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PegasusSimulator/PegasusSimulator/extensions/pegasus.simulator/docs/CHANGELOG.md

# Changelog The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/). ## [1.0.0] - 2023-02-17 - Initial version of Pegasus Simulator extension ### Added - A widget GUI to spawn a limited set of simulation environments and drones using the PX4-bakend. - A powerful sensors, drag, thrusters, control and vehicle API. - Barometer, IMU, magnetometer and GPS sensors. - Linear drag model. - Quadratic thrust curve model. - Multirotor model. - The 3DR Iris quadrotor simulation model. - MAVLink communications control support. - ROS 2 communications control support (needs fixing). - A library for implementing rotations from NED to ENU and FLU to FRD frame conventions. - Examples on how to use the framework in standalone scripting mode. - Demo with a nonlinear controller implemented in python. - A PX4 tool for automatically launching PX4 in SITL mode when provided with the PX4-Autopilot installation directory. - A paper describing the motivation for this framework and its inner-workings. - Basic documentation generation using sphinx.

Markdown

PegasusSimulator/PegasusSimulator/extensions/pegasus.simulator/docs/README.md

# Pegasus Simulator Pegasus Simulator is a framework built on top of NVIDIA Omniverse and Isaac Sim. It is designed to provide an easy, yet powerfull way of simulating the dynamics of vehicles. It provides a simulation interface for PX4 integration as well as a custom python control interface. At the moment, only multirotor vehicles are supported, with support for other vehicle topologies planned for future versions. ## Contributing The developers of the Pegasus simulator welcome any positive contributions and ideas from the robotics comunity to make in order to allow this extension to mature. If you think you have a nice contribution to make or just a simple suggestion, feel free to create bug reports, feature requests or open pull requests for direct code contributions. ## Acknowledgement NVIDIA Isaac Sim is available freely under https://www.nvidia.com/en-us/omniverse/download/. Pegasus Simulator is released under BSD-3 License. The license files of its dependencies and assets are present in the docs/licenses directory. ## Citation Please cite if you use this extension in your work: ``` @misc{jacinto2023pegasus, author = {Marcelo Jacinto and Rita Cunha}, title = {Pegasus Simulator: An Isaac Sim Framework for Multiple Aerial Vehicles Simulation}, year = {2023}, eprint = {}, } ``` ## Main Developer Team This simulation framework 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, hopefully at least until 2027. * Project Founder * Marcelo Jacinto], under the supervision of Prof. Rita Cunha and Prof. Antonio Pascoal (IST/ISR-Lisbon) * Architecture * Marcelo Jacinto * João Pinto * Multirotor Dynamic Simulation and Control * Marcelo Jacinto * Example Applications * Marcelo Jacinto * João Pinto * Paper Writting and Revision * Marcelo Jacinto * João Pinto * Rita Cunha * António Pascoal

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PegasusSimulator/PegasusSimulator/docs/index.rst

Pegasus Simulator ################# Overview ======== **Pegasus Simulator** is a framework 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>`__. It is designed to provide an easy yet powerful way of simulating the dynamics of multirotors vehicles. It provides a simulation interface for `PX4 <https://px4.io/>`__ integration as well as custom python control interface. At the moment, only multirotor vehicles are supported, with support for other vehicle topologies planned for future versions. .. raw:: html <p align = "center"> <a href="https://youtu.be/_11OCFwf_GE" target="_blank"><img src="_static/pegasus_cover.png" alt="Pegasus Simulator image" align="center" height="50"/></a> <a href="https://youtu.be/_11OCFwf_GE" target="_blank"><img src="_static/mini demo.gif" alt="Pegasus Simulator gif" align="center" height="50"/></a> </p> If you find ``Pegasus Simulator`` useful in your academic work, please cite the paper below. It is also available `here <https://arxiv.org/abs/2307.05263>`_. .. code-block:: bibtex @misc{jacinto2023pegasus, title={Pegasus Simulator: An Isaac Sim Framework for Multiple Aerial Vehicles Simulation}, author={Marcelo Jacinto and João Pinto and Jay Patrikar and John Keller and Rita Cunha and Sebastian Scherer and António Pascoal}, year={2023}, eprint={2307.05263}, archivePrefix={arXiv}, primaryClass={cs.RO} } Developer Team ~~~~~~~~~~~~~~ This simulation framework 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, hopefully at least until 2027. - Project Founder - `Marcelo Jacinto <https://github.com/MarceloJacinto>`__, under the supervision of Prof. Rita Cunha and Prof. Antonio Pascoal (IST/ISR-Lisbon) - Architecture - `Marcelo Jacinto <https://github.com/MarceloJacinto>`__ - `João Pinto <https://github.com/jschpinto>`__ - Multirotor Dynamic Simulation and Control - `Marcelo Jacinto <https://github.com/MarceloJacinto>`__ - Example Applications - `Marcelo Jacinto <https://github.com/MarceloJacinto>`__ - `João Pinto <https://github.com/jschpinto>`__ .. toctree:: :maxdepth: 2 :caption: Getting Started source/setup/installation source/setup/developer .. toctree:: :maxdepth: 1 :caption: Tutorials source/tutorials/run_extension_mode source/tutorials/create_standalone_application source/tutorials/create_standalone_simulation source/tutorials/create_custom_backend .. toctree:: :maxdepth: 2 :caption: Features source/features/environments source/features/vehicles source/features/px4_integration .. toctree:: :maxdepth: 2 :caption: Source API source/api/index .. toctree:: :maxdepth: 1 :caption: References source/references/contributing source/references/known_issues source/references/changelog source/references/roadmap source/references/license source/references/bibliography .. automodule::"pegasus_isaac" :platform: Linux-x86_64 :members: :undoc-members: :show-inheritance: :imported-members: :exclude-members: contextmanager Other Simulation Frameworks =========================== In this section, we acknowledge the nobel work of those who came before us and inspired this work: - :cite:p:`gazebo` Gazebo simulator - :cite:p:`rotorS` RotorS simulation plugin for gazebo - :cite:p:`px4` PX4-SITL simulation plugin for gazebo - :cite:p:`airsim` Microsoft Airsim project for Unreal Engine - :cite:p:`flightmare` Flightmare simulator for Unity - :cite:p:`jmavsim` jMAVSim java simulator *"If I have seen further than others, it is by standing upon the shoulders of giants."*, Sir Isaac Newton Project 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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PegasusSimulator/PegasusSimulator/docs/conf.py

# Configuration file for the Sphinx documentation builder. # # This file only contains a selection of the most common options. For a full # list see the documentation: # https://www.sphinx-doc.org/en/master/usage/configuration.html # -- Path setup -------------------------------------------------------------- # If extensions (or modules to document with autodoc) are in another directory, # add these directories to sys.path here. If the directory is relative to the # documentation root, use os.path.abspath to make it absolute, like shown here. # This section is responsible for auto-generating the API documentation import os import sys sys.path.insert(0, os.path.abspath("../extensions/pegasus.simulator")) sys.path.insert(0, os.path.abspath("../extensions/pegasus.simulator/pegasus/simulator")) # -- Project information ----------------------------------------------------- project = "Pegasus Simulator" copyright = "2023, Marcelo Jacinto" author = "Marcelo Jacinto" version = "1.0.0" # -- General configuration --------------------------------------------------- extensions = [ "sphinx.ext.duration", "sphinx.ext.doctest", "sphinx.ext.autodoc", "autodocsumm", 'sphinx.ext.napoleon', #"sphinx.ext.autosummary", "sphinx.ext.intersphinx", "myst_parser", "sphinx.ext.mathjax", "sphinxcontrib.bibtex", "sphinx.ext.todo", "sphinx.ext.githubpages", "sphinx.ext.autosectionlabel", "sphinxcontrib.youtube", "myst_parser" ] intersphinx_mapping = { "rtd": ("https://docs.readthedocs.io/en/stable/", None), "python": ("https://docs.python.org/3/", None), "sphinx": ("https://www.sphinx-doc.org/en/master/", None), } # mathjax hacks mathjax3_config = { "tex": { "inlineMath": [["\\(", "\\)"]], "displayMath": [["\\[", "\\]"]], }, } intersphinx_disabled_domains = ["std"] # supported file extensions for source files #source_suffix = { # ".rst": "restructuredtext" #} templates_path = ["_templates"] suppress_warnings = ["myst.header", "autosectionlabel.*"] # -- Options for EPUB output epub_show_urls = "footnote" # List of patterns, relative to source directory, that match files and # directories to ignore when looking for source files. # This pattern also affects html_static_path and html_extra_path. exclude_patterns = ["_build", "Thumbs.db", ".DS_Store", "README.md", "licenses/*"] # --- Automatic API documentation generation # put type hints inside the description instead of the signature (easier to read) autodoc_typehints = "description" autodoc_typehints_description_target = "documented" # document class *and* __init__ methods autoclass_content = "class" # # separate class docstring from __init__ docstring autodoc_class_signature = "separated" # sort members by source order autodoc_member_order = "groupwise" # default autodoc settings autodoc_default_options = { "autosummary": True, } # BibTeX configuration bibtex_bibfiles = ["bibliography.bib"] # Generate documentation for __special__ methods napoleon_include_special_with_doc = True # Mock out modules that are not available on RTD autodoc_mock_imports = [ "np", "torch", "numpy", "scipy", "carb", "pxr", "omni", "omni.kit", "omni.usd", "omni.isaac.core.utils.nucleus", "omni.client", "pxr.PhysxSchema", "pxr.PhysicsSchemaTools", "omni.replicator", "omni.isaac.core", "omni.isaac.kit", "omni.isaac.cloner", "gym", "stable_baselines3", "rsl_rl", "rl_games", "ray", "h5py", "hid", "prettytable", "pyyaml", "pymavlink", "rclpy", "std_msgs", "sensor_msgs", "geometry_msgs" ] # -- Options for HTML output ------------------------------------------------- # The theme to use for HTML and HTML Help pages. html_theme = "sphinx_rtd_theme" # Add any paths that contain custom static files (such as style sheets) here, # relative to this directory. They are copied after the builtin static files, # so a file named "default.css" will overwrite the builtin "default.css". html_static_path = ["_static"] html_logo = "_static/logo.png" html_theme_options = { 'logo_only': True, 'display_version': False, 'style_nav_header_background': '#FFD700' } html_show_copyright = True html_show_sphinx = False # The master toctree document. master_doc = "index"

Python

PegasusSimulator/PegasusSimulator/docs/licenses/assets/iris-license.rst

| **Author:** Lorenz Meier (lorenz@px4.io) and Thomas Gubler | **Description:** The original model has been created by Thomas Gubler. The original model can be found at `PX4 SITL Gazebo <https://github.com/PX4/PX4-SITL_gazebo-classic/>`__. .. code-block:: text BSD 3-Clause License Copyright (c) 2012 - 2023, PX4 Development Team 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.

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PegasusSimulator/PegasusSimulator/docs/source/tutorials/create_standalone_application.rst

Create a Standalone Application =============================== This tutorial introduces how to create a standalone python script to set up an empty scene. It introduces the main class used by ``Isaac Sim`` simulator, :class:`SimulationApp`, as well as the :class:`timeline` concept that helps to launch and control the simulation timeline. In this tutorial we do **NOT** expose the ``Pegasus API`` yet. 1. Code ------- The tutorial corresponds to the ``0_template_app.py`` example in the ``examples`` directory. .. literalinclude:: ../../../examples/0_template_app.py :language: python :emphasize-lines: 11-16,35-54,85-102 :linenos: 2. Explanation -------------- The first step, when creating a ``standalone application`` with ``Isaac Sim`` is to instantiate the :class:`SimulationApp` object, and it takes a dictionary of parameters that can be used to configure the application. This object will be responsible for opening a ``bare bones`` version of the simulator. The ``headless`` parameter selects whether to launch the GUI window or not. .. literalinclude:: ../../../examples/0_template_app.py :language: python :lines: 11-16 :linenos: :lineno-start: 11 .. note:: You can **NOT** import other omniverse modules before instantiating the :class:`SimulationApp`, otherwise the simulation crashes before the window it's even open. For a deeper understanding on how the :class:`SimulationApp` works, check `NVIDIA's offical documentation <https://docs.omniverse.nvidia.com/py/isaacsim/source/extensions/omni.isaac.kit/docs/index.html#simulation-application-omni-isaac-kit>`__. In order to create a `Simulation Context <https://docs.omniverse.nvidia.com/py/isaacsim/source/extensions/omni.isaac.core/docs/index.html#module-omni.isaac.core.simulation_context>`__, we resort to the `World <https://docs.omniverse.nvidia.com/py/isaacsim/source/extensions/omni.isaac.core/docs/index.html?highlight=world#omni.isaac.core.world.World>`__ class environment. The `World <https://docs.omniverse.nvidia.com/py/isaacsim/source/extensions/omni.isaac.core/docs/index.html?highlight=world#omni.isaac.core.world.World>`__ class inherits the `Simulation Context <https://docs.omniverse.nvidia.com/py/isaacsim/source/extensions/omni.isaac.core/docs/index.html#module-omni.isaac.core.simulation_context>`__, and provides already some default parameters for setting up a simulation for us. You can pass as arguments the physics time step and rendering time step (in seconds). The rendering and physics can be set to run at different rates. For now let's use the defaults: 60Hz for both rendering and physics. After creating the `World <https://docs.omniverse.nvidia.com/py/isaacsim/source/extensions/omni.isaac.core/docs/index.html?highlight=world#omni.isaac.core.world.World>`__ class environment. The `World <https://docs.omniverse.nvidia.com/py/isaacsim/source/extensions/omni.isaac.core/docs/index.html?highlight=world#omni.isaac.core.world.World>`__ class inherits the `Simulation Context <https://docs.omniverse.nvidia.com/py/isaacsim/source/extensions/omni.isaac.core/docs/index.html#module-omni.isaac.core.simulation_context>`__, we will take advantage of its ``callback system`` to declare that some functions defined by us should be called at every physics iteration, render iteration or every time there is a timeline event, such as pressing the start/stop button. In this case, the ``physics_callback`` method will be invoked at every physics step, the ``render_callback`` at every render step and ``timeline_callback`` every time there is a timeline event. You can add as many callbacks as you want. After having all your callbacks defined, the ``world.reset()`` method should be invoked to initialize the ``physics context`` and set any existing robot joints (in this case there is none) to their default state. .. literalinclude:: ../../../examples/0_template_app.py :language: python :lines: 35-54 :linenos: :lineno-start: 35 To start the actual simulation, we invoke the timeline's ``play()`` method. This is necessary in order to ensure that every previously defined callback gets invoked. In order for the ``Isaac Sim`` app to remain responsive, we need to create a ``while loop`` that invokes ``world.step(render=True)`` to make sure that the UI get's rendered. .. literalinclude:: ../../../examples/0_template_app.py :language: python :lines: 85-102 :linenos: :lineno-start: 85 As you may have noticed, our ``infinite loop`` is very clean. In this work, similarly to the ROS 2 standard, we prefer to perform all the logic by resorting to function callbacks instead of cramming all the logic inside the while loop. This structure allows our code to be more organized and more modular. As you will learn in the following tutorials, the ``Pegasus Simulator API`` is built on top of this idea of ``callbacks``. 3. Execution ------------ Now let's run the Python script: .. code:: bash ISAACSIM_PYTHON examples/0_template_app.py This should open a stage with a blue ground-plane. The simulation should start playing automatically and the stage being rendered. To stop the simulation, you can either ``close the window``, press the ``STOP button`` in the UI, or press ``Ctrl+C`` in the terminal. .. note:: Notice that the window will only close when pressing the ``STOP button``, because we defined a method called ``timeline_callback`` that get's invoked for every ``timeline event``, such as pressing the ``STOP button``.

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PegasusSimulator/PegasusSimulator/docs/source/tutorials/create_standalone_simulation.rst

Your First Simulation ===================== In this tutorial, you will create a standalone Python application to perform a simulation using 1 vehicle and ``PX4-Autopilot``. The end result should be the equivalent to the :ref:`Run in Extension Mode (GUI)` tutorial. To achieve this, we will cover the basics of the Pegasus Simulator :ref:`API Reference`. 0. Preparation -------------- Before you proceed, make sure you have read the :ref:`Installing the Pegasus Simulator` section first and that your system is correctly configured. Also, we will assume that you already followed the :ref:`Create a Standalone Application` tutorial, as in this tutorial we will resort to concepts introduced in it. Additionally, you will also be required to have ``QGroundControl`` installed to operate the simulated vehicle. If you haven't already, follow the Preparation section in the :ref:`Run in Extension Mode (GUI)` tutorial. 1. Code -------- The tutorial corresponds to the ``1_px4_single_vehicle.py`` example in the ``examples`` directory. .. literalinclude:: ../../../examples/1_px4_single_vehicle.py :language: python :emphasize-lines: 24-29,47-48,55-56,58-77,79-80 :linenos: 2. Explanation --------------- In order to start using the functionalities provided by the ``Pegasus Simulator``, we import some of the most commonly used classes from the ``pegasus.simulator.logic`` module, which contains all the core APIs. To check all the classes and methods currently provided, please refer to the :ref:`API Reference` section. .. literalinclude:: ../../../examples/1_px4_single_vehicle.py :language: python :lines: 24-29 :linenos: :lineno-start: 24 .. note:: Some APIs may not be documented in the :ref:`API Reference` section. This means one of three things: i) they are not meant for public use; ii) under development (untested); iii) or just deprecated and about to be replaced. Next, we initialize the :class:`PegasusInterface` object. This is a singleton, which means that there exists only one :class:`PegasusInterface` in memory at any time. This interface creates a `World <https://docs.omniverse.nvidia.com/py/isaacsim/source/extensions/omni.isaac.core/docs/index.html?highlight=world#omni.isaac.core.world.World>`__ class environment. The `World <https://docs.omniverse.nvidia.com/py/isaacsim/source/extensions/omni.isaac.core/docs/index.html?highlight=world#omni.isaac.core.world.World>`__ class inherits the `Simulation Context <https://docs.omniverse.nvidia.com/py/isaacsim/source/extensions/omni.isaac.core/docs/index.html#module-omni.isaac.core.simulation_context>`__ internally, so you do not need to declare your own manually when using this API. By default, when physics engine is set to run at ``250 Hz`` and the render engine at ``60Hz``. The :class:`PegasusInterface` provides methods to set the simulation environment, define the geographic coordinates of the origin of the world, setting the default path for the PX4-Autopilot installation and much more. To learn more about this class, refer to the :ref:`Pegasus Interface` API section. .. literalinclude:: ../../../examples/1_px4_single_vehicle.py :language: python :lines: 47-48 :linenos: :lineno-start: 47 Next, we load the 3D world environment. For this purpose, we provide the auxiliary method ``load_environment(usd_file)`` for loading pre-made environments stored in `Universal Scene Description (.usd) <https://developer.nvidia.com/usd>`__ files. In this example, we load one of the simulation environments already provided by NVIDIA, whose path in stored in the ``SIMULATION_ENVIRONMENTS`` dictionary. To known all provided environments, check the :ref:`Params` API section. .. literalinclude:: ../../../examples/1_px4_single_vehicle.py :language: python :lines: 55-56 :linenos: :lineno-start: 55 The next step is to create a multirotor vehicle object. For that we start by creating a ``MultirotorConfig``, which contains by default a :class:`QuadraticThrustCurve`, :class:`Linear Drag` model, a list of ``Sensors`` composed of a :class:`GPS`, :class:`IMU`, :class:`Magnetometer` and :class:`Barometer`, and a list of control :class:`Backend`. In this tutorial, we whish to control the vehicle via ``MAVLink``, ``PX4-Autopilot`` and ``QGroundControl``. Therefore, we create a ``MAVLink`` control backend configured to also launch ``PX4-Autopilot`` in SITL mode in the background. .. literalinclude:: ../../../examples/1_px4_single_vehicle.py :language: python :lines: 58-68 :linenos: :lineno-start: 58 To create the actual ``Multirotor`` object, we must specify the ``stage_path``, i.e. the name that the vehicle will have inside the simulation tree and the ``usd_path`` which defines where the 3D model of the vehicle is stored. Once again, to known all provided vehicle models, check the :ref:`Params` API section. Additionally, we can provide the original position and orientation of the vehicle, according to an East-North-DOWN (ENU) convention. .. literalinclude:: ../../../examples/1_px4_single_vehicle.py :language: python :lines: 70-77 :linenos: :lineno-start: 70 After the simulation is setup, the ``world.reset()`` method should be invoked to initialize the ``physics context`` and set any existing robot joints (the multirotor rotor joints) to their default state. .. literalinclude:: ../../../examples/1_px4_single_vehicle.py :language: python :lines: 79-80 :linenos: :lineno-start: 79 3. Execution ------------ Now let's run the Python script: .. code:: bash ISAACSIM_PYTHON examples/1_px4_single_vehicle.py This should open a stage with a blue ground-plane with an 3DR Iris vehicle model in it. The simulation should start playing automatically and the stage being rendered. PX4-Autopilot will start running automatically in the background, receiving data from the simulated sensors and sending target angular velocities for the vehicle rotors. You can now play with the vehicle using ``QGroundControl`` similarly to what was shown in :ref:`Run in Extension Mode (GUI)` tutorial. To stop the simulation, you can either ``close the window``, press the ``STOP button`` in the UI, or press ``Ctrl+C`` in the terminal.

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PegasusSimulator/PegasusSimulator/docs/source/tutorials/create_custom_backend.rst

Create a Custom Controller ========================== In this tutorial, you will learn how to create a custom ``control backend`` that receives the current state of the vehicle and its sensors and computes the control inputs to give to the rotors of the drone. The control laws implemented in this tutorial and the math behind them are well described in :cite:p:`Pinto2021`, :cite:p:`mellinger_kumar`. In this tutorial we will endup with a simulation that does **NOT** use ``PX4-Autopilot`` , and instead will use a custom nonlinear controller to make the vehicle follow a pre-determined trajectory, written in just a few lines of pure Python code. .. note:: The Control Backend API is what was used to implement the MAVLink/PX4 backend. This interface is very powerful as it not only allows the user to create custom communication protocols (such as ROS) for controlling the vehicle, as well as defining and testing new control algorithms directly in pure Python code. This is specially usefull for conducting MATLAB-like simulations, as we can implement and test algorithms directly in a 3D environment by writing a few lines of Python code without having to deal with `Mavlink`, `PX4` or `ROS` like in other simulators. 0. Preparation -------------- This tutorial assumes that you have followed the :ref:`Your First Simulation` section first. 1. Code ------- The tutorial corresponds to the ``4_python_single_vehicle.py`` example in the ``examples`` directory. .. literalinclude:: ../../../examples/4_python_single_vehicle.py :language: python :emphasize-lines: 30-31,68-75 :linenos: The next code section corresponds to the ``nonlinear_controller.py`` in the ``examples/utils`` directory. .. literalinclude:: ../../../examples/utils/nonlinear_controller.py :language: python :emphasize-lines: 18,24-44,114-117,121-124,143-151,154-160,168-174,177-183 :linenos: 2. Explanation -------------- To start a pre-programed simulation using a different control backend other than ``MAVLink`` we include our custom ``control backend`` module written in pure Python. .. literalinclude:: ../../../examples/4_python_single_vehicle.py :language: python :lines: 30-31 :linenos: :lineno-start: 30 We now create a multirotor configuration and set the multirotor backend to be our ``NonlinearController`` object. That's it! It is that simple! Instead of using the `MAVLink/PX4`` control we will use a pure Python controller written by us. The rest of the script is the same as in the previous tutorial. .. literalinclude:: ../../../examples/4_python_single_vehicle.py :language: python :lines: 68-75 :linenos: :lineno-start: 68 Now, let's take a look on how the ``NonlinearControl`` class is structured and how you can build your own. We must start by including the ``Backend`` class found in the ``pegasus.simulator.logic.backends`` API. To explore all the functionalities offered by this class, check the :ref:`Backend` API reference page. .. literalinclude:: ../../../examples/utils/nonlinear_controller.py :language: python :lines: 18 :linenos: :lineno-start: 18 Next, we define a class that inherits the `Backend`` class. This class must implement a few methods to be compliant with the ``Multirotor`` API. In this example we will implement an "hard-coded" nonlinear geometrical controller for the multirotor to track a pre-defined trajectory. .. literalinclude:: ../../../examples/utils/nonlinear_controller.py :language: python :lines: 24-44 :linenos: :lineno-start: 24 The first method that should be implemented is ``start()`` . This method gets invoked by the vehicle when the simulation starts. You should perform any initialization of your algorithm or communication protocol here. .. literalinclude:: ../../../examples/utils/nonlinear_controller.py :language: python :lines: 114-117 :linenos: :lineno-start: 114 The ``stop()`` method gets invoked by the vehicle when the simulation stops. You should perform any cleanup here. .. literalinclude:: ../../../examples/utils/nonlinear_controller.py :language: python :lines: 121-124 :linenos: :lineno-start: 121 The ``update_sensor(sensor_type: str, data)`` method gets invoked by the vehicle at every physics step iteration (it is used as a callback) for each sensor that generated output data. It receives as input a string which describes the type of sensor and the data produced by that sensor. It is up to you to decide on how to parse the sensor data and use it. In this case we are not going to use the data produced by the simulated sensors for our controller. Instead we will get the state of the vehicle directly from the simulation and use that to feedback into our control law. .. literalinclude:: ../../../examples/utils/nonlinear_controller.py :language: python :lines: 143-151 :linenos: :lineno-start: 143 .. note:: You can take a look on how the ``MavlinkBackend`` is implemented to check on how to parse sensor data produced by IMU, GPS, etc. A simple strategy is to use an if-statement to check for which sensor we are receive the data from and parse it accordingly, for example: .. code:: Python if sensor_type == "imu": # do something elif sensor_type == "gps": # do something else else: # some sensor we do not care about, so ignore Check the Sensors :ref:`API Reference` to check what type of data each sensor generates. For most cases, it will be a dictionary. The ``update_state(state: State)`` method is called at every physics steps with the most up-to-date ``State`` of the vehicle. The state object contains: - **position** of the vehicle's body frame with respect to the inertial frame, expressed in the inertial frame; - **attitude** of the vehicle's body frame with respect to the inertial frame, expressed in the inertial frame; - **linear velocity** of the vehicle's body frame, with respect to the inertial frame, expressed in the inertial frame; - **linear body-velocity** of the vehicle's body frame, with respect to the inertial frame, expressed in the vehicle's body frame; - **angular velocity** of the vehicle's body frame, with respect to the inertial frame, expressed in the vehicle's body frame; - **linear acceleration** of the vehicle's body frame, with respect to the inertial frame, expressed in the inertial frame. All of this data is filled adopting a **East-North-Down (ENU)** convention for the Inertial Reference Frame and a **Front-Left-Up (FLU)** for the vehicle's body frame of reference. .. note:: In case you need to adopt other conventions, the ``State`` class also provides methods to return the state of the vehicle in North-East-Down (NED) and Front-Right-Down (FRD) conventions, so you don't have to make those conversions manually. Check the :ref:`State` API reference page for more information. .. literalinclude:: ../../../examples/utils/nonlinear_controller.py :language: python :lines: 154-160 :linenos: :lineno-start: 154 The ``input_reference()`` method is called at every physics steps by the vehicle to retrieve from the controller a list of floats with the target angular velocities in [rad/s] to use as reference to apply to each vehicle rotor. The list of floats returned by this method should have the same length as the number of rotors of the vehicle. .. note:: In order to have a general controller, you might not want to hard-code the number of rotors of the vehicle in the controller. To take this into account, the :ref:`Backend` object is initialized with a reference to the :ref:`Vehicle` object when this gets instantiated. Therefore, it will access to all of its attributes, such as the number of rotors and methods to convert torques and forces in the body-frame to target rotor angular velocities! .. literalinclude:: ../../../examples/utils/nonlinear_controller.py :language: python :lines: 168-174 :linenos: :lineno-start: 168 The ``update(dt: float)`` method gets invoked at every physics step by the vehicle. It receives as argument the amount of time elapsed since the last update (in seconds). This is where you should define your controller/communication layer logic and update the list of reference angular velocities for the rotors. .. literalinclude:: ../../../examples/utils/nonlinear_controller.py :language: python :lines: 177-183 :linenos: :lineno-start: 177 3. Execution ------------ Now let's run the Python script: .. code:: bash ISAACSIM_PYTHON examples/4_python_single_vehicle.py This should open a stage with a blue ground-plane with an 3DR Iris vehicle model in it. The simulation should start playing automatically and the stage being rendered. The vehicle will automatically start flying and performing a very fast relay maneuvre. If you miss it, you can just hit the stop/play button again to repeat it. Notice now, that unlike the previous tutorial, if you open ``QGroundControl`` you won't see the vehicle. This is normal, because now we are not using the ``MAVLink`` control backend, but instead our custom ``NonlinearControl`` backend.

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PegasusSimulator/PegasusSimulator/docs/source/tutorials/run_extension_mode.rst

Run in Extension Mode (GUI) ======================================= This tutorial introduces how to interface with the Pegasus Simulator working in extension mode, i.e. with an interactive GUI. This means that ``ISAACSIM`` will be launched as a standard application and the Pegasus Simulator extension should be enabled from the extension manager. 0. Preparation -------------- Before you proceed, check the :ref:`Installing the Pegasus Simulator` section first, if you haven't already. You will also require `QGroundControl <http://qgroundcontrol.com/>`__ to control the vehicle. You haven't download it yet, you can do it `here <https://docs.qgroundcontrol.com/master/en/getting_started/download_and_install.html>`__ or follow these steps: 1. Open a new terminal and run: .. code:: bash sudo usermod -a -G dialout $USER sudo apt-get remove modemmanager -y sudo apt install gstreamer1.0-plugins-bad gstreamer1.0-libav gstreamer1.0-gl -y sudo apt install libqt5gui5 -y sudo apt install libfuse2 -y 2. Download the `QGroundControl App Image <https://d176tv9ibo4jno.cloudfront.net/latest/QGroundControl.AppImage>`__. 3. Make the App image executable .. code:: bash chmod +x ./QGroundControl.AppImage 4. Execute QGroundControl by double-clicking or running: .. code:: bash ./QGroundControl.AppImage 1. Simulation Steps ------------------- 1. Open ``ISAACSIM``, either by using the Omniverse Launcher or the terminal command: .. code:: bash ISAACSIM 2. Make sure the Pegasus Simulator Extension is enabled. .. image:: /_static/pegasus_inside_extensions_menu.png :width: 600px :align: center :alt: Enable the Pegasus Simulator extension inside Isaac Sim 3. On the Pegasus Simulator tab in the bottom-right corner, click on the ``Load Scene`` button. .. image:: /_static/tutorials/load_scene.png :width: 600px :align: center :alt: Load a 3D Scene 4. Again, on the Pegasus Simulator tab, click on the ``Load Vehicle`` button. .. image:: /_static/tutorials/load_vehicle.png :width: 600px :align: center :alt: Load the vehicle 5. Press the ``play`` button on the simulator's control bar on the left corner. .. image:: /_static/tutorials/play.png :width: 600px :align: center :alt: Start the simulation environment 6. On QGroundControl, an arrow representing the vehicle should pop-up. You can now perform a take-off, but pressing the ``take-off`` button on top-left corner of QGroundControl. .. image:: /_static/tutorials/take_off.png :width: 600px :align: center :alt: Perform a take-off with the drone 7. On QGroundControl, left-click on a place on the map, press ``Go to location`` and slide at the bottom of the screen to confirm the target waypoint for the drone to follow. .. image:: /_static/tutorials/go_to_location.png :width: 600px :align: center :alt: Perform a go-to waypoint with the drone Congratulations 🎉️🎉️🎉️ ! You have just completed your first tutorial and you should now see the vehicle moving on the screen. A short video of this tutorial is also available `here <https://youtu.be/_11OCFwf_GE>`__. .. youtube:: _11OCFwf_GE :width: 100% :align: center :privacy_mode: .. note:: Everything that you can do using the provided GUI can also be achieved by the Pegasus Simulator API in Python. In the next tutorials we will cover how to create standalone Python scripts to perform simulations.

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PegasusSimulator/PegasusSimulator/docs/source/setup/installation.rst

Installation ============ Installing NVIDIA Isaac Sim --------------------------- .. image:: https://img.shields.io/badge/IsaacSim-2023.1.1-brightgreen.svg :target: https://developer.nvidia.com/isaac-sim :alt: IsaacSim 2023.1.1 .. image:: https://img.shields.io/badge/PX4--Autopilot-1.14.1-brightgreen.svg :target: https://github.com/PX4/PX4-Autopilot :alt: PX4-Autopilot 1.14.1 .. image:: https://img.shields.io/badge/Ubuntu-22.04LTS-brightgreen.svg :target: https://releases.ubuntu.com/22.04/ :alt: Ubuntu 22.04 .. note:: We have tested Pegasus Simulator with Isaac Sim 2023.1.1 release on Ubuntu 22.04LTS with NVIDIA driver 545.23.08. The PX4-Autopilot used during development was v.14.1. Older versions Ubuntu and PX4-Autopilot were not tested. This extension was not tested on Windows. In order to install Isaac Sim on linux, download the `Omniverse AppImage here <https://install.launcher.omniverse.nvidia.com/installers/omniverse-launcher-linux.AppImage>`__ or run the following line on the terminal: .. code:: bash wget https://install.launcher.omniverse.nvidia.com/installers/omniverse-launcher-linux.AppImage A short video with the installation guide for Pegasus Simulator is also available `here <https://youtu.be/YCp5E8nazag>`__. .. youtube:: YCp5E8nazag :width: 100% :align: center :privacy_mode: Configuring the environment variables ------------------------------------- NVIDIA provides Isaac Sim with its own Python interpreter along with some basic extensions such as numpy and pytorch. In order for the Pegasus Simulator to work, we require the user to use the same python environment when starting a simulation from python scripts. As such, we recommend setting up a few custom environment variables to make this process simpler. .. note:: Although it is possible to setup a virtual environment following the instructions `here <https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/install_python.html>`__, this feature was not tested. Start by locating the `Isaac Sim installation <https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/install_python.html>`__ by navigating to Isaac Sim's root folder. Typically, in Linux, this folder can be found under ``${HOME}/.local/share/ov/pkg/isaac_sim-*``, where the ``*`` is the version number. Add the following lines to your ``~/.bashrc`` or ``~/.zshrc`` file. .. code:: bash # Isaac Sim root directory export ISAACSIM_PATH="${HOME}/.local/share/ov/pkg/isaac_sim-*" # Isaac Sim python executable alias ISAACSIM_PYTHON="${ISAACSIM_PATH}/python.sh" # Isaac Sim app alias ISAACSIM="${ISAACSIM_PATH}/isaac-sim.sh" If you only have one version of Isaac Sim installed, you can leave the ``*``, otherwise you will have to replace it by the version that you desire to use. In the remaining of the documentation, we will refer to the Isaac Sim's path as ``ISAACSIM_PATH`` , the provided python interpreter as ``ISAACSIM_PYTHON`` and the simulator itself as ``ISAACSIM`` . Running Isaac Sim ~~~~~~~~~~~~~~~~~ At this point, you are expected to have NVIDIA Isaac Sim fully installed and working. To make sure you have everything setup correctly, open a new terminal window (**Ctrl+Alt+T**), and test the following commands: - Check that the simulator app can be launched .. code:: bash # Run the simulator with the --help argument to see all available options ISAACSIM --help # Run the simulator. A new window should open ISAACSIM - Check that you can launch the simulator from a python script (standalone mode) .. code:: bash # Run the bundled python interpreter and see if it prints on the terminal "Hello World." ISAACSIM_PYTHON -c "print('Hello World.')" # Run the python interpreter and check if we can run a script that starts the simulator and adds cubes to the world ISAACSIM_PYTHON ${ISAACSIM_PATH}/standalone_examples/api/omni.isaac.core/add_cubes.py If you were unable to run the commands above successfuly, then something is incorrectly configured. Please do not proceed with this installation until you have everything setup correctly. Addtional Isaac Sim resources: - `Troubleshooting documentation <https://docs.omniverse.nvidia.com/app_isaacsim/prod_kit/linux-troubleshooting.html>`__ Installing the Pegasus Simulator -------------------------------- Clone the `Pegasus Simulator <https://www.github.com/PegasusSimulator/PegasusSimulator.git>`__: .. code:: bash # Option 1: With HTTPS git clone https://github.com/PegasusSimulator/PegasusSimulator.git # Option 2: With SSH (you need to setup a github account with ssh keys) git clone git@github.com:PegasusSimulator/PegasusSimulator.git The Pegasus Simulator was originally developed as an Isaac Sim extension with an interactive GUI, but also provides a powerfull API that allows it to run as a standalone app, i.e. by creating python scritps (as shown in the examples directory of this repository). To be able to use the extension in both modes, follow these steps: 1. Launch ``ISAACSIM`` application. 2. Open the Window->extensions on the top menubar inside Isaac Sim. .. image:: /_static/extensions_menu_bar.png :width: 600px :align: center :alt: Extensions on top menubar 3. On the Extensions manager menu, we can enable or disable extensions. By pressing the settings button, we can add a path to the Pegasus-Simulator repository. .. image:: /_static/extensions_widget.png :width: 600px :align: center :alt: Extensions widget 4. The path inserted should be the path to the repository followed by ``/extensions``. .. image:: /_static/ading_extension_path.png :width: 600px :align: center :alt: Adding extension path to the extension manager 5. After adding the path to the extension, we can enable the Pegasus Simulator extension on the third-party tab. .. image:: /_static/pegasus_inside_extensions_menu.png :width: 600px :align: center :alt: Pegasus Extension on the third-party tab When enabling the extension for the first time, the python requirements should be install automatically for the build in ``ISAACSIM_PYTHON`` , and after a few seconds, the Pegasus widget GUI should pop-up. 6. The Pegasus Simulator window should appear docked to the bottom-right section of the screen. .. image:: /_static/pegasus_gui_example.png :width: 600px :align: center :alt: Pegasus Extension GUI after install Installing the extension as a library ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ In order to be able to use the Pegasus Simulator API from python scripts and standalone apps, we must install this extension as a ``pip`` python module for the built-in ``ISAACSIM_PYTHON`` to recognize. For that, run: .. code:: bash # Go to the repository of the pegasus simulator cd PegasusSimulator # Go into the extensions directory cd extensions # Run the pip command using the built-in python interpreter ISAACSIM_PYTHON -m pip install --editable pegasus.simulator We use the ``--editable`` flag so that the content of the extension is linked instead of copied. After this step, you should be able to run the python standalone examples inside the ``examples`` folder. Installing PX4-Autopilot ------------------------ In this first version of the Pegasus Simulator (in extension mode), the GUI widget provided is only usefull if you intend to use the PX4-Autopilot. To install PX4-Autopilot, follow the following steps: 1. Install the dependencies (to be able to compile PX4-Autopilot): .. code:: bash # Linux packages sudo apt install git make cmake python3-pip # Python packages pip install kconfiglib jinja2 empy jsonschema pyros-genmsg packaging toml numpy future 2. Clone the `PX4-Autopilot <https://github.com/PX4/PX4-Autopilot>`__: .. code:: bash # Option 1: With HTTPS git clone https://github.com/PX4/PX4-Autopilot.git # Option 2: With SSH (you need to setup a github account with ssh keys) git clone git@github.com:PX4/PX4-Autopilot.git 3. Checkout to the stable version 1.14.1 and compile the code for software-in-the-loop (SITL) mode: .. code:: bash # Go to the PX4 directory cd PX4-Autopilot # Checkout to the latest stable release git checkout v1.14.1 # Initiate all the submodules. Note this will download modules such as SITL-gazebo which we do not need # but this is the safest way to make sure that the PX4-Autopilot and its submodules are all checked out in # a stable and well tested release git submodule update --init --recursive # Compile the code in SITL mode make px4_sitl_default none Note: If you are installing a version of PX4 prior to v1.14.1, you may need to go to change the default airframe to be used by PX4. This can be achieved by: .. code:: bash # Go inside the config folder of the pegasus simulator extension cd PegasusSimulator/extensions/pegasus/simulator/config # Open the file configs.yaml nano configs.yaml # And change the line: px4_default_airframe: iris You can also set the PX4 installation path inside the Pegasus Simulator GUI, as shown in the next section, or by editing the file ``PegasusSimulator/extensions/pegasus/simulator/config/config.yaml`` and setting the ``px4_dir`` field to the correct path. Setting the PX4 path inside the Pegasus Simulator ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ The simulator provides a feature to auto-launch PX4-Autopilot for every vehicle that is spawned in the simulation world. For this feature to work, we need to tell the Pegasus Simulator extension where the PX4-Autopilot directory can be found. For that, edit the ``PX4 Path`` text field if is not correct by default and press the ``Make Default`` button. This field supports relative paths to the home directory, which means that you can use ``~`` to represent the home directory without hard-coding it. .. image:: /_static/pegasus_GUI_px4_dir.png :width: 600px :align: center :alt: Pegasus GUI with px4 directory highlighted By default, the extension assumes that PX4-Autopilot is installed at ``~/PX4-Autopilot`` .

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PegasusSimulator/PegasusSimulator/docs/source/setup/developer.rst

Development =========== We developed this extension using `Visual Studio Code <https://code.visualstudio.com/>`__, the recommended tool on NVIDIA's Omniverse official documentation. To setup Visual Studio Code with hot-reloading features, follow the additional documentation pages: * `Isaac Sim VSCode support <https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/manual_standalone_python.html#isaac-sim-python-vscode>`__ * `Debugging with VSCode <https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/tutorial_advanced_python_debugging.html>`__ To enable a better developer experience when contributing or modifying this extension, and have access to features such as autocomplete, we recommend linking the Pegasus Simulator repository to the current installation of ``ISAACSIM`` . For that, please run the following script provided with the framework: .. code:: bash ./link_app.sh --path $ISAACSIM_PATH This script will create a symbolic link to ``ISAACSIM`` inside the repository. After this step, you can also launch the ``ISAACSIM`` with the extension enabled (without using the GUI presented in Section :ref:`Installing the Pegasus Simulator`), by running: .. code:: bash ./app/isaac-sim.sh --ext-folder extensions --enable pegasus.simulator Code structure -------------- This simulation framework is strucuture according to the following tree: .. code:: bash PegasusSimulator: ├── .vscode ├── docs ├── examples ├── tools ├── extensions │   ├── pegasus.simulator │   │   ├── config │   │   ├── data │   │   ├── docs │   │   ├── setup.py │   │   ├── pegasus.simulator │   │   │   │   ├── __init__.py │   │   │   │   ├── params.py │   │   │   │   ├── extension.py │   │   │   │   ├── assets │   │   │   │   ├── logic │   │   │   │   ├── ui The extensions directory contains the source code for the PegasusSimulator API and interactive GUI while the examples directory contains the a set of python scripts to launch standalone applications and pre-programed simulations. As explained in NVIDIA's documentation, extensions are the standard way of developing on top of Isaac Sim and other Omniverse tools. The core of our extension is developed in the ``logic`` and the ``ui`` modules. The ``logic`` API is exposed to the users and is used both when operating the Pegasus Simulator in GUI widget/extension mode and via standalone python applications. The ``ui`` API is **not exposed/documented** as it is basically defines the widget to call functionalities provided by the ``logic`` module.

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

Vehicle Manager =============== .. automodule:: pegasus.simulator.logic.vehicle_manager :members: :undoc-members: :show-inheritance:

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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/dynamics.drag.rst

Drag ==== .. automodule:: pegasus.simulator.logic.dynamics.drag :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/dynamics.linear_drag.rst

Linear Drag =========== .. automodule:: pegasus.simulator.logic.dynamics.linear_drag :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/thrusters.quadratic_thrust_curve.rst

Quadratic Thrust Curve ====================== .. automodule:: pegasus.simulator.logic.thrusters.quadratic_thrust_curve :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/backends.mavlink_backend.rst

Mavlink Backend =============== .. automodule:: pegasus.simulator.logic.backends.mavlink_backend :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/api/pegasus_interface.rst

Pegasus Interface ================= .. automodule:: pegasus.simulator.logic.interface.pegasus_interface :members: :undoc-members: :show-inheritance:

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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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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.

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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/__init__.py

from .extension import *

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

Conv-AI/ov_extension/exts/convai/docs/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` - Note: This will freeze Omniverse for a 1-2 minutes. <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

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/__init__.py

from .extension import *

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/docs/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/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/deps/target-deps.packman.xml

<project toolsVersion="5.6"> <dependency name="python" linkPath="../_build/target-deps/python"> <package name="python" version="3.7.9-windows-x86_64" platforms="windows-x86_64" /> <package name="python" version="3.7.9-173.e9ee4ea0-${platform}" platforms="linux-x86_64" /> </dependency> <dependency name="lua" linkPath="../_build/target-deps/lua"> <package name="lua" version="5.3.4-9882100-${platform}" /> </dependency> <dependency name="nv_usd_py37_debug" linkPath="../_build/target-deps/nv_usd/debug"> <package name="nv-usd" version="20.08.1818.f41ff452-win64_py37_debug-main" platforms="windows-x86_64"/> <package name="nv-usd" version="20.08.1818.f41ff452-linux64_py37-centos_debug-main" platforms="linux-x86_64" /> <package name="nv-usd" version="20.08.1818.f41ff452-linux-aarch64_py37_debug-main" platforms="linux-aarch64" /> </dependency> <dependency name="nv_usd_py37_release" linkPath="../_build/target-deps/nv_usd/release"> <package name="nv-usd" version="20.08.1818.f41ff452-win64_py37_release-main" platforms="windows-x86_64"/> <package name="nv-usd" version="20.08.1818.f41ff452-linux64_py37-centos_release-main" platforms="linux-x86_64" /> <package name="nv-usd" version="20.08.1818.f41ff452-linux-aarch64_py37_release-main" platforms="linux-aarch64" /> </dependency> <dependency name="omni_client_library" linkPath="../_build/target-deps/omni_client_library"> <package name="omni_client_library.py37.${platform}" version="1.13.19-main.2174+tc.b44c68ac" /> </dependency> </project>

XML

gazebosim/gz-omni/deps/host-deps.packman.xml

<project toolsVersion="5.6"> <dependency name="premake" linkPath="../_build/host-deps/premake"> <package name="premake" version="5.0.9-nv-main-68e9a88a-${platform}" /> </dependency> <dependency name="downloaded_msvc" linkPath="../_build/host-deps/downloaded_msvc"> <package name="msvc" version="2019-16.7.6-license" platforms="windows-x86_64" /> </dependency> <dependency name="downloaded_winsdk" linkPath="../_build/host-deps/downloaded_winsdk"> <package name="winsdk" version="10.0.18362.0-license" platforms="windows-x86_64"/> </dependency> <!-- Change the paths below *if you want to provide your own* VS 2019 toolchain or your own Windows SDK 10.17763. The VS 2019 toolchain can be downloaded from here: https://aka.ms/vs/16/release/vs_buildtools.exe (Choose Desktop Development with C++, you can uncheck the included Windows SDK) The Windows SDK 10.17763 can be downloaded from here: https://go.microsoft.com/fwlink/p/?LinkID=2033908 --> <dependency name="buildtools" linkPath="../_build/host-deps/buildtools"> <!-- If you have installed the VS 2019 toolchain to the default path replace the package element with the following: <source path="C:/Program Files (x86)/Microsoft Visual Studio/2019/BuildTools" platforms="windows-x86_64" /> --> <source path="../_build/host-deps/downloaded_msvc" platforms="windows-x86_64" /> </dependency> <dependency name="vc" linkPath="../_build/host-deps/vc"> <!-- If you have installed the VS 2019 toolchain to the default path replace the source element below as follows: <source path="../_build/host-deps/buildtools/VC/Tools/MSVC/14.27.29110" platforms="windows-x86_64" /> --> <source path="../_build/host-deps/buildtools/VC/Tools/MSVC/14.27.29110" platforms="windows-x86_64" /> </dependency> <!-- WINDOWS SDK --> <dependency name="winsdk" linkPath="../_build/host-deps/.winsdk"> <!-- If you have installed the Windows SDK to the default path replace the package element below with this: <source path="C:/Program Files (x86)/Windows Kits/10" platforms="windows-x86_64" /> --> <source path="../_build/host-deps/downloaded_winsdk" platforms="windows-x86_64" /> </dependency> <dependency name="winsdk_bin" linkPath="../_build/host-deps/winsdk/bin"> <!-- If you have installed the Windows SDK to the default path replace the source element below with this: <source path="../_build/host-deps/.winsdk/bin/10.0.17763.0" platforms="windows-x86_64" /> --> <source path="../_build/host-deps/.winsdk/bin" platforms="windows-x86_64" /> </dependency> <dependency name="winsdk_include" linkPath="../_build/host-deps/winsdk/include"> <!-- If you have installed the Windows SDK to the default path replace the source element below with this: <source path="../_build/host-deps/.winsdk/include/10.0.17763.0" platforms="windows-x86_64" /> --> <source path="../_build/host-deps/.winsdk/include" platforms="windows-x86_64" /> </dependency> <dependency name="winsdk_lib" linkPath="../_build/host-deps/winsdk/lib"> <!-- If you have installed the Windows SDK to the default path replace the source element below with this: <source path="../_build/host-deps/.winsdk/lib/10.0.17763.0" platforms="windows-x86_64" /> --> <source path="../_build/host-deps/.winsdk/lib" platforms="windows-x86_64" /> </dependency> </project>

XML

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/tools/packman/config.packman.xml

<config remotes="cloudfront"> <remote name="cloudfront" type="https" packageLocation="d4i3qtqj3r0z5.cloudfront.net/${name}@${version}" /> <remote name="cloudfront_upload" type="s3" packageLocation="packages-for-cloudfront" /> </config>

XML

gazebosim/gz-omni/tools/packman/bootstrap/install_package.py

# Copyright 2019 NVIDIA CORPORATION # 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. import logging import zipfile import tempfile import sys import shutil __author__ = "hfannar" logging.basicConfig(level=logging.WARNING, format="%(message)s") logger = logging.getLogger("install_package") class TemporaryDirectory: def __init__(self): self.path = None def __enter__(self): self.path = tempfile.mkdtemp() return self.path def __exit__(self, type, value, traceback): # Remove temporary data created shutil.rmtree(self.path) def install_package(package_src_path, package_dst_path): with zipfile.ZipFile( package_src_path, allowZip64=True ) as zip_file, TemporaryDirectory() as temp_dir: zip_file.extractall(temp_dir) # Recursively copy (temp_dir will be automatically cleaned up on exit) try: # Recursive copy is needed because both package name and version folder could be missing in # target directory: shutil.copytree(temp_dir, package_dst_path) except OSError as exc: logger.warning( "Directory %s already present, packaged installation aborted" % package_dst_path ) else: logger.info("Package successfully installed to %s" % package_dst_path) install_package(sys.argv[1], sys.argv[2])

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 ``` 

Markdown

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.**

Markdown

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. 

Markdown

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. Subject to the terms and conditions of this BeOpen Python License Agreement, BeOpen hereby grants Licensee a non-exclusive, royalty-free, world-wide license to reproduce, analyze, test, perform and/or display publicly, prepare derivative works, distribute, and otherwise use the Software alone or in any derivative version, provided, however, that the BeOpen Python License is retained in the Software, alone or in any derivative version prepared by Licensee. 3. BeOpen is making the Software available to Licensee on an "AS IS" basis. BEOPEN MAKES NO REPRESENTATIONS OR WARRANTIES, EXPRESS OR IMPLIED. BY WAY OF EXAMPLE, BUT NOT LIMITATION, BEOPEN MAKES NO AND DISCLAIMS ANY REPRESENTATION OR WARRANTY OF MERCHANTABILITY OR FITNESS FOR ANY PARTICULAR PURPOSE OR THAT THE USE OF THE SOFTWARE WILL NOT INFRINGE ANY THIRD PARTY RIGHTS. 4. 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. CNRI SHALL NOT BE LIABLE TO LICENSEE OR ANY OTHER USERS OF PYTHON 1.6.1 FOR ANY INCIDENTAL, SPECIAL, OR CONSEQUENTIAL DAMAGES OR LOSS AS A RESULT OF MODIFYING, DISTRIBUTING, OR OTHERWISE USING PYTHON 1.6.1, 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. This License Agreement shall be governed by the federal intellectual property law of the United States, including without limitation the federal copyright law, and, to the extent such U.S. federal law does not apply, by the law of the Commonwealth of Virginia, excluding Virginia's conflict of law provisions. 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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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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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. 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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. 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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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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. 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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. 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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. 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IN NO EVENT SHALL THE AUTHORS 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.

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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. 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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. 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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.

Markdown

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

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.

Markdown

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

C++

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; } } } } }

C++

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

C++

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

C++

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

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