults to 6 max_volume_bounces(int): Maximum number of bounces for volumetric, used for `PathTracing` only. Defaults to 4 sync_loads (bool): When enabled, will pause rendering until all assets are loaded. Defaults to False experience (str): The config json used to launch the application. """ # only import custom loop runner if we create this object # from omni.kit.loop import _loop # initialize vars self._exiting = False self._is_dirty_instance_mappings = True self._previous_physics_dt = 1.0 / 60.0 self.config = DEFAULT_CONFIG if config is not None: self.config.update(config) # Load app plugin self._framework = carb.get_framework() print(os.environ["CARB_APP_PATH"]) self._framework.load_plugins( loaded_file_wildcards=["omni.kit.app.plugin"], search_paths=[os.path.abspath(f'{os.environ["CARB_APP_PATH"]}/kit/plugins')], ) print(DEFAULT_CONFIG) # launch kit self.last_update_t = time.time() self.app = omni.kit.app.get_app() self.kit_settings = None self._start_app() self.carb_settings = carb.settings.acquire_settings_interface() self.setup_renderer(mode="default") # set rtx-defaults settings self.setup_renderer(mode="non-default") # set rtx settings self.timeline = omni.timeline.get_timeline_interface() # Wait for new stage to open new_stage_task = asyncio.ensure_future(omni.usd.get_context().new_stage_async()) print("OmniKitHelper Starting up ...") while not new_stage_task.done(): time.sleep(0.001) # This sleep prevents a deadlock in certain cases self.update() self.update() # Dock windows if they exist main_dockspace = omni.ui.Workspace.get_window("DockSpace") def dock_window(space, name, location): window = omni.ui.Workspace.get_window(name) if window and space: window.dock_in(space, location) return window view = dock_window(main_dockspace, "Viewport", omni.ui.DockPosition.TOP) self.update() console = dock_window(view, "Console", omni.ui.DockPosition.BOTTOM) prop = dock_window(view, "Property", omni.ui.DockPosition.RIGHT) dock_window(view, "Main ToolBar", omni.ui.DockPosition.LEFT) self.update() dock_window(prop, "Render Settings", omni.ui.DockPosition.SAME) self.update() print("OmniKitHelper Startup Complete") def _start_app(self): args = [ os.path.abspath(__file__), f'{self.config["experience"]}', "--/persistent/app/viewport/displayOptions=0", # hide extra stuff in viewport # Forces kit to not render until all USD files are loaded f'--/rtx/materialDb/syncLoads={self.config["sync_loads"]}', f'--/rtx/hydra/materialSyncLoads={self.config["sync_loads"]}' f'--/omni.kit.plugin/syncUsdLoads={self.config["sync_loads"]}', "--/app/content/emptyStageOnStart=False", # This is required due to a infinite loop but results in errors on launch "--/app/hydraEngine/waitIdle=True", "--/app/asyncRendering=False", f'--/app/renderer/resolution/width={self.config["width"]}', f'--/app/renderer/resolution/height={self.config["height"]}', ] args.append(f"--portable") args.append(f"--no-window") args.append(f"--allow-root") print(args) self.app.startup("kit", f'{os.environ["CARB_APP_PATH"]}/kit', args) def __del__(self): if self._exiting is False and sys.meta_path is None: print( "\033[91m" + "ERROR: Python exiting while OmniKitHelper was still running, Please call shutdown() on the OmniKitHelper object to exit cleanly" + "\033[0m" ) def shutdown(self): self._exiting = True print("Shutting Down OmniKitHelper...") # We are exisitng but something is still loading, wait for it to load to avoid a deadlock if self.is_loading(): print(" Waiting for USD resource operations to complete (this may take a few seconds)") while self.is_loading(): self.app.update() self.app.shutdown() self._framework.unload_all_plugins() print("Shutting Down Complete") def get_stage(self): """Returns the current USD stage.""" return omni.usd.get_context().get_stage() def set_setting(self, setting, value): """Convenience function to set settings. Args: setting (str): string representing the setting being changed value: new value for the setting being changed, the type of this value must match its repsective setting """ if isinstance(value, str): self.carb_settings.set_string(setting, value) elif isinstance(value, bool): self.carb_settings.set_bool(setting, value) elif isinstance(value, int): self.carb_settings.set_int(setting, value) elif isinstance(value, float): self.carb_settings.set_float(setting, value) else: raise ValueError(f"Value of type {type(value)} is not supported.") def set_physics_dt(self, physics_dt: float = 1.0 / 150.0, physics_substeps: int = 1): """Specify the physics step size to use when simulating, default is 1/60. Note that a physics scene has to be in the stage for this to do anything Args: physics_dt (float): Use this value for physics step """ if self.get_stage() is None: return if physics_dt == self._previous_physics_dt: return if physics_substeps is None or physics_substeps <= 1: physics_substeps = 1 self._previous_physics_dt = physics_dt from pxr import UsdPhysics, PhysxSchema steps_per_second = int(1.0 / physics_dt) min_steps = int(steps_per_second / physics_substeps) physxSceneAPI = None for prim in self.get_stage().Traverse(): if prim.IsA(UsdPhysics.Scene): physxSceneAPI = PhysxSchema.PhysxSceneAPI.Apply(prim) if physxSceneAPI is not None: physxSceneAPI.GetTimeStepsPerSecondAttr().Set(steps_per_second) settings = carb.settings.get_settings() settings.set_int("persistent/simulation/minFrameRate", min_steps) def update(self, dt=0.0, physics_dt=None, physics_substeps=None): """Render one frame. Optionally specify dt in seconds, specify None to use wallclock. Specify physics_dt and physics_substeps to decouple the physics step size from rendering For example: to render with a dt of 1/30 and simulate physics at 1/120 use: - dt = 1/30.0 - physics_dt = 1/120.0 - physics_substeps = 4 Args: dt (float): The step size used for the overall update, set to None to use wallclock physics_dt (float, optional): If specified use this value for physics step physics_substeps (int, optional): Maximum number of physics substeps to perform """ # dont update if exit was called if self._exiting: return # a physics dt was specified and is > 0 if physics_dt is not None and physics_dt > 0.0: self.set_physics_dt(physics_dt, physics_substeps) # a dt was specified and is > 0 if dt is not None and dt > 0.0: # if physics dt was not specified, use rendering dt if physics_dt is None: self.set_physics_dt(dt) # self.loop_runner.set_runner_dt(dt) self.app.update() else: # dt not specified, run in realtime time_now = time.time() dt = time_now - self.last_update_t if physics_dt is None: self.set_physics_dt(1.0 / 60.0, 4) self.last_update_t = time_now # self.loop_runner.set_runner_dt(dt) self.app.update() def play(self): """Starts the editor physics simulation""" self.update() self.timeline.play() self.update() def pause(self): """Pauses the editor physics simulation""" self.update() self.timeline.pause() self.update() def stop(self): """Stops the editor physics simulation""" self.update() self.timeline.stop() self.update() def get_status(self): """Get the status of the renderer to see if anything is loading""" return omni.usd.get_context().get_stage_loading_status() def is_loading(self): """convenience function to see if any files are being loaded Returns: bool: True if loading, False otherwise """ message, loaded, loading = self.get_status() return loading > 0 def is_exiting(self): """get current exit status for this object Returns: bool: True if exit() was called previously, False otherwise """ return self._exiting def execute(self, *args, **kwargs): """Allow use of omni.kit.commands interface""" omni.kit.commands.execute(*args, **kwargs) def setup_renderer(self, mode="non-default"): rtx_mode = "/rtx-defaults" if mode == "default" else "/rtx" """Reset render settings to those in config. This should be used in case a new stage is opened and the desired config needs to be re-applied""" self.set_setting(rtx_mode + "/rendermode", self.config["renderer"]) # Raytrace mode settings self.set_setting(rtx_mode + "/post/aa/op", self.config["anti_aliasing"]) self.set_setting(rtx_mode + "/directLighting/sampledLighting/enabled", True) # self.set_setting(rtx_mode + "/ambientOcclusion/enabled", True) # Pathtrace mode settings self.set_setting(rtx_mode + "/pathtracing/spp", self.config["samples_per_pixel_per_frame"]) self.set_setting(rtx_mode + "/pathtracing/totalSpp", self.config["samples_per_pixel_per_frame"]) self.set_setting(rtx_mode + "/pathtracing/clampSpp", self.config["samples_per_pixel_per_frame"]) self.set_setting(rtx_mode + "/pathtracing/maxBounces", self.config["max_bounces"]) self.set_setting( rtx_mode + "/pathtracing/maxSpecularAndTransmissionBounces", self.config["max_specular_transmission_bounces"], ) self.set_setting(rtx_mode + "/pathtracing/maxVolumeBounces", self.config["max_volume_bounces"]) self.set_setting(rtx_mode + "/pathtracing/optixDenoiser/enabled", self.config["denoiser"]) self.set_setting(rtx_mode + "/hydra/subdivision/refinementLevel", self.config["subdiv_refinement_level"]) # Experimental, forces kit to not render until all USD files are loaded self.set_setting(rtx_mode + "/materialDb/syncLoads", self.config["sync_loads"]) self.set_setting(rtx_mode + "/hydra/materialSyncLoads", self.config["sync_loads"]) self.set_setting("/omni.kit.plugin/syncUsdLoads", self.config["sync_loads"]) def create_prim( self, path, prim_type, translation=None, rotation=None, scale=None, ref=None, semantic_label=None, attributes={} ): """Create a prim, apply specified transforms, apply semantic label and set specified attributes. args: path (str): The path of the new prim. prim_type (str): Prim type name translation (tuple(float, float, float), optional): prim translation (applied last) rotation (tuple(float, float, float), optional): prim rotation in radians with rotation order ZYX. scale (tuple(float, float, float), optional): scaling factor in x, y, z. ref (str, optional): Path to the USD that this prim will reference. semantic_label (str, optional): Semantic label. attributes (dict, optional): Key-value pairs of prim attributes to set. """ from pxr import UsdGeom, Semantics prim = self.get_stage().DefinePrim(path, prim_type) for k, v in attributes.items(): prim.GetAttribute(k).Set(v) xform_api = UsdGeom.XformCommonAPI(prim) if ref: prim.GetReferences().AddReference(ref) if semantic_label: sem = Semantics.SemanticsAPI.Apply(prim, "Semantics") sem.CreateSemanticTypeAttr() sem.CreateSemanticDataAttr() sem.GetSemanticTypeAttr().Set("class") sem.GetSemanticDataAttr().Set(semantic_label) if rotation: xform_api.SetRotate(rotation, UsdGeom.XformCommonAPI.RotationOrderXYZ) if scale: xform_api.SetScale(scale) if translation: xform_api.SetTranslate(translation) return prim def set_up_axis(self, axis): """Change the up axis of the current stage Args: axis: valid values are `UsdGeom.Tokens.y`, or `UsdGeom.Tokens.z` """ from pxr import UsdGeom, Usd stage = self.get_stage() rootLayer = stage.GetRootLayer() rootLayer.SetPermissionToEdit(True) with Usd.EditContext(stage, rootLayer): UsdGeom.SetStageUpAxis(stage, axis)

Python

NVlabs/ACID/PlushSim/scripts/data_gen_attic.py

#!/usr/bin/env python # Copyright (c) 2020, 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 os import time import argparse import json from utils import * parser = argparse.ArgumentParser("Dataset generation") ################################################################ # save to args parser.add_argument("--save_dir", type=str, default="/result/interaction_sequence") parser.add_argument("--img_subdir", type=str, default='img') parser.add_argument("--geom_subdir", type=str, default='geom') parser.add_argument("--info_subdir", type=str, default='info') parser.add_argument("--save_every", type=int, default=25) ################################################################ # interaction args parser.add_argument("--num_interaction", type=int, default=18) parser.add_argument("--reset_every", type=int, default=6) ################################################################ # scene args parser.add_argument("--asset_root", type=str, default="/result/assets") parser.add_argument("--scene_path", type=str, default="attic_lean/Attic_clean_v2.usda") parser.add_argument("--plush_path", type=str, default="animals/teddy/teddy_scaled/teddy_scaled.usda") parser.add_argument("--skip_layout_randomization", action="store_true", default=False) parser.add_argument("--skip_lights_randomization", action="store_true", default=False) args = parser.parse_args() os.makedirs(args.save_dir, exist_ok=True) os.makedirs(os.path.join(args.save_dir, args.img_subdir), exist_ok=True) os.makedirs(os.path.join(args.save_dir, args.geom_subdir), exist_ok=True) os.makedirs(os.path.join(args.save_dir, args.info_subdir), exist_ok=True) img_dir = os.path.join(args.save_dir, args.img_subdir) geom_dir = os.path.join(args.save_dir, args.geom_subdir) info_dir = os.path.join(args.save_dir, args.info_subdir) def main(): from attic_scene import attic_scene scene_path = os.path.join(args.asset_root, args.scene_path) plush_path = os.path.join(args.asset_root, args.plush_path) scene = attic_scene( scene_path, plush_path, RESET_STATIC=True, RAND_LAYOUT=not args.skip_layout_randomization, RAND_LIGHTS=not args.skip_lights_randomization,) start_time = time.time() # save scene overall info with open(os.path.join(info_dir, "scene_meta.json"), 'w') as fp: json.dump(scene.get_scene_metadata(), fp) # number of resets num_resets = (args.num_interaction + args.reset_every - 1) // args.reset_every for reset in range(num_resets): # save scene reset collider info np.savez_compressed(os.path.join(info_dir, f"clutter_info_{reset:04d}.npz"), **scene.get_scene_background_state()) num_steps = min(args.num_interaction, (reset + 1) * args.reset_every) - reset * args.reset_every # sample interactions actions = { 'grasp_points':[], 'target_points':[], 'grasp_pixels':[], 'start_frames':[], 'release_frames':[], 'static_frames':[], } # save start frame save_frame(f"{reset:04d}_{scene.frame:06d}", scene.get_observations(), img_dir) np.savez_compressed( os.path.join(geom_dir, f"{reset:04d}_{scene.frame:06d}.npz"), **scene.get_scene_state_plush(convert_to=np.float16)) for interaction in range(num_steps): # stop simulating scene.kit.pause() action = scene.sample_action() if action is None: scene.kit.play() continue grasp_point, target_point, grasp_pixel = action actions['grasp_points'].append(np.array(grasp_point,np.float16)) actions['target_points'].append(np.array(target_point,np.float16)) actions['grasp_pixels'].append(np.array(grasp_pixel,np.uint16)) actions['start_frames'].append(np.array(scene.frame,np.uint16)) save_frame(f"{reset:04d}_{scene.frame:06d}", scene.get_observations(), img_dir) np.savez_compressed( os.path.join(geom_dir, f"{reset:04d}_{scene.frame:06d}.npz"), **scene.get_scene_state_plush(convert_to=np.float16)) scene.kit.play() init_traj = scene.gripper.plan_trajectory(scene.gripper.eef_default_loc, grasp_point) # move for pos in init_traj: scene.step() scene.gripper.set_translation(tuple(pos)) if scene.frame % args.save_every == args.save_every - 1: save_frame(f"{reset:04d}_{scene.frame:06d}", scene.get_observations(), img_dir) np.savez_compressed( os.path.join(geom_dir, f"{reset:04d}_{scene.frame:06d}.npz"), **scene.get_scene_state_plush(convert_to=np.float16)) scene.kit.pause() #init_move_traj = scene.gripper.set_translation(grasp_point) scene.gripper.grasp(scene.plush) scene.kit.play() traj = scene.gripper.plan_trajectory(grasp_point, target_point) # move for pos in traj: scene.step() scene.gripper.set_translation(tuple(pos)) if scene.frame % args.save_every == args.save_every - 1: save_frame(f"{reset:04d}_{scene.frame:06d}", scene.get_observations(), img_dir) np.savez_compressed( os.path.join(geom_dir, f"{reset:04d}_{scene.frame:06d}.npz"), **scene.get_scene_state_plush(convert_to=np.float16)) # wait until stable for ff in range(scene.FALL_MAX): scene.step() if scene.check_scene_static(): print(f"grasp reaching a resting state after {ff} steps") break save_frame(f"{reset:04d}_{scene.frame:06d}", scene.get_observations(), img_dir) np.savez_compressed( os.path.join(geom_dir, f"{reset:04d}_{scene.frame:06d}.npz"), **scene.get_scene_state_plush(convert_to=np.float16)) actions['release_frames'].append(np.array(scene.frame,np.uint16)) # release scene.kit.pause() scene.gripper.ungrasp() # TODO: delete gripper collider scene.kit.play() for ff in range(scene.FALL_MAX+scene.DROP_MIN): scene.step() if scene.frame % args.save_every == args.save_every - 1: save_frame(f"{reset:04d}_{scene.frame:06d}", scene.get_observations(), img_dir) np.savez_compressed( os.path.join(geom_dir, f"{reset:04d}_{scene.frame:06d}.npz"), **scene.get_scene_state_plush(convert_to=np.float16)) if ff < scene.DROP_MIN: continue if scene.check_scene_static(): print(f"release reaching a resting state after {ff} steps") break scene.gripper.reset_translation() save_frame(f"{reset:04d}_{scene.frame:06d}", scene.get_observations(), img_dir) np.savez_compressed( os.path.join(geom_dir, f"{reset:04d}_{scene.frame:06d}.npz"), **scene.get_scene_state_plush(convert_to=np.float16)) actions['static_frames'].append(np.array(scene.frame,np.uint16)) np.savez_compressed(os.path.join(info_dir, f"interaction_info_{reset:04d}.npz"), **actions) end_time = time.time() from datetime import timedelta time_str = str(timedelta(seconds=end_time - start_time)) print(f'Sampling {num_steps} interactions takes: {time_str}') scene.reset() # cleanup scene.kit.shutdown() if __name__ == "__main__": main()

Python

NVlabs/ACID/PlushSim/scripts/syntheticdata.py

#!/usr/bin/env python # Copyright (c) 2020, 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. """Helper class for obtaining groundtruth data from OmniKit. Support provided for RGB, Depth, Bounding Box (2D Tight, 2D Loose, 3D), segmentation (instance and semantic), and camera parameters. Typical usage example: kit = OmniKitHelper() # Start omniverse kit sd_helper = SyntheticDataHelper() gt = sd_helper.get_groundtruth(('rgb', 'depth', 'boundingBox2DTight')) """ import math import carb import omni import time from pxr import UsdGeom, Semantics, Gf import numpy as np class SyntheticDataHelper: def __init__(self): self.app = omni.kit.app.get_app_interface() ext_manager = self.app.get_extension_manager() ext_manager.set_extension_enabled("omni.syntheticdata", True) from omni.syntheticdata import sensors, helpers import omni.syntheticdata._syntheticdata as sd # Must be imported after getting app interface self.sd = sd self.sd_interface = self.sd.acquire_syntheticdata_interface() self.viewport = omni.kit.viewport.get_viewport_interface() self.carb_settings = carb.settings.acquire_settings_interface() self.sensor_helper_lib = sensors self.generic_helper_lib = helpers mode = "numpy" self.sensor_helpers = { "rgb": sensors.get_rgb, "depth": sensors.get_depth_linear, "depthLinear": self.get_depth_linear, "instanceSegmentation": sensors.get_instance_segmentation, "semanticSegmentation": self.get_semantic_segmentation, "boundingBox2DTight": sensors.get_bounding_box_2d_tight, "boundingBox2DLoose": sensors.get_bounding_box_2d_loose, "boundingBox3D": sensors.get_bounding_box_3d, "camera": self.get_camera_params, "pose": self.get_pose, } self.sensor_types = { "rgb": self.sd.SensorType.Rgb, "depth": self.sd.SensorType.DepthLinear, "depthLinear": self.sd.SensorType.DepthLinear, "instanceSegmentation": self.sd.SensorType.InstanceSegmentation, "semanticSegmentation": self.sd.SensorType.SemanticSegmentation, "boundingBox2DTight": self.sd.SensorType.BoundingBox2DTight, "boundingBox2DLoose": self.sd.SensorType.BoundingBox2DLoose, "boundingBox3D": self.sd.SensorType.BoundingBox3D, } self.sensor_state = {s: False for s in list(self.sensor_helpers.keys())} def get_depth_linear(self, viewport): """ Get Depth Linear sensor output. Args: viewport (omni.kit.viewport._viewport.IViewportWindow): Viewport from which to retrieve/create sensor. Return: (numpy.ndarray): A float32 array of shape (height, width, 1). """ sensor = self.sensor_helper_lib.create_or_retrieve_sensor(viewport, self.sd.SensorType.DepthLinear) data = self.sd_interface.get_sensor_host_float_texture_array(sensor) h, w = data.shape[:2] return np.frombuffer(data, np.float32).reshape(h, w, -1) def get_semantic_segmentation(self, viewport): instance_data, instance_mappings = self.sensor_helpers['instanceSegmentation'](viewport, return_mapping=True) ins_to_sem = np.zeros(np.max(instance_data)+1,dtype=np.uint8) for im in instance_mappings[::-1]: for i in im["instanceIds"]: if i >= len(ins_to_sem): continue ins_to_sem[i] = 1 #if im['semanticLabel'] == 'teddy' else 2 return np.take(ins_to_sem, instance_data) def get_camera_params(self, viewport): """Get active camera intrinsic and extrinsic parameters. Returns: A dict of the active camera's parameters. pose (numpy.ndarray): camera position in world coordinates, fov (float): horizontal field of view in radians focal_length (float) horizontal_aperture (float) view_projection_matrix (numpy.ndarray(dtype=float64, shape=(4, 4))) resolution (dict): resolution as a dict with 'width' and 'height'. clipping_range (tuple(float, float)): Near and Far clipping values. """ stage = omni.usd.get_context().get_stage() prim = stage.GetPrimAtPath(viewport.get_active_camera()) prim_tf = UsdGeom.Camera(prim).GetLocalTransformation() focal_length = prim.GetAttribute("focalLength").Get() horiz_aperture = prim.GetAttribute("horizontalAperture").Get() fov = 2 * math.atan(horiz_aperture / (2 * focal_length)) x_min, y_min, x_max, y_max = viewport.get_viewport_rect() width, height = x_max - x_min, y_max - y_min aspect_ratio = width / height near, far = prim.GetAttribute("clippingRange").Get() view_proj_mat = self.generic_helper_lib.get_view_proj_mat(prim, aspect_ratio, near, far) return { "pose": np.array(prim_tf), "fov": fov, "focal_length": focal_length, "horizontal_aperture": horiz_aperture, "view_projection_matrix": view_proj_mat, "resolution": {"width": width, "height": height}, "clipping_range": (near, far), } def get_pose(self): """Get pose of all objects with a semantic label. """ stage = omni.usd.get_context().get_stage() mappings = self.generic_helper_lib.get_instance_mappings() pose = [] for m in mappings: prim_path = m[0] prim = stage.GetPrimAtPath(prim_path) prim_tf = UsdGeom.Xformable(prim).ComputeLocalToWorldTransform(0.0) pose.append((str(prim_path), m[1], str(m[2]), np.array(prim_tf))) return pose async def initialize_async(self, viewport, sensor_types, timeout=10): """ Initialize sensors in the list provided. Args: viewport (omni.kit.viewport._viewport.IViewportWindow): Viewport from which to retrieve/create sensor. sensor_types (list of omni.syntheticdata._syntheticdata.SensorType): List of sensor types to initialize. timeout (int): Maximum time in seconds to attempt to initialize sensors. """ start = time.time() is_initialized = False while not is_initialized and time.time() < (start + timeout): sensors = [] for sensor_type in sensor_types: sensors.append(self.sensor_helper_lib.create_or_retrieve_sensor(viewport, sensor_type)) await omni.kit.app.get_app_interface().next_update_async() is_initialized = not any([not self.sd_interface.is_sensor_initialized(s) for s in sensors]) if not is_initialized: unititialized = [s for s in sensors if not self.sd_interface.is_sensor_initialized(s)] raise TimeoutError(f"Unable to initialized sensors: [{unititialized}] within {timeout} seconds.") await omni.kit.app.get_app_interface().next_update_async() # Extra frame required to prevent access violation error def get_groundtruth(self, gt_sensors, viewport, verify_sensor_init=True): """Get groundtruth from specified gt_sensors. Args: gt_sensors (list): List of strings of sensor names. Valid sensors names: rgb, depth, instanceSegmentation, semanticSegmentation, boundingBox2DTight, boundingBox2DLoose, boundingBox3D, camera viewport (omni.kit.viewport._viewport.IViewportWindow): Viewport from which to retrieve/create sensor. verify_sensor_init (bool): Additional check to verify creation and initialization of sensors. Returns: Dict of sensor outputs """ if isinstance(gt_sensors, str): gt_sensors = (gt_sensors,) # Create and initialize sensors while verify_sensor_init: flag = 0 # Render frame self.app.update() for sensor_name in gt_sensors: if sensor_name != "camera" and sensor_name != "pose": current_sensor = self.sensor_helper_lib.create_or_retrieve_sensor( viewport, self.sensor_types[sensor_name] ) if not self.sd_interface.is_sensor_initialized(current_sensor): flag = 1 # Render frame self.app.update() self.app.update() if flag == 0: break gt = {} sensor_state = {} # Process non-RT-only sensors for sensor in gt_sensors: if sensor not in ["camera", "pose"]: if sensor == "instanceSegmentation": gt[sensor] = self.sensor_helpers[sensor](viewport, parsed=True, return_mapping=True) elif sensor == "boundingBox3D": gt[sensor] = self.sensor_helpers[sensor](viewport, parsed=True, return_corners=True) else: gt[sensor] = self.sensor_helpers[sensor](viewport) current_sensor = self.sensor_helper_lib.create_or_retrieve_sensor(viewport, self.sensor_types[sensor]) current_sensor_state = self.sd_interface.is_sensor_initialized(current_sensor) sensor_state[sensor] = current_sensor_state else: gt[sensor] = self.sensor_helpers[sensor](viewport) gt["state"] = sensor_state return gt

Python

NVlabs/ACID/PlushSim/scripts/attic_scene.py

import os import cv2 import time import random import asyncio import numpy as np from python_app import OmniKitHelper import omni import carb from utils import * RESOLUTION=720 # specify a custom config CUSTOM_CONFIG = { "width": RESOLUTION, "height": RESOLUTION, "anti_aliasing": 3, # 3 for dlss, 2 for fxaa, 1 for taa, 0 to disable aa "renderer": "RayTracedLighting", "samples_per_pixel_per_frame": 128, "max_bounces": 10, "max_specular_transmission_bounces": 6, "max_volume_bounces": 4, "subdiv_refinement_level": 2, "headless": True, "sync_loads": True, "experience": f'{os.environ["EXP_PATH"]}/omni.bloky.kit', } """ plush animal material: /Root/physics/stuff_animal magic gripper: /Root/physics/magic_gripper real object group: /Root/physics/real_objects magic object group: /Root/physics/magic_objects """ class attic_scene(object): def __init__(self, SCENE_PATH, PLUSH_ANIMAL_PATH, PLUSH_SCALE=4, FALL_MAX=300, REST_THRESHOLD=8, PHYSX_DT=1/150., SAVE_EVERY=25, DROP_MIN=20, RESET_STATIC=True, RAND_LAYOUT=True, RAND_LIGHTS=True, ROBOT_SPEED=1.): for k,v in locals().items(): if k != 'self': self.__dict__[k] = v self.plush_animal_mat = "/Root/physics/stuff_animal" self.magic_gripper = "/Root/physics/magic_gripper" self.fingerL = "/Root/physics/magic_gripper/fingerL" self.fingerR = "/Root/physics/magic_gripper/fingerR" self.real_object_group = "/Root/physics/real_objects" self.magic_object_group = "/Root/physics/magic_objects" self.front_path = "/Root/scene_front" self.back_path = "/Root/scene_back" self.scene_range = np.array([[-50*12,-50*8,0],[50*12,50*8,50*8]]) self.drop_range = np.array([[-50*self.PLUSH_SCALE,-50*self.PLUSH_SCALE,], [50*self.PLUSH_SCALE,50*self.PLUSH_SCALE,]]) #/ 2. self.back_clutter_range = np.array([[-50*12,50*8,],[50*12,50*12,]]) self.total_range = np.array([[-50*12,-50*12,0],[50*12,50*12,50*8]]) self.kit = OmniKitHelper(CUSTOM_CONFIG) self.kit.set_physics_dt(physics_dt=self.PHYSX_DT) physx_interface = omni.physx.get_physx_interface() physx_interface.force_load_physics_from_usd() physx_interface.reset_simulation() async def load_stage(path): await omni.usd.get_context().open_stage_async(path) setup_task = asyncio.ensure_future(load_stage(SCENE_PATH)) while not setup_task.done(): self.kit.update() self.kit.setup_renderer() self.kit.update() self.stage = omni.usd.get_context().get_stage() self.front_group = self.stage.GetPrimAtPath(self.front_path) self.back_group = self.stage.GetPrimAtPath(self.back_path) from syntheticdata import SyntheticDataHelper self.sd_helper = SyntheticDataHelper() # force RayTracedLighting mode for better performance while simulating physics self.kit.set_setting("/rtx/rendermode", "RayTracedLighting") # wait until all materials are loaded print("waiting for things to load...") # if self.kit.is_loading(): # time.sleep(10) while self.kit.is_loading(): time.sleep(0.1) # set up cameras self._setup_cameras() _viewport_api = omni.kit.viewport.get_viewport_interface() viewport = _viewport_api.get_instance_list()[0] self._viewport = _viewport_api.get_viewport_window(viewport) # touch the sensors to kick in anti-aliasing for _ in range(20): _ = self.sd_helper.get_groundtruth( [ "rgb","depth","instanceSegmentation","semanticSegmentation",], self._viewport) # set up objects self._import_plush_animal(PLUSH_ANIMAL_PATH) self._setup_robots() # # start off Omniverse self.kit.play() # store original sim and vis points for reset self.sim_og_pts, self.vis_og_pts = self._get_plush_points() # # stop Omniverse # self.kit.pause() # reset the scene self.frame = 0 self.reset() def step(self): self.kit.update(self.PHYSX_DT) self.frame += 1 return self.frame def sample_action(self, grasp_point=None): if grasp_point is None: gt = self.sd_helper.get_groundtruth( [ "rgb","depth","instanceSegmentation","semanticSegmentation",], self._viewport) pts = get_partial_point_cloud(self._viewport, project_factor=100.) semseg = gt['semanticSegmentation'] kernel = np.ones((2,2), np.uint8) semseg = cv2.erode(semseg, kernel, iterations=1) plush_pts = np.where(semseg == 1) if len(plush_pts[0]) == 0: return None idx = random.randint(0,len(plush_pts[0])-1) grasp_pixel = (plush_pts[0][idx], plush_pts[1][idx]) grasp_point = tuple(pts[grasp_pixel[0], grasp_pixel[1],:]) else: grasp_pixel = None target_point = self._sample_displacement_vector(grasp_point) if target_point is None: return None return grasp_point, target_point, grasp_pixel def reset(self): self.kit.stop() from pxr import Gf self.frame = 0 print("Reseting plush geometry...") self._reset_plush_geometry(self.sim_og_pts, self.vis_og_pts) print("Finished reseting plush geometry...") # randonly drop the plush into the scene print("Reseting plush translation...") self.plush_translateOp.Set(Gf.Vec3f((0.,0.,250.))) print("Reseting plush rotation...") def randrot(): return random.random() * 360. rotx,roty,rotz = randrot(), randrot(), randrot() self.plush_rotationOp.Set(rpy2quat(rotx,roty,rotz)) print("Finished reseting plush pose...") print("Reseting scene...") self._randomize_scene() print("Finished reseting scene...") self.kit.play() # wait until stable if self.RESET_STATIC: print("Waiting to reach stable...") for _ in range(self.DROP_MIN): self.step() for ff in range(self.FALL_MAX*6): self.step() if self.check_scene_static(): print(f"Initial configuration becomes static after {ff} steps") break print("Reset Finished") self.frame = 0 def reset_to(self, state): self.kit.stop() loc = state['loc'] rot = state['rot'] sim = state['sim'] vis = state['vis'] self._reset_plush_geometry(sim, vis) self.plush_translateOp.Set(loc) self.plush_rotationOp.Set(rot) self.kit.play() def check_scene_static(self): _,_,_,v = self._get_object_velocity_stats() return v < self.REST_THRESHOLD def get_scene_metadata(self): from pxr import PhysxSchema sbAPI = PhysxSchema.PhysxDeformableAPI(self.plush) faces = sbAPI.GetSimulationIndicesAttr().Get() return {'plush_path': self.PLUSH_ANIMAL_PATH, 'sim_faces':np.array(faces, int).tolist(), 'sim_pts':np.array(self.sim_og_pts, np.float16).tolist(), 'vis_pts':np.array(self.vis_og_pts, np.float16).tolist(), 'scene_range': self.scene_range.tolist(), 'back_clutter_range': self.back_clutter_range.tolist(), 'cam_info': self._get_camera_info()} # background state is different per reset def get_scene_background_state(self): collider = {} for p in find_immediate_children(self.front_group): name = str(p.GetPath()).split("/")[-1] e,f = find_collider(p) collider[f"{name}_box"] = e collider[f"{name}_tran"] = f for p in find_immediate_children(self.back_group): name = str(p.GetPath()).split("/")[-1] e,f = find_collider(p) collider[f"{name}_box"] = e collider[f"{name}_tran"] = f return collider def get_scene_state_plush(self,raw=False,convert_to=None): sim,vis = self._get_plush_points() loc,rot,scale = self._get_plush_loc(),self._get_plush_rot(),self._get_plush_scale() if not raw: loc,rot,scale = tuple(loc),eval(str(rot)),tuple(scale) state = {'sim':sim, 'vis':vis, 'loc':loc, 'rot':rot, 'scale':scale} if convert_to is not None: for k,v in state.items(): state[k] = np.array(v, convert_to) return state def get_observations(self, sensors=["rgb","depth", # "instanceSegmentation", "semanticSegmentation",], partial_pointcloud=False): frame = self.sd_helper.get_groundtruth(sensors, self._viewport) gt = {} gt['rgb_img'] = frame['rgb'][:,:,:-1] gt['seg_img'] = frame['semanticSegmentation'] gt['dep_img'] = frame['depth'].squeeze() if partial_pointcloud: gt['pxyz'] = get_partial_point_cloud(self._viewport, project_factor=100.) return gt ################################################################ # # Below are "private" functions ;) # ################################################################ def _import_plush_animal(self, usda_path): from omni.physx.scripts import physicsUtils mesh_name = usda_path.split('/')[-1].split('.')[0] from pxr import PhysxSchema,UsdGeom,UsdShade,Semantics ################### # import object abspath = carb.tokens.get_tokens_interface().resolve(usda_path) physics_root = "/Root" assert self.stage.DefinePrim(physics_root+f"/{mesh_name}").GetReferences().AddReference(abspath) self.mesh_path = f"{physics_root}/{mesh_name}/{mesh_name}_obj/mesh" self.plush= self.stage.GetPrimAtPath(self.mesh_path) ################### # add deformable property schema_parameters = { "self_collision": True, "vertex_velocity_damping": 0.005, "sleep_damping": 10, "sleep_threshold": 5, "settling_threshold": 11, "solver_position_iteration_count": 60, "collisionRestOffset": 0.1, "collisionContactOffset": 0.5, "voxel_resolution": 45, } skin_mesh = UsdGeom.Mesh.Get(self.stage, self.mesh_path) skin_mesh.AddTranslateOp().Set(Gf.Vec3f(0.0, 0.0, 300.0)) skin_mesh.AddOrientOp().Set(Gf.Quatf(0.707, 0.707, 0, 0)) skin_points = skin_mesh.GetPointsAttr().Get() skin_indices = physicsUtils.triangulateMesh(skin_mesh) # Create tet meshes for simulation and collision based on the skin mesh simulation_resolution = schema_parameters["voxel_resolution"] skin_mesh_scale = Gf.Vec3f(1.0, 1.0, 1.0) collision_points, collision_indices = physicsUtils.create_conforming_tetrahedral_mesh(skin_points, skin_indices) simulation_points, simulation_indices = physicsUtils.create_voxel_tetrahedral_mesh(collision_points, collision_indices, skin_mesh_scale, simulation_resolution) # Apply PhysxDeformableBodyAPI and PhysxCollisionAPI to skin mesh and set parameter and tet meshes deformable_body_api = PhysxSchema.PhysxDeformableBodyAPI.Apply(skin_mesh.GetPrim()) deformable_body_api.CreateSolverPositionIterationCountAttr().Set(schema_parameters['solver_position_iteration_count']) deformable_body_api.CreateSelfCollisionAttr().Set(schema_parameters['self_collision']) deformable_body_api.CreateCollisionIndicesAttr().Set(collision_indices) deformable_body_api.CreateCollisionRestPointsAttr().Set(collision_points) deformable_body_api.CreateSimulationIndicesAttr().Set(simulation_indices) deformable_body_api.CreateSimulationRestPointsAttr().Set(simulation_points) deformable_body_api.CreateVertexVelocityDampingAttr().Set(schema_parameters['vertex_velocity_damping']) deformable_body_api.CreateSleepDampingAttr().Set(schema_parameters['sleep_damping']) deformable_body_api.CreateSleepThresholdAttr().Set(schema_parameters['sleep_threshold']) deformable_body_api.CreateSettlingThresholdAttr().Set(schema_parameters['settling_threshold']) PhysxSchema.PhysxCollisionAPI.Apply(skin_mesh.GetPrim()) ################### # add deformable material def add_physics_material_to_prim(stage, prim, materialPath): bindingAPI = UsdShade.MaterialBindingAPI.Apply(prim) materialPrim = UsdShade.Material(stage.GetPrimAtPath(materialPath)) bindingAPI.Bind(materialPrim, UsdShade.Tokens.weakerThanDescendants, "physics") add_physics_material_to_prim(self.stage, self.plush, self.plush_animal_mat) ################### # add collision group physicsUtils.add_collision_to_collision_group(self.stage, self.mesh_path, self.real_object_group) ################### # add semantic info sem = Semantics.SemanticsAPI.Apply(self.stage.GetPrimAtPath(self.mesh_path), "Semantics") sem.CreateSemanticTypeAttr() sem.CreateSemanticDataAttr() sem.GetSemanticTypeAttr().Set("class") sem.GetSemanticDataAttr().Set("plush") ################### # standarize transform physicsUtils.setup_transform_as_scale_orient_translate(self.plush) xform = UsdGeom.Xformable(self.plush) ops = xform.GetOrderedXformOps() self.plush_translateOp = ops[0] self.plush_rotationOp = ops[1] self.plush_scaleOp = ops[2] scale_factor = self.PLUSH_SCALE self.plush_scaleOp.Set((scale_factor,scale_factor,scale_factor)) def _get_object_velocity_stats(self): from pxr import PhysxSchema sbAPI = PhysxSchema.PhysxDeformableAPI(self.plush) velocity = np.array(sbAPI.GetSimulationVelocitiesAttr().Get()) vnorm = np.linalg.norm(velocity, axis=1) return np.percentile(vnorm, [0,50,90,99]) def _setup_robots(self): actor = self.stage.GetPrimAtPath(self.magic_gripper) fingerL = self.stage.GetPrimAtPath(self.fingerL) fingerR = self.stage.GetPrimAtPath(self.fingerR) self.gripper = magic_eef(actor, self.stage, eef_default_loc=(0.,0.,600.), default_speed=self.ROBOT_SPEED, fingerL=fingerL, fingerR=fingerR) def _setup_cameras(self): from pxr import UsdGeom stage = omni.usd.get_context().get_stage() # Need to set this before setting viewport window size carb.settings.acquire_settings_interface().set_int("/app/renderer/resolution/width", -1) carb.settings.acquire_settings_interface().set_int("/app/renderer/resolution/height", -1) viewport_window = omni.kit.viewport.get_default_viewport_window() viewport_window.set_active_camera("/Root/cam_light/Camera") viewport_window.set_texture_resolution(RESOLUTION,RESOLUTION) viewport_window.set_window_size(RESOLUTION, RESOLUTION) def _get_plush_loc(self): return self.plush_translateOp.Get() def _get_plush_rot(self): return self.plush_rotationOp.Get() def _get_plush_scale(self): return self.plush_scaleOp.Get() def _get_plush_points(self): from pxr import PhysxSchema sbAPI = PhysxSchema.PhysxDeformableBodyAPI(self.plush) sim = sbAPI.GetSimulationPointsAttr().Get() mesh = UsdGeom.Mesh(self.plush) vis = mesh.GetPointsAttr().Get() return sim, vis def _get_camera_info(self): cam_info = {} camera_pose, camera_intr = get_camera_params(self._viewport) cam_name = get_camera_name(self._viewport) cam_info[cam_name] = [camera_pose.tolist(), camera_intr.tolist()] return cam_info def _randomize_collection(self, collection_prim, scene_range, drop_range=None, rand_rot=True, padding=True): extents,objs = [],[] for p in find_immediate_children(collection_prim): objs.append(str(p.GetPath())) extent, transform = find_collider(p) extents.append(transform_verts(extent, transform)) objects = [standardize_bbox(bbox) for bbox in np.array(extents)[:,:,:-1]] canvas = get_canvas(scene_range) if drop_range is not None: fill_canvas(canvas, scene_range, drop_range) translations = [] for b,n in zip(objects,objs): for _ in range(3): t = sample_bbox_translation(b, scene_range) if padding: tb = scale(pad_to_square(b + t)) else: tb = b + t if not overlaps_with_current(canvas, scene_range, tb): fill_canvas(canvas, scene_range, tb) translations.append((n,t)) break if len(translations) == 0 or translations[-1][0] != n: translations.append((n,np.array([0,-2000]))) def randrot(): return random.random() * 360. from pxr import UsdGeom from omni.physx.scripts import physicsUtils for n,t in translations: xform = UsdGeom.Xformable(self.stage.GetPrimAtPath(n)) physicsUtils.setup_transform_as_scale_orient_translate(xform) ops = xform.GetOrderedXformOps() translateOp = ops[0] translateOp.Set(tuple(np.array(tuple(translateOp.Get())) + np.append(t, 0))) if rand_rot: orientOp = ops[1] orientOp.Set(rpy2quat(0,0,randrot())) def _randomize_lighting(self): domelight = self.stage.GetPrimAtPath("/Root/cam_light/Lights/DomeLight") light = self.stage.GetPrimAtPath("/Root/cam_light/Lights/DistantLight") light1 = self.stage.GetPrimAtPath("/Root/cam_light/Lights/DistantLight_01") temp = np.random.rand(1)[0] * 5000 + 2500 domelight.GetAttribute('colorTemperature').Set(temp) light.GetAttribute('colorTemperature').Set(temp) light1.GetAttribute('colorTemperature').Set(temp) int_range = 10000 int_min = 2500 for l in [domelight, light, light1]: intensity = np.random.rand(1)[0] * int_range + int_min l.GetAttribute('intensity').Set(intensity) def _randomize_scene(self): if self.RAND_LAYOUT: # randomize front scene self._randomize_collection(self.front_group, self.scene_range[:,:-1], self.drop_range) # randomize back scene self._randomize_collection(self.back_group, self.back_clutter_range,rand_rot=False, padding=False) if self.RAND_LIGHTS: # randomize lights self._randomize_lighting() def _get_2d_layout_occupancy_map(self): extents = [] for p in find_immediate_children(self.front_group): extent, transform = find_collider(p) extents.append(transform_verts(extent, transform)) for p in find_immediate_children(self.back_group): extent, transform = find_collider(p) extents.append(transform_verts(extent, transform)) objects = [standardize_bbox(bbox) for bbox in np.array(extents)[:,:,:-1]] #canvas = get_canvas(self.scene_range[:,:-1]) canvas = get_canvas(self.total_range[:,:-1]) for b in objects: fill_canvas(canvas, self.total_range[:,:-1], b) return canvas def _sample_displacement_vector(self, grasp_point): sampled_for = 0 mean_len = 160 std_len = 80 max_len = 240 min_len = 80 canvas = self._get_2d_layout_occupancy_map() while(True): sampled_for = sampled_for + 1 move_len = np.clip(np.random.normal(loc=mean_len,scale=std_len), min_len, max_len) move_dir = sample_direction_zup(100).squeeze() #move_dir[1,:] = np.abs(move_dir[1,:]) move_vec = move_dir * move_len target_pts = grasp_point + move_vec.T in_world = np.logical_and( target_pts > self.total_range[0], target_pts < self.total_range[1]).all(axis=1) occupancies = [] try: # assure that no obstacle is in path for length times 1.3 for i in range(int(max_len*1.3)): temp = grasp_point + (target_pts - grasp_point) / max_len * i temp[:,0] = np.clip(target_pts[:,0], self.total_range[0,0], self.total_range[1,0]) temp[:,1] = np.clip(target_pts[:,1], self.total_range[0,1], self.total_range[1,1]) occupancies.append(get_occupancy_value( canvas, self.total_range[:,:-1], temp[:,:-1])) path_no_collision = (np.array(occupancies) == 0).all(axis=0) viable = np.logical_and(in_world, path_no_collision) in_idx = np.nonzero(viable)[0] except: continue if len(in_idx) > 0: target_point = target_pts[np.random.choice(in_idx)] return target_point else: if sampled_for > 10: break return None def _reset_plush_geometry(self, sim, vis): from pxr import PhysxSchema, Gf, Vt # reset simulation points sbAPI = PhysxSchema.PhysxDeformableBodyAPI(self.plush) sbAPI.GetSimulationPointsAttr().Set(sim) # reset simulation points velocity sbAPI = PhysxSchema.PhysxDeformableAPI(self.plush) velocity = np.array(sbAPI.GetSimulationVelocitiesAttr().Get()) zero_velocity = np.zeros_like(velocity) velocity_vec = Vt.Vec3fArray([Gf.Vec3f(tuple(m)) for m in zero_velocity]) sbAPI.GetSimulationVelocitiesAttr().Set(velocity_vec) # reset visual points mesh = UsdGeom.Mesh(self.plush) mesh.GetPointsAttr().Set(vis)

Python

NVlabs/ACID/PlushSim/scripts/utils.py

import os import math import omni import numpy as np from PIL import Image from pxr import UsdGeom, Usd, UsdPhysics, Gf import matplotlib.pyplot as plt ################################################################ # State Saving Utils # (Geometry) ################################################################ def transform_points_cam_to_world(cam_pts, camera_pose): world_pts = np.transpose( np.dot(camera_pose[0:3, 0:3], np.transpose(cam_pts)) + np.tile(camera_pose[0:3, 3:], (1, cam_pts.shape[0]))) return world_pts def project_depth_world_space(depth_image, camera_intr, camera_pose, project_factor=1.): cam_pts = project_depth_cam_space(depth_image, camera_intr, keep_dim=False, project_factor=project_factor) world_pts = transform_points_cam_to_world(cam_pts, camera_pose) W, H = depth_image.shape pts = world_pts.reshape([W, H, 3]) return pts def project_depth_cam_space(depth_img, camera_intrinsics, keep_dim=True, project_factor=1.): # Get depth image size im_h = depth_img.shape[0] im_w = depth_img.shape[1] # Project depth into 3D point cloud in camera coordinates pix_x, pix_y = np.meshgrid(np.linspace(0, im_w - 1, im_w), np.linspace(0, im_h - 1, im_h)) cam_pts_x = np.multiply(pix_x - im_w / 2., -depth_img / camera_intrinsics[0, 0]) cam_pts_y = np.multiply(pix_y - im_h / 2., depth_img / camera_intrinsics[1, 1]) cam_pts_z = depth_img.copy() cam_pts_x.shape = (im_h * im_w, 1) cam_pts_y.shape = (im_h * im_w, 1) cam_pts_z.shape = (im_h * im_w, 1) cam_pts = np.concatenate((cam_pts_x, cam_pts_y, cam_pts_z), axis=1) * project_factor # print("cam_pts: ", cam_pts.max(axis=0), cam_pts.min(axis=0)) if keep_dim: cam_pts = cam_pts.reshape([im_h, im_w, 3]) return cam_pts def get_camera_params(viewport): stage = omni.usd.get_context().get_stage() prim = stage.GetPrimAtPath(viewport.get_active_camera()) prim_tf = np.array(UsdGeom.Camera(prim).GetLocalTransformation()) focal_length = prim.GetAttribute("focalLength").Get() horiz_aperture = prim.GetAttribute("horizontalAperture").Get() fov = 2 * math.atan(horiz_aperture / (2 * focal_length)) image_w, image_h = viewport.get_texture_resolution() camera_focal_length = (float(image_w) / 2) / np.tan(fov/ 2) cam_intr = np.array( [[camera_focal_length, 0, float(image_h) / 2], [0, camera_focal_length, float(image_w) / 2], [0, 0, 1]]) return prim_tf.T, cam_intr def get_partial_point_cloud(viewport, in_world_space=True, project_factor=1.): from omni.syntheticdata import sensors data = sensors.get_depth_linear(viewport) h, w = data.shape[:2] depth_data = -np.frombuffer(data, np.float32).reshape(h, w, -1) camera_pose, camera_intr = get_camera_params(viewport) if in_world_space: return project_depth_world_space(depth_data.squeeze(), camera_intr, camera_pose, project_factor=project_factor) else: return project_depth_cam_space(depth_data.squeeze(), camera_intr, project_factor=project_factor) def export_visual_mesh(prim, export_path, loc=None, rot=None, binarize=True): assert prim.IsA(UsdGeom.Mesh), "prim needs to be a UsdGeom.Mesh" mesh = UsdGeom.Mesh(prim) points = mesh.GetPointsAttr().Get() if binarize: path = os.path.splitext(export_path)[0]+'.npy' np.save(path, np.array(points, np.float16)) else: print(export_path) faces = np.array(mesh.GetFaceVertexIndicesAttr().Get()).reshape(-1,3) + 1 uv = mesh.GetPrimvar("st").Get() with open(export_path, "w") as fp: fp.write("mtllib teddy.mtl\nusemtl Material.004\n") for x,y,z in points: fp.write(f"v {x:.3f} {y:.3f} {z:.3f}\n") for u,v in uv: fp.write(f"vt {u:=.4f} {v:.4f}\n") for i, (x,y,z) in enumerate(faces): fp.write(f"f {x}/{i*3+1} {y}/{i*3+2} {z}/{i*3+3}\n") def get_sim_points(prim, loc=None, rot=None): from pxr import PhysxSchema sbAPI = PhysxSchema.PhysxDeformableBodyAPI(prim) points = sbAPI.GetSimulationPointsAttr().Get() if rot is not None: points = np.array(points) w,x,y,z = eval(str(rot)) from scipy.spatial.transform import Rotation rot = Rotation.from_quat(np.array([x,y,z,w])) points = rot.apply(points) if loc is not None: loc = np.array(tuple(loc)) points = points + loc return points def get_sim_faces(prim): from pxr import PhysxSchema sbAPI = PhysxSchema.PhysxDeformableAPI(prim) faces = sbAPI.GetSimulationIndicesAttr().Get() return faces def export_simulation_voxels(prim, export_path, binarize=True, export_faces=False): points = get_sim_points(prim) if export_faces: faces = get_sim_faces(prim) if binarize: path = os.path.splitext(export_path)[0]+'.npy' if export_faces: np.savez(path, points=np.array(points, np.float16), faces=np.array(faces, int)) else: np.save(path, np.array(points, np.float16)) else: with open(export_path, 'w') as fp: for p in points: fp.write(f"v {p[0]:.3f} {p[1]:.3f} {p[2]:.3f}\n") if export_faces: faces = np.array(faces, int).reshape([-1,4]) + 1 for f in faces: fp.write(f"f {f[0]} {f[1]} {f[2]} {f[3]}\n") def visualize_sensors(gt, save_path): from omni.syntheticdata import visualize # GROUNDTRUTH VISUALIZATION # Setup a figure fig, axes = plt.subplots(1, 3, figsize=(20, 6)) axes = axes.flat for ax in axes: ax.axis("off") # RGB axes[0].set_title("RGB") for ax in axes[:-1]: ax.imshow(gt["rgb"]) # DEPTH axes[1].set_title("Depth") depth_data = np.clip(gt["depth"], 0, 255) axes[1].imshow(visualize.colorize_depth(depth_data.squeeze())) # SEMSEG axes[2].set_title("Semantic Segmentation") semantic_seg = gt["semanticSegmentation"] semantic_rgb = visualize.colorize_segmentation(semantic_seg) axes[2].imshow(semantic_rgb, alpha=0.7) # Save figure fig.savefig(save_path) plt.close(fig) def save_frame(frame_name, frame_data, save_dir, save_rgb=True, save_seg=True, save_depth=True, save_partial_pointcloud=False): if save_rgb: rgb = frame_data['rgb_img'] Image.fromarray(rgb).save(f"{save_dir}/rgb_{frame_name}.jpg") if save_seg: seg= frame_data['seg_img'] sem = np.tile(seg[:,:,np.newaxis], (1,1,3)).astype(np.uint8) * 255 Image.fromarray(sem).save(f"{save_dir}/seg_{frame_name}.jpg") if save_depth: depth_img = Image.fromarray((frame_data['dep_img'].squeeze() * 1000).astype(np.uint16), mode='I;16').convert(mode='I') depth_img.save(f"{save_dir}/depth_{frame_name}.png") def save_state(state_name, state_data, save_dir): loc, rot, sim, vis = state_data state_dict = {} state_dict['loc'] = np.array(tuple(loc)) state_dict['rot'] = np.array(eval(str(rot))) state_dict['sim'] = np.array(sim) state_dict['vis'] = np.array(vis) np.savez(f"{save_dir}/state_{state_name}.npz", **state_dict) ################################################################ # Interaction Utils ################################################################ def sample_pick_point(partial_point_cloud, segmentation): im_h = segmentation.shape[0] im_w = segmentation.shape[1] # point cloud "image" height and width pc_h = partial_point_cloud.shape[0] pc_w = partial_point_cloud.shape[1] assert im_h == pc_h and im_w == pc_w, "partial_point_cloud dimension should match with that of segmentation mask" def sample_spherical(npoints, ndim=3): vec = np.random.randn(ndim, npoints) vec /= np.linalg.norm(vec, axis=0) return vec def sample_direction(npoints): phi = np.random.randn(npoints) * 2 * np.pi theta = np.clip(np.random.normal(loc=np.pi / 4.,scale=np.pi / 12., size=npoints), np.pi / 6., np.pi / 2.) x = np.cos(phi) * np.sin(theta) z = np.sin(phi) * np.sin(theta) y = np.cos(theta) vec = np.vstack([x,y,z]) return vec def sample_direction_zup(npoints): phi = np.random.randn(npoints) * 2 * np.pi theta = np.clip(np.random.normal(loc=np.pi / 4.,scale=np.pi / 12., size=npoints), np.pi / 6., np.pi / 2.) x = np.cos(phi) * np.sin(theta) y = np.sin(phi) * np.sin(theta) z = np.cos(theta) vec = np.vstack([x,y,z]) return vec def interpolate(start_loc, end_loc, speed): start_loc = np.array(start_loc) end_loc = np.array(end_loc) dist = np.linalg.norm(end_loc - start_loc) chunks = dist // speed return start_loc + np.outer(np.arange(chunks+1,dtype=float), (end_loc - start_loc) / chunks) class magic_eef(object): def __init__(self, end_effector, stage, eef_default_loc=None, default_speed=1, fingerL=None, fingerR=None): self.end_effector = end_effector self.eef_default_loc = eef_default_loc self.default_speed = default_speed self.stage = stage xform = UsdGeom.Xformable(end_effector) self.ops = xform.GetOrderedXformOps() assert self.ops[0].GetOpType() == UsdGeom.XformOp.TypeTranslate,\ "Code is based on UsdGeom.Xformable with first op as translation" assert self.ops[1].GetOpType() == UsdGeom.XformOp.TypeOrient,\ "Code is based on UsdGeom.Xformable with second op as orientation" self.attachmentPath = None self.set_translation(eef_default_loc) self.fingerL=fingerL if fingerL is not None: xform = UsdGeom.Xformable(fingerL) self.fingerL_ops = xform.GetOrderedXformOps()[0] self.fingerL_ops.Set((-5,0,20)) self.fingerR=fingerR if fingerR is not None: xform = UsdGeom.Xformable(fingerR) self.fingerR_ops = xform.GetOrderedXformOps()[0] self.fingerL_ops.Set((5,0,20)) def get_translation(self): return self.ops[0].Get() def set_translation(self, loc): self.ops[0].Set(loc) def reset_translation(self): self.set_translation(self.eef_default_loc) def get_orientation(self): return self.ops[1].Get() def set_orientation(self, rot): self.ops[1].Set(rot) def grasp(self, target_object): # enable collision self.end_effector.GetAttribute("physics:collisionEnabled").Set(True) # create magic grasp self.attachmentPath = target_object.GetPath().AppendChild("rigidAttachment_0") omni.kit.commands.execute( "AddSoftBodyRigidAttachmentCommand", target_attachment_path=self.attachmentPath, softbody_path=target_object.GetPath(), rigidbody_path=self.end_effector.GetPath(), ) attachmentPrim = self.stage.GetPrimAtPath(self.attachmentPath) assert attachmentPrim assert attachmentPrim.GetAttribute("physxEnableHaloParticleFiltering").Set(True) assert attachmentPrim.GetAttribute("physxEnableVolumeParticleAttachments").Set(True) assert attachmentPrim.GetAttribute("physxEnableSurfaceTetraAttachments").Set(True) omni.physx.get_physx_interface().release_physics_objects() self.fingerL_ops.Set((-5,0,20)) self.fingerR_ops.Set((5,0,20)) def ungrasp(self): assert self.attachmentPath is not None, "nothing is grasped! (there is no attachment registered)" # release magic grasp omni.kit.commands.execute( "DeletePrimsCommand", paths=[self.attachmentPath] ) self.end_effector.GetAttribute("physics:collisionEnabled").Set(False) omni.physx.get_physx_interface().release_physics_objects() self.attachmentPath = None self.fingerL_ops.Set((-80,0,20)) self.fingerR_ops.Set((80,0,20)) #self.reset_translation() def plan_trajectory(self, start_loc, end_loc, speed=None): return interpolate(start_loc, end_loc, self.default_speed if speed is None else speed) ################################ # Random utils ################################ def get_camera_name(viewport): stage = omni.usd.get_context().get_stage() return stage.GetPrimAtPath(viewport.get_active_camera()).GetName() def rpy2quat(roll,pitch,yaw): roll*=0.5 pitch*=0.5 yaw*=0.5 cr = math.cos(roll) cp = math.cos(pitch) cy = math.cos(yaw) sr = math.sin(roll) sp = math.sin(pitch) sy = math.sin(yaw) cpcy = cp * cy spsy = sp * sy spcy = sp * cy cpsy = cp * sy qx = (sr * cpcy - cr * spsy) qy = (cr * spcy + sr * cpsy) qz = (cr * cpsy - sr * spcy) qw = cr * cpcy + sr * spsy return Gf.Quatf(qw,qx,qy,qz) ################################ # Scene randomization utils ################################ def is_collider(prim): try: return prim.GetAttribute("physics:collisionEnabled").Get() except: return False def find_collider(prim): #from pxr import UsdPhysics primRange = iter(Usd.PrimRange(prim)) extent, transform = None, None for p in primRange: #if p.HasAPI(UsdPhysics.CollisionAPI): if is_collider(p): extent = p.GetAttribute("extent").Get() if extent is None: # this means that the object is a cube extent = np.array([[-50,-50,-50],[50,50,50]]) transform = omni.usd.get_world_transform_matrix(p, Usd.TimeCode.Default()) primRange.PruneChildren() break return np.array(extent), np.array(transform) def find_immediate_children(prim): primRange = Usd.PrimRange(prim) primPath = prim.GetPath() immediate_children = [] for p in primRange: if p.GetPath().GetParentPath() == primPath: immediate_children.append(p) return immediate_children def extent_to_cube(extent): min_x,min_y,min_z = extent[0] max_x,max_y,max_z = extent[1] verts = np.array([ (max_x,max_y,max_z), (max_x,max_y,min_z), (max_x,min_y,max_z), (max_x,min_y,min_z), (min_x,max_y,max_z), (min_x,max_y,min_z), (min_x,min_y,max_z), (min_x,min_y,min_z),]) faces = np.array([ (1,5,7,3), (4,3,7,8), (8,7,5,6), (6,2,4,8), (2,1,3,4), (6,5,1,2),]) return verts, faces def transform_verts(verts, transform): verts_app = np.concatenate([verts,np.ones((verts.shape[0], 1))], axis=-1) return (verts_app @ transform)[:,:-1] def export_quad_obj(verts, faces, export_path): with open(export_path, 'w') as fp: for p in verts: fp.write(f"v {p[0]:.3f} {p[1]:.3f} {p[2]:.3f}\n") for f in faces: fp.write(f"f {f[0]} {f[1]} {f[2]} {f[3]}\n") def standardize_bbox(bbox): return np.array([bbox.min(axis=0),bbox.max(axis=0)]) def get_bbox_translation_range(bbox, scene_range): # bbox size size_x,size_y = bbox[1] - bbox[0] center_range = scene_range + np.array([[size_x, size_y],[-size_x,-size_y]]) / 2 center = np.mean(bbox, axis=0) return center_range - center def sample_bbox_translation(bbox, scene_range): translation_range = get_bbox_translation_range(bbox, scene_range) sample = np.random.rand(2) return translation_range[0] + sample * (translation_range[1] - translation_range[0]) def get_canvas(scene_range): scene_size = scene_range[1] - scene_range[0] scene_size = ( scene_size * 1.1 ).astype(int) return np.zeros(scene_size) def fill_canvas(canvas, scene_range, bbox,val=1): canvas_center = np.array(canvas.shape) / 2 cb = (bbox - np.mean(scene_range, axis=0) + canvas_center).astype(int) if cb[0,0] < 0 or cb[0,1] < 0: return h,w = canvas.shape if cb[1,0] >= h or cb[1,1] >= w: return canvas[cb[0,0]:cb[1,0], cb[0,1]:cb[1,1]] = val def get_occupancy_value(canvas, scene_range, pts): canvas_center = np.array(canvas.shape) / 2 pts = (pts - np.mean(scene_range, axis=0) + canvas_center).astype(int) return canvas[pts[:,0], pts[:,1]] def overlaps_with_current(canvas, scene_range, bbox,val=0): canvas_center = np.array(canvas.shape) / 2 cb = (bbox - np.mean(scene_range, axis=0) + canvas_center).astype(int) return (canvas[cb[0,0]:cb[1,0], cb[0,1]:cb[1,1]] != val).any() def pad_to_square(bbox): size_x,size_y = (bbox[1] - bbox[0]) / 2. center = np.mean(bbox, axis=0) length = max(size_x,size_y) return np.stack([center-length,center+length]) def scale(bbox,factor=1.1): size_x,size_y = (bbox[1] - bbox[0]) / 2. *factor center = np.mean(bbox, axis=0) return np.stack([center-[size_x,size_y],center+[size_x,size_y]])

Python

NVlabs/ACID/PlushSim/scripts/writer.py

#!/usr/bin/env python # Copyright (c) 2020, 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. """Helper class for writing groundtruth data offline. """ import atexit import colorsys import queue import omni import os import threading import numpy as np from PIL import Image, ImageDraw class DataWriter: def __init__(self, data_dir, num_worker_threads, max_queue_size=500, sensor_settings=None): from omni.isaac.synthetic_utils import visualization as vis self.vis = vis atexit.register(self.stop_threads) self.data_dir = data_dir # Threading for multiple scenes self.num_worker_threads = num_worker_threads # Initialize queue with a specified size self.q = queue.Queue(max_queue_size) self.threads = [] self._viewport = omni.kit.viewport.get_viewport_interface() self.create_output_folders(sensor_settings) def start_threads(self): """Start worker threads.""" for _ in range(self.num_worker_threads): t = threading.Thread(target=self.worker, daemon=True) t.start() self.threads.append(t) def stop_threads(self): """Waits for all tasks to be completed before stopping worker threads.""" print(f"Finish writing data...") # Block until all tasks are done self.q.join() # Stop workers for _ in range(self.num_worker_threads): self.q.put(None) for t in self.threads: t.join() print(f"Done.") def worker(self): """Processes task from queue. Each tasks contains groundtruth data and metadata which is used to transform the output and write it to disk.""" while True: groundtruth = self.q.get() if groundtruth is None: break filename = groundtruth["METADATA"]["image_id"] viewport_name = groundtruth["METADATA"]["viewport_name"] for gt_type, data in groundtruth["DATA"].items(): if gt_type == "RGB": self.save_image(viewport_name, gt_type, data, filename) elif gt_type == "DEPTH": if groundtruth["METADATA"]["DEPTH"]["NPY"]: self.depth_folder = self.data_dir + "/" + str(viewport_name) + "/depth/" np.save(self.depth_folder + filename + ".npy", data) if groundtruth["METADATA"]["DEPTH"]["COLORIZE"]: self.save_image(viewport_name, gt_type, data, filename) elif gt_type == "INSTANCE": self.save_segmentation( viewport_name, gt_type, data, filename, groundtruth["METADATA"]["INSTANCE"]["WIDTH"], groundtruth["METADATA"]["INSTANCE"]["HEIGHT"], groundtruth["METADATA"]["INSTANCE"]["COLORIZE"], groundtruth["METADATA"]["INSTANCE"]["NPY"], ) elif gt_type == "SEMANTIC": self.save_segmentation( viewport_name, gt_type, data, filename, groundtruth["METADATA"]["SEMANTIC"]["WIDTH"], groundtruth["METADATA"]["SEMANTIC"]["HEIGHT"], groundtruth["METADATA"]["SEMANTIC"]["COLORIZE"], groundtruth["METADATA"]["SEMANTIC"]["NPY"], ) elif gt_type in ["BBOX2DTIGHT", "BBOX2DLOOSE"]: self.save_bbox( viewport_name, gt_type, data, filename, groundtruth["METADATA"][gt_type]["COLORIZE"], groundtruth["DATA"]["RGB"], groundtruth["METADATA"][gt_type]["NPY"], ) elif gt_type == "CAMERA": self.camera_folder = self.data_dir + "/" + str(viewport_name) + "/camera/" np.save(self.camera_folder + filename + ".npy", data) elif gt_type == "POSES": self.poses_folder = self.data_dir + "/" + str(viewport_name) + "/poses/" np.save(self.poses_folder + filename + ".npy", data) else: raise NotImplementedError self.q.task_done() def save_segmentation( self, viewport_name, data_type, data, filename, width=1280, height=720, display_rgb=True, save_npy=True ): self.instance_folder = self.data_dir + "/" + str(viewport_name) + "/instance/" self.semantic_folder = self.data_dir + "/" + str(viewport_name) + "/semantic/" # Save ground truth data locally as npy if data_type == "INSTANCE" and save_npy: np.save(self.instance_folder + filename + ".npy", data) if data_type == "SEMANTIC" and save_npy: np.save(self.semantic_folder + filename + ".npy", data) if display_rgb: image_data = np.frombuffer(data, dtype=np.uint8).reshape(*data.shape, -1) num_colors = 50 if data_type == "SEMANTIC" else None color_image = self.vis.colorize_segmentation(image_data, width, height, 3, num_colors) # color_image = visualize.colorize_instance(image_data) color_image_rgb = Image.fromarray(color_image, "RGB") if data_type == "INSTANCE": color_image_rgb.save(f"{self.instance_folder}/{filename}.png") if data_type == "SEMANTIC": color_image_rgb.save(f"{self.semantic_folder}/{filename}.png") def save_image(self, viewport_name, img_type, image_data, filename): self.rgb_folder = self.data_dir + "/" + str(viewport_name) + "/rgb/" self.depth_folder = self.data_dir + "/" + str(viewport_name) + "/depth/" if img_type == "RGB": # Save ground truth data locally as png rgb_img = Image.fromarray(image_data, "RGBA") rgb_img.save(f"{self.rgb_folder}/{filename}.png") elif img_type == "DEPTH": # Convert linear depth to inverse depth for better visualization image_data = image_data * 100 image_data = np.reciprocal(image_data) # Save ground truth data locally as png image_data[image_data == 0.0] = 1e-5 image_data = np.clip(image_data, 0, 255) image_data -= np.min(image_data) if np.max(image_data) > 0: image_data /= np.max(image_data) depth_img = Image.fromarray((image_data * 255.0).astype(np.uint8)) depth_img.save(f"{self.depth_folder}/{filename}.png") def save_bbox(self, viewport_name, data_type, data, filename, display_rgb=True, rgb_data=None, save_npy=True): self.bbox_2d_tight_folder = self.data_dir + "/" + str(viewport_name) + "/bbox_2d_tight/" self.bbox_2d_loose_folder = self.data_dir + "/" + str(viewport_name) + "/bbox_2d_loose/" # Save ground truth data locally as npy if data_type == "BBOX2DTIGHT" and save_npy: np.save(self.bbox_2d_tight_folder + filename + ".npy", data) if data_type == "BBOX2DLOOSE" and save_npy: np.save(self.bbox_2d_loose_folder + filename + ".npy", data) if display_rgb and rgb_data is not None: color_image = self.vis.colorize_bboxes(data, rgb_data) color_image_rgb = Image.fromarray(color_image, "RGBA") if data_type == "BBOX2DTIGHT": color_image_rgb.save(f"{self.bbox_2d_tight_folder}/{filename}.png") if data_type == "BBOX2DLOOSE": color_image_rgb.save(f"{self.bbox_2d_loose_folder}/{filename}.png") def create_output_folders(self, sensor_settings=None): """Checks if the sensor output folder corresponding to each viewport is created. If not, it creates them.""" if not os.path.exists(self.data_dir): os.mkdir(self.data_dir) if sensor_settings is None: sensor_settings = dict() viewports = self._viewport.get_instance_list() viewport_names = [self._viewport.get_viewport_window_name(vp) for vp in viewports] sensor_settings_viewport = { "rgb": {"enabled": True}, "depth": {"enabled": True, "colorize": True, "npy": True}, "instance": {"enabled": True, "colorize": True, "npy": True}, "semantic": {"enabled": True, "colorize": True, "npy": True}, "bbox_2d_tight": {"enabled": True, "colorize": True, "npy": True}, "bbox_2d_loose": {"enabled": True, "colorize": True, "npy": True}, "camera": {"enabled": True, "npy": True}, "poses": {"enabled": True, "npy": True}, } for name in viewport_names: sensor_settings[name] = copy.deepcopy(sensor_settings_viewport) for viewport_name in sensor_settings: viewport_folder = self.data_dir + "/" + str(viewport_name) if not os.path.exists(viewport_folder): os.mkdir(viewport_folder) for sensor_name in sensor_settings[viewport_name]: if sensor_settings[viewport_name][sensor_name]["enabled"]: sensor_folder = self.data_dir + "/" + str(viewport_name) + "/" + str(sensor_name) if not os.path.exists(sensor_folder): os.mkdir(sensor_folder)

Python

NVlabs/ACID/ACID/environment.yaml

name: acid_train channels: - conda-forge - pytorch - defaults dependencies: - cython=0.29.2 - imageio=2.4.1 - numpy=1.15.4 - numpy-base=1.15.4 - matplotlib=3.0.3 - matplotlib-base=3.0.3 - pandas=0.23.4 - pillow=5.3.0 - pyembree=0.1.4 - pytest=4.0.2 - python=3.7.10 - pytorch=1.4.0 - pyyaml=3.13 - scikit-image=0.14.1 - scipy=1.5.2 - tensorboardx=1.4 - torchvision=0.2.1 - tqdm=4.28.1 - trimesh=2.37.7 - pip - pip: - scikit-learn==0.24.2 - h5py==2.9.0 - plyfile==0.7 - polyscope==1.2.0

YAML

NVlabs/ACID/ACID/setup.py

try: from setuptools import setup except ImportError: from distutils.core import setup from distutils.extension import Extension from Cython.Build import cythonize from torch.utils.cpp_extension import BuildExtension, CppExtension, CUDAExtension import numpy # Get the numpy include directory. numpy_include_dir = numpy.get_include() # Extensions # mcubes (marching cubes algorithm) mcubes_module = Extension( 'src.utils.libmcubes.mcubes', sources=[ 'src/utils/libmcubes/mcubes.pyx', 'src/utils/libmcubes/pywrapper.cpp', 'src/utils/libmcubes/marchingcubes.cpp' ], language='c++', extra_compile_args=['-std=c++11'], include_dirs=[numpy_include_dir] ) # mise (efficient mesh extraction) mise_module = Extension( 'src.utils.libmise.mise', sources=[ 'src/utils/libmise/mise.pyx' ], ) # simplify (efficient mesh simplification) simplify_mesh_module = Extension( 'src.utils.libsimplify.simplify_mesh', sources=[ 'src/utils/libsimplify/simplify_mesh.pyx' ], include_dirs=[numpy_include_dir] ) # Gather all extension modules ext_modules = [ mcubes_module, mise_module, simplify_mesh_module, ] setup( ext_modules=cythonize(ext_modules), cmdclass={ 'build_ext': BuildExtension } )

Python

NVlabs/ACID/ACID/plush_train.py

import torch import torch.optim as optim from tensorboardX import SummaryWriter import matplotlib; matplotlib.use('Agg') import numpy as np import os import argparse import time, datetime from src import config, data from src.checkpoints import CheckpointIO from collections import defaultdict import shutil from matplotlib.backends.backend_agg import FigureCanvasAgg as FigureCanvas from src.utils import common_util import matplotlib.pyplot as plt from PIL import Image # Arguments parser = argparse.ArgumentParser( description='Train a Plush Env dynamics model.' ) parser.add_argument('config', type=str, help='Path to config file.') parser.add_argument('--no-cuda', action='store_true', help='Do not use cuda.') parser.add_argument('--exit-after', type=int, default=-1, help='Checkpoint and exit after specified number of seconds' 'with exit code 2.') parser.add_argument('--debug', action='store_true', help='debugging') parser.add_argument('--eval_only', action='store_true', help='run eval only') args = parser.parse_args() cfg = config.load_config(args.config, 'configs/default.yaml') is_cuda = (torch.cuda.is_available() and not args.no_cuda) device = torch.device("cuda" if is_cuda else "cpu") # Set t0 t0 = time.time() # Shorthands out_dir = cfg['training']['out_dir'] if args.debug: cfg['training']['batch_size'] = 2 cfg['training']['vis_n_outputs'] = 1 cfg['training']['print_every'] = 1 cfg['training']['backup_every'] = 1 cfg['training']['validate_every'] = 1 cfg['training']['visualize_every'] = 1 cfg['training']['checkpoint_every'] = 1 cfg['training']['visualize_total'] = 1 batch_size = cfg['training']['batch_size'] backup_every = cfg['training']['backup_every'] vis_n_outputs = cfg['generation']['vis_n_outputs'] exit_after = args.exit_after model_selection_metric = cfg['training']['model_selection_metric'] if cfg['training']['model_selection_mode'] == 'maximize': model_selection_sign = 1 elif cfg['training']['model_selection_mode'] == 'minimize': model_selection_sign = -1 else: raise ValueError('model_selection_mode must be ' 'either maximize or minimize.') # Output directory if not os.path.exists(out_dir): os.makedirs(out_dir) shutil.copyfile(args.config, os.path.join(out_dir, 'config.yaml')) # Dataset train_loader = data.core.get_plush_loader(cfg, cfg['model']['type'], split='train') val_loader = data.core.get_plush_loader(cfg, cfg['model']['type'], split='test') # Model model = config.get_model(cfg, device=device) # Generator generator = config.get_generator(model, cfg, device=device) # Intialize training optimizer = optim.Adam(model.parameters(), lr=1e-3, weight_decay=1e-4) trainer = config.get_trainer(model, optimizer, cfg, device=device) checkpoint_io = CheckpointIO(out_dir, model=model, optimizer=optimizer) try: load_dict = checkpoint_io.load('model_best.pt') except FileExistsError: load_dict = dict() epoch_it = load_dict.get('epoch_it', 0) it = load_dict.get('it', 0) metric_val_best = load_dict.get( 'loss_val_best', -model_selection_sign * np.inf) if metric_val_best == np.inf or metric_val_best == -np.inf: metric_val_best = -model_selection_sign * np.inf print('Current best validation metric (%s): %.8f' % (model_selection_metric, metric_val_best)) logger = SummaryWriter(os.path.join(out_dir, 'logs')) # Shorthands print_every = cfg['training']['print_every'] checkpoint_every = cfg['training']['checkpoint_every'] validate_every = cfg['training']['validate_every'] visualize_every = cfg['training']['visualize_every'] # Print model nparameters = sum(p.numel() for p in model.parameters()) print('Total number of parameters: %d' % nparameters) print('output path: ', cfg['training']['out_dir']) # For visualizations data_vis_list = [] if cfg['model']['type'] == 'geom': vis_dataset = data.core.get_geom_dataset(cfg, split='vis') elif cfg['model']['type'] == 'combined': vis_dataset = data.core.get_combined_dataset(cfg, split='vis') # Build a data dictionary for visualization np.random.seed(0) data_idxes = np.random.randint(len(vis_dataset), size=cfg['training']['visualize_total']) for i, id in enumerate(data_idxes): data_vis = data.core.collate_pair_fn([vis_dataset[id]]) data_vis_list.append({'it': i, 'data': data_vis}) if args.eval_only: eval_dict, figs = trainer.evaluate(val_loader) metric_val = eval_dict[model_selection_metric] for k, v in eval_dict.items(): print(f"metric {k}: {v}") print('Validation metric (%s): %.4f' % (model_selection_metric, metric_val)) for k,v in figs.items(): fig_path = os.path.join(out_dir, 'vis', f"{k}_eval_best.png") v.savefig(fig_path) for data_vis in data_vis_list: out = generator.generate_mesh(data_vis['data']) # Get statistics try: mesh, stats_dict = out except TypeError: mesh, stats_dict = out, {} mesh.export(os.path.join(out_dir, 'vis', f"best_{data_vis['it']}.off")) out2 = generator.generate_pointcloud(data_vis['data']) for i,pcloud in enumerate(out2): ipath = os.path.join(out_dir, 'vis', f"best_{data_vis['it']}_{i}.obj") common_util.write_pointcoud_as_obj(ipath, pcloud) pcloud_dict = [{"title":'source'if i == 0 else 'target', "pts": p[:,:3], "col": None if p.shape[1] == 3 else p[:,3:] } for i,p in enumerate(out2)] fig = common_util.side_by_side_point_clouds(pcloud_dict) width, height = fig.get_size_inches() * fig.get_dpi() canvas = FigureCanvas(fig) canvas.draw() img_path = os.path.join(out_dir, 'vis', f"best_{data_vis['it']}.png") Image.fromarray( np.frombuffer( canvas.tostring_rgb(), dtype='uint8').reshape(int(height), int(width), 3)).save( img_path ) plt.close(fig) quit() while True: epoch_it += 1 for batch in train_loader: it += 1 losses = trainer.train_step(batch, it) for k,v in losses.items(): logger.add_scalar(f'train/{k}_loss', v, it) # Print output if (it % print_every) == 0: t = datetime.datetime.now() print_str = f"[Epoch {epoch_it:04d}] it={it:04d}, time: {time.time()-t0:.3f}, " print_str += f"{t.hour:02d}:{t.minute:02d}, " for k,v in losses.items(): print_str += f"{k}:{v:.4f}, " print(print_str) # Save checkpoint if (checkpoint_every > 0 and (it % checkpoint_every) == 0): print('Saving checkpoint') checkpoint_io.save('model.pt', epoch_it=epoch_it, it=it, loss_val_best=metric_val_best) # Backup if necessary if (backup_every > 0 and (it % backup_every) == 0): print('Backup checkpoint') checkpoint_io.save('model_%d.pt' % it, epoch_it=epoch_it, it=it, loss_val_best=metric_val_best) # Run validation if validate_every > 0 and (it % validate_every) == 0: print('Running Validation') eval_dict, figs = trainer.evaluate(val_loader) for k,v in figs.items(): fig_path = os.path.join(out_dir, 'vis', f"{k}_{it}.png") v.savefig(fig_path) logger.add_figure(k, v, it) metric_val = eval_dict[model_selection_metric] print('Validation metric (%s): %.4f' % (model_selection_metric, metric_val)) for k, v in eval_dict.items(): print(f"metric {k}: {v}") logger.add_scalar('val/%s' % k, v, it) if model_selection_sign * (metric_val - metric_val_best) > 0: metric_val_best = metric_val print('New best model (loss %.4f)' % metric_val_best) checkpoint_io.save('model_best.pt', epoch_it=epoch_it, it=it, loss_val_best=metric_val_best) # Visualize output if visualize_every > 0 and (it % visualize_every) == 0: print('Visualizing') renders = [] for data_vis in data_vis_list: out = generator.generate_mesh(data_vis['data']) # Get statistics try: mesh, stats_dict = out except TypeError: mesh, stats_dict = out, {} mesh.export(os.path.join(out_dir, 'vis', '{}_{}.off'.format(it, data_vis['it']))) out2 = generator.generate_pointcloud(data_vis['data']) for i,pcloud in enumerate(out2): ipath = os.path.join(out_dir, 'vis', f"{it}_{data_vis['it']}_{i}.obj") common_util.write_pointcoud_as_obj(ipath, pcloud) name_dict = ['source', 'target', 'source_rollout', 'target_rollout'] pcloud_dict = [{"title":name_dict[i], "pts": p[:,:3], "col": None if p.shape[1] == 3 else p[:,3:] } for i,p in enumerate(out2)] fig = common_util.side_by_side_point_clouds(pcloud_dict) width, height = fig.get_size_inches() * fig.get_dpi() canvas = FigureCanvas(fig) canvas.draw() img_path = os.path.join(out_dir, 'vis', f"{it}_{data_vis['it']}.png") Image.fromarray( np.frombuffer( canvas.tostring_rgb(), dtype='uint8').reshape(int(height), int(width), 3)).save( img_path ) plt.close(fig) # Exit if necessary if exit_after > 0 and (time.time() - t0) >= exit_after: print('Time limit reached. Exiting.') checkpoint_io.save('model.pt', epoch_it=epoch_it, it=it, loss_val_best=metric_val_best) exit(3)

Python

NVlabs/ACID/ACID/README.md

[](https://github.com/NVlabs/ACID/blob/master/LICENSE)  # ACID model <div style="text-align: center"> <img src="../_media/model_figure.png" width="600"/> </div> ## Prerequisites We use anaconda to manage necessary packages. You can create an anaconda environment called `acid_train` using ```bash conda env create -f environment.yaml conda activate acid_train pip install torch-scatter==2.0.4 -f https://pytorch-geometric.com/whl/torch-1.4.0+cu101.html ``` Next, we need to compile extension modules used for mesh utilies, which are from [Convolutional Occupancy Network](https://github.com/autonomousvision/convolutional_occupancy_networks). You can do this via ``` python setup.py build_ext --inplace ``` ## Get Raw Manipulation Data You can obtain our pre-generated manipulation trajectories from [PlushSim](../PlushSim/) from this [Google Drive](https://drive.google.com/drive/folders/1wOIk58e3wCfgOeYFBC1caYP2KAoFijbW?usp=sharing) directory. The manipulation trajectories are broken down to 10GB chunks. We recommend using [`gdown`](https://github.com/wkentaro/gdown) for downloading. After downloading, please run the following commands to decompress the data: ``` cat data_plush.zip.part-* > data_plush.zip unzip data_plush.zip ``` You should have the following folder structure: ``` ACID/ data_plush/ metadata/ split1/ ... split2/ ... split3/ ... split1/ ... split2/ ... split3/ ... ``` ### Generating Training Data To generate input-output pairs for ACID training, you need to run the following scripts to generate the data: ``` cd preprocess python gen_data_flow_plush.py python gen_data_flow_splits.py python gen_data_contrastive_pairs_flow.py ``` This should create `train_data` directory inside this folder, with the following structure: ``` ACID/ train_data/ flow/ split1/ split2/ split3/ train.pkl test.pkl pair/ split1/ split2/ split3/ ``` If you wish to generate the data at another location, you can pass in different flags. Check out each preprocess script for details. ## Training Finally, to train the ACID model from scratch, run: ``` python plush_train.py configs/plush_dyn_geodesics.yaml ``` For available training options, please take a look at `configs/default.yaml` and `configs/plush_dyn_geodesics.yaml`. ### Pretrained Weights You can download pretrained weights on [Google Drive](https://drive.google.com/file/d/15ClJpMx8LlgPHXp1EeCP3Z4kD5h5bDKl/view?usp=sharing), please save `model_best.pt` to `result/geodesics/`. ## License Please check the [LICENSE](../LICENSE) file. ACID may be used non-commercially, meaning for research or evaluation purposes only. For business inquiries, please contact researchinquiries@nvidia.com. If you find our code or paper useful, please consider citing ```bibtex @article{shen2022acid, title={ACID: Action-Conditional Implicit Visual Dynamics for Deformable Object Manipulation}, author={Shen, Bokui and Jiang, Zhenyu and Choy, Christopher and J. Guibas, Leonidas and Savarese, Silvio and Anandkumar, Anima and Zhu, Yuke}, journal={Robotics: Science and Systems (RSS)}, year={2022} } ```

Markdown

NVlabs/ACID/ACID/src/training.py

import numpy as np from collections import defaultdict from tqdm import tqdm class BaseTrainer(object): ''' Base trainer class. ''' def evaluate(self, val_loader): ''' Performs an evaluation. Args: val_loader (dataloader): pytorch dataloader ''' eval_list = defaultdict(list) for data in tqdm(val_loader): eval_step_dict = self.eval_step(data) for k, v in eval_step_dict.items(): eval_list[k].append(v) eval_dict = {k: np.mean(v) for k, v in eval_list.items()} return eval_dict def train_step(self, *args, **kwargs): ''' Performs a training step. ''' raise NotImplementedError def eval_step(self, *args, **kwargs): ''' Performs an evaluation step. ''' raise NotImplementedError def visualize(self, *args, **kwargs): ''' Performs visualization. ''' raise NotImplementedError

Python

NVlabs/ACID/ACID/src/common.py

# import multiprocessing import torch import numpy as np import math import numpy as np def compute_iou(occ1, occ2): ''' Computes the Intersection over Union (IoU) value for two sets of occupancy values. Args: occ1 (tensor): first set of occupancy values occ2 (tensor): second set of occupancy values ''' occ1 = np.asarray(occ1) occ2 = np.asarray(occ2) # Put all data in second dimension # Also works for 1-dimensional data if occ1.ndim >= 2: occ1 = occ1.reshape(occ1.shape[0], -1) if occ2.ndim >= 2: occ2 = occ2.reshape(occ2.shape[0], -1) # Convert to boolean values occ1 = (occ1 >= 0.5) occ2 = (occ2 >= 0.5) # Compute IOU area_union = (occ1 | occ2).astype(np.float32).sum(axis=-1) area_intersect = (occ1 & occ2).astype(np.float32).sum(axis=-1) iou = (area_intersect / area_union) return iou def chamfer_distance(points1, points2, give_id=False): ''' Returns the chamfer distance for the sets of points. Args: points1 (numpy array): first point set points2 (numpy array): second point set use_kdtree (bool): whether to use a kdtree give_id (bool): whether to return the IDs of nearest points ''' return chamfer_distance_naive(points1, points2) def chamfer_distance_naive(points1, points2): ''' Naive implementation of the Chamfer distance. Args: points1 (numpy array): first point set points2 (numpy array): second point set ''' assert(points1.size() == points2.size()) batch_size, T, _ = points1.size() points1 = points1.view(batch_size, T, 1, 3) points2 = points2.view(batch_size, 1, T, 3) distances = (points1 - points2).pow(2).sum(-1) chamfer1 = distances.min(dim=1)[0].mean(dim=1) chamfer2 = distances.min(dim=2)[0].mean(dim=1) chamfer = chamfer1 + chamfer2 return chamfer def make_3d_grid(bb_min, bb_max, shape): ''' Makes a 3D grid. Args: bb_min (tuple): bounding box minimum bb_max (tuple): bounding box maximum shape (tuple): output shape ''' size = shape[0] * shape[1] * shape[2] pxs = torch.linspace(bb_min[0], bb_max[0], shape[0]) pys = torch.linspace(bb_min[1], bb_max[1], shape[1]) pzs = torch.linspace(bb_min[2], bb_max[2], shape[2]) pxs = pxs.view(-1, 1, 1).expand(*shape).contiguous().view(size) pys = pys.view(1, -1, 1).expand(*shape).contiguous().view(size) pzs = pzs.view(1, 1, -1).expand(*shape).contiguous().view(size) p = torch.stack([pxs, pys, pzs], dim=1) return p def transform_points(points, transform): ''' Transforms points with regard to passed camera information. Args: points (tensor): points tensor transform (tensor): transformation matrices ''' assert(points.size(2) == 3) assert(transform.size(1) == 3) assert(points.size(0) == transform.size(0)) if transform.size(2) == 4: R = transform[:, :, :3] t = transform[:, :, 3:] points_out = points @ R.transpose(1, 2) + t.transpose(1, 2) elif transform.size(2) == 3: K = transform points_out = points @ K.transpose(1, 2) return points_out def b_inv(b_mat): ''' Performs batch matrix inversion. Arguments: b_mat: the batch of matrices that should be inverted ''' eye = b_mat.new_ones(b_mat.size(-1)).diag().expand_as(b_mat) b_inv, _ = torch.gesv(eye, b_mat) return b_inv def project_to_camera(points, transform): ''' Projects points to the camera plane. Args: points (tensor): points tensor transform (tensor): transformation matrices ''' p_camera = transform_points(points, transform) p_camera = p_camera[..., :2] / p_camera[..., 2:] return p_camera def fix_Rt_camera(Rt, loc, scale): ''' Fixes Rt camera matrix. Args: Rt (tensor): Rt camera matrix loc (tensor): location scale (float): scale ''' # Rt is B x 3 x 4 # loc is B x 3 and scale is B batch_size = Rt.size(0) R = Rt[:, :, :3] t = Rt[:, :, 3:] scale = scale.view(batch_size, 1, 1) R_new = R * scale t_new = t + R @ loc.unsqueeze(2) Rt_new = torch.cat([R_new, t_new], dim=2) assert(Rt_new.size() == (batch_size, 3, 4)) return Rt_new def normalize_coordinate(p, padding=0.1, plane='xz'): ''' Normalize coordinate to [0, 1] for unit cube experiments Args: p (tensor): point padding (float): conventional padding paramter of ONet for unit cube, so [-0.5, 0.5] -> [-0.55, 0.55] plane (str): plane feature type, ['xz', 'xy', 'yz'] ''' if plane == 'xz': xy = p[:, :, [0, 2]] elif plane =='xy': xy = p[:, :, [0, 1]] else: xy = p[:, :, [1, 2]] xy_new = xy / (1 + padding + 10e-6) # (-0.5, 0.5) xy_new = xy_new + 0.5 # range (0, 1) # f there are outliers out of the range if xy_new.max() >= 1: xy_new[xy_new >= 1] = 1 - 10e-6 if xy_new.min() < 0: xy_new[xy_new < 0] = 0.0 return xy_new def normalize_3d_coordinate(p, padding=0.1): ''' Normalize coordinate to [0, 1] for unit cube experiments. Corresponds to our 3D model Args: p (tensor): point padding (float): conventional padding paramter of ONet for unit cube, so [-0.5, 0.5] -> [-0.55, 0.55] ''' p_nor = p / (1 + padding + 10e-4) # (-0.5, 0.5) p_nor = p_nor + 0.5 # range (0, 1) # f there are outliers out of the range if p_nor.max() >= 1: p_nor[p_nor >= 1] = 1 - 10e-4 if p_nor.min() < 0: p_nor[p_nor < 0] = 0.0 return p_nor def normalize_coord(p, vol_range, plane='xz'): ''' Normalize coordinate to [0, 1] for sliding-window experiments Args: p (tensor): point vol_range (numpy array): volume boundary plane (str): feature type, ['xz', 'xy', 'yz'] - canonical planes; ['grid'] - grid volume ''' p[:, 0] = (p[:, 0] - vol_range[0][0]) / (vol_range[1][0] - vol_range[0][0]) p[:, 1] = (p[:, 1] - vol_range[0][1]) / (vol_range[1][1] - vol_range[0][1]) p[:, 2] = (p[:, 2] - vol_range[0][2]) / (vol_range[1][2] - vol_range[0][2]) if plane == 'xz': x = p[:, [0, 2]] elif plane =='xy': x = p[:, [0, 1]] elif plane =='yz': x = p[:, [1, 2]] else: x = p return x def coordinate2index(x, reso, coord_type='2d'): ''' Normalize coordinate to [0, 1] for unit cube experiments. Corresponds to our 3D model Args: x (tensor): coordinate reso (int): defined resolution coord_type (str): coordinate type ''' x = (x * reso).long() if coord_type == '2d': # plane index = x[:, :, 0] + reso * x[:, :, 1] elif coord_type == '3d': # grid index = x[:, :, 0] + reso * (x[:, :, 1] + reso * x[:, :, 2]) index = index[:, None, :] return index def coord2index(p, vol_range, reso=None, plane='xz'): ''' Normalize coordinate to [0, 1] for sliding-window experiments. Corresponds to our 3D model Args: p (tensor): points vol_range (numpy array): volume boundary reso (int): defined resolution plane (str): feature type, ['xz', 'xy', 'yz'] - canonical planes; ['grid'] - grid volume ''' # normalize to [0, 1] x = normalize_coord(p, vol_range, plane=plane) if isinstance(x, np.ndarray): x = np.floor(x * reso).astype(int) else: #* pytorch tensor x = (x * reso).long() if x.shape[1] == 2: index = x[:, 0] + reso * x[:, 1] index[index > reso**2] = reso**2 elif x.shape[1] == 3: index = x[:, 0] + reso * (x[:, 1] + reso * x[:, 2]) index[index > reso**3] = reso**3 return index[None] def update_reso(reso, depth): ''' Update the defined resolution so that UNet can process. Args: reso (int): defined resolution depth (int): U-Net number of layers ''' base = 2**(int(depth) - 1) if ~(reso / base).is_integer(): # when this is not integer, U-Net dimension error for i in range(base): if ((reso + i) / base).is_integer(): reso = reso + i break return reso def decide_total_volume_range(query_vol_metric, recep_field, unit_size, unet_depth): ''' Update the defined resolution so that UNet can process. Args: query_vol_metric (numpy array): query volume size recep_field (int): defined the receptive field for U-Net unit_size (float): the defined voxel size unet_depth (int): U-Net number of layers ''' reso = query_vol_metric / unit_size + recep_field - 1 reso = update_reso(int(reso), unet_depth) # make sure input reso can be processed by UNet input_vol_metric = reso * unit_size p_c = np.array([0.0, 0.0, 0.0]).astype(np.float32) lb_input_vol, ub_input_vol = p_c - input_vol_metric/2, p_c + input_vol_metric/2 lb_query_vol, ub_query_vol = p_c - query_vol_metric/2, p_c + query_vol_metric/2 input_vol = [lb_input_vol, ub_input_vol] query_vol = [lb_query_vol, ub_query_vol] # handle the case when resolution is too large if reso > 10000: reso = 1 return input_vol, query_vol, reso def add_key(base, new, base_name, new_name, device=None): ''' Add new keys to the given input Args: base (tensor): inputs new (tensor): new info for the inputs base_name (str): name for the input new_name (str): name for the new info device (device): pytorch device ''' if (new is not None) and (isinstance(new, dict)): if device is not None: for key in new.keys(): new[key] = new[key].to(device) base = {base_name: base, new_name: new} return base class map2local(object): ''' Add new keys to the given input Args: s (float): the defined voxel size pos_encoding (str): method for the positional encoding, linear|sin_cos ''' def __init__(self, s, pos_encoding='linear'): super().__init__() self.s = s self.pe = positional_encoding(basis_function=pos_encoding) def __call__(self, p): p = torch.remainder(p, self.s) / self.s # always possitive # p = torch.fmod(p, self.s) / self.s # same sign as input p! p = self.pe(p) return p class positional_encoding(object): ''' Positional Encoding (presented in NeRF) Args: basis_function (str): basis function ''' def __init__(self, basis_function='sin_cos'): super().__init__() self.func = basis_function L = 10 freq_bands = 2.**(np.linspace(0, L-1, L)) self.freq_bands = freq_bands * math.pi def __call__(self, p): if self.func == 'sin_cos': out = [] p = 2.0 * p - 1.0 # chagne to the range [-1, 1] for freq in self.freq_bands: out.append(torch.sin(freq * p)) out.append(torch.cos(freq * p)) p = torch.cat(out, dim=2) return p

Python

NVlabs/ACID/ACID/src/config.py

import yaml from torchvision import transforms from src import data from src import conv_onet method_dict = { 'conv_onet': conv_onet } # General config def load_config(path, default_path=None): ''' Loads config file. Args: path (str): path to config file default_path (bool): whether to use default path ''' # Load configuration from file itself with open(path, 'r') as f: cfg_special = yaml.load(f) # Check if we should inherit from a config inherit_from = cfg_special.get('inherit_from') # If yes, load this config first as default # If no, use the default_path if inherit_from is not None: cfg = load_config(inherit_from, default_path) elif default_path is not None: with open(default_path, 'r') as f: cfg = yaml.load(f) else: cfg = dict() # Include main configuration update_recursive(cfg, cfg_special) return cfg def update_recursive(dict1, dict2): ''' Update two config dictionaries recursively. Args: dict1 (dict): first dictionary to be updated dict2 (dict): second dictionary which entries should be used ''' for k, v in dict2.items(): if k not in dict1: dict1[k] = dict() if isinstance(v, dict): update_recursive(dict1[k], v) else: dict1[k] = v # Models def get_model(cfg, device=None, dataset=None): ''' Returns the model instance. Args: cfg (dict): config dictionary device (device): pytorch device dataset (dataset): dataset ''' method = cfg['method'] model = method_dict[method].config.get_model( cfg, device=device, dataset=dataset) return model # Trainer def get_trainer(model, optimizer, cfg, device): ''' Returns a trainer instance. Args: model (nn.Module): the model which is used optimizer (optimizer): pytorch optimizer cfg (dict): config dictionary device (device): pytorch device ''' method = cfg['method'] trainer = method_dict[method].config.get_trainer( model, optimizer, cfg, device) return trainer # Generator for final mesh extraction def get_generator(model, cfg, device): ''' Returns a generator instance. Args: model (nn.Module): the model which is used cfg (dict): config dictionary device (device): pytorch device ''' method = cfg['method'] generator = method_dict[method].config.get_generator(model, cfg, device) return generator

Python

NVlabs/ACID/ACID/src/checkpoints.py

import os import urllib import torch from torch.utils import model_zoo class CheckpointIO(object): ''' CheckpointIO class. It handles saving and loading checkpoints. Args: checkpoint_dir (str): path where checkpoints are saved ''' def __init__(self, checkpoint_dir='./chkpts', **kwargs): self.module_dict = kwargs self.checkpoint_dir = checkpoint_dir if not os.path.exists(checkpoint_dir): os.makedirs(checkpoint_dir) def register_modules(self, **kwargs): ''' Registers modules in current module dictionary. ''' self.module_dict.update(kwargs) def save(self, filename, **kwargs): ''' Saves the current module dictionary. Args: filename (str): name of output file ''' if not os.path.isabs(filename): filename = os.path.join(self.checkpoint_dir, filename) outdict = kwargs for k, v in self.module_dict.items(): outdict[k] = v.state_dict() torch.save(outdict, filename) def load(self, filename): '''Loads a module dictionary from local file or url. Args: filename (str): name of saved module dictionary ''' if is_url(filename): return self.load_url(filename) else: return self.load_file(filename) def load_file(self, filename): '''Loads a module dictionary from file. Args: filename (str): name of saved module dictionary ''' if not os.path.isabs(filename): filename = os.path.join(self.checkpoint_dir, filename) if os.path.exists(filename): print(filename) print('=> Loading checkpoint from local file...') state_dict = torch.load(filename) scalars = self.parse_state_dict(state_dict) return scalars else: raise FileExistsError def load_url(self, url): '''Load a module dictionary from url. Args: url (str): url to saved model ''' print(url) print('=> Loading checkpoint from url...') state_dict = model_zoo.load_url(url, progress=True) scalars = self.parse_state_dict(state_dict) return scalars def parse_state_dict(self, state_dict): '''Parse state_dict of model and return scalars. Args: state_dict (dict): State dict of model ''' for k, v in self.module_dict.items(): if k in state_dict: v.load_state_dict(state_dict[k]) else: print('Warning: Could not find %s in checkpoint!' % k) scalars = {k: v for k, v in state_dict.items() if k not in self.module_dict} return scalars def is_url(url): scheme = urllib.parse.urlparse(url).scheme return scheme in ('http', 'https')

Python