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NVIDIA-Omniverse/mjcf-importer-extension/source/extensions/omni.importer.mjcf/data/mjcf/nv_humanoid.xml | <mujoco model="humanoid">
<statistic extent="2" center="0 0 1"/>
<option timestep="0.00555"/>
<asset>
<material name="self" rgba=".7 .5 .3 1"/>
</asset>
<default>
<motor ctrlrange="-1 1" ctrllimited="true"/>
<default class="body">
<geom type="capsule" condim="1" friction="1.0 0.05 0.05" solimp=".9 .99 .003" solref=".015 1" material="self"/>
<joint type="hinge" damping="0.1" stiffness="5" armature=".007" limited="true" solimplimit="0 .99 .01"/>
<default class="small_joint">
<joint damping="1.0" stiffness="2" armature=".006"/>
</default>
<default class="big_joint">
<joint damping="5" stiffness="10" armature=".01"/>
</default>
<default class="bigger_stiff_joint">
<joint damping="5" stiffness="20" armature=".01"/>
</default>
<default class="big_stiff_joint">
<joint damping="5" stiffness="20" armature=".02"/>
</default>
<site size=".04" group="3"/>
<default class="force-torque">
<site type="box" size=".01 .01 .02" rgba="1 0 0 1" />
</default>
<default class="touch">
<site type="capsule" rgba="0 0 1 .3"/>
</default>
</default>
</default>
<worldbody>
<geom name="floor" type="plane" conaffinity="1" size="100 100 .2"/>
<body name="torso" pos="0 0 1.5" childclass="body">
<light name="top" pos="0 0 2" mode="trackcom"/>
<camera name="back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
<camera name="side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
<freejoint name="root"/>
<site name="root" class="force-torque"/>
<geom name="torso" fromto="0 -.07 0 0 .07 0" size=".07"/>
<geom name="upper_waist" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
<site name="torso" class="touch" type="box" pos="0 0 -.05" size=".075 .14 .13"/>
<body name="head" pos="0 0 .19">
<geom name="head" type="sphere" size=".09"/>
<site name="head" class="touch" type="sphere" size=".091"/>
<camera name="egocentric" pos=".09 0 0" xyaxes="0 -1 0 .1 0 1" fovy="80"/>
</body>
<body name="lower_waist" pos="-.01 0 -.260" quat="1.000 0 -.002 0">
<geom name="lower_waist" fromto="0 -.06 0 0 .06 0" size=".06"/>
<site name="lower_waist" class="touch" size=".061 .06" zaxis="0 1 0"/>
<joint name="abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" class="big_stiff_joint"/>
<joint name="abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" class="bigger_stiff_joint"/>
<body name="pelvis" pos="0 0 -.165" quat="1.000 0 -.002 0">
<joint name="abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" class="big_joint"/>
<geom name="butt" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
<site name="butt" class="touch" size=".091 .07" pos="-.02 0 0" zaxis="0 1 0"/>
<body name="right_thigh" pos="0 -.1 -.04">
<site name="right_hip" class="force-torque"/>
<joint name="right_hip_x" axis="1 0 0" range="-45 15" class="big_joint"/>
<joint name="right_hip_z" axis="0 0 1" range="-60 35" class="big_joint"/>
<joint name="right_hip_y" axis="0 1 0" range="-120 45" class="bigger_stiff_joint"/>
<geom name="right_thigh" fromto="0 0 0 0 .01 -.34" size=".06"/>
<site name="right_thigh" class="touch" pos="0 .005 -.17" size=".061 .17" zaxis="0 -1 34"/>
<body name="right_shin" pos="0 .01 -.403">
<site name="right_knee" class="force-torque" pos="0 0 .02"/>
<joint name="right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
<geom name="right_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
<site name="right_shin" class="touch" pos="0 0 -.15" size=".05 .15"/>
<body name="right_foot" pos="0 0 -.39">
<site name="right_ankle" class="force-torque"/>
<joint name="right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" class="small_joint"/>
<joint name="right_ankle_x" pos="0 0 .08" axis="1 0 .5" range="-50 50" class="small_joint"/>
<geom name="right_right_foot" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
<geom name="left_right_foot" fromto="-.07 0 0 .14 .02 0" size=".027"/>
<site name="right_right_foot" class="touch" pos=".035 -.03 0" size=".03 .11" zaxis="21 -2 0"/>
<site name="left_right_foot" class="touch" pos=".035 .01 0" size=".03 .11" zaxis="21 2 0"/>
</body>
</body>
</body>
<body name="left_thigh" pos="0 .1 -.04">
<site name="left_hip" class="force-torque"/>
<joint name="left_hip_x" axis="-1 0 0" range="-45 15" class="big_joint"/>
<joint name="left_hip_z" axis="0 0 -1" range="-60 35" class="big_joint"/>
<joint name="left_hip_y" axis="0 1 0" range="-120 45" class="bigger_stiff_joint"/>
<geom name="left_thigh" fromto="0 0 0 0 -.01 -.34" size=".06"/>
<site name="left_thigh" class="touch" pos="0 -.005 -.17" size=".061 .17" zaxis="0 1 34"/>
<body name="left_shin" pos="0 -.01 -.403">
<site name="left_knee" class="force-torque" pos="0 0 .02"/>
<joint name="left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
<geom name="left_shin" fromto="0 0 0 0 0 -.3" size=".049"/>
<site name="left_shin" class="touch" pos="0 0 -.15" size=".05 .15"/>
<body name="left_foot" pos="0 0 -.39">
<site name="left_ankle" class="force-torque"/>
<joint name="left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" class="small_joint"/>
<joint name="left_ankle_x" pos="0 0 .08" axis="1 0 .5" range="-50 50" class="small_joint"/>
<geom name="left_left_foot" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
<geom name="right_left_foot" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
<site name="right_left_foot" class="touch" pos=".035 -.01 0" size=".03 .11" zaxis="21 -2 0"/>
<site name="left_left_foot" class="touch" pos=".035 .03 0" size=".03 .11" zaxis="21 2 0"/>
</body>
</body>
</body>
</body>
</body>
<body name="right_upper_arm" pos="0 -.17 .06">
<joint name="right_shoulder1" axis="2 1 1" range="-90 70" class="big_joint"/>
<joint name="right_shoulder2" axis="0 -1 1" range="-90 70" class="big_joint"/>
<geom name="right_upper_arm" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
<site name="right_upper_arm" class="touch" pos=".08 -.08 -.08" size=".041 .14" zaxis="1 -1 -1"/>
<body name="right_lower_arm" pos=".18 -.18 -.18">
<joint name="right_elbow" axis="0 -1 1" range="-90 50" class="small_joint"/>
<geom name="right_lower_arm" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
<site name="right_lower_arm" class="touch" pos=".09 .09 .09" size=".032 .14" zaxis="1 1 1"/>
<body name="right_hand" pos=".18 .18 .18">
<geom name="right_hand" type="sphere" size=".04"/>
<site name="right_hand" class="touch" type="sphere" size=".041"/>
</body>
</body>
</body>
<body name="left_upper_arm" pos="0 .17 .06">
<joint name="left_shoulder1" axis="-2 1 -1" range="-90 70" class="big_joint"/>
<joint name="left_shoulder2" axis="0 -1 -1" range="-90 70" class="big_joint"/>
<geom name="left_upper_arm" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
<site name="left_upper_arm" class="touch" pos=".08 .08 -.08" size=".041 .14" zaxis="1 1 -1"/>
<body name="left_lower_arm" pos=".18 .18 -.18">
<joint name="left_elbow" axis="0 -1 -1" range="-90 50" class="small_joint"/>
<geom name="left_lower_arm" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
<site name="left_lower_arm" class="touch" pos=".09 -.09 .09" size=".032 .14" zaxis="1 -1 1"/>
<body name="left_hand" pos=".18 -.18 .18">
<geom name="left_hand" type="sphere" size=".04"/>
<site name="left_hand" class="touch" type="sphere" size=".041"/>
</body>
</body>
</body>
</body>
</worldbody>
<actuator>
<motor name='abdomen_y' gear='67.5' joint='abdomen_y'/>
<motor name='abdomen_z' gear='67.5' joint='abdomen_z'/>
<motor name='abdomen_x' gear='67.5' joint='abdomen_x'/>
<motor name='right_hip_x' gear='45.0' joint='right_hip_x'/>
<motor name='right_hip_z' gear='45.0' joint='right_hip_z'/>
<motor name='right_hip_y' gear='135.0' joint='right_hip_y'/>
<motor name='right_knee' gear='90.0' joint='right_knee'/>
<motor name='right_ankle_x' gear='22.5' joint='right_ankle_x'/>
<motor name='right_ankle_y' gear='22.5' joint='right_ankle_y'/>
<motor name='left_hip_x' gear='45.0' joint='left_hip_x'/>
<motor name='left_hip_z' gear='45.0' joint='left_hip_z'/>
<motor name='left_hip_y' gear='135.0' joint='left_hip_y'/>
<motor name='left_knee' gear='90.0' joint='left_knee'/>
<motor name='left_ankle_x' gear='22.5' joint='left_ankle_x'/>
<motor name='left_ankle_y' gear='22.5' joint='left_ankle_y'/>
<motor name='right_shoulder1' gear='67.5' joint='right_shoulder1'/>
<motor name='right_shoulder2' gear='67.5' joint='right_shoulder2'/>
<motor name='right_elbow' gear='45.0' joint='right_elbow'/>
<motor name='left_shoulder1' gear='67.5' joint='left_shoulder1'/>
<motor name='left_shoulder2' gear='67.5' joint='left_shoulder2'/>
<motor name='left_elbow' gear='45.0' joint='left_elbow'/>
</actuator>
<sensor>
<subtreelinvel name="torso_subtreelinvel" body="torso"/>
<accelerometer name="torso_accel" site="root"/>
<velocimeter name="torso_vel" site="root"/>
<gyro name="torso_gyro" site="root"/>
<force name="left_ankle_force" site="left_ankle"/>
<force name="right_ankle_force" site="right_ankle"/>
<force name="left_knee_force" site="left_knee"/>
<force name="right_knee_force" site="right_knee"/>
<force name="left_hip_force" site="left_hip"/>
<force name="right_hip_force" site="right_hip"/>
<torque name="left_ankle_torque" site="left_ankle"/>
<torque name="right_ankle_torque" site="right_ankle"/>
<torque name="left_knee_torque" site="left_knee"/>
<torque name="right_knee_torque" site="right_knee"/>
<torque name="left_hip_torque" site="left_hip"/>
<torque name="right_hip_torque" site="right_hip"/>
<touch name="torso_touch" site="torso"/>
<touch name="head_touch" site="head"/>
<touch name="lower_waist_touch" site="lower_waist"/>
<touch name="butt_touch" site="butt"/>
<touch name="right_thigh_touch" site="right_thigh"/>
<touch name="right_shin_touch" site="right_shin"/>
<touch name="right_right_foot_touch" site="right_right_foot"/>
<touch name="left_right_foot_touch" site="left_right_foot"/>
<touch name="left_thigh_touch" site="left_thigh"/>
<touch name="left_shin_touch" site="left_shin"/>
<touch name="right_left_foot_touch" site="right_left_foot"/>
<touch name="left_left_foot_touch" site="left_left_foot"/>
<touch name="right_upper_arm_touch" site="right_upper_arm"/>
<touch name="right_lower_arm_touch" site="right_lower_arm"/>
<touch name="right_hand_touch" site="right_hand"/>
<touch name="left_upper_arm_touch" site="left_upper_arm"/>
<touch name="left_lower_arm_touch" site="left_lower_arm"/>
<touch name="left_hand_touch" site="left_hand"/>
</sensor>
</mujoco>
|
NVIDIA-Omniverse/mjcf-importer-extension/source/apps/exts.deps.generated.kit |
########################################################################################################################
# This kit file is generated by "repo precache_exts" tool.
# It is an app, that contains all extensions from the repo as dependencies. It is used to:
# 1. lock all versions of their dependencies (reproducible builds).
# 2. precache (download) all dependencies before building.
#
# This file is regenerated if:
# 1. Any extension is added or removed from the repo.
# 2. Any extension version is updated
# 3. This file is removed.
#
# To update version lock the same `repo build -u` flag can be used.
########################################################################################################################
[settings.app.exts.folders]
'++' = ["${app}/../exts", "${app}/../extscache/"]
# All local extensions built in this repo:
[dependencies]
"omni.importer.mjcf" = {}
########################################################################################################################
# BEGIN GENERATED PART (Remove from 'BEGIN' to 'END' to regenerate)
########################################################################################################################
# Kit SDK Version: 105.0.1+release.109385.73164226.tc
# Version lock for all dependencies:
[settings.app.exts]
enabled = [
]
########################################################################################################################
# END GENERATED PART
######################################################################################################################## |
NVIDIA-Omniverse/mjcf-importer-extension/source/apps/omni.importer.mjcf.app.kit | [package]
title = "MJCF Importer"
description = "Kit dev app with omni.importer.mjcf extension enabled."
version = "1.0.0"
keywords = ["app"]
[dependencies]
"omni.app.dev" = {}
"omni.usd.schema.physx" = {}
"omni.importer.mjcf" = {}
[settings]
app.window.title = "MJCF Importer"
app.settings.persistent = true
[settings.app.exts]
folders.'++' = ["${app}/../exts"] # Make extensions from this repo available.
[settings.persistent.app.stage]
upAxis = "Z"
materialStrength = "weakerThanDescendants"
|
NVIDIA-Omniverse/kit-extension-sample-asset-search/link_app.sh | #!/bin/bash
set -e
SCRIPT_DIR=$(dirname ${BASH_SOURCE})
cd "$SCRIPT_DIR"
exec "tools/packman/python.sh" tools/scripts/link_app.py $@
|
NVIDIA-Omniverse/kit-extension-sample-asset-search/link_app.bat | @echo off
call "%~dp0tools\packman\python.bat" %~dp0tools\scripts\link_app.py %*
if %errorlevel% neq 0 ( goto Error )
:Success
exit /b 0
:Error
exit /b %errorlevel%
|
NVIDIA-Omniverse/kit-extension-sample-asset-search/README.md | # Asset Provider Search Example
### About
This extension is a template for connecting a search API for assets to Omniverse's *Asset Browser*.
### [README](exts/omni.example.asset_provider/)
See the [README for this extension](exts/omni.example.asset_provider/) to learn more about it including how to use it.
## Adding one of those Extension
To add a those extensions to your Omniverse app:
1. Go into: Extension Manager -> Gear Icon -> Extension Search Path
2. Add this as a search path: `git://github.com/NVIDIA-Omniverse/kit-extension-sample-asset-search?branch=main&dir=exts`
## Linking with an Omniverse app
For a better developer experience, it is recommended to create a folder link named `app` to the *Omniverse Kit* app installed from *Omniverse Launcher*. A convenience script to use is included.
Run:
```bash
> link_app.bat
```
There is also an analogous `link_app.sh` for Linux. If successful you should see `app` folder link in the root of this repo.
If multiple Omniverse apps is installed script will select recommended one. Or you can explicitly pass an app:
```bash
> link_app.bat --app code
```
You can also just pass a path to create link to:
```bash
> link_app.bat --path "C:/Users/bob/AppData/Local/ov/pkg/create-2022.1.3"
```
## Contributing
The source code for this repository is provided as-is and we are not accepting outside contributions.
|
NVIDIA-Omniverse/kit-extension-sample-asset-search/tools/scripts/link_app.py | import os
import argparse
import sys
import json
import packmanapi
import urllib3
def find_omniverse_apps():
http = urllib3.PoolManager()
try:
r = http.request("GET", "http://127.0.0.1:33480/components")
except Exception as e:
print(f"Failed retrieving apps from an Omniverse Launcher, maybe it is not installed?\nError: {e}")
sys.exit(1)
apps = {}
for x in json.loads(r.data.decode("utf-8")):
latest = x.get("installedVersions", {}).get("latest", "")
if latest:
for s in x.get("settings", []):
if s.get("version", "") == latest:
root = s.get("launch", {}).get("root", "")
apps[x["slug"]] = (x["name"], root)
break
return apps
def create_link(src, dst):
print(f"Creating a link '{src}' -> '{dst}'")
packmanapi.link(src, dst)
APP_PRIORITIES = ["code", "create", "view"]
if __name__ == "__main__":
parser = argparse.ArgumentParser(description="Create folder link to Kit App installed from Omniverse Launcher")
parser.add_argument(
"--path",
help="Path to Kit App installed from Omniverse Launcher, e.g.: 'C:/Users/bob/AppData/Local/ov/pkg/create-2021.3.4'",
required=False,
)
parser.add_argument(
"--app", help="Name of Kit App installed from Omniverse Launcher, e.g.: 'code', 'create'", required=False
)
args = parser.parse_args()
path = args.path
if not path:
print("Path is not specified, looking for Omniverse Apps...")
apps = find_omniverse_apps()
if len(apps) == 0:
print(
"Can't find any Omniverse Apps. Use Omniverse Launcher to install one. 'Code' is the recommended app for developers."
)
sys.exit(0)
print("\nFound following Omniverse Apps:")
for i, slug in enumerate(apps):
name, root = apps[slug]
print(f"{i}: {name} ({slug}) at: '{root}'")
if args.app:
selected_app = args.app.lower()
if selected_app not in apps:
choices = ", ".join(apps.keys())
print(f"Passed app: '{selected_app}' is not found. Specify one of the following found Apps: {choices}")
sys.exit(0)
else:
selected_app = next((x for x in APP_PRIORITIES if x in apps), None)
if not selected_app:
selected_app = next(iter(apps))
print(f"\nSelected app: {selected_app}")
_, path = apps[selected_app]
if not os.path.exists(path):
print(f"Provided path doesn't exist: {path}")
else:
SCRIPT_ROOT = os.path.dirname(os.path.realpath(__file__))
create_link(f"{SCRIPT_ROOT}/../../app", path)
print("Success!")
|
NVIDIA-Omniverse/kit-extension-sample-asset-search/tools/packman/python.sh | #!/bin/bash
# Copyright 2019-2020 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.
set -e
PACKMAN_CMD="$(dirname "${BASH_SOURCE}")/packman"
if [ ! -f "$PACKMAN_CMD" ]; then
PACKMAN_CMD="${PACKMAN_CMD}.sh"
fi
source "$PACKMAN_CMD" init
export PYTHONPATH="${PM_MODULE_DIR}:${PYTHONPATH}"
export PYTHONNOUSERSITE=1
# workaround for our python not shipping with certs
if [[ -z ${SSL_CERT_DIR:-} ]]; then
export SSL_CERT_DIR=/etc/ssl/certs/
fi
"${PM_PYTHON}" -u "$@"
|
NVIDIA-Omniverse/kit-extension-sample-asset-search/tools/packman/python.bat | :: Copyright 2019-2020 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.
@echo off
setlocal
call "%~dp0\packman" init
set "PYTHONPATH=%PM_MODULE_DIR%;%PYTHONPATH%"
set PYTHONNOUSERSITE=1
"%PM_PYTHON%" -u %*
|
NVIDIA-Omniverse/kit-extension-sample-asset-search/tools/packman/packman.cmd | :: Reset errorlevel status (don't inherit from caller) [xxxxxxxxxxx]
@call :ECHO_AND_RESET_ERROR
:: You can remove the call below if you do your own manual configuration of the dev machines
call "%~dp0\bootstrap\configure.bat"
if %errorlevel% neq 0 ( exit /b %errorlevel% )
:: Everything below is mandatory
if not defined PM_PYTHON goto :PYTHON_ENV_ERROR
if not defined PM_MODULE goto :MODULE_ENV_ERROR
:: Generate temporary path for variable file
for /f "delims=" %%a in ('powershell -ExecutionPolicy ByPass -NoLogo -NoProfile ^
-File "%~dp0bootstrap\generate_temp_file_name.ps1"') do set PM_VAR_PATH=%%a
if %1.==. (
set PM_VAR_PATH_ARG=
) else (
set PM_VAR_PATH_ARG=--var-path="%PM_VAR_PATH%"
)
"%PM_PYTHON%" -S -s -u -E "%PM_MODULE%" %* %PM_VAR_PATH_ARG%
if %errorlevel% neq 0 ( exit /b %errorlevel% )
:: Marshall environment variables into the current environment if they have been generated and remove temporary file
if exist "%PM_VAR_PATH%" (
for /F "usebackq tokens=*" %%A in ("%PM_VAR_PATH%") do set "%%A"
)
if %errorlevel% neq 0 ( goto :VAR_ERROR )
if exist "%PM_VAR_PATH%" (
del /F "%PM_VAR_PATH%"
)
if %errorlevel% neq 0 ( goto :VAR_ERROR )
set PM_VAR_PATH=
goto :eof
:: Subroutines below
:PYTHON_ENV_ERROR
@echo User environment variable PM_PYTHON is not set! Please configure machine for packman or call configure.bat.
exit /b 1
:MODULE_ENV_ERROR
@echo User environment variable PM_MODULE is not set! Please configure machine for packman or call configure.bat.
exit /b 1
:VAR_ERROR
@echo Error while processing and setting environment variables!
exit /b 1
:ECHO_AND_RESET_ERROR
@echo off
if /I "%PM_VERBOSITY%"=="debug" (
@echo on
)
exit /b 0
|
NVIDIA-Omniverse/kit-extension-sample-asset-search/tools/packman/config.packman.xml | <config remotes="cloudfront">
<remote2 name="cloudfront">
<transport actions="download" protocol="https" packageLocation="d4i3qtqj3r0z5.cloudfront.net/${name}@${version}" />
</remote2>
</config>
|
NVIDIA-Omniverse/kit-extension-sample-asset-search/tools/packman/bootstrap/generate_temp_file_name.ps1 | <#
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.
#>
$out = [System.IO.Path]::GetTempFileName()
Write-Host $out
# SIG # Begin signature block
# MIIaVwYJKoZIhvcNAQcCoIIaSDCCGkQCAQExDzANBglghkgBZQMEAgEFADB5Bgor
# BgEEAYI3AgEEoGswaTA0BgorBgEEAYI3AgEeMCYCAwEAAAQQH8w7YFlLCE63JNLG
# KX7zUQIBAAIBAAIBAAIBAAIBADAxMA0GCWCGSAFlAwQCAQUABCAK+Ewup1N0/mdf
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# SIG # End signature block
|
NVIDIA-Omniverse/kit-extension-sample-asset-search/tools/packman/bootstrap/configure.bat | :: 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.
set PM_PACKMAN_VERSION=6.33.2
:: Specify where packman command is rooted
set PM_INSTALL_PATH=%~dp0..
:: The external root may already be configured and we should do minimal work in that case
if defined PM_PACKAGES_ROOT goto ENSURE_DIR
:: If the folder isn't set we assume that the best place for it is on the drive that we are currently
:: running from
set PM_DRIVE=%CD:~0,2%
set PM_PACKAGES_ROOT=%PM_DRIVE%\packman-repo
:: We use *setx* here so that the variable is persisted in the user environment
echo Setting user environment variable PM_PACKAGES_ROOT to %PM_PACKAGES_ROOT%
setx PM_PACKAGES_ROOT %PM_PACKAGES_ROOT%
if %errorlevel% neq 0 ( goto ERROR )
:: The above doesn't work properly from a build step in VisualStudio because a separate process is
:: spawned for it so it will be lost for subsequent compilation steps - VisualStudio must
:: be launched from a new process. We catch this odd-ball case here:
if defined PM_DISABLE_VS_WARNING goto ENSURE_DIR
if not defined VSLANG goto ENSURE_DIR
echo The above is a once-per-computer operation. Unfortunately VisualStudio cannot pick up environment change
echo unless *VisualStudio is RELAUNCHED*.
echo If you are launching VisualStudio from command line or command line utility make sure
echo you have a fresh launch environment (relaunch the command line or utility).
echo If you are using 'linkPath' and referring to packages via local folder links you can safely ignore this warning.
echo You can disable this warning by setting the environment variable PM_DISABLE_VS_WARNING.
echo.
:: Check for the directory that we need. Note that mkdir will create any directories
:: that may be needed in the path
:ENSURE_DIR
if not exist "%PM_PACKAGES_ROOT%" (
echo Creating directory %PM_PACKAGES_ROOT%
mkdir "%PM_PACKAGES_ROOT%"
)
if %errorlevel% neq 0 ( goto ERROR_MKDIR_PACKAGES_ROOT )
:: The Python interpreter may already be externally configured
if defined PM_PYTHON_EXT (
set PM_PYTHON=%PM_PYTHON_EXT%
goto PACKMAN
)
set PM_PYTHON_VERSION=3.7.9-windows-x86_64
set PM_PYTHON_BASE_DIR=%PM_PACKAGES_ROOT%\python
set PM_PYTHON_DIR=%PM_PYTHON_BASE_DIR%\%PM_PYTHON_VERSION%
set PM_PYTHON=%PM_PYTHON_DIR%\python.exe
if exist "%PM_PYTHON%" goto PACKMAN
if not exist "%PM_PYTHON_BASE_DIR%" call :CREATE_PYTHON_BASE_DIR
set PM_PYTHON_PACKAGE=python@%PM_PYTHON_VERSION%.cab
for /f "delims=" %%a in ('powershell -ExecutionPolicy ByPass -NoLogo -NoProfile -File "%~dp0\generate_temp_file_name.ps1"') do set TEMP_FILE_NAME=%%a
set TARGET=%TEMP_FILE_NAME%.zip
call "%~dp0fetch_file_from_packman_bootstrap.cmd" %PM_PYTHON_PACKAGE% "%TARGET%"
if %errorlevel% neq 0 (
echo !!! Error fetching python from CDN !!!
goto ERROR
)
for /f "delims=" %%a in ('powershell -ExecutionPolicy ByPass -NoLogo -NoProfile -File "%~dp0\generate_temp_folder.ps1" -parentPath "%PM_PYTHON_BASE_DIR%"') do set TEMP_FOLDER_NAME=%%a
echo Unpacking Python interpreter ...
"%SystemRoot%\system32\expand.exe" -F:* "%TARGET%" "%TEMP_FOLDER_NAME%" 1> nul
del "%TARGET%"
:: Failure during extraction to temp folder name, need to clean up and abort
if %errorlevel% neq 0 (
echo !!! Error unpacking python !!!
call :CLEAN_UP_TEMP_FOLDER
goto ERROR
)
:: If python has now been installed by a concurrent process we need to clean up and then continue
if exist "%PM_PYTHON%" (
call :CLEAN_UP_TEMP_FOLDER
goto PACKMAN
) else (
if exist "%PM_PYTHON_DIR%" ( rd /s /q "%PM_PYTHON_DIR%" > nul )
)
:: Perform atomic rename
rename "%TEMP_FOLDER_NAME%" "%PM_PYTHON_VERSION%" 1> nul
:: Failure during move, need to clean up and abort
if %errorlevel% neq 0 (
echo !!! Error renaming python !!!
call :CLEAN_UP_TEMP_FOLDER
goto ERROR
)
:PACKMAN
:: The packman module may already be externally configured
if defined PM_MODULE_DIR_EXT (
set PM_MODULE_DIR=%PM_MODULE_DIR_EXT%
) else (
set PM_MODULE_DIR=%PM_PACKAGES_ROOT%\packman-common\%PM_PACKMAN_VERSION%
)
set PM_MODULE=%PM_MODULE_DIR%\packman.py
if exist "%PM_MODULE%" goto ENSURE_7ZA
set PM_MODULE_PACKAGE=packman-common@%PM_PACKMAN_VERSION%.zip
for /f "delims=" %%a in ('powershell -ExecutionPolicy ByPass -NoLogo -NoProfile -File "%~dp0\generate_temp_file_name.ps1"') do set TEMP_FILE_NAME=%%a
set TARGET=%TEMP_FILE_NAME%
call "%~dp0fetch_file_from_packman_bootstrap.cmd" %PM_MODULE_PACKAGE% "%TARGET%"
if %errorlevel% neq 0 (
echo !!! Error fetching packman from CDN !!!
goto ERROR
)
echo Unpacking ...
"%PM_PYTHON%" -S -s -u -E "%~dp0\install_package.py" "%TARGET%" "%PM_MODULE_DIR%"
if %errorlevel% neq 0 (
echo !!! Error unpacking packman !!!
goto ERROR
)
del "%TARGET%"
:ENSURE_7ZA
set PM_7Za_VERSION=16.02.4
set PM_7Za_PATH=%PM_PACKAGES_ROOT%\7za\%PM_7ZA_VERSION%
if exist "%PM_7Za_PATH%" goto END
set PM_7Za_PATH=%PM_PACKAGES_ROOT%\chk\7za\%PM_7ZA_VERSION%
if exist "%PM_7Za_PATH%" goto END
"%PM_PYTHON%" -S -s -u -E "%PM_MODULE%" pull "%PM_MODULE_DIR%\deps.packman.xml"
if %errorlevel% neq 0 (
echo !!! Error fetching packman dependencies !!!
goto ERROR
)
goto END
:ERROR_MKDIR_PACKAGES_ROOT
echo Failed to automatically create packman packages repo at %PM_PACKAGES_ROOT%.
echo Please set a location explicitly that packman has permission to write to, by issuing:
echo.
echo setx PM_PACKAGES_ROOT {path-you-choose-for-storing-packman-packages-locally}
echo.
echo Then launch a new command console for the changes to take effect and run packman command again.
exit /B %errorlevel%
:ERROR
echo !!! Failure while configuring local machine :( !!!
exit /B %errorlevel%
:CLEAN_UP_TEMP_FOLDER
rd /S /Q "%TEMP_FOLDER_NAME%"
exit /B
:CREATE_PYTHON_BASE_DIR
:: We ignore errors and clean error state - if two processes create the directory one will fail which is fine
md "%PM_PYTHON_BASE_DIR%" > nul 2>&1
exit /B 0
:END
|
NVIDIA-Omniverse/kit-extension-sample-asset-search/tools/packman/bootstrap/fetch_file_from_packman_bootstrap.cmd | :: 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.
:: You need to specify <package-name> <target-path> as input to this command
@setlocal
@set PACKAGE_NAME=%1
@set TARGET_PATH=%2
@echo Fetching %PACKAGE_NAME% ...
@powershell -ExecutionPolicy ByPass -NoLogo -NoProfile -File "%~dp0download_file_from_url.ps1" ^
-source "http://bootstrap.packman.nvidia.com/%PACKAGE_NAME%" -output %TARGET_PATH%
:: A bug in powershell prevents the errorlevel code from being set when using the -File execution option
:: We must therefore do our own failure analysis, basically make sure the file exists and is larger than 0 bytes:
@if not exist %TARGET_PATH% goto ERROR_DOWNLOAD_FAILED
@if %~z2==0 goto ERROR_DOWNLOAD_FAILED
@endlocal
@exit /b 0
:ERROR_DOWNLOAD_FAILED
@echo Failed to download file from S3
@echo Most likely because endpoint cannot be reached or file %PACKAGE_NAME% doesn't exist
@endlocal
@exit /b 1 |
NVIDIA-Omniverse/kit-extension-sample-asset-search/tools/packman/bootstrap/download_file_from_url.ps1 | <#
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.
#>
param(
[Parameter(Mandatory=$true)][string]$source=$null,
[string]$output="out.exe"
)
$filename = $output
$triesLeft = 3
do
{
$triesLeft -= 1
try
{
Write-Host "Downloading from bootstrap.packman.nvidia.com ..."
$wc = New-Object net.webclient
$wc.Downloadfile($source, $fileName)
$triesLeft = 0
}
catch
{
Write-Host "Error downloading $source!"
Write-Host $_.Exception|format-list -force
}
} while ($triesLeft -gt 0)
|
NVIDIA-Omniverse/kit-extension-sample-asset-search/tools/packman/bootstrap/generate_temp_folder.ps1 | <#
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.
#>
param(
[Parameter(Mandatory=$true)][string]$parentPath=$null
)
[string] $name = [System.Guid]::NewGuid()
$out = Join-Path $parentPath $name
New-Item -ItemType Directory -Path ($out) | Out-Null
Write-Host $out
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# SIG # End signature block
|
NVIDIA-Omniverse/kit-extension-sample-asset-search/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])
|
NVIDIA-Omniverse/kit-extension-sample-asset-search/exts/omni.example.asset_provider/config/extension.toml | [package]
# Semantic Versionning is used: https://semver.org/
version = "1.0.0"
# The title and description fields are primarily for displaying extension info in UI
title = "Asset Provider Search Extension Template"
description="Template for asset providers to follow"
# Path (relative to the root) or content of readme markdown file for UI.
readme = "docs/README.md"
# URL of the extension source repository.
repository = ""
# One of categories for UI.
category = "Example"
# Keywords for the extension
keywords = ["kit", "example", "search", "asset"]
# 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.hello.world".
[[python.module]]
name = "omni.assetprovider.template"
|
NVIDIA-Omniverse/kit-extension-sample-asset-search/exts/omni.example.asset_provider/omni/assetprovider/template/constants.py | SETTING_ROOT = "/exts/omni.assetprovider.template/"
SETTING_STORE_ENABLE = SETTING_ROOT + "enable" |
NVIDIA-Omniverse/kit-extension-sample-asset-search/exts/omni.example.asset_provider/omni/assetprovider/template/extension.py | # Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved.
#
# NVIDIA CORPORATION and its licensors retain all intellectual property
# and proprietary rights in and to this software, related documentation
# and any modifications thereto. Any use, reproduction, disclosure or
# distribution of this software and related documentation without an express
# license agreement from NVIDIA CORPORATION is strictly prohibited.
import importlib
import carb
import carb.settings
import carb.tokens
import omni.ext
from omni.services.browser.asset import get_instance as get_asset_services
from .model import TemplateAssetProvider
from .constants import SETTING_STORE_ENABLE
class TemplateAssetProviderExtension(omni.ext.IExt):
""" Template Asset Provider extension.
"""
def on_startup(self, ext_id):
self._asset_provider = TemplateAssetProvider()
self._asset_service = get_asset_services()
self._asset_service.register_store(self._asset_provider)
carb.settings.get_settings().set(SETTING_STORE_ENABLE, True)
def on_shutdown(self):
self._asset_service.unregister_store(self._asset_provider)
carb.settings.get_settings().set(SETTING_STORE_ENABLE, False)
self._asset_provider = None
self._asset_service = None
|
NVIDIA-Omniverse/kit-extension-sample-asset-search/exts/omni.example.asset_provider/omni/assetprovider/template/__init__.py | from .extension import *
|
NVIDIA-Omniverse/kit-extension-sample-asset-search/exts/omni.example.asset_provider/omni/assetprovider/template/model.py | # Copyright (c) 2022, NVIDIA CORPORATION. All rights reserved.
#
# NVIDIA CORPORATION and its licensors retain all intellectual property
# and proprietary rights in and to this software, related documentation
# and any modifications thereto. Any use, reproduction, disclosure or
# distribution of this software and related documentation without an express
# license agreement from NVIDIA CORPORATION is strictly prohibited.
from typing import Dict, List, Optional, Union, Tuple
import aiohttp
from omni.services.browser.asset import BaseAssetStore, AssetModel, SearchCriteria, ProviderModel
from .constants import SETTING_STORE_ENABLE
from pathlib import Path
CURRENT_PATH = Path(__file__).parent
DATA_PATH = CURRENT_PATH.parent.parent.parent.parent.joinpath("data")
# The name of your company
PROVIDER_ID = "PROVIDER_NAME"
# The URL location of your API
STORE_URL = "https://www.your_store_url.com"
class TemplateAssetProvider(BaseAssetStore):
"""
Asset provider implementation.
"""
def __init__(self, ov_app="Kit", ov_version="na") -> None:
super().__init__(PROVIDER_ID)
self._ov_app = ov_app
self._ov_version = ov_version
async def _search(self, search_criteria: SearchCriteria) -> Tuple[List[AssetModel], bool]:
""" Searches the asset store.
This function needs to be implemented as part of an implementation of the BaseAssetStore.
This function is called by the public `search` function that will wrap this function in a timeout.
"""
params = {}
# Setting for filter search criteria
if search_criteria.filter.categories:
# No category search, also use keywords instead
categories = search_criteria.filter.categories
for category in categories:
if category.startswith("/"):
category = category[1:]
category_keywords = category.split("/")
params["filter[categories]"] = ",".join(category_keywords).lower()
# Setting for keywords search criteria
if search_criteria.keywords:
params["keywords"] = ",".join(search_criteria.keywords)
# Setting for page number search criteria
if search_criteria.page.number:
params["page"] = search_criteria.page.number
# Setting for max number of items per page
if search_criteria.page.size:
params["page_size"] = search_criteria.page.size
items = []
# TODO: Uncomment once valid Store URL has been provided
# async with aiohttp.ClientSession() as session:
# async with session.get(f"{STORE_URL}", params=params) as resp:
# result = await resp.read()
# result = await resp.json()
# items = result
assets: List[AssetModel] = []
# Create AssetModel based off of JSON data
for item in items:
assets.append(
AssetModel(
identifier="",
name="",
published_at="",
categories=[],
tags=[],
vendor=PROVIDER_ID,
product_url="",
download_url="",
price=0.0,
thumbnail="",
)
)
# Are there more assets that we can load?
more = True
if search_criteria.page.size and len(assets) < search_criteria.page.size:
more = False
return (assets, more)
def provider(self) -> ProviderModel:
"""Return provider info"""
return ProviderModel(
name=PROVIDER_ID, icon=f"{DATA_PATH}/logo_placeholder.png", enable_setting=SETTING_STORE_ENABLE
)
|
NVIDIA-Omniverse/kit-extension-sample-asset-search/exts/omni.example.asset_provider/docs/README.md | # Asset Provider Sample
This is a sample going through how to add asset content to Omniverse's Asset Store.
## Step 1: Add Base Extension
To start the base extension needs to be inside of Omniverse.
### Step 1.1: Add Extension
To add the extension to your Omniverse app there are two ways:
#### Add via GitHub Link
#### Step 1.1.1a **Go** into: Extension Manager -> Gear Icon -> Extension Search Path
#### Step 1.1.2a Add this as a search path: git://github.com/NVIDIA-Omniverse/kit-extension-sample-asset-search?branch=main&dir=exts
#### Download Folder from GitHub
#### Step 1.1.1b **Click** on Code
#### Step 1.1.2b **Select** download zip
#### Step 1.1.3b **Save** the Folder
#### Step 1.1.4b **Extract** the folder's contents
#### Step 1.1.5b **Locate** the `exts` directory in the extracted folder
#### Step 1.1.6b **Copy** the directory path
An example of what the directory path would look like: "c:/users/username/documents/kit-extension-sample-asset-search/exts"
#### Step 1.1.7b With Code open**Go** into: Extension Manager -> Gear Icon -> Extension Search Path
#### Step 1.1.8b **Add** the copied directory path as a search path
### Step 1.2 Open in Visual Studio Code
#### Step 1.2.1 **Search** for the extension in the *Extension Tab* `Asset Provider Extension Template`
#### Step 1.2.2 **Click** on the Visual Studio Icon to open it in Visual Studio Code
#### Step 1.2.3 **Open** `model.py`.
Here is what is inside of `model.py`
``` python
# Copyright (c) 2022, NVIDIA CORPORATION. All rights reserved.
#
# NVIDIA CORPORATION and its licensors retain all intellectual property
# and proprietary rights in and to this software, related documentation
# and any modifications thereto. Any use, reproduction, disclosure or
# distribution of this software and related documentation without an express
# license agreement from NVIDIA CORPORATION is strictly prohibited.
from typing import Dict, List, Optional, Union, Tuple
import aiohttp
from omni.services.browser.asset import BaseAssetStore, AssetModel, SearchCriteria, ProviderModel
from .constants import SETTING_STORE_ENABLE
from pathlib import Path
CURRENT_PATH = Path(__file__).parent
DATA_PATH = CURRENT_PATH.parent.parent.parent.parent.joinpath("data")
# The name of your company
PROVIDER_ID = "PROVIDER_NAME"
# The URL location of your API
STORE_URL = "https://www.your_store_url.com"
class TemplateAssetProvider(BaseAssetStore):
"""
Asset provider implementation.
"""
def __init__(self, ov_app="Kit", ov_version="na") -> None:
super().__init__(PROVIDER_ID)
self._ov_app = ov_app
self._ov_version = ov_version
async def _search(self, search_criteria: SearchCriteria) -> Tuple[List[AssetModel], bool]:
""" Searches the asset store.
This function needs to be implemented as part of an implementation of the BaseAssetStore.
This function is called by the public `search` function that will wrap this function in a timeout.
"""
params = {}
# Setting for filter search criteria
if search_criteria.filter.categories:
# No category search, also use keywords instead
categories = search_criteria.filter.categories
for category in categories:
if category.startswith("/"):
category = category[1:]
category_keywords = category.split("/")
params["filter[categories]"] = ",".join(category_keywords).lower()
# Setting for keywords search criteria
if search_criteria.keywords:
params["keywords"] = ",".join(search_criteria.keywords)
# Setting for page number search criteria
if search_criteria.page.number:
params["page"] = search_criteria.page.number
# Setting for max number of items per page
if search_criteria.page.size:
params["page_size"] = search_criteria.page.size
items = []
# TODO: Uncomment once valid Store URL has been provided
# async with aiohttp.ClientSession() as session:
# async with session.get(f"{STORE_URL}", params=params) as resp:
# result = await resp.read()
# result = await resp.json()
# items = result
assets: List[AssetModel] = []
# Create AssetModel based off of JSON data
for item in items:
assets.append(
AssetModel(
identifier="",
name="",
published_at="",
categories=[],
tags=[],
vendor=PROVIDER_ID,
product_url="",
download_url="",
price=0.0,
thumbnail="",
)
)
# Are there more assets that we can load?
more = True
if search_criteria.page.size and len(assets) < search_criteria.page.size:
more = False
return (assets, more)
def provider(self) -> ProviderModel:
"""Return provider info"""
return ProviderModel(
name=PROVIDER_ID, icon=f"{DATA_PATH}/logo_placeholder.png", enable_setting=SETTING_STORE_ENABLE
)
```
## Step 2: Inputting Provider Information
### Step 2.1: Update Basic Information
#### Step 2.1.1 **Replace** `"PROVIDER_NAME"` with your Company name related to these lines.
``` python
# The name of your company
PROVIDER_ID = "PROVIDER_NAME" # REPLACE WITH YOUR NAME
```
#### Step 2.1.2 **Replace** `"https://www.your_store_url.com"` with your Company's URL containing the API call.
``` python
# The URL location of your API
STORE_URL = "https://www.your_store_url.com" # REPLACE WITH YOUR URL
```
#### Step 2.1.3 To use a logo, **place** it in the `data` folder located in the root of `exts`.
#### Step 2.1.4 At the end of `model.py` **update** the `icon` parameter inside the `provider` function.
``` python
def provider(self) -> ProviderModel:
"""Return provider info"""
return ProviderModel( # REPLACE logo_placeholder.png WITH YOUR IMAGE
name=PROVIDER_ID, icon=f"{DATA_PATH}/logo_placeholder.png", enable_setting=SETTING_STORE_ENABLE
)
```
### Step 2.2: Update Search criteria
This is dependent on your API. The BaseAssetStore has search criteria's that can be assigned depending on how the site's search API works.
Search criteria that is apart of `BaseAssetModel` include:
``` python
"example": {
"keywords": ["GPU", "RTX"],
"page": {"number": 5, "size": 75},
"sort": ["price", "desc"],
"filter": {"categories": ["hardware", "electronics"]},
"vendors": ["Vendor1", "Vendor2"],
"search_timeout": 60,
}
```
For example if your search api uses `key` as a parameter for `keywords` then update the following lines from:
``` python
if search_criteria.keywords:
params["keywords"] = ",".join(search_criteria.keywords)
```
To:
``` python
if search_criteria.keywords:
params["key"] = ",".join(search_criteria.keywords)
```
#### Step 2.2.1 **Update** and **add** each parameter based on your API.
### Step 2.3: Update AssetModel Creation
After getting the data in JSON format from the API it must turn them into an AssetModel List. If the API already does this then use that value inside the return statement.
The code that will update:
``` python
# Create AssetModel based off of JSON data
for item in items:
assets.append(
AssetModel(
identifier="",
name="",
published_at="",
categories=[],
tags=[],
vendor=PROVIDER_ID,
product_url="",
download_url="",
price=0.0,
thumbnail="",
)
)
```
Take for example this JSON object:
``` python
{
"identifier":"1382049",
"categories":[
"category_1",
"category_2",
"category_3"
],
"download_url":"None",
"name":"Asset Name",
"price":"29.00",
"url":"https://www.awesomestuff.com/3d-models/toysandstuff?utm_source=omniverse",
"pub_at":"2015-12-07T21:19:08+00:00",
"tags":[
"3d",
"tag_1",
"tag_2"
],
"thumbnail":"https://url_to_thumbnail.jpg",
"vendor":"Vendor Name"
}
```
Then the corresponding AssetModel creation will look like the following:
``` python
# Create AssetModel based off of JSON data
for item in items:
assets.append(
AssetModel(
identifier=item.get("identifier", "")
name=item.get("name", ""),
published_at=item.get("pub_at", ""),
categories=item.get("categories", []),
tags=item.get("tags", []),
vendor=PROVIDER_ID,
product_url=item.get("url", ""),
download_url=item.get("download_url", None),
price=item.get("price", 0),
thumbnail=item.get("thumbnail", ""),
)
)
```
### Step 2.4 Uncomment and test
#### Step 2.4.1 **Uncomment** the following code block in `model.py`
``` python
# TODO: Uncomment once valid Store URL has been provided
# async with aiohttp.ClientSession() as session:
# async with session.get(f"{STORE_URL}", params=params) as resp:
# result = await resp.read()
# result = await resp.json()
# items = result
```
#### Step 2.4.2 **Save** `model.py` and go to Omniverse and check the `Asset Store`. Your assets should now be visible in the *Asset Browser*. |
NVIDIA-Omniverse/urdf-importer-extension/PACKAGE-INFO.yaml | Package : omniverse-urdf-importer
License Type : Modified Apache 2.0
|
NVIDIA-Omniverse/urdf-importer-extension/repo.bat | @echo off
call "%~dp0tools\packman\python.bat" %~dp0tools\repoman\repoman.py %*
if %errorlevel% neq 0 ( goto Error )
:Success
exit /b 0
:Error
exit /b %errorlevel%
|
NVIDIA-Omniverse/urdf-importer-extension/build.bat | @echo off
call "%~dp0repo" build %*
|
NVIDIA-Omniverse/urdf-importer-extension/CONTRIBUTING.md | # Contributing to the URDF Importer Extension
## Did you find a bug?
* Check in the GitHub [Issues](https://github.com/NVIDIA-Omniverse/urdf-importer-extension/issues) if a report for your bug already exists.
* If the bug has not been reported yet, open a new Issue.
* Use a short and descriptive title which contains relevant keywords.
* Write a clear description of the bug.
* Document the environment including your operating system, compiler version, and hardware specifications.
* Add code samples and executable test cases with instructions for reproducing the bug.
## Did you find an issue in the documentation?
* Please create an [Issue](https://github.com/NVIDIA-Omniverse/urdf-importer-extension/issues/) if you find a documentation issue.
## Did you write a bug fix?
* Open a new [Pull Request](https://github.com/NVIDIA-Omniverse/urdf-importer-extension/pulls) with your bug fix.
* Write a description of the bug which is fixed by your patch or link to related Issues.
* If your patch fixes for example Issue #33, write `Fixes #33`.
* Explain your solution with a few words.
## Did you write a cosmetic patch?
* Patches that are purely cosmetic will not be considered and associated Pull Requests will be closed.
* Cosmetic are patches which do not improve stability, performance, functionality, etc.
* Examples for cosmetic patches: code formatting, fixing whitespaces.
## Do you have a question?
* Search the GitHub [Discussions](https://github.com/NVIDIA-Omniverse/urdf-importer-extension/discussions/) for your question.
* If nobody asked your question before, feel free to open a new discussion.
* Once somebody shares a satisfying answer to your question, click "Mark as answer".
* GitHub Issues should only be used for bug reports.
* If you open an Issue with a question, we may convert it into a discussion.
|
NVIDIA-Omniverse/urdf-importer-extension/build.sh | #!/bin/bash
set -e
SCRIPT_DIR=$(dirname ${BASH_SOURCE})
source "$SCRIPT_DIR/repo.sh" build $@ || exit $?
|
NVIDIA-Omniverse/urdf-importer-extension/VERSION.md | 105.0 |
NVIDIA-Omniverse/urdf-importer-extension/repo.sh | #!/bin/bash
set -e
SCRIPT_DIR=$(dirname ${BASH_SOURCE})
cd "$SCRIPT_DIR"
exec "tools/packman/python.sh" tools/repoman/repoman.py $@
|
NVIDIA-Omniverse/urdf-importer-extension/repo.toml | ########################################################################################################################
# Repo tool base settings
########################################################################################################################
[repo]
# Use the Kit Template repo configuration as a base. Only override things specific to the repo.
import_configs = ["${root}/_repo/deps/repo_kit_tools/kit-template/repo.toml"]
# Repository Name
name = "omniverse-urdf-importer"
[repo_build.msbuild]
vs_version = "vs2019"
[repo_build]
# List of packman projects to pull (in order)
fetch.packman_host_files_to_pull = [
"${root}/deps/host-deps.packman.xml",
]
fetch.packman_target_files_to_pull = [
"${root}/deps/kit-sdk.packman.xml",
"${root}/deps/rtx-plugins.packman.xml",
"${root}/deps/omni-physics.packman.xml",
"${root}/deps/kit-sdk-deps.packman.xml",
"${root}/deps/omni-usd-resolver.packman.xml",
"${root}/deps/ext-deps.packman.xml",
]
post_build.commands = [
# TODO, fix this?
# ["${root}/repo${shell_ext}", "stubgen", "-c", "${config}"]
]
[repo_docs]
name = "Omniverse URDF Importer"
project = "omniverse-urdf-importer"
api_output_directory = "api"
use_fast_doxygen_conversion=false
sphinx_version = "4.5.0.2-py3.10-${platform}"
sphinx_exclude_patterns = [
"_build",
"tools",
"VERSION.md",
"source/extensions/omni.importer.urdf/PACKAGE-LICENSES",
]
sphinx_conf_py_extra = """
autodoc_mock_imports = ["omni.client", "omni.kit"]
autodoc_member_order = 'bysource'
"""
[repo_package.packages."platform:windows-x86_64".docs]
windows_max_path_length = 0
[repo_publish_exts]
enabled = true
use_packman_to_upload_archive = false
exts.include = [
"omni.importer.urdf",
]
|
NVIDIA-Omniverse/urdf-importer-extension/premake5.lua | -- Shared build scripts from repo_build package.
repo_build = require("omni/repo/build")
-- Repo root
root = repo_build.get_abs_path(".")
-- Set the desired MSVC, WINSDK, and MSBUILD versions before executing the kit template premake configuration.
MSVC_VERSION = "14.27.29110"
WINSDK_VERSION = "10.0.18362.0"
MSBUILD_VERSION = "Current"
-- Execute the kit template premake configuration, which creates the solution, finds extensions, etc.
dofile("_repo/deps/repo_kit_tools/kit-template/premake5.lua")
-- The default kit dev app with extensions from this repo made available.
-- define_app("omni.app.kit.dev")
define_app("omni.importer.urdf.app")
|
NVIDIA-Omniverse/urdf-importer-extension/README.md | # Omniverse URDF Importer
The URDF Importer Extension is used to import URDF representations of robots.
`Unified Robot Description Format (URDF)` is an XML format for representing a robot model in ROS.
## Getting Started
1. Clone the GitHub repo to your local machine.
2. Open a command prompt and navigate to the root of your cloned repo.
3. Run `build.bat` to bootstrap your dev environment and build the example extensions.
4. Run `_build\{platform}\release\omni.importer.urdf.app.bat` to start the Kit application.
5. From the menu, select `Isaac Utils->URDF Importer` to launch the UI for the URDF Importer extension.
This extension is enabled by default. If it is ever disabled, it can be re-enabled from the Extension Manager
by searching for `omni.importer.urdf`.
**Note:** On Linux, replace `.bat` with `.sh` in the instructions above.
## Conventions
Special characters in link or joint names are not supported and will be replaced with an underscore. In the event that the name starts with an underscore due to the replacement, an a is pre-pended. It is recommended to make these name changes in the mjcf directly.
See the [Convention References](https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/reference_conventions.html#isaac-sim-conventions) documentation for a complete list of `Isaac Sim` conventions.
## User Interface
1. Information Panel: This panel has useful information about this extension.
2. Import Options Panel: This panel has utility functions for testing the gains being set for the Articulation.
See `Import Options` below for full details.
3. Import Panel: This panel holds the source path, destination path, and import button.
## Import Options
* **Merge Fixed Joints**: Consolidate links that are connected by fixed joints, so that an articulation is only applied to joints that move.
* **Fix Base Link**: When checked, the robot will have its base fixed where it's placed in world coordinates.
* **Import Inertia Tensor**: Check to load inertia from urdf directly. If the urdf does not specify an inertia tensor, identity will be used and scaled by the scaling factor. If unchecked, Physx will compute it automatically.
* **Stage Units Per Meter**: |kit| default length unit is centimeters. Here you can set the scaling factor to match the unit used in your URDF. Currently, the URDF importer only supports uniform global scaling. Applying different scaling for different axes and specific mesh parts (i.e. using the ``scale`` parameter under the URDF mesh label) will be available in future releases. If you have a ``scale`` parameter in your URDF, you may need to manually adjust the other values in the URDF so that all parameters are in the same unit.
* **Link Density**: If a link does not have a given mass, uses this density (in Kg/m^3) to compute mass based on link volume. A value of 0.0 can be used to tell the physics engine to automatically compute density as well.
* **Joint Drive Type**: Default Joint drive type, Values can be `None`, `Position`, and `Velocity`.
* **Joint Drive Strength**: The drive strength is the joint stiffness for position drive, or damping for velocity driven joints.
* **Joint Position Drive Damping**: If the drive type is set to position this is the default damping value used.
* **Clear Stage**: When checked, cleans the stage before loading the new URDF, otherwise loads it on current open stage at position `(0,0,0)`
* **Convex Decomposition**: If Checked, the collision object will be made a set of Convex meshes to better match the visual asset. Otherwise a convex hull will be used.
* **Self Collision**: Enables self collision between adjacent links. It may cause instability if the collision meshes are intersecting at the joint.
* **Create Physics Scene**: Creates a default physics scene on the stage. Because this physics scene is created outside of the robot asset, it won't be loaded into other scenes composed with the robot asset.
* **Output Directory**: The destination of the imported asset. it will create a folder structure with the robot asset and all textures used for its rendering. You must have write access to this directory.
**Note:**
- It is recommended to set Self Collision to false unless you are certain that links on the robot are not self colliding.
- You must have write access to the output directory used for import, it will default to the current open stage, change this as necessary.
**Known Issue:** If more than one asset in URDF contains the same material name, only one material will be created, regardless if the parameters in the material are different (e.g two meshes have materials with the name "material", one is blue and the other is red. both meshes will be either red or blue.). This also applies for textured materials.
## Robot Properties
There might be many properties you want to tune on your robot. These properties can be spread across many different Schemas and APIs.
The general steps of getting and setting a parameter are:
1. Find which API is the parameter under. Most common ones can be found in the [Pixar USD API](https://docs.omniverse.nvidia.com/kit/docs/kit-manual/latest/api/pxr_index.html).
2. Get the prim handle that the API is applied to. For example, Articulation and Drive APIs are applied to joints, and MassAPIs are applied to the rigid bodies.
3. Get the handle to the API. From there on, you can Get or Set the attributes associated with that API.
For example, if we want to set the wheel's drive velocity and the actuators' stiffness, we need to find the DriveAPI:
```python
# get handle to the Drive API for both wheels
left_wheel_drive = UsdPhysics.DriveAPI.Get(stage.GetPrimAtPath("/carter/chassis_link/left_wheel"), "angular")
right_wheel_drive = UsdPhysics.DriveAPI.Get(stage.GetPrimAtPath("/carter/chassis_link/right_wheel"), "angular")
# Set the velocity drive target in degrees/second
left_wheel_drive.GetTargetVelocityAttr().Set(150)
right_wheel_drive.GetTargetVelocityAttr().Set(150)
# Set the drive damping, which controls the strength of the velocity drive
left_wheel_drive.GetDampingAttr().Set(15000)
right_wheel_drive.GetDampingAttr().Set(15000)
# Set the drive stiffness, which controls the strength of the position drive
# In this case because we want to do velocity control this should be set to zero
left_wheel_drive.GetStiffnessAttr().Set(0)
right_wheel_drive.GetStiffnessAttr().Set(0)
```
Alternatively you can use the [Omniverse Commands Tool](https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/ext_omni_kit_commands.html#isaac-sim-command-tool) to change a value in the UI and get the associated Omniverse command that changes the property.
**Note:**
- The drive stiffness parameter should be set when using position control on a joint drive.
- The drive damping parameter should be set when using velocity control on a joint drive.
- A combination of setting stiffness and damping on a drive will result in both targets being applied, this can be useful in position control to reduce vibrations.
## Examples
The following examples showcase how to best use this extension:
- Carter Example: `Isaac Examples > Import Robot > Carter URDF`
- Franka Example: `Isaac Examples > Import Robot > Franka URDF`
- Kaya Example: `Isaac Examples > Import Robot > Kaya URDF`
- UR10 Example: `Isaac Examples > Import Robot > UR10 URDF`
**Note:** For these example, please wait for materials to get loaded. You can track progress on the bottom right corner of UI.
### Carter URDF Example
To run the Example:
- Go to the top menu bar and click `Isaac Examples > Import Robots > Carter URDF`.
- Press the ``Load Robot`` button to import the URDF into the stage, add a ground plane, add a light, and and a physics scene.
- Press the ``Configure Drives`` button to to configure the joint drives and allow the rear pivot to spin freely.
- Press the `Open Source Code` button to view the source code. The source code illustrates how to import and integrate the robot using the Python API.
- Press the ``PLAY`` button to begin simulating.
- Press the ``Move to Pose`` button to make the robot drive forward.
### Franka URDF Example
To run the Example:
- Go to the top menu bar and click `Isaac Examples > Import Robots > Franka URDF`.
- Press the ``Load Robot`` button to import the URDF into the stage, add a ground plane, add a light, and and a physics scene.
- Press the ``Configure Drives`` button to to configure the joint drives. This sets each drive stiffness and damping value.
- Press the `Open Source Code` button to view the source code. The source code illustrates how to import and integrate the robot using the Python API.
- Press the ``PLAY`` button to begin simulating.
- Press the ``Move to Pose`` button to make the robot move to a home/rest position.
### Kaya URDF Example
To run the Example:
- Go to the top menu bar and click `Isaac Examples > Import Robots > Kaya URDF`.
- Press the ``Load Robot`` button to import the URDF into the stage, add a ground plane, add a light, and and a physics scene.
- Press the ``Configure Drives`` button to to configure the joint drives. This sets the drive stiffness and damping value of each wheel, sets all of its rollers as freely rotating.
- Press the `Open Source Code` button to view the source code. The source code illustrates how to import and integrate the robot using the Python API.
- Press the ``PLAY`` button to begin simulating.
- Press the ``Move to Pose`` button to make the robot rotate in place.
### UR10 URDF Example
- Go to the top menu bar and click `Isaac Examples > Import Robots > Kaya URDF`.
- Press the ``Load Robot`` button to import the URDF into the stage, add a ground plane, add a light, and and a physics scene.
- Press the ``Configure Drives`` button to to configure the joint drives. This sets each drive stiffness and damping value.
- Press the `Open Source Code` button to view the source code. The source code illustrates how to import and integrate the robot using the Python API.
- Press the ``PLAY`` button to begin simulating.
- Press the ``Move to Pose`` button to make the robot move to a home/rest position.
|
NVIDIA-Omniverse/urdf-importer-extension/index.rst | Omniverse URDF Importer
=======================
.. mdinclude:: README.md
Extension Documentation
~~~~~~~~~~~~~~~~~~~~~~~~
.. toctree::
:maxdepth: 1
:glob:
source/extensions/omni.importer.urdf/docs/index
source/extensions/omni.importer.urdf/docs/Overview
source/extensions/omni.importer.urdf/docs/CHANGELOG
CONTRIBUTING |
NVIDIA-Omniverse/urdf-importer-extension/deps/omni-usd-resolver.packman.xml | <project toolsVersion="5.0">
<import path="../_build/target-deps/omni_usd_resolver/deps/redist.packman.xml">
<filter include="omni_client_library" />
</import>
<dependency name="omni_client_library" linkPath="../_build/target-deps/omni_client_library">
<package name="omni_client_library.${platform}" version="2.28.0" />
</dependency>
</project> |
NVIDIA-Omniverse/urdf-importer-extension/deps/omni-physics.packman.xml |
<project toolsVersion="5.0">
<!-- Import Kit SDk target-deps xml file to steal some deps from it: -->
<!-- <import path="../_build/${platform}/${config}/kit/dev/deps/target-deps.packman.xml">
<filter include="omni_physics" />
</import> -->
<!-- Pull those deps of the same version as in Kit SDK. Override linkPath to point correctly, other properties can also be override, including version. -->
<dependency name="omni_physics" linkPath="../_build/target-deps/omni_physics">
<!-- Uncomment and change the version/path below when using a custom package -->
<package name="omni_physics" version="105.1.7508-0d28bedd-${platform}-release_105.1" platforms="windows-x86_64 linux-x86_64 linux-aarch64"/>
<!-- <source path="/path/to/omni_physics" /> -->
</dependency>
</project>
|
NVIDIA-Omniverse/urdf-importer-extension/deps/repo-deps.packman.xml | <project toolsVersion="5.0">
<dependency name="repo_build" linkPath="../_repo/deps/repo_build">
<package name="repo_build" version="0.43.4" checksum="1be846e02edfc9d8590c767cf6daf722cd438ad0d1fe7c5a4ff3b8ef8a89687c" />
</dependency>
<dependency name="repo_changelog" linkPath="../_repo/deps/repo_changelog">
<package name="repo_changelog" version="0.3.2" checksum="fbe4bc4257d5aec1c964f2616257043095a9dfac8a10e027ac96aa89340f1423" />
</dependency>
<dependency name="repo_docs" linkPath="../_repo/deps/repo_docs">
<package name="repo_docs" version="0.34.0" checksum="6b3178e7f7651f837eb77c8b50a21891851f49ddc375f4686a64ace96397bbb7" />
</dependency>
<dependency name="repo_kit_tools" linkPath="../_repo/deps/repo_kit_tools">
<package name="repo_kit_tools" version="0.11.9" checksum="f1057bd05f60abd4a3dfb7f82e0364e16b68885e1ea498c9b24a9ff024266b8b" />
</dependency>
<dependency name="repo_licensing" linkPath="../_repo/deps/repo_licensing">
<package name="repo_licensing" version="1.12.0" checksum="2fa002302a776f1104896f39c8822a8c9516ef6c0ce251548b2b915979666b9d" />
</dependency>
<dependency name="repo_man" linkPath="../_repo/deps/repo_man">
<package name="repo_man" version="1.36.0" checksum="f81c449eb6fb0cf16e46554eef11fe6cc45b999feb4da062570c3e5ec40e2f1d" />
</dependency>
<dependency name="repo_package" linkPath="../_repo/deps/repo_package">
<package name="repo_package" version="5.8.8" checksum="b8279d841f7201b44d9b232b934960d9a302367be59ee64e976345854b741fec" />
</dependency>
<dependency name="repo_format" linkPath="../_repo/deps/repo_format">
<package name="repo_format" version="2.7.0" checksum="8083eb423043de585dfdfd3cf7637d7e50ba2a297abb8bebcaef4307b80503bb" />
</dependency>
<dependency name="repo_source" linkPath="../_repo/deps/repo_source">
<package name="repo_source" version="0.4.2" checksum="05776a984978d84611cb8becd5ed9c26137434e0abff6e3076f36ab354313423" />
</dependency>
<dependency name="repo_test" linkPath="../_repo/deps/repo_test">
<package name="repo_test" version="2.8.2" checksum="d70c0deeed8787712edb2d40ec159df1ceaae5fac3326da00224b55c8ad508d4" />
</dependency>
</project>
|
NVIDIA-Omniverse/urdf-importer-extension/deps/kit-sdk.packman.xml | <project toolsVersion="5.0">
<dependency name="kit_sdk_${config}" linkPath="../_build/${platform}/${config}/kit" tags="${config} non-redist">
<package name="kit-sdk" version="105.1+release.129498.98d86eae.tc.${platform}.${config}"/>
</dependency>
</project>
|
NVIDIA-Omniverse/urdf-importer-extension/deps/host-deps.packman.xml | <project toolsVersion="5.0">
<dependency name="premake" linkPath="../_build/host-deps/premake">
<package name="premake" version="5.0.0-beta2+nv1-${platform}"/>
</dependency>
<dependency name="msvc" linkPath="../_build/host-deps/msvc">
<package name="msvc" version="2019-16.7.6-license" platforms="windows-x86_64" checksum="0e37c0f29899fe10dcbef6756bcd69c2c4422a3ca1101206df272dc3d295b92d" />
</dependency>
<dependency name="winsdk" linkPath="../_build/host-deps/winsdk">
<package name="winsdk" version="10.0.18362.0-license" platforms="windows-x86_64" checksum="2db7aeb2278b79c6c9fbca8f5d72b16090b3554f52b1f3e5f1c8739c5132a3d6" />
</dependency>
</project>
|
NVIDIA-Omniverse/urdf-importer-extension/deps/kit-sdk-deps.packman.xml | <project toolsVersion="5.0">
<!-- Import dependencies from Kit SDK to ensure we're using the same versions. -->
<import path="../_build/${platform}/${config}/kit/dev/all-deps.packman.xml">
<filter include="carb_sdk_plugins"/>
<filter include="doctest"/>
<filter include="pybind11"/>
<filter include="python"/>
<filter include="client_library" />
<filter include="omni_usd_resolver" />
</import>
<!-- Import Physics plugins deps -->
<import path="../_build/target-deps/omni_physics/deps/target-deps.packman.xml">
<filter include="pxshared" />
<filter include="physx" />
<filter include="vhacd" />
<filter include="usd_ext_physics_${config}" />
</import>
<!-- Override the link paths to point to the correct locations. -->
<dependency name="carb_sdk_plugins" linkPath="../_build/target-deps/carb_sdk_plugins"/>
<dependency name="doctest" linkPath="../_build/target-deps/doctest"/>
<dependency name="pybind11" linkPath="../_build/target-deps/pybind11"/>
<dependency name="python" linkPath="../_build/target-deps/python"/>
<dependency name="client_library" linkPath="../_build/target-deps/client_library" />
<dependency name="omni_usd_resolver" linkPath="../_build/target-deps/omni_usd_resolver" />
<dependency name="pxshared" linkPath="../_build/target-deps/pxshared"/>
<dependency name="physx" linkPath="../_build/target-deps/physx" />
<dependency name="vhacd" linkPath="../_build/target-deps/vhacd" />
<dependency name="usd_ext_physics_${config}" linkPath="../_build/target-deps/usd_ext_physics/${config}" />
</project>
|
NVIDIA-Omniverse/urdf-importer-extension/deps/ext-deps.packman.xml | <project toolsVersion="5.0">
<!-- Import dependencies from Kit SDK to ensure we're using the same versions. -->
<import path="../_build/${platform}/${config}/kit/dev/all-deps.packman.xml">
<filter include="boost_preprocessor"/>
<filter include="imgui"/>
<filter include="nv_usd_py310_release"/>
</import>
<!-- Override the link paths to point to the correct locations. -->
<dependency name="boost_preprocessor" linkPath="../_build/target-deps/boost-preprocessor"/>
<dependency name="imgui" linkPath="../_build/target-deps/imgui"/>
<dependency name="nv_usd_py310_release" linkPath="../_build/target-deps/nv_usd/release"/>
<!-- Because we always use the release kit-sdk we have to explicitly refer to the debug usd package. -->
<dependency name="nv_usd_py310_debug" linkPath="../_build/target-deps/nv_usd/debug">
<package name="nv-usd" version="22.11.nv.0.2.1060.196d6f2d-win64_py310_debug-kit-release-integ-23-04-105-0-0" platforms="windows-x86_64" checksum="82b9d1fcd6f6d07cdff3a9b44059fb72d9ada12c5bc452c2df223f267b27035a" />
<package name="nv-usd" version="22.11.nv.0.2.1060.196d6f2d-linux64_py310-centos_debug-kit-release-integ-23-04-105-0-0" platforms="linux-x86_64" checksum="4561794f8b4e453ff4303abca59db3a1877d97566d964ad91a790297409ee5d6"/>
<package name="nv-usd" version="22.11.nv.0.2.1060.196d6f2d-linux-aarch64_py310_debug-kit-release-integ-23-04-105-0-0" platforms="linux-aarch64" checksum="b3c43e940fa613bd5c3fe6de7cd898e4f6304693f8d9ed76da359f04a0de8b02" />
</dependency>
<dependency name="tinyxml2" linkPath="../_build/target-deps/tinyxml2">
<package name="tinyxml2" version="linux_x64_20200823_2c5a6bf" platforms="linux-x86_64" />
<package name="tinyxml2" version="win_x64_20200824_2c5a6bf" platforms="windows-x86_64" />
</dependency>
<dependency name="assimp" linkPath="../_build/target-deps/assimp">
<package name="assimp" version="5.0.0.50.aa41375a-windows-x86_64-release" platforms="windows-x86_64"/>
<package name="assimp" version="5.0.0.50.aa41375a-linux-x86_64-release" platforms="linux-x86_64"/>
</dependency>
</project>
|
NVIDIA-Omniverse/urdf-importer-extension/tools/repoman/repoman.py | import os
import sys
import io
import contextlib
import packmanapi
REPO_ROOT = os.path.join(os.path.dirname(os.path.realpath(__file__)), "../..")
REPO_DEPS_FILE = os.path.join(REPO_ROOT, "deps/repo-deps.packman.xml")
def bootstrap():
"""
Bootstrap all omni.repo modules.
Pull with packman from repo.packman.xml and add them all to python sys.path to enable importing.
"""
#with contextlib.redirect_stdout(io.StringIO()):
deps = packmanapi.pull(REPO_DEPS_FILE)
for dep_path in deps.values():
if dep_path not in sys.path:
sys.path.append(dep_path)
if __name__ == "__main__":
bootstrap()
import omni.repo.man
omni.repo.man.main(REPO_ROOT)
|
NVIDIA-Omniverse/urdf-importer-extension/tools/packman/python.sh | #!/bin/bash
# Copyright 2019-2020 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
# https://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.
set -e
PACKMAN_CMD="$(dirname "${BASH_SOURCE}")/packman"
if [ ! -f "$PACKMAN_CMD" ]; then
PACKMAN_CMD="${PACKMAN_CMD}.sh"
fi
source "$PACKMAN_CMD" init
export PYTHONPATH="${PM_MODULE_DIR}:${PYTHONPATH}"
if [ -z "${PYTHONNOUSERSITE:-}" ]; then
export PYTHONNOUSERSITE=1
fi
# For performance, default to unbuffered; however, allow overriding via
# PYTHONUNBUFFERED=0 since PYTHONUNBUFFERED on windows can truncate output
# when printing long strings
if [ -z "${PYTHONUNBUFFERED:-}" ]; then
export PYTHONUNBUFFERED=1
fi
# workaround for our python not shipping with certs
if [[ -z ${SSL_CERT_DIR:-} ]]; then
export SSL_CERT_DIR=/etc/ssl/certs/
fi
"${PM_PYTHON}" "$@"
|
NVIDIA-Omniverse/urdf-importer-extension/tools/packman/python.bat | :: Copyright 2019-2020 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
::
:: https://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.
@echo off
setlocal enableextensions
call "%~dp0\packman" init
set "PYTHONPATH=%PM_MODULE_DIR%;%PYTHONPATH%"
if not defined PYTHONNOUSERSITE (
set PYTHONNOUSERSITE=1
)
REM For performance, default to unbuffered; however, allow overriding via
REM PYTHONUNBUFFERED=0 since PYTHONUNBUFFERED on windows can truncate output
REM when printing long strings
if not defined PYTHONUNBUFFERED (
set PYTHONUNBUFFERED=1
)
"%PM_PYTHON%" %* |
NVIDIA-Omniverse/urdf-importer-extension/tools/packman/packmanconf.py | # Use this file to bootstrap packman into your Python environment (3.7.x). Simply
# add the path by doing sys.insert to where packmanconf.py is located and then execute:
#
# >>> import packmanconf
# >>> packmanconf.init()
#
# It will use the configured remote(s) and the version of packman in the same folder,
# giving you full access to the packman API via the following module
#
# >> import packmanapi
# >> dir(packmanapi)
import os
import platform
import sys
def init():
"""Call this function to initialize the packman configuration.
Calls to the packman API will work after successfully calling this function.
Note:
This function only needs to be called once during the execution of your
program. Calling it repeatedly is harmless but wasteful.
Compatibility with your Python interpreter is checked and upon failure
the function will report what is required.
Example:
>>> import packmanconf
>>> packmanconf.init()
>>> import packmanapi
>>> packmanapi.set_verbosity_level(packmanapi.VERBOSITY_HIGH)
"""
major = sys.version_info[0]
minor = sys.version_info[1]
if major != 3 or minor != 10:
raise RuntimeError(
f"This version of packman requires Python 3.10.x, but {major}.{minor} was provided"
)
conf_dir = os.path.dirname(os.path.abspath(__file__))
os.environ["PM_INSTALL_PATH"] = conf_dir
packages_root = get_packages_root(conf_dir)
version = get_version(conf_dir)
module_dir = get_module_dir(conf_dir, packages_root, version)
sys.path.insert(1, module_dir)
def get_packages_root(conf_dir: str) -> str:
root = os.getenv("PM_PACKAGES_ROOT")
if not root:
platform_name = platform.system()
if platform_name == "Windows":
drive, _ = os.path.splitdrive(conf_dir)
root = os.path.join(drive, "packman-repo")
elif platform_name == "Darwin":
# macOS
root = os.path.join(
os.path.expanduser("~"), "/Library/Application Support/packman-cache"
)
elif platform_name == "Linux":
try:
cache_root = os.environ["XDG_HOME_CACHE"]
except KeyError:
cache_root = os.path.join(os.path.expanduser("~"), ".cache")
return os.path.join(cache_root, "packman")
else:
raise RuntimeError(f"Unsupported platform '{platform_name}'")
# make sure the path exists:
os.makedirs(root, exist_ok=True)
return root
def get_module_dir(conf_dir, packages_root: str, version: str) -> str:
module_dir = os.path.join(packages_root, "packman-common", version)
if not os.path.exists(module_dir):
import tempfile
tf = tempfile.NamedTemporaryFile(delete=False)
target_name = tf.name
tf.close()
url = f"https://bootstrap.packman.nvidia.com/packman-common@{version}.zip"
print(f"Downloading '{url}' ...")
import urllib.request
urllib.request.urlretrieve(url, target_name)
from importlib.machinery import SourceFileLoader
# import module from path provided
script_path = os.path.join(conf_dir, "bootstrap", "install_package.py")
ip = SourceFileLoader("install_package", script_path).load_module()
print("Unpacking ...")
ip.install_package(target_name, module_dir)
os.unlink(tf.name)
return module_dir
def get_version(conf_dir: str):
path = os.path.join(conf_dir, "packman")
if not os.path.exists(path): # in dev repo fallback
path += ".sh"
with open(path, "rt", encoding="utf8") as launch_file:
for line in launch_file.readlines():
if line.startswith("PM_PACKMAN_VERSION"):
_, value = line.split("=")
return value.strip()
raise RuntimeError(f"Unable to find 'PM_PACKMAN_VERSION' in '{path}'")
|
NVIDIA-Omniverse/urdf-importer-extension/tools/packman/packman.cmd | :: RUN_PM_MODULE must always be at the same spot for packman update to work (batch reloads file during update!)
:: [xxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxxx]
:: Reset errorlevel status (don't inherit from caller)
@call :ECHO_AND_RESET_ERROR
:: You can remove this section if you do your own manual configuration of the dev machines
call :CONFIGURE
if %errorlevel% neq 0 ( exit /b %errorlevel% )
:: Everything below is mandatory
if not defined PM_PYTHON goto :PYTHON_ENV_ERROR
if not defined PM_MODULE goto :MODULE_ENV_ERROR
set PM_VAR_PATH_ARG=
if "%1"=="pull" goto :SET_VAR_PATH
if "%1"=="install" goto :SET_VAR_PATH
:RUN_PM_MODULE
"%PM_PYTHON%" -S -s -u -E "%PM_MODULE%" %* %PM_VAR_PATH_ARG%
if %errorlevel% neq 0 ( exit /b %errorlevel% )
:: Marshall environment variables into the current environment if they have been generated and remove temporary file
if exist "%PM_VAR_PATH%" (
for /F "usebackq tokens=*" %%A in ("%PM_VAR_PATH%") do set "%%A"
)
if %errorlevel% neq 0 ( goto :VAR_ERROR )
if exist "%PM_VAR_PATH%" (
del /F "%PM_VAR_PATH%"
)
if %errorlevel% neq 0 ( goto :VAR_ERROR )
set PM_VAR_PATH=
goto :eof
:: Subroutines below
:PYTHON_ENV_ERROR
@echo User environment variable PM_PYTHON is not set! Please configure machine for packman or call configure.bat.
exit /b 1
:MODULE_ENV_ERROR
@echo User environment variable PM_MODULE is not set! Please configure machine for packman or call configure.bat.
exit /b 1
:VAR_ERROR
@echo Error while processing and setting environment variables!
exit /b 1
:: pad [xxxx]
:ECHO_AND_RESET_ERROR
@echo off
if /I "%PM_VERBOSITY%"=="debug" (
@echo on
)
exit /b 0
:SET_VAR_PATH
:: Generate temporary path for variable file
for /f "delims=" %%a in ('%PM_PYTHON% -S -s -u -E -c "import tempfile;file = tempfile.NamedTemporaryFile(mode='w+t', delete=False);print(file.name)"') do (set PM_VAR_PATH=%%a)
set PM_VAR_PATH_ARG=--var-path="%PM_VAR_PATH%"
goto :RUN_PM_MODULE
:CONFIGURE
:: Must capture and set code page to work around issue #279, powershell invocation mutates console font
:: This issue only happens in Windows CMD shell when using 65001 code page. Some Git Bash implementations
:: don't support chcp so this workaround is a bit convoluted.
:: Test for chcp:
chcp > nul 2>&1
if %errorlevel% equ 0 (
for /f "tokens=2 delims=:" %%a in ('chcp') do (set PM_OLD_CODE_PAGE=%%a)
) else (
call :ECHO_AND_RESET_ERROR
)
:: trim leading space (this is safe even when PM_OLD_CODE_PAGE has not been set)
set PM_OLD_CODE_PAGE=%PM_OLD_CODE_PAGE:~1%
if "%PM_OLD_CODE_PAGE%" equ "65001" (
chcp 437 > nul
set PM_RESTORE_CODE_PAGE=1
)
call "%~dp0\bootstrap\configure.bat"
set PM_CONFIG_ERRORLEVEL=%errorlevel%
if defined PM_RESTORE_CODE_PAGE (
:: Restore code page
chcp %PM_OLD_CODE_PAGE% > nul
)
set PM_OLD_CODE_PAGE=
set PM_RESTORE_CODE_PAGE=
exit /b %PM_CONFIG_ERRORLEVEL%
|
NVIDIA-Omniverse/urdf-importer-extension/tools/packman/config.packman.xml | <config remotes="cloudfront">
<remote2 name="cloudfront">
<transport actions="download" protocol="https" packageLocation="d4i3qtqj3r0z5.cloudfront.net/${name}@${version}" />
</remote2>
</config>
|
NVIDIA-Omniverse/urdf-importer-extension/tools/packman/bootstrap/generate_temp_file_name.ps1 | <#
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
https://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.
#>
$out = [System.IO.Path]::GetTempFileName()
Write-Host $out
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# SIG # End signature block
|
NVIDIA-Omniverse/urdf-importer-extension/tools/packman/bootstrap/configure.bat | :: Copyright 2019-2023 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
::
:: https://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.
set PM_PACKMAN_VERSION=7.6
:: Specify where packman command is rooted
set PM_INSTALL_PATH=%~dp0..
:: The external root may already be configured and we should do minimal work in that case
if defined PM_PACKAGES_ROOT goto ENSURE_DIR
:: If the folder isn't set we assume that the best place for it is on the drive that we are currently
:: running from
set PM_DRIVE=%CD:~0,2%
set PM_PACKAGES_ROOT=%PM_DRIVE%\packman-repo
:: We use *setx* here so that the variable is persisted in the user environment
echo Setting user environment variable PM_PACKAGES_ROOT to %PM_PACKAGES_ROOT%
setx PM_PACKAGES_ROOT %PM_PACKAGES_ROOT%
if %errorlevel% neq 0 ( goto ERROR )
:: The above doesn't work properly from a build step in VisualStudio because a separate process is
:: spawned for it so it will be lost for subsequent compilation steps - VisualStudio must
:: be launched from a new process. We catch this odd-ball case here:
if defined PM_DISABLE_VS_WARNING goto ENSURE_DIR
if not defined VSLANG goto ENSURE_DIR
echo The above is a once-per-computer operation. Unfortunately VisualStudio cannot pick up environment change
echo unless *VisualStudio is RELAUNCHED*.
echo If you are launching VisualStudio from command line or command line utility make sure
echo you have a fresh launch environment (relaunch the command line or utility).
echo If you are using 'linkPath' and referring to packages via local folder links you can safely ignore this warning.
echo You can disable this warning by setting the environment variable PM_DISABLE_VS_WARNING.
echo.
:: Check for the directory that we need. Note that mkdir will create any directories
:: that may be needed in the path
:ENSURE_DIR
if not exist "%PM_PACKAGES_ROOT%" (
echo Creating packman packages cache at %PM_PACKAGES_ROOT%
mkdir "%PM_PACKAGES_ROOT%"
)
if %errorlevel% neq 0 ( goto ERROR_MKDIR_PACKAGES_ROOT )
:: The Python interpreter may already be externally configured
if defined PM_PYTHON_EXT (
set PM_PYTHON=%PM_PYTHON_EXT%
goto PACKMAN
)
set PM_PYTHON_VERSION=3.10.5-1-windows-x86_64
set PM_PYTHON_BASE_DIR=%PM_PACKAGES_ROOT%\python
set PM_PYTHON_DIR=%PM_PYTHON_BASE_DIR%\%PM_PYTHON_VERSION%
set PM_PYTHON=%PM_PYTHON_DIR%\python.exe
if exist "%PM_PYTHON%" goto PACKMAN
if not exist "%PM_PYTHON_BASE_DIR%" call :CREATE_PYTHON_BASE_DIR
set PM_PYTHON_PACKAGE=python@%PM_PYTHON_VERSION%.cab
for /f "delims=" %%a in ('powershell -ExecutionPolicy ByPass -NoLogo -NoProfile -File "%~dp0\generate_temp_file_name.ps1"') do set TEMP_FILE_NAME=%%a
set TARGET=%TEMP_FILE_NAME%.zip
call "%~dp0fetch_file_from_packman_bootstrap.cmd" %PM_PYTHON_PACKAGE% "%TARGET%"
if %errorlevel% neq 0 (
echo !!! Error fetching python from CDN !!!
goto ERROR
)
for /f "delims=" %%a in ('powershell -ExecutionPolicy ByPass -NoLogo -NoProfile -File "%~dp0\generate_temp_folder.ps1" -parentPath "%PM_PYTHON_BASE_DIR%"') do set TEMP_FOLDER_NAME=%%a
echo Unpacking Python interpreter ...
"%SystemRoot%\system32\expand.exe" -F:* "%TARGET%" "%TEMP_FOLDER_NAME%" 1> nul
del "%TARGET%"
:: Failure during extraction to temp folder name, need to clean up and abort
if %errorlevel% neq 0 (
echo !!! Error unpacking python !!!
call :CLEAN_UP_TEMP_FOLDER
goto ERROR
)
:: If python has now been installed by a concurrent process we need to clean up and then continue
if exist "%PM_PYTHON%" (
call :CLEAN_UP_TEMP_FOLDER
goto PACKMAN
) else (
if exist "%PM_PYTHON_DIR%" ( rd /s /q "%PM_PYTHON_DIR%" > nul )
)
:: Perform atomic move (allowing ovewrite, /y)
move /y "%TEMP_FOLDER_NAME%" "%PM_PYTHON_DIR%" 1> nul
:: Verify that python.exe is now where we expect
if exist "%PM_PYTHON%" goto PACKMAN
:: Wait a second and try again (can help with access denied weirdness)
timeout /t 1 /nobreak 1> nul
move /y "%TEMP_FOLDER_NAME%" "%PM_PYTHON_DIR%" 1> nul
if %errorlevel% neq 0 (
echo !!! Error moving python %TEMP_FOLDER_NAME% -> %PM_PYTHON_DIR% !!!
call :CLEAN_UP_TEMP_FOLDER
goto ERROR
)
:PACKMAN
:: The packman module may already be externally configured
if defined PM_MODULE_DIR_EXT (
set PM_MODULE_DIR=%PM_MODULE_DIR_EXT%
) else (
set PM_MODULE_DIR=%PM_PACKAGES_ROOT%\packman-common\%PM_PACKMAN_VERSION%
)
set PM_MODULE=%PM_MODULE_DIR%\run.py
if exist "%PM_MODULE%" goto END
:: Clean out broken PM_MODULE_DIR if it exists
if exist "%PM_MODULE_DIR%" ( rd /s /q "%PM_MODULE_DIR%" > nul )
set PM_MODULE_PACKAGE=packman-common@%PM_PACKMAN_VERSION%.zip
for /f "delims=" %%a in ('powershell -ExecutionPolicy ByPass -NoLogo -NoProfile -File "%~dp0\generate_temp_file_name.ps1"') do set TEMP_FILE_NAME=%%a
set TARGET=%TEMP_FILE_NAME%
call "%~dp0fetch_file_from_packman_bootstrap.cmd" %PM_MODULE_PACKAGE% "%TARGET%"
if %errorlevel% neq 0 (
echo !!! Error fetching packman from CDN !!!
goto ERROR
)
echo Unpacking ...
"%PM_PYTHON%" -S -s -u -E "%~dp0\install_package.py" "%TARGET%" "%PM_MODULE_DIR%"
if %errorlevel% neq 0 (
echo !!! Error unpacking packman !!!
goto ERROR
)
del "%TARGET%"
goto END
:ERROR_MKDIR_PACKAGES_ROOT
echo Failed to automatically create packman packages repo at %PM_PACKAGES_ROOT%.
echo Please set a location explicitly that packman has permission to write to, by issuing:
echo.
echo setx PM_PACKAGES_ROOT {path-you-choose-for-storing-packman-packages-locally}
echo.
echo Then launch a new command console for the changes to take effect and run packman command again.
exit /B %errorlevel%
:ERROR
echo !!! Failure while configuring local machine :( !!!
exit /B %errorlevel%
:CLEAN_UP_TEMP_FOLDER
rd /S /Q "%TEMP_FOLDER_NAME%"
exit /B
:CREATE_PYTHON_BASE_DIR
:: We ignore errors and clean error state - if two processes create the directory one will fail which is fine
md "%PM_PYTHON_BASE_DIR%" > nul 2>&1
exit /B 0
:END
|
NVIDIA-Omniverse/urdf-importer-extension/tools/packman/bootstrap/fetch_file_from_packman_bootstrap.cmd | :: 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
::
:: https://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.
:: You need to specify <package-name> <target-path> as input to this command
@setlocal
@set PACKAGE_NAME=%1
@set TARGET_PATH=%2
@echo Fetching %PACKAGE_NAME% ...
@powershell -ExecutionPolicy ByPass -NoLogo -NoProfile -File "%~dp0download_file_from_url.ps1" ^
-source "https://bootstrap.packman.nvidia.com/%PACKAGE_NAME%" -output %TARGET_PATH%
:: A bug in powershell prevents the errorlevel code from being set when using the -File execution option
:: We must therefore do our own failure analysis, basically make sure the file exists:
@if not exist %TARGET_PATH% goto ERROR_DOWNLOAD_FAILED
@endlocal
@exit /b 0
:ERROR_DOWNLOAD_FAILED
@echo Failed to download file from S3
@echo Most likely because endpoint cannot be reached or file %PACKAGE_NAME% doesn't exist
@endlocal
@exit /b 1 |
NVIDIA-Omniverse/urdf-importer-extension/tools/packman/bootstrap/download_file_from_url.ps1 | <#
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
https://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.
#>
param(
[Parameter(Mandatory=$true)][string]$source=$null,
[string]$output="out.exe"
)
$filename = $output
$triesLeft = 4
$delay = 2
do
{
$triesLeft -= 1
try
{
Write-Host "Downloading from bootstrap.packman.nvidia.com ..."
$wc = New-Object net.webclient
$wc.Downloadfile($source, $fileName)
exit 0
}
catch
{
Write-Host "Error downloading $source!"
Write-Host $_.Exception|format-list -force
if ($triesLeft)
{
Write-Host "Retrying in $delay seconds ..."
Start-Sleep -seconds $delay
}
$delay = $delay * $delay
}
} while ($triesLeft -gt 0)
# We only get here if the retries have been exhausted, remove any left-overs:
if (Test-Path $fileName)
{
Remove-Item $fileName
}
exit 1 |
NVIDIA-Omniverse/urdf-importer-extension/tools/packman/bootstrap/generate_temp_folder.ps1 | <#
Copyright 2019 NVIDIA CORPORATION
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
https://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
#>
param(
[Parameter(Mandatory=$true)][string]$parentPath=$null
)
[string] $name = [System.Guid]::NewGuid()
$out = Join-Path $parentPath $name
New-Item -ItemType Directory -Path ($out) | Out-Null
Write-Host $out
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# SIG # End signature block
|
NVIDIA-Omniverse/urdf-importer-extension/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
# https://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 os
import stat
import time
from typing import Any, Callable
RENAME_RETRY_COUNT = 100
RENAME_RETRY_DELAY = 0.1
logging.basicConfig(level=logging.WARNING, format="%(message)s")
logger = logging.getLogger("install_package")
def remove_directory_item(path):
if os.path.islink(path) or os.path.isfile(path):
try:
os.remove(path)
except PermissionError:
# make sure we have access and try again:
os.chmod(path, stat.S_IRWXU)
os.remove(path)
else:
# try first to delete the dir because this will work for folder junctions, otherwise we would follow the junctions and cause destruction!
clean_out_folder = False
try:
# make sure we have access preemptively - this is necessary because recursing into a directory without permissions
# will only lead to heart ache
os.chmod(path, stat.S_IRWXU)
os.rmdir(path)
except OSError:
clean_out_folder = True
if clean_out_folder:
# we should make sure the directory is empty
names = os.listdir(path)
for name in names:
fullname = os.path.join(path, name)
remove_directory_item(fullname)
# now try to again get rid of the folder - and not catch if it raises:
os.rmdir(path)
class StagingDirectory:
def __init__(self, staging_path):
self.staging_path = staging_path
self.temp_folder_path = None
os.makedirs(staging_path, exist_ok=True)
def __enter__(self):
self.temp_folder_path = tempfile.mkdtemp(prefix="ver-", dir=self.staging_path)
return self
def get_temp_folder_path(self):
return self.temp_folder_path
# this function renames the temp staging folder to folder_name, it is required that the parent path exists!
def promote_and_rename(self, folder_name):
abs_dst_folder_name = os.path.join(self.staging_path, folder_name)
os.rename(self.temp_folder_path, abs_dst_folder_name)
def __exit__(self, type, value, traceback):
# Remove temp staging folder if it's still there (something went wrong):
path = self.temp_folder_path
if os.path.isdir(path):
remove_directory_item(path)
def rename_folder(staging_dir: StagingDirectory, folder_name: str):
try:
staging_dir.promote_and_rename(folder_name)
except OSError as exc:
# if we failed to rename because the folder now exists we can assume that another packman process
# has managed to update the package before us - in all other cases we re-raise the exception
abs_dst_folder_name = os.path.join(staging_dir.staging_path, folder_name)
if os.path.exists(abs_dst_folder_name):
logger.warning(
f"Directory {abs_dst_folder_name} already present, package installation already completed"
)
else:
raise
def call_with_retry(
op_name: str, func: Callable, retry_count: int = 3, retry_delay: float = 20
) -> Any:
retries_left = retry_count
while True:
try:
return func()
except (OSError, IOError) as exc:
logger.warning(f"Failure while executing {op_name} [{str(exc)}]")
if retries_left:
retry_str = "retry" if retries_left == 1 else "retries"
logger.warning(
f"Retrying after {retry_delay} seconds"
f" ({retries_left} {retry_str} left) ..."
)
time.sleep(retry_delay)
else:
logger.error("Maximum retries exceeded, giving up")
raise
retries_left -= 1
def rename_folder_with_retry(staging_dir: StagingDirectory, folder_name):
dst_path = os.path.join(staging_dir.staging_path, folder_name)
call_with_retry(
f"rename {staging_dir.get_temp_folder_path()} -> {dst_path}",
lambda: rename_folder(staging_dir, folder_name),
RENAME_RETRY_COUNT,
RENAME_RETRY_DELAY,
)
def install_package(package_path, install_path):
staging_path, version = os.path.split(install_path)
with StagingDirectory(staging_path) as staging_dir:
output_folder = staging_dir.get_temp_folder_path()
with zipfile.ZipFile(package_path, allowZip64=True) as zip_file:
zip_file.extractall(output_folder)
# attempt the rename operation
rename_folder_with_retry(staging_dir, version)
print(f"Package successfully installed to {install_path}")
if __name__ == "__main__":
executable_paths = os.getenv("PATH")
paths_list = executable_paths.split(os.path.pathsep) if executable_paths else []
target_path_np = os.path.normpath(sys.argv[2])
target_path_np_nc = os.path.normcase(target_path_np)
for exec_path in paths_list:
if os.path.normcase(os.path.normpath(exec_path)) == target_path_np_nc:
raise RuntimeError(f"packman will not install to executable path '{exec_path}'")
install_package(sys.argv[1], target_path_np)
|
NVIDIA-Omniverse/urdf-importer-extension/PACKAGE-LICENSES/zlib-LICENSE.txt | 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
[email protected] [email protected] |
NVIDIA-Omniverse/urdf-importer-extension/PACKAGE-LICENSES/nv-usd-license.txt |
Modified Apache 2.0 License
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============================================================
RapidJSON
============================================================
Tencent is pleased to support the open source community by making RapidJSON available.
Copyright (C) 2015 THL A29 Limited, a Tencent company, and Milo Yip. All rights reserved.
If you have downloaded a copy of the RapidJSON binary from Tencent, please note that the RapidJSON binary is licensed under the MIT License.
If you have downloaded a copy of the RapidJSON source code from Tencent, please note that RapidJSON source code is licensed under the MIT License, except for the third-party components listed below which are subject to different license terms. Your integration of RapidJSON into your own projects may require compliance with the MIT License, as well as the other licenses applicable to the third-party components included within RapidJSON. To avoid the problematic JSON license in your own projects, it's sufficient to exclude the bin/jsonchecker/ directory, as it's the only code under the JSON license.
A copy of the MIT License is included in this file.
Other dependencies and licenses:
Open Source Software Licensed Under the BSD License:
--------------------------------------------------------------------
The msinttypes r29
Copyright (c) 2006-2013 Alexander Chemeris
All rights reserved.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.
* Neither the name of copyright holder nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE REGENTS AND CONTRIBUTORS ``AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE REGENTS AND CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
Open Source Software Licensed Under the JSON License:
--------------------------------------------------------------------
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All Rights Reserved.
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Copyright (c) 2002 JSON.org
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Terms of the JSON License:
---------------------------------------------------
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Terms of the MIT License:
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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. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
============================================================
pygilstate_check
============================================================
The MIT License (MIT)
Copyright (c) 2014, Pankaj Pandey
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
============================================================
double-conversion
============================================================
Copyright 2006-2011, the V8 project authors. All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are
met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above
copyright notice, this list of conditions and the following
disclaimer in the documentation and/or other materials provided
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* Neither the name of Google Inc. nor the names of its
contributors may be used to endorse or promote products derived
from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
============================================================
OpenEXR/IlmBase/Half
============================================================
///////////////////////////////////////////////////////////////////////////
//
// Copyright (c) 2002, Industrial Light & Magic, a division of Lucas
// Digital Ltd. LLC
//
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above
// copyright notice, this list of conditions and the following disclaimer
// in the documentation and/or other materials provided with the
// distribution.
// * Neither the name of Industrial Light & Magic nor the names of
// its contributors may be used to endorse or promote products derived
// from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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///////////////////////////////////////////////////////////////////////////
============================================================
Apple Technical Q&A QA1361 - Detecting the Debugger
https://developer.apple.com/library/content/qa/qa1361/_index.html
============================================================
Sample code project: Detecting the Debugger
Version: 1.0
Abstract: Shows how to determine if code is being run under the debugger.
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LZ4
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============================================================
stb
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Vulkan C++ examples and demos (dome light texture filtering)
============================================================
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pbrt (Hammersley Low-Discrepancy Sampling Sequence)
============================================================
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================================================================
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RapidJSON
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--------------------------------------------------------------------
Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
============================================================
pygilstate_check
============================================================
The MIT License (MIT)
Copyright (c) 2014, Pankaj Pandey
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
============================================================
double-conversion
============================================================
Copyright 2006-2011, the V8 project authors. All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are
met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above
copyright notice, this list of conditions and the following
disclaimer in the documentation and/or other materials provided
with the distribution.
* Neither the name of Google Inc. nor the names of its
contributors may be used to endorse or promote products derived
from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
============================================================
OpenEXR/IlmBase/Half
============================================================
///////////////////////////////////////////////////////////////////////////
//
// Copyright (c) 2002, Industrial Light & Magic, a division of Lucas
// Digital Ltd. LLC
//
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above
// copyright notice, this list of conditions and the following disclaimer
// in the documentation and/or other materials provided with the
// distribution.
// * Neither the name of Industrial Light & Magic nor the names of
// its contributors may be used to endorse or promote products derived
// from this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//
///////////////////////////////////////////////////////////////////////////
============================================================
Apple Technical Q&A QA1361 - Detecting the Debugger
https://developer.apple.com/library/content/qa/qa1361/_index.html
============================================================
Sample code project: Detecting the Debugger
Version: 1.0
Abstract: Shows how to determine if code is being run under the debugger.
IMPORTANT: This Apple software is supplied to you by Apple
Inc. ("Apple") in consideration of your agreement to the following
terms, and your use, installation, modification or redistribution of
this Apple software constitutes acceptance of these terms. If you do
not agree with these terms, please do not use, install, modify or
redistribute this Apple software.
In consideration of your agreement to abide by the following terms, and
subject to these terms, Apple grants you a personal, non-exclusive
license, under Apple's copyrights in this original Apple software (the
"Apple Software"), to use, reproduce, modify and redistribute the Apple
Software, with or without modifications, in source and/or binary forms;
provided that if you redistribute the Apple Software in its entirety and
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Neither the name, trademarks, service marks or logos of Apple Inc. may
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The Apple Software is provided by Apple on an "AS IS" basis. APPLE
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AND WHETHER UNDER THEORY OF CONTRACT, TORT (INCLUDING NEGLIGENCE),
STRICT LIABILITY OR OTHERWISE, EVEN IF APPLE HAS BEEN ADVISED OF THE
POSSIBILITY OF SUCH DAMAGE.
============================================================
LZ4
============================================================
LZ4 - Fast LZ compression algorithm
Copyright (C) 2011-2017, Yann Collet.
BSD 2-Clause License (http://www.opensource.org/licenses/bsd-license.php)
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are
met:
* Redistributions of source code must retain the above copyright
notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above
copyright notice, this list of conditions and the following disclaimer
in the documentation and/or other materials provided with the
distribution.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
A PARTICULAR PURPOSE ARE DISCLAIMED. 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.
You can contact the author at :
- LZ4 homepage : http://www.lz4.org
- LZ4 source repository : https://github.com/lz4/lz4
============================================================
stb
============================================================
stb_image - v2.19 - public domain image loader - http://nothings.org/stb
no warranty implied; use at your own risk
stb_image_resize - v0.95 - public domain image resizing
by Jorge L Rodriguez (@VinoBS) - 2014
http://github.com/nothings/stb
stb_image_write - v1.09 - public domain - http://nothings.org/stb/stb_image_write.h
writes out PNG/BMP/TGA/JPEG/HDR images to C stdio - Sean Barrett 2010-2015
no warranty implied; use at your own risk
ALTERNATIVE B - Public Domain (www.unlicense.org)
This is free and unencumbered software released into the public domain.
Anyone is free to copy, modify, publish, use, compile, sell, or distribute this
software, either in source code form or as a compiled binary, for any purpose,
commercial or non-commercial, and by any means.
In jurisdictions that recognize copyright laws, the author or authors of this
software dedicate any and all copyright interest in the software to the public
domain. We make this dedication for the benefit of the public at large and to
the detriment of our heirs and successors. We intend this dedication to be an
overt act of relinquishment in perpetuity of all present and future rights to
this software under copyright law.
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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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.
|
NVIDIA-Omniverse/urdf-importer-extension/PACKAGE-LICENSES/physxsdk-LICENSE.txt | 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 NVIDIA CORPORATION 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 ''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.
Copyright (c) 2008-2023 NVIDIA Corporation. All rights reserved. |
NVIDIA-Omniverse/urdf-importer-extension/PACKAGE-LICENSES/usd-ext-physics-LICENSE.txt |
Copyright (c) 2023, NVIDIA CORPORATION. All rights reserved.
NVIDIA CORPORATION and its licensors retain all intellectual property
and proprietary rights in and to this software, related documentation
and any modifications thereto. Any use, reproduction, disclosure or
distribution of this software and related documentation without an express
license agreement from NVIDIA CORPORATION is strictly prohibited.
|
NVIDIA-Omniverse/urdf-importer-extension/PACKAGE-LICENSES/imgui-LICENSE.txt | The MIT License (MIT)
Copyright (c) 2014-2019 Omar Cornut
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.
|
NVIDIA-Omniverse/urdf-importer-extension/PACKAGE-LICENSES/vhacd-LICENSE.txt | Copyright (c) 2019 NVIDIA Corporation. All rights reserved.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
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 NVIDIA CORPORATION 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 ``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.
Portions of this software are licensed under the following terms:
-----
Bullet Continuous Collision Detection and Physics Library
Copyright (c) 2003-2006 Erwin Coumans http://continuousphysics.com/Bullet/
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.
-----
Copyright (c) 2011 Ole Kniemeyer, MAXON, www.maxon.net
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.
-----
Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans http://continuousphysics.com/Bullet/
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.
-----
Copyright (c) 2003-2009 Erwin Coumans http://bullet.googlecode.com
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.
-----
Copyright (c) 2011 Khaled Mamou (kmamou at gmail dot com)
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 the 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 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.
-----
Copyright (c) 2009 by John W. Ratcliff mailto:[email protected]
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.
|
NVIDIA-Omniverse/urdf-importer-extension/source/extensions/omni.importer.urdf/premake5.lua | function include_physx()
defines { "PX_PHYSX_STATIC_LIB"}
filter { "system:windows" }
libdirs { "%{root}/_build/target-deps/nvtx/lib/x64" }
filter {}
filter { "system:linux" }
libdirs { "%{root}/_build/target-deps/nvtx/lib64" }
filter {}
filter { "configurations:debug" }
defines { "_DEBUG" }
filter { "configurations:release" }
defines { "NDEBUG" }
filter {}
filter { "system:windows", "platforms:x86_64", "configurations:debug" }
libdirs {
"%{root}/_build/target-deps/physx/bin/win.x86_64.vc142.md/debug",
}
filter { "system:windows", "platforms:x86_64", "configurations:release" }
libdirs {
"%{root}/_build/target-deps/physx/bin/win.x86_64.vc142.md/checked",
}
filter {}
filter { "system:linux", "platforms:x86_64","configurations:debug" }
libdirs {
"%{root}/_build/target-deps/physx/bin/linux.clang/debug",
}
filter { "system:linux", "platforms:x86_64","configurations:release" }
libdirs {
"%{root}/_build/target-deps/physx/bin/linux.clang/checked",
}
filter {}
links { "PhysXExtensions_static_64", "PhysX_static_64", "PhysXPvdSDK_static_64","PhysXCooking_static_64","PhysXCommon_static_64", "PhysXFoundation_static_64", "PhysXVehicle_static_64"}
includedirs {
"%{root}/_build/target-deps/physx/include",
"%{root}/_build/target-deps/usd_ext_physics/%{cfg.buildcfg}/include",
}
end
local ext = get_current_extension_info()
project_ext (ext)
-- C++ Carbonite plugin
project_ext_plugin(ext, "omni.importer.urdf.plugin")
symbols "On"
exceptionhandling "On"
rtti "On"
staticruntime "On"
flags { "FatalCompileWarnings", "MultiProcessorCompile", "NoPCH", "NoIncrementalLink" }
removeflags { "FatalCompileWarnings", "UndefinedIdentifiers" }
add_files("impl", "plugins")
include_physx()
includedirs {
"%{root}/_build/target-deps/pybind11/include",
-- "%{root}/include/pch",
"%{root}/_build/target-deps/nv_usd/%{cfg.buildcfg}/include",
"%{root}/_build/target-deps/usd_ext_physics/%{cfg.buildcfg}/include",
"%{root}/_build/target-deps/assimp/include",
"%{root}/_build/target-deps/python/include",
"%{root}/_build/target-deps/tinyxml2/include",
"%{root}/_build/target-deps/omni_client_library/include",
}
libdirs {
"%{root}/_build/target-deps/nv_usd/%{cfg.buildcfg}/lib",
"%{root}/_build/target-deps/usd_ext_physics/%{cfg.buildcfg}/lib",
"%{root}/_build/target-deps/tinyxml2/lib",
"%{root}/_build/target-deps/omni_client_library/%{cfg.buildcfg}",
"%{kit_sdk_bin_dir}/exts/omni.usd.core/bin"
}
links {
"gf", "tf", "sdf", "vt","usd", "usdGeom", "usdUtils", "usdShade", "usdImaging", "usdPhysics", "physicsSchemaTools", "physxSchema", "omni.usd", "assimp", "tinyxml2", "omniclient",
}
if os.target() == "linux" then
includedirs {
"%{root}/_build/target-deps/nv_usd/%{cfg.buildcfg}/include/boost",
"%{root}/_build/target-deps/python/include/python3.10",
}
libdirs {
"%{root}/_build/target-deps/assimp/lib64",
}
links {
"stdc++fs"
}
else
filter { "system:windows", "platforms:x86_64" }
link_boost_for_windows({"boost_python310"})
filter {}
libdirs {
"%{root}/_build/target-deps/tbb/lib/intel64/vc14",
"%{root}/_build/target-deps/assimp/lib",
}
end
-- Python Bindings for Carobnite Plugin
project_ext_bindings {
ext = ext,
project_name = "omni.importer.urdf.python",
module = "_urdf",
src = "bindings",
target_subdir = "omni/importer/urdf"
}
repo_build.prebuild_link {
{ "python/scripts", ext.target_dir.."/omni/importer/urdf/scripts" },
{ "python/tests", ext.target_dir.."/omni/importer/urdf/tests" },
{ "docs", ext.target_dir.."/docs" },
{ "data", ext.target_dir.."/data" },
}
if os.target() == "linux" then
repo_build.prebuild_copy {
{ "%{root}/_build/target-deps/assimp/lib64/lib**", ext.target_dir.."/bin" },
{ "%{root}/_build/target-deps/tinyxml2/lib/lib**", ext.target_dir.."/bin" },
}
else
repo_build.prebuild_copy {
{ "%{root}/_build/target-deps/assimp/bin/*.dll", ext.target_dir.."/bin" },
{ "%{root}/_build/target-deps/tinyxml2/bin/*.dll", ext.target_dir.."/bin" },
}
end
repo_build.prebuild_copy {
{ "python/*.py", ext.target_dir.."/omni/importer/urdf" },
}
|
NVIDIA-Omniverse/urdf-importer-extension/source/extensions/omni.importer.urdf/PACKAGE-LICENSES/franka-LICENSE.md | Apache License
Version 2.0, January 2004
http://www.apache.org/licenses/
TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
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END OF TERMS AND CONDITIONS
|
NVIDIA-Omniverse/urdf-importer-extension/source/extensions/omni.importer.urdf/python/__init__.py | # SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
# SPDX-License-Identifier: Apache-2.0
#
# 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.
from .scripts.commands import *
from .scripts.extension import *
|
NVIDIA-Omniverse/urdf-importer-extension/source/extensions/omni.importer.urdf/python/scripts/commands.py | # SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
# SPDX-License-Identifier: Apache-2.0
#
# 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 os
import omni.client
import omni.kit.commands
# import omni.kit.utils
from omni.client._omniclient import Result
from omni.importer.urdf import _urdf
from pxr import Usd
class URDFCreateImportConfig(omni.kit.commands.Command):
"""
Returns an ImportConfig object that can be used while parsing and importing.
Should be used with `URDFParseFile` and `URDFParseAndImportFile` commands
Returns:
:obj:`omni.importer.urdf._urdf.ImportConfig`: Parsed URDF stored in an internal structure.
"""
def __init__(self) -> None:
pass
def do(self) -> _urdf.ImportConfig:
return _urdf.ImportConfig()
def undo(self) -> None:
pass
class URDFParseFile(omni.kit.commands.Command):
"""
This command parses a given urdf and returns a UrdfRobot object
Args:
arg0 (:obj:`str`): The absolute path to where the urdf file is
arg1 (:obj:`omni.importer.urdf._urdf.ImportConfig`): Import Configuration
Returns:
:obj:`omni.importer.urdf._urdf.UrdfRobot`: Parsed URDF stored in an internal structure.
"""
def __init__(self, urdf_path: str = "", import_config: _urdf.ImportConfig = _urdf.ImportConfig()) -> None:
self._root_path, self._filename = os.path.split(os.path.abspath(urdf_path))
self._import_config = import_config
self._urdf_interface = _urdf.acquire_urdf_interface()
pass
def do(self) -> _urdf.UrdfRobot:
return self._urdf_interface.parse_urdf(self._root_path, self._filename, self._import_config)
def undo(self) -> None:
pass
class URDFParseAndImportFile(omni.kit.commands.Command):
"""
This command parses and imports a given urdf and returns a UrdfRobot object
Args:
arg0 (:obj:`str`): The absolute path to where the urdf file is
arg1 (:obj:`omni.importer.urdf._urdf.ImportConfig`): Import Configuration
arg2 (:obj:`str`): destination path for robot usd. Default is "" which will load the robot in-memory on the open stage.
Returns:
:obj:`str`: Path to the robot on the USD stage.
"""
def __init__(self, urdf_path: str = "", import_config=_urdf.ImportConfig(), dest_path: str = "") -> None:
self.dest_path = dest_path
self._urdf_path = urdf_path
self._root_path, self._filename = os.path.split(os.path.abspath(urdf_path))
self._import_config = import_config
self._urdf_interface = _urdf.acquire_urdf_interface()
pass
def do(self) -> str:
status, imported_robot = omni.kit.commands.execute(
"URDFParseFile", urdf_path=self._urdf_path, import_config=self._import_config
)
if self.dest_path:
self.dest_path = self.dest_path.replace(
"\\", "/"
) # Omni client works with both slashes cross platform, making it standard to make it easier later on
result = omni.client.read_file(self.dest_path)
if result[0] != Result.OK:
stage = Usd.Stage.CreateNew(self.dest_path)
stage.Save()
return self._urdf_interface.import_robot(
self._root_path, self._filename, imported_robot, self._import_config, self.dest_path
)
def undo(self) -> None:
pass
omni.kit.commands.register_all_commands_in_module(__name__)
|
NVIDIA-Omniverse/urdf-importer-extension/source/extensions/omni.importer.urdf/python/scripts/extension.py | # SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
# SPDX-License-Identifier: Apache-2.0
#
# 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 asyncio
import gc
import os
import weakref
import carb
import omni.client
import omni.ext
import omni.ui as ui
from omni.importer.urdf import _urdf
from omni.importer.urdf.scripts.ui import (
btn_builder,
cb_builder,
dropdown_builder,
float_builder,
get_style,
make_menu_item_description,
setup_ui_headers,
str_builder,
)
from omni.kit.menu.utils import MenuItemDescription, add_menu_items, remove_menu_items
from pxr import Sdf, Usd, UsdGeom, UsdPhysics
# from .menu import make_menu_item_description
# from .ui_utils import (
# btn_builder,
# cb_builder,
# dropdown_builder,
# float_builder,
# get_style,
# setup_ui_headers,
# str_builder,
# )
EXTENSION_NAME = "URDF Importer"
def is_urdf_file(path: str):
_, ext = os.path.splitext(path.lower())
return ext in [".urdf", ".URDF"]
def on_filter_item(item) -> bool:
if not item or item.is_folder:
return not (item.name == "Omniverse" or item.path.startswith("omniverse:"))
return is_urdf_file(item.path)
def on_filter_folder(item) -> bool:
if item and item.is_folder:
return True
else:
return False
class Extension(omni.ext.IExt):
def on_startup(self, ext_id):
self._ext_id = ext_id
self._urdf_interface = _urdf.acquire_urdf_interface()
self._usd_context = omni.usd.get_context()
self._window = omni.ui.Window(
EXTENSION_NAME, width=400, height=500, visible=False, dockPreference=ui.DockPreference.LEFT_BOTTOM
)
self._window.set_visibility_changed_fn(self._on_window)
menu_items = [
make_menu_item_description(ext_id, EXTENSION_NAME, lambda a=weakref.proxy(self): a._menu_callback())
]
self._menu_items = [MenuItemDescription(name="Workflows", sub_menu=menu_items)]
add_menu_items(self._menu_items, "Isaac Utils")
self._file_picker = None
self._models = {}
result, self._config = omni.kit.commands.execute("URDFCreateImportConfig")
self._filepicker = None
self._last_folder = None
self._content_browser = None
self._extension_path = omni.kit.app.get_app().get_extension_manager().get_extension_path(ext_id)
self._imported_robot = None
# Set defaults
self._config.set_merge_fixed_joints(False)
self._config.set_replace_cylinders_with_capsules(False)
self._config.set_convex_decomp(False)
self._config.set_fix_base(True)
self._config.set_import_inertia_tensor(False)
self._config.set_distance_scale(1.0)
self._config.set_density(0.0)
self._config.set_default_drive_type(1)
self._config.set_default_drive_strength(1e7)
self._config.set_default_position_drive_damping(1e5)
self._config.set_self_collision(False)
self._config.set_up_vector(0, 0, 1)
self._config.set_make_default_prim(True)
self._config.set_create_physics_scene(True)
self._config.set_collision_from_visuals(False)
def build_ui(self):
with self._window.frame:
with ui.VStack(spacing=5, height=0):
self._build_info_ui()
self._build_options_ui()
self._build_import_ui()
stage = self._usd_context.get_stage()
if stage:
if UsdGeom.GetStageUpAxis(stage) == UsdGeom.Tokens.y:
self._config.set_up_vector(0, 1, 0)
if UsdGeom.GetStageUpAxis(stage) == UsdGeom.Tokens.z:
self._config.set_up_vector(0, 0, 1)
units_per_meter = 1.0 / UsdGeom.GetStageMetersPerUnit(stage)
self._models["scale"].set_value(units_per_meter)
async def dock_window():
await omni.kit.app.get_app().next_update_async()
def dock(space, name, location, pos=0.5):
window = omni.ui.Workspace.get_window(name)
if window and space:
window.dock_in(space, location, pos)
return window
tgt = ui.Workspace.get_window("Viewport")
dock(tgt, EXTENSION_NAME, omni.ui.DockPosition.LEFT, 0.33)
await omni.kit.app.get_app().next_update_async()
self._task = asyncio.ensure_future(dock_window())
def _build_info_ui(self):
title = EXTENSION_NAME
doc_link = "https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/ext_omni_isaac_urdf.html"
overview = "This utility is used to import URDF representations of robots into Isaac Sim. "
overview += "URDF is an XML format for representing a robot model in ROS."
overview += "\n\nPress the 'Open in IDE' button to view the source code."
setup_ui_headers(self._ext_id, __file__, title, doc_link, overview)
def _build_options_ui(self):
frame = ui.CollapsableFrame(
title="Import Options",
height=0,
collapsed=False,
style=get_style(),
style_type_name_override="CollapsableFrame",
horizontal_scrollbar_policy=ui.ScrollBarPolicy.SCROLLBAR_AS_NEEDED,
vertical_scrollbar_policy=ui.ScrollBarPolicy.SCROLLBAR_ALWAYS_ON,
)
with frame:
with ui.VStack(style=get_style(), spacing=5, height=0):
cb_builder(
label="Merge Fixed Joints",
tooltip="Consolidate links that are connected by fixed joints.",
on_clicked_fn=lambda m, config=self._config: config.set_merge_fixed_joints(m),
)
cb_builder(
label="Replace Cylinders with Capsules",
tooltip="Replace Cylinder collision bodies by capsules.",
on_clicked_fn=lambda m, config=self._config: config.set_replace_cylinders_with_capsules(m),
)
cb_builder(
"Fix Base Link",
tooltip="Fix the robot base robot to where it's imported in world coordinates.",
default_val=True,
on_clicked_fn=lambda m, config=self._config: config.set_fix_base(m),
)
cb_builder(
"Import Inertia Tensor",
tooltip="Load inertia tensor directly from the URDF.",
on_clicked_fn=lambda m, config=self._config: config.set_import_inertia_tensor(m),
)
self._models["scale"] = float_builder(
"Stage Units Per Meter",
default_val=1.0,
tooltip="Sets the scaling factor to match the units used in the URDF. Default Stage units are (cm).",
)
self._models["scale"].add_value_changed_fn(
lambda m, config=self._config: config.set_distance_scale(m.get_value_as_float())
)
self._models["density"] = float_builder(
"Link Density",
default_val=0.0,
tooltip="Density value to compute mass based on link volume. Use 0.0 to automatically compute density.",
)
self._models["density"].add_value_changed_fn(
lambda m, config=self._config: config.set_density(m.get_value_as_float())
)
dropdown_builder(
"Joint Drive Type",
items=["None", "Position", "Velocity"],
default_val=1,
on_clicked_fn=lambda i, config=self._config: config.set_default_drive_type(
0 if i == "None" else (1 if i == "Position" else 2)
),
tooltip="Default Joint drive type.",
)
self._models["drive_strength"] = float_builder(
"Joint Drive Strength",
default_val=1e4,
tooltip="Joint stiffness for position drive, or damping for velocity driven joints. Set to -1 to prevent this parameter from getting used.",
)
self._models["drive_strength"].add_value_changed_fn(
lambda m, config=self._config: config.set_default_drive_strength(m.get_value_as_float())
)
self._models["position_drive_damping"] = float_builder(
"Joint Position Damping",
default_val=1e3,
tooltip="Default damping value when drive type is set to Position. Set to -1 to prevent this parameter from getting used.",
)
self._models["position_drive_damping"].add_value_changed_fn(
lambda m, config=self._config: config.set_default_position_drive_damping(m.get_value_as_float())
)
self._models["clean_stage"] = cb_builder(
label="Clear Stage", tooltip="Clear the Stage prior to loading the URDF."
)
dropdown_builder(
"Normals Subdivision",
items=["catmullClark", "loop", "bilinear", "none"],
default_val=2,
on_clicked_fn=lambda i, dict={
"catmullClark": 0,
"loop": 1,
"bilinear": 2,
"none": 3,
}, config=self._config: config.set_subdivision_scheme(dict[i]),
tooltip="Mesh surface normal subdivision scheme. Use `none` to avoid overriding authored values.",
)
cb_builder(
"Convex Decomposition",
tooltip="Decompose non-convex meshes into convex collision shapes. If false, convex hull will be used.",
on_clicked_fn=lambda m, config=self._config: config.set_convex_decomp(m),
)
cb_builder(
"Self Collision",
tooltip="Enables self collision between adjacent links.",
on_clicked_fn=lambda m, config=self._config: config.set_self_collision(m),
)
cb_builder(
"Collision From Visuals",
tooltip="Creates collision geometry from visual geometry.",
on_clicked_fn=lambda m, config=self._config: config.set_collision_from_visuals(m),
)
cb_builder(
"Create Physics Scene",
tooltip="Creates a default physics scene on the stage on import.",
default_val=True,
on_clicked_fn=lambda m, config=self._config: config.set_create_physics_scene(m),
)
cb_builder(
"Create Instanceable Asset",
tooltip="If true, creates an instanceable version of the asset. Meshes will be saved in a separate USD file",
default_val=False,
on_clicked_fn=lambda m, config=self._config: config.set_make_instanceable(m),
)
self._models["instanceable_usd_path"] = str_builder(
"Instanceable USD Path",
tooltip="USD file to store instanceable meshes in",
default_val="./instanceable_meshes.usd",
use_folder_picker=True,
folder_dialog_title="Select Output File",
folder_button_title="Select File",
)
self._models["instanceable_usd_path"].add_value_changed_fn(
lambda m, config=self._config: config.set_instanceable_usd_path(m.get_value_as_string())
)
def _build_import_ui(self):
frame = ui.CollapsableFrame(
title="Import",
height=0,
collapsed=False,
style=get_style(),
style_type_name_override="CollapsableFrame",
horizontal_scrollbar_policy=ui.ScrollBarPolicy.SCROLLBAR_AS_NEEDED,
vertical_scrollbar_policy=ui.ScrollBarPolicy.SCROLLBAR_ALWAYS_ON,
)
with frame:
with ui.VStack(style=get_style(), spacing=5, height=0):
def check_file_type(model=None):
path = model.get_value_as_string()
if is_urdf_file(path) and "omniverse:" not in path.lower():
self._models["import_btn"].enabled = True
else:
carb.log_warn(f"Invalid path to URDF: {path}")
kwargs = {
"label": "Input File",
"default_val": "",
"tooltip": "Click the Folder Icon to Set Filepath",
"use_folder_picker": True,
"item_filter_fn": on_filter_item,
"bookmark_label": "Built In URDF Files",
"bookmark_path": f"{self._extension_path}/data/urdf",
"folder_dialog_title": "Select URDF File",
"folder_button_title": "Select URDF",
}
self._models["input_file"] = str_builder(**kwargs)
self._models["input_file"].add_value_changed_fn(check_file_type)
kwargs = {
"label": "Output Directory",
"type": "stringfield",
"default_val": self.get_dest_folder(),
"tooltip": "Click the Folder Icon to Set Filepath",
"use_folder_picker": True,
}
self.dest_model = str_builder(**kwargs)
# btn_builder("Import URDF", text="Select and Import", on_clicked_fn=self._parse_urdf)
self._models["import_btn"] = btn_builder("Import", text="Import", on_clicked_fn=self._load_robot)
self._models["import_btn"].enabled = False
def get_dest_folder(self):
stage = omni.usd.get_context().get_stage()
if stage:
path = stage.GetRootLayer().identifier
if not path.startswith("anon"):
basepath = path[: path.rfind("/")]
if path.rfind("/") < 0:
basepath = path[: path.rfind("\\")]
return basepath
return "(same as source)"
def _menu_callback(self):
self._window.visible = not self._window.visible
def _on_window(self, visible):
if self._window.visible:
self.build_ui()
self._events = self._usd_context.get_stage_event_stream()
self._stage_event_sub = self._events.create_subscription_to_pop(
self._on_stage_event, name="urdf importer stage event"
)
else:
self._events = None
self._stage_event_sub = None
def _on_stage_event(self, event):
stage = self._usd_context.get_stage()
if event.type == int(omni.usd.StageEventType.OPENED) and stage:
if UsdGeom.GetStageUpAxis(stage) == UsdGeom.Tokens.y:
self._config.set_up_vector(0, 1, 0)
if UsdGeom.GetStageUpAxis(stage) == UsdGeom.Tokens.z:
self._config.set_up_vector(0, 0, 1)
units_per_meter = 1.0 / UsdGeom.GetStageMetersPerUnit(stage)
self._models["scale"].set_value(units_per_meter)
self.dest_model.set_value(self.get_dest_folder())
def _load_robot(self, path=None):
path = self._models["input_file"].get_value_as_string()
if path:
dest_path = self.dest_model.get_value_as_string()
base_path = path[: path.rfind("/")]
basename = path[path.rfind("/") + 1 :]
basename = basename[: basename.rfind(".")]
if path.rfind("/") < 0:
base_path = path[: path.rfind("\\")]
basename = path[path.rfind("\\") + 1]
if dest_path != "(same as source)":
base_path = dest_path # + "/" + basename
dest_path = "{}/{}/{}.usd".format(base_path, basename, basename)
# counter = 1
# while result[0] == Result.OK:
# dest_path = "{}/{}_{:02}.usd".format(base_path, basename, counter)
# result = omni.client.read_file(dest_path)
# counter +=1
# result = omni.client.read_file(dest_path)
# if
# stage = Usd.Stage.Open(dest_path)
# else:
# stage = Usd.Stage.CreateNew(dest_path)
# UsdGeom.SetStageUpAxis(stage, UsdGeom.Tokens.z)
omni.kit.commands.execute(
"URDFParseAndImportFile", urdf_path=path, import_config=self._config, dest_path=dest_path
)
# print("Created file, instancing it now")
stage = Usd.Stage.Open(dest_path)
prim_name = str(stage.GetDefaultPrim().GetName())
# print(prim_name)
# stage.Save()
def add_reference_to_stage():
current_stage = omni.usd.get_context().get_stage()
if current_stage:
prim_path = omni.usd.get_stage_next_free_path(
current_stage, str(current_stage.GetDefaultPrim().GetPath()) + "/" + prim_name, False
)
robot_prim = current_stage.OverridePrim(prim_path)
if "anon:" in current_stage.GetRootLayer().identifier:
robot_prim.GetReferences().AddReference(dest_path)
else:
robot_prim.GetReferences().AddReference(
omni.client.make_relative_url(current_stage.GetRootLayer().identifier, dest_path)
)
if self._config.create_physics_scene:
UsdPhysics.Scene.Define(current_stage, Sdf.Path("/physicsScene"))
async def import_with_clean_stage():
await omni.usd.get_context().new_stage_async()
await omni.kit.app.get_app().next_update_async()
add_reference_to_stage()
await omni.kit.app.get_app().next_update_async()
if self._models["clean_stage"].get_value_as_bool():
asyncio.ensure_future(import_with_clean_stage())
else:
add_reference_to_stage()
def on_shutdown(self):
_urdf.release_urdf_interface(self._urdf_interface)
remove_menu_items(self._menu_items, "Isaac Utils")
if self._window:
self._window = None
gc.collect()
|
NVIDIA-Omniverse/urdf-importer-extension/source/extensions/omni.importer.urdf/python/scripts/__init__.py | # Copyright (c) 2018-2023, NVIDIA CORPORATION. All rights reserved.
#
# NVIDIA CORPORATION and its licensors retain all intellectual property
# and proprietary rights in and to this software, related documentation
# and any modifications thereto. Any use, reproduction, disclosure or
# distribution of this software and related documentation without an express
# license agreement from NVIDIA CORPORATION is strictly prohibited.
#
|
NVIDIA-Omniverse/urdf-importer-extension/source/extensions/omni.importer.urdf/python/scripts/ui/style.py | # SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
# SPDX-License-Identifier: Apache-2.0
#
# 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 carb.settings
import omni.ui as ui
from omni.kit.window.extensions.common import get_icons_path
# Pilaged from omni.kit.widnow.property style.py
LABEL_WIDTH = 120
BUTTON_WIDTH = 120
HORIZONTAL_SPACING = 4
VERTICAL_SPACING = 5
COLOR_X = 0xFF5555AA
COLOR_Y = 0xFF76A371
COLOR_Z = 0xFFA07D4F
COLOR_W = 0xFFAA5555
def get_style():
icons_path = get_icons_path()
KIT_GREEN = 0xFF8A8777
KIT_GREEN_CHECKBOX = 0xFF9A9A9A
BORDER_RADIUS = 1.5
FONT_SIZE = 14.0
TOOLTIP_STYLE = (
{
"background_color": 0xFFD1F7FF,
"color": 0xFF333333,
"margin_width": 0,
"margin_height": 0,
"padding": 0,
"border_width": 0,
"border_radius": 1.5,
"border_color": 0x0,
},
)
style_settings = carb.settings.get_settings().get("/persistent/app/window/uiStyle")
if not style_settings:
style_settings = "NvidiaDark"
if style_settings == "NvidiaLight":
WINDOW_BACKGROUND_COLOR = 0xFF444444
BUTTON_BACKGROUND_COLOR = 0xFF545454
BUTTON_BACKGROUND_HOVERED_COLOR = 0xFF9E9E9E
BUTTON_BACKGROUND_PRESSED_COLOR = 0xC22A8778
BUTTON_LABEL_DISABLED_COLOR = 0xFF606060
FRAME_TEXT_COLOR = 0xFF545454
FIELD_BACKGROUND = 0xFF545454
FIELD_SECONDARY = 0xFFABABAB
FIELD_TEXT_COLOR = 0xFFD6D6D6
FIELD_TEXT_COLOR_READ_ONLY = 0xFF9C9C9C
FIELD_TEXT_COLOR_HIDDEN = 0x01000000
COLLAPSABLEFRAME_BORDER_COLOR = 0x0
COLLAPSABLEFRAME_BACKGROUND_COLOR = 0x7FD6D6D6
COLLAPSABLEFRAME_TEXT_COLOR = 0xFF545454
COLLAPSABLEFRAME_GROUPFRAME_BACKGROUND_COLOR = 0xFFC9C9C9
COLLAPSABLEFRAME_SUBFRAME_BACKGROUND_COLOR = 0xFFD6D6D6
COLLAPSABLEFRAME_HOVERED_BACKGROUND_COLOR = 0xFFCCCFBF
COLLAPSABLEFRAME_PRESSED_BACKGROUND_COLOR = 0xFF2E2E2B
COLLAPSABLEFRAME_HOVERED_SECONDARY_COLOR = 0xFFD6D6D6
COLLAPSABLEFRAME_PRESSED_SECONDARY_COLOR = 0xFFE6E6E6
LABEL_VECTORLABEL_COLOR = 0xFFDDDDDD
LABEL_MIXED_COLOR = 0xFFD6D6D6
LIGHT_FONT_SIZE = 14.0
LIGHT_BORDER_RADIUS = 3
style = {
"Window": {"background_color": WINDOW_BACKGROUND_COLOR},
"Button": {"background_color": BUTTON_BACKGROUND_COLOR, "margin": 0, "padding": 3, "border_radius": 2},
"Button:hovered": {"background_color": BUTTON_BACKGROUND_HOVERED_COLOR},
"Button:pressed": {"background_color": BUTTON_BACKGROUND_PRESSED_COLOR},
"Button.Label:disabled": {"color": 0xFFD6D6D6},
"Button.Label": {"color": 0xFFD6D6D6},
"Field::models": {
"background_color": FIELD_BACKGROUND,
"font_size": LIGHT_FONT_SIZE,
"color": FIELD_TEXT_COLOR,
"border_radius": LIGHT_BORDER_RADIUS,
"secondary_color": FIELD_SECONDARY,
},
"Field::models_mixed": {
"background_color": FIELD_BACKGROUND,
"font_size": LIGHT_FONT_SIZE,
"color": FIELD_TEXT_COLOR_HIDDEN,
"border_radius": LIGHT_BORDER_RADIUS,
},
"Field::models_readonly": {
"background_color": FIELD_BACKGROUND,
"font_size": LIGHT_FONT_SIZE,
"color": FIELD_TEXT_COLOR_READ_ONLY,
"border_radius": LIGHT_BORDER_RADIUS,
"secondary_color": FIELD_SECONDARY,
},
"Field::models_readonly_mixed": {
"background_color": FIELD_BACKGROUND,
"font_size": LIGHT_FONT_SIZE,
"color": FIELD_TEXT_COLOR_HIDDEN,
"border_radius": LIGHT_BORDER_RADIUS,
},
"Field::models:pressed": {"background_color": 0xFFCECECE},
"Field": {"background_color": 0xFF535354, "color": 0xFFCCCCCC},
"Label": {"font_size": 12, "color": FRAME_TEXT_COLOR},
"Label::label:disabled": {"color": BUTTON_LABEL_DISABLED_COLOR},
"Label::label": {
"font_size": LIGHT_FONT_SIZE,
"background_color": FIELD_BACKGROUND,
"color": FRAME_TEXT_COLOR,
},
"Label::title": {
"font_size": LIGHT_FONT_SIZE,
"background_color": FIELD_BACKGROUND,
"color": FRAME_TEXT_COLOR,
},
"Label::mixed_overlay": {
"font_size": LIGHT_FONT_SIZE,
"background_color": FIELD_BACKGROUND,
"color": FRAME_TEXT_COLOR,
},
"Label::mixed_overlay_normal": {
"font_size": LIGHT_FONT_SIZE,
"background_color": FIELD_BACKGROUND,
"color": FRAME_TEXT_COLOR,
},
"ComboBox::choices": {
"font_size": 12,
"color": 0xFFD6D6D6,
"background_color": FIELD_BACKGROUND,
"secondary_color": FIELD_BACKGROUND,
"border_radius": LIGHT_BORDER_RADIUS * 2,
},
"ComboBox::xform_op": {
"font_size": 10,
"color": 0xFF333333,
"background_color": 0xFF9C9C9C,
"secondary_color": 0x0,
"selected_color": 0xFFACACAF,
"border_radius": LIGHT_BORDER_RADIUS * 2,
},
"ComboBox::xform_op:hovered": {"background_color": 0x0},
"ComboBox::xform_op:selected": {"background_color": 0xFF545454},
"ComboBox": {
"font_size": 10,
"color": 0xFFE6E6E6,
"background_color": 0xFF545454,
"secondary_color": 0xFF545454,
"selected_color": 0xFFACACAF,
"border_radius": LIGHT_BORDER_RADIUS * 2,
},
# "ComboBox": {"background_color": 0xFF535354, "selected_color": 0xFFACACAF, "color": 0xFFD6D6D6},
"ComboBox:hovered": {"background_color": 0xFF545454},
"ComboBox:selected": {"background_color": 0xFF545454},
"ComboBox::choices_mixed": {
"font_size": LIGHT_FONT_SIZE,
"color": 0xFFD6D6D6,
"background_color": FIELD_BACKGROUND,
"secondary_color": FIELD_BACKGROUND,
"secondary_selected_color": FIELD_TEXT_COLOR,
"border_radius": LIGHT_BORDER_RADIUS * 2,
},
"ComboBox:hovered:choices": {"background_color": FIELD_BACKGROUND, "secondary_color": FIELD_BACKGROUND},
"Slider": {
"font_size": LIGHT_FONT_SIZE,
"color": FIELD_TEXT_COLOR,
"border_radius": LIGHT_BORDER_RADIUS,
"background_color": FIELD_BACKGROUND,
"secondary_color": WINDOW_BACKGROUND_COLOR,
"draw_mode": ui.SliderDrawMode.FILLED,
},
"Slider::value": {
"font_size": LIGHT_FONT_SIZE,
"color": FIELD_TEXT_COLOR, # COLLAPSABLEFRAME_TEXT_COLOR
"border_radius": LIGHT_BORDER_RADIUS,
"background_color": FIELD_BACKGROUND,
"secondary_color": KIT_GREEN,
},
"Slider::value_mixed": {
"font_size": LIGHT_FONT_SIZE,
"color": FIELD_TEXT_COLOR_HIDDEN,
"border_radius": LIGHT_BORDER_RADIUS,
"background_color": FIELD_BACKGROUND,
"secondary_color": KIT_GREEN,
},
"Slider::multivalue": {
"font_size": LIGHT_FONT_SIZE,
"color": FIELD_TEXT_COLOR,
"border_radius": LIGHT_BORDER_RADIUS,
"background_color": FIELD_BACKGROUND,
"secondary_color": KIT_GREEN,
"draw_mode": ui.SliderDrawMode.HANDLE,
},
"Slider::multivalue_mixed": {
"font_size": LIGHT_FONT_SIZE,
"color": FIELD_TEXT_COLOR_HIDDEN,
"border_radius": LIGHT_BORDER_RADIUS,
"background_color": FIELD_BACKGROUND,
"secondary_color": KIT_GREEN,
"draw_mode": ui.SliderDrawMode.HANDLE,
},
"Checkbox": {
"margin": 0,
"padding": 0,
"radius": 0,
"font_size": 10,
"background_color": 0xFFA8A8A8,
"background_color": 0xFFA8A8A8,
},
"CheckBox::greenCheck": {"font_size": 10, "background_color": KIT_GREEN, "color": 0xFF23211F},
"CheckBox::greenCheck_mixed": {
"font_size": 10,
"background_color": KIT_GREEN,
"color": FIELD_TEXT_COLOR_HIDDEN,
"border_radius": LIGHT_BORDER_RADIUS,
},
"CollapsableFrame": {
"background_color": COLLAPSABLEFRAME_BACKGROUND_COLOR,
"secondary_color": COLLAPSABLEFRAME_BACKGROUND_COLOR,
"color": COLLAPSABLEFRAME_TEXT_COLOR,
"border_radius": LIGHT_BORDER_RADIUS,
"border_color": 0x0,
"border_width": 1,
"font_size": LIGHT_FONT_SIZE,
"padding": 6,
"Tooltip": TOOLTIP_STYLE,
},
"CollapsableFrame::groupFrame": {
"background_color": COLLAPSABLEFRAME_GROUPFRAME_BACKGROUND_COLOR,
"secondary_color": COLLAPSABLEFRAME_GROUPFRAME_BACKGROUND_COLOR,
"border_radius": BORDER_RADIUS * 2,
"padding": 6,
},
"CollapsableFrame::groupFrame:hovered": {
"background_color": COLLAPSABLEFRAME_GROUPFRAME_BACKGROUND_COLOR,
"secondary_color": COLLAPSABLEFRAME_GROUPFRAME_BACKGROUND_COLOR,
},
"CollapsableFrame::groupFrame:pressed": {
"background_color": COLLAPSABLEFRAME_GROUPFRAME_BACKGROUND_COLOR,
"secondary_color": COLLAPSABLEFRAME_GROUPFRAME_BACKGROUND_COLOR,
},
"CollapsableFrame::subFrame": {
"background_color": COLLAPSABLEFRAME_SUBFRAME_BACKGROUND_COLOR,
"secondary_color": COLLAPSABLEFRAME_SUBFRAME_BACKGROUND_COLOR,
},
"CollapsableFrame::subFrame:hovered": {
"background_color": COLLAPSABLEFRAME_SUBFRAME_BACKGROUND_COLOR,
"secondary_color": COLLAPSABLEFRAME_HOVERED_BACKGROUND_COLOR,
},
"CollapsableFrame::subFrame:pressed": {
"background_color": COLLAPSABLEFRAME_SUBFRAME_BACKGROUND_COLOR,
"secondary_color": COLLAPSABLEFRAME_PRESSED_BACKGROUND_COLOR,
},
"CollapsableFrame.Header": {
"font_size": LIGHT_FONT_SIZE,
"background_color": FRAME_TEXT_COLOR,
"color": FRAME_TEXT_COLOR,
},
"CollapsableFrame:hovered": {"secondary_color": COLLAPSABLEFRAME_HOVERED_SECONDARY_COLOR},
"CollapsableFrame:pressed": {"secondary_color": COLLAPSABLEFRAME_PRESSED_SECONDARY_COLOR},
"ScrollingFrame": {"margin": 0, "padding": 3, "border_radius": LIGHT_BORDER_RADIUS},
"TreeView": {
"background_color": 0xFFE0E0E0,
"background_selected_color": 0x109D905C,
"secondary_color": 0xFFACACAC,
},
"TreeView.ScrollingFrame": {"background_color": 0xFFE0E0E0},
"TreeView.Header": {"color": 0xFFCCCCCC},
"TreeView.Header::background": {
"background_color": 0xFF535354,
"border_color": 0xFF707070,
"border_width": 0.5,
},
"TreeView.Header::columnname": {"margin": 3},
"TreeView.Image::object_icon_grey": {"color": 0x80FFFFFF},
"TreeView.Item": {"color": 0xFF535354, "font_size": 16},
"TreeView.Item::object_name": {"margin": 3},
"TreeView.Item::object_name_grey": {"color": 0xFFACACAC},
"TreeView.Item::object_name_missing": {"color": 0xFF6F72FF},
"TreeView.Item:selected": {"color": 0xFF2A2825},
"TreeView:selected": {"background_color": 0x409D905C},
"Label::vector_label": {"font_size": 14, "color": LABEL_VECTORLABEL_COLOR},
"Rectangle::vector_label": {"border_radius": BORDER_RADIUS * 2, "corner_flag": ui.CornerFlag.LEFT},
"Rectangle::mixed_overlay": {
"border_radius": LIGHT_BORDER_RADIUS,
"background_color": FIELD_BACKGROUND,
"border_width": 3,
},
"Rectangle": {
"border_radius": LIGHT_BORDER_RADIUS,
"color": 0xFFC2C2C2,
"background_color": 0xFFC2C2C2,
}, # FIELD_BACKGROUND},
"Rectangle::xform_op:hovered": {"background_color": 0x0},
"Rectangle::xform_op": {"background_color": 0x0},
# text remove
"Button::remove": {"background_color": FIELD_BACKGROUND, "margin": 0},
"Button::remove:hovered": {"background_color": FIELD_BACKGROUND},
"Button::options": {"background_color": 0x0, "margin": 0},
"Button.Image::options": {"image_url": f"{icons_path}/options.svg", "color": 0xFF989898},
"Button.Image::options:hovered": {"color": 0xFFC2C2C2},
"IconButton": {"margin": 0, "padding": 0, "background_color": 0x0},
"IconButton:hovered": {"background_color": 0x0},
"IconButton:checked": {"background_color": 0x0},
"IconButton:pressed": {"background_color": 0x0},
"IconButton.Image": {"color": 0xFFA8A8A8},
"IconButton.Image:hovered": {"color": 0xFF929292},
"IconButton.Image:pressed": {"color": 0xFFA4A4A4},
"IconButton.Image:checked": {"color": 0xFFFFFFFF},
"IconButton.Tooltip": {"color": 0xFF9E9E9E},
"IconButton.Image::OpenFolder": {
"image_url": f"{icons_path}/open-folder.svg",
"background_color": 0x0,
"color": 0xFFA8A8A8,
"tooltip": TOOLTIP_STYLE,
},
"IconButton.Image::OpenConfig": {
"image_url": f"{icons_path}/open-config.svg",
"background_color": 0x0,
"color": 0xFFA8A8A8,
"tooltip": TOOLTIP_STYLE,
},
"IconButton.Image::OpenLink": {
"image_url": "resources/glyphs/link.svg",
"background_color": 0x0,
"color": 0xFFA8A8A8,
"tooltip": TOOLTIP_STYLE,
},
"IconButton.Image::OpenDocs": {
"image_url": "resources/glyphs/docs.svg",
"background_color": 0x0,
"color": 0xFFA8A8A8,
"tooltip": TOOLTIP_STYLE,
},
"IconButton.Image::CopyToClipboard": {
"image_url": "resources/glyphs/copy.svg",
"background_color": 0x0,
"color": 0xFFA8A8A8,
},
"IconButton.Image::Export": {
"image_url": f"{icons_path}/export.svg",
"background_color": 0x0,
"color": 0xFFA8A8A8,
},
"IconButton.Image::Sync": {
"image_url": "resources/glyphs/sync.svg",
"background_color": 0x0,
"color": 0xFFA8A8A8,
},
"IconButton.Image::Upload": {
"image_url": "resources/glyphs/upload.svg",
"background_color": 0x0,
"color": 0xFFA8A8A8,
},
"IconButton.Image::FolderPicker": {
"image_url": "resources/glyphs/folder.svg",
"background_color": 0x0,
"color": 0xFFA8A8A8,
},
"ItemButton": {"padding": 2, "background_color": 0xFF444444, "border_radius": 4},
"ItemButton.Image::add": {"image_url": f"{icons_path}/plus.svg", "color": 0xFF06C66B},
"ItemButton.Image::remove": {"image_url": f"{icons_path}/trash.svg", "color": 0xFF1010C6},
"ItemButton:hovered": {"background_color": 0xFF333333},
"ItemButton:pressed": {"background_color": 0xFF222222},
"Tooltip": TOOLTIP_STYLE,
}
else:
LABEL_COLOR = 0xFF8F8E86
FIELD_BACKGROUND = 0xFF23211F
FIELD_TEXT_COLOR = 0xFFD5D5D5
FIELD_TEXT_COLOR_READ_ONLY = 0xFF5C5C5C
FIELD_TEXT_COLOR_HIDDEN = 0x01000000
FRAME_TEXT_COLOR = 0xFFCCCCCC
WINDOW_BACKGROUND_COLOR = 0xFF444444
BUTTON_BACKGROUND_COLOR = 0xFF292929
BUTTON_BACKGROUND_HOVERED_COLOR = 0xFF9E9E9E
BUTTON_BACKGROUND_PRESSED_COLOR = 0xC22A8778
BUTTON_LABEL_DISABLED_COLOR = 0xFF606060
LABEL_LABEL_COLOR = 0xFF9E9E9E
LABEL_TITLE_COLOR = 0xFFAAAAAA
LABEL_MIXED_COLOR = 0xFFE6B067
LABEL_VECTORLABEL_COLOR = 0xFFDDDDDD
COLORWIDGET_BORDER_COLOR = 0xFF1E1E1E
COMBOBOX_HOVERED_BACKGROUND_COLOR = 0xFF33312F
COLLAPSABLEFRAME_BORDER_COLOR = 0x0
COLLAPSABLEFRAME_BACKGROUND_COLOR = 0xFF343432
COLLAPSABLEFRAME_GROUPFRAME_BACKGROUND_COLOR = 0xFF23211F
COLLAPSABLEFRAME_SUBFRAME_BACKGROUND_COLOR = 0xFF343432
COLLAPSABLEFRAME_HOVERED_BACKGROUND_COLOR = 0xFF2E2E2B
COLLAPSABLEFRAME_PRESSED_BACKGROUND_COLOR = 0xFF2E2E2B
style = {
"Window": {"background_color": WINDOW_BACKGROUND_COLOR},
"Button": {"background_color": BUTTON_BACKGROUND_COLOR, "margin": 0, "padding": 3, "border_radius": 2},
"Button:hovered": {"background_color": BUTTON_BACKGROUND_HOVERED_COLOR},
"Button:pressed": {"background_color": BUTTON_BACKGROUND_PRESSED_COLOR},
"Button.Label:disabled": {"color": BUTTON_LABEL_DISABLED_COLOR},
"Field::models": {
"background_color": FIELD_BACKGROUND,
"font_size": FONT_SIZE,
"color": FIELD_TEXT_COLOR,
"border_radius": BORDER_RADIUS,
},
"Field::models_mixed": {
"background_color": FIELD_BACKGROUND,
"font_size": FONT_SIZE,
"color": FIELD_TEXT_COLOR_HIDDEN,
"border_radius": BORDER_RADIUS,
},
"Field::models_readonly": {
"background_color": FIELD_BACKGROUND,
"font_size": FONT_SIZE,
"color": FIELD_TEXT_COLOR_READ_ONLY,
"border_radius": BORDER_RADIUS,
},
"Field::models_readonly_mixed": {
"background_color": FIELD_BACKGROUND,
"font_size": FONT_SIZE,
"color": FIELD_TEXT_COLOR_HIDDEN,
"border_radius": BORDER_RADIUS,
},
"Label": {"font_size": FONT_SIZE, "color": LABEL_COLOR},
"Label::label": {"font_size": FONT_SIZE, "color": LABEL_LABEL_COLOR},
"Label::label:disabled": {"color": BUTTON_LABEL_DISABLED_COLOR},
"Label::title": {"font_size": FONT_SIZE, "color": LABEL_TITLE_COLOR},
"Label::mixed_overlay": {"font_size": FONT_SIZE, "color": LABEL_MIXED_COLOR},
"Label::mixed_overlay_normal": {"font_size": FONT_SIZE, "color": FIELD_TEXT_COLOR},
"Label::path_label": {"font_size": FONT_SIZE, "color": LABEL_LABEL_COLOR},
"Label::stage_label": {"font_size": FONT_SIZE, "color": LABEL_LABEL_COLOR},
"ComboBox::choices": {
"font_size": FONT_SIZE,
"color": FIELD_TEXT_COLOR,
"background_color": FIELD_BACKGROUND,
"secondary_color": FIELD_BACKGROUND,
"secondary_selected_color": FIELD_TEXT_COLOR,
"border_radius": BORDER_RADIUS,
},
"ComboBox::choices_mixed": {
"font_size": FONT_SIZE,
"color": FIELD_TEXT_COLOR_HIDDEN,
"background_color": FIELD_BACKGROUND,
"secondary_color": FIELD_BACKGROUND,
"secondary_selected_color": FIELD_TEXT_COLOR,
"border_radius": BORDER_RADIUS,
},
"ComboBox:hovered:choices": {
"background_color": COMBOBOX_HOVERED_BACKGROUND_COLOR,
"secondary_color": COMBOBOX_HOVERED_BACKGROUND_COLOR,
},
"Slider": {
"font_size": FONT_SIZE,
"color": FIELD_TEXT_COLOR,
"border_radius": BORDER_RADIUS,
"background_color": FIELD_BACKGROUND,
"secondary_color": WINDOW_BACKGROUND_COLOR,
"draw_mode": ui.SliderDrawMode.FILLED,
},
"Slider::value": {
"font_size": FONT_SIZE,
"color": FIELD_TEXT_COLOR,
"border_radius": BORDER_RADIUS,
"background_color": FIELD_BACKGROUND,
"secondary_color": WINDOW_BACKGROUND_COLOR,
},
"Slider::value_mixed": {
"font_size": FONT_SIZE,
"color": FIELD_TEXT_COLOR_HIDDEN,
"border_radius": BORDER_RADIUS,
"background_color": FIELD_BACKGROUND,
"secondary_color": WINDOW_BACKGROUND_COLOR,
},
"Slider::multivalue": {
"font_size": FONT_SIZE,
"color": FIELD_TEXT_COLOR,
"border_radius": BORDER_RADIUS,
"background_color": FIELD_BACKGROUND,
"secondary_color": WINDOW_BACKGROUND_COLOR,
"draw_mode": ui.SliderDrawMode.HANDLE,
},
"Slider::multivalue_mixed": {
"font_size": FONT_SIZE,
"color": FIELD_TEXT_COLOR,
"border_radius": BORDER_RADIUS,
"background_color": FIELD_BACKGROUND,
"secondary_color": WINDOW_BACKGROUND_COLOR,
"draw_mode": ui.SliderDrawMode.HANDLE,
},
"CheckBox::greenCheck": {
"font_size": 12,
"background_color": KIT_GREEN_CHECKBOX,
"color": FIELD_BACKGROUND,
"border_radius": BORDER_RADIUS,
},
"CheckBox::greenCheck_mixed": {
"font_size": 12,
"background_color": KIT_GREEN_CHECKBOX,
"color": FIELD_TEXT_COLOR_HIDDEN,
"border_radius": BORDER_RADIUS,
},
"CollapsableFrame": {
"background_color": COLLAPSABLEFRAME_BACKGROUND_COLOR,
"secondary_color": COLLAPSABLEFRAME_BACKGROUND_COLOR,
"border_radius": BORDER_RADIUS * 2,
"border_color": COLLAPSABLEFRAME_BORDER_COLOR,
"border_width": 1,
"padding": 6,
},
"CollapsableFrame::groupFrame": {
"background_color": COLLAPSABLEFRAME_GROUPFRAME_BACKGROUND_COLOR,
"secondary_color": COLLAPSABLEFRAME_GROUPFRAME_BACKGROUND_COLOR,
"border_radius": BORDER_RADIUS * 2,
"padding": 6,
},
"CollapsableFrame::groupFrame:hovered": {
"background_color": COLLAPSABLEFRAME_GROUPFRAME_BACKGROUND_COLOR,
"secondary_color": COLLAPSABLEFRAME_GROUPFRAME_BACKGROUND_COLOR,
},
"CollapsableFrame::groupFrame:pressed": {
"background_color": COLLAPSABLEFRAME_GROUPFRAME_BACKGROUND_COLOR,
"secondary_color": COLLAPSABLEFRAME_GROUPFRAME_BACKGROUND_COLOR,
},
"CollapsableFrame::subFrame": {
"background_color": COLLAPSABLEFRAME_SUBFRAME_BACKGROUND_COLOR,
"secondary_color": COLLAPSABLEFRAME_SUBFRAME_BACKGROUND_COLOR,
},
"CollapsableFrame::subFrame:hovered": {
"background_color": COLLAPSABLEFRAME_SUBFRAME_BACKGROUND_COLOR,
"secondary_color": COLLAPSABLEFRAME_HOVERED_BACKGROUND_COLOR,
},
"CollapsableFrame::subFrame:pressed": {
"background_color": COLLAPSABLEFRAME_SUBFRAME_BACKGROUND_COLOR,
"secondary_color": COLLAPSABLEFRAME_PRESSED_BACKGROUND_COLOR,
},
"CollapsableFrame.Header": {
"font_size": FONT_SIZE,
"background_color": FRAME_TEXT_COLOR,
"color": FRAME_TEXT_COLOR,
},
"CollapsableFrame:hovered": {"secondary_color": COLLAPSABLEFRAME_HOVERED_BACKGROUND_COLOR},
"CollapsableFrame:pressed": {"secondary_color": COLLAPSABLEFRAME_PRESSED_BACKGROUND_COLOR},
"ScrollingFrame": {"margin": 0, "padding": 3, "border_radius": BORDER_RADIUS},
"TreeView": {
"background_color": 0xFF23211F,
"background_selected_color": 0x664F4D43,
"secondary_color": 0xFF403B3B,
},
"TreeView.ScrollingFrame": {"background_color": 0xFF23211F},
"TreeView.Header": {"background_color": 0xFF343432, "color": 0xFFCCCCCC, "font_size": 12},
"TreeView.Image::object_icon_grey": {"color": 0x80FFFFFF},
"TreeView.Image:disabled": {"color": 0x60FFFFFF},
"TreeView.Item": {"color": 0xFF8A8777},
"TreeView.Item:disabled": {"color": 0x608A8777},
"TreeView.Item::object_name_grey": {"color": 0xFF4D4B42},
"TreeView.Item::object_name_missing": {"color": 0xFF6F72FF},
"TreeView.Item:selected": {"color": 0xFF23211F},
"TreeView:selected": {"background_color": 0xFF8A8777},
"ColorWidget": {
"border_radius": BORDER_RADIUS,
"border_color": COLORWIDGET_BORDER_COLOR,
"border_width": 0.5,
},
"Label::vector_label": {"font_size": 16, "color": LABEL_VECTORLABEL_COLOR},
"PlotLabel::X": {"color": 0xFF1515EA, "background_color": 0x0},
"PlotLabel::Y": {"color": 0xFF5FC054, "background_color": 0x0},
"PlotLabel::Z": {"color": 0xFFC5822A, "background_color": 0x0},
"PlotLabel::W": {"color": 0xFFAA5555, "background_color": 0x0},
"Rectangle::vector_label": {"border_radius": BORDER_RADIUS * 2, "corner_flag": ui.CornerFlag.LEFT},
"Rectangle::mixed_overlay": {
"border_radius": BORDER_RADIUS,
"background_color": LABEL_MIXED_COLOR,
"border_width": 3,
},
"Rectangle": {
"border_radius": BORDER_RADIUS,
"background_color": FIELD_TEXT_COLOR_READ_ONLY,
}, # FIELD_BACKGROUND},
"Rectangle::xform_op:hovered": {"background_color": 0xFF444444},
"Rectangle::xform_op": {"background_color": 0xFF333333},
# text remove
"Button::remove": {"background_color": FIELD_BACKGROUND, "margin": 0},
"Button::remove:hovered": {"background_color": FIELD_BACKGROUND},
"Button::options": {"background_color": 0x0, "margin": 0},
"Button.Image::options": {"image_url": f"{icons_path}/options.svg", "color": 0xFF989898},
"Button.Image::options:hovered": {"color": 0xFFC2C2C2},
"IconButton": {"margin": 0, "padding": 0, "background_color": 0x0},
"IconButton:hovered": {"background_color": 0x0},
"IconButton:checked": {"background_color": 0x0},
"IconButton:pressed": {"background_color": 0x0},
"IconButton.Image": {"color": 0xFFA8A8A8},
"IconButton.Image:hovered": {"color": 0xFFC2C2C2},
"IconButton.Image:pressed": {"color": 0xFFA4A4A4},
"IconButton.Image:checked": {"color": 0xFFFFFFFF},
"IconButton.Tooltip": {"color": 0xFF9E9E9E},
"IconButton.Image::OpenFolder": {
"image_url": f"{icons_path}/open-folder.svg",
"background_color": 0x0,
"color": 0xFFA8A8A8,
"tooltip": TOOLTIP_STYLE,
},
"IconButton.Image::OpenConfig": {
"tooltip": TOOLTIP_STYLE,
"image_url": f"{icons_path}/open-config.svg",
"background_color": 0x0,
"color": 0xFFA8A8A8,
},
"IconButton.Image::OpenLink": {
"image_url": "resources/glyphs/link.svg",
"background_color": 0x0,
"color": 0xFFA8A8A8,
"tooltip": TOOLTIP_STYLE,
},
"IconButton.Image::OpenDocs": {
"image_url": "resources/glyphs/docs.svg",
"background_color": 0x0,
"color": 0xFFA8A8A8,
"tooltip": TOOLTIP_STYLE,
},
"IconButton.Image::CopyToClipboard": {
"image_url": "resources/glyphs/copy.svg",
"background_color": 0x0,
"color": 0xFFA8A8A8,
},
"IconButton.Image::Export": {
"image_url": f"{icons_path}/export.svg",
"background_color": 0x0,
"color": 0xFFA8A8A8,
},
"IconButton.Image::Sync": {
"image_url": "resources/glyphs/sync.svg",
"background_color": 0x0,
"color": 0xFFA8A8A8,
},
"IconButton.Image::Upload": {
"image_url": "resources/glyphs/upload.svg",
"background_color": 0x0,
"color": 0xFFA8A8A8,
},
"IconButton.Image::FolderPicker": {
"image_url": "resources/glyphs/folder.svg",
"background_color": 0x0,
"color": 0xFF929292,
},
"ItemButton": {"padding": 2, "background_color": 0xFF444444, "border_radius": 4},
"ItemButton.Image::add": {"image_url": f"{icons_path}/plus.svg", "color": 0xFF06C66B},
"ItemButton.Image::remove": {"image_url": f"{icons_path}/trash.svg", "color": 0xFF1010C6},
"ItemButton:hovered": {"background_color": 0xFF333333},
"ItemButton:pressed": {"background_color": 0xFF222222},
"Tooltip": TOOLTIP_STYLE,
}
return style
|
NVIDIA-Omniverse/urdf-importer-extension/source/extensions/omni.importer.urdf/python/scripts/ui/__init__.py | # SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
# SPDX-License-Identifier: Apache-2.0
#
# 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.
from .menu import *
from .style import *
from .ui_utils import *
|
NVIDIA-Omniverse/urdf-importer-extension/source/extensions/omni.importer.urdf/python/scripts/ui/menu.py | # SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
# SPDX-License-Identifier: Apache-2.0
#
# 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 omni.ext
from omni.kit.menu.utils import MenuItemDescription
def make_menu_item_description(ext_id: str, name: str, onclick_fun, action_name: str = "") -> None:
"""Easily replace the onclick_fn with onclick_action when creating a menu description
Args:
ext_id (str): The extension you are adding the menu item to.
name (str): Name of the menu item displayed in UI.
onclick_fun (Function): The function to run when clicking the menu item.
action_name (str): name for the action, in case ext_id+name don't make a unique string
Note:
ext_id + name + action_name must concatenate to a unique identifier.
"""
# TODO, fix errors when reloading extensions
# action_unique = f'{ext_id.replace(" ", "_")}{name.replace(" ", "_")}{action_name.replace(" ", "_")}'
# action_registry = omni.kit.actions.core.get_action_registry()
# action_registry.register_action(ext_id, action_unique, onclick_fun)
return MenuItemDescription(name=name, onclick_fn=onclick_fun)
|
NVIDIA-Omniverse/urdf-importer-extension/source/extensions/omni.importer.urdf/python/scripts/ui/ui_utils.py | # SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
# SPDX-License-Identifier: Apache-2.0
#
# 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 asyncio
import os
import subprocess
import sys
from cmath import inf
import carb.settings
import omni.appwindow
import omni.ext
import omni.ui as ui
from omni.kit.window.extensions import SimpleCheckBox
from omni.kit.window.filepicker import FilePickerDialog
from omni.kit.window.property.templates import LABEL_HEIGHT, LABEL_WIDTH
# from .callbacks import on_copy_to_clipboard, on_docs_link_clicked, on_open_folder_clicked, on_open_IDE_clicked
from .style import BUTTON_WIDTH, COLOR_W, COLOR_X, COLOR_Y, COLOR_Z, get_style
def btn_builder(label="", type="button", text="button", tooltip="", on_clicked_fn=None):
"""Creates a stylized button.
Args:
label (str, optional): Label to the left of the UI element. Defaults to "".
type (str, optional): Type of UI element. Defaults to "button".
text (str, optional): Text rendered on the button. Defaults to "button".
tooltip (str, optional): Tooltip to display over the Label. Defaults to "".
on_clicked_fn (Callable, optional): Call-back function when clicked. Defaults to None.
Returns:
ui.Button: Button
"""
with ui.HStack():
ui.Label(label, width=LABEL_WIDTH, alignment=ui.Alignment.LEFT_CENTER, tooltip=format_tt(tooltip))
btn = ui.Button(
text.upper(),
name="Button",
width=BUTTON_WIDTH,
clicked_fn=on_clicked_fn,
style=get_style(),
alignment=ui.Alignment.LEFT_CENTER,
)
ui.Spacer(width=5)
add_line_rect_flourish(True)
# ui.Spacer(width=ui.Fraction(1))
# ui.Spacer(width=10)
# with ui.Frame(width=0):
# with ui.VStack():
# with ui.Placer(offset_x=0, offset_y=7):
# ui.Rectangle(height=5, width=5, alignment=ui.Alignment.CENTER)
# ui.Spacer(width=5)
return btn
def state_btn_builder(
label="", type="state_button", a_text="STATE A", b_text="STATE B", tooltip="", on_clicked_fn=None
):
"""Creates a State Change Button that changes text when pressed.
Args:
label (str, optional): Label to the left of the UI element. Defaults to "".
type (str, optional): Type of UI element. Defaults to "button".
a_text (str, optional): Text rendered on the button for State A. Defaults to "STATE A".
b_text (str, optional): Text rendered on the button for State B. Defaults to "STATE B".
tooltip (str, optional): Tooltip to display over the Label. Defaults to "".
on_clicked_fn (Callable, optional): Call-back function when clicked. Defaults to None.
"""
def toggle():
if btn.text == a_text.upper():
btn.text = b_text.upper()
on_clicked_fn(True)
else:
btn.text = a_text.upper()
on_clicked_fn(False)
with ui.HStack():
ui.Label(label, width=LABEL_WIDTH, alignment=ui.Alignment.LEFT_CENTER, tooltip=format_tt(tooltip))
btn = ui.Button(
a_text.upper(),
name="Button",
width=BUTTON_WIDTH,
clicked_fn=toggle,
style=get_style(),
alignment=ui.Alignment.LEFT_CENTER,
)
ui.Spacer(width=5)
# add_line_rect_flourish(False)
ui.Spacer(width=ui.Fraction(1))
ui.Spacer(width=10)
with ui.Frame(width=0):
with ui.VStack():
with ui.Placer(offset_x=0, offset_y=7):
ui.Rectangle(height=5, width=5, alignment=ui.Alignment.CENTER)
ui.Spacer(width=5)
return btn
def cb_builder(label="", type="checkbox", default_val=False, tooltip="", on_clicked_fn=None):
"""Creates a Stylized Checkbox
Args:
label (str, optional): Label to the left of the UI element. Defaults to "".
type (str, optional): Type of UI element. Defaults to "checkbox".
default_val (bool, optional): Checked is True, Unchecked is False. Defaults to False.
tooltip (str, optional): Tooltip to display over the Label. Defaults to "".
on_clicked_fn (Callable, optional): Call-back function when clicked. Defaults to None.
Returns:
ui.SimpleBoolModel: model
"""
with ui.HStack():
ui.Label(label, width=LABEL_WIDTH - 12, alignment=ui.Alignment.LEFT_CENTER, tooltip=format_tt(tooltip))
model = ui.SimpleBoolModel()
callable = on_clicked_fn
if callable is None:
callable = lambda x: None
SimpleCheckBox(default_val, callable, model=model)
add_line_rect_flourish()
return model
def multi_btn_builder(
label="", type="multi_button", count=2, text=["button", "button"], tooltip=["", "", ""], on_clicked_fn=[None, None]
):
"""Creates a Row of Stylized Buttons
Args:
label (str, optional): Label to the left of the UI element. Defaults to "".
type (str, optional): Type of UI element. Defaults to "multi_button".
count (int, optional): Number of UI elements to create. Defaults to 2.
text (list, optional): List of text rendered on the UI elements. Defaults to ["button", "button"].
tooltip (list, optional): List of tooltips to display over the UI elements. Defaults to ["", "", ""].
on_clicked_fn (list, optional): List of call-backs function when clicked. Defaults to [None, None].
Returns:
list(ui.Button): List of Buttons
"""
btns = []
with ui.HStack():
ui.Label(label, width=LABEL_WIDTH, alignment=ui.Alignment.LEFT_CENTER, tooltip=format_tt(tooltip[0]))
for i in range(count):
btn = ui.Button(
text[i].upper(),
name="Button",
width=BUTTON_WIDTH,
clicked_fn=on_clicked_fn[i],
tooltip=format_tt(tooltip[i + 1]),
style=get_style(),
alignment=ui.Alignment.LEFT_CENTER,
)
btns.append(btn)
if i < count:
ui.Spacer(width=5)
add_line_rect_flourish()
return btns
def multi_cb_builder(
label="",
type="multi_checkbox",
count=2,
text=[" ", " "],
default_val=[False, False],
tooltip=["", "", ""],
on_clicked_fn=[None, None],
):
"""Creates a Row of Stylized Checkboxes.
Args:
label (str, optional): Label to the left of the UI element. Defaults to "".
type (str, optional): Type of UI element. Defaults to "multi_checkbox".
count (int, optional): Number of UI elements to create. Defaults to 2.
text (list, optional): List of text rendered on the UI elements. Defaults to [" ", " "].
default_val (list, optional): List of default values. Checked is True, Unchecked is False. Defaults to [False, False].
tooltip (list, optional): List of tooltips to display over the UI elements. Defaults to ["", "", ""].
on_clicked_fn (list, optional): List of call-backs function when clicked. Defaults to [None, None].
Returns:
list(ui.SimpleBoolModel): List of models
"""
cbs = []
with ui.HStack():
ui.Label(label, width=LABEL_WIDTH - 12, alignment=ui.Alignment.LEFT_CENTER, tooltip=format_tt(tooltip[0]))
for i in range(count):
cb = ui.SimpleBoolModel(default_value=default_val[i])
callable = on_clicked_fn[i]
if callable is None:
callable = lambda x: None
SimpleCheckBox(default_val[i], callable, model=cb)
ui.Label(
text[i], width=BUTTON_WIDTH / 2, alignment=ui.Alignment.LEFT_CENTER, tooltip=format_tt(tooltip[i + 1])
)
if i < count - 1:
ui.Spacer(width=5)
cbs.append(cb)
add_line_rect_flourish()
return cbs
def str_builder(
label="",
type="stringfield",
default_val=" ",
tooltip="",
on_clicked_fn=None,
use_folder_picker=False,
read_only=False,
item_filter_fn=None,
bookmark_label=None,
bookmark_path=None,
folder_dialog_title="Select Output Folder",
folder_button_title="Select Folder",
):
"""Creates a Stylized Stringfield Widget
Args:
label (str, optional): Label to the left of the UI element. Defaults to "".
type (str, optional): Type of UI element. Defaults to "stringfield".
default_val (str, optional): Text to initialize in Stringfield. Defaults to " ".
tooltip (str, optional): Tooltip to display over the UI elements. Defaults to "".
use_folder_picker (bool, optional): Add a folder picker button to the right. Defaults to False.
read_only (bool, optional): Prevents editing. Defaults to False.
item_filter_fn (Callable, optional): filter function to pass to the FilePicker
bookmark_label (str, optional): bookmark label to pass to the FilePicker
bookmark_path (str, optional): bookmark path to pass to the FilePicker
Returns:
AbstractValueModel: model of Stringfield
"""
with ui.HStack():
ui.Label(label, width=LABEL_WIDTH, alignment=ui.Alignment.LEFT_CENTER, tooltip=format_tt(tooltip))
str_field = ui.StringField(
name="StringField", width=ui.Fraction(1), height=0, alignment=ui.Alignment.LEFT_CENTER, read_only=read_only
).model
str_field.set_value(default_val)
if use_folder_picker:
def update_field(filename, path):
if filename == "":
val = path
elif filename[0] != "/" and path[-1] != "/":
val = path + "/" + filename
elif filename[0] == "/" and path[-1] == "/":
val = path + filename[1:]
else:
val = path + filename
str_field.set_value(val)
add_folder_picker_icon(
update_field,
item_filter_fn,
bookmark_label,
bookmark_path,
dialog_title=folder_dialog_title,
button_title=folder_button_title,
)
else:
add_line_rect_flourish(False)
return str_field
def int_builder(label="", type="intfield", default_val=0, tooltip="", min=sys.maxsize * -1, max=sys.maxsize):
"""Creates a Stylized Intfield Widget
Args:
label (str, optional): Label to the left of the UI element. Defaults to "".
type (str, optional): Type of UI element. Defaults to "intfield".
default_val (int, optional): Default Value of UI element. Defaults to 0.
tooltip (str, optional): Tooltip to display over the UI elements. Defaults to "".
min (int, optional): Minimum limit for int field. Defaults to sys.maxsize * -1
max (int, optional): Maximum limit for int field. Defaults to sys.maxsize * 1
Returns:
AbstractValueModel: model
"""
with ui.HStack():
ui.Label(label, width=LABEL_WIDTH, alignment=ui.Alignment.LEFT_CENTER, tooltip=format_tt(tooltip))
int_field = ui.IntDrag(
name="Field", height=LABEL_HEIGHT, min=min, max=max, alignment=ui.Alignment.LEFT_CENTER
).model
int_field.set_value(default_val)
add_line_rect_flourish(False)
return int_field
def float_builder(label="", type="floatfield", default_val=0, tooltip="", min=-inf, max=inf, step=0.1, format="%.2f"):
"""Creates a Stylized Floatfield Widget
Args:
label (str, optional): Label to the left of the UI element. Defaults to "".
type (str, optional): Type of UI element. Defaults to "floatfield".
default_val (int, optional): Default Value of UI element. Defaults to 0.
tooltip (str, optional): Tooltip to display over the UI elements. Defaults to "".
Returns:
AbstractValueModel: model
"""
with ui.HStack():
ui.Label(label, width=LABEL_WIDTH, alignment=ui.Alignment.LEFT_CENTER, tooltip=format_tt(tooltip))
float_field = ui.FloatDrag(
name="FloatField",
width=ui.Fraction(1),
height=0,
alignment=ui.Alignment.LEFT_CENTER,
min=min,
max=max,
step=step,
format=format,
).model
float_field.set_value(default_val)
add_line_rect_flourish(False)
return float_field
def combo_cb_str_builder(
label="",
type="checkbox_stringfield",
default_val=[False, " "],
tooltip="",
on_clicked_fn=lambda x: None,
use_folder_picker=False,
read_only=False,
folder_dialog_title="Select Output Folder",
folder_button_title="Select Folder",
):
"""Creates a Stylized Checkbox + Stringfield Widget
Args:
label (str, optional): Label to the left of the UI element. Defaults to "".
type (str, optional): Type of UI element. Defaults to "checkbox_stringfield".
default_val (str, optional): Text to initialize in Stringfield. Defaults to [False, " "].
tooltip (str, optional): Tooltip to display over the UI elements. Defaults to "".
use_folder_picker (bool, optional): Add a folder picker button to the right. Defaults to False.
read_only (bool, optional): Prevents editing. Defaults to False.
Returns:
Tuple(ui.SimpleBoolModel, AbstractValueModel): (cb_model, str_field_model)
"""
with ui.HStack():
ui.Label(label, width=LABEL_WIDTH - 12, alignment=ui.Alignment.LEFT_CENTER, tooltip=format_tt(tooltip))
cb = ui.SimpleBoolModel(default_value=default_val[0])
SimpleCheckBox(default_val[0], on_clicked_fn, model=cb)
str_field = ui.StringField(
name="StringField", width=ui.Fraction(1), height=0, alignment=ui.Alignment.LEFT_CENTER, read_only=read_only
).model
str_field.set_value(default_val[1])
if use_folder_picker:
def update_field(val):
str_field.set_value(val)
add_folder_picker_icon(update_field, dialog_title=folder_dialog_title, button_title=folder_button_title)
else:
add_line_rect_flourish(False)
return cb, str_field
def dropdown_builder(
label="", type="dropdown", default_val=0, items=["Option 1", "Option 2", "Option 3"], tooltip="", on_clicked_fn=None
):
"""Creates a Stylized Dropdown Combobox
Args:
label (str, optional): Label to the left of the UI element. Defaults to "".
type (str, optional): Type of UI element. Defaults to "dropdown".
default_val (int, optional): Default index of dropdown items. Defaults to 0.
items (list, optional): List of items for dropdown box. Defaults to ["Option 1", "Option 2", "Option 3"].
tooltip (str, optional): Tooltip to display over the Label. Defaults to "".
on_clicked_fn (Callable, optional): Call-back function when clicked. Defaults to None.
Returns:
AbstractItemModel: model
"""
with ui.HStack():
ui.Label(label, width=LABEL_WIDTH, alignment=ui.Alignment.LEFT_CENTER, tooltip=format_tt(tooltip))
combo_box = ui.ComboBox(
default_val, *items, name="ComboBox", width=ui.Fraction(1), alignment=ui.Alignment.LEFT_CENTER
).model
add_line_rect_flourish(False)
def on_clicked_wrapper(model, val):
on_clicked_fn(items[model.get_item_value_model().as_int])
if on_clicked_fn is not None:
combo_box.add_item_changed_fn(on_clicked_wrapper)
return combo_box
def combo_intfield_slider_builder(
label="", type="intfield_stringfield", default_val=0.5, min=0, max=1, step=0.01, tooltip=["", ""]
):
"""Creates a Stylized IntField + Stringfield Widget
Args:
label (str, optional): Label to the left of the UI element. Defaults to "".
type (str, optional): Type of UI element. Defaults to "intfield_stringfield".
default_val (float, optional): Default Value. Defaults to 0.5.
min (int, optional): Minimum Value. Defaults to 0.
max (int, optional): Maximum Value. Defaults to 1.
step (float, optional): Step. Defaults to 0.01.
tooltip (list, optional): List of tooltips. Defaults to ["", ""].
Returns:
Tuple(AbstractValueModel, IntSlider): (flt_field_model, flt_slider_model)
"""
with ui.HStack():
ui.Label(label, width=LABEL_WIDTH, alignment=ui.Alignment.LEFT_CENTER, tooltip=format_tt(tooltip[0]))
ff = ui.IntDrag(
name="Field", width=BUTTON_WIDTH / 2, alignment=ui.Alignment.LEFT_CENTER, tooltip=format_tt(tooltip[1])
).model
ff.set_value(default_val)
ui.Spacer(width=5)
fs = ui.IntSlider(
width=ui.Fraction(1), alignment=ui.Alignment.LEFT_CENTER, min=min, max=max, step=step, model=ff
)
add_line_rect_flourish(False)
return ff, fs
def combo_floatfield_slider_builder(
label="", type="floatfield_stringfield", default_val=0.5, min=0, max=1, step=0.01, tooltip=["", ""]
):
"""Creates a Stylized FloatField + FloatSlider Widget
Args:
label (str, optional): Label to the left of the UI element. Defaults to "".
type (str, optional): Type of UI element. Defaults to "floatfield_stringfield".
default_val (float, optional): Default Value. Defaults to 0.5.
min (int, optional): Minimum Value. Defaults to 0.
max (int, optional): Maximum Value. Defaults to 1.
step (float, optional): Step. Defaults to 0.01.
tooltip (list, optional): List of tooltips. Defaults to ["", ""].
Returns:
Tuple(AbstractValueModel, IntSlider): (flt_field_model, flt_slider_model)
"""
with ui.HStack():
ui.Label(label, width=LABEL_WIDTH, alignment=ui.Alignment.LEFT_CENTER, tooltip=format_tt(tooltip[0]))
ff = ui.FloatField(
name="Field", width=BUTTON_WIDTH / 2, alignment=ui.Alignment.LEFT_CENTER, tooltip=format_tt(tooltip[1])
).model
ff.set_value(default_val)
ui.Spacer(width=5)
fs = ui.FloatSlider(
width=ui.Fraction(1), alignment=ui.Alignment.LEFT_CENTER, min=min, max=max, step=step, model=ff
)
add_line_rect_flourish(False)
return ff, fs
def multi_dropdown_builder(
label="",
type="multi_dropdown",
count=2,
default_val=[0, 0],
items=[["Option 1", "Option 2", "Option 3"], ["Option A", "Option B", "Option C"]],
tooltip="",
on_clicked_fn=[None, None],
):
"""Creates a Stylized Multi-Dropdown Combobox
Returns:
AbstractItemModel: model
Args:
label (str, optional): Label to the left of the UI element. Defaults to "".
type (str, optional): Type of UI element. Defaults to "multi_dropdown".
count (int, optional): Number of UI elements. Defaults to 2.
default_val (list(int), optional): List of default indices of dropdown items. Defaults to 0.. Defaults to [0, 0].
items (list(list), optional): List of list of items for dropdown boxes. Defaults to [["Option 1", "Option 2", "Option 3"], ["Option A", "Option B", "Option C"]].
tooltip (str, optional): Tooltip to display over the Label. Defaults to "".
on_clicked_fn (list(Callable), optional): List of call-back function when clicked. Defaults to [None, None].
Returns:
list(AbstractItemModel): list(models)
"""
elems = []
with ui.HStack():
ui.Label(label, width=LABEL_WIDTH, alignment=ui.Alignment.LEFT_CENTER, tooltip=format_tt(tooltip))
for i in range(count):
elem = ui.ComboBox(
default_val[i], *items[i], name="ComboBox", width=ui.Fraction(1), alignment=ui.Alignment.LEFT_CENTER
)
def on_clicked_wrapper(model, val, index):
on_clicked_fn[index](items[index][model.get_item_value_model().as_int])
elem.model.add_item_changed_fn(lambda m, v, index=i: on_clicked_wrapper(m, v, index))
elems.append(elem)
if i < count - 1:
ui.Spacer(width=5)
add_line_rect_flourish(False)
return elems
def combo_cb_dropdown_builder(
label="",
type="checkbox_dropdown",
default_val=[False, 0],
items=["Option 1", "Option 2", "Option 3"],
tooltip="",
on_clicked_fn=[lambda x: None, None],
):
"""Creates a Stylized Dropdown Combobox with an Enable Checkbox
Args:
label (str, optional): Label to the left of the UI element. Defaults to "".
type (str, optional): Type of UI element. Defaults to "checkbox_dropdown".
default_val (list, optional): list(cb_default, dropdown_default). Defaults to [False, 0].
items (list, optional): List of items for dropdown box. Defaults to ["Option 1", "Option 2", "Option 3"].
tooltip (str, optional): Tooltip to display over the Label. Defaults to "".
on_clicked_fn (list, optional): List of callback functions. Defaults to [lambda x: None, None].
Returns:
Tuple(ui.SimpleBoolModel, ui.ComboBox): (cb_model, combobox)
"""
with ui.HStack():
ui.Label(label, width=LABEL_WIDTH - 12, alignment=ui.Alignment.LEFT_CENTER, tooltip=format_tt(tooltip))
cb = ui.SimpleBoolModel(default_value=default_val[0])
SimpleCheckBox(default_val[0], on_clicked_fn[0], model=cb)
combo_box = ui.ComboBox(
default_val[1], *items, name="ComboBox", width=ui.Fraction(1), alignment=ui.Alignment.LEFT_CENTER
)
def on_clicked_wrapper(model, val):
on_clicked_fn[1](items[model.get_item_value_model().as_int])
combo_box.model.add_item_changed_fn(on_clicked_wrapper)
add_line_rect_flourish(False)
return cb, combo_box
def scrolling_frame_builder(label="", type="scrolling_frame", default_val="No Data", tooltip=""):
"""Creates a Labeled Scrolling Frame with CopyToClipboard button
Args:
label (str, optional): Label to the left of the UI element. Defaults to "".
type (str, optional): Type of UI element. Defaults to "scrolling_frame".
default_val (str, optional): Default Text. Defaults to "No Data".
tooltip (str, optional): Tooltip to display over the Label. Defaults to "".
Returns:
ui.Label: label
"""
with ui.VStack(style=get_style(), spacing=5):
with ui.HStack():
ui.Label(label, width=LABEL_WIDTH, alignment=ui.Alignment.LEFT_TOP, tooltip=format_tt(tooltip))
with ui.ScrollingFrame(
height=LABEL_HEIGHT * 5,
style_type_name_override="ScrollingFrame",
alignment=ui.Alignment.LEFT_TOP,
horizontal_scrollbar_policy=ui.ScrollBarPolicy.SCROLLBAR_AS_NEEDED,
vertical_scrollbar_policy=ui.ScrollBarPolicy.SCROLLBAR_ALWAYS_ON,
):
text = ui.Label(
default_val,
style_type_name_override="Label::label",
word_wrap=True,
alignment=ui.Alignment.LEFT_TOP,
)
with ui.Frame(width=0, tooltip="Copy To Clipboard"):
ui.Button(
name="IconButton",
width=20,
height=20,
clicked_fn=lambda: on_copy_to_clipboard(to_copy=text.text),
style=get_style()["IconButton.Image::CopyToClipboard"],
alignment=ui.Alignment.RIGHT_TOP,
)
return text
def combo_cb_scrolling_frame_builder(
label="", type="cb_scrolling_frame", default_val=[False, "No Data"], tooltip="", on_clicked_fn=lambda x: None
):
"""Creates a Labeled, Checkbox-enabled Scrolling Frame with CopyToClipboard button
Args:
label (str, optional): Label to the left of the UI element. Defaults to "".
type (str, optional): Type of UI element. Defaults to "cb_scrolling_frame".
default_val (list, optional): List of Checkbox and Frame Defaults. Defaults to [False, "No Data"].
tooltip (str, optional): Tooltip to display over the Label. Defaults to "".
on_clicked_fn (Callable, optional): Callback function when clicked. Defaults to lambda x : None.
Returns:
list(SimpleBoolModel, ui.Label): (model, label)
"""
with ui.VStack(style=get_style(), spacing=5):
with ui.HStack():
ui.Label(label, width=LABEL_WIDTH - 12, alignment=ui.Alignment.LEFT_TOP, tooltip=format_tt(tooltip))
with ui.VStack(width=0):
cb = ui.SimpleBoolModel(default_value=default_val[0])
SimpleCheckBox(default_val[0], on_clicked_fn, model=cb)
ui.Spacer(height=18 * 4)
with ui.ScrollingFrame(
height=18 * 5,
style_type_name_override="ScrollingFrame",
alignment=ui.Alignment.LEFT_TOP,
horizontal_scrollbar_policy=ui.ScrollBarPolicy.SCROLLBAR_AS_NEEDED,
vertical_scrollbar_policy=ui.ScrollBarPolicy.SCROLLBAR_ALWAYS_ON,
):
text = ui.Label(
default_val[1],
style_type_name_override="Label::label",
word_wrap=True,
alignment=ui.Alignment.LEFT_TOP,
)
with ui.Frame(width=0, tooltip="Copy to Clipboard"):
ui.Button(
name="IconButton",
width=20,
height=20,
clicked_fn=lambda: on_copy_to_clipboard(to_copy=text.text),
style=get_style()["IconButton.Image::CopyToClipboard"],
alignment=ui.Alignment.RIGHT_TOP,
)
return cb, text
def xyz_builder(
label="",
tooltip="",
axis_count=3,
default_val=[0.0, 0.0, 0.0, 0.0],
min=float("-inf"),
max=float("inf"),
step=0.001,
on_value_changed_fn=[None, None, None, None],
):
"""[summary]
Args:
label (str, optional): Label to the left of the UI element. Defaults to "".
type (str, optional): Type of UI element. Defaults to "".
axis_count (int, optional): Number of Axes to Display. Max 4. Defaults to 3.
default_val (list, optional): List of default values. Defaults to [0.0, 0.0, 0.0, 0.0].
min (float, optional): Minimum Float Value. Defaults to float("-inf").
max (float, optional): Maximum Float Value. Defaults to float("inf").
step (float, optional): Step. Defaults to 0.001.
on_value_changed_fn (list, optional): List of callback functions for each axes. Defaults to [None, None, None, None].
Returns:
list(AbstractValueModel): list(model)
"""
# These styles & colors are taken from omni.kit.property.transform_builder.py _create_multi_float_drag_matrix_with_labels
if axis_count <= 0 or axis_count > 4:
import builtins
carb.log_warn("Invalid axis_count: must be in range 1 to 4. Clamping to default range.")
axis_count = builtins.max(builtins.min(axis_count, 4), 1)
field_labels = [("X", COLOR_X), ("Y", COLOR_Y), ("Z", COLOR_Z), ("W", COLOR_W)]
field_tooltips = ["X Value", "Y Value", "Z Value", "W Value"]
RECT_WIDTH = 13
# SPACING = 4
val_models = [None] * axis_count
with ui.HStack():
ui.Label(label, width=LABEL_WIDTH, alignment=ui.Alignment.LEFT_CENTER, tooltip=format_tt(tooltip))
with ui.ZStack():
with ui.HStack():
ui.Spacer(width=RECT_WIDTH)
for i in range(axis_count):
val_models[i] = ui.FloatDrag(
name="Field",
height=LABEL_HEIGHT,
min=min,
max=max,
step=step,
alignment=ui.Alignment.LEFT_CENTER,
tooltip=field_tooltips[i],
).model
val_models[i].set_value(default_val[i])
if on_value_changed_fn[i] is not None:
val_models[i].add_value_changed_fn(on_value_changed_fn[i])
if i != axis_count - 1:
ui.Spacer(width=19)
with ui.HStack():
for i in range(axis_count):
if i != 0:
ui.Spacer() # width=BUTTON_WIDTH - 1)
field_label = field_labels[i]
with ui.ZStack(width=RECT_WIDTH + 2 * i):
ui.Rectangle(name="vector_label", style={"background_color": field_label[1]})
ui.Label(field_label[0], name="vector_label", alignment=ui.Alignment.CENTER)
ui.Spacer()
add_line_rect_flourish(False)
return val_models
def color_picker_builder(label="", type="color_picker", default_val=[1.0, 1.0, 1.0, 1.0], tooltip="Color Picker"):
"""Creates a Color Picker Widget
Args:
label (str, optional): Label to the left of the UI element. Defaults to "".
type (str, optional): Type of UI element. Defaults to "color_picker".
default_val (list, optional): List of (R,G,B,A) default values. Defaults to [1.0, 1.0, 1.0, 1.0].
tooltip (str, optional): Tooltip to display over the Label. Defaults to "Color Picker".
Returns:
AbstractItemModel: ui.ColorWidget.model
"""
with ui.HStack():
ui.Label(label, width=LABEL_WIDTH, alignment=ui.Alignment.LEFT_CENTER, tooltip=format_tt(tooltip))
model = ui.ColorWidget(*default_val, width=BUTTON_WIDTH).model
ui.Spacer(width=5)
add_line_rect_flourish()
return model
def progress_bar_builder(label="", type="progress_bar", default_val=0, tooltip="Progress"):
"""Creates a Progress Bar Widget
Args:
label (str, optional): Label to the left of the UI element. Defaults to "".
type (str, optional): Type of UI element. Defaults to "progress_bar".
default_val (int, optional): Starting Value. Defaults to 0.
tooltip (str, optional): Tooltip to display over the Label. Defaults to "Progress".
Returns:
AbstractValueModel: ui.ProgressBar().model
"""
with ui.HStack():
ui.Label(label, width=LABEL_WIDTH, alignment=ui.Alignment.LEFT_CENTER)
model = ui.ProgressBar().model
model.set_value(default_val)
add_line_rect_flourish(False)
return model
def plot_builder(label="", data=None, min=-1, max=1, type=ui.Type.LINE, value_stride=1, color=None, tooltip=""):
"""Creates a stylized static plot
Args:
label (str, optional): Label to the left of the UI element. Defaults to "".
data (list(float), optional): Data to plot. Defaults to None.
min (int, optional): Minimum Y Value. Defaults to -1.
max (int, optional): Maximum Y Value. Defaults to 1.
type (ui.Type, optional): Plot Type. Defaults to ui.Type.LINE.
value_stride (int, optional): Width of plot stride. Defaults to 1.
color (int, optional): Plot color. Defaults to None.
tooltip (str, optional): Tooltip to display over the Label. Defaults to "".
Returns:
ui.Plot: plot
"""
with ui.VStack(spacing=5):
with ui.HStack():
ui.Label(label, width=LABEL_WIDTH, alignment=ui.Alignment.LEFT_TOP, tooltip=format_tt(tooltip))
plot_height = LABEL_HEIGHT * 2 + 13
plot_width = ui.Fraction(1)
with ui.ZStack():
ui.Rectangle(width=plot_width, height=plot_height)
if not color:
color = 0xFFDDDDDD
plot = ui.Plot(
type,
min,
max,
*data,
value_stride=value_stride,
width=plot_width,
height=plot_height,
style={"color": color, "background_color": 0x0},
)
def update_min(model):
plot.scale_min = model.as_float
def update_max(model):
plot.scale_max = model.as_float
ui.Spacer(width=5)
with ui.Frame(width=0):
with ui.VStack(spacing=5):
max_model = ui.FloatDrag(
name="Field", width=40, alignment=ui.Alignment.LEFT_BOTTOM, tooltip="Max"
).model
max_model.set_value(max)
min_model = ui.FloatDrag(
name="Field", width=40, alignment=ui.Alignment.LEFT_TOP, tooltip="Min"
).model
min_model.set_value(min)
min_model.add_value_changed_fn(update_min)
max_model.add_value_changed_fn(update_max)
ui.Spacer(width=20)
add_separator()
return plot
def xyz_plot_builder(label="", data=[], min=-1, max=1, tooltip=""):
"""Creates a stylized static XYZ plot
Args:
label (str, optional): Label to the left of the UI element. Defaults to "".
data (list(float), optional): Data to plot. Defaults to [].
min (int, optional): Minimum Y Value. Defaults to -1.
max (int, optional): Maximum Y Value. Defaults to "".
tooltip (str, optional): Tooltip to display over the Label.. Defaults to "".
Returns:
list(ui.Plot): list(x_plot, y_plot, z_plot)
"""
with ui.VStack(spacing=5):
with ui.HStack():
ui.Label(label, width=LABEL_WIDTH, alignment=ui.Alignment.LEFT_TOP, tooltip=format_tt(tooltip))
plot_height = LABEL_HEIGHT * 2 + 13
plot_width = ui.Fraction(1)
with ui.ZStack():
ui.Rectangle(width=plot_width, height=plot_height)
plot_0 = ui.Plot(
ui.Type.LINE,
min,
max,
*data[0],
width=plot_width,
height=plot_height,
style=get_style()["PlotLabel::X"],
)
plot_1 = ui.Plot(
ui.Type.LINE,
min,
max,
*data[1],
width=plot_width,
height=plot_height,
style=get_style()["PlotLabel::Y"],
)
plot_2 = ui.Plot(
ui.Type.LINE,
min,
max,
*data[2],
width=plot_width,
height=plot_height,
style=get_style()["PlotLabel::Z"],
)
def update_min(model):
plot_0.scale_min = model.as_float
plot_1.scale_min = model.as_float
plot_2.scale_min = model.as_float
def update_max(model):
plot_0.scale_max = model.as_float
plot_1.scale_max = model.as_float
plot_2.scale_max = model.as_float
ui.Spacer(width=5)
with ui.Frame(width=0):
with ui.VStack(spacing=5):
max_model = ui.FloatDrag(
name="Field", width=40, alignment=ui.Alignment.LEFT_BOTTOM, tooltip="Max"
).model
max_model.set_value(max)
min_model = ui.FloatDrag(
name="Field", width=40, alignment=ui.Alignment.LEFT_TOP, tooltip="Min"
).model
min_model.set_value(min)
min_model.add_value_changed_fn(update_min)
max_model.add_value_changed_fn(update_max)
ui.Spacer(width=20)
add_separator()
return [plot_0, plot_1, plot_2]
def combo_cb_plot_builder(
label="",
default_val=False,
on_clicked_fn=lambda x: None,
data=None,
min=-1,
max=1,
type=ui.Type.LINE,
value_stride=1,
color=None,
tooltip="",
):
"""Creates a Checkbox-Enabled dyanamic plot
Args:
label (str, optional): Label to the left of the UI element. Defaults to "".
default_val (bool, optional): Checkbox default. Defaults to False.
on_clicked_fn (Callable, optional): Checkbox Callback function. Defaults to lambda x: None.
data (list(), optional): Data to plat. Defaults to None.
min (int, optional): Min Y Value. Defaults to -1.
max (int, optional): Max Y Value. Defaults to 1.
type (ui.Type, optional): Plot Type. Defaults to ui.Type.LINE.
value_stride (int, optional): Width of plot stride. Defaults to 1.
color (int, optional): Plot color. Defaults to None.
tooltip (str, optional): Tooltip to display over the Label. Defaults to "".
Returns:
list(SimpleBoolModel, ui.Plot): (cb_model, plot)
"""
with ui.VStack(spacing=5):
with ui.HStack():
# Label
ui.Label(label, width=LABEL_WIDTH, alignment=ui.Alignment.LEFT_TOP, tooltip=format_tt(tooltip))
# Checkbox
with ui.Frame(width=0):
with ui.Placer(offset_x=-10, offset_y=0):
with ui.VStack():
SimpleCheckBox(default_val, on_clicked_fn)
ui.Spacer(height=ui.Fraction(1))
ui.Spacer()
# Plot
plot_height = LABEL_HEIGHT * 2 + 13
plot_width = ui.Fraction(1)
with ui.ZStack():
ui.Rectangle(width=plot_width, height=plot_height)
if not color:
color = 0xFFDDDDDD
plot = ui.Plot(
type,
min,
max,
*data,
value_stride=value_stride,
width=plot_width,
height=plot_height,
style={"color": color, "background_color": 0x0},
)
# Min/Max Helpers
def update_min(model):
plot.scale_min = model.as_float
def update_max(model):
plot.scale_max = model.as_float
ui.Spacer(width=5)
with ui.Frame(width=0):
with ui.VStack(spacing=5):
# Min/Max Fields
max_model = ui.FloatDrag(
name="Field", width=40, alignment=ui.Alignment.LEFT_BOTTOM, tooltip="Max"
).model
max_model.set_value(max)
min_model = ui.FloatDrag(
name="Field", width=40, alignment=ui.Alignment.LEFT_TOP, tooltip="Min"
).model
min_model.set_value(min)
min_model.add_value_changed_fn(update_min)
max_model.add_value_changed_fn(update_max)
ui.Spacer(width=20)
with ui.HStack():
ui.Spacer(width=LABEL_WIDTH + 29)
# Current Value Field (disabled by default)
val_model = ui.FloatDrag(
name="Field",
width=BUTTON_WIDTH,
height=LABEL_HEIGHT,
enabled=False,
alignment=ui.Alignment.LEFT_CENTER,
tooltip="Value",
).model
add_separator()
return plot, val_model
def combo_cb_xyz_plot_builder(
label="",
default_val=False,
on_clicked_fn=lambda x: None,
data=[],
min=-1,
max=1,
type=ui.Type.LINE,
value_stride=1,
tooltip="",
):
"""[summary]
Args:
label (str, optional): Label to the left of the UI element. Defaults to "".
default_val (bool, optional): Checkbox default. Defaults to False.
on_clicked_fn (Callable, optional): Checkbox Callback function. Defaults to lambda x: None.
data list(), optional): Data to plat. Defaults to None.
min (int, optional): Min Y Value. Defaults to -1.
max (int, optional): Max Y Value. Defaults to 1.
type (ui.Type, optional): Plot Type. Defaults to ui.Type.LINE.
value_stride (int, optional): Width of plot stride. Defaults to 1.
tooltip (str, optional): Tooltip to display over the Label. Defaults to "".
Returns:
Tuple(list(ui.Plot), list(AbstractValueModel)): ([plot_0, plot_1, plot_2], [val_model_x, val_model_y, val_model_z])
"""
with ui.VStack(spacing=5):
with ui.HStack():
ui.Label(label, width=LABEL_WIDTH, alignment=ui.Alignment.LEFT_TOP, tooltip=format_tt(tooltip))
# Checkbox
with ui.Frame(width=0):
with ui.Placer(offset_x=-10, offset_y=0):
with ui.VStack():
SimpleCheckBox(default_val, on_clicked_fn)
ui.Spacer(height=ui.Fraction(1))
ui.Spacer()
# Plots
plot_height = LABEL_HEIGHT * 2 + 13
plot_width = ui.Fraction(1)
with ui.ZStack():
ui.Rectangle(width=plot_width, height=plot_height)
plot_0 = ui.Plot(
type,
min,
max,
*data[0],
value_stride=value_stride,
width=plot_width,
height=plot_height,
style=get_style()["PlotLabel::X"],
)
plot_1 = ui.Plot(
type,
min,
max,
*data[1],
value_stride=value_stride,
width=plot_width,
height=plot_height,
style=get_style()["PlotLabel::Y"],
)
plot_2 = ui.Plot(
type,
min,
max,
*data[2],
value_stride=value_stride,
width=plot_width,
height=plot_height,
style=get_style()["PlotLabel::Z"],
)
def update_min(model):
plot_0.scale_min = model.as_float
plot_1.scale_min = model.as_float
plot_2.scale_min = model.as_float
def update_max(model):
plot_0.scale_max = model.as_float
plot_1.scale_max = model.as_float
plot_2.scale_max = model.as_float
ui.Spacer(width=5)
with ui.Frame(width=0):
with ui.VStack(spacing=5):
max_model = ui.FloatDrag(
name="Field", width=40, alignment=ui.Alignment.LEFT_BOTTOM, tooltip="Max"
).model
max_model.set_value(max)
min_model = ui.FloatDrag(
name="Field", width=40, alignment=ui.Alignment.LEFT_TOP, tooltip="Min"
).model
min_model.set_value(min)
min_model.add_value_changed_fn(update_min)
max_model.add_value_changed_fn(update_max)
ui.Spacer(width=20)
# with ui.HStack():
# ui.Spacer(width=40)
# val_models = xyz_builder()#**{"args":args})
field_labels = [("X", COLOR_X), ("Y", COLOR_Y), ("Z", COLOR_Z), ("W", COLOR_W)]
RECT_WIDTH = 13
# SPACING = 4
with ui.HStack():
ui.Spacer(width=LABEL_WIDTH + 29)
with ui.ZStack():
with ui.HStack():
ui.Spacer(width=RECT_WIDTH)
# value_widget = ui.MultiFloatDragField(
# *args, name="multivalue", min=min, max=max, step=step, h_spacing=RECT_WIDTH + SPACING, v_spacing=2
# ).model
val_model_x = ui.FloatDrag(
name="Field",
width=BUTTON_WIDTH - 5,
height=LABEL_HEIGHT,
enabled=False,
alignment=ui.Alignment.LEFT_CENTER,
tooltip="X Value",
).model
ui.Spacer(width=19)
val_model_y = ui.FloatDrag(
name="Field",
width=BUTTON_WIDTH - 5,
height=LABEL_HEIGHT,
enabled=False,
alignment=ui.Alignment.LEFT_CENTER,
tooltip="Y Value",
).model
ui.Spacer(width=19)
val_model_z = ui.FloatDrag(
name="Field",
width=BUTTON_WIDTH - 5,
height=LABEL_HEIGHT,
enabled=False,
alignment=ui.Alignment.LEFT_CENTER,
tooltip="Z Value",
).model
with ui.HStack():
for i in range(3):
if i != 0:
ui.Spacer(width=BUTTON_WIDTH - 1)
field_label = field_labels[i]
with ui.ZStack(width=RECT_WIDTH + 1):
ui.Rectangle(name="vector_label", style={"background_color": field_label[1]})
ui.Label(field_label[0], name="vector_label", alignment=ui.Alignment.CENTER)
add_separator()
return [plot_0, plot_1, plot_2], [val_model_x, val_model_y, val_model_z]
def add_line_rect_flourish(draw_line=True):
"""Aesthetic element that adds a Line + Rectangle after all UI elements in the row.
Args:
draw_line (bool, optional): Set false to only draw rectangle. Defaults to True.
"""
if draw_line:
ui.Line(style={"color": 0x338A8777}, width=ui.Fraction(1), alignment=ui.Alignment.CENTER)
ui.Spacer(width=10)
with ui.Frame(width=0):
with ui.VStack():
with ui.Placer(offset_x=0, offset_y=7):
ui.Rectangle(height=5, width=5, alignment=ui.Alignment.CENTER)
ui.Spacer(width=5)
def add_separator():
"""Aesthetic element to adds a Line Separator."""
with ui.VStack(spacing=5):
ui.Spacer()
with ui.HStack():
ui.Spacer(width=LABEL_WIDTH)
ui.Line(style={"color": 0x338A8777}, width=ui.Fraction(1))
ui.Spacer(width=20)
ui.Spacer()
def add_folder_picker_icon(
on_click_fn,
item_filter_fn=None,
bookmark_label=None,
bookmark_path=None,
dialog_title="Select Output Folder",
button_title="Select Folder",
):
def open_file_picker():
def on_selected(filename, path):
on_click_fn(filename, path)
file_picker.hide()
def on_canceled(a, b):
file_picker.hide()
file_picker = FilePickerDialog(
dialog_title,
allow_multi_selection=False,
apply_button_label=button_title,
click_apply_handler=lambda a, b: on_selected(a, b),
click_cancel_handler=lambda a, b: on_canceled(a, b),
item_filter_fn=item_filter_fn,
enable_versioning_pane=True,
)
if bookmark_label and bookmark_path:
file_picker.toggle_bookmark_from_path(bookmark_label, bookmark_path, True)
with ui.Frame(width=0, tooltip=button_title):
ui.Button(
name="IconButton",
width=24,
height=24,
clicked_fn=open_file_picker,
style=get_style()["IconButton.Image::FolderPicker"],
alignment=ui.Alignment.RIGHT_TOP,
)
def add_folder_picker_btn(on_click_fn):
def open_folder_picker():
def on_selected(a, b):
on_click_fn(a, b)
folder_picker.hide()
def on_canceled(a, b):
folder_picker.hide()
folder_picker = FilePickerDialog(
"Select Output Folder",
allow_multi_selection=False,
apply_button_label="Select Folder",
click_apply_handler=lambda a, b: on_selected(a, b),
click_cancel_handler=lambda a, b: on_canceled(a, b),
)
with ui.Frame(width=0):
ui.Button("SELECT", width=BUTTON_WIDTH, clicked_fn=open_folder_picker, tooltip="Select Folder")
def format_tt(tt):
import string
formated = ""
i = 0
for w in tt.split():
if w.isupper():
formated += w + " "
elif len(w) > 3 or i == 0:
formated += string.capwords(w) + " "
else:
formated += w.lower() + " "
i += 1
return formated
def setup_ui_headers(
ext_id,
file_path,
title="My Custom Extension",
doc_link="https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/overview.html",
overview="",
):
"""Creates the Standard UI Elements at the top of each Isaac Extension.
Args:
ext_id (str): Extension ID.
file_path (str): File path to source code.
title (str, optional): Name of Extension. Defaults to "My Custom Extension".
doc_link (str, optional): Hyperlink to Documentation. Defaults to "https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/overview.html".
overview (str, optional): Overview Text explaining the Extension. Defaults to "".
"""
ext_manager = omni.kit.app.get_app().get_extension_manager()
extension_path = ext_manager.get_extension_path(ext_id)
ext_path = os.path.dirname(extension_path) if os.path.isfile(extension_path) else extension_path
build_header(ext_path, file_path, title, doc_link)
build_info_frame(overview)
def build_header(
ext_path,
file_path,
title="My Custom Extension",
doc_link="https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/overview.html",
):
"""Title Header with Quick Access Utility Buttons."""
def build_icon_bar():
"""Adds the Utility Buttons to the Title Header"""
with ui.Frame(style=get_style(), width=0):
with ui.VStack():
with ui.HStack():
icon_size = 24
with ui.Frame(tooltip="Open Source Code"):
ui.Button(
name="IconButton",
width=icon_size,
height=icon_size,
clicked_fn=lambda: on_open_IDE_clicked(ext_path, file_path),
style=get_style()["IconButton.Image::OpenConfig"],
# style_type_name_override="IconButton.Image::OpenConfig",
alignment=ui.Alignment.LEFT_CENTER,
# tooltip="Open in IDE",
)
with ui.Frame(tooltip="Open Containing Folder"):
ui.Button(
name="IconButton",
width=icon_size,
height=icon_size,
clicked_fn=lambda: on_open_folder_clicked(file_path),
style=get_style()["IconButton.Image::OpenFolder"],
alignment=ui.Alignment.LEFT_CENTER,
)
with ui.Placer(offset_x=0, offset_y=3):
with ui.Frame(tooltip="Link to Docs"):
ui.Button(
name="IconButton",
width=icon_size - icon_size * 0.25,
height=icon_size - icon_size * 0.25,
clicked_fn=lambda: on_docs_link_clicked(doc_link),
style=get_style()["IconButton.Image::OpenLink"],
alignment=ui.Alignment.LEFT_TOP,
)
with ui.ZStack():
ui.Rectangle(style={"border_radius": 5})
with ui.HStack():
ui.Spacer(width=5)
ui.Label(title, width=0, name="title", style={"font_size": 16})
ui.Spacer(width=ui.Fraction(1))
build_icon_bar()
ui.Spacer(width=5)
def build_info_frame(overview=""):
"""Info Frame with Overview, Instructions, and Metadata for an Extension"""
frame = ui.CollapsableFrame(
title="Information",
height=0,
collapsed=True,
horizontal_clipping=False,
style=get_style(),
style_type_name_override="CollapsableFrame",
horizontal_scrollbar_policy=ui.ScrollBarPolicy.SCROLLBAR_AS_NEEDED,
vertical_scrollbar_policy=ui.ScrollBarPolicy.SCROLLBAR_ALWAYS_ON,
)
with frame:
label = "Overview"
default_val = overview
tooltip = "Overview"
with ui.VStack(style=get_style(), spacing=5):
with ui.HStack():
ui.Label(label, width=LABEL_WIDTH / 2, alignment=ui.Alignment.LEFT_TOP, tooltip=format_tt(tooltip))
with ui.ScrollingFrame(
height=LABEL_HEIGHT * 5,
style_type_name_override="ScrollingFrame",
alignment=ui.Alignment.LEFT_TOP,
horizontal_scrollbar_policy=ui.ScrollBarPolicy.SCROLLBAR_AS_NEEDED,
vertical_scrollbar_policy=ui.ScrollBarPolicy.SCROLLBAR_ALWAYS_ON,
):
text = ui.Label(
default_val,
style_type_name_override="Label::label",
word_wrap=True,
alignment=ui.Alignment.LEFT_TOP,
)
with ui.Frame(width=0, tooltip="Copy To Clipboard"):
ui.Button(
name="IconButton",
width=20,
height=20,
clicked_fn=lambda: on_copy_to_clipboard(to_copy=text.text),
style=get_style()["IconButton.Image::CopyToClipboard"],
alignment=ui.Alignment.RIGHT_TOP,
)
return
# def build_settings_frame(log_filename="extension.log", log_to_file=False, save_settings=False):
# """Settings Frame for Common Utilities Functions"""
# frame = ui.CollapsableFrame(
# title="Settings",
# height=0,
# collapsed=True,
# horizontal_clipping=False,
# style=get_style(),
# style_type_name_override="CollapsableFrame",
# )
# def on_log_to_file_enabled(val):
# # TO DO
# carb.log_info(f"Logging to {model.get_value_as_string()}:", val)
# def on_save_out_settings(val):
# # TO DO
# carb.log_info("Save Out Settings?", val)
# with frame:
# with ui.VStack(style=get_style(), spacing=5):
# # # Log to File Settings
# # default_output_path = os.path.realpath(os.getcwd())
# # kwargs = {
# # "label": "Log to File",
# # "type": "checkbox_stringfield",
# # "default_val": [log_to_file, default_output_path + "/" + log_filename],
# # "on_clicked_fn": on_log_to_file_enabled,
# # "tooltip": "Log Out to File",
# # "use_folder_picker": True,
# # }
# # model = combo_cb_str_builder(**kwargs)[1]
# # Save Settings on Exit
# # kwargs = {
# # "label": "Save Settings",
# # "type": "checkbox",
# # "default_val": save_settings,
# # "on_clicked_fn": on_save_out_settings,
# # "tooltip": "Save out GUI Settings on Exit.",
# # }
# # cb_builder(**kwargs)
class SearchListItem(ui.AbstractItem):
def __init__(self, text):
super().__init__()
self.name_model = ui.SimpleStringModel(text)
def __repr__(self):
return f'"{self.name_model.as_string}"'
def name(self):
return self.name_model.as_string
class SearchListItemModel(ui.AbstractItemModel):
"""
Represents the model for lists. It's very easy to initialize it
with any string list:
string_list = ["Hello", "World"]
model = ListModel(*string_list)
ui.TreeView(model)
"""
def __init__(self, *args):
super().__init__()
self._children = [SearchListItem(t) for t in args]
self._filtered = [SearchListItem(t) for t in args]
def get_item_children(self, item):
"""Returns all the children when the widget asks it."""
if item is not None:
# Since we are doing a flat list, we return the children of root only.
# If it's not root we return.
return []
return self._filtered
def filter_text(self, text):
import fnmatch
self._filtered = []
if len(text) == 0:
for c in self._children:
self._filtered.append(c)
else:
parts = text.split()
# for i in range(len(parts) - 1, -1, -1):
# w = parts[i]
leftover = " ".join(parts)
if len(leftover) > 0:
filter_str = f"*{leftover.lower()}*"
for c in self._children:
if fnmatch.fnmatch(c.name().lower(), filter_str):
self._filtered.append(c)
# This tells the Delegate to update the TreeView
self._item_changed(None)
def get_item_value_model_count(self, item):
"""The number of columns"""
return 1
def get_item_value_model(self, item, column_id):
"""
Return value model.
It's the object that tracks the specific value.
In our case we use ui.SimpleStringModel.
"""
return item.name_model
class SearchListItemDelegate(ui.AbstractItemDelegate):
"""
Delegate is the representation layer. TreeView calls the methods
of the delegate to create custom widgets for each item.
"""
def __init__(self, on_double_click_fn=None):
super().__init__()
self._on_double_click_fn = on_double_click_fn
def build_branch(self, model, item, column_id, level, expanded):
"""Create a branch widget that opens or closes subtree"""
pass
def build_widget(self, model, item, column_id, level, expanded):
"""Create a widget per column per item"""
stack = ui.ZStack(height=20, style=get_style())
with stack:
with ui.HStack():
ui.Spacer(width=5)
value_model = model.get_item_value_model(item, column_id)
label = ui.Label(value_model.as_string, name="TreeView.Item")
if not self._on_double_click_fn:
self._on_double_click_fn = self.on_double_click
# Set a double click function
stack.set_mouse_double_clicked_fn(lambda x, y, b, m, l=label: self._on_double_click_fn(b, m, l))
def on_double_click(self, button, model, label):
"""Called when the user double-clicked the item in TreeView"""
if button != 0:
return
def build_simple_search(label="", type="search", model=None, delegate=None, tooltip=""):
"""A Simple Search Bar + TreeView Widget.\n
Pass a list of items through the model, and a custom on_click_fn through the delegate.\n
Returns the SearchWidget so user can destroy it on_shutdown.
Args:
label (str, optional): Label to the left of the UI element. Defaults to "".
type (str, optional): Type of UI element. Defaults to "search".
model (ui.AbstractItemModel, optional): Item Model for Search. Defaults to None.
delegate (ui.AbstractItemDelegate, optional): Item Delegate for Search. Defaults to None.
tooltip (str, optional): Tooltip to display over the Label. Defaults to "".
Returns:
Tuple(Search Widget, Treeview):
"""
with ui.HStack():
ui.Label(label, width=LABEL_WIDTH, alignment=ui.Alignment.LEFT_TOP, tooltip=format_tt(tooltip))
with ui.VStack(spacing=5):
def filter_text(item):
model.filter_text(item)
from omni.kit.window.extensions.ext_components import SearchWidget
search_bar = SearchWidget(filter_text)
with ui.ScrollingFrame(
height=LABEL_HEIGHT * 5,
horizontal_scrollbar_policy=ui.ScrollBarPolicy.SCROLLBAR_ALWAYS_OFF,
vertical_scrollbar_policy=ui.ScrollBarPolicy.SCROLLBAR_ALWAYS_ON,
style=get_style(),
style_type_name_override="TreeView.ScrollingFrame",
):
treeview = ui.TreeView(
model,
delegate=delegate,
root_visible=False,
header_visible=False,
style={
"TreeView.ScrollingFrame": {"background_color": 0xFFE0E0E0},
"TreeView.Item": {"color": 0xFF535354, "font_size": 16},
"TreeView.Item:selected": {"color": 0xFF23211F},
"TreeView:selected": {"background_color": 0x409D905C},
}
# name="TreeView",
# style_type_name_override="TreeView",
)
add_line_rect_flourish(False)
return search_bar, treeview
|
NVIDIA-Omniverse/urdf-importer-extension/source/extensions/omni.importer.urdf/python/scripts/samples/common.py | # SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
# SPDX-License-Identifier: Apache-2.0
#
# 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 os
import carb.tokens
import omni
from pxr import PhysxSchema, UsdGeom, UsdPhysics
def set_drive_parameters(drive, target_type, target_value, stiffness=None, damping=None, max_force=None):
"""Enable velocity drive for a given joint"""
if target_type == "position":
if not drive.GetTargetPositionAttr():
drive.CreateTargetPositionAttr(target_value)
else:
drive.GetTargetPositionAttr().Set(target_value)
elif target_type == "velocity":
if not drive.GetTargetVelocityAttr():
drive.CreateTargetVelocityAttr(target_value)
else:
drive.GetTargetVelocityAttr().Set(target_value)
if stiffness is not None:
if not drive.GetStiffnessAttr():
drive.CreateStiffnessAttr(stiffness)
else:
drive.GetStiffnessAttr().Set(stiffness)
if damping is not None:
if not drive.GetDampingAttr():
drive.CreateDampingAttr(damping)
else:
drive.GetDampingAttr().Set(damping)
if max_force is not None:
if not drive.GetMaxForceAttr():
drive.CreateMaxForceAttr(max_force)
else:
drive.GetMaxForceAttr().Set(max_force)
|
NVIDIA-Omniverse/urdf-importer-extension/source/extensions/omni.importer.urdf/python/scripts/samples/import_franka.py | # SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
# SPDX-License-Identifier: Apache-2.0
#
# 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 asyncio
import math
import weakref
import omni
import omni.ui as ui
from omni.importer.urdf.scripts.ui import (
btn_builder,
get_style,
make_menu_item_description,
setup_ui_headers,
)
from omni.kit.menu.utils import MenuItemDescription, add_menu_items, remove_menu_items
from omni.kit.viewport.utility.camera_state import ViewportCameraState
from pxr import Gf, PhysicsSchemaTools, PhysxSchema, Sdf, UsdLux, UsdPhysics
from .common import set_drive_parameters
EXTENSION_NAME = "Import Franka"
class Extension(omni.ext.IExt):
def on_startup(self, ext_id: str):
ext_manager = omni.kit.app.get_app().get_extension_manager()
self._ext_id = ext_id
self._extension_path = ext_manager.get_extension_path(ext_id)
self._menu_items = [
MenuItemDescription(
name="Import Robots",
sub_menu=[
make_menu_item_description(ext_id, "Franka URDF", lambda a=weakref.proxy(self): a._menu_callback())
],
)
]
add_menu_items(self._menu_items, "Isaac Examples")
self._build_ui()
def _build_ui(self):
self._window = omni.ui.Window(
EXTENSION_NAME, width=0, height=0, visible=False, dockPreference=ui.DockPreference.LEFT_BOTTOM
)
with self._window.frame:
with ui.VStack(spacing=5, height=0):
title = "Import a Franka Panda via URDF"
doc_link = "https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/ext_omni_isaac_urdf.html"
overview = (
"This Example shows you import a URDF.\n\nPress the 'Open in IDE' button to view the source code."
)
setup_ui_headers(self._ext_id, __file__, title, doc_link, overview)
frame = ui.CollapsableFrame(
title="Command Panel",
height=0,
collapsed=False,
style=get_style(),
style_type_name_override="CollapsableFrame",
horizontal_scrollbar_policy=ui.ScrollBarPolicy.SCROLLBAR_AS_NEEDED,
vertical_scrollbar_policy=ui.ScrollBarPolicy.SCROLLBAR_ALWAYS_ON,
)
with frame:
with ui.VStack(style=get_style(), spacing=5):
dict = {
"label": "Load Robot",
"type": "button",
"text": "Load",
"tooltip": "Load a UR10 Robot into the Scene",
"on_clicked_fn": self._on_load_robot,
}
btn_builder(**dict)
dict = {
"label": "Configure Drives",
"type": "button",
"text": "Configure",
"tooltip": "Configure Joint Drives",
"on_clicked_fn": self._on_config_robot,
}
btn_builder(**dict)
dict = {
"label": "Move to Pose",
"type": "button",
"text": "move",
"tooltip": "Drive the Robot to a specific pose",
"on_clicked_fn": self._on_config_drives,
}
btn_builder(**dict)
def on_shutdown(self):
remove_menu_items(self._menu_items, "Isaac Examples")
self._window = None
def _menu_callback(self):
self._window.visible = not self._window.visible
def _on_load_robot(self):
load_stage = asyncio.ensure_future(omni.usd.get_context().new_stage_async())
asyncio.ensure_future(self._load_franka(load_stage))
async def _load_franka(self, task):
done, pending = await asyncio.wait({task})
if task in done:
status, import_config = omni.kit.commands.execute("URDFCreateImportConfig")
import_config.merge_fixed_joints = False
import_config.fix_base = True
import_config.make_default_prim = True
import_config.create_physics_scene = True
omni.kit.commands.execute(
"URDFParseAndImportFile",
urdf_path=self._extension_path + "/data/urdf/robots/franka_description/robots/panda_arm_hand.urdf",
import_config=import_config,
)
camera_state = ViewportCameraState("/OmniverseKit_Persp")
camera_state.set_position_world(Gf.Vec3d(1.22, -1.24, 1.13), True)
camera_state.set_target_world(Gf.Vec3d(-0.96, 1.08, 0.0), True)
stage = omni.usd.get_context().get_stage()
scene = UsdPhysics.Scene.Define(stage, Sdf.Path("/physicsScene"))
scene.CreateGravityDirectionAttr().Set(Gf.Vec3f(0.0, 0.0, -1.0))
scene.CreateGravityMagnitudeAttr().Set(9.81)
plane_path = "/groundPlane"
PhysicsSchemaTools.addGroundPlane(
stage,
plane_path,
"Z",
1500.0,
Gf.Vec3f(0, 0, 0),
Gf.Vec3f([0.5, 0.5, 0.5]),
)
# make sure the ground plane is under root prim and not robot
omni.kit.commands.execute(
"MovePrimCommand", path_from=plane_path, path_to="/groundPlane", keep_world_transform=True
)
distantLight = UsdLux.DistantLight.Define(stage, Sdf.Path("/DistantLight"))
distantLight.CreateIntensityAttr(500)
def _on_config_robot(self):
stage = omni.usd.get_context().get_stage()
# Set the solver parameters on the articulation
PhysxSchema.PhysxArticulationAPI.Get(stage, "/panda").CreateSolverPositionIterationCountAttr(64)
PhysxSchema.PhysxArticulationAPI.Get(stage, "/panda").CreateSolverVelocityIterationCountAttr(64)
self.joint_1 = UsdPhysics.DriveAPI.Get(stage.GetPrimAtPath("/panda/panda_link0/panda_joint1"), "angular")
self.joint_2 = UsdPhysics.DriveAPI.Get(stage.GetPrimAtPath("/panda/panda_link1/panda_joint2"), "angular")
self.joint_3 = UsdPhysics.DriveAPI.Get(stage.GetPrimAtPath("/panda/panda_link2/panda_joint3"), "angular")
self.joint_4 = UsdPhysics.DriveAPI.Get(stage.GetPrimAtPath("/panda/panda_link3/panda_joint4"), "angular")
self.joint_5 = UsdPhysics.DriveAPI.Get(stage.GetPrimAtPath("/panda/panda_link4/panda_joint5"), "angular")
self.joint_6 = UsdPhysics.DriveAPI.Get(stage.GetPrimAtPath("/panda/panda_link5/panda_joint6"), "angular")
self.joint_7 = UsdPhysics.DriveAPI.Get(stage.GetPrimAtPath("/panda/panda_link6/panda_joint7"), "angular")
self.finger_1 = UsdPhysics.DriveAPI.Get(stage.GetPrimAtPath("/panda/panda_hand/panda_finger_joint1"), "linear")
self.finger_2 = UsdPhysics.DriveAPI.Get(stage.GetPrimAtPath("/panda/panda_hand/panda_finger_joint2"), "linear")
# Set the drive mode, target, stiffness, damping and max force for each joint
set_drive_parameters(self.joint_1, "position", math.degrees(0), math.radians(1e8), math.radians(1e7))
set_drive_parameters(self.joint_2, "position", math.degrees(0), math.radians(1e8), math.radians(1e7))
set_drive_parameters(self.joint_3, "position", math.degrees(0), math.radians(1e8), math.radians(1e7))
set_drive_parameters(self.joint_4, "position", math.degrees(0), math.radians(1e8), math.radians(1e7))
set_drive_parameters(self.joint_5, "position", math.degrees(0), math.radians(1e8), math.radians(1e7))
set_drive_parameters(self.joint_6, "position", math.degrees(0), math.radians(1e8), math.radians(1e7))
set_drive_parameters(self.joint_7, "position", math.degrees(0), math.radians(1e8), math.radians(1e7))
set_drive_parameters(self.finger_1, "position", 0, 1e7, 1e6)
set_drive_parameters(self.finger_2, "position", 0, 1e7, 1e6)
def _on_config_drives(self):
self._on_config_robot() # make sure drives are configured first
# Set the drive mode, target, stiffness, damping and max force for each joint
set_drive_parameters(self.joint_1, "position", math.degrees(0.012))
set_drive_parameters(self.joint_2, "position", math.degrees(-0.57))
set_drive_parameters(self.joint_3, "position", math.degrees(0))
set_drive_parameters(self.joint_4, "position", math.degrees(-2.81))
set_drive_parameters(self.joint_5, "position", math.degrees(0))
set_drive_parameters(self.joint_6, "position", math.degrees(3.037))
set_drive_parameters(self.joint_7, "position", math.degrees(0.741))
set_drive_parameters(self.finger_1, "position", 4)
set_drive_parameters(self.finger_2, "position", 4)
|
NVIDIA-Omniverse/urdf-importer-extension/source/extensions/omni.importer.urdf/python/scripts/samples/import_kaya.py | # SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
# SPDX-License-Identifier: Apache-2.0
#
# 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 asyncio
import math
import weakref
import omni
import omni.kit.commands
import omni.ui as ui
from omni.importer.urdf.scripts.ui import (
btn_builder,
get_style,
make_menu_item_description,
setup_ui_headers,
)
from omni.kit.menu.utils import MenuItemDescription, add_menu_items, remove_menu_items
from omni.kit.viewport.utility.camera_state import ViewportCameraState
from pxr import Gf, PhysicsSchemaTools, Sdf, UsdLux, UsdPhysics
from .common import set_drive_parameters
EXTENSION_NAME = "Import Kaya"
class Extension(omni.ext.IExt):
def on_startup(self, ext_id: str):
ext_manager = omni.kit.app.get_app().get_extension_manager()
self._ext_id = ext_id
self._extension_path = ext_manager.get_extension_path(ext_id)
self._menu_items = [
MenuItemDescription(
name="Import Robots",
sub_menu=[
make_menu_item_description(ext_id, "Kaya URDF", lambda a=weakref.proxy(self): a._menu_callback())
],
)
]
add_menu_items(self._menu_items, "Isaac Examples")
self._build_ui()
def _build_ui(self):
self._window = omni.ui.Window(
EXTENSION_NAME, width=0, height=0, visible=False, dockPreference=ui.DockPreference.LEFT_BOTTOM
)
with self._window.frame:
with ui.VStack(spacing=5, height=0):
title = "Import a Kaya Robot via URDF"
doc_link = "https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/ext_omni_isaac_urdf.html"
overview = "This Example shows you import an NVIDIA Kaya robot via URDF.\n\nPress the 'Open in IDE' button to view the source code."
setup_ui_headers(self._ext_id, __file__, title, doc_link, overview)
frame = ui.CollapsableFrame(
title="Command Panel",
height=0,
collapsed=False,
style=get_style(),
style_type_name_override="CollapsableFrame",
horizontal_scrollbar_policy=ui.ScrollBarPolicy.SCROLLBAR_AS_NEEDED,
vertical_scrollbar_policy=ui.ScrollBarPolicy.SCROLLBAR_ALWAYS_ON,
)
with frame:
with ui.VStack(style=get_style(), spacing=5):
dict = {
"label": "Load Robot",
"type": "button",
"text": "Load",
"tooltip": "Load a UR10 Robot into the Scene",
"on_clicked_fn": self._on_load_robot,
}
btn_builder(**dict)
dict = {
"label": "Configure Drives",
"type": "button",
"text": "Configure",
"tooltip": "Configure Joint Drives",
"on_clicked_fn": self._on_config_robot,
}
btn_builder(**dict)
dict = {
"label": "Spin Robot",
"type": "button",
"text": "move",
"tooltip": "Spin the Robot in Place",
"on_clicked_fn": self._on_config_drives,
}
btn_builder(**dict)
def on_shutdown(self):
remove_menu_items(self._menu_items, "Isaac Examples")
self._window = None
def _menu_callback(self):
self._window.visible = not self._window.visible
def _on_load_robot(self):
load_stage = asyncio.ensure_future(omni.usd.get_context().new_stage_async())
asyncio.ensure_future(self._load_kaya(load_stage))
async def _load_kaya(self, task):
done, pending = await asyncio.wait({task})
if task in done:
status, import_config = omni.kit.commands.execute("URDFCreateImportConfig")
import_config.merge_fixed_joints = True
import_config.import_inertia_tensor = False
# import_config.distance_scale = 1.0
import_config.fix_base = False
import_config.make_default_prim = True
import_config.create_physics_scene = True
omni.kit.commands.execute(
"URDFParseAndImportFile",
urdf_path=self._extension_path + "/data/urdf/robots/kaya/urdf/kaya.urdf",
import_config=import_config,
)
camera_state = ViewportCameraState("/OmniverseKit_Persp")
camera_state.set_position_world(Gf.Vec3d(-1.0, 1.5, 0.5), True)
camera_state.set_target_world(Gf.Vec3d(0.0, 0.0, 0.0), True)
stage = omni.usd.get_context().get_stage()
scene = UsdPhysics.Scene.Define(stage, Sdf.Path("/physicsScene"))
scene.CreateGravityDirectionAttr().Set(Gf.Vec3f(0.0, 0.0, -1.0))
scene.CreateGravityMagnitudeAttr().Set(9.81)
plane_path = "/groundPlane"
PhysicsSchemaTools.addGroundPlane(
stage, plane_path, "Z", 1500.0, Gf.Vec3f(0, 0, -0.25), Gf.Vec3f([0.5, 0.5, 0.5])
)
# make sure the ground plane is under root prim and not robot
omni.kit.commands.execute(
"MovePrimCommand", path_from=plane_path, path_to="/groundPlane", keep_world_transform=True
)
distantLight = UsdLux.DistantLight.Define(stage, Sdf.Path("/DistantLight"))
distantLight.CreateIntensityAttr(500)
def _on_config_robot(self):
stage = omni.usd.get_context().get_stage()
# Make all rollers spin freely by removing extra drive API
for axle in range(0, 2 + 1):
for ring in range(0, 1 + 1):
for roller in range(0, 4 + 1):
prim_path = (
"/kaya/axle_"
+ str(axle)
+ "/roller_"
+ str(axle)
+ "_"
+ str(ring)
+ "_"
+ str(roller)
+ "_joint"
)
prim = stage.GetPrimAtPath(prim_path)
# omni.kit.commands.execute(
# "UnapplyAPISchemaCommand",
# api=UsdPhysics.DriveAPI,
# prim=prim,
# api_prefix="drive",
# multiple_api_token="angular",
# )
prim.RemoveAPI(UsdPhysics.DriveAPI, "angular")
def _on_config_drives(self):
self._on_config_robot() # make sure drives are configured first
stage = omni.usd.get_context().get_stage()
# set each axis to spin at a rate of 1 rad/s
axle_0 = UsdPhysics.DriveAPI.Get(stage.GetPrimAtPath("/kaya/base_link/axle_0_joint"), "angular")
axle_1 = UsdPhysics.DriveAPI.Get(stage.GetPrimAtPath("/kaya/base_link/axle_1_joint"), "angular")
axle_2 = UsdPhysics.DriveAPI.Get(stage.GetPrimAtPath("/kaya/base_link/axle_2_joint"), "angular")
set_drive_parameters(axle_0, "velocity", math.degrees(1), 0, math.radians(1e7))
set_drive_parameters(axle_1, "velocity", math.degrees(1), 0, math.radians(1e7))
set_drive_parameters(axle_2, "velocity", math.degrees(1), 0, math.radians(1e7))
|
NVIDIA-Omniverse/urdf-importer-extension/source/extensions/omni.importer.urdf/python/scripts/samples/import_carter.py | # SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
# SPDX-License-Identifier: Apache-2.0
#
# 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 asyncio
import math
import weakref
import omni
import omni.kit.commands
import omni.ui as ui
from omni.importer.urdf.scripts.ui import (
btn_builder,
get_style,
make_menu_item_description,
setup_ui_headers,
)
from omni.kit.menu.utils import MenuItemDescription, add_menu_items, remove_menu_items
from omni.kit.viewport.utility.camera_state import ViewportCameraState
from pxr import Gf, PhysicsSchemaTools, Sdf, UsdLux, UsdPhysics
from .common import set_drive_parameters
EXTENSION_NAME = "Import Carter"
class Extension(omni.ext.IExt):
def on_startup(self, ext_id: str):
ext_manager = omni.kit.app.get_app().get_extension_manager()
self._ext_id = ext_id
self._extension_path = ext_manager.get_extension_path(ext_id)
self._menu_items = [
MenuItemDescription(
name="Import Robots",
sub_menu=[
make_menu_item_description(ext_id, "Carter URDF", lambda a=weakref.proxy(self): a._menu_callback())
],
)
]
add_menu_items(self._menu_items, "Isaac Examples")
self._build_ui()
def _build_ui(self):
self._window = omni.ui.Window(
EXTENSION_NAME, width=0, height=0, visible=False, dockPreference=ui.DockPreference.LEFT_BOTTOM
)
with self._window.frame:
with ui.VStack(spacing=5, height=0):
title = "Import a UR10 via URDF"
doc_link = "https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/ext_omni_isaac_urdf.html"
overview = "This Example shows how to import a URDF in Isaac Sim.\n\nPress the 'Open in IDE' button to view the source code."
setup_ui_headers(self._ext_id, __file__, title, doc_link, overview)
frame = ui.CollapsableFrame(
title="Command Panel",
height=0,
collapsed=False,
style=get_style(),
style_type_name_override="CollapsableFrame",
horizontal_scrollbar_policy=ui.ScrollBarPolicy.SCROLLBAR_AS_NEEDED,
vertical_scrollbar_policy=ui.ScrollBarPolicy.SCROLLBAR_ALWAYS_ON,
)
with frame:
with ui.VStack(style=get_style(), spacing=5):
dict = {
"label": "Load Robot",
"type": "button",
"text": "Load",
"tooltip": "Load a NVIDIA Carter robot into the Scene",
"on_clicked_fn": self._on_load_robot,
}
btn_builder(**dict)
dict = {
"label": "Configure Drives",
"type": "button",
"text": "Configure",
"tooltip": "Configure Wheel Drives",
"on_clicked_fn": self._on_config_robot,
}
btn_builder(**dict)
dict = {
"label": "Move to Pose",
"type": "button",
"text": "move",
"tooltip": "Drive the Robot to a specific pose",
"on_clicked_fn": self._on_config_drives,
}
btn_builder(**dict)
def on_shutdown(self):
remove_menu_items(self._menu_items, "Isaac Examples")
self._window = None
def _menu_callback(self):
self._window.visible = not self._window.visible
def _on_load_robot(self):
load_stage = asyncio.ensure_future(omni.usd.get_context().new_stage_async())
asyncio.ensure_future(self._load_carter(load_stage))
async def _load_carter(self, task):
done, pending = await asyncio.wait({task})
if task in done:
status, import_config = omni.kit.commands.execute("URDFCreateImportConfig")
import_config.merge_fixed_joints = False
import_config.fix_base = False
import_config.make_default_prim = True
import_config.create_physics_scene = True
omni.kit.commands.execute(
"URDFParseAndImportFile",
urdf_path=self._extension_path + "/data/urdf/robots/carter/urdf/carter.urdf",
import_config=import_config,
)
camera_state = ViewportCameraState("/OmniverseKit_Persp")
camera_state.set_position_world(Gf.Vec3d(3.00, -3.50, 1.13), True)
camera_state.set_target_world(Gf.Vec3d(-0.96, 1.08, -0.20), True)
stage = omni.usd.get_context().get_stage()
scene = UsdPhysics.Scene.Define(stage, Sdf.Path("/physicsScene"))
scene.CreateGravityDirectionAttr().Set(Gf.Vec3f(0.0, 0.0, -1.0))
scene.CreateGravityMagnitudeAttr().Set(9.81)
plane_path = "/groundPlane"
PhysicsSchemaTools.addGroundPlane(
stage, plane_path, "Z", 1500.0, Gf.Vec3f(0, 0, -0.50), Gf.Vec3f([0.5, 0.5, 0.5])
)
# make sure the ground plane is under root prim and not robot
omni.kit.commands.execute(
"MovePrimCommand", path_from=plane_path, path_to="/groundPlane", keep_world_transform=True
)
distantLight = UsdLux.DistantLight.Define(stage, Sdf.Path("/DistantLight"))
distantLight.CreateIntensityAttr(500)
def _on_config_robot(self):
stage = omni.usd.get_context().get_stage()
# Remove drive from rear wheel and pivot
prim = stage.GetPrimAtPath("/carter/chassis_link/rear_pivot")
# omni.kit.commands.execute(
# "UnapplyAPISchemaCommand",
# api=UsdPhysics.DriveAPI,
# prim=prim,
# api_prefix="drive",
# multiple_api_token="angular",
# )
prim.RemoveAPI(UsdPhysics.DriveAPI, "angular")
prim = stage.GetPrimAtPath("/carter/rear_pivot_link/rear_axle")
# omni.kit.commands.execute(
# "UnapplyAPISchemaCommand",
# api=UsdPhysics.DriveAPI,
# prim=prim,
# api_prefix="drive",
# multiple_api_token="angular",
# )
prim.RemoveAPI(UsdPhysics.DriveAPI, "angular")
def _on_config_drives(self):
self._on_config_robot() # make sure drives are configured first
stage = omni.usd.get_context().get_stage()
left_wheel_drive = UsdPhysics.DriveAPI.Get(stage.GetPrimAtPath("/carter/chassis_link/left_wheel"), "angular")
right_wheel_drive = UsdPhysics.DriveAPI.Get(stage.GetPrimAtPath("/carter/chassis_link/right_wheel"), "angular")
# Drive forward
set_drive_parameters(left_wheel_drive, "velocity", math.degrees(2.5), 0, math.radians(1e8))
set_drive_parameters(right_wheel_drive, "velocity", math.degrees(2.5), 0, math.radians(1e8))
|
NVIDIA-Omniverse/urdf-importer-extension/source/extensions/omni.importer.urdf/python/scripts/samples/import_ur10.py | # SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
# SPDX-License-Identifier: Apache-2.0
#
# 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 asyncio
import math
import weakref
import omni
import omni.ui as ui
from omni.importer.urdf.scripts.ui import (
btn_builder,
get_style,
make_menu_item_description,
setup_ui_headers,
)
from omni.kit.menu.utils import MenuItemDescription, add_menu_items, remove_menu_items
from omni.kit.viewport.utility.camera_state import ViewportCameraState
from pxr import Gf, PhysxSchema, Sdf, UsdLux, UsdPhysics
from .common import set_drive_parameters
EXTENSION_NAME = "Import UR10"
class Extension(omni.ext.IExt):
def on_startup(self, ext_id: str):
"""Initialize extension and UI elements"""
ext_manager = omni.kit.app.get_app().get_extension_manager()
self._ext_id = ext_id
self._extension_path = ext_manager.get_extension_path(ext_id)
self._menu_items = [
MenuItemDescription(
name="Import Robots",
sub_menu=[
make_menu_item_description(ext_id, "UR10 URDF", lambda a=weakref.proxy(self): a._menu_callback())
],
)
]
add_menu_items(self._menu_items, "Isaac Examples")
self._build_ui()
def _build_ui(self):
self._window = omni.ui.Window(
EXTENSION_NAME, width=0, height=0, visible=False, dockPreference=ui.DockPreference.LEFT_BOTTOM
)
with self._window.frame:
with ui.VStack(spacing=5, height=0):
title = "Import a UR10 via URDF"
doc_link = "https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/ext_omni_isaac_urdf.html"
overview = "This Example shows you import a UR10 robot arm via URDF.\n\nPress the 'Open in IDE' button to view the source code."
setup_ui_headers(self._ext_id, __file__, title, doc_link, overview)
frame = ui.CollapsableFrame(
title="Command Panel",
height=0,
collapsed=False,
style=get_style(),
style_type_name_override="CollapsableFrame",
horizontal_scrollbar_policy=ui.ScrollBarPolicy.SCROLLBAR_AS_NEEDED,
vertical_scrollbar_policy=ui.ScrollBarPolicy.SCROLLBAR_ALWAYS_ON,
)
with frame:
with ui.VStack(style=get_style(), spacing=5):
dict = {
"label": "Load Robot",
"type": "button",
"text": "Load",
"tooltip": "Load a UR10 Robot into the Scene",
"on_clicked_fn": self._on_load_robot,
}
btn_builder(**dict)
dict = {
"label": "Configure Drives",
"type": "button",
"text": "Configure",
"tooltip": "Configure Joint Drives",
"on_clicked_fn": self._on_config_robot,
}
btn_builder(**dict)
dict = {
"label": "Move to Pose",
"type": "button",
"text": "move",
"tooltip": "Drive the Robot to a specific pose",
"on_clicked_fn": self._on_config_drives,
}
btn_builder(**dict)
def on_shutdown(self):
remove_menu_items(self._menu_items, "Isaac Examples")
self._window = None
def _menu_callback(self):
self._window.visible = not self._window.visible
def _on_load_robot(self):
load_stage = asyncio.ensure_future(omni.usd.get_context().new_stage_async())
asyncio.ensure_future(self._load_robot(load_stage))
async def _load_robot(self, task):
done, pending = await asyncio.wait({task})
if task in done:
status, import_config = omni.kit.commands.execute("URDFCreateImportConfig")
import_config.merge_fixed_joints = False
import_config.fix_base = True
import_config.make_default_prim = True
import_config.create_physics_scene = True
omni.kit.commands.execute(
"URDFParseAndImportFile",
urdf_path=self._extension_path + "/data/urdf/robots/ur10/urdf/ur10.urdf",
import_config=import_config,
)
camera_state = ViewportCameraState("/OmniverseKit_Persp")
camera_state.set_position_world(Gf.Vec3d(2.0, -2.0, 0.5), True)
camera_state.set_target_world(Gf.Vec3d(0.0, 0.0, 0.0), True)
stage = omni.usd.get_context().get_stage()
scene = UsdPhysics.Scene.Define(stage, Sdf.Path("/physicsScene"))
scene.CreateGravityDirectionAttr().Set(Gf.Vec3f(0.0, 0.0, -1.0))
scene.CreateGravityMagnitudeAttr().Set(9.81)
distantLight = UsdLux.DistantLight.Define(stage, Sdf.Path("/DistantLight"))
distantLight.CreateIntensityAttr(500)
def _on_config_robot(self):
stage = omni.usd.get_context().get_stage()
PhysxSchema.PhysxArticulationAPI.Get(stage, "/ur10").CreateSolverPositionIterationCountAttr(64)
PhysxSchema.PhysxArticulationAPI.Get(stage, "/ur10").CreateSolverVelocityIterationCountAttr(64)
self.joint_1 = UsdPhysics.DriveAPI.Get(stage.GetPrimAtPath("/ur10/base_link/shoulder_pan_joint"), "angular")
self.joint_2 = UsdPhysics.DriveAPI.Get(
stage.GetPrimAtPath("/ur10/shoulder_link/shoulder_lift_joint"), "angular"
)
self.joint_3 = UsdPhysics.DriveAPI.Get(stage.GetPrimAtPath("/ur10/upper_arm_link/elbow_joint"), "angular")
self.joint_4 = UsdPhysics.DriveAPI.Get(stage.GetPrimAtPath("/ur10/forearm_link/wrist_1_joint"), "angular")
self.joint_5 = UsdPhysics.DriveAPI.Get(stage.GetPrimAtPath("/ur10/wrist_1_link/wrist_2_joint"), "angular")
self.joint_6 = UsdPhysics.DriveAPI.Get(stage.GetPrimAtPath("/ur10/wrist_2_link/wrist_3_joint"), "angular")
# Set the drive mode, target, stiffness, damping and max force for each joint
set_drive_parameters(self.joint_1, "position", math.degrees(0), math.radians(1e8), math.radians(5e7))
set_drive_parameters(self.joint_2, "position", math.degrees(0), math.radians(1e8), math.radians(5e7))
set_drive_parameters(self.joint_3, "position", math.degrees(0), math.radians(1e8), math.radians(5e7))
set_drive_parameters(self.joint_4, "position", math.degrees(0), math.radians(1e8), math.radians(5e7))
set_drive_parameters(self.joint_5, "position", math.degrees(0), math.radians(1e8), math.radians(5e7))
set_drive_parameters(self.joint_6, "position", math.degrees(0), math.radians(1e8), math.radians(5e7))
def _on_config_drives(self):
self._on_config_robot() # make sure drives are configured first
set_drive_parameters(self.joint_1, "position", 45)
set_drive_parameters(self.joint_2, "position", 45)
set_drive_parameters(self.joint_3, "position", 45)
set_drive_parameters(self.joint_4, "position", 45)
set_drive_parameters(self.joint_5, "position", 45)
set_drive_parameters(self.joint_6, "position", 45)
|
NVIDIA-Omniverse/urdf-importer-extension/source/extensions/omni.importer.urdf/python/tests/test_urdf.py | # SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
# SPDX-License-Identifier: Apache-2.0
#
# 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 asyncio
import os
import numpy as np
import omni.kit.commands
# NOTE:
# omni.kit.test - std python's unittest module with additional wrapping to add suport for async/await tests
# For most things refer to unittest docs: https://docs.python.org/3/library/unittest.html
import omni.kit.test
import pxr
from pxr import Gf, PhysicsSchemaTools, Sdf, UsdGeom, UsdPhysics, UsdShade
# Having a test class dervived from omni.kit.test.AsyncTestCase declared on the root of module will make it auto-discoverable by omni.kit.test
class TestUrdf(omni.kit.test.AsyncTestCase):
# Before running each test
async def setUp(self):
self._timeline = omni.timeline.get_timeline_interface()
ext_manager = omni.kit.app.get_app().get_extension_manager()
ext_id = ext_manager.get_enabled_extension_id("omni.importer.urdf")
self._extension_path = ext_manager.get_extension_path(ext_id)
self.dest_path = os.path.abspath(self._extension_path + "/tests_out")
await omni.usd.get_context().new_stage_async()
await omni.kit.app.get_app().next_update_async()
pass
# After running each test
async def tearDown(self):
# _urdf.release_urdf_interface(self._urdf_interface)
await omni.kit.app.get_app().next_update_async()
pass
# Tests to make sure visual mesh names are incremented
async def test_urdf_mesh_naming(self):
urdf_path = os.path.abspath(self._extension_path + "/data/urdf/tests/test_names.urdf")
stage = omni.usd.get_context().get_stage()
status, import_config = omni.kit.commands.execute("URDFCreateImportConfig")
import_config.merge_fixed_joints = True
omni.kit.commands.execute("URDFParseAndImportFile", urdf_path=urdf_path, import_config=import_config)
prim = stage.GetPrimAtPath("/test_names/cube/visuals")
prim_range = prim.GetChildren()
# There should be a total of 6 visual meshes after import
self.assertEqual(len(prim_range), 6)
# basic urdf test: joints and links are imported correctly
async def test_urdf_basic(self):
urdf_path = os.path.abspath(self._extension_path + "/data/urdf/tests/test_basic.urdf")
stage = omni.usd.get_context().get_stage()
status, import_config = omni.kit.commands.execute("URDFCreateImportConfig")
import_config.import_inertia_tensor = True
omni.kit.commands.execute("URDFParseAndImportFile", urdf_path=urdf_path, import_config=import_config)
await omni.kit.app.get_app().next_update_async()
prim = stage.GetPrimAtPath("/test_basic")
self.assertNotEqual(prim.GetPath(), Sdf.Path.emptyPath)
# make sure the joints exist
root_joint = stage.GetPrimAtPath("/test_basic/root_joint")
self.assertNotEqual(root_joint.GetPath(), Sdf.Path.emptyPath)
wristJoint = stage.GetPrimAtPath("/test_basic/link_2/wrist_joint")
self.assertNotEqual(wristJoint.GetPath(), Sdf.Path.emptyPath)
self.assertEqual(wristJoint.GetTypeName(), "PhysicsRevoluteJoint")
fingerJoint = stage.GetPrimAtPath("/test_basic/palm_link/finger_1_joint")
self.assertNotEqual(fingerJoint.GetPath(), Sdf.Path.emptyPath)
self.assertEqual(fingerJoint.GetTypeName(), "PhysicsPrismaticJoint")
self.assertAlmostEqual(fingerJoint.GetAttribute("physics:upperLimit").Get(), 0.08)
fingerLink = stage.GetPrimAtPath("/test_basic/finger_link_2")
self.assertAlmostEqual(fingerLink.GetAttribute("physics:diagonalInertia").Get()[0], 2.0)
self.assertAlmostEqual(fingerLink.GetAttribute("physics:mass").Get(), 3)
# Start Simulation and wait
self._timeline.play()
await omni.kit.app.get_app().next_update_async()
await asyncio.sleep(1.0)
# nothing crashes
self._timeline.stop()
self.assertAlmostEqual(UsdGeom.GetStageMetersPerUnit(stage), 1.0)
pass
async def test_urdf_save_to_file(self):
urdf_path = os.path.abspath(self._extension_path + "/data/urdf/tests/test_basic.urdf")
dest_path = os.path.abspath(self.dest_path + "/test_basic.usd")
status, import_config = omni.kit.commands.execute("URDFCreateImportConfig")
import_config.import_inertia_tensor = True
omni.kit.commands.execute(
"URDFParseAndImportFile", urdf_path=urdf_path, import_config=import_config, dest_path=dest_path
)
await omni.kit.app.get_app().next_update_async()
stage = pxr.Usd.Stage.Open(dest_path)
prim = stage.GetPrimAtPath("/test_basic")
self.assertNotEqual(prim.GetPath(), Sdf.Path.emptyPath)
# make sure the joints exist
root_joint = stage.GetPrimAtPath("/test_basic/root_joint")
self.assertNotEqual(root_joint.GetPath(), Sdf.Path.emptyPath)
wristJoint = stage.GetPrimAtPath("/test_basic/link_2/wrist_joint")
self.assertNotEqual(wristJoint.GetPath(), Sdf.Path.emptyPath)
self.assertEqual(wristJoint.GetTypeName(), "PhysicsRevoluteJoint")
fingerJoint = stage.GetPrimAtPath("/test_basic/palm_link/finger_1_joint")
self.assertNotEqual(fingerJoint.GetPath(), Sdf.Path.emptyPath)
self.assertEqual(fingerJoint.GetTypeName(), "PhysicsPrismaticJoint")
self.assertAlmostEqual(fingerJoint.GetAttribute("physics:upperLimit").Get(), 0.08)
fingerLink = stage.GetPrimAtPath("/test_basic/finger_link_2")
self.assertAlmostEqual(fingerLink.GetAttribute("physics:diagonalInertia").Get()[0], 2.0)
self.assertAlmostEqual(fingerLink.GetAttribute("physics:mass").Get(), 3)
self.assertAlmostEqual(UsdGeom.GetStageMetersPerUnit(stage), 1.0)
stage = None
pass
async def test_urdf_textured_obj(self):
base_path = self._extension_path + "/data/urdf/tests/test_textures_urdf"
basename = "cube_obj"
dest_path = "{}/{}/{}.usd".format(self.dest_path, basename, basename)
mats_path = "{}/{}/materials".format(self.dest_path, basename)
omni.client.create_folder("{}/{}".format(self.dest_path, basename))
omni.client.create_folder(mats_path)
urdf_path = "{}/{}.urdf".format(base_path, basename)
status, import_config = omni.kit.commands.execute("URDFCreateImportConfig")
omni.kit.commands.execute(
"URDFParseAndImportFile", urdf_path=urdf_path, import_config=import_config, dest_path=dest_path
)
await omni.kit.app.get_app().next_update_async()
result = omni.client.list(mats_path)
self.assertEqual(result[0], omni.client._omniclient.Result.OK)
self.assertEqual(len(result[1]), 4) # Metallic texture is unsuported by assimp on OBJ
pass
async def test_urdf_textured_in_memory(self):
base_path = self._extension_path + "/data/urdf/tests/test_textures_urdf"
basename = "cube_obj"
urdf_path = "{}/{}.urdf".format(base_path, basename)
status, import_config = omni.kit.commands.execute("URDFCreateImportConfig")
omni.kit.commands.execute("URDFParseAndImportFile", urdf_path=urdf_path, import_config=import_config)
await omni.kit.app.get_app().next_update_async()
pass
async def test_urdf_textured_dae(self):
base_path = self._extension_path + "/data/urdf/tests/test_textures_urdf"
basename = "cube_dae"
dest_path = "{}/{}/{}.usd".format(self.dest_path, basename, basename)
mats_path = "{}/{}/materials".format(self.dest_path, basename)
omni.client.create_folder("{}/{}".format(self.dest_path, basename))
omni.client.create_folder(mats_path)
urdf_path = "{}/{}.urdf".format(base_path, basename)
status, import_config = omni.kit.commands.execute("URDFCreateImportConfig")
omni.kit.commands.execute(
"URDFParseAndImportFile", urdf_path=urdf_path, import_config=import_config, dest_path=dest_path
)
await omni.kit.app.get_app().next_update_async()
result = omni.client.list(mats_path)
self.assertEqual(result[0], omni.client._omniclient.Result.OK)
self.assertEqual(len(result[1]), 1) # only albedo is supported for Collada
pass
async def test_urdf_overwrite_file(self):
urdf_path = os.path.abspath(self._extension_path + "/data/urdf/tests/test_basic.urdf")
dest_path = os.path.abspath(self._extension_path + "/data/urdf/tests/tests_out/test_basic.usd")
status, import_config = omni.kit.commands.execute("URDFCreateImportConfig")
import_config.import_inertia_tensor = True
omni.kit.commands.execute(
"URDFParseAndImportFile", urdf_path=urdf_path, import_config=import_config, dest_path=dest_path
)
await omni.kit.app.get_app().next_update_async()
omni.kit.commands.execute(
"URDFParseAndImportFile", urdf_path=urdf_path, import_config=import_config, dest_path=dest_path
)
await omni.kit.app.get_app().next_update_async()
stage = pxr.Usd.Stage.Open(dest_path)
prim = stage.GetPrimAtPath("/test_basic")
self.assertNotEqual(prim.GetPath(), Sdf.Path.emptyPath)
# make sure the joints exist
root_joint = stage.GetPrimAtPath("/test_basic/root_joint")
self.assertNotEqual(root_joint.GetPath(), Sdf.Path.emptyPath)
wristJoint = stage.GetPrimAtPath("/test_basic/link_2/wrist_joint")
self.assertNotEqual(wristJoint.GetPath(), Sdf.Path.emptyPath)
self.assertEqual(wristJoint.GetTypeName(), "PhysicsRevoluteJoint")
fingerJoint = stage.GetPrimAtPath("/test_basic/palm_link/finger_1_joint")
self.assertNotEqual(fingerJoint.GetPath(), Sdf.Path.emptyPath)
self.assertEqual(fingerJoint.GetTypeName(), "PhysicsPrismaticJoint")
self.assertAlmostEqual(fingerJoint.GetAttribute("physics:upperLimit").Get(), 0.08)
fingerLink = stage.GetPrimAtPath("/test_basic/finger_link_2")
self.assertAlmostEqual(fingerLink.GetAttribute("physics:diagonalInertia").Get()[0], 2.0)
self.assertAlmostEqual(fingerLink.GetAttribute("physics:mass").Get(), 3)
# Start Simulation and wait
self._timeline.play()
await omni.kit.app.get_app().next_update_async()
await asyncio.sleep(1.0)
# nothing crashes
self._timeline.stop()
self.assertAlmostEqual(UsdGeom.GetStageMetersPerUnit(stage), 1.0)
stage = None
pass
# advanced urdf test: test for all the categories of inputs that an urdf can hold
async def test_urdf_advanced(self):
urdf_path = os.path.abspath(self._extension_path + "/data/urdf/tests/test_advanced.urdf")
stage = omni.usd.get_context().get_stage()
# enable merging fixed joints
status, import_config = omni.kit.commands.execute("URDFCreateImportConfig")
import_config.merge_fixed_joints = True
import_config.default_position_drive_damping = -1 # ignore this setting by making it -1
omni.kit.commands.execute("URDFParseAndImportFile", urdf_path=urdf_path, import_config=import_config)
await omni.kit.app.get_app().next_update_async()
# check if object is there
prim = stage.GetPrimAtPath("/test_advanced")
self.assertNotEqual(prim.GetPath(), Sdf.Path.emptyPath)
# check color are imported
mesh = stage.GetPrimAtPath("/test_advanced/link_1/visuals")
self.assertNotEqual(mesh.GetPath(), Sdf.Path.emptyPath)
mat, rel = UsdShade.MaterialBindingAPI(mesh).ComputeBoundMaterial()
shader = UsdShade.Shader(stage.GetPrimAtPath(mat.GetPath().pathString + "/Shader"))
self.assertTrue(Gf.IsClose(shader.GetInput("diffuse_color_constant").Get(), Gf.Vec3f(0, 0.8, 0), 1e-5))
# check joint properties
elbowPrim = stage.GetPrimAtPath("/test_advanced/link_1/elbow_joint")
self.assertNotEqual(elbowPrim.GetPath(), Sdf.Path.emptyPath)
self.assertAlmostEqual(elbowPrim.GetAttribute("physxJoint:jointFriction").Get(), 0.1)
self.assertAlmostEqual(elbowPrim.GetAttribute("drive:angular:physics:damping").Get(), 0.1)
# check position of a link
joint_pos = elbowPrim.GetAttribute("physics:localPos0").Get()
self.assertTrue(Gf.IsClose(joint_pos, Gf.Vec3f(0, 0, 0.40), 1e-5))
# Start Simulation and wait
self._timeline.play()
await omni.kit.app.get_app().next_update_async()
await asyncio.sleep(1.0)
# nothing crashes
self._timeline.stop()
pass
# test for importing urdf where fixed joints are merged
async def test_urdf_merge_joints(self):
urdf_path = os.path.abspath(self._extension_path + "/data/urdf/tests/test_merge_joints.urdf")
stage = omni.usd.get_context().get_stage()
# enable merging fixed joints
status, import_config = omni.kit.commands.execute("URDFCreateImportConfig")
import_config.merge_fixed_joints = True
omni.kit.commands.execute("URDFParseAndImportFile", urdf_path=urdf_path, import_config=import_config)
# the merged link shouldn't be there
prim = stage.GetPrimAtPath("/test_merge_joints/link_2")
self.assertEqual(prim.GetPath(), Sdf.Path.emptyPath)
pass
async def test_urdf_mtl(self):
urdf_path = os.path.abspath(self._extension_path + "/data/urdf/tests/test_mtl.urdf")
stage = omni.usd.get_context().get_stage()
status, import_config = omni.kit.commands.execute("URDFCreateImportConfig")
omni.kit.commands.execute("URDFParseAndImportFile", urdf_path=urdf_path, import_config=import_config)
mesh = stage.GetPrimAtPath("/test_mtl/cube/visuals")
self.assertTrue(UsdShade.MaterialBindingAPI(mesh) is not None)
mat, rel = UsdShade.MaterialBindingAPI(mesh).ComputeBoundMaterial()
shader = UsdShade.Shader(stage.GetPrimAtPath(mat.GetPath().pathString + "/Shader"))
print(shader)
self.assertTrue(Gf.IsClose(shader.GetInput("diffuse_color_constant").Get(), Gf.Vec3f(0.8, 0.0, 0), 1e-5))
async def test_urdf_material(self):
urdf_path = os.path.abspath(self._extension_path + "/data/urdf/tests/test_material.urdf")
stage = omni.usd.get_context().get_stage()
status, import_config = omni.kit.commands.execute("URDFCreateImportConfig")
omni.kit.commands.execute("URDFParseAndImportFile", urdf_path=urdf_path, import_config=import_config)
mesh = stage.GetPrimAtPath("/test_material/base/visuals")
self.assertTrue(UsdShade.MaterialBindingAPI(mesh) is not None)
mat, rel = UsdShade.MaterialBindingAPI(mesh).ComputeBoundMaterial()
shader = UsdShade.Shader(stage.GetPrimAtPath(mat.GetPath().pathString + "/Shader"))
print(shader)
self.assertTrue(Gf.IsClose(shader.GetInput("diffuse_color_constant").Get(), Gf.Vec3f(1.0, 0.0, 0.0), 1e-5))
async def test_urdf_mtl_stl(self):
urdf_path = os.path.abspath(self._extension_path + "/data/urdf/tests/test_mtl_stl.urdf")
stage = omni.usd.get_context().get_stage()
status, import_config = omni.kit.commands.execute("URDFCreateImportConfig")
omni.kit.commands.execute("URDFParseAndImportFile", urdf_path=urdf_path, import_config=import_config)
mesh = stage.GetPrimAtPath("/test_mtl_stl/cube/visuals")
self.assertTrue(UsdShade.MaterialBindingAPI(mesh) is not None)
mat, rel = UsdShade.MaterialBindingAPI(mesh).ComputeBoundMaterial()
shader = UsdShade.Shader(stage.GetPrimAtPath(mat.GetPath().pathString + "/Shader"))
print(shader)
self.assertTrue(Gf.IsClose(shader.GetInput("diffuse_color_constant").Get(), Gf.Vec3f(0.8, 0.0, 0), 1e-5))
async def test_urdf_carter(self):
urdf_path = os.path.abspath(self._extension_path + "/data/urdf/robots/carter/urdf/carter.urdf")
status, import_config = omni.kit.commands.execute("URDFCreateImportConfig")
import_config.merge_fixed_joints = False
status, path = omni.kit.commands.execute(
"URDFParseAndImportFile", urdf_path=urdf_path, import_config=import_config
)
self.assertTrue(path, "/carter")
# TODO add checks here
async def test_urdf_franka(self):
urdf_path = os.path.abspath(
self._extension_path + "/data/urdf/robots/franka_description/robots/panda_arm_hand.urdf"
)
status, import_config = omni.kit.commands.execute("URDFCreateImportConfig")
omni.kit.commands.execute("URDFParseAndImportFile", urdf_path=urdf_path, import_config=import_config)
# TODO add checks here'
async def test_urdf_ur10(self):
urdf_path = os.path.abspath(self._extension_path + "/data/urdf/robots/ur10/urdf/ur10.urdf")
status, import_config = omni.kit.commands.execute("URDFCreateImportConfig")
omni.kit.commands.execute("URDFParseAndImportFile", urdf_path=urdf_path, import_config=import_config)
# TODO add checks here'
async def test_urdf_kaya(self):
urdf_path = os.path.abspath(self._extension_path + "/data/urdf/robots/kaya/urdf/kaya.urdf")
status, import_config = omni.kit.commands.execute("URDFCreateImportConfig")
import_config.merge_fixed_joints = False
omni.kit.commands.execute("URDFParseAndImportFile", urdf_path=urdf_path, import_config=import_config)
# TODO add checks here
async def test_missing(self):
urdf_path = os.path.abspath(self._extension_path + "/data/urdf/tests/test_missing.urdf")
status, import_config = omni.kit.commands.execute("URDFCreateImportConfig")
omni.kit.commands.execute("URDFParseAndImportFile", urdf_path=urdf_path, import_config=import_config)
# This sample corresponds to the example in the docs, keep this and the version in the docs in sync
async def test_doc_sample(self):
import omni.kit.commands
from pxr import Gf, Sdf, UsdLux, UsdPhysics
# setting up import configuration:
status, import_config = omni.kit.commands.execute("URDFCreateImportConfig")
import_config.merge_fixed_joints = False
import_config.convex_decomp = False
import_config.import_inertia_tensor = True
import_config.fix_base = False
# Get path to extension data:
ext_manager = omni.kit.app.get_app().get_extension_manager()
ext_id = ext_manager.get_enabled_extension_id("omni.importer.urdf")
extension_path = ext_manager.get_extension_path(ext_id)
# import URDF
omni.kit.commands.execute(
"URDFParseAndImportFile",
urdf_path=extension_path + "/data/urdf/robots/carter/urdf/carter.urdf",
import_config=import_config,
)
# get stage handle
stage = omni.usd.get_context().get_stage()
# enable physics
scene = UsdPhysics.Scene.Define(stage, Sdf.Path("/physicsScene"))
# set gravity
scene.CreateGravityDirectionAttr().Set(Gf.Vec3f(0.0, 0.0, -1.0))
scene.CreateGravityMagnitudeAttr().Set(9.81)
# add ground plane
PhysicsSchemaTools.addGroundPlane(stage, "/World/groundPlane", "Z", 1500, Gf.Vec3f(0, 0, -50), Gf.Vec3f(0.5))
# add lighting
distantLight = UsdLux.DistantLight.Define(stage, Sdf.Path("/DistantLight"))
distantLight.CreateIntensityAttr(500)
####
#### Next Docs section
####
# get handle to the Drive API for both wheels
left_wheel_drive = UsdPhysics.DriveAPI.Get(stage.GetPrimAtPath("/carter/chassis_link/left_wheel"), "angular")
right_wheel_drive = UsdPhysics.DriveAPI.Get(stage.GetPrimAtPath("/carter/chassis_link/right_wheel"), "angular")
# Set the velocity drive target in degrees/second
left_wheel_drive.GetTargetVelocityAttr().Set(150)
right_wheel_drive.GetTargetVelocityAttr().Set(150)
# Set the drive damping, which controls the strength of the velocity drive
left_wheel_drive.GetDampingAttr().Set(15000)
right_wheel_drive.GetDampingAttr().Set(15000)
# Set the drive stiffness, which controls the strength of the position drive
# In this case because we want to do velocity control this should be set to zero
left_wheel_drive.GetStiffnessAttr().Set(0)
right_wheel_drive.GetStiffnessAttr().Set(0)
# Make sure that a urdf with more than 63 links imports
async def test_64(self):
urdf_path = os.path.abspath(self._extension_path + "/data/urdf/tests/test_large.urdf")
status, import_config = omni.kit.commands.execute("URDFCreateImportConfig")
omni.kit.commands.execute("URDFParseAndImportFile", urdf_path=urdf_path, import_config=import_config)
stage = omni.usd.get_context().get_stage()
prim = stage.GetPrimAtPath("/test_large")
self.assertTrue(prim)
# basic urdf test: joints and links are imported correctly
async def test_urdf_floating(self):
urdf_path = os.path.abspath(self._extension_path + "/data/urdf/tests/test_floating.urdf")
stage = omni.usd.get_context().get_stage()
status, import_config = omni.kit.commands.execute("URDFCreateImportConfig")
import_config.import_inertia_tensor = True
omni.kit.commands.execute("URDFParseAndImportFile", urdf_path=urdf_path, import_config=import_config)
await omni.kit.app.get_app().next_update_async()
prim = stage.GetPrimAtPath("/test_floating")
self.assertNotEqual(prim.GetPath(), Sdf.Path.emptyPath)
# make sure the joints exist
root_joint = stage.GetPrimAtPath("/test_floating/root_joint")
self.assertNotEqual(root_joint.GetPath(), Sdf.Path.emptyPath)
link_1 = stage.GetPrimAtPath("/test_floating/link_1")
self.assertNotEqual(link_1.GetPath(), Sdf.Path.emptyPath)
link_1_trans = np.array(omni.usd.get_world_transform_matrix(link_1).ExtractTranslation())
self.assertAlmostEqual(np.linalg.norm(link_1_trans - np.array([0, 0, 0.45])), 0, delta=0.03)
floating_link = stage.GetPrimAtPath("/test_floating/floating_link")
self.assertNotEqual(floating_link.GetPath(), Sdf.Path.emptyPath)
floating_link_trans = np.array(omni.usd.get_world_transform_matrix(floating_link).ExtractTranslation())
self.assertAlmostEqual(np.linalg.norm(floating_link_trans - np.array([0, 0, 1.450])), 0, delta=0.03)
# Start Simulation and wait
self._timeline.play()
await omni.kit.app.get_app().next_update_async()
await asyncio.sleep(1.0)
# nothing crashes
self._timeline.stop()
pass
async def test_urdf_scale(self):
urdf_path = os.path.abspath(self._extension_path + "/data/urdf/tests/test_basic.urdf")
stage = omni.usd.get_context().get_stage()
status, import_config = omni.kit.commands.execute("URDFCreateImportConfig")
import_config.distance_scale = 1.0
omni.kit.commands.execute("URDFParseAndImportFile", urdf_path=urdf_path, import_config=import_config)
await omni.kit.app.get_app().next_update_async()
# Start Simulation and wait
self._timeline.play()
await omni.kit.app.get_app().next_update_async()
await asyncio.sleep(1.0)
# nothing crashes
self._timeline.stop()
self.assertAlmostEqual(UsdGeom.GetStageMetersPerUnit(stage), 1.0)
pass
async def test_urdf_drive_none(self):
urdf_path = os.path.abspath(self._extension_path + "/data/urdf/tests/test_basic.urdf")
stage = omni.usd.get_context().get_stage()
status, import_config = omni.kit.commands.execute("URDFCreateImportConfig")
from omni.importer.urdf._urdf import UrdfJointTargetType
import_config.default_drive_type = UrdfJointTargetType.JOINT_DRIVE_NONE
omni.kit.commands.execute("URDFParseAndImportFile", urdf_path=urdf_path, import_config=import_config)
await omni.kit.app.get_app().next_update_async()
self.assertFalse(stage.GetPrimAtPath("/test_basic/root_joint").HasAPI(UsdPhysics.DriveAPI))
self.assertTrue(stage.GetPrimAtPath("/test_basic/link_1/elbow_joint").HasAPI(UsdPhysics.DriveAPI))
# Start Simulation and wait
self._timeline.play()
await omni.kit.app.get_app().next_update_async()
await asyncio.sleep(1.0)
# nothing crashes
self._timeline.stop()
pass
async def test_urdf_usd(self):
urdf_path = os.path.abspath(self._extension_path + "/data/urdf/tests/test_usd.urdf")
stage = omni.usd.get_context().get_stage()
status, import_config = omni.kit.commands.execute("URDFCreateImportConfig")
from omni.importer.urdf._urdf import UrdfJointTargetType
import_config.default_drive_type = UrdfJointTargetType.JOINT_DRIVE_NONE
omni.kit.commands.execute("URDFParseAndImportFile", urdf_path=urdf_path, import_config=import_config)
await omni.kit.app.get_app().next_update_async()
self.assertNotEqual(stage.GetPrimAtPath("/test_usd/cube/visuals/mesh_0/Cylinder"), Sdf.Path.emptyPath)
self.assertNotEqual(stage.GetPrimAtPath("/test_usd/cube/visuals/mesh_1/Torus"), Sdf.Path.emptyPath)
# Start Simulation and wait
self._timeline.play()
await omni.kit.app.get_app().next_update_async()
await asyncio.sleep(1.0)
# nothing crashes
self._timeline.stop()
pass
# test negative joint limits
async def test_urdf_limits(self):
urdf_path = os.path.abspath(self._extension_path + "/data/urdf/tests/test_limits.urdf")
stage = omni.usd.get_context().get_stage()
status, import_config = omni.kit.commands.execute("URDFCreateImportConfig")
import_config.import_inertia_tensor = True
omni.kit.commands.execute("URDFParseAndImportFile", urdf_path=urdf_path, import_config=import_config)
await omni.kit.app.get_app().next_update_async()
# ensure the import completed.
prim = stage.GetPrimAtPath("/test_limits")
self.assertNotEqual(prim.GetPath(), Sdf.Path.emptyPath)
# ensure the joint limits are set on the elbow
elbowJoint = stage.GetPrimAtPath("/test_limits/link_1/elbow_joint")
self.assertNotEqual(elbowJoint.GetPath(), Sdf.Path.emptyPath)
self.assertEqual(elbowJoint.GetTypeName(), "PhysicsRevoluteJoint")
self.assertTrue(elbowJoint.HasAPI(UsdPhysics.DriveAPI))
# ensure the joint limits are set on the wrist
wristJoint = stage.GetPrimAtPath("/test_limits/link_2/wrist_joint")
self.assertNotEqual(wristJoint.GetPath(), Sdf.Path.emptyPath)
self.assertEqual(wristJoint.GetTypeName(), "PhysicsRevoluteJoint")
self.assertTrue(wristJoint.HasAPI(UsdPhysics.DriveAPI))
# ensure the joint limits are set on the finger1
finger1Joint = stage.GetPrimAtPath("/test_limits/palm_link/finger_1_joint")
self.assertNotEqual(finger1Joint.GetPath(), Sdf.Path.emptyPath)
self.assertEqual(finger1Joint.GetTypeName(), "PhysicsPrismaticJoint")
self.assertTrue(finger1Joint.HasAPI(UsdPhysics.DriveAPI))
# ensure the joint limits are set on the finger2
finger2Joint = stage.GetPrimAtPath("/test_limits/palm_link/finger_2_joint")
self.assertNotEqual(finger2Joint.GetPath(), Sdf.Path.emptyPath)
self.assertEqual(finger2Joint.GetTypeName(), "PhysicsPrismaticJoint")
self.assertTrue(finger2Joint.HasAPI(UsdPhysics.DriveAPI))
# Start Simulation and wait
self._timeline.play()
await omni.kit.app.get_app().next_update_async()
await asyncio.sleep(1.0)
# nothing crashes
self._timeline.stop()
pass
# test collision from visuals
async def test_collision_from_visuals(self):
# import a urdf file without collision
urdf_path = os.path.abspath(self._extension_path + "/data/urdf/tests/test_collision_from_visuals.urdf")
stage = omni.usd.get_context().get_stage()
status, import_config = omni.kit.commands.execute("URDFCreateImportConfig")
import_config.set_collision_from_visuals(True)
omni.kit.commands.execute("URDFParseAndImportFile", urdf_path=urdf_path, import_config=import_config)
await omni.kit.app.get_app().next_update_async()
# ensure the import completed.
prim = stage.GetPrimAtPath("/test_collision_from_visuals")
self.assertNotEqual(prim.GetPath(), Sdf.Path.emptyPath)
# ensure the base_link collision prim exists and has the collision API applied.
base_link = stage.GetPrimAtPath("/test_collision_from_visuals/base_link/collisions")
self.assertNotEqual(base_link.GetPath(), Sdf.Path.emptyPath)
self.assertTrue(base_link.GetAttribute("physics:collisionEnabled").Get())
# ensure the link_1 collision prim exists and has the collision API applied.
link_1 = stage.GetPrimAtPath("/test_collision_from_visuals/link_1/collisions")
self.assertNotEqual(link_1.GetPath(), Sdf.Path.emptyPath)
self.assertTrue(link_1.GetAttribute("physics:collisionEnabled").Get())
# ensure the link_2 collision prim exists and has the collision API applied.
link_2 = stage.GetPrimAtPath("/test_collision_from_visuals/link_2/collisions")
self.assertNotEqual(link_2.GetPath(), Sdf.Path.emptyPath)
self.assertTrue(link_2.GetAttribute("physics:collisionEnabled").Get())
# ensure the palm_link collision prim exists and has the collision API applied.
palm_link = stage.GetPrimAtPath("/test_collision_from_visuals/palm_link/collisions")
self.assertNotEqual(palm_link.GetPath(), Sdf.Path.emptyPath)
self.assertTrue(palm_link.GetAttribute("physics:collisionEnabled").Get())
# ensure the finger_link_1 collision prim exists and has the collision API applied.
finger_link_1 = stage.GetPrimAtPath("/test_collision_from_visuals/finger_link_1/collisions")
self.assertNotEqual(finger_link_1.GetPath(), Sdf.Path.emptyPath)
self.assertTrue(finger_link_1.GetAttribute("physics:collisionEnabled").Get())
# ensure the finger_link_2 collision prim exists and has the collision API applied.
finger_link_2 = stage.GetPrimAtPath("/test_collision_from_visuals/finger_link_2/collisions")
self.assertNotEqual(finger_link_2.GetPath(), Sdf.Path.emptyPath)
self.assertTrue(finger_link_2.GetAttribute("physics:collisionEnabled").Get())
# Start Simulation and wait
self._timeline.play()
await omni.kit.app.get_app().next_update_async()
await asyncio.sleep(2.0)
# nothing crashes
self._timeline.stop()
pass
|
NVIDIA-Omniverse/urdf-importer-extension/source/extensions/omni.importer.urdf/python/tests/__init__.py | # SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
# SPDX-License-Identifier: Apache-2.0
#
# 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.
from .test_urdf import *
|
NVIDIA-Omniverse/urdf-importer-extension/source/extensions/omni.importer.urdf/bindings/BindingsUrdfPython.cpp | // SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
// SPDX-License-Identifier: Apache-2.0
//
// 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 <carb/BindingsPythonUtils.h>
#include "../plugins/math/core/maths.h"
#include "../plugins/Urdf.h"
#include <pybind11/stl.h>
#include <pybind11/stl_bind.h>
CARB_BINDINGS("omni.importer.urdf.python")
PYBIND11_MAKE_OPAQUE(std::map<std::string, omni::importer::urdf::UrdfMaterial>);
namespace omni
{
namespace importer
{
namespace urdf
{
}
}
}
namespace
{
// Helper function that creates a python type for a std::map with a string key and a custom value type
template <class T>
void declare_map(py::module& m, const std::string typestr)
{
py::class_<std::map<std::string, T>>(m, typestr.c_str())
.def(py::init<>())
.def("__getitem__",
[](const std::map<std::string, T>& map, std::string key)
{
try
{
return map.at(key);
}
catch (const std::out_of_range&)
{
throw py::key_error("key '" + key + "' does not exist");
}
})
.def("__iter__",
[](std::map<std::string, T>& items) { return py::make_key_iterator(items.begin(), items.end()); },
py::keep_alive<0, 1>())
.def("items", [](std::map<std::string, T>& items) { return py::make_iterator(items.begin(), items.end()); },
py::keep_alive<0, 1>())
.def("__len__", [](std::map<std::string, T>& items) { return items.size(); });
}
PYBIND11_MODULE(_urdf, m)
{
using namespace carb;
using namespace omni::importer::urdf;
m.doc() = R"pbdoc(
This extension provides an interface to the URDF importer.
Example:
Setup the configuration parameters before importing.
Files must be parsed before imported.
::
from omni.importer.urdf import _urdf
urdf_interface = _urdf.acquire_urdf_interface()
# setup config params
import_config = _urdf.ImportConfig()
import_config.set_merge_fixed_joints(False)
import_config.set_fix_base(True)
# parse and import file
imported_robot = urdf_interface.parse_urdf(robot_path, filename, import_config)
urdf_interface.import_robot(robot_path, filename, imported_robot, import_config, "")
Refer to the sample documentation for more examples and usage
)pbdoc";
py::class_<ImportConfig>(m, "ImportConfig")
.def(py::init<>())
.def_readwrite("merge_fixed_joints", &ImportConfig::mergeFixedJoints,
"Consolidating links that are connected by fixed joints")
.def_readwrite("convex_decomp", &ImportConfig::convexDecomp,
"Decompose a convex mesh into smaller pieces for a closer fit")
.def_readwrite("import_inertia_tensor", &ImportConfig::importInertiaTensor,
"Import inertia tensor from urdf, if not specified in urdf it will import as identity")
.def_readwrite("fix_base", &ImportConfig::fixBase, "Create fix joint for base link")
// .def_readwrite("flip_visuals", &ImportConfig::flipVisuals, "Flip visuals from Y up to Z up")
.def_readwrite("self_collision", &ImportConfig::selfCollision, "Self collisions between links in the articulation")
.def_readwrite("density", &ImportConfig::density, "default density used for links, use 0 to autocompute")
.def_readwrite("default_drive_type", &ImportConfig::defaultDriveType, "default drive type used for joints")
.def_readwrite(
"subdivision_scheme", &ImportConfig::subdivisionScheme, "Subdivision scheme to be used for mesh normals")
.def_readwrite(
"default_drive_strength", &ImportConfig::defaultDriveStrength, "default drive stiffness used for joints")
.def_readwrite("default_position_drive_damping", &ImportConfig::defaultPositionDriveDamping,
"default drive damping used if drive type is set to position")
.def_readwrite("distance_scale", &ImportConfig::distanceScale,
"Set the unit scaling factor, 1.0 means meters, 100.0 means cm")
.def_readwrite("up_vector", &ImportConfig::upVector, "Up vector used for import")
.def_readwrite("create_physics_scene", &ImportConfig::createPhysicsScene,
"add a physics scene to the stage on import if none exists")
.def_readwrite("make_default_prim", &ImportConfig::makeDefaultPrim, "set imported robot as default prim")
.def_readwrite("make_instanceable", &ImportConfig::makeInstanceable,
"Creates an instanceable version of the asset. All meshes will be placed in a separate USD file")
.def_readwrite(
"instanceable_usd_path", &ImportConfig::instanceableMeshUsdPath, "USD file to store instanceable mehses in")
.def_readwrite("collision_from_visuals", &ImportConfig::collisionFromVisuals,
"Generate convex collision from the visual meshes.")
.def_readwrite("replace_cylinders_with_capsules", &ImportConfig::replaceCylindersWithCapsules,
"Replace all cylinder bodies in the URDF with capsules.")
// setters for each property
.def("set_merge_fixed_joints", [](ImportConfig& config, const bool value) { config.mergeFixedJoints = value; })
.def("set_replace_cylinders_with_capsules", [](ImportConfig& config, const bool value) { config.replaceCylindersWithCapsules = value; })
.def("set_convex_decomp", [](ImportConfig& config, const bool value) { config.convexDecomp = value; })
.def("set_import_inertia_tensor",
[](ImportConfig& config, const bool value) { config.importInertiaTensor = value; })
.def("set_fix_base", [](ImportConfig& config, const bool value) { config.fixBase = value; })
// .def("set_flip_visuals", [](ImportConfig& config, const bool value) { config.flipVisuals = value; })
.def("set_self_collision", [](ImportConfig& config, const bool value) { config.selfCollision = value; })
.def("set_density", [](ImportConfig& config, const float value) { config.density = value; })
.def("set_default_drive_type", [](ImportConfig& config, const int value)
{ config.defaultDriveType = static_cast<UrdfJointTargetType>(value); })
.def("set_subdivision_scheme", [](ImportConfig& config, const int value)
{ config.subdivisionScheme = static_cast<UrdfNormalSubdivisionScheme>(value); })
.def("set_default_drive_strength",
[](ImportConfig& config, const float value) { config.defaultDriveStrength = value; })
.def("set_default_position_drive_damping",
[](ImportConfig& config, const float value) { config.defaultPositionDriveDamping = value; })
.def("set_distance_scale", [](ImportConfig& config, const float value) { config.distanceScale = value; })
.def("set_up_vector",
[](ImportConfig& config, const float x, const float y, const float z) {
config.upVector = { x, y, z };
})
.def("set_create_physics_scene",
[](ImportConfig& config, const bool value) { config.createPhysicsScene = value; })
.def("set_make_default_prim", [](ImportConfig& config, const bool value) { config.makeDefaultPrim = value; })
.def("set_make_instanceable", [](ImportConfig& config, const bool value) { config.makeInstanceable = value; })
.def("set_instanceable_usd_path",
[](ImportConfig& config, const std::string value) { config.instanceableMeshUsdPath = value; })
.def("set_collision_from_visuals",
[](ImportConfig& config, const bool value) { config.collisionFromVisuals = value; });
py::class_<Vec3>(m, "Position", "")
.def_readwrite("x", &Vec3::x, "")
.def_readwrite("y", &Vec3::y, "")
.def_readwrite("z", &Vec3::z, "")
.def(py::init<>());
py::class_<Quat>(m, "Orientation", "")
.def_readwrite("w", &Quat::w, "")
.def_readwrite("x", &Quat::x, "")
.def_readwrite("y", &Quat::y, "")
.def_readwrite("z", &Quat::z, "")
.def(py::init<>());
py::class_<Transform>(m, "UrdfOrigin", "")
.def_readwrite("p", &Transform::p, "")
.def_readwrite("q", &Transform::q, "")
.def(py::init<>());
py::class_<UrdfInertia>(m, "UrdfInertia", "")
.def_readwrite("ixx", &UrdfInertia::ixx, "")
.def_readwrite("ixy", &UrdfInertia::ixy, "")
.def_readwrite("ixz", &UrdfInertia::ixz, "")
.def_readwrite("iyy", &UrdfInertia::iyy, "")
.def_readwrite("iyz", &UrdfInertia::iyz, "")
.def_readwrite("izz", &UrdfInertia::izz, "")
.def(py::init<>());
py::class_<UrdfInertial>(m, "UrdfInertial", "")
.def_readwrite("origin", &UrdfInertial::origin, "")
.def_readwrite("mass", &UrdfInertial::mass, "")
.def_readwrite("inertia", &UrdfInertial::inertia, "")
.def_readwrite("has_origin", &UrdfInertial::hasOrigin, "")
.def_readwrite("has_mass", &UrdfInertial::hasMass, "")
.def_readwrite("has_inertia", &UrdfInertial::hasInertia, "")
.def(py::init<>());
py::class_<UrdfAxis>(m, "UrdfAxis", "")
.def_readwrite("x", &UrdfAxis::x, "")
.def_readwrite("y", &UrdfAxis::y, "")
.def_readwrite("z", &UrdfAxis::z, "")
.def(py::init<>());
py::class_<UrdfColor>(m, "UrdfColor", "")
.def_readwrite("r", &UrdfColor::r, "")
.def_readwrite("g", &UrdfColor::g, "")
.def_readwrite("b", &UrdfColor::b, "")
.def_readwrite("a", &UrdfColor::a, "")
.def(py::init<>());
py::enum_<UrdfJointType>(m, "UrdfJointType", py::arithmetic(), "")
.value("JOINT_REVOLUTE", UrdfJointType::REVOLUTE)
.value("JOINT_CONTINUOUS", UrdfJointType::CONTINUOUS)
.value("JOINT_PRISMATIC", UrdfJointType::PRISMATIC)
.value("JOINT_FIXED", UrdfJointType::FIXED)
.value("JOINT_FLOATING", UrdfJointType::FLOATING)
.value("JOINT_PLANAR", UrdfJointType::PLANAR)
.export_values();
py::enum_<UrdfJointTargetType>(m, "UrdfJointTargetType", py::arithmetic(), "")
.value("JOINT_DRIVE_NONE", UrdfJointTargetType::NONE)
.value("JOINT_DRIVE_POSITION", UrdfJointTargetType::POSITION)
.value("JOINT_DRIVE_VELOCITY", UrdfJointTargetType::VELOCITY)
.export_values();
py::enum_<UrdfJointDriveType>(m, "UrdfJointDriveType", py::arithmetic(), "")
.value("JOINT_DRIVE_ACCELERATION", UrdfJointDriveType::ACCELERATION)
.value("JOINT_DRIVE_FORCE", UrdfJointDriveType::FORCE)
.export_values();
py::class_<UrdfDynamics>(m, "UrdfDynamics", "")
.def_readwrite("damping", &UrdfDynamics::damping, "")
.def_readwrite("friction", &UrdfDynamics::friction, "")
.def_readwrite("stiffness", &UrdfDynamics::stiffness, "")
.def("set_damping", [](UrdfDynamics& drive, const float value) { drive.damping = value; })
.def("set_friction", [](UrdfDynamics& drive, const float value) { drive.friction = value; })
.def("set_stiffness", [](UrdfDynamics& drive, const float value) { drive.stiffness = value; })
.def(py::init<>());
py::class_<UrdfJointDrive>(m, "UrdfJointDrive", "")
.def_readwrite("target", &UrdfJointDrive::target, "")
.def_readwrite("target_type", &UrdfJointDrive::targetType, "")
.def_readwrite("drive_type", &UrdfJointDrive::driveType, "")
.def("set_target", [](UrdfJointDrive& drive, const float value) { drive.target = value; })
.def("set_target_type",
[](UrdfJointDrive& drive, const int value) { drive.targetType = static_cast<UrdfJointTargetType>(value); })
.def("set_drive_type",
[](UrdfJointDrive& drive, const int value) { drive.driveType = static_cast<UrdfJointDriveType>(value); })
.def(py::init<>());
py::class_<UrdfLimit>(m, "UrdfLimit", "")
.def_readwrite("lower", &UrdfLimit::lower, "")
.def_readwrite("upper", &UrdfLimit::upper, "")
.def_readwrite("effort", &UrdfLimit::effort, "")
.def_readwrite("velocity", &UrdfLimit::velocity, "")
.def("set_lower", [](UrdfLimit& limit, const float value) { limit.lower = value; })
.def("set_upper", [](UrdfLimit& limit, const float value) { limit.upper = value; })
.def("set_effort", [](UrdfLimit& limit, const float value) { limit.effort = value; })
.def("set_velocity", [](UrdfLimit& limit, const float value) { limit.velocity = value; })
.def(py::init<>());
py::enum_<UrdfGeometryType>(m, "UrdfGeometryType", py::arithmetic(), "")
.value("GEOMETRY_BOX", UrdfGeometryType::BOX)
.value("GEOMETRY_CYLINDER", UrdfGeometryType::CYLINDER)
.value("GEOMETRY_CAPSULE", UrdfGeometryType::CAPSULE)
.value("GEOMETRY_SPHERE", UrdfGeometryType::SPHERE)
.value("GEOMETRY_MESH", UrdfGeometryType::MESH)
.export_values();
py::class_<UrdfGeometry>(m, "UrdfGeometry", "")
.def_readwrite("type", &UrdfGeometry::type, "")
.def_readwrite("size_x", &UrdfGeometry::size_x, "")
.def_readwrite("size_y", &UrdfGeometry::size_y, "")
.def_readwrite("size_z", &UrdfGeometry::size_z, "")
.def_readwrite("radius", &UrdfGeometry::radius, "")
.def_readwrite("length", &UrdfGeometry::length, "")
.def_readwrite("scale_x", &UrdfGeometry::scale_x, "")
.def_readwrite("scale_y", &UrdfGeometry::scale_y, "")
.def_readwrite("scale_z", &UrdfGeometry::scale_z, "")
.def_readwrite("mesh_file_path", &UrdfGeometry::meshFilePath, "")
.def(py::init<>());
py::class_<UrdfMaterial>(m, "UrdfMaterial", "")
.def_readwrite("name", &UrdfMaterial::name, "")
.def_readwrite("color", &UrdfMaterial::color, "")
.def_readwrite("texture_file_path", &UrdfMaterial::textureFilePath, "")
.def(py::init<>());
py::class_<UrdfVisual>(m, "UrdfVisual", "")
.def_readwrite("name", &UrdfVisual::name, "")
.def_readwrite("origin", &UrdfVisual::origin, "")
.def_readwrite("geometry", &UrdfVisual::geometry, "")
.def_readwrite("material", &UrdfVisual::material, "")
.def(py::init<>());
py::class_<UrdfCollision>(m, "UrdfCollision", "")
.def_readwrite("name", &UrdfCollision::name, "")
.def_readwrite("origin", &UrdfCollision::origin, "")
.def_readwrite("geometry", &UrdfCollision::geometry, "")
.def(py::init<>());
py::class_<UrdfLink>(m, "UrdfLink", "")
.def_readwrite("name", &UrdfLink::name, "")
.def_readwrite("inertial", &UrdfLink::inertial, "")
.def_readwrite("visuals", &UrdfLink::visuals, "")
.def_readwrite("collisions", &UrdfLink::collisions, "")
.def(py::init<>());
py::class_<UrdfJoint>(m, "UrdfJoint", "")
.def_readwrite("name", &UrdfJoint::name, "")
.def_readwrite("type", &UrdfJoint::type, "")
.def_readwrite("origin", &UrdfJoint::origin, "")
.def_readwrite("parent_link_name", &UrdfJoint::parentLinkName, "")
.def_readwrite("child_link_name", &UrdfJoint::childLinkName, "")
.def_readwrite("axis", &UrdfJoint::axis, "")
.def_readwrite("dynamics", &UrdfJoint::dynamics, "")
.def_readwrite("limit", &UrdfJoint::limit, "")
.def_readwrite("drive", &UrdfJoint::drive, "")
.def(py::init<>());
py::class_<UrdfRobot>(m, "UrdfRobot", "")
.def_readwrite("name", &UrdfRobot::name, "")
.def_readwrite("links", &UrdfRobot::links, "")
.def_readwrite("joints", &UrdfRobot::joints, "")
.def_readwrite("materials", &UrdfRobot::materials, "")
.def(py::init<>());
declare_map<UrdfLink>(m, std::string("UrdfLinkMap"));
declare_map<UrdfJoint>(m, std::string("UrdfJointMap"));
declare_map<UrdfMaterial>(m, std::string("UrdfMaterialMap"));
defineInterfaceClass<Urdf>(m, "Urdf", "acquire_urdf_interface", "release_urdf_interface")
.def("parse_urdf", wrapInterfaceFunction(&Urdf::parseUrdf),
R"pbdoc(
Parse URDF file into the internal data structure, which is displayed in the importer window for inspection.
Args:
arg0 (:obj:`str`): The absolute path to where the urdf file is
arg1 (:obj:`str`): The name of the urdf file
arg2 (:obj:`omni.importer.urdf._urdf.ImportConfig`): Import configuration parameters
Returns:
:obj:`omni.importer.urdf._urdf.UrdfRobot`: Parsed URDF stored in an internal structure.
)pbdoc")
.def("import_robot", wrapInterfaceFunction(&Urdf::importRobot), py::arg("assetRoot"), py::arg("assetName"),
py::arg("robot"), py::arg("importConfig"), py::arg("stage") = std::string(""),
R"pbdoc(
Importing the robot, from the already parsed URDF file.
Args:
arg0 (:obj:`str`): The absolute path to where the urdf file is
arg1 (:obj:`str`): The name of the urdf file
arg2 (:obj:`omni.importer.urdf._urdf.UrdfRobot`): The parsed URDF file, the output from :obj:`parse_urdf`
arg3 (:obj:`omni.importer.urdf._urdf.ImportConfig`): Import configuration parameters
arg4 (:obj:`str`): optional: path to stage to use for importing. leaving it empty will import on open stage. If the open stage is a new stage, textures will not load.
Returns:
:obj:`str`: Path to the robot on the USD stage.
)pbdoc")
.def("get_kinematic_chain", wrapInterfaceFunction(&Urdf::getKinematicChain),
R"pbdoc(
Get the kinematic chain of the robot. Mostly used for graphic display of the kinematic tree.
Args:
arg0 (:obj:`omni.importer.urdf._urdf.UrdfRobot`): The parsed URDF, the output from :obj:`parse_urdf`
Returns:
:obj:`dict`: A dictionary with information regarding the parent-child relationship between all the links and joints
)pbdoc");
}
}
|
NVIDIA-Omniverse/urdf-importer-extension/source/extensions/omni.importer.urdf/config/extension.toml | [core]
reloadable = true
order = 0
[package]
version = "1.1.4"
category = "Simulation"
title = "Omniverse URDF Importer"
description = "URDF Importer"
repository = "https://github.com/NVIDIA-Omniverse/urdf-importer-extension"
authors = ["Isaac Sim Team"]
keywords = ["urdf", "importer", "isaac"]
changelog = "docs/CHANGELOG.md"
readme = "docs/Overview.md"
icon = "data/icon.png"
writeTarget.kit = true
preview_image = "data/preview.png"
[dependencies]
"omni.kit.commands" = {}
"omni.kit.uiapp" = {}
"omni.kit.window.filepicker" = {}
"omni.kit.window.content_browser" = {}
"omni.kit.viewport.utility" = {}
"omni.kit.pip_archive" = {} # pulls in pillow
"omni.physx" = {}
"omni.kit.window.extensions" = {}
"omni.kit.window.property" = {}
[[python.module]]
name = "omni.importer.urdf"
[[python.module]]
name = "omni.importer.urdf.tests"
[[python.module]]
name = "omni.importer.urdf.scripts.ui"
[[python.module]]
name = "omni.importer.urdf.scripts.samples.import_carter"
[[python.module]]
name = "omni.importer.urdf.scripts.samples.import_franka"
[[python.module]]
name = "omni.importer.urdf.scripts.samples.import_kaya"
[[python.module]]
name = "omni.importer.urdf.scripts.samples.import_ur10"
[[native.plugin]]
path = "bin/*.plugin"
recursive = false
[[test]]
# this is to catch issues where our assimp is out of sync with the one that comes with
# asset importer as this can cause segfaults due to binary incompatibility.
dependencies = ["omni.kit.tool.asset_importer"]
stdoutFailPatterns.exclude = [
"*extension object is still alive, something holds a reference on it*", # exclude warning as failure
]
args = ["--/app/file/ignoreUnsavedOnExit=1"]
[documentation]
pages = [
"docs/Overview.md",
"docs/CHANGELOG.md",
] |
NVIDIA-Omniverse/urdf-importer-extension/source/extensions/omni.importer.urdf/plugins/Urdf.h | // SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
// SPDX-License-Identifier: Apache-2.0
//
// 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.
#pragma once
#include "UrdfTypes.h"
#include <carb/Defines.h>
#include <pybind11/pybind11.h>
#include <stdint.h>
namespace omni
{
namespace importer
{
namespace urdf
{
struct ImportConfig
{
bool mergeFixedJoints = false;
bool replaceCylindersWithCapsules = false;
bool convexDecomp = false;
bool importInertiaTensor = false;
bool fixBase = true;
bool selfCollision = false;
float density = 0.0f; // default density used for objects without mass/inertia, 0 to autocompute
UrdfJointTargetType defaultDriveType = UrdfJointTargetType::POSITION;
float defaultDriveStrength = 1e7f;
float defaultPositionDriveDamping = 1e5f;
float distanceScale = 1.0f;
UrdfAxis upVector = { 0.0f, 0.0f, 1.0f };
bool createPhysicsScene = false;
bool makeDefaultPrim = false;
UrdfNormalSubdivisionScheme subdivisionScheme = UrdfNormalSubdivisionScheme::BILINEAR;
// bool flipVisuals = false;
bool makeInstanceable = false;
std::string instanceableMeshUsdPath = "./instanceable_meshes.usd";
bool collisionFromVisuals = false; // Create collision geometry from visual geometry when missing collision.
};
struct Urdf
{
CARB_PLUGIN_INTERFACE("omni::importer::urdf::Urdf", 0, 1);
// Parses a urdf file into a UrdfRobot data structure
UrdfRobot(CARB_ABI* parseUrdf)(const std::string& assetRoot, const std::string& assetName, ImportConfig& importConfig);
// Imports a UrdfRobot into the stage
std::string(CARB_ABI* importRobot)(const std::string& assetRoot,
const std::string& assetName,
const UrdfRobot& robot,
ImportConfig& importConfig,
const std::string& stage);
pybind11::dict(CARB_ABI* getKinematicChain)(const UrdfRobot& robot);
};
}
}
}
|
NVIDIA-Omniverse/urdf-importer-extension/source/extensions/omni.importer.urdf/plugins/UsdPCH.h | // SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
// SPDX-License-Identifier: Apache-2.0
//
// 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.
#pragma once
// !!! DO NOT INCLUDE THIS FILE IN A HEADER !!!
// When you include this file in a cpp file, add the file name to premake5.lua's pchFiles list!
// The usd headers drag in heavy dependencies and are very slow to build.
// Make it PCH to speed up building time.
#ifdef _MSC_VER
# pragma warning(push)
# pragma warning(disable : 4244) // = Conversion from double to float / int to float
# pragma warning(disable : 4267) // conversion from size_t to int
# pragma warning(disable : 4305) // argument truncation from double to float
# pragma warning(disable : 4800) // int to bool
# pragma warning(disable : 4996) // call to std::copy with parameters that may be unsafe
# define NOMINMAX // Make sure nobody #defines min or max
# include <Windows.h> // Include this here so we can curate
# undef small // defined in rpcndr.h
#elif defined(__GNUC__)
# pragma GCC diagnostic push
# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
# pragma GCC diagnostic ignored "-Wunused-local-typedefs"
# pragma GCC diagnostic ignored "-Wunused-function"
// This suppresses deprecated header warnings, which is impossible with pragmas.
// Alternative is to specify -Wno-deprecated build option, but that disables other useful warnings too.
# ifdef __DEPRECATED
# define OMNI_USD_SUPPRESS_DEPRECATION_WARNINGS
# undef __DEPRECATED
# endif
#endif
#define BOOST_PYTHON_STATIC_LIB
// Include cstdio here so that vsnprintf is properly declared. This is necessary because pyerrors.h has
// #define vsnprintf _vsnprintf which later causes <cstdio> to declare std::_vsnprintf instead of the correct and proper
// std::vsnprintf. By doing it here before everything else, we avoid this nonsense.
#include <cstdio>
// Python must be included first because it monkeys with macros that cause
// TBB to fail to compile in debug mode if TBB is included before Python
#include <boost/python/object.hpp>
#include <pxr/base/arch/stackTrace.h>
#include <pxr/base/arch/threads.h>
#include <pxr/base/gf/api.h>
#include <pxr/base/gf/camera.h>
#include <pxr/base/gf/frustum.h>
#include <pxr/base/gf/matrix3f.h>
#include <pxr/base/gf/matrix4d.h>
#include <pxr/base/gf/matrix4f.h>
#include <pxr/base/gf/quaternion.h>
#include <pxr/base/gf/rotation.h>
#include <pxr/base/gf/transform.h>
#include <pxr/base/gf/vec2f.h>
#include <pxr/base/plug/notice.h>
#include <pxr/base/plug/plugin.h>
#include <pxr/base/tf/hashmap.h>
#include <pxr/base/tf/staticTokens.h>
#include <pxr/base/tf/token.h>
#include <pxr/base/trace/reporter.h>
#include <pxr/base/trace/trace.h>
#include <pxr/base/vt/value.h>
#include <pxr/base/work/loops.h>
#include <pxr/base/work/threadLimits.h>
#include <pxr/imaging/hd/basisCurves.h>
#include <pxr/imaging/hd/camera.h>
#include <pxr/imaging/hd/engine.h>
#include <pxr/imaging/hd/extComputation.h>
#include <pxr/imaging/hd/flatNormals.h>
#include <pxr/imaging/hd/instancer.h>
#include <pxr/imaging/hd/light.h>
#include <pxr/imaging/hd/material.h>
#include <pxr/imaging/hd/mesh.h>
#include <pxr/imaging/hd/meshUtil.h>
#include <pxr/imaging/hd/points.h>
#include <pxr/imaging/hd/renderBuffer.h>
#include <pxr/imaging/hd/renderIndex.h>
#include <pxr/imaging/hd/renderPass.h>
#include <pxr/imaging/hd/renderPassState.h>
#include <pxr/imaging/hd/rendererPluginRegistry.h>
#include <pxr/imaging/hd/resourceRegistry.h>
#include <pxr/imaging/hd/rprim.h>
#include <pxr/imaging/hd/smoothNormals.h>
#include <pxr/imaging/hd/sprim.h>
#include <pxr/imaging/hd/vertexAdjacency.h>
#include <pxr/imaging/hdx/tokens.h>
#include <pxr/imaging/pxOsd/tokens.h>
#include <pxr/usd/ar/resolver.h>
#include <pxr/usd/ar/resolverContext.h>
#include <pxr/usd/ar/resolverContextBinder.h>
#include <pxr/usd/ar/resolverScopedCache.h>
#include <pxr/usd/kind/registry.h>
#include <pxr/usd/pcp/layerStack.h>
#include <pxr/usd/pcp/site.h>
#include <pxr/usd/sdf/attributeSpec.h>
#include <pxr/usd/sdf/changeList.h>
#include <pxr/usd/sdf/copyUtils.h>
#include <pxr/usd/sdf/fileFormat.h>
#include <pxr/usd/sdf/layerStateDelegate.h>
#include <pxr/usd/sdf/layerUtils.h>
#include <pxr/usd/sdf/relationshipSpec.h>
#include <pxr/usd/usd/attribute.h>
#include <pxr/usd/usd/editContext.h>
#include <pxr/usd/usd/modelAPI.h>
#include <pxr/usd/usd/notice.h>
#include <pxr/usd/usd/primRange.h>
#include <pxr/usd/usd/relationship.h>
#include <pxr/usd/usd/stage.h>
#include <pxr/usd/usd/stageCache.h>
#include <pxr/usd/usd/usdFileFormat.h>
#include <pxr/usd/usdGeom/basisCurves.h>
#include <pxr/usd/usdGeom/camera.h>
#include <pxr/usd/usdGeom/capsule.h>
#include <pxr/usd/usdGeom/cone.h>
#include <pxr/usd/usdGeom/cube.h>
#include <pxr/usd/usdGeom/cylinder.h>
#include <pxr/usd/usdGeom/mesh.h>
#include <pxr/usd/usdGeom/metrics.h>
#include <pxr/usd/usdGeom/points.h>
#include <pxr/usd/usdGeom/primvarsAPI.h>
#include <pxr/usd/usdGeom/scope.h>
#include <pxr/usd/usdGeom/sphere.h>
#include <pxr/usd/usdGeom/subset.h>
#include <pxr/usd/usdGeom/xform.h>
#include <pxr/usd/usdGeom/xformCommonAPI.h>
#include <pxr/usd/usdLux/cylinderLight.h>
#include <pxr/usd/usdLux/diskLight.h>
#include <pxr/usd/usdLux/distantLight.h>
#include <pxr/usd/usdLux/domeLight.h>
#include <pxr/usd/usdLux/rectLight.h>
#include <pxr/usd/usdLux/sphereLight.h>
#include <pxr/usd/usdLux/tokens.h>
#include <pxr/usd/usdShade/tokens.h>
#include <pxr/usd/usdSkel/animation.h>
#include <pxr/usd/usdSkel/root.h>
#include <pxr/usd/usdSkel/skeleton.h>
#include <pxr/usd/usdSkel/tokens.h>
#include <pxr/usd/usdUtils/stageCache.h>
#include <pxr/usdImaging/usdImaging/delegate.h>
// -- Hydra
#include <pxr/imaging/hd/renderDelegate.h>
#include <pxr/imaging/hd/renderIndex.h>
#include <pxr/imaging/hd/rendererPlugin.h>
#include <pxr/imaging/hd/sceneDelegate.h>
#include <pxr/imaging/hd/tokens.h>
#include <pxr/imaging/hdx/taskController.h>
#include <pxr/usdImaging/usdImaging/gprimAdapter.h>
#include <pxr/usdImaging/usdImaging/indexProxy.h>
#include <pxr/usdImaging/usdImaging/tokens.h>
// -- nv extensions
//#include <audioSchema/sound.h>
// -- omni.usd
#include <omni/usd/UsdContextIncludes.h>
#include <omni/usd/UtilsIncludes.h>
#ifdef _MSC_VER
# pragma warning(pop)
#elif defined(__GNUC__)
# pragma GCC diagnostic pop
# ifdef OMNI_USD_SUPPRESS_DEPRECATION_WARNINGS
# define __DEPRECATED
# undef OMNI_USD_SUPPRESS_DEPRECATION_WARNINGS
# endif
#endif
|
NVIDIA-Omniverse/urdf-importer-extension/source/extensions/omni.importer.urdf/plugins/Urdf.cpp | // SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
// SPDX-License-Identifier: Apache-2.0
//
// 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.
#define CARB_EXPORTS
// clang-format off
#include "UsdPCH.h"
// clang-format on
#include "import/ImportHelpers.h"
#include "import/UrdfImporter.h"
#include "Urdf.h"
#include <carb/PluginUtils.h>
#include <carb/logging/Log.h>
#include <omni/ext/IExt.h>
#include <omni/kit/IApp.h>
#include <omni/kit/IStageUpdate.h>
#include <pybind11/pybind11.h>
#include <fstream>
#include <memory>
using namespace carb;
const struct carb::PluginImplDesc kPluginImpl = { "omni.importer.urdf", "URDF Utilities", "NVIDIA",
carb::PluginHotReload::eEnabled, "dev" };
CARB_PLUGIN_IMPL(kPluginImpl, omni::importer::urdf::Urdf)
CARB_PLUGIN_IMPL_DEPS(omni::kit::IApp, carb::logging::ILogging)
namespace
{
omni::importer::urdf::UrdfRobot parseUrdf(const std::string& assetRoot,
const std::string& assetName,
omni::importer::urdf::ImportConfig& importConfig)
{
omni::importer::urdf::UrdfRobot robot;
std::string filename = assetRoot + "/" + assetName;
{
CARB_LOG_INFO("Trying to import %s", filename.c_str());
if (parseUrdf(assetRoot, assetName, robot))
{
}
else
{
CARB_LOG_ERROR("Failed to parse URDF file '%s'", assetName.c_str());
return robot;
}
if (importConfig.mergeFixedJoints)
{
collapseFixedJoints(robot);
}
if (importConfig.collisionFromVisuals)
{
addVisualMeshToCollision(robot);
}
for (auto& joint : robot.joints)
{
joint.second.drive.targetType = importConfig.defaultDriveType;
if (joint.second.drive.targetType == omni::importer::urdf::UrdfJointTargetType::POSITION)
{
// set position gain
if (importConfig.defaultDriveStrength > 0)
{
joint.second.dynamics.stiffness = importConfig.defaultDriveStrength;
}
// set velocity gain
if (importConfig.defaultPositionDriveDamping > 0)
{
joint.second.dynamics.damping = importConfig.defaultPositionDriveDamping;
}
}
else if (joint.second.drive.targetType == omni::importer::urdf::UrdfJointTargetType::VELOCITY)
{
// set position gain
joint.second.dynamics.stiffness = 0.0f;
// set velocity gain
if (importConfig.defaultDriveStrength > 0)
{
joint.second.dynamics.damping = importConfig.defaultDriveStrength;
}
}
else if (joint.second.drive.targetType == omni::importer::urdf::UrdfJointTargetType::NONE)
{
// set both gains to 0
joint.second.dynamics.stiffness = 0.0f;
joint.second.dynamics.damping = 0.0f;
}
else
{
CARB_LOG_ERROR("Unknown drive target type %d", (int)joint.second.drive.targetType);
}
}
}
return robot;
}
std::string importRobot(const std::string& assetRoot,
const std::string& assetName,
const omni::importer::urdf::UrdfRobot& robot,
omni::importer::urdf::ImportConfig& importConfig,
const std::string& stage_identifier = "")
{
omni::importer::urdf::UrdfImporter urdfImporter(assetRoot, assetName, importConfig);
bool save_stage = true;
pxr::UsdStageRefPtr _stage;
if (stage_identifier != "" && pxr::UsdStage::IsSupportedFile(stage_identifier))
{
_stage = pxr::UsdStage::Open(stage_identifier);
if (!_stage)
{
CARB_LOG_INFO("Creating Stage: %s", stage_identifier.c_str());
_stage = pxr::UsdStage::CreateNew(stage_identifier);
}
else
{
for (const auto& p : _stage->GetPrimAtPath(pxr::SdfPath("/")).GetChildren())
{
_stage->RemovePrim(p.GetPath());
}
}
importConfig.makeDefaultPrim = true;
pxr::UsdGeomSetStageUpAxis(_stage, pxr::UsdGeomTokens->z);
}
if (!_stage) // If all else fails, import on current stage
{
CARB_LOG_INFO("Importing URDF to Current Stage");
// Get the 'active' USD stage from the USD stage cache.
const std::vector<pxr::UsdStageRefPtr> allStages = pxr::UsdUtilsStageCache::Get().GetAllStages();
if (allStages.size() != 1)
{
CARB_LOG_ERROR("Cannot determine the 'active' USD stage (%zu stages present in the USD stage cache).", allStages.size());
return "";
}
_stage = allStages[0];
save_stage = false;
}
std::string result = "";
if (_stage)
{
pxr::UsdGeomSetStageMetersPerUnit(_stage, 1.0 / importConfig.distanceScale);
result = urdfImporter.addToStage(_stage, robot);
// CARB_LOG_WARN("Import Done, saving");
if (save_stage)
{
// CARB_LOG_WARN("Saving Stage %s", _stage->GetRootLayer()->GetIdentifier().c_str());
_stage->Save();
}
}
else
{
CARB_LOG_ERROR("Stage pointer not valid, could not import urdf to stage");
}
return result;
}
}
pybind11::list addLinksAndJoints(omni::importer::urdf::KinematicChain::Node* parentNode)
{
if (parentNode->parentJointName_ == "")
{
}
pybind11::list temp_list;
if (!parentNode->childNodes_.empty())
{
for (const auto& childNode : parentNode->childNodes_)
{
pybind11::dict temp;
temp["A_joint"] = childNode->parentJointName_;
temp["A_link"] = parentNode->linkName_;
temp["B_link"] = childNode->linkName_;
temp["B_node"] = addLinksAndJoints(childNode.get());
temp_list.append(temp);
}
}
return temp_list;
}
pybind11::dict getKinematicChain(const omni::importer::urdf::UrdfRobot& robot)
{
pybind11::dict robotDict;
omni::importer::urdf::KinematicChain chain;
if (chain.computeKinematicChain(robot))
{
robotDict["A_joint"] = "";
robotDict["B_link"] = chain.baseNode->linkName_;
robotDict["B_node"] = addLinksAndJoints(chain.baseNode.get());
}
return robotDict;
}
CARB_EXPORT void carbOnPluginStartup()
{
CARB_LOG_INFO("Startup URDF Extension");
}
CARB_EXPORT void carbOnPluginShutdown()
{
}
void fillInterface(omni::importer::urdf::Urdf& iface)
{
using namespace omni::importer::urdf;
memset(&iface, 0, sizeof(iface));
iface.parseUrdf = parseUrdf;
iface.importRobot = importRobot;
iface.getKinematicChain = getKinematicChain;
}
|
NVIDIA-Omniverse/urdf-importer-extension/source/extensions/omni.importer.urdf/plugins/UrdfTypes.h | // SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
// SPDX-License-Identifier: Apache-2.0
//
// 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.
#pragma once
#include "math/core/maths.h"
#include <float.h>
#include <iostream>
#include <map>
#include <string>
#include <vector>
namespace omni
{
namespace importer
{
namespace urdf
{
// The default values and data structures are mostly the same as defined in the official URDF documentation
// http://wiki.ros.org/urdf/XML
struct UrdfInertia
{
float ixx = 0.0f;
float ixy = 0.0f;
float ixz = 0.0f;
float iyy = 0.0f;
float iyz = 0.0f;
float izz = 0.0f;
};
struct UrdfInertial
{
Transform origin; // This is the pose of the inertial reference frame, relative to the link reference frame. The
// origin of the inertial reference frame needs to be at the center of gravity
float mass = 0.0f;
UrdfInertia inertia;
bool hasOrigin = false;
bool hasMass = false; // Whether the inertial field defined a mass
bool hasInertia = false; // Whether the inertial field defined an inertia
};
struct UrdfAxis
{
float x = 1.0f;
float y = 0.0f;
float z = 0.0f;
};
// By Default a UrdfColor struct will have an invalid color unless it was found in the xml
struct UrdfColor
{
float r = -1.0f;
float g = -1.0f;
float b = -1.0f;
float a = 1.0f;
};
enum class UrdfJointType
{
REVOLUTE = 0, // A hinge joint that rotates along the axis and has a limited range specified by the upper and lower
// limits
CONTINUOUS = 1, // A continuous hinge joint that rotates around the axis and has no upper and lower limits
PRISMATIC = 2, // A sliding joint that slides along the axis, and has a limited range specified by the upper and
// lower limits
FIXED = 3, // this is not really a joint because it cannot move. All degrees of freedom are locked. This type of
// joint does not require the axis, calibration, dynamics, limits or safety_controller
FLOATING = 4, // This joint allows motion for all 6 degrees of freedom
PLANAR = 5 // This joint allows motion in a plane perpendicular to the axis
};
enum class UrdfJointTargetType
{
NONE = 0,
POSITION = 1,
VELOCITY = 2
};
enum class UrdfNormalSubdivisionScheme
{
CATMULLCLARK = 0,
LOOP = 1,
BILINEAR = 2,
NONE = 3
};
enum class UrdfJointDriveType
{
ACCELERATION = 0,
FORCE = 2
};
struct UrdfDynamics
{
float damping = 0.0f;
float friction = 0.0f;
float stiffness = 0.0f;
};
struct UrdfJointDrive
{
float target = 0.0;
UrdfJointTargetType targetType = UrdfJointTargetType::POSITION;
UrdfJointDriveType driveType = UrdfJointDriveType::FORCE;
};
struct UrdfJointMimic
{
std::string joint = "";
float multiplier;
float offset;
};
struct UrdfLimit
{
float lower = -FLT_MAX; // An attribute specifying the lower joint limit (radians for revolute joints, meters for
// prismatic joints)
float upper = FLT_MAX; // An attribute specifying the upper joint limit (radians for revolute joints, meters for
// prismatic joints)
float effort = FLT_MAX; // An attribute for enforcing the maximum joint effort
float velocity = FLT_MAX; // An attribute for enforcing the maximum joint velocity
};
enum class UrdfGeometryType
{
BOX = 0,
CYLINDER = 1,
CAPSULE = 2,
SPHERE = 3,
MESH = 4
};
struct UrdfGeometry
{
UrdfGeometryType type;
// Box
float size_x = 0.0f;
float size_y = 0.0f;
float size_z = 0.0f;
// Cylinder and Sphere
float radius = 0.0f;
float length = 0.0f;
// Mesh
float scale_x = 1.0f;
float scale_y = 1.0f;
float scale_z = 1.0f;
std::string meshFilePath;
};
struct UrdfMaterial
{
std::string name;
UrdfColor color;
std::string textureFilePath;
};
struct UrdfVisual
{
std::string name;
Transform origin; // The reference frame of the visual element with respect to the reference frame of the link
UrdfGeometry geometry;
UrdfMaterial material;
};
struct UrdfCollision
{
std::string name;
Transform origin; // The reference frame of the collision element, relative to the reference frame of the link
UrdfGeometry geometry;
};
struct UrdfLink
{
std::string name;
UrdfInertial inertial;
std::vector<UrdfVisual> visuals;
std::vector<UrdfCollision> collisions;
std::map<std::string, Transform> mergedChildren;
};
struct UrdfJoint
{
std::string name;
UrdfJointType type;
Transform origin; // This is the transform from the parent link to the child link. The joint is located at the
// origin of the child link
std::string parentLinkName;
std::string childLinkName;
UrdfAxis axis;
UrdfDynamics dynamics;
UrdfLimit limit;
UrdfJointDrive drive;
UrdfJointMimic mimic;
std::map<std::string, float> mimicChildren;
bool dontCollapse = false; // This is a custom attribute that is used to prevent the child link from being
// collapsed into the parent link when a fixed joint is used. It is used when user
// enables "merging of fixed joints" but does not want to merge this particular joint.
// For example: for sensor or end-effector frames.
// Note: The tag is not part of the URDF specification. Rather it is a custom tag
// that was first introduced in Isaac Gym for the purpose of merging fixed joints.
};
struct UrdfRobot
{
std::string name;
std::map<std::string, UrdfLink> links;
std::map<std::string, UrdfJoint> joints;
std::map<std::string, UrdfMaterial> materials;
};
} // namespace urdf
}
}
|
NVIDIA-Omniverse/urdf-importer-extension/source/extensions/omni.importer.urdf/plugins/math/core/mat33.h | // SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
// SPDX-License-Identifier: Apache-2.0
//
// 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.
#pragma once
#include "common_math.h"
#include "quat.h"
#include "vec3.h"
struct Matrix33
{
CUDA_CALLABLE Matrix33()
{
}
CUDA_CALLABLE Matrix33(const float* ptr)
{
cols[0].x = ptr[0];
cols[0].y = ptr[1];
cols[0].z = ptr[2];
cols[1].x = ptr[3];
cols[1].y = ptr[4];
cols[1].z = ptr[5];
cols[2].x = ptr[6];
cols[2].y = ptr[7];
cols[2].z = ptr[8];
}
CUDA_CALLABLE Matrix33(const Vec3& c1, const Vec3& c2, const Vec3& c3)
{
cols[0] = c1;
cols[1] = c2;
cols[2] = c3;
}
CUDA_CALLABLE Matrix33(const Quat& q)
{
cols[0] = Rotate(q, Vec3(1.0f, 0.0f, 0.0f));
cols[1] = Rotate(q, Vec3(0.0f, 1.0f, 0.0f));
cols[2] = Rotate(q, Vec3(0.0f, 0.0f, 1.0f));
}
CUDA_CALLABLE float operator()(int i, int j) const
{
return static_cast<const float*>(cols[j])[i];
}
CUDA_CALLABLE float& operator()(int i, int j)
{
return static_cast<float*>(cols[j])[i];
}
Vec3 cols[3];
CUDA_CALLABLE static inline Matrix33 Identity()
{
const Matrix33 sIdentity(Vec3(1.0f, 0.0f, 0.0f), Vec3(0.0f, 1.0f, 0.0f), Vec3(0.0f, 0.0f, 1.0f));
return sIdentity;
}
};
CUDA_CALLABLE inline Matrix33 Multiply(float s, const Matrix33& m)
{
Matrix33 r = m;
r.cols[0] *= s;
r.cols[1] *= s;
r.cols[2] *= s;
return r;
}
CUDA_CALLABLE inline Vec3 Multiply(const Matrix33& a, const Vec3& x)
{
return a.cols[0] * x.x + a.cols[1] * x.y + a.cols[2] * x.z;
}
CUDA_CALLABLE inline Vec3 operator*(const Matrix33& a, const Vec3& x)
{
return Multiply(a, x);
}
CUDA_CALLABLE inline Matrix33 Multiply(const Matrix33& a, const Matrix33& b)
{
Matrix33 r;
r.cols[0] = a * b.cols[0];
r.cols[1] = a * b.cols[1];
r.cols[2] = a * b.cols[2];
return r;
}
CUDA_CALLABLE inline Matrix33 Add(const Matrix33& a, const Matrix33& b)
{
return Matrix33(a.cols[0] + b.cols[0], a.cols[1] + b.cols[1], a.cols[2] + b.cols[2]);
}
CUDA_CALLABLE inline float Determinant(const Matrix33& m)
{
return Dot(m.cols[0], Cross(m.cols[1], m.cols[2]));
}
CUDA_CALLABLE inline Matrix33 Transpose(const Matrix33& a)
{
Matrix33 r;
for (uint32_t i = 0; i < 3; ++i)
for (uint32_t j = 0; j < 3; ++j)
r(i, j) = a(j, i);
return r;
}
CUDA_CALLABLE inline float Trace(const Matrix33& a)
{
return a(0, 0) + a(1, 1) + a(2, 2);
}
CUDA_CALLABLE inline Matrix33 Outer(const Vec3& a, const Vec3& b)
{
return Matrix33(a * b.x, a * b.y, a * b.z);
}
CUDA_CALLABLE inline Matrix33 Inverse(const Matrix33& a, bool& success)
{
float s = Determinant(a);
const float eps = 0.0f;
if (fabsf(s) > eps)
{
Matrix33 b;
b(0, 0) = a(1, 1) * a(2, 2) - a(1, 2) * a(2, 1);
b(0, 1) = a(0, 2) * a(2, 1) - a(0, 1) * a(2, 2);
b(0, 2) = a(0, 1) * a(1, 2) - a(0, 2) * a(1, 1);
b(1, 0) = a(1, 2) * a(2, 0) - a(1, 0) * a(2, 2);
b(1, 1) = a(0, 0) * a(2, 2) - a(0, 2) * a(2, 0);
b(1, 2) = a(0, 2) * a(1, 0) - a(0, 0) * a(1, 2);
b(2, 0) = a(1, 0) * a(2, 1) - a(1, 1) * a(2, 0);
b(2, 1) = a(0, 1) * a(2, 0) - a(0, 0) * a(2, 1);
b(2, 2) = a(0, 0) * a(1, 1) - a(0, 1) * a(1, 0);
success = true;
return Multiply(1.0f / s, b);
}
else
{
success = false;
return Matrix33();
}
}
CUDA_CALLABLE inline Matrix33 InverseDouble(const Matrix33& a, bool& success)
{
double m[3][3];
for (int i = 0; i < 3; ++i)
for (int j = 0; j < 3; ++j)
m[i][j] = a(i, j);
double det = m[0][0] * (m[2][2] * m[1][1] - m[2][1] * m[1][2]) - m[1][0] * (m[2][2] * m[0][1] - m[2][1] * m[0][2]) +
m[2][0] * (m[1][2] * m[0][1] - m[1][1] * m[0][2]);
const double eps = 0.0f;
if (fabs(det) > eps)
{
double b[3][3];
b[0][0] = m[1][1] * m[2][2] - m[1][2] * m[2][1];
b[0][1] = m[0][2] * m[2][1] - m[0][1] * m[2][2];
b[0][2] = m[0][1] * m[1][2] - m[0][2] * m[1][1];
b[1][0] = m[1][2] * m[2][0] - m[1][0] * m[2][2];
b[1][1] = m[0][0] * m[2][2] - m[0][2] * m[2][0];
b[1][2] = m[0][2] * m[1][0] - m[0][0] * m[1][2];
b[2][0] = m[1][0] * m[2][1] - m[1][1] * m[2][0];
b[2][1] = m[0][1] * m[2][0] - m[0][0] * m[2][1];
b[2][2] = m[0][0] * m[1][1] - m[0][1] * m[1][0];
success = true;
double invDet = 1.0 / det;
Matrix33 out;
for (int i = 0; i < 3; ++i)
for (int j = 0; j < 3; ++j)
out(i, j) = (float)(b[i][j] * invDet);
return out;
}
else
{
success = false;
Matrix33 out;
for (int i = 0; i < 3; ++i)
for (int j = 0; j < 3; ++j)
out(i, j) = 0.0f;
return out;
}
}
CUDA_CALLABLE inline Matrix33 operator*(float s, const Matrix33& a)
{
return Multiply(s, a);
}
CUDA_CALLABLE inline Matrix33 operator*(const Matrix33& a, float s)
{
return Multiply(s, a);
}
CUDA_CALLABLE inline Matrix33 operator*(const Matrix33& a, const Matrix33& b)
{
return Multiply(a, b);
}
CUDA_CALLABLE inline Matrix33 operator+(const Matrix33& a, const Matrix33& b)
{
return Add(a, b);
}
CUDA_CALLABLE inline Matrix33 operator-(const Matrix33& a, const Matrix33& b)
{
return Add(a, -1.0f * b);
}
CUDA_CALLABLE inline Matrix33& operator+=(Matrix33& a, const Matrix33& b)
{
a = a + b;
return a;
}
CUDA_CALLABLE inline Matrix33& operator-=(Matrix33& a, const Matrix33& b)
{
a = a - b;
return a;
}
CUDA_CALLABLE inline Matrix33& operator*=(Matrix33& a, float s)
{
a.cols[0] *= s;
a.cols[1] *= s;
a.cols[2] *= s;
return a;
}
CUDA_CALLABLE inline Matrix33 Skew(const Vec3& v)
{
return Matrix33(Vec3(0.0f, v.z, -v.y), Vec3(-v.z, 0.0f, v.x), Vec3(v.y, -v.x, 0.0f));
}
template <typename T>
CUDA_CALLABLE inline XQuat<T>::XQuat(const Matrix33& m)
{
float tr = m(0, 0) + m(1, 1) + m(2, 2), h;
if (tr >= 0)
{
h = sqrtf(tr + 1);
w = 0.5f * h;
h = 0.5f / h;
x = (m(2, 1) - m(1, 2)) * h;
y = (m(0, 2) - m(2, 0)) * h;
z = (m(1, 0) - m(0, 1)) * h;
}
else
{
unsigned int i = 0;
if (m(1, 1) > m(0, 0))
i = 1;
if (m(2, 2) > m(i, i))
i = 2;
switch (i)
{
case 0:
h = sqrtf((m(0, 0) - (m(1, 1) + m(2, 2))) + 1);
x = 0.5f * h;
h = 0.5f / h;
y = (m(0, 1) + m(1, 0)) * h;
z = (m(2, 0) + m(0, 2)) * h;
w = (m(2, 1) - m(1, 2)) * h;
break;
case 1:
h = sqrtf((m(1, 1) - (m(2, 2) + m(0, 0))) + 1);
y = 0.5f * h;
h = 0.5f / h;
z = (m(1, 2) + m(2, 1)) * h;
x = (m(0, 1) + m(1, 0)) * h;
w = (m(0, 2) - m(2, 0)) * h;
break;
case 2:
h = sqrtf((m(2, 2) - (m(0, 0) + m(1, 1))) + 1);
z = 0.5f * h;
h = 0.5f / h;
x = (m(2, 0) + m(0, 2)) * h;
y = (m(1, 2) + m(2, 1)) * h;
w = (m(1, 0) - m(0, 1)) * h;
break;
default: // Make compiler happy
x = y = z = w = 0;
break;
}
}
*this = Normalize(*this);
}
CUDA_CALLABLE inline void quat2Mat(const XQuat<float>& q, Matrix33& m)
{
float sqx = q.x * q.x;
float sqy = q.y * q.y;
float sqz = q.z * q.z;
float squ = q.w * q.w;
float s = 1.f / (sqx + sqy + sqz + squ);
m(0, 0) = 1.f - 2.f * s * (sqy + sqz);
m(0, 1) = 2.f * s * (q.x * q.y - q.z * q.w);
m(0, 2) = 2.f * s * (q.x * q.z + q.y * q.w);
m(1, 0) = 2.f * s * (q.x * q.y + q.z * q.w);
m(1, 1) = 1.f - 2.f * s * (sqx + sqz);
m(1, 2) = 2.f * s * (q.y * q.z - q.x * q.w);
m(2, 0) = 2.f * s * (q.x * q.z - q.y * q.w);
m(2, 1) = 2.f * s * (q.y * q.z + q.x * q.w);
m(2, 2) = 1.f - 2.f * s * (sqx + sqy);
}
// rotation is using new rotation axis
// rotation: Rx(X)*Ry(Y)*Rz(Z)
CUDA_CALLABLE inline void getEulerXYZ(const XQuat<float>& q, float& X, float& Y, float& Z)
{
Matrix33 rot;
quat2Mat(q, rot);
float cy = sqrtf(rot(2, 2) * rot(2, 2) + rot(1, 2) * rot(1, 2));
if (cy > 1e-6f)
{
Z = -atan2(rot(0, 1), rot(0, 0));
Y = -atan2(-rot(0, 2), cy);
X = -atan2(rot(1, 2), rot(2, 2));
}
else
{
Z = -atan2(-rot(1, 0), rot(1, 1));
Y = -atan2(-rot(0, 2), cy);
X = 0.0f;
}
}
|
NVIDIA-Omniverse/urdf-importer-extension/source/extensions/omni.importer.urdf/plugins/math/core/mat22.h | // SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
// SPDX-License-Identifier: Apache-2.0
//
// 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.
#pragma once
#include "common_math.h"
#include "vec2.h"
struct Matrix22
{
CUDA_CALLABLE Matrix22()
{
}
CUDA_CALLABLE Matrix22(float a, float b, float c, float d)
{
cols[0] = Vec2(a, c);
cols[1] = Vec2(b, d);
}
CUDA_CALLABLE Matrix22(const Vec2& c1, const Vec2& c2)
{
cols[0] = c1;
cols[1] = c2;
}
CUDA_CALLABLE float operator()(int i, int j) const
{
return static_cast<const float*>(cols[j])[i];
}
CUDA_CALLABLE float& operator()(int i, int j)
{
return static_cast<float*>(cols[j])[i];
}
Vec2 cols[2];
static inline Matrix22 Identity()
{
static const Matrix22 sIdentity(Vec2(1.0f, 0.0f), Vec2(0.0f, 1.0f));
return sIdentity;
}
};
CUDA_CALLABLE inline Matrix22 Multiply(float s, const Matrix22& m)
{
Matrix22 r = m;
r.cols[0] *= s;
r.cols[1] *= s;
return r;
}
CUDA_CALLABLE inline Matrix22 Multiply(const Matrix22& a, const Matrix22& b)
{
Matrix22 r;
r.cols[0] = a.cols[0] * b.cols[0].x + a.cols[1] * b.cols[0].y;
r.cols[1] = a.cols[0] * b.cols[1].x + a.cols[1] * b.cols[1].y;
return r;
}
CUDA_CALLABLE inline Matrix22 Add(const Matrix22& a, const Matrix22& b)
{
return Matrix22(a.cols[0] + b.cols[0], a.cols[1] + b.cols[1]);
}
CUDA_CALLABLE inline Vec2 Multiply(const Matrix22& a, const Vec2& x)
{
return a.cols[0] * x.x + a.cols[1] * x.y;
}
CUDA_CALLABLE inline Matrix22 operator*(float s, const Matrix22& a)
{
return Multiply(s, a);
}
CUDA_CALLABLE inline Matrix22 operator*(const Matrix22& a, float s)
{
return Multiply(s, a);
}
CUDA_CALLABLE inline Matrix22 operator*(const Matrix22& a, const Matrix22& b)
{
return Multiply(a, b);
}
CUDA_CALLABLE inline Matrix22 operator+(const Matrix22& a, const Matrix22& b)
{
return Add(a, b);
}
CUDA_CALLABLE inline Matrix22 operator-(const Matrix22& a, const Matrix22& b)
{
return Add(a, -1.0f * b);
}
CUDA_CALLABLE inline Matrix22& operator+=(Matrix22& a, const Matrix22& b)
{
a = a + b;
return a;
}
CUDA_CALLABLE inline Matrix22& operator-=(Matrix22& a, const Matrix22& b)
{
a = a - b;
return a;
}
CUDA_CALLABLE inline Matrix22& operator*=(Matrix22& a, float s)
{
a = a * s;
return a;
}
CUDA_CALLABLE inline Vec2 operator*(const Matrix22& a, const Vec2& x)
{
return Multiply(a, x);
}
CUDA_CALLABLE inline float Determinant(const Matrix22& m)
{
return m(0, 0) * m(1, 1) - m(1, 0) * m(0, 1);
}
CUDA_CALLABLE inline Matrix22 Inverse(const Matrix22& m, float& det)
{
det = Determinant(m);
if (fabsf(det) > FLT_EPSILON)
{
Matrix22 inv;
inv(0, 0) = m(1, 1);
inv(1, 1) = m(0, 0);
inv(0, 1) = -m(0, 1);
inv(1, 0) = -m(1, 0);
return Multiply(1.0f / det, inv);
}
else
{
det = 0.0f;
return m;
}
}
CUDA_CALLABLE inline Matrix22 Transpose(const Matrix22& a)
{
Matrix22 r;
r(0, 0) = a(0, 0);
r(0, 1) = a(1, 0);
r(1, 0) = a(0, 1);
r(1, 1) = a(1, 1);
return r;
}
CUDA_CALLABLE inline float Trace(const Matrix22& a)
{
return a(0, 0) + a(1, 1);
}
CUDA_CALLABLE inline Matrix22 RotationMatrix(float theta)
{
return Matrix22(Vec2(cosf(theta), sinf(theta)), Vec2(-sinf(theta), cosf(theta)));
}
// outer product of a and b, b is considered a row vector
CUDA_CALLABLE inline Matrix22 Outer(const Vec2& a, const Vec2& b)
{
return Matrix22(a * b.x, a * b.y);
}
CUDA_CALLABLE inline Matrix22 QRDecomposition(const Matrix22& m)
{
Vec2 a = Normalize(m.cols[0]);
Matrix22 q(a, PerpCCW(a));
return q;
}
CUDA_CALLABLE inline Matrix22 PolarDecomposition(const Matrix22& m)
{
/*
//iterative method
float det;
Matrix22 q = m;
for (int i=0; i < 4; ++i)
{
q = 0.5f*(q + Inverse(Transpose(q), det));
}
*/
Matrix22 q = m + Matrix22(m(1, 1), -m(1, 0), -m(0, 1), m(0, 0));
float s = Length(q.cols[0]);
q.cols[0] /= s;
q.cols[1] /= s;
return q;
}
|
NVIDIA-Omniverse/urdf-importer-extension/source/extensions/omni.importer.urdf/plugins/math/core/vec2.h | // SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
// SPDX-License-Identifier: Apache-2.0
//
// 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.
#pragma once
#include "common_math.h"
#if defined(_WIN32) && !defined(__CUDACC__)
# if defined(_DEBUG)
# define VEC2_VALIDATE() \
{ \
assert(_finite(x)); \
assert(!_isnan(x)); \
\
assert(_finite(y)); \
assert(!_isnan(y)); \
}
# else
# define VEC2_VALIDATE() \
{ \
assert(isfinite(x)); \
assert(isfinite(y)); \
}
# endif // _WIN32
#else
# define VEC2_VALIDATE()
#endif
#ifdef _DEBUG
# define FLOAT_VALIDATE(f) \
{ \
assert(_finite(f)); \
assert(!_isnan(f)); \
}
#else
# define FLOAT_VALIDATE(f)
#endif
// vec2
template <typename T>
class XVector2
{
public:
typedef T value_type;
CUDA_CALLABLE XVector2() : x(0.0f), y(0.0f)
{
VEC2_VALIDATE();
}
CUDA_CALLABLE XVector2(T _x) : x(_x), y(_x)
{
VEC2_VALIDATE();
}
CUDA_CALLABLE XVector2(T _x, T _y) : x(_x), y(_y)
{
VEC2_VALIDATE();
}
CUDA_CALLABLE XVector2(const T* p) : x(p[0]), y(p[1])
{
}
template <typename U>
CUDA_CALLABLE explicit XVector2(const XVector2<U>& v) : x(v.x), y(v.y)
{
}
CUDA_CALLABLE operator T*()
{
return &x;
}
CUDA_CALLABLE operator const T*() const
{
return &x;
};
CUDA_CALLABLE void Set(T x_, T y_)
{
VEC2_VALIDATE();
x = x_;
y = y_;
}
CUDA_CALLABLE XVector2<T> operator*(T scale) const
{
XVector2<T> r(*this);
r *= scale;
VEC2_VALIDATE();
return r;
}
CUDA_CALLABLE XVector2<T> operator/(T scale) const
{
XVector2<T> r(*this);
r /= scale;
VEC2_VALIDATE();
return r;
}
CUDA_CALLABLE XVector2<T> operator+(const XVector2<T>& v) const
{
XVector2<T> r(*this);
r += v;
VEC2_VALIDATE();
return r;
}
CUDA_CALLABLE XVector2<T> operator-(const XVector2<T>& v) const
{
XVector2<T> r(*this);
r -= v;
VEC2_VALIDATE();
return r;
}
CUDA_CALLABLE XVector2<T>& operator*=(T scale)
{
x *= scale;
y *= scale;
VEC2_VALIDATE();
return *this;
}
CUDA_CALLABLE XVector2<T>& operator/=(T scale)
{
T s(1.0f / scale);
x *= s;
y *= s;
VEC2_VALIDATE();
return *this;
}
CUDA_CALLABLE XVector2<T>& operator+=(const XVector2<T>& v)
{
x += v.x;
y += v.y;
VEC2_VALIDATE();
return *this;
}
CUDA_CALLABLE XVector2<T>& operator-=(const XVector2<T>& v)
{
x -= v.x;
y -= v.y;
VEC2_VALIDATE();
return *this;
}
CUDA_CALLABLE XVector2<T>& operator*=(const XVector2<T>& scale)
{
x *= scale.x;
y *= scale.y;
VEC2_VALIDATE();
return *this;
}
// negate
CUDA_CALLABLE XVector2<T> operator-() const
{
VEC2_VALIDATE();
return XVector2<T>(-x, -y);
}
T x;
T y;
};
typedef XVector2<float> Vec2;
typedef XVector2<float> Vector2;
// lhs scalar scale
template <typename T>
CUDA_CALLABLE XVector2<T> operator*(T lhs, const XVector2<T>& rhs)
{
XVector2<T> r(rhs);
r *= lhs;
return r;
}
template <typename T>
CUDA_CALLABLE XVector2<T> operator*(const XVector2<T>& lhs, const XVector2<T>& rhs)
{
XVector2<T> r(lhs);
r *= rhs;
return r;
}
template <typename T>
CUDA_CALLABLE bool operator==(const XVector2<T>& lhs, const XVector2<T>& rhs)
{
return (lhs.x == rhs.x && lhs.y == rhs.y);
}
template <typename T>
CUDA_CALLABLE T Dot(const XVector2<T>& v1, const XVector2<T>& v2)
{
return v1.x * v2.x + v1.y * v2.y;
}
// returns the ccw perpendicular vector
template <typename T>
CUDA_CALLABLE XVector2<T> PerpCCW(const XVector2<T>& v)
{
return XVector2<T>(-v.y, v.x);
}
template <typename T>
CUDA_CALLABLE XVector2<T> PerpCW(const XVector2<T>& v)
{
return XVector2<T>(v.y, -v.x);
}
// component wise min max functions
template <typename T>
CUDA_CALLABLE XVector2<T> Max(const XVector2<T>& a, const XVector2<T>& b)
{
return XVector2<T>(Max(a.x, b.x), Max(a.y, b.y));
}
template <typename T>
CUDA_CALLABLE XVector2<T> Min(const XVector2<T>& a, const XVector2<T>& b)
{
return XVector2<T>(Min(a.x, b.x), Min(a.y, b.y));
}
// 2d cross product, treat as if a and b are in the xy plane and return magnitude of z
template <typename T>
CUDA_CALLABLE T Cross(const XVector2<T>& a, const XVector2<T>& b)
{
return (a.x * b.y - a.y * b.x);
}
|
NVIDIA-Omniverse/urdf-importer-extension/source/extensions/omni.importer.urdf/plugins/math/core/point3.h | // SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
// SPDX-License-Identifier: Apache-2.0
//
// 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.
#pragma once
#include "vec4.h"
#include <ostream>
class Point3
{
public:
CUDA_CALLABLE Point3() : x(0), y(0), z(0)
{
}
CUDA_CALLABLE Point3(float a) : x(a), y(a), z(a)
{
}
CUDA_CALLABLE Point3(const float* p) : x(p[0]), y(p[1]), z(p[2])
{
}
CUDA_CALLABLE Point3(float x_, float y_, float z_) : x(x_), y(y_), z(z_)
{
Validate();
}
CUDA_CALLABLE explicit Point3(const Vec3& v) : x(v.x), y(v.y), z(v.z)
{
}
CUDA_CALLABLE operator float*()
{
return &x;
}
CUDA_CALLABLE operator const float*() const
{
return &x;
};
CUDA_CALLABLE operator Vec4() const
{
return Vec4(x, y, z, 1.0f);
}
CUDA_CALLABLE void Set(float x_, float y_, float z_)
{
Validate();
x = x_;
y = y_;
z = z_;
}
CUDA_CALLABLE Point3 operator*(float scale) const
{
Point3 r(*this);
r *= scale;
Validate();
return r;
}
CUDA_CALLABLE Point3 operator/(float scale) const
{
Point3 r(*this);
r /= scale;
Validate();
return r;
}
CUDA_CALLABLE Point3 operator+(const Vec3& v) const
{
Point3 r(*this);
r += v;
Validate();
return r;
}
CUDA_CALLABLE Point3 operator-(const Vec3& v) const
{
Point3 r(*this);
r -= v;
Validate();
return r;
}
CUDA_CALLABLE Point3& operator*=(float scale)
{
x *= scale;
y *= scale;
z *= scale;
Validate();
return *this;
}
CUDA_CALLABLE Point3& operator/=(float scale)
{
float s(1.0f / scale);
x *= s;
y *= s;
z *= s;
Validate();
return *this;
}
CUDA_CALLABLE Point3& operator+=(const Vec3& v)
{
x += v.x;
y += v.y;
z += v.z;
Validate();
return *this;
}
CUDA_CALLABLE Point3& operator-=(const Vec3& v)
{
x -= v.x;
y -= v.y;
z -= v.z;
Validate();
return *this;
}
CUDA_CALLABLE Point3& operator=(const Vec3& v)
{
x = v.x;
y = v.y;
z = v.z;
return *this;
}
CUDA_CALLABLE bool operator!=(const Point3& v) const
{
return (x != v.x || y != v.y || z != v.z);
}
// negate
CUDA_CALLABLE Point3 operator-() const
{
Validate();
return Point3(-x, -y, -z);
}
float x, y, z;
CUDA_CALLABLE void Validate() const
{
}
};
// lhs scalar scale
CUDA_CALLABLE inline Point3 operator*(float lhs, const Point3& rhs)
{
Point3 r(rhs);
r *= lhs;
return r;
}
CUDA_CALLABLE inline Vec3 operator-(const Point3& lhs, const Point3& rhs)
{
return Vec3(lhs.x - rhs.x, lhs.y - rhs.y, lhs.z - rhs.z);
}
CUDA_CALLABLE inline Point3 operator+(const Point3& lhs, const Point3& rhs)
{
return Point3(lhs.x + rhs.x, lhs.y + rhs.y, lhs.z + rhs.z);
}
CUDA_CALLABLE inline bool operator==(const Point3& lhs, const Point3& rhs)
{
return (lhs.x == rhs.x && lhs.y == rhs.y && lhs.z == rhs.z);
}
// component wise min max functions
CUDA_CALLABLE inline Point3 Max(const Point3& a, const Point3& b)
{
return Point3(Max(a.x, b.x), Max(a.y, b.y), Max(a.z, b.z));
}
CUDA_CALLABLE inline Point3 Min(const Point3& a, const Point3& b)
{
return Point3(Min(a.x, b.x), Min(a.y, b.y), Min(a.z, b.z));
}
|
NVIDIA-Omniverse/urdf-importer-extension/source/extensions/omni.importer.urdf/plugins/math/core/quat.h | // SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
// SPDX-License-Identifier: Apache-2.0
//
// 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.
#pragma once
#include "vec3.h"
#include <cassert>
struct Matrix33;
template <typename T>
class XQuat
{
public:
typedef T value_type;
CUDA_CALLABLE XQuat() : x(0), y(0), z(0), w(1.0)
{
}
CUDA_CALLABLE XQuat(const T* p) : x(p[0]), y(p[1]), z(p[2]), w(p[3])
{
}
CUDA_CALLABLE XQuat(T x_, T y_, T z_, T w_) : x(x_), y(y_), z(z_), w(w_)
{
}
CUDA_CALLABLE XQuat(const Vec3& v, float w) : x(v.x), y(v.y), z(v.z), w(w)
{
}
CUDA_CALLABLE explicit XQuat(const Matrix33& m);
CUDA_CALLABLE operator T*()
{
return &x;
}
CUDA_CALLABLE operator const T*() const
{
return &x;
};
CUDA_CALLABLE void Set(T x_, T y_, T z_, T w_)
{
x = x_;
y = y_;
z = z_;
w = w_;
}
CUDA_CALLABLE XQuat<T> operator*(T scale) const
{
XQuat<T> r(*this);
r *= scale;
return r;
}
CUDA_CALLABLE XQuat<T> operator/(T scale) const
{
XQuat<T> r(*this);
r /= scale;
return r;
}
CUDA_CALLABLE XQuat<T> operator+(const XQuat<T>& v) const
{
XQuat<T> r(*this);
r += v;
return r;
}
CUDA_CALLABLE XQuat<T> operator-(const XQuat<T>& v) const
{
XQuat<T> r(*this);
r -= v;
return r;
}
CUDA_CALLABLE XQuat<T> operator*(XQuat<T> q) const
{
// quaternion multiplication
return XQuat<T>(w * q.x + q.w * x + y * q.z - q.y * z, w * q.y + q.w * y + z * q.x - q.z * x,
w * q.z + q.w * z + x * q.y - q.x * y, w * q.w - x * q.x - y * q.y - z * q.z);
}
CUDA_CALLABLE XQuat<T>& operator*=(T scale)
{
x *= scale;
y *= scale;
z *= scale;
w *= scale;
return *this;
}
CUDA_CALLABLE XQuat<T>& operator/=(T scale)
{
T s(1.0f / scale);
x *= s;
y *= s;
z *= s;
w *= s;
return *this;
}
CUDA_CALLABLE XQuat<T>& operator+=(const XQuat<T>& v)
{
x += v.x;
y += v.y;
z += v.z;
w += v.w;
return *this;
}
CUDA_CALLABLE XQuat<T>& operator-=(const XQuat<T>& v)
{
x -= v.x;
y -= v.y;
z -= v.z;
w -= v.w;
return *this;
}
CUDA_CALLABLE bool operator!=(const XQuat<T>& v) const
{
return (x != v.x || y != v.y || z != v.z || w != v.w);
}
// negate
CUDA_CALLABLE XQuat<T> operator-() const
{
return XQuat<T>(-x, -y, -z, -w);
}
CUDA_CALLABLE XVector3<T> GetAxis() const
{
return XVector3<T>(x, y, z);
}
T x, y, z, w;
};
typedef XQuat<float> Quat;
// lhs scalar scale
template <typename T>
CUDA_CALLABLE XQuat<T> operator*(T lhs, const XQuat<T>& rhs)
{
XQuat<T> r(rhs);
r *= lhs;
return r;
}
template <typename T>
CUDA_CALLABLE bool operator==(const XQuat<T>& lhs, const XQuat<T>& rhs)
{
return (lhs.x == rhs.x && lhs.y == rhs.y && lhs.z == rhs.z && lhs.w == rhs.w);
}
template <typename T>
CUDA_CALLABLE inline XQuat<T> QuatFromAxisAngle(const Vec3& axis, float angle)
{
Vec3 v = Normalize(axis);
float half = angle * 0.5f;
float w = cosf(half);
const float sin_theta_over_two = sinf(half);
v *= sin_theta_over_two;
return XQuat<T>(v.x, v.y, v.z, w);
}
CUDA_CALLABLE inline float Dot(const Quat& a, const Quat& b)
{
return a.x * b.x + a.y * b.y + a.z * b.z + a.w * b.w;
}
CUDA_CALLABLE inline float Length(const Quat& a)
{
return sqrtf(Dot(a, a));
}
CUDA_CALLABLE inline Quat QuatFromEulerZYX(float rotx, float roty, float rotz)
{
Quat q;
// Abbreviations for the various angular functions
float cy = cos(rotz * 0.5f);
float sy = sin(rotz * 0.5f);
float cr = cos(rotx * 0.5f);
float sr = sin(rotx * 0.5f);
float cp = cos(roty * 0.5f);
float sp = sin(roty * 0.5f);
q.w = (float)(cy * cr * cp + sy * sr * sp);
q.x = (float)(cy * sr * cp - sy * cr * sp);
q.y = (float)(cy * cr * sp + sy * sr * cp);
q.z = (float)(sy * cr * cp - cy * sr * sp);
return q;
}
CUDA_CALLABLE inline void EulerFromQuatZYX(const Quat& q, float& rotx, float& roty, float& rotz)
{
float x = q.x, y = q.y, z = q.z, w = q.w;
float t0 = x * x - z * z;
float t1 = w * w - y * y;
float xx = 0.5f * (t0 + t1); // 1/2 x of x'
float xy = x * y + w * z; // 1/2 y of x'
float xz = w * y - x * z; // 1/2 z of x'
float t = xx * xx + xy * xy; // cos(theta)^2
float yz = 2.0f * (y * z + w * x); // z of y'
rotz = atan2(xy, xx); // yaw (psi)
roty = atan(xz / sqrt(t)); // pitch (theta)
// todo: doublecheck!
if (fabsf(t) > 1e-6f)
{
rotx = (float)atan2(yz, t1 - t0);
}
else
{
rotx = (float)(2.0f * atan2(x, w) - copysignf(1.0f, xz) * rotz);
}
}
// converts Euler angles to quaternion performing an intrinsic rotation in yaw then pitch then roll order
// i.e. first rotate by yaw around z, then rotate by pitch around the rotated y axis, then rotate around
// roll around the twice (by yaw and pitch) rotated x axis
CUDA_CALLABLE inline Quat rpy2quat(const float roll, const float pitch, const float yaw)
{
Quat q;
// Abbreviations for the various angular functions
float cy = cos(yaw * 0.5f);
float sy = sin(yaw * 0.5f);
float cr = cos(roll * 0.5f);
float sr = sin(roll * 0.5f);
float cp = cos(pitch * 0.5f);
float sp = sin(pitch * 0.5f);
q.w = (float)(cy * cr * cp + sy * sr * sp);
q.x = (float)(cy * sr * cp - sy * cr * sp);
q.y = (float)(cy * cr * sp + sy * sr * cp);
q.z = (float)(sy * cr * cp - cy * sr * sp);
return q;
}
// converts Euler angles to quaternion performing an intrinsic rotation in x then y then z order
// i.e. first rotate by x_rot around x, then rotate by y_rot around the rotated y axis, then rotate by
// z_rot around the twice (by roll and pitch) rotated z axis
CUDA_CALLABLE inline Quat euler_xyz2quat(const float x_rot, const float y_rot, const float z_rot)
{
Quat q;
// Abbreviations for the various angular functions
float cy = std::cos(z_rot * 0.5f);
float sy = std::sin(z_rot * 0.5f);
float cr = std::cos(x_rot * 0.5f);
float sr = std::sin(x_rot * 0.5f);
float cp = std::cos(y_rot * 0.5f);
float sp = std::sin(y_rot * 0.5f);
q.w = (float)(cy * cr * cp - sy * sr * sp);
q.x = (float)(cy * sr * cp + sy * cr * sp);
q.y = (float)(cy * cr * sp - sy * sr * cp);
q.z = (float)(sy * cr * cp + cy * sr * sp);
return q;
}
// !!! preist@ This function produces euler angles according to this convention:
// https://www.euclideanspace.com/maths/standards/index.htm Heading = rotation about y axis Attitude = rotation about z
// axis Bank = rotation about x axis Order: Heading (y) -> Attitude (z) -> Bank (x), and applied intrinsically
CUDA_CALLABLE inline void quat2rpy(const Quat& q1, float& bank, float& attitude, float& heading)
{
float sqw = q1.w * q1.w;
float sqx = q1.x * q1.x;
float sqy = q1.y * q1.y;
float sqz = q1.z * q1.z;
float unit = sqx + sqy + sqz + sqw; // if normalised is one, otherwise is correction factor
float test = q1.x * q1.y + q1.z * q1.w;
if (test > 0.499f * unit)
{ // singularity at north pole
heading = 2.f * atan2(q1.x, q1.w);
attitude = kPi / 2.f;
bank = 0.f;
return;
}
if (test < -0.499f * unit)
{ // singularity at south pole
heading = -2.f * atan2(q1.x, q1.w);
attitude = -kPi / 2.f;
bank = 0.f;
return;
}
heading = atan2(2.f * q1.x * q1.y + 2.f * q1.w * q1.z, sqx - sqy - sqz + sqw);
attitude = asin(-2.f * q1.x * q1.z + 2.f * q1.y * q1.w);
bank = atan2(2.f * q1.y * q1.z + 2.f * q1.x * q1.w, -sqx - sqy + sqz + sqw);
}
// preist@:
// The Euler angles correspond to an extrinsic x-y-z i.e. intrinsic z-y-x rotation
// and this function does not guard against gimbal lock
CUDA_CALLABLE inline void zUpQuat2rpy(const Quat& q1, float& roll, float& pitch, float& yaw)
{
// roll (x-axis rotation)
float sinr_cosp = 2.0f * (q1.w * q1.x + q1.y * q1.z);
float cosr_cosp = 1.0f - 2.0f * (q1.x * q1.x + q1.y * q1.y);
roll = atan2(sinr_cosp, cosr_cosp);
// pitch (y-axis rotation)
float sinp = 2.0f * (q1.w * q1.y - q1.z * q1.x);
if (fabs(sinp) > 0.999f)
pitch = (float)copysign(kPi / 2.0f, sinp);
else
pitch = asin(sinp);
// yaw (z-axis rotation)
float siny_cosp = 2.0f * (q1.w * q1.z + q1.x * q1.y);
float cosy_cosp = 1.0f - 2.0f * (q1.y * q1.y + q1.z * q1.z);
yaw = atan2(siny_cosp, cosy_cosp);
}
CUDA_CALLABLE inline void getEulerZYX(const Quat& q, float& yawZ, float& pitchY, float& rollX)
{
float squ;
float sqx;
float sqy;
float sqz;
float sarg;
sqx = q.x * q.x;
sqy = q.y * q.y;
sqz = q.z * q.z;
squ = q.w * q.w;
rollX = atan2(2 * (q.y * q.z + q.w * q.x), squ - sqx - sqy + sqz);
sarg = (-2.0f) * (q.x * q.z - q.w * q.y);
pitchY = sarg <= (-1.0f) ? (-0.5f) * kPi : (sarg >= (1.0f) ? (0.5f) * kPi : asinf(sarg));
yawZ = atan2(2 * (q.x * q.y + q.w * q.z), squ + sqx - sqy - sqz);
}
// rotate vector by quaternion (q, w)
CUDA_CALLABLE inline Vec3 Rotate(const Quat& q, const Vec3& x)
{
return x * (2.0f * q.w * q.w - 1.0f) + Cross(Vec3(q), x) * q.w * 2.0f + Vec3(q) * Dot(Vec3(q), x) * 2.0f;
}
CUDA_CALLABLE inline Vec3 operator*(const Quat& q, const Vec3& v)
{
return Rotate(q, v);
}
CUDA_CALLABLE inline Vec3 GetBasisVector0(const Quat& q)
{
return Rotate(q, Vec3(1.0f, 0.0f, 0.0f));
}
CUDA_CALLABLE inline Vec3 GetBasisVector1(const Quat& q)
{
return Rotate(q, Vec3(0.0f, 1.0f, 0.0f));
}
CUDA_CALLABLE inline Vec3 GetBasisVector2(const Quat& q)
{
return Rotate(q, Vec3(0.0f, 0.0f, 1.0f));
}
// rotate vector by inverse transform in (q, w)
CUDA_CALLABLE inline Vec3 RotateInv(const Quat& q, const Vec3& x)
{
return x * (2.0f * q.w * q.w - 1.0f) - Cross(Vec3(q), x) * q.w * 2.0f + Vec3(q) * Dot(Vec3(q), x) * 2.0f;
}
CUDA_CALLABLE inline Quat Inverse(const Quat& q)
{
return Quat(-q.x, -q.y, -q.z, q.w);
}
CUDA_CALLABLE inline Quat Normalize(const Quat& q)
{
float lSq = q.x * q.x + q.y * q.y + q.z * q.z + q.w * q.w;
if (lSq > 0.0f)
{
float invL = 1.0f / sqrtf(lSq);
return q * invL;
}
else
return Quat();
}
//
// given two quaternions and a time-step returns the corresponding angular velocity vector
//
CUDA_CALLABLE inline Vec3 DifferentiateQuat(const Quat& q1, const Quat& q0, float invdt)
{
Quat dq = q1 * Inverse(q0);
float sinHalfTheta = Length(dq.GetAxis());
float theta = asinf(sinHalfTheta) * 2.0f;
if (fabsf(theta) < 0.001f)
{
// use linear approximation approx for small angles
Quat dqdt = (q1 - q0) * invdt;
Quat omega = dqdt * Inverse(q0);
return Vec3(omega.x, omega.y, omega.z) * 2.0f;
}
else
{
// use inverse exponential map
Vec3 axis = Normalize(dq.GetAxis());
return axis * theta * invdt;
}
}
CUDA_CALLABLE inline Quat IntegrateQuat(const Vec3& omega, const Quat& q0, float dt)
{
Vec3 axis;
float w = Length(omega);
if (w * dt < 0.001f)
{
// sinc approx for small angles
axis = omega * (0.5f * dt - (dt * dt * dt) / 48.0f * w * w);
}
else
{
axis = omega * (sinf(0.5f * w * dt) / w);
}
Quat dq;
dq.x = axis.x;
dq.y = axis.y;
dq.z = axis.z;
dq.w = cosf(w * dt * 0.5f);
Quat q1 = dq * q0;
// explicit re-normalization here otherwise we do some see energy drift
return Normalize(q1);
}
|
NVIDIA-Omniverse/urdf-importer-extension/source/extensions/omni.importer.urdf/plugins/math/core/vec3.h | // SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
// SPDX-License-Identifier: Apache-2.0
//
// 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.
#pragma once
#include "common_math.h"
#if 0 //_DEBUG
# define VEC3_VALIDATE() \
{ \
assert(_finite(x)); \
assert(!_isnan(x)); \
\
assert(_finite(y)); \
assert(!_isnan(y)); \
\
assert(_finite(z)); \
assert(!_isnan(z)); \
}
#else
# define VEC3_VALIDATE()
#endif
template <typename T = float>
class XVector3
{
public:
typedef T value_type;
CUDA_CALLABLE inline XVector3() : x(0.0f), y(0.0f), z(0.0f)
{
}
CUDA_CALLABLE inline XVector3(T a) : x(a), y(a), z(a)
{
}
CUDA_CALLABLE inline XVector3(const T* p) : x(p[0]), y(p[1]), z(p[2])
{
}
CUDA_CALLABLE inline XVector3(T x_, T y_, T z_) : x(x_), y(y_), z(z_)
{
VEC3_VALIDATE();
}
CUDA_CALLABLE inline operator T*()
{
return &x;
}
CUDA_CALLABLE inline operator const T*() const
{
return &x;
};
CUDA_CALLABLE inline void Set(T x_, T y_, T z_)
{
VEC3_VALIDATE();
x = x_;
y = y_;
z = z_;
}
CUDA_CALLABLE inline XVector3<T> operator*(T scale) const
{
XVector3<T> r(*this);
r *= scale;
return r;
VEC3_VALIDATE();
}
CUDA_CALLABLE inline XVector3<T> operator/(T scale) const
{
XVector3<T> r(*this);
r /= scale;
return r;
VEC3_VALIDATE();
}
CUDA_CALLABLE inline XVector3<T> operator+(const XVector3<T>& v) const
{
XVector3<T> r(*this);
r += v;
return r;
VEC3_VALIDATE();
}
CUDA_CALLABLE inline XVector3<T> operator-(const XVector3<T>& v) const
{
XVector3<T> r(*this);
r -= v;
return r;
VEC3_VALIDATE();
}
CUDA_CALLABLE inline XVector3<T> operator/(const XVector3<T>& v) const
{
XVector3<T> r(*this);
r /= v;
return r;
VEC3_VALIDATE();
}
CUDA_CALLABLE inline XVector3<T> operator*(const XVector3<T>& v) const
{
XVector3<T> r(*this);
r *= v;
return r;
VEC3_VALIDATE();
}
CUDA_CALLABLE inline XVector3<T>& operator*=(T scale)
{
x *= scale;
y *= scale;
z *= scale;
VEC3_VALIDATE();
return *this;
}
CUDA_CALLABLE inline XVector3<T>& operator/=(T scale)
{
T s(1.0f / scale);
x *= s;
y *= s;
z *= s;
VEC3_VALIDATE();
return *this;
}
CUDA_CALLABLE inline XVector3<T>& operator+=(const XVector3<T>& v)
{
x += v.x;
y += v.y;
z += v.z;
VEC3_VALIDATE();
return *this;
}
CUDA_CALLABLE inline XVector3<T>& operator-=(const XVector3<T>& v)
{
x -= v.x;
y -= v.y;
z -= v.z;
VEC3_VALIDATE();
return *this;
}
CUDA_CALLABLE inline XVector3<T>& operator/=(const XVector3<T>& v)
{
x /= v.x;
y /= v.y;
z /= v.z;
VEC3_VALIDATE();
return *this;
}
CUDA_CALLABLE inline XVector3<T>& operator*=(const XVector3<T>& v)
{
x *= v.x;
y *= v.y;
z *= v.z;
VEC3_VALIDATE();
return *this;
}
CUDA_CALLABLE inline bool operator!=(const XVector3<T>& v) const
{
return (x != v.x || y != v.y || z != v.z);
}
// negate
CUDA_CALLABLE inline XVector3<T> operator-() const
{
VEC3_VALIDATE();
return XVector3<T>(-x, -y, -z);
}
CUDA_CALLABLE void Validate()
{
VEC3_VALIDATE();
}
T x, y, z;
};
typedef XVector3<float> Vec3;
typedef XVector3<float> Vector3;
// lhs scalar scale
template <typename T>
CUDA_CALLABLE XVector3<T> operator*(T lhs, const XVector3<T>& rhs)
{
XVector3<T> r(rhs);
r *= lhs;
return r;
}
template <typename T>
CUDA_CALLABLE bool operator==(const XVector3<T>& lhs, const XVector3<T>& rhs)
{
return (lhs.x == rhs.x && lhs.y == rhs.y && lhs.z == rhs.z);
}
template <typename T>
CUDA_CALLABLE typename T::value_type Dot3(const T& v1, const T& v2)
{
return v1.x * v2.x + v1.y * v2.y + v1.z * v2.z;
}
CUDA_CALLABLE inline float Dot3(const float* v1, const float* v2)
{
return v1[0] * v2[0] + v1[1] * v2[1] + v1[2] * v2[2];
}
template <typename T>
CUDA_CALLABLE inline T Dot(const XVector3<T>& v1, const XVector3<T>& v2)
{
return v1.x * v2.x + v1.y * v2.y + v1.z * v2.z;
}
CUDA_CALLABLE inline Vec3 Cross(const Vec3& b, const Vec3& c)
{
return Vec3(b.y * c.z - b.z * c.y, b.z * c.x - b.x * c.z, b.x * c.y - b.y * c.x);
}
// component wise min max functions
template <typename T>
CUDA_CALLABLE inline XVector3<T> Max(const XVector3<T>& a, const XVector3<T>& b)
{
return XVector3<T>(Max(a.x, b.x), Max(a.y, b.y), Max(a.z, b.z));
}
template <typename T>
CUDA_CALLABLE inline XVector3<T> Min(const XVector3<T>& a, const XVector3<T>& b)
{
return XVector3<T>(Min(a.x, b.x), Min(a.y, b.y), Min(a.z, b.z));
}
|
NVIDIA-Omniverse/urdf-importer-extension/source/extensions/omni.importer.urdf/plugins/math/core/matnn.h | // SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
// SPDX-License-Identifier: Apache-2.0
//
// 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.
#pragma once
template <int m, int n, typename T = double>
class XMatrix
{
public:
XMatrix()
{
memset(data, 0, sizeof(*this));
}
XMatrix(const XMatrix<m, n>& a)
{
memcpy(data, a.data, sizeof(*this));
}
template <typename OtherT>
XMatrix(const OtherT* ptr)
{
for (int j = 0; j < n; ++j)
for (int i = 0; i < m; ++i)
data[j][i] = *(ptr++);
}
const XMatrix<m, n>& operator=(const XMatrix<m, n>& a)
{
memcpy(data, a.data, sizeof(*this));
return *this;
}
template <typename OtherT>
void SetCol(int j, const XMatrix<m, 1, OtherT>& c)
{
for (int i = 0; i < m; ++i)
data[j][i] = c(i, 0);
}
template <typename OtherT>
void SetRow(int i, const XMatrix<1, n, OtherT>& r)
{
for (int j = 0; j < m; ++j)
data[j][i] = r(0, j);
}
T& operator()(int row, int col)
{
return data[col][row];
}
const T& operator()(int row, int col) const
{
return data[col][row];
}
void SetIdentity()
{
for (int i = 0; i < m; ++i)
{
for (int j = 0; j < n; ++j)
{
if (i == j)
data[i][j] = 1.0;
else
data[i][j] = 0.0;
}
}
}
// column major storage
T data[n][m];
};
template <int m, int n, typename T>
XMatrix<m, n, T> operator-(const XMatrix<m, n, T>& lhs, const XMatrix<m, n, T>& rhs)
{
XMatrix<m, n> d;
for (int i = 0; i < m; ++i)
for (int j = 0; j < n; ++j)
d(i, j) = lhs(i, j) - rhs(i, j);
return d;
}
template <int m, int n, typename T>
XMatrix<m, n, T> operator+(const XMatrix<m, n, T>& lhs, const XMatrix<m, n, T>& rhs)
{
XMatrix<m, n> d;
for (int i = 0; i < m; ++i)
for (int j = 0; j < n; ++j)
d(i, j) = lhs(i, j) + rhs(i, j);
return d;
}
template <int m, int n, int o, typename T>
XMatrix<m, o> Multiply(const XMatrix<m, n, T>& lhs, const XMatrix<n, o, T>& rhs)
{
XMatrix<m, o> ret;
for (int i = 0; i < m; ++i)
{
for (int j = 0; j < o; ++j)
{
T sum = 0.0f;
for (int k = 0; k < n; ++k)
{
sum += lhs(i, k) * rhs(k, j);
}
ret(i, j) = sum;
}
}
return ret;
}
template <int m, int n>
XMatrix<n, m> Transpose(const XMatrix<m, n>& a)
{
XMatrix<n, m> ret;
for (int i = 0; i < m; ++i)
{
for (int j = 0; j < n; ++j)
{
ret(j, i) = a(i, j);
}
}
return ret;
}
// matrix to swap row i and j when multiplied on the right
template <int n>
XMatrix<n, n> Permutation(int i, int j)
{
XMatrix<n, n> m;
m.SetIdentity();
m(i, i) = 0.0;
m(i, j) = 1.0;
m(j, j) = 0.0;
m(j, i) = 1.0;
return m;
}
template <int m, int n>
void PrintMatrix(const char* name, XMatrix<m, n> a)
{
printf("%s = [\n", name);
for (int i = 0; i < m; ++i)
{
printf("[ ");
for (int j = 0; j < n; ++j)
{
printf("% .4f", float(a(i, j)));
if (j < n - 1)
printf(" ");
}
printf(" ]\n");
}
printf("]\n");
}
template <int n, typename T>
XMatrix<n, n, T> LU(const XMatrix<n, n, T>& m, XMatrix<n, n, T>& L)
{
XMatrix<n, n> U = m;
L.SetIdentity();
// for each row
for (int j = 0; j < n; ++j)
{
XMatrix<n, n> Li, LiInv;
Li.SetIdentity();
LiInv.SetIdentity();
T pivot = U(j, j);
if (pivot == 0.0)
return U;
assert(pivot != 0.0);
// zero our all entries below pivot
for (int i = j + 1; i < n; ++i)
{
T l = -U(i, j) / pivot;
Li(i, j) = l;
// create inverse of L1..Ln as we go (this is L)
L(i, j) = -l;
}
U = Multiply(Li, U);
}
return U;
}
template <int m, typename T>
XMatrix<m, 1, T> Solve(const XMatrix<m, m, T>& L, const XMatrix<m, m, T>& U, const XMatrix<m, 1, T>& b)
{
XMatrix<m, 1> y;
XMatrix<m, 1> x;
// Ly = b (forward substitution)
for (int i = 0; i < m; ++i)
{
T sum = 0.0;
for (int j = 0; j < i; ++j)
{
sum += y(j, 0) * L(i, j);
}
assert(L(i, i) != 0.0);
y(i, 0) = (b(i, 0) - sum) / L(i, i);
}
// Ux = y (back substitution)
for (int i = m - 1; i >= 0; --i)
{
T sum = 0.0;
for (int j = i + 1; j < m; ++j)
{
sum += x(j, 0) * U(i, j);
}
assert(U(i, i) != 0.0);
x(i, 0) = (y(i, 0) - sum) / U(i, i);
}
return x;
}
template <int n, typename T>
T Determinant(const XMatrix<n, n, T>& A, XMatrix<n, n, T>& L, XMatrix<n, n, T>& U)
{
U = LU(A, L);
// determinant is the product of diagonal entries of U (assume L has 1s on diagonal)
T det = 1.0;
for (int i = 0; i < n; ++i)
det *= U(i, i);
return det;
}
template <int n, typename T>
XMatrix<n, n, T> Inverse(const XMatrix<n, n, T>& A, T& det)
{
XMatrix<n, n> L, U;
det = Determinant(A, L, U);
XMatrix<n, n> Inv;
if (det != 0.0f)
{
for (int i = 0; i < n; ++i)
{
// solve for each column of the identity matrix
XMatrix<n, 1> I;
I(i, 0) = 1.0;
XMatrix<n, 1> x = Solve(L, U, I);
Inv.SetCol(i, x);
}
}
return Inv;
}
template <int m, int n, typename T>
T FrobeniusNorm(const XMatrix<m, n, T>& A)
{
T sum = 0.0;
for (int i = 0; i < m; ++i)
for (int j = 0; j < n; ++j)
sum += A(i, j) * A(i, j);
return sqrt(sum);
}
|
NVIDIA-Omniverse/urdf-importer-extension/source/extensions/omni.importer.urdf/plugins/math/core/vec4.h | // SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
// SPDX-License-Identifier: Apache-2.0
//
// 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.
#pragma once
#include "common_math.h"
#include "vec3.h"
#include <cassert>
#if 0 // defined(_DEBUG) && defined(_WIN32)
# define VEC4_VALIDATE() \
{ \
assert(_finite(x)); \
assert(!_isnan(x)); \
\
assert(_finite(y)); \
assert(!_isnan(y)); \
\
assert(_finite(z)); \
assert(!_isnan(z)); \
\
assert(_finite(w)); \
assert(!_isnan(w)); \
}
#else
# define VEC4_VALIDATE()
#endif
template <typename T>
class XVector4
{
public:
typedef T value_type;
CUDA_CALLABLE XVector4() : x(0), y(0), z(0), w(0)
{
}
CUDA_CALLABLE XVector4(T a) : x(a), y(a), z(a), w(a)
{
}
CUDA_CALLABLE XVector4(const T* p) : x(p[0]), y(p[1]), z(p[2]), w(p[3])
{
}
CUDA_CALLABLE XVector4(T x_, T y_, T z_, T w_ = 1.0f) : x(x_), y(y_), z(z_), w(w_)
{
VEC4_VALIDATE();
}
CUDA_CALLABLE XVector4(const Vec3& v, float w) : x(v.x), y(v.y), z(v.z), w(w)
{
}
CUDA_CALLABLE operator T*()
{
return &x;
}
CUDA_CALLABLE operator const T*() const
{
return &x;
};
CUDA_CALLABLE void Set(T x_, T y_, T z_, T w_)
{
VEC4_VALIDATE();
x = x_;
y = y_;
z = z_;
w = w_;
}
CUDA_CALLABLE XVector4<T> operator*(T scale) const
{
XVector4<T> r(*this);
r *= scale;
VEC4_VALIDATE();
return r;
}
CUDA_CALLABLE XVector4<T> operator/(T scale) const
{
XVector4<T> r(*this);
r /= scale;
VEC4_VALIDATE();
return r;
}
CUDA_CALLABLE XVector4<T> operator+(const XVector4<T>& v) const
{
XVector4<T> r(*this);
r += v;
VEC4_VALIDATE();
return r;
}
CUDA_CALLABLE XVector4<T> operator-(const XVector4<T>& v) const
{
XVector4<T> r(*this);
r -= v;
VEC4_VALIDATE();
return r;
}
CUDA_CALLABLE XVector4<T> operator*(XVector4<T> scale) const
{
XVector4<T> r(*this);
r *= scale;
VEC4_VALIDATE();
return r;
}
CUDA_CALLABLE XVector4<T>& operator*=(T scale)
{
x *= scale;
y *= scale;
z *= scale;
w *= scale;
VEC4_VALIDATE();
return *this;
}
CUDA_CALLABLE XVector4<T>& operator/=(T scale)
{
T s(1.0f / scale);
x *= s;
y *= s;
z *= s;
w *= s;
VEC4_VALIDATE();
return *this;
}
CUDA_CALLABLE XVector4<T>& operator+=(const XVector4<T>& v)
{
x += v.x;
y += v.y;
z += v.z;
w += v.w;
VEC4_VALIDATE();
return *this;
}
CUDA_CALLABLE XVector4<T>& operator-=(const XVector4<T>& v)
{
x -= v.x;
y -= v.y;
z -= v.z;
w -= v.w;
VEC4_VALIDATE();
return *this;
}
CUDA_CALLABLE XVector4<T>& operator*=(const XVector4<T>& v)
{
x *= v.x;
y *= v.y;
z *= v.z;
w *= v.w;
VEC4_VALIDATE();
return *this;
}
CUDA_CALLABLE bool operator!=(const XVector4<T>& v) const
{
return (x != v.x || y != v.y || z != v.z || w != v.w);
}
// negate
CUDA_CALLABLE XVector4<T> operator-() const
{
VEC4_VALIDATE();
return XVector4<T>(-x, -y, -z, -w);
}
T x, y, z, w;
};
typedef XVector4<float> Vector4;
typedef XVector4<float> Vec4;
// lhs scalar scale
template <typename T>
CUDA_CALLABLE XVector4<T> operator*(T lhs, const XVector4<T>& rhs)
{
XVector4<T> r(rhs);
r *= lhs;
return r;
}
template <typename T>
CUDA_CALLABLE bool operator==(const XVector4<T>& lhs, const XVector4<T>& rhs)
{
return (lhs.x == rhs.x && lhs.y == rhs.y && lhs.z == rhs.z && lhs.w == rhs.w);
}
|
NVIDIA-Omniverse/urdf-importer-extension/source/extensions/omni.importer.urdf/plugins/math/core/mat44.h | // SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
// SPDX-License-Identifier: Apache-2.0
//
// 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.
#pragma once
#include "common_math.h"
#include "point3.h"
#include "vec4.h"
// stores column vectors in column major order
template <typename T>
class XMatrix44
{
public:
CUDA_CALLABLE XMatrix44()
{
memset(columns, 0, sizeof(columns));
}
CUDA_CALLABLE XMatrix44(const T* d)
{
assert(d);
memcpy(columns, d, sizeof(*this));
}
CUDA_CALLABLE XMatrix44(
T c11, T c21, T c31, T c41, T c12, T c22, T c32, T c42, T c13, T c23, T c33, T c43, T c14, T c24, T c34, T c44)
{
columns[0][0] = c11;
columns[0][1] = c21;
columns[0][2] = c31;
columns[0][3] = c41;
columns[1][0] = c12;
columns[1][1] = c22;
columns[1][2] = c32;
columns[1][3] = c42;
columns[2][0] = c13;
columns[2][1] = c23;
columns[2][2] = c33;
columns[2][3] = c43;
columns[3][0] = c14;
columns[3][1] = c24;
columns[3][2] = c34;
columns[3][3] = c44;
}
CUDA_CALLABLE XMatrix44(const Vec4& c1, const Vec4& c2, const Vec4& c3, const Vec4& c4)
{
columns[0][0] = c1.x;
columns[0][1] = c1.y;
columns[0][2] = c1.z;
columns[0][3] = c1.w;
columns[1][0] = c2.x;
columns[1][1] = c2.y;
columns[1][2] = c2.z;
columns[1][3] = c2.w;
columns[2][0] = c3.x;
columns[2][1] = c3.y;
columns[2][2] = c3.z;
columns[2][3] = c3.w;
columns[3][0] = c4.x;
columns[3][1] = c4.y;
columns[3][2] = c4.z;
columns[3][3] = c4.w;
}
CUDA_CALLABLE operator T*()
{
return &columns[0][0];
}
CUDA_CALLABLE operator const T*() const
{
return &columns[0][0];
}
// right multiply
CUDA_CALLABLE XMatrix44<T> operator*(const XMatrix44<T>& rhs) const
{
XMatrix44<T> r;
MatrixMultiply(*this, rhs, r);
return r;
}
// right multiply
CUDA_CALLABLE XMatrix44<T>& operator*=(const XMatrix44<T>& rhs)
{
XMatrix44<T> r;
MatrixMultiply(*this, rhs, r);
*this = r;
return *this;
}
CUDA_CALLABLE float operator()(int row, int col) const
{
return columns[col][row];
}
CUDA_CALLABLE float& operator()(int row, int col)
{
return columns[col][row];
}
// scalar multiplication
CUDA_CALLABLE XMatrix44<T>& operator*=(const T& s)
{
for (int c = 0; c < 4; ++c)
{
for (int r = 0; r < 4; ++r)
{
columns[c][r] *= s;
}
}
return *this;
}
CUDA_CALLABLE void MatrixMultiply(const T* __restrict lhs, const T* __restrict rhs, T* __restrict result) const
{
assert(lhs != rhs);
assert(lhs != result);
assert(rhs != result);
for (int i = 0; i < 4; ++i)
{
for (int j = 0; j < 4; ++j)
{
result[j * 4 + i] = rhs[j * 4 + 0] * lhs[i + 0];
result[j * 4 + i] += rhs[j * 4 + 1] * lhs[i + 4];
result[j * 4 + i] += rhs[j * 4 + 2] * lhs[i + 8];
result[j * 4 + i] += rhs[j * 4 + 3] * lhs[i + 12];
}
}
}
CUDA_CALLABLE void SetCol(int index, const Vec4& c)
{
columns[index][0] = c.x;
columns[index][1] = c.y;
columns[index][2] = c.z;
columns[index][3] = c.w;
}
// convenience overloads
CUDA_CALLABLE void SetAxis(uint32_t index, const XVector3<T>& a)
{
columns[index][0] = a.x;
columns[index][1] = a.y;
columns[index][2] = a.z;
columns[index][3] = 0.0f;
}
CUDA_CALLABLE void SetTranslation(const Point3& p)
{
columns[3][0] = p.x;
columns[3][1] = p.y;
columns[3][2] = p.z;
columns[3][3] = 1.0f;
}
CUDA_CALLABLE const Vec3& GetAxis(int i) const
{
return *reinterpret_cast<const Vec3*>(&columns[i]);
}
CUDA_CALLABLE const Vec4& GetCol(int i) const
{
return *reinterpret_cast<const Vec4*>(&columns[i]);
}
CUDA_CALLABLE const Point3& GetTranslation() const
{
return *reinterpret_cast<const Point3*>(&columns[3]);
}
CUDA_CALLABLE Vec4 GetRow(int i) const
{
return Vec4(columns[0][i], columns[1][i], columns[2][i], columns[3][i]);
}
CUDA_CALLABLE static inline XMatrix44 Identity()
{
const XMatrix44 sIdentity(Vec4(1.0f, 0.0f, 0.0f, 0.0f), Vec4(0.0f, 1.0f, 0.0f, 0.0f),
Vec4(0.0f, 0.0f, 1.0f, 0.0f), Vec4(0.0f, 0.0f, 0.0f, 1.0f));
return sIdentity;
}
float columns[4][4];
};
// right multiply a point assumes w of 1
template <typename T>
CUDA_CALLABLE Point3 Multiply(const XMatrix44<T>& mat, const Point3& v)
{
Point3 r;
r.x = v.x * mat[0] + v.y * mat[4] + v.z * mat[8] + mat[12];
r.y = v.x * mat[1] + v.y * mat[5] + v.z * mat[9] + mat[13];
r.z = v.x * mat[2] + v.y * mat[6] + v.z * mat[10] + mat[14];
return r;
}
// right multiply a vector3 assumes a w of 0
template <typename T>
CUDA_CALLABLE XVector3<T> Multiply(const XMatrix44<T>& mat, const XVector3<T>& v)
{
XVector3<T> r;
r.x = v.x * mat[0] + v.y * mat[4] + v.z * mat[8];
r.y = v.x * mat[1] + v.y * mat[5] + v.z * mat[9];
r.z = v.x * mat[2] + v.y * mat[6] + v.z * mat[10];
return r;
}
// right multiply a vector4
template <typename T>
CUDA_CALLABLE XVector4<T> Multiply(const XMatrix44<T>& mat, const XVector4<T>& v)
{
XVector4<T> r;
r.x = v.x * mat[0] + v.y * mat[4] + v.z * mat[8] + v.w * mat[12];
r.y = v.x * mat[1] + v.y * mat[5] + v.z * mat[9] + v.w * mat[13];
r.z = v.x * mat[2] + v.y * mat[6] + v.z * mat[10] + v.w * mat[14];
r.w = v.x * mat[3] + v.y * mat[7] + v.z * mat[11] + v.w * mat[15];
return r;
}
template <typename T>
CUDA_CALLABLE Point3 operator*(const XMatrix44<T>& mat, const Point3& v)
{
return Multiply(mat, v);
}
template <typename T>
CUDA_CALLABLE XVector4<T> operator*(const XMatrix44<T>& mat, const XVector4<T>& v)
{
return Multiply(mat, v);
}
template <typename T>
CUDA_CALLABLE XVector3<T> operator*(const XMatrix44<T>& mat, const XVector3<T>& v)
{
return Multiply(mat, v);
}
template <typename T>
CUDA_CALLABLE inline XMatrix44<T> Transpose(const XMatrix44<T>& m)
{
XMatrix44<float> inv;
// transpose
for (uint32_t c = 0; c < 4; ++c)
{
for (uint32_t r = 0; r < 4; ++r)
{
inv.columns[c][r] = m.columns[r][c];
}
}
return inv;
}
template <typename T>
CUDA_CALLABLE XMatrix44<T> AffineInverse(const XMatrix44<T>& m)
{
XMatrix44<T> inv;
// transpose upper 3x3
for (int c = 0; c < 3; ++c)
{
for (int r = 0; r < 3; ++r)
{
inv.columns[c][r] = m.columns[r][c];
}
}
// multiply -translation by upper 3x3 transpose
inv.columns[3][0] = -Dot3(m.columns[3], m.columns[0]);
inv.columns[3][1] = -Dot3(m.columns[3], m.columns[1]);
inv.columns[3][2] = -Dot3(m.columns[3], m.columns[2]);
inv.columns[3][3] = 1.0f;
return inv;
}
CUDA_CALLABLE inline XMatrix44<float> Outer(const Vec4& a, const Vec4& b)
{
return XMatrix44<float>(a * b.x, a * b.y, a * b.z, a * b.w);
}
// convenience
typedef XMatrix44<float> Mat44;
typedef XMatrix44<float> Matrix44;
|
NVIDIA-Omniverse/urdf-importer-extension/source/extensions/omni.importer.urdf/plugins/math/core/maths.h | // SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
// SPDX-License-Identifier: Apache-2.0
//
// 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.
#pragma once
#include "common_math.h"
#include "core.h"
#include "mat22.h"
#include "mat33.h"
#include "mat44.h"
#include "matnn.h"
#include "point3.h"
#include "quat.h"
#include "types.h"
#include "vec2.h"
#include "vec3.h"
#include "vec4.h"
#include <cassert>
#include <cmath>
#include <cstdlib>
#include <float.h>
#include <string.h>
struct Transform
{
// transform
CUDA_CALLABLE Transform() : p(0.0)
{
}
CUDA_CALLABLE Transform(const Vec3& v, const Quat& q = Quat()) : p(v), q(q)
{
}
CUDA_CALLABLE Transform operator*(const Transform& rhs) const
{
return Transform(Rotate(q, rhs.p) + p, q * rhs.q);
}
Vec3 p;
Quat q;
};
CUDA_CALLABLE inline Transform Inverse(const Transform& transform)
{
Transform t;
t.q = Inverse(transform.q);
t.p = -Rotate(t.q, transform.p);
return t;
}
CUDA_CALLABLE inline Vec3 TransformVector(const Transform& t, const Vec3& v)
{
return t.q * v;
}
CUDA_CALLABLE inline Vec3 TransformPoint(const Transform& t, const Vec3& v)
{
return t.q * v + t.p;
}
CUDA_CALLABLE inline Vec3 InverseTransformVector(const Transform& t, const Vec3& v)
{
return Inverse(t.q) * v;
}
CUDA_CALLABLE inline Vec3 InverseTransformPoint(const Transform& t, const Vec3& v)
{
return Inverse(t.q) * (v - t.p);
}
// represents a plane in the form ax + by + cz - d = 0
class Plane : public Vec4
{
public:
CUDA_CALLABLE inline Plane()
{
}
CUDA_CALLABLE inline Plane(float x, float y, float z, float w) : Vec4(x, y, z, w)
{
}
CUDA_CALLABLE inline Plane(const Vec3& p, const Vector3& n)
{
x = n.x;
y = n.y;
z = n.z;
w = -Dot3(p, n);
}
CUDA_CALLABLE inline Vec3 GetNormal() const
{
return Vec3(x, y, z);
}
CUDA_CALLABLE inline Vec3 GetPoint() const
{
return Vec3(x * -w, y * -w, z * -w);
}
CUDA_CALLABLE inline Plane(const Vec3& v) : Vec4(v.x, v.y, v.z, 1.0f)
{
}
CUDA_CALLABLE inline Plane(const Vec4& v) : Vec4(v)
{
}
};
template <typename T>
CUDA_CALLABLE inline T Dot(const XVector4<T>& v1, const XVector4<T>& v2)
{
return v1.x * v2.x + v1.y * v2.y + v1.z * v2.z + v1.w * v2.w;
}
// helper function that assumes a w of 0
CUDA_CALLABLE inline float Dot(const Plane& p, const Vector3& v)
{
return p.x * v.x + p.y * v.y + p.z * v.z;
}
CUDA_CALLABLE inline float Dot(const Vector3& v, const Plane& p)
{
return Dot(p, v);
}
// helper function that assumes a w of 1
CUDA_CALLABLE inline float Dot(const Plane& p, const Point3& v)
{
return p.x * v.x + p.y * v.y + p.z * v.z + p.w;
}
// ensures that the normal component of the plane is unit magnitude
CUDA_CALLABLE inline Vec4 NormalizePlane(const Vec4& p)
{
float l = Length(Vec3(p));
return (1.0f / l) * p;
}
//----------------------------------------------------------------------------
inline float RandomUnit()
{
float r = (float)rand();
r /= RAND_MAX;
return r;
}
// Random number in range [-1,1]
inline float RandomSignedUnit()
{
float r = (float)rand();
r /= RAND_MAX;
r = 2.0f * r - 1.0f;
return r;
}
inline float Random(float lo, float hi)
{
float r = (float)rand();
r /= RAND_MAX;
r = (hi - lo) * r + lo;
return r;
}
inline void RandInit(uint32_t seed = 315645664)
{
std::srand(static_cast<unsigned>(seed));
}
// random number generator
inline uint32_t Rand()
{
return static_cast<uint32_t>(std::rand());
}
// returns a random number in the range [min, max)
inline uint32_t Rand(uint32_t min, uint32_t max)
{
return min + Rand() % (max - min);
}
// returns random number between 0-1
inline float Randf()
{
uint32_t value = Rand();
uint32_t limit = 0xffffffff;
return (float)value * (1.0f / (float)limit);
}
// returns random number between min and max
inline float Randf(float min, float max)
{
// return Lerp(min, max, ParticleRandf());
float t = Randf();
return (1.0f - t) * min + t * (max);
}
// returns random number between 0-max
inline float Randf(float max)
{
return Randf() * max;
}
// returns a random unit vector (also can add an offset to generate around an off axis vector)
inline Vec3 RandomUnitVector()
{
float phi = Randf(kPi * 2.0f);
float theta = Randf(kPi * 2.0f);
float cosTheta = Cos(theta);
float sinTheta = Sin(theta);
float cosPhi = Cos(phi);
float sinPhi = Sin(phi);
return Vec3(cosTheta * sinPhi, cosPhi, sinTheta * sinPhi);
}
inline Vec3 RandVec3()
{
return Vec3(Randf(-1.0f, 1.0f), Randf(-1.0f, 1.0f), Randf(-1.0f, 1.0f));
}
// uniformly sample volume of a sphere using dart throwing
inline Vec3 UniformSampleSphereVolume()
{
for (;;)
{
Vec3 v = RandVec3();
if (Dot(v, v) < 1.0f)
return v;
}
}
inline Vec3 UniformSampleSphere()
{
float u1 = Randf(0.0f, 1.0f);
float u2 = Randf(0.0f, 1.0f);
float z = 1.f - 2.f * u1;
float r = sqrtf(Max(0.f, 1.f - z * z));
float phi = 2.f * kPi * u2;
float x = r * cosf(phi);
float y = r * sinf(phi);
return Vector3(x, y, z);
}
inline Vec3 UniformSampleHemisphere()
{
// generate a random z value
float z = Randf(0.0f, 1.0f);
float w = Sqrt(1.0f - z * z);
float phi = k2Pi * Randf(0.0f, 1.0f);
float x = Cos(phi) * w;
float y = Sin(phi) * w;
return Vec3(x, y, z);
}
inline Vec2 UniformSampleDisc()
{
float r = Sqrt(Randf(0.0f, 1.0f));
float theta = k2Pi * Randf(0.0f, 1.0f);
return Vec2(r * Cos(theta), r * Sin(theta));
}
inline void UniformSampleTriangle(float& u, float& v)
{
float r = Sqrt(Randf());
u = 1.0f - r;
v = Randf() * r;
}
inline Vec3 CosineSampleHemisphere()
{
Vec2 s = UniformSampleDisc();
float z = Sqrt(Max(0.0f, 1.0f - s.x * s.x - s.y * s.y));
return Vec3(s.x, s.y, z);
}
inline Vec3 SphericalToXYZ(float theta, float phi)
{
float cosTheta = cos(theta);
float sinTheta = sin(theta);
return Vec3(sin(phi) * sinTheta, cosTheta, cos(phi) * sinTheta);
}
// returns random vector between -range and range
inline Vec4 Randf(const Vec4& range)
{
return Vec4(Randf(-range.x, range.x), Randf(-range.y, range.y), Randf(-range.z, range.z), Randf(-range.w, range.w));
}
// generates a transform matrix with v as the z axis, taken from PBRT
CUDA_CALLABLE inline void BasisFromVector(const Vec3& w, Vec3* u, Vec3* v)
{
if (fabsf(w.x) > fabsf(w.y))
{
float invLen = 1.0f / sqrtf(w.x * w.x + w.z * w.z);
*u = Vec3(-w.z * invLen, 0.0f, w.x * invLen);
}
else
{
float invLen = 1.0f / sqrtf(w.y * w.y + w.z * w.z);
*u = Vec3(0.0f, w.z * invLen, -w.y * invLen);
}
*v = Cross(w, *u);
// assert(fabsf(Length(*u)-1.0f) < 0.01f);
// assert(fabsf(Length(*v)-1.0f) < 0.01f);
}
// same as above but returns a matrix
inline Mat44 TransformFromVector(const Vec3& w, const Point3& t = Point3(0.0f, 0.0f, 0.0f))
{
Mat44 m = Mat44::Identity();
m.SetCol(2, Vec4(w.x, w.y, w.z, 0.0));
m.SetCol(3, Vec4(t.x, t.y, t.z, 1.0f));
BasisFromVector(w, (Vec3*)m.columns[0], (Vec3*)m.columns[1]);
return m;
}
// todo: sort out rotations
inline Mat44 ViewMatrix(const Point3& pos)
{
float view[4][4] = { { 1.0f, 0.0f, 0.0f, 0.0f },
{ 0.0f, 1.0f, 0.0f, 0.0f },
{ 0.0f, 0.0f, 1.0f, 0.0f },
{ -pos.x, -pos.y, -pos.z, 1.0f } };
return Mat44(&view[0][0]);
}
inline Mat44 LookAtMatrix(const Point3& viewer, const Point3& target)
{
// create a basis from viewer to target (OpenGL convention looking down -z)
Vec3 forward = -Normalize(target - viewer);
Vec3 up(0.0f, 1.0f, 0.0f);
Vec3 left = Normalize(Cross(up, forward));
up = Cross(forward, left);
float xform[4][4] = { { left.x, left.y, left.z, 0.0f },
{ up.x, up.y, up.z, 0.0f },
{ forward.x, forward.y, forward.z, 0.0f },
{ viewer.x, viewer.y, viewer.z, 1.0f } };
return AffineInverse(Mat44(&xform[0][0]));
}
// generate a rotation matrix around an axis, from PBRT p74
inline Mat44 RotationMatrix(float angle, const Vec3& axis)
{
Vec3 a = Normalize(axis);
float s = sinf(angle);
float c = cosf(angle);
float m[4][4];
m[0][0] = a.x * a.x + (1.0f - a.x * a.x) * c;
m[0][1] = a.x * a.y * (1.0f - c) + a.z * s;
m[0][2] = a.x * a.z * (1.0f - c) - a.y * s;
m[0][3] = 0.0f;
m[1][0] = a.x * a.y * (1.0f - c) - a.z * s;
m[1][1] = a.y * a.y + (1.0f - a.y * a.y) * c;
m[1][2] = a.y * a.z * (1.0f - c) + a.x * s;
m[1][3] = 0.0f;
m[2][0] = a.x * a.z * (1.0f - c) + a.y * s;
m[2][1] = a.y * a.z * (1.0f - c) - a.x * s;
m[2][2] = a.z * a.z + (1.0f - a.z * a.z) * c;
m[2][3] = 0.0f;
m[3][0] = 0.0f;
m[3][1] = 0.0f;
m[3][2] = 0.0f;
m[3][3] = 1.0f;
return Mat44(&m[0][0]);
}
inline Mat44 RotationMatrix(const Quat& q)
{
Matrix33 rotation(q);
Matrix44 m;
m.SetAxis(0, rotation.cols[0]);
m.SetAxis(1, rotation.cols[1]);
m.SetAxis(2, rotation.cols[2]);
m.SetTranslation(Point3(0.0f));
return m;
}
inline Mat44 TranslationMatrix(const Point3& t)
{
Mat44 m(Mat44::Identity());
m.SetTranslation(t);
return m;
}
inline Mat44 TransformMatrix(const Transform& t)
{
return TranslationMatrix(Point3(t.p)) * RotationMatrix(t.q);
}
inline Mat44 OrthographicMatrix(float left, float right, float bottom, float top, float n, float f)
{
float m[4][4] = { { 2.0f / (right - left), 0.0f, 0.0f, 0.0f },
{ 0.0f, 2.0f / (top - bottom), 0.0f, 0.0f },
{ 0.0f, 0.0f, -2.0f / (f - n), 0.0f },
{ -(right + left) / (right - left), -(top + bottom) / (top - bottom), -(f + n) / (f - n), 1.0f } };
return Mat44(&m[0][0]);
}
// this is designed as a drop in replacement for gluPerspective
inline Mat44 ProjectionMatrix(float fov, float aspect, float znear, float zfar)
{
float f = 1.0f / tanf(DegToRad(fov * 0.5f));
float zd = znear - zfar;
float view[4][4] = { { f / aspect, 0.0f, 0.0f, 0.0f },
{ 0.0f, f, 0.0f, 0.0f },
{ 0.0f, 0.0f, (zfar + znear) / zd, -1.0f },
{ 0.0f, 0.0f, (2.0f * znear * zfar) / zd, 0.0f } };
return Mat44(&view[0][0]);
}
// encapsulates an orientation encoded in Euler angles, not the sexiest
// representation but it is convenient when manipulating objects from script
class Rotation
{
public:
Rotation() : yaw(0), pitch(0), roll(0)
{
}
Rotation(float inYaw, float inPitch, float inRoll) : yaw(inYaw), pitch(inPitch), roll(inRoll)
{
}
Rotation& operator+=(const Rotation& rhs)
{
yaw += rhs.yaw;
pitch += rhs.pitch;
roll += rhs.roll;
return *this;
}
Rotation& operator-=(const Rotation& rhs)
{
yaw -= rhs.yaw;
pitch -= rhs.pitch;
roll -= rhs.roll;
return *this;
}
Rotation operator+(const Rotation& rhs) const
{
Rotation lhs(*this);
lhs += rhs;
return lhs;
}
Rotation operator-(const Rotation& rhs) const
{
Rotation lhs(*this);
lhs -= rhs;
return lhs;
}
// all members are in degrees (easy editing)
float yaw;
float pitch;
float roll;
};
inline Mat44 ScaleMatrix(const Vector3& s)
{
float m[4][4] = {
{ s.x, 0.0f, 0.0f, 0.0f }, { 0.0f, s.y, 0.0f, 0.0f }, { 0.0f, 0.0f, s.z, 0.0f }, { 0.0f, 0.0f, 0.0f, 1.0f }
};
return Mat44(&m[0][0]);
}
// assumes yaw on y, then pitch on z, then roll on x
inline Mat44 TransformMatrix(const Rotation& r, const Point3& p)
{
const float yaw = DegToRad(r.yaw);
const float pitch = DegToRad(r.pitch);
const float roll = DegToRad(r.roll);
const float s1 = Sin(roll);
const float c1 = Cos(roll);
const float s2 = Sin(pitch);
const float c2 = Cos(pitch);
const float s3 = Sin(yaw);
const float c3 = Cos(yaw);
// interprets the angles as yaw around world-y, pitch around new z, roll around new x
float mr[4][4] = { { c2 * c3, s2, -c2 * s3, 0.0f },
{ s1 * s3 - c1 * c3 * s2, c1 * c2, c3 * s1 + c1 * s2 * s3, 0.0f },
{ c3 * s1 * s2 + c1 * s3, -c2 * s1, c1 * c3 - s1 * s2 * s3, 0.0f },
{ p.x, p.y, p.z, 1.0f } };
Mat44 m1(&mr[0][0]);
return m1; // m2 * m1;
}
// aligns the z axis along the vector
inline Rotation AlignToVector(const Vec3& vector)
{
// todo: fix, see spherical->cartesian coordinates wikipedia
return Rotation(0.0f, RadToDeg(atan2(vector.y, vector.x)), 0.0f);
}
// creates a vector given an angle measured clockwise from horizontal (1,0)
inline Vec2 AngleToVector(float a)
{
return Vec2(Cos(a), Sin(a));
}
inline float VectorToAngle(const Vec2& v)
{
return atan2f(v.y, v.x);
}
CUDA_CALLABLE inline float SmoothStep(float a, float b, float t)
{
t = Clamp(t - a / (b - a), 0.0f, 1.0f);
return t * t * (3.0f - 2.0f * t);
}
// hermite spline interpolation
template <typename T>
T HermiteInterpolate(const T& a, const T& b, const T& t1, const T& t2, float t)
{
// blending weights
const float w1 = 1.0f - 3 * t * t + 2 * t * t * t;
const float w2 = t * t * (3.0f - 2.0f * t);
const float w3 = t * t * t - 2 * t * t + t;
const float w4 = t * t * (t - 1.0f);
// return weighted combination
return a * w1 + b * w2 + t1 * w3 + t2 * w4;
}
template <typename T>
T HermiteTangent(const T& a, const T& b, const T& t1, const T& t2, float t)
{
// first derivative blend weights
const float w1 = 6.0f * t * t - 6 * t;
const float w2 = -6.0f * t * t + 6 * t;
const float w3 = 3 * t * t - 4 * t + 1;
const float w4 = 3 * t * t - 2 * t;
// weighted combination
return a * w1 + b * w2 + t1 * w3 + t2 * w4;
}
template <typename T>
T HermiteSecondDerivative(const T& a, const T& b, const T& t1, const T& t2, float t)
{
// first derivative blend weights
const float w1 = 12 * t - 6.0f;
const float w2 = -12.0f * t + 6;
const float w3 = 6 * t - 4.0f;
const float w4 = 6 * t - 2.0f;
// weighted combination
return a * w1 + b * w2 + t1 * w3 + t2 * w4;
}
inline float Log(float base, float x)
{
// calculate the log of a value for an arbitary base, only use if you can't use the standard bases (10, e)
return logf(x) / logf(base);
}
inline int Log2(int x)
{
int n = 0;
while (x >= 2)
{
++n;
x /= 2;
}
return n;
}
// function which maps a value to a range
template <typename T>
T RangeMap(T value, T lower, T upper)
{
assert(upper >= lower);
return (value - lower) / (upper - lower);
}
// simple colour class
class Colour
{
public:
enum Preset
{
kRed,
kGreen,
kBlue,
kWhite,
kBlack
};
Colour(float r_ = 0.0f, float g_ = 0.0f, float b_ = 0.0f, float a_ = 1.0f) : r(r_), g(g_), b(b_), a(a_)
{
}
Colour(float* p) : r(p[0]), g(p[1]), b(p[2]), a(p[3])
{
}
Colour(uint32_t rgba)
{
a = ((rgba)&0xff) / 255.0f;
r = ((rgba >> 24) & 0xff) / 255.0f;
g = ((rgba >> 16) & 0xff) / 255.0f;
b = ((rgba >> 8) & 0xff) / 255.0f;
}
Colour(Preset p)
{
switch (p)
{
case kRed:
*this = Colour(1.0f, 0.0f, 0.0f);
break;
case kGreen:
*this = Colour(0.0f, 1.0f, 0.0f);
break;
case kBlue:
*this = Colour(0.0f, 0.0f, 1.0f);
break;
case kWhite:
*this = Colour(1.0f, 1.0f, 1.0f);
break;
case kBlack:
*this = Colour(0.0f, 0.0f, 0.0f);
break;
};
}
// cast operator
operator const float*() const
{
return &r;
}
operator float*()
{
return &r;
}
Colour operator*(float scale) const
{
Colour r(*this);
r *= scale;
return r;
}
Colour operator/(float scale) const
{
Colour r(*this);
r /= scale;
return r;
}
Colour operator+(const Colour& v) const
{
Colour r(*this);
r += v;
return r;
}
Colour operator-(const Colour& v) const
{
Colour r(*this);
r -= v;
return r;
}
Colour operator*(const Colour& scale) const
{
Colour r(*this);
r *= scale;
return r;
}
Colour& operator*=(float scale)
{
r *= scale;
g *= scale;
b *= scale;
a *= scale;
return *this;
}
Colour& operator/=(float scale)
{
float s(1.0f / scale);
r *= s;
g *= s;
b *= s;
a *= s;
return *this;
}
Colour& operator+=(const Colour& v)
{
r += v.r;
g += v.g;
b += v.b;
a += v.a;
return *this;
}
Colour& operator-=(const Colour& v)
{
r -= v.r;
g -= v.g;
b -= v.b;
a -= v.a;
return *this;
}
Colour& operator*=(const Colour& v)
{
r *= v.r;
g *= v.g;
b *= v.b;
a *= v.a;
return *this;
}
float r, g, b, a;
};
inline bool operator==(const Colour& lhs, const Colour& rhs)
{
return lhs.r == rhs.r && lhs.g == rhs.g && lhs.b == rhs.b && lhs.a == rhs.a;
}
inline bool operator!=(const Colour& lhs, const Colour& rhs)
{
return !(lhs == rhs);
}
inline Colour ToneMap(const Colour& s)
{
// return Colour(s.r / (s.r+1.0f), s.g / (s.g+1.0f), s.b / (s.b+1.0f), 1.0f);
float Y = 0.3333f * (s.r + s.g + s.b);
return s / (1.0f + Y);
}
// lhs scalar scale
inline Colour operator*(float lhs, const Colour& rhs)
{
Colour r(rhs);
r *= lhs;
return r;
}
inline Colour YxyToXYZ(float Y, float x, float y)
{
float X = x * (Y / y);
float Z = (1.0f - x - y) * Y / y;
return Colour(X, Y, Z, 1.0f);
}
inline Colour HSVToRGB(float h, float s, float v)
{
float r, g, b;
int i;
float f, p, q, t;
if (s == 0)
{
// achromatic (grey)
r = g = b = v;
}
else
{
h *= 6.0f; // sector 0 to 5
i = int(floor(h));
f = h - i; // factorial part of h
p = v * (1 - s);
q = v * (1 - s * f);
t = v * (1 - s * (1 - f));
switch (i)
{
case 0:
r = v;
g = t;
b = p;
break;
case 1:
r = q;
g = v;
b = p;
break;
case 2:
r = p;
g = v;
b = t;
break;
case 3:
r = p;
g = q;
b = v;
break;
case 4:
r = t;
g = p;
b = v;
break;
default: // case 5:
r = v;
g = p;
b = q;
break;
};
}
return Colour(r, g, b);
}
inline Colour XYZToLinear(float x, float y, float z)
{
float c[4];
c[0] = 3.240479f * x + -1.537150f * y + -0.498535f * z;
c[1] = -0.969256f * x + 1.875991f * y + 0.041556f * z;
c[2] = 0.055648f * x + -0.204043f * y + 1.057311f * z;
c[3] = 1.0f;
return Colour(c);
}
inline uint32_t ColourToRGBA8(const Colour& c)
{
union SmallColor
{
uint8_t u8[4];
uint32_t u32;
};
SmallColor s;
s.u8[0] = (uint8_t)(Clamp(c.r, 0.0f, 1.0f) * 255);
s.u8[1] = (uint8_t)(Clamp(c.g, 0.0f, 1.0f) * 255);
s.u8[2] = (uint8_t)(Clamp(c.b, 0.0f, 1.0f) * 255);
s.u8[3] = (uint8_t)(Clamp(c.a, 0.0f, 1.0f) * 255);
return s.u32;
}
inline Colour LinearToSrgb(const Colour& c)
{
const float kInvGamma = 1.0f / 2.2f;
return Colour(powf(c.r, kInvGamma), powf(c.g, kInvGamma), powf(c.b, kInvGamma), c.a);
}
inline Colour SrgbToLinear(const Colour& c)
{
const float kInvGamma = 2.2f;
return Colour(powf(c.r, kInvGamma), powf(c.g, kInvGamma), powf(c.b, kInvGamma), c.a);
}
inline float SpecularRoughnessToExponent(float roughness, float maxExponent = 2048.0f)
{
return powf(maxExponent, 1.0f - roughness);
}
inline float SpecularExponentToRoughness(float exponent, float maxExponent = 2048.0f)
{
if (exponent <= 1.0f)
return 1.0f;
else
return 1.0f - logf(exponent) / logf(maxExponent);
}
inline Colour JetColorMap(float low, float high, float x)
{
float t = (x - low) / (high - low);
return HSVToRGB(t, 1.0f, 1.0f);
}
inline Colour BourkeColorMap(float low, float high, float v)
{
Colour c(1.0f, 1.0f, 1.0f); // white
float dv;
if (v < low)
v = low;
if (v > high)
v = high;
dv = high - low;
if (v < (low + 0.25f * dv))
{
c.r = 0.f;
c.g = 4.f * (v - low) / dv;
}
else if (v < (low + 0.5f * dv))
{
c.r = 0.f;
c.b = 1.f + 4.f * (low + 0.25f * dv - v) / dv;
}
else if (v < (low + 0.75f * dv))
{
c.r = 4.f * (v - low - 0.5f * dv) / dv;
c.b = 0.f;
}
else
{
c.g = 1.f + 4.f * (low + 0.75f * dv - v) / dv;
c.b = 0.f;
}
return (c);
}
// intersection routines
inline bool IntersectRaySphere(const Point3& sphereOrigin,
float sphereRadius,
const Point3& rayOrigin,
const Vec3& rayDir,
float& t,
Vec3* hitNormal = nullptr)
{
Vec3 d(sphereOrigin - rayOrigin);
float deltaSq = LengthSq(d);
float radiusSq = sphereRadius * sphereRadius;
// if the origin is inside the sphere return no intersection
if (deltaSq > radiusSq)
{
float dprojr = Dot(d, rayDir);
// if ray pointing away from sphere no intersection
if (dprojr < 0.0f)
return false;
// bit of Pythagoras to get closest point on ray
float dSq = deltaSq - dprojr * dprojr;
if (dSq > radiusSq)
return false;
else
{
// length of the half cord
float thc = sqrt(radiusSq - dSq);
// closest intersection
t = dprojr - thc;
// calculate normal if requested
if (hitNormal)
*hitNormal = Normalize((rayOrigin + rayDir * t) - sphereOrigin);
return true;
}
}
else
{
return false;
}
}
template <typename T>
CUDA_CALLABLE inline bool SolveQuadratic(T a, T b, T c, T& minT, T& maxT)
{
if (a == 0.0f && b == 0.0f)
{
minT = maxT = 0.0f;
return true;
}
T discriminant = b * b - T(4.0) * a * c;
if (discriminant < 0.0f)
{
return false;
}
// numerical receipes 5.6 (this method ensures numerical accuracy is preserved)
T t = T(-0.5) * (b + Sign(b) * Sqrt(discriminant));
minT = t / a;
maxT = c / t;
if (minT > maxT)
{
Swap(minT, maxT);
}
return true;
}
// alternative ray sphere intersect, returns closest and furthest t values
inline bool IntersectRaySphere(const Point3& sphereOrigin,
float sphereRadius,
const Point3& rayOrigin,
const Vector3& rayDir,
float& minT,
float& maxT,
Vec3* hitNormal = nullptr)
{
Vector3 q = rayOrigin - sphereOrigin;
float a = 1.0f;
float b = 2.0f * Dot(q, rayDir);
float c = Dot(q, q) - (sphereRadius * sphereRadius);
bool r = SolveQuadratic(a, b, c, minT, maxT);
if (minT < 0.0)
minT = 0.0f;
// calculate the normal of the closest hit
if (hitNormal && r)
{
*hitNormal = Normalize((rayOrigin + rayDir * minT) - sphereOrigin);
}
return r;
}
CUDA_CALLABLE inline bool IntersectRayPlane(const Point3& p, const Vector3& dir, const Plane& plane, float& t)
{
float d = Dot(plane, dir);
if (d == 0.0f)
{
return false;
}
else
{
t = -Dot(plane, p) / d;
}
return (t > 0.0f);
}
CUDA_CALLABLE inline bool IntersectLineSegmentPlane(const Vec3& start, const Vec3& end, const Plane& plane, Vec3& out)
{
Vec3 u(end - start);
float dist = -Dot(plane, start) / Dot(plane, u);
if (dist > 0.0f && dist < 1.0f)
{
out = (start + u * dist);
return true;
}
else
return false;
}
// Moller and Trumbore's method
CUDA_CALLABLE inline bool IntersectRayTriTwoSided(const Vec3& p,
const Vec3& dir,
const Vec3& a,
const Vec3& b,
const Vec3& c,
float& t,
float& u,
float& v,
float& w,
float& sign,
Vec3* normal)
{
Vector3 ab = b - a;
Vector3 ac = c - a;
Vector3 n = Cross(ab, ac);
float d = Dot(-dir, n);
float ood = 1.0f / d; // No need to check for division by zero here as infinity aritmetic will save us...
Vector3 ap = p - a;
t = Dot(ap, n) * ood;
if (t < 0.0f)
return false;
Vector3 e = Cross(-dir, ap);
v = Dot(ac, e) * ood;
if (v < 0.0f || v > 1.0f) // ...here...
return false;
w = -Dot(ab, e) * ood;
if (w < 0.0f || v + w > 1.0f) // ...and here
return false;
u = 1.0f - v - w;
if (normal)
*normal = n;
sign = d;
return true;
}
// mostly taken from Real Time Collision Detection - p192
inline bool IntersectRayTri(const Point3& p,
const Vec3& dir,
const Point3& a,
const Point3& b,
const Point3& c,
float& t,
float& u,
float& v,
float& w,
Vec3* normal)
{
const Vec3 ab = b - a;
const Vec3 ac = c - a;
// calculate normal
Vec3 n = Cross(ab, ac);
// need to solve a system of three equations to give t, u, v
float d = Dot(-dir, n);
// if dir is parallel to triangle plane or points away from triangle
if (d <= 0.0f)
return false;
Vec3 ap = p - a;
t = Dot(ap, n);
// ignores tris behind
if (t < 0.0f)
return false;
// compute barycentric coordinates
Vec3 e = Cross(-dir, ap);
v = Dot(ac, e);
if (v < 0.0f || v > d)
return false;
w = -Dot(ab, e);
if (w < 0.0f || v + w > d)
return false;
float ood = 1.0f / d;
t *= ood;
v *= ood;
w *= ood;
u = 1.0f - v - w;
// optionally write out normal (todo: this branch is a performance concern, should probably remove)
if (normal)
*normal = n;
return true;
}
// mostly taken from Real Time Collision Detection - p192
CUDA_CALLABLE inline bool IntersectSegmentTri(const Vec3& p,
const Vec3& q,
const Vec3& a,
const Vec3& b,
const Vec3& c,
float& t,
float& u,
float& v,
float& w,
Vec3* normal)
{
const Vec3 ab = b - a;
const Vec3 ac = c - a;
const Vec3 qp = p - q;
// calculate normal
Vec3 n = Cross(ab, ac);
// need to solve a system of three equations to give t, u, v
float d = Dot(qp, n);
// if dir is parallel to triangle plane or points away from triangle
// if (d <= 0.0f)
// return false;
Vec3 ap = p - a;
t = Dot(ap, n);
// ignores tris behind
if (t < 0.0f)
return false;
// ignores tris beyond segment
if (t > d)
return false;
// compute barycentric coordinates
Vec3 e = Cross(qp, ap);
v = Dot(ac, e);
if (v < 0.0f || v > d)
return false;
w = -Dot(ab, e);
if (w < 0.0f || v + w > d)
return false;
float ood = 1.0f / d;
t *= ood;
v *= ood;
w *= ood;
u = 1.0f - v - w;
// optionally write out normal (todo: this branch is a performance concern, should probably remove)
if (normal)
*normal = n;
return true;
}
CUDA_CALLABLE inline float ScalarTriple(const Vec3& a, const Vec3& b, const Vec3& c)
{
return Dot(Cross(a, b), c);
}
// intersects a line (through points p and q, against a triangle a, b, c - mostly taken from Real Time Collision
// Detection - p186
CUDA_CALLABLE inline bool IntersectLineTri(
const Vec3& p, const Vec3& q, const Vec3& a, const Vec3& b, const Vec3& c) //, float& t, float& u, float& v, float&
// w, Vec3* normal, float expand)
{
const Vec3 pq = q - p;
const Vec3 pa = a - p;
const Vec3 pb = b - p;
const Vec3 pc = c - p;
Vec3 m = Cross(pq, pc);
float u = Dot(pb, m);
if (u < 0.0f)
return false;
float v = -Dot(pa, m);
if (v < 0.0f)
return false;
float w = ScalarTriple(pq, pb, pa);
if (w < 0.0f)
return false;
return true;
}
CUDA_CALLABLE inline Vec3 ClosestPointToAABB(const Vec3& p, const Vec3& lower, const Vec3& upper)
{
Vec3 c;
for (int i = 0; i < 3; ++i)
{
float v = p[i];
if (v < lower[i])
v = lower[i];
if (v > upper[i])
v = upper[i];
c[i] = v;
}
return c;
}
// RTCD 5.1.5, page 142
CUDA_CALLABLE inline Vec3 ClosestPointOnTriangle(
const Vec3& a, const Vec3& b, const Vec3& c, const Vec3& p, float& v, float& w)
{
Vec3 ab = b - a;
Vec3 ac = c - a;
Vec3 ap = p - a;
float d1 = Dot(ab, ap);
float d2 = Dot(ac, ap);
if (d1 <= 0.0f && d2 <= 0.0f)
{
v = 0.0f;
w = 0.0f;
return a;
}
Vec3 bp = p - b;
float d3 = Dot(ab, bp);
float d4 = Dot(ac, bp);
if (d3 >= 0.0f && d4 <= d3)
{
v = 1.0f;
w = 0.0f;
return b;
}
float vc = d1 * d4 - d3 * d2;
if (vc <= 0.0f && d1 >= 0.0f && d3 <= 0.0f)
{
v = d1 / (d1 - d3);
w = 0.0f;
return a + v * ab;
}
Vec3 cp = p - c;
float d5 = Dot(ab, cp);
float d6 = Dot(ac, cp);
if (d6 >= 0.0f && d5 <= d6)
{
v = 0.0f;
w = 1.0f;
return c;
}
float vb = d5 * d2 - d1 * d6;
if (vb <= 0.0f && d2 >= 0.0f && d6 <= 0.0f)
{
v = 0.0f;
w = d2 / (d2 - d6);
return a + w * ac;
}
float va = d3 * d6 - d5 * d4;
if (va <= 0.0f && (d4 - d3) >= 0.0f && (d5 - d6) >= 0.0f)
{
w = (d4 - d3) / ((d4 - d3) + (d5 - d6));
v = 1.0f - w;
return b + w * (c - b);
}
float denom = 1.0f / (va + vb + vc);
v = vb * denom;
w = vc * denom;
return a + ab * v + ac * w;
}
CUDA_CALLABLE inline Vec3 ClosestPointOnFatTriangle(
const Vec3& a, const Vec3& b, const Vec3& c, const Vec3& p, const float thickness, float& v, float& w)
{
const Vec3 x = ClosestPointOnTriangle(a, b, c, p, v, w);
const Vec3 d = SafeNormalize(p - x);
// apply thickness along delta dir
return x + d * thickness;
}
// computes intersection between a ray and a triangle expanded by a constant thickness, also works for ray-sphere and
// ray-capsule this is an iterative method similar to sphere tracing but for convex objects, see
// http://dtecta.com/papers/jgt04raycast.pdf
CUDA_CALLABLE inline bool IntersectRayFatTriangle(const Vec3& p,
const Vec3& dir,
const Vec3& a,
const Vec3& b,
const Vec3& c,
float thickness,
float threshold,
float maxT,
float& t,
float& u,
float& v,
float& w,
Vec3* normal)
{
t = 0.0f;
Vec3 x = p;
Vec3 n;
float distSq;
const float thresholdSq = threshold * threshold;
const int maxIterations = 20;
for (int i = 0; i < maxIterations; ++i)
{
const Vec3 closestPoint = ClosestPointOnFatTriangle(a, b, c, x, thickness, v, w);
n = x - closestPoint;
distSq = LengthSq(n);
// early out
if (distSq <= thresholdSq)
break;
float ndir = Dot(n, dir);
// we've gone past the convex
if (ndir >= 0.0f)
return false;
// we've exceeded max ray length
if (t > maxT)
return false;
t = t - distSq / ndir;
x = p + t * dir;
}
// calculate normal based on unexpanded geometry to avoid precision issues
Vec3 cp = ClosestPointOnTriangle(a, b, c, x, v, w);
n = x - cp;
// if n faces away due to numerical issues flip it to face ray dir
if (Dot(n, dir) > 0.0f)
n *= -1.0f;
u = 1.0f - v - w;
*normal = SafeNormalize(n);
return true;
}
CUDA_CALLABLE inline float SqDistPointSegment(Vec3 a, Vec3 b, Vec3 c)
{
Vec3 ab = b - a, ac = c - a, bc = c - b;
float e = Dot(ac, ab);
if (e <= 0.0f)
return Dot(ac, ac);
float f = Dot(ab, ab);
if (e >= f)
return Dot(bc, bc);
return Dot(ac, ac) - e * e / f;
}
CUDA_CALLABLE inline bool PointInTriangle(Vec3 a, Vec3 b, Vec3 c, Vec3 p)
{
a -= p;
b -= p;
c -= p;
/*
float eps = 0.0f;
float ab = Dot(a, b);
float ac = Dot(a, c);
float bc = Dot(b, c);
float cc = Dot(c, c);
if (bc *ac - cc * ab <= eps)
return false;
float bb = Dot(b, b);
if (ab * bc - ac*bb <= eps)
return false;
return true;
*/
Vec3 u = Cross(b, c);
Vec3 v = Cross(c, a);
if (Dot(u, v) <= 0.0f)
return false;
Vec3 w = Cross(a, b);
if (Dot(u, w) <= 0.0f)
return false;
return true;
}
CUDA_CALLABLE inline void ClosestPointBetweenLineSegments(
const Vec3& p, const Vec3& q, const Vec3& r, const Vec3& s, float& u, float& v)
{
Vec3 d1 = q - p;
Vec3 d2 = s - r;
Vec3 rp = p - r;
float a = Dot(d1, d1);
float c = Dot(d1, rp);
float e = Dot(d2, d2);
float f = Dot(d2, rp);
float b = Dot(d1, d2);
float denom = a * e - b * b;
if (denom != 0.0f)
u = Clamp((b * f - c * e) / denom, 0.0f, 1.0f);
else
{
u = 0.0f;
}
v = (b * u + f) / e;
if (v < 0.0f)
{
v = 0.0f;
u = Clamp(-c / a, 0.0f, 1.0f);
}
else if (v > 1.0f)
{
v = 1.0f;
u = Clamp((b - c) / a, 0.0f, 1.0f);
}
}
CUDA_CALLABLE inline float ClosestPointBetweenLineSegmentAndTri(
const Vec3& p, const Vec3& q, const Vec3& a, const Vec3& b, const Vec3& c, float& outT, float& outV, float& outW)
{
float minDsq = FLT_MAX;
float minT, minV, minW;
float t, u, v, w, dSq;
Vec3 r, s;
// test if line segment intersects tri
if (IntersectSegmentTri(p, q, a, b, c, t, u, v, w, nullptr))
{
outT = t;
outV = v;
outW = w;
return 0.0f;
}
// edge ab
ClosestPointBetweenLineSegments(p, q, a, b, t, v);
r = p + (q - p) * t;
s = a + (b - a) * v;
dSq = LengthSq(r - s);
if (dSq < minDsq)
{
minDsq = dSq;
minT = u;
// minU = 1.0f-v
minV = v;
minW = 0.0f;
}
// edge bc
ClosestPointBetweenLineSegments(p, q, b, c, t, w);
r = p + (q - p) * t;
s = b + (c - b) * w;
dSq = LengthSq(r - s);
if (dSq < minDsq)
{
minDsq = dSq;
minT = t;
// minU = 0.0f;
minV = 1.0f - w;
minW = w;
}
// edge ca
ClosestPointBetweenLineSegments(p, q, c, a, t, u);
r = p + (q - p) * t;
s = c + (a - c) * u;
dSq = LengthSq(r - s);
if (dSq < minDsq)
{
minDsq = dSq;
minT = t;
// minU = u;
minV = 0.0f;
minW = 1.0f - u;
}
// end point p
ClosestPointOnTriangle(a, b, c, p, v, w);
s = a * (1.0f - v - w) + b * v + c * w;
dSq = LengthSq(s - p);
if (dSq < minDsq)
{
minDsq = dSq;
minT = 0.0f;
minV = v;
minW = w;
}
// end point q
ClosestPointOnTriangle(a, b, c, q, v, w);
s = a * (1.0f - v - w) + b * v + c * w;
dSq = LengthSq(s - q);
if (dSq < minDsq)
{
minDsq = dSq;
minT = 1.0f;
minV = v;
minW = w;
}
// write mins
outT = minT;
outV = minV;
outW = minW;
return sqrtf(minDsq);
}
CUDA_CALLABLE inline float minf(const float a, const float b)
{
return a < b ? a : b;
}
CUDA_CALLABLE inline float maxf(const float a, const float b)
{
return a > b ? a : b;
}
CUDA_CALLABLE inline bool IntersectRayAABBFast(
const Vec3& pos, const Vector3& rcp_dir, const Vector3& min, const Vector3& max, float& t)
{
float l1 = (min.x - pos.x) * rcp_dir.x, l2 = (max.x - pos.x) * rcp_dir.x, lmin = minf(l1, l2), lmax = maxf(l1, l2);
l1 = (min.y - pos.y) * rcp_dir.y;
l2 = (max.y - pos.y) * rcp_dir.y;
lmin = maxf(minf(l1, l2), lmin);
lmax = minf(maxf(l1, l2), lmax);
l1 = (min.z - pos.z) * rcp_dir.z;
l2 = (max.z - pos.z) * rcp_dir.z;
lmin = maxf(minf(l1, l2), lmin);
lmax = minf(maxf(l1, l2), lmax);
// return ((lmax > 0.f) & (lmax >= lmin));
// return ((lmax > 0.f) & (lmax > lmin));
bool hit = ((lmax >= 0.f) & (lmax >= lmin));
if (hit)
t = lmin;
return hit;
}
CUDA_CALLABLE inline bool IntersectRayAABB(
const Vec3& start, const Vector3& dir, const Vector3& min, const Vector3& max, float& t, Vector3* normal)
{
//! calculate candidate plane on each axis
float tx = -1.0f, ty = -1.0f, tz = -1.0f;
bool inside = true;
//! use unrolled loops
//! x
if (start.x < min.x)
{
if (dir.x != 0.0f)
tx = (min.x - start.x) / dir.x;
inside = false;
}
else if (start.x > max.x)
{
if (dir.x != 0.0f)
tx = (max.x - start.x) / dir.x;
inside = false;
}
//! y
if (start.y < min.y)
{
if (dir.y != 0.0f)
ty = (min.y - start.y) / dir.y;
inside = false;
}
else if (start.y > max.y)
{
if (dir.y != 0.0f)
ty = (max.y - start.y) / dir.y;
inside = false;
}
//! z
if (start.z < min.z)
{
if (dir.z != 0.0f)
tz = (min.z - start.z) / dir.z;
inside = false;
}
else if (start.z > max.z)
{
if (dir.z != 0.0f)
tz = (max.z - start.z) / dir.z;
inside = false;
}
//! if point inside all planes
if (inside)
{
t = 0.0f;
return true;
}
//! we now have t values for each of possible intersection planes
//! find the maximum to get the intersection point
float tmax = tx;
int taxis = 0;
if (ty > tmax)
{
tmax = ty;
taxis = 1;
}
if (tz > tmax)
{
tmax = tz;
taxis = 2;
}
if (tmax < 0.0f)
return false;
//! check that the intersection point lies on the plane we picked
//! we don't test the axis of closest intersection for precision reasons
//! no eps for now
float eps = 0.0f;
Vec3 hit = start + dir * tmax;
if ((hit.x < min.x - eps || hit.x > max.x + eps) && taxis != 0)
return false;
if ((hit.y < min.y - eps || hit.y > max.y + eps) && taxis != 1)
return false;
if ((hit.z < min.z - eps || hit.z > max.z + eps) && taxis != 2)
return false;
//! output results
t = tmax;
return true;
}
// construct a plane equation such that ax + by + cz + dw = 0
CUDA_CALLABLE inline Vec4 PlaneFromPoints(const Vec3& p, const Vec3& q, const Vec3& r)
{
Vec3 e0 = q - p;
Vec3 e1 = r - p;
Vec3 n = SafeNormalize(Cross(e0, e1));
return Vec4(n.x, n.y, n.z, -Dot(p, n));
}
CUDA_CALLABLE inline bool IntersectPlaneAABB(const Vec4& plane, const Vec3& center, const Vec3& extents)
{
float radius = Abs(extents.x * plane.x) + Abs(extents.y * plane.y) + Abs(extents.z * plane.z);
float delta = Dot(center, Vec3(plane)) + plane.w;
return Abs(delta) <= radius;
}
// 2d rectangle class
class Rect
{
public:
Rect() : m_left(0), m_right(0), m_top(0), m_bottom(0)
{
}
Rect(uint32_t left, uint32_t right, uint32_t top, uint32_t bottom)
: m_left(left), m_right(right), m_top(top), m_bottom(bottom)
{
assert(left <= right);
assert(top <= bottom);
}
uint32_t Width() const
{
return m_right - m_left;
}
uint32_t Height() const
{
return m_bottom - m_top;
}
// expand rect x units in each direction
void Expand(uint32_t x)
{
m_left -= x;
m_right += x;
m_top -= x;
m_bottom += x;
}
uint32_t Left() const
{
return m_left;
}
uint32_t Right() const
{
return m_right;
}
uint32_t Top() const
{
return m_top;
}
uint32_t Bottom() const
{
return m_bottom;
}
bool Contains(uint32_t x, uint32_t y) const
{
return (x >= m_left) && (x <= m_right) && (y >= m_top) && (y <= m_bottom);
}
uint32_t m_left;
uint32_t m_right;
uint32_t m_top;
uint32_t m_bottom;
};
// doesn't really belong here but efficient (and I believe correct) in place random shuffle based on the Fisher-Yates /
// Knuth algorithm
template <typename T>
void RandomShuffle(T begin, T end)
{
assert(end > begin);
uint32_t n = distance(begin, end);
for (uint32_t i = 0; i < n; ++i)
{
// pick a random number between 0 and n-1
uint32_t r = Rand() % (n - i);
// swap that location with the current randomly selected position
swap(*(begin + i), *(begin + (i + r)));
}
}
CUDA_CALLABLE inline Quat QuatFromAxisAngle(const Vec3& axis, float angle)
{
Vec3 v = Normalize(axis);
float half = angle * 0.5f;
float w = cosf(half);
const float sin_theta_over_two = sinf(half);
v *= sin_theta_over_two;
return Quat(v.x, v.y, v.z, w);
}
// rotate by quaternion (q, w)
CUDA_CALLABLE inline Vec3 rotate(const Vec3& q, float w, const Vec3& x)
{
return 2.0f * (x * (w * w - 0.5f) + Cross(q, x) * w + q * Dot(q, x));
}
// rotate x by inverse transform in (q, w)
CUDA_CALLABLE inline Vec3 rotateInv(const Vec3& q, float w, const Vec3& x)
{
return 2.0f * (x * (w * w - 0.5f) - Cross(q, x) * w + q * Dot(q, x));
}
// get rotation from u to v
CUDA_CALLABLE inline Quat GetRotationQuat(const Vec3& _u, const Vec3& _v)
{
Vec3 u = Normalize(_u);
Vec3 v = Normalize(_v);
// check for aligned vectors
float d = Dot(u, v);
if (d > 1.0f - 1e-6f)
{
// vectors are colinear, return identity
return Quat();
}
else if (d < 1e-6f - 1.0f)
{
// vectors are opposite, return a 180 degree rotation
Vec3 axis = Cross({ 1.0f, 0.0f, 0.0f }, u);
if (LengthSq(axis) < 1e-6f)
{
axis = Cross({ 0.0f, 1.0f, 0.0f }, u);
}
return QuatFromAxisAngle(Normalize(axis), kPi);
}
else
{
Vec3 c = Cross(u, v);
float s = sqrtf((1.0f + d) * 2.0f);
float invs = 1.0f / s;
Quat q(invs * c.x, invs * c.y, invs * c.z, 0.5f * s);
return Normalize(q);
}
}
CUDA_CALLABLE inline void TransformBounds(const Quat& q, Vec3 extents, Vec3& newExtents)
{
Matrix33 transform(q);
transform.cols[0] *= extents.x;
transform.cols[1] *= extents.y;
transform.cols[2] *= extents.z;
float ex = fabsf(transform.cols[0].x) + fabsf(transform.cols[1].x) + fabsf(transform.cols[2].x);
float ey = fabsf(transform.cols[0].y) + fabsf(transform.cols[1].y) + fabsf(transform.cols[2].y);
float ez = fabsf(transform.cols[0].z) + fabsf(transform.cols[1].z) + fabsf(transform.cols[2].z);
newExtents = Vec3(ex, ey, ez);
}
CUDA_CALLABLE inline void TransformBounds(const Vec3& localLower,
const Vec3& localUpper,
const Vec3& translation,
const Quat& rotation,
float scale,
Vec3& lower,
Vec3& upper)
{
Matrix33 transform(rotation);
Vec3 extents = (localUpper - localLower) * scale;
transform.cols[0] *= extents.x;
transform.cols[1] *= extents.y;
transform.cols[2] *= extents.z;
float ex = fabsf(transform.cols[0].x) + fabsf(transform.cols[1].x) + fabsf(transform.cols[2].x);
float ey = fabsf(transform.cols[0].y) + fabsf(transform.cols[1].y) + fabsf(transform.cols[2].y);
float ez = fabsf(transform.cols[0].z) + fabsf(transform.cols[1].z) + fabsf(transform.cols[2].z);
Vec3 center = (localUpper + localLower) * 0.5f * scale;
lower = rotation * center + translation - Vec3(ex, ey, ez) * 0.5f;
upper = rotation * center + translation + Vec3(ex, ey, ez) * 0.5f;
}
// Poisson sample the volume of a sphere with given separation
inline int PoissonSample3D(float radius, float separation, Vec3* points, int maxPoints, int maxAttempts)
{
// naive O(n^2) dart throwing algorithm to generate a Poisson distribution
int c = 0;
while (c < maxPoints)
{
int a = 0;
while (a < maxAttempts)
{
const Vec3 p = UniformSampleSphereVolume() * radius;
// test against points already generated
int i = 0;
for (; i < c; ++i)
{
Vec3 d = p - points[i];
// reject if closer than separation
if (LengthSq(d) < separation * separation)
break;
}
// sample passed all tests, accept
if (i == c)
{
points[c] = p;
++c;
break;
}
++a;
}
// exit if we reached the max attempts and didn't manage to add a point
if (a == maxAttempts)
break;
}
return c;
}
inline int PoissonSampleBox3D(Vec3 lower, Vec3 upper, float separation, Vec3* points, int maxPoints, int maxAttempts)
{
// naive O(n^2) dart throwing algorithm to generate a Poisson distribution
int c = 0;
while (c < maxPoints)
{
int a = 0;
while (a < maxAttempts)
{
const Vec3 p = Vec3(Randf(lower.x, upper.x), Randf(lower.y, upper.y), Randf(lower.z, upper.z));
// test against points already generated
int i = 0;
for (; i < c; ++i)
{
Vec3 d = p - points[i];
// reject if closer than separation
if (LengthSq(d) < separation * separation)
break;
}
// sample passed all tests, accept
if (i == c)
{
points[c] = p;
++c;
break;
}
++a;
}
// exit if we reached the max attempts and didn't manage to add a point
if (a == maxAttempts)
break;
}
return c;
}
// Generates an optimally dense sphere packing at the origin (implicit sphere at the origin)
inline int TightPack3D(float radius, float separation, Vec3* points, int maxPoints)
{
int dim = int(ceilf(radius / separation));
int c = 0;
for (int z = -dim; z <= dim; ++z)
{
for (int y = -dim; y <= dim; ++y)
{
for (int x = -dim; x <= dim; ++x)
{
float xpos = x * separation + (((y + z) & 1) ? separation * 0.5f : 0.0f);
float ypos = y * sqrtf(0.75f) * separation;
float zpos = z * sqrtf(0.75f) * separation;
Vec3 p(xpos, ypos, zpos);
// skip center
if (LengthSq(p) == 0.0f)
continue;
if (c < maxPoints && Length(p) <= radius)
{
points[c] = p;
++c;
}
}
}
}
return c;
}
struct Bounds
{
CUDA_CALLABLE inline Bounds() : lower(FLT_MAX), upper(-FLT_MAX)
{
}
CUDA_CALLABLE inline Bounds(const Vec3& lower, const Vec3& upper) : lower(lower), upper(upper)
{
}
CUDA_CALLABLE inline Vec3 GetCenter() const
{
return 0.5f * (lower + upper);
}
CUDA_CALLABLE inline Vec3 GetEdges() const
{
return upper - lower;
}
CUDA_CALLABLE inline void Expand(float r)
{
lower -= Vec3(r);
upper += Vec3(r);
}
CUDA_CALLABLE inline void Expand(const Vec3& r)
{
lower -= r;
upper += r;
}
CUDA_CALLABLE inline bool Empty() const
{
return lower.x >= upper.x || lower.y >= upper.y || lower.z >= upper.z;
}
CUDA_CALLABLE inline bool Overlaps(const Vec3& p) const
{
if (p.x < lower.x || p.y < lower.y || p.z < lower.z || p.x > upper.x || p.y > upper.y || p.z > upper.z)
{
return false;
}
else
{
return true;
}
}
CUDA_CALLABLE inline bool Overlaps(const Bounds& b) const
{
if (lower.x > b.upper.x || lower.y > b.upper.y || lower.z > b.upper.z || upper.x < b.lower.x ||
upper.y < b.lower.y || upper.z < b.lower.z)
{
return false;
}
else
{
return true;
}
}
Vec3 lower;
Vec3 upper;
};
CUDA_CALLABLE inline Bounds Union(const Bounds& a, const Vec3& b)
{
return Bounds(Min(a.lower, b), Max(a.upper, b));
}
CUDA_CALLABLE inline Bounds Union(const Bounds& a, const Bounds& b)
{
return Bounds(Min(a.lower, b.lower), Max(a.upper, b.upper));
}
CUDA_CALLABLE inline Bounds Intersection(const Bounds& a, const Bounds& b)
{
return Bounds(Max(a.lower, b.lower), Min(a.upper, b.upper));
}
CUDA_CALLABLE inline float SurfaceArea(const Bounds& b)
{
Vec3 e = b.upper - b.lower;
return 2.0f * (e.x * e.y + e.x * e.z + e.y * e.z);
}
inline void ExtractFrustumPlanes(const Matrix44& m, Plane* planes)
{
// Based on Fast Extraction of Viewing Frustum Planes from the WorldView-Projection Matrix, Gill Grib, Klaus
// Hartmann
// Left clipping plane
planes[0].x = m(3, 0) + m(0, 0);
planes[0].y = m(3, 1) + m(0, 1);
planes[0].z = m(3, 2) + m(0, 2);
planes[0].w = m(3, 3) + m(0, 3);
// Right clipping plane
planes[1].x = m(3, 0) - m(0, 0);
planes[1].y = m(3, 1) - m(0, 1);
planes[1].z = m(3, 2) - m(0, 2);
planes[1].w = m(3, 3) - m(0, 3);
// Top clipping plane
planes[2].x = m(3, 0) - m(1, 0);
planes[2].y = m(3, 1) - m(1, 1);
planes[2].z = m(3, 2) - m(1, 2);
planes[2].w = m(3, 3) - m(1, 3);
// Bottom clipping plane
planes[3].x = m(3, 0) + m(1, 0);
planes[3].y = m(3, 1) + m(1, 1);
planes[3].z = m(3, 2) + m(1, 2);
planes[3].w = m(3, 3) + m(1, 3);
// Near clipping plane
planes[4].x = m(3, 0) + m(2, 0);
planes[4].y = m(3, 1) + m(2, 1);
planes[4].z = m(3, 2) + m(2, 2);
planes[4].w = m(3, 3) + m(2, 3);
// Far clipping plane
planes[5].x = m(3, 0) - m(2, 0);
planes[5].y = m(3, 1) - m(2, 1);
planes[5].z = m(3, 2) - m(2, 2);
planes[5].w = m(3, 3) - m(2, 3);
NormalizePlane(planes[0]);
NormalizePlane(planes[1]);
NormalizePlane(planes[2]);
NormalizePlane(planes[3]);
NormalizePlane(planes[4]);
NormalizePlane(planes[5]);
}
inline bool TestSphereAgainstFrustum(const Plane* planes, Vec3 center, float radius)
{
for (int i = 0; i < 6; ++i)
{
float d = -Dot(planes[i], Point3(center)) - radius;
if (d > 0.0f)
return false;
}
return true;
}
|
NVIDIA-Omniverse/urdf-importer-extension/source/extensions/omni.importer.urdf/plugins/math/core/types.h | // SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
// SPDX-License-Identifier: Apache-2.0
//
// 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.
#pragma once
#include "stdint.h"
#include <cstddef>
|
NVIDIA-Omniverse/urdf-importer-extension/source/extensions/omni.importer.urdf/plugins/math/core/common_math.h | // SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
// SPDX-License-Identifier: Apache-2.0
//
// 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.
#pragma once
#include "core.h"
#include "types.h"
#include <cassert>
#include <cmath>
#include <float.h>
#include <string.h>
#ifdef __CUDACC__
# define CUDA_CALLABLE __host__ __device__
#else
# define CUDA_CALLABLE
#endif
#define kPi 3.141592653589f
const float k2Pi = 2.0f * kPi;
const float kInvPi = 1.0f / kPi;
const float kInv2Pi = 0.5f / kPi;
const float kDegToRad = kPi / 180.0f;
const float kRadToDeg = 180.0f / kPi;
CUDA_CALLABLE inline float DegToRad(float t)
{
return t * kDegToRad;
}
CUDA_CALLABLE inline float RadToDeg(float t)
{
return t * kRadToDeg;
}
CUDA_CALLABLE inline float Sin(float theta)
{
return sinf(theta);
}
CUDA_CALLABLE inline float Cos(float theta)
{
return cosf(theta);
}
CUDA_CALLABLE inline void SinCos(float theta, float& s, float& c)
{
// no optimizations yet
s = sinf(theta);
c = cosf(theta);
}
CUDA_CALLABLE inline float Tan(float theta)
{
return tanf(theta);
}
CUDA_CALLABLE inline float Sqrt(float x)
{
return sqrtf(x);
}
CUDA_CALLABLE inline double Sqrt(double x)
{
return sqrt(x);
}
CUDA_CALLABLE inline float ASin(float theta)
{
return asinf(theta);
}
CUDA_CALLABLE inline float ACos(float theta)
{
return acosf(theta);
}
CUDA_CALLABLE inline float ATan(float theta)
{
return atanf(theta);
}
CUDA_CALLABLE inline float ATan2(float x, float y)
{
return atan2f(x, y);
}
CUDA_CALLABLE inline float Abs(float x)
{
return fabsf(x);
}
CUDA_CALLABLE inline float Pow(float b, float e)
{
return powf(b, e);
}
CUDA_CALLABLE inline float Sgn(float x)
{
return (x < 0.0f ? -1.0f : 1.0f);
}
CUDA_CALLABLE inline float Sign(float x)
{
return x < 0.0f ? -1.0f : 1.0f;
}
CUDA_CALLABLE inline double Sign(double x)
{
return x < 0.0f ? -1.0f : 1.0f;
}
CUDA_CALLABLE inline float Mod(float x, float y)
{
return fmod(x, y);
}
template <typename T>
CUDA_CALLABLE inline T Min(T a, T b)
{
return a < b ? a : b;
}
template <typename T>
CUDA_CALLABLE inline T Max(T a, T b)
{
return a > b ? a : b;
}
template <typename T>
CUDA_CALLABLE inline void Swap(T& a, T& b)
{
T tmp = a;
a = b;
b = tmp;
}
template <typename T>
CUDA_CALLABLE inline T Clamp(T a, T low, T high)
{
if (low > high)
Swap(low, high);
return Max(low, Min(a, high));
}
template <typename V, typename T>
CUDA_CALLABLE inline V Lerp(const V& start, const V& end, const T& t)
{
return start + (end - start) * t;
}
CUDA_CALLABLE inline float InvSqrt(float x)
{
return 1.0f / sqrtf(x);
}
// round towards +infinity
CUDA_CALLABLE inline int Round(float f)
{
return int(f + 0.5f);
}
template <typename T>
CUDA_CALLABLE T Normalize(const T& v)
{
T a(v);
a /= Length(v);
return a;
}
template <typename T>
CUDA_CALLABLE inline typename T::value_type LengthSq(const T v)
{
return Dot(v, v);
}
template <typename T>
CUDA_CALLABLE inline typename T::value_type Length(const T& v)
{
typename T::value_type lSq = LengthSq(v);
if (lSq)
return Sqrt(LengthSq(v));
else
return 0.0f;
}
// this is mainly a helper function used by script
template <typename T>
CUDA_CALLABLE inline typename T::value_type Distance(const T& v1, const T& v2)
{
return Length(v1 - v2);
}
template <typename T>
CUDA_CALLABLE inline T SafeNormalize(const T& v, const T& fallback = T())
{
float l = LengthSq(v);
if (l > 0.0f)
{
return v * InvSqrt(l);
}
else
return fallback;
}
template <typename T>
CUDA_CALLABLE inline T Sqr(T x)
{
return x * x;
}
template <typename T>
CUDA_CALLABLE inline T Cube(T x)
{
return x * x * x;
}
|
NVIDIA-Omniverse/urdf-importer-extension/source/extensions/omni.importer.urdf/plugins/math/core/core.h | // SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
// SPDX-License-Identifier: Apache-2.0
//
// 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.
#pragma once
#define ENABLE_VERBOSE_OUTPUT 0
#define ENABLE_APIC_CAPTURE 0
#define ENABLE_PERFALYZE_CAPTURE 0
#if ENABLE_VERBOSE_OUTPUT
# define VERBOSE(a) a##;
#else
# define VERBOSE(a)
#endif
//#define Super __super
// basically just a collection of macros and types
#ifndef UNUSED
# define UNUSED(x) (void)x;
#endif
#define NOMINMAX
#if !PLATFORM_OPENCL
# include <cassert>
#endif
#include "types.h"
#if !PLATFORM_SPU && !PLATFORM_OPENCL
# include <algorithm>
# include <fstream>
# include <functional>
# include <iostream>
# include <string>
#endif
#include <string.h>
// disable some warnings
#if _WIN32
# pragma warning(disable : 4996) // secure io
# pragma warning(disable : 4100) // unreferenced param
# pragma warning(disable : 4324) // structure was padded due to __declspec(align())
#endif
// alignment helpers
#define DEFAULT_ALIGNMENT 16
#if PLATFORM_LINUX
# define ALIGN_N(x)
# define ENDALIGN_N(x) __attribute__((aligned(x)))
#else
# define ALIGN_N(x) __declspec(align(x))
# define END_ALIGN_N(x)
#endif
#define ALIGN ALIGN_N(DEFAULT_ALIGNMENT)
#define END_ALIGN END_ALIGN_N(DEFAULT_ALIGNMENT)
inline bool IsPowerOfTwo(int n)
{
return (n & (n - 1)) == 0;
}
// align a ptr to a power of tow
template <typename T>
inline T* AlignPtr(T* p, uint32_t alignment)
{
assert(IsPowerOfTwo(alignment));
// cast to safe ptr type
uintptr_t up = reinterpret_cast<uintptr_t>(p);
return (T*)((up + (alignment - 1)) & ~(alignment - 1));
}
// align an unsigned value to a power of two
inline uint32_t Align(uint32_t val, uint32_t alignment)
{
assert(IsPowerOfTwo(alignment));
return (val + (alignment - 1)) & ~(alignment - 1);
}
inline bool IsAligned(void* p, uint32_t alignment)
{
return (((uintptr_t)p) & (alignment - 1)) == 0;
}
template <typename To, typename From>
To UnionCast(From in)
{
union
{
To t;
From f;
};
f = in;
return t;
}
// Endian helpers
template <typename T>
T ByteSwap(const T& val)
{
T copy = val;
uint8_t* p = reinterpret_cast<uint8_t*>(©);
std::reverse(p, p + sizeof(T));
return copy;
}
#ifndef LITTLE_ENDIAN
# define LITTLE_ENDIAN WIN32
#endif
#ifndef BIG_ENDIAN
# define BIG_ENDIAN PLATFORM_PS3 || PLATFORM_SPU
#endif
#if BIG_ENDIAN
# define ToLittleEndian(x) ByteSwap(x)
#else
# define ToLittleEndian(x) x
#endif
//#include "platform.h"
//#define sizeof_array(x) (sizeof(x)/sizeof(*x))
template <typename T, size_t N>
size_t sizeof_array(const T (&)[N])
{
return N;
}
// unary_function depricated in c++11
// functor designed for use in the stl
// template <typename T>
// class free_ptr : public std::unary_function<T*, void>
//{
// public:
// void operator()(const T* ptr)
// {
// delete ptr;
// }
//};
// given the path of one file it strips the filename and appends the relative path onto it
inline void MakeRelativePath(const char* filePath, const char* fileRelativePath, char* fullPath)
{
// get base path of file
const char* lastSlash = nullptr;
if (!lastSlash)
lastSlash = strrchr(filePath, '\\');
if (!lastSlash)
lastSlash = strrchr(filePath, '/');
int baseLength = 0;
if (lastSlash)
{
baseLength = int(lastSlash - filePath) + 1;
// copy base path (including slash to relative path)
memcpy(fullPath, filePath, baseLength);
}
// if (fileRelativePath[0] == '.')
//++fileRelativePath;
if (fileRelativePath[0] == '\\' || fileRelativePath[0] == '/')
++fileRelativePath;
// append mesh filename
strcpy(fullPath + baseLength, fileRelativePath);
}
|
NVIDIA-Omniverse/urdf-importer-extension/source/extensions/omni.importer.urdf/plugins/import/KinematicChain.cpp | // SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
// SPDX-License-Identifier: Apache-2.0
//
// 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 "KinematicChain.h"
#include <carb/logging/Log.h>
#include <algorithm>
namespace omni
{
namespace importer
{
namespace urdf
{
KinematicChain::~KinematicChain()
{
baseNode.reset();
}
// Computes the kinematic chain for a Urdf robot
bool KinematicChain::computeKinematicChain(const UrdfRobot& urdfRobot)
{
bool success = true;
if (urdfRobot.joints.empty())
{
if (urdfRobot.links.empty())
{
CARB_LOG_ERROR("*** URDF robot is empty \n");
success = false;
}
else if (urdfRobot.links.size() == 1)
{
baseNode = std::make_unique<Node>(urdfRobot.links.begin()->second.name, "");
}
else
{
CARB_LOG_ERROR("*** URDF has multiple links that are not connected to a joint \n");
success = false;
}
}
else
{
std::vector<std::string> childLinkNames;
for (auto& joint : urdfRobot.joints)
{
childLinkNames.push_back(joint.second.childLinkName);
}
// Find the base link
std::string baseLinkName;
for (auto& link : urdfRobot.links)
{
if (std::find(childLinkNames.begin(), childLinkNames.end(), link.second.name) == childLinkNames.end())
{
CARB_LOG_INFO("Found base link called %s \n", link.second.name.c_str());
baseLinkName = link.second.name;
break;
}
}
if (baseLinkName.empty())
{
CARB_LOG_ERROR("*** Could not find base link \n");
success = false;
}
baseNode = std::make_unique<Node>(baseLinkName, "");
// Recursively add the rest of the kinematic chain
computeChildNodes(baseNode, urdfRobot);
}
return success;
}
void KinematicChain::computeChildNodes(std::unique_ptr<Node>& parentNode, const UrdfRobot& urdfRobot)
{
for (auto& joint : urdfRobot.joints)
{
if (joint.second.parentLinkName == parentNode->linkName_)
{
std::unique_ptr<Node> childNode = std::make_unique<Node>(joint.second.childLinkName, joint.second.name);
parentNode->childNodes_.push_back(std::move(childNode));
CARB_LOG_INFO("Link %s has child %s \n", parentNode->linkName_.c_str(), joint.second.childLinkName.c_str());
}
}
if (parentNode->childNodes_.empty())
{
return;
}
else
{
for (auto& childLink : parentNode->childNodes_)
{
computeChildNodes(childLink, urdfRobot);
}
}
}
}
}
}
|
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