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kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/ETRIcable/README.md
|
# Loading Extension
To enable this extension, run Isaac Sim with the flags --ext-folder {path_to_ext_folder} --enable {ext_directory_name}
The user will see the extension appear on the toolbar on startup with the title they specified in the Extension Generator
# Extension Usage
This template provides the example usage for a library of UIElementWrapper objects that help to quickly develop
custom UI tools with minimal boilerplate code.
# Template Code Overview
The template is well documented and is meant to be self-explanatory to the user should they
start reading the provided python files. A short overview is also provided here:
global_variables.py:
A script that stores in global variables that the user specified when creating this extension such as the Title and Description.
extension.py:
A class containing the standard boilerplate necessary to have the user extension show up on the Toolbar. This
class is meant to fulfill most ues-cases without modification.
In extension.py, useful standard callback functions are created that the user may complete in ui_builder.py.
ui_builder.py:
This file is the user's main entrypoint into the template. Here, the user can see useful callback functions that have been
set up for them, and they may also create UI buttons that are hooked up to more user-defined callback functions. This file is
the most thoroughly documented, and the user should read through it before making serious modification.
| 1,488 |
Markdown
| 58.559998 | 132 | 0.793011 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/FrankaFollowTarget/global_variables.py
|
# Copyright (c) 2022-2023, 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.
#
EXTENSION_TITLE = "RoadBalanceEdu"
EXTENSION_DESCRIPTION = ""
| 495 |
Python
| 37.153843 | 76 | 0.80404 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/FrankaFollowTarget/franka_follow_target.py
|
# Copyright (c) 2020-2023, 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.
#
from omni.isaac.examples.base_sample import BaseSample
import numpy as np
from omni.isaac.core.prims.geometry_prim import GeometryPrim
# Note: checkout the required tutorials at https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/overview.html
from pxr import UsdGeom, Gf, UsdPhysics, Sdf, Gf, Tf, UsdLux
from omni.isaac.franka.controllers.rmpflow_controller import RMPFlowController
from omni.isaac.franka import Franka
from omni.isaac.core.utils.stage import add_reference_to_stage, get_stage_units
from omni.isaac.core.utils.nucleus import get_assets_root_path, get_url_root
import carb
import omni
import rclpy
import asyncio
from .ros2_twist_sub import QuestROS2Sub
def addObjectsGeom(scene, name, scale, ini_pos, collision=None, mass=None, orientation=None):
scene.add(GeometryPrim(prim_path=f"/World/{name}", name=f"{name}_ref_geom", collision=True))
geom = scene.get_object(f"{name}_ref_geom")
if orientation is None:
# Usually - (x, y, z, w)
# But in Isaac Sim - (w, x, y, z)
orientation = np.array([1.0, 0.0, 0.0, 0.0])
geom.set_local_scale(scale)
geom.set_world_pose(position=ini_pos)
geom.set_default_state(position=ini_pos, orientation=orientation)
geom.set_collision_enabled(False)
if collision is not None:
geom.set_collision_enabled(True)
geom.set_collision_approximation(collision)
if mass is not None:
massAPI = UsdPhysics.MassAPI.Apply(geom.prim.GetPrim())
massAPI.CreateMassAttr().Set(mass)
return geom
class FrankaFollowTarget(BaseSample):
def __init__(self) -> None:
super().__init__()
self._isaac_assets_path = get_assets_root_path()
self.CUBE_URL = self._isaac_assets_path + "/Isaac/Props/Blocks/nvidia_cube.usd"
self._quest_ros2_sub_node = None
self._controller = None
self._articulation_controller = None
return
def __del__(self):
if self._quest_ros2_sub_node is not None:
self._quest_ros2_sub_node.destroy_node()
rclpy.shutdown()
return
async def ros_loop(self):
while rclpy.ok():
rclpy.spin_once(self._quest_ros2_sub_node, timeout_sec=0)
await asyncio.sleep(1e-4)
def add_light(self):
sphereLight1 = UsdLux.SphereLight.Define(self._stage, Sdf.Path("/World/SphereLight"))
sphereLight1.CreateIntensityAttr(10000)
sphereLight1.CreateRadiusAttr(0.1)
sphereLight1.AddTranslateOp().Set(Gf.Vec3f(1.0, 0.0, 1.0))
def add_cube(self):
add_reference_to_stage(usd_path=self.CUBE_URL, prim_path=f"/World/NVIDIA_Cube")
self._cube_geom = addObjectsGeom(
self._world.scene, "NVIDIA_Cube",
scale=np.array([1.0, 1.0, 1.0]),
ini_pos=np.array([0.5, 0.3, 0.1]),
collision="sdf",
mass=0.1,
orientation=None
)
def add_franka(self):
self._franka = self._world.scene.add(
Franka(
prim_path="/World/Fancy_Franka",
name="fancy_franka"
)
)
def setup_scene(self):
self._world = self.get_world()
self._stage = omni.usd.get_context().get_stage()
self._world.scene.add_default_ground_plane()
self.add_franka()
self.add_light()
self.add_cube()
return
async def setup_post_load(self):
self._world = self.get_world()
self._my_franka = self._world.scene.get_object("fancy_franka")
self._my_gripper = self._my_franka.gripper
# RMPFlow controller
self._controller = RMPFlowController(
name="target_follower_controller",
robot_articulation=self._my_franka
)
# ROS 2 init
rclpy.init(args=None)
self._quest_ros2_sub_node = QuestROS2Sub()
self._articulation_controller = self._my_franka.get_articulation_controller()
self._world.add_physics_callback("sim_step", callback_fn=self.physics_callback)
await self.ros_loop()
return
def physics_callback(self, step_size):
ee_position, ee_orientation = self._quest_ros2_sub_node.get_pose(
z_offset=0.30,
# z -180 > 0, 0, -1, 0
q_offset=np.array([0.0, 0.0, -1.0, 0.0])
)
gripper_command = self._quest_ros2_sub_node.get_right_btn()
if np.array_equal( ee_position, np.array([0.0, 0.0, 0.0]) ):
ee_position = np.array([0.4, 0, 0.5])
if gripper_command:
self._my_gripper.close()
else:
self._my_gripper.open()
# RMPFlow controller
actions = self._controller.forward(
target_end_effector_position=ee_position,
target_end_effector_orientation=ee_orientation,
# w x y z => x y z w
# 0 0 1 0 => 0 1 0 0
# 0 0 1 0 => 0 1 0 0
# target_end_effector_orientation=np.array([0, 0, 1, 0]),
)
self._articulation_controller.apply_action(actions)
return
async def setup_pre_reset(self):
world = self.get_world()
if world.physics_callback_exists("sim_step"):
world.remove_physics_callback("sim_step")
self._controller.reset()
return
async def setup_post_reset(self):
self._controller.reset()
await self._world.play_async()
return
def world_cleanup(self):
self._world.pause()
self._controller = None
return
| 5,982 |
Python
| 32.424581 | 116 | 0.622033 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/FrankaFollowTarget/ros2_twist_sub.py
|
import numpy as np
# ROS2 imports
import rclpy
from rclpy.node import Node
from std_msgs.msg import Float32
from geometry_msgs.msg import Twist, PoseStamped
def quaternion_multiply(q1, q2):
w1, x1, y1, z1 = q1
w2, x2, y2, z2 = q2
w = w1*w2 - x1*x2 - y1*y2 - z1*z2
x = w1*x2 + x1*w2 + y1*z2 - z1*y2
y = w1*y2 - x1*z2 + y1*w2 + z1*x2
z = w1*z2 + x1*y2 - y1*x2 + z1*w2
return np.array([w, x, y, z])
class QuestROS2Sub(Node):
def __init__(self):
super().__init__('questros2_subscriber')
queue_size = 10 # Queue Size
self._rh_twist_sub = self.create_subscription(
Twist, 'q2r_right_hand_twist', self.twist_sub_callback, queue_size
)
self._rh_pose_sub = self.create_subscription(
PoseStamped, 'q2r_right_hand_pose', self.pose_sub_callback, queue_size
)
self._rh_index_btn_sub = self.create_subscription(
Float32, 'right_press_index', self.btn_sub_callback, queue_size
)
self._cur_twist = Twist()
self._cur_pose = PoseStamped()
self._btn_press = False
def twist_sub_callback(self, msg):
# self.get_logger().info(f"""
# x : {msg.linear.x:.3f} / y : {msg.linear.y:.3f} / z : {msg.linear.z:.3f}
# r : {msg.angular.x:.3f} / p : {msg.angular.y:.3f} / y : {msg.angular.z:.3f}
# """)
self._cur_twist = msg
def pose_sub_callback(self, msg):
# self.get_logger().info(f"""
# x : {msg.pose.position.x:.3f} / y : {msg.pose.position.y:.3f} / z : {msg.pose.position.z:.3f}
# x : {msg.pose.orientation.x:.3f} / y : {msg.pose.orientation.y:.3f} / z : {msg.pose.orientation.z:.3f} / w : {msg.pose.orientation.w:.3f}
# """)
self._cur_pose = msg
def btn_sub_callback(self, msg):
if msg.data == 1.0:
self._btn_press = True
else:
self._btn_press = False
# print(f"msg.data: {msg.data} / self._btn_press: {self._btn_press}")
def get_twist(self):
# return self._cur_twist
lin_x, lin_y, lin_z = self._cur_twist.linear.x, self._cur_twist.linear.y, self._cur_twist.linear.z
ang_x, ang_y, ang_z = self._cur_twist.angular.x, self._cur_twist.angular.y, self._cur_twist.angular.z
lin_x *= 5
lin_y *= 2
lin_z *= 2
return [ lin_x, lin_y, lin_z, 0.0, 0.0, 0.0]
def get_pose(self, z_offset, q_offset):
position = np.array([
self._cur_pose.pose.position.x,
self._cur_pose.pose.position.y,
self._cur_pose.pose.position.z + z_offset
])
orientation = np.array([
self._cur_pose.pose.orientation.x,
self._cur_pose.pose.orientation.y,
self._cur_pose.pose.orientation.z,
self._cur_pose.pose.orientation.w
])
orientation = quaternion_multiply(q_offset, orientation)
isaac_orientation = np.array([
orientation[3],
orientation[0],
orientation[1],
orientation[2],
])
return position, isaac_orientation
def get_right_btn(self):
return self._btn_press
def main(args=None):
"""Do enter into this main function first."""
rclpy.init(args=args)
quest_ros2_sub = QuestROS2Sub()
rclpy.spin(quest_ros2_sub)
quest_ros2_sub.destroy_node()
rclpy.shutdown()
if __name__ == '__main__':
"""main function"""
main()
| 3,502 |
Python
| 28.191666 | 151 | 0.55197 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/FrankaFollowTarget/extension.py
|
# Copyright (c) 2022-2023, NVIDIA CORPORATION. All rights reserved.
#
# NVIDIA CORPORATION and its licensors retain all intellectual property
# and proprietary rights in and to this software, related documentation
# and any modifications thereto. Any use, reproduction, disclosure or
# distribution of this software and related documentation without an express
# license agreement from NVIDIA CORPORATION is strictly prohibited.
#
import os
from omni.isaac.examples.base_sample import BaseSampleExtension
from .franka_follow_target import FrankaFollowTarget
"""
This file serves as a basic template for the standard boilerplate operations
that make a UI-based extension appear on the toolbar.
This implementation is meant to cover most use-cases without modification.
Various callbacks are hooked up to a seperate class UIBuilder in .ui_builder.py
Most users will be able to make their desired UI extension by interacting solely with
UIBuilder.
This class sets up standard useful callback functions in UIBuilder:
on_menu_callback: Called when extension is opened
on_timeline_event: Called when timeline is stopped, paused, or played
on_physics_step: Called on every physics step
on_stage_event: Called when stage is opened or closed
cleanup: Called when resources such as physics subscriptions should be cleaned up
build_ui: User function that creates the UI they want.
"""
class Extension(BaseSampleExtension):
def on_startup(self, ext_id: str):
super().on_startup(ext_id)
super().start_extension(
menu_name="RoadBalanceEdu",
submenu_name="ROS2 Examples",
name="FrankaFollowTarget",
title="FrankaFollowTarget",
doc_link="https://docs.omniverse.nvidia.com/isaacsim/latest/core_api_tutorials/tutorial_core_hello_world.html",
overview="This Example introduces the user on how to do cool stuff with Isaac Sim through scripting in asynchronous mode.",
file_path=os.path.abspath(__file__),
sample=FrankaFollowTarget(),
)
return
def on_shutdown(self):
print(f"Shutting down {self._sample.__class__.__name__}")
self._extra_frames = []
if self._sample._world is not None:
self._sample._world_cleanup()
if self._menu_items is not None:
self._sample_window_cleanup()
if self._buttons is not None:
self._buttons["Load World"].enabled = True
self._enable_all_buttons(False)
self.shutdown_cleanup()
return
| 2,565 |
Python
| 41.065573 | 135 | 0.709162 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/FrankaFollowTarget/__init__.py
|
# Copyright (c) 2022-2023, 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.
#
from .extension import Extension
| 464 |
Python
| 45.499995 | 76 | 0.814655 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/FrankaFollowTarget/ui_builder.py
|
# Copyright (c) 2022-2023, NVIDIA CORPORATION. All rights reserved.
#
# NVIDIA CORPORATION and its licensors retain all intellectual property
# and proprietary rights in and to this software, related documentation
# and any modifications thereto. Any use, reproduction, disclosure or
# distribution of this software and related documentation without an express
# license agreement from NVIDIA CORPORATION is strictly prohibited.
#
import os
from typing import List
import omni.ui as ui
from omni.isaac.ui.element_wrappers import (
Button,
CheckBox,
CollapsableFrame,
ColorPicker,
DropDown,
FloatField,
IntField,
StateButton,
StringField,
TextBlock,
XYPlot,
)
from omni.isaac.ui.ui_utils import get_style
class UIBuilder:
def __init__(self):
# Frames are sub-windows that can contain multiple UI elements
self.frames = []
# UI elements created using a UIElementWrapper from omni.isaac.ui.element_wrappers
self.wrapped_ui_elements = []
###################################################################################
# The Functions Below Are Called Automatically By extension.py
###################################################################################
def on_menu_callback(self):
"""Callback for when the UI is opened from the toolbar.
This is called directly after build_ui().
"""
pass
def on_timeline_event(self, event):
"""Callback for Timeline events (Play, Pause, Stop)
Args:
event (omni.timeline.TimelineEventType): Event Type
"""
pass
def on_physics_step(self, step):
"""Callback for Physics Step.
Physics steps only occur when the timeline is playing
Args:
step (float): Size of physics step
"""
pass
def on_stage_event(self, event):
"""Callback for Stage Events
Args:
event (omni.usd.StageEventType): Event Type
"""
pass
def cleanup(self):
"""
Called when the stage is closed or the extension is hot reloaded.
Perform any necessary cleanup such as removing active callback functions
Buttons imported from omni.isaac.ui.element_wrappers implement a cleanup function that should be called
"""
# None of the UI elements in this template actually have any internal state that needs to be cleaned up.
# But it is best practice to call cleanup() on all wrapped UI elements to simplify development.
for ui_elem in self.wrapped_ui_elements:
ui_elem.cleanup()
def build_ui(self):
"""
Build a custom UI tool to run your extension.
This function will be called any time the UI window is closed and reopened.
"""
# Create a UI frame that prints the latest UI event.
self._create_status_report_frame()
# Create a UI frame demonstrating simple UI elements for user input
self._create_simple_editable_fields_frame()
# Create a UI frame with different button types
self._create_buttons_frame()
# Create a UI frame with different selection widgets
self._create_selection_widgets_frame()
# Create a UI frame with different plotting tools
self._create_plotting_frame()
def _create_status_report_frame(self):
self._status_report_frame = CollapsableFrame("Status Report", collapsed=False)
with self._status_report_frame:
with ui.VStack(style=get_style(), spacing=5, height=0):
self._status_report_field = TextBlock(
"Last UI Event",
num_lines=3,
tooltip="Prints the latest change to this UI",
include_copy_button=True,
)
def _create_simple_editable_fields_frame(self):
self._simple_fields_frame = CollapsableFrame("Simple Editable Fields", collapsed=False)
with self._simple_fields_frame:
with ui.VStack(style=get_style(), spacing=5, height=0):
int_field = IntField(
"Int Field",
default_value=1,
tooltip="Type an int or click and drag to set a new value.",
lower_limit=-100,
upper_limit=100,
on_value_changed_fn=self._on_int_field_value_changed_fn,
)
self.wrapped_ui_elements.append(int_field)
float_field = FloatField(
"Float Field",
default_value=1.0,
tooltip="Type a float or click and drag to set a new value.",
step=0.5,
format="%.2f",
lower_limit=-100.0,
upper_limit=100.0,
on_value_changed_fn=self._on_float_field_value_changed_fn,
)
self.wrapped_ui_elements.append(float_field)
def is_usd_or_python_path(file_path: str):
# Filter file paths shown in the file picker to only be USD or Python files
_, ext = os.path.splitext(file_path.lower())
return ext == ".usd" or ext == ".py"
string_field = StringField(
"String Field",
default_value="Type Here or Use File Picker on the Right",
tooltip="Type a string or use the file picker to set a value",
read_only=False,
multiline_okay=False,
on_value_changed_fn=self._on_string_field_value_changed_fn,
use_folder_picker=True,
item_filter_fn=is_usd_or_python_path,
)
self.wrapped_ui_elements.append(string_field)
def _create_buttons_frame(self):
buttons_frame = CollapsableFrame("Buttons Frame", collapsed=False)
with buttons_frame:
with ui.VStack(style=get_style(), spacing=5, height=0):
button = Button(
"Button",
"CLICK ME",
tooltip="Click This Button to activate a callback function",
on_click_fn=self._on_button_clicked_fn,
)
self.wrapped_ui_elements.append(button)
state_button = StateButton(
"State Button",
"State A",
"State B",
tooltip="Click this button to transition between two states",
on_a_click_fn=self._on_state_btn_a_click_fn,
on_b_click_fn=self._on_state_btn_b_click_fn,
physics_callback_fn=None, # See Loaded Scenario Template for example usage
)
self.wrapped_ui_elements.append(state_button)
check_box = CheckBox(
"Check Box",
default_value=False,
tooltip=" Click this checkbox to activate a callback function",
on_click_fn=self._on_checkbox_click_fn,
)
self.wrapped_ui_elements.append(check_box)
def _create_selection_widgets_frame(self):
self._selection_widgets_frame = CollapsableFrame("Selection Widgets", collapsed=False)
with self._selection_widgets_frame:
with ui.VStack(style=get_style(), spacing=5, height=0):
def dropdown_populate_fn():
return ["Option A", "Option B", "Option C"]
dropdown = DropDown(
"Drop Down",
tooltip=" Select an option from the DropDown",
populate_fn=dropdown_populate_fn,
on_selection_fn=self._on_dropdown_item_selection,
)
self.wrapped_ui_elements.append(dropdown)
dropdown.repopulate() # This does not happen automatically, and it triggers the on_selection_fn
color_picker = ColorPicker(
"Color Picker",
default_value=[0.69, 0.61, 0.39, 1.0],
tooltip="Select a Color",
on_color_picked_fn=self._on_color_picked,
)
self.wrapped_ui_elements.append(color_picker)
def _create_plotting_frame(self):
self._plotting_frame = CollapsableFrame("Plotting Tools", collapsed=False)
with self._plotting_frame:
with ui.VStack(style=get_style(), spacing=5, height=0):
import numpy as np
x = np.arange(-1, 6.01, 0.01)
y = np.sin((x - 0.5) * np.pi)
plot = XYPlot(
"XY Plot",
tooltip="Press mouse over the plot for data label",
x_data=[x[:300], x[100:400], x[200:]],
y_data=[y[:300], y[100:400], y[200:]],
x_min=None, # Use default behavior to fit plotted data to entire frame
x_max=None,
y_min=-1.5,
y_max=1.5,
x_label="X [rad]",
y_label="Y",
plot_height=10,
legends=["Line 1", "Line 2", "Line 3"],
show_legend=True,
plot_colors=[
[255, 0, 0],
[0, 255, 0],
[0, 100, 200],
], # List of [r,g,b] values; not necessary to specify
)
######################################################################################
# Functions Below This Point Are Callback Functions Attached to UI Element Wrappers
######################################################################################
def _on_int_field_value_changed_fn(self, new_value: int):
status = f"Value was changed in int field to {new_value}"
self._status_report_field.set_text(status)
def _on_float_field_value_changed_fn(self, new_value: float):
status = f"Value was changed in float field to {new_value}"
self._status_report_field.set_text(status)
def _on_string_field_value_changed_fn(self, new_value: str):
status = f"Value was changed in string field to {new_value}"
self._status_report_field.set_text(status)
def _on_button_clicked_fn(self):
status = "The Button was Clicked!"
self._status_report_field.set_text(status)
def _on_state_btn_a_click_fn(self):
status = "State Button was Clicked in State A!"
self._status_report_field.set_text(status)
def _on_state_btn_b_click_fn(self):
status = "State Button was Clicked in State B!"
self._status_report_field.set_text(status)
def _on_checkbox_click_fn(self, value: bool):
status = f"CheckBox was set to {value}!"
self._status_report_field.set_text(status)
def _on_dropdown_item_selection(self, item: str):
status = f"{item} was selected from DropDown"
self._status_report_field.set_text(status)
def _on_color_picked(self, color: List[float]):
formatted_color = [float("%0.2f" % i) for i in color]
status = f"RGBA Color {formatted_color} was picked in the ColorPicker"
self._status_report_field.set_text(status)
| 11,487 |
Python
| 38.888889 | 112 | 0.542178 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/FrankaFollowTarget/README.md
|
# Loading Extension
To enable this extension, run Isaac Sim with the flags --ext-folder {path_to_ext_folder} --enable {ext_directory_name}
The user will see the extension appear on the toolbar on startup with the title they specified in the Extension Generator
# Extension Usage
This template provides the example usage for a library of UIElementWrapper objects that help to quickly develop
custom UI tools with minimal boilerplate code.
# Template Code Overview
The template is well documented and is meant to be self-explanatory to the user should they
start reading the provided python files. A short overview is also provided here:
global_variables.py:
A script that stores in global variables that the user specified when creating this extension such as the Title and Description.
extension.py:
A class containing the standard boilerplate necessary to have the user extension show up on the Toolbar. This
class is meant to fulfill most ues-cases without modification.
In extension.py, useful standard callback functions are created that the user may complete in ui_builder.py.
ui_builder.py:
This file is the user's main entrypoint into the template. Here, the user can see useful callback functions that have been
set up for them, and they may also create UI buttons that are hooked up to more user-defined callback functions. This file is
the most thoroughly documented, and the user should read through it before making serious modification.
| 1,488 |
Markdown
| 58.559998 | 132 | 0.793011 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/HelloMultiRobot/global_variables.py
|
# Copyright (c) 2022-2023, 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.
#
EXTENSION_TITLE = "MyExtension"
EXTENSION_DESCRIPTION = ""
| 492 |
Python
| 36.923074 | 76 | 0.802846 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/HelloMultiRobot/extension.py
|
# Copyright (c) 2022-2023, NVIDIA CORPORATION. All rights reserved.
#
# NVIDIA CORPORATION and its licensors retain all intellectual property
# and proprietary rights in and to this software, related documentation
# and any modifications thereto. Any use, reproduction, disclosure or
# distribution of this software and related documentation without an express
# license agreement from NVIDIA CORPORATION is strictly prohibited.
#
import os
from omni.isaac.examples.base_sample import BaseSampleExtension
from .hello_multi_robot import HelloMultiRobot
"""
This file serves as a basic template for the standard boilerplate operations
that make a UI-based extension appear on the toolbar.
This implementation is meant to cover most use-cases without modification.
Various callbacks are hooked up to a seperate class UIBuilder in .ui_builder.py
Most users will be able to make their desired UI extension by interacting solely with
UIBuilder.
This class sets up standard useful callback functions in UIBuilder:
on_menu_callback: Called when extension is opened
on_timeline_event: Called when timeline is stopped, paused, or played
on_physics_step: Called on every physics step
on_stage_event: Called when stage is opened or closed
cleanup: Called when resources such as physics subscriptions should be cleaned up
build_ui: User function that creates the UI they want.
"""
class Extension(BaseSampleExtension):
def on_startup(self, ext_id: str):
super().on_startup(ext_id)
super().start_extension(
menu_name="RoadBalanceEdu",
submenu_name="",
name="HelloMultiRobot",
title="HelloMultiRobot",
doc_link="https://docs.omniverse.nvidia.com/isaacsim/latest/core_api_tutorials/tutorial_core_hello_world.html",
overview="This Example introduces the user on how to do cool stuff with Isaac Sim through scripting in asynchronous mode.",
file_path=os.path.abspath(__file__),
sample=HelloMultiRobot(),
)
return
| 2,058 |
Python
| 41.895832 | 135 | 0.741011 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/HelloMultiRobot/__init__.py
|
# Copyright (c) 2022-2023, 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.
#
from .extension import Extension
| 464 |
Python
| 45.499995 | 76 | 0.814655 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/HelloMultiRobot/hello_multi_robot.py
|
# Copyright (c) 2020-2023, 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.
#
from omni.isaac.examples.base_sample import BaseSample
from omni.isaac.franka.tasks import PickPlace
from omni.isaac.wheeled_robots.robots import WheeledRobot
from omni.isaac.core.utils.nucleus import get_assets_root_path
from omni.isaac.wheeled_robots.controllers import WheelBasePoseController
from omni.isaac.franka.controllers import PickPlaceController
from omni.isaac.wheeled_robots.controllers.differential_controller import DifferentialController
from omni.isaac.core.tasks import BaseTask
from omni.isaac.core.utils.types import ArticulationAction
import numpy as np
class RobotsPlaying(BaseTask):
def __init__(
self,
name
):
super().__init__(name=name, offset=None)
self._jetbot_goal_position = np.array([1.3, 0.3, 0])
self._task_event = 0
self._pick_place_task = PickPlace(cube_initial_position=np.array([0.1, 0.3, 0.05]),
target_position=np.array([0.7, -0.3, 0.0515 / 2.0]))
return
def set_up_scene(self, scene):
super().set_up_scene(scene)
self._pick_place_task.set_up_scene(scene)
assets_root_path = get_assets_root_path()
jetbot_asset_path = assets_root_path + "/Isaac/Robots/Jetbot/jetbot.usd"
self._jetbot = scene.add(
WheeledRobot(
prim_path="/World/Fancy_Jetbot",
name="fancy_jetbot",
wheel_dof_names=["left_wheel_joint", "right_wheel_joint"],
create_robot=True,
usd_path=jetbot_asset_path,
position=np.array([0, 0.3, 0]),
)
)
pick_place_params = self._pick_place_task.get_params()
self._franka = scene.get_object(pick_place_params["robot_name"]["value"])
self._franka.set_world_pose(position=np.array([1.0, 0, 0]))
self._franka.set_default_state(position=np.array([1.0, 0, 0]))
return
def get_observations(self):
current_jetbot_position, current_jetbot_orientation = self._jetbot.get_world_pose()
observations= {
"task_event": self._task_event,
self._jetbot.name: {
"position": current_jetbot_position,
"orientation": current_jetbot_orientation,
"goal_position": self._jetbot_goal_position
}
}
# add the subtask's observations as well
observations.update(self._pick_place_task.get_observations())
return observations
def get_params(self):
pick_place_params = self._pick_place_task.get_params()
params_representation = pick_place_params
params_representation["jetbot_name"] = {"value": self._jetbot.name, "modifiable": False}
params_representation["franka_name"] = pick_place_params["robot_name"]
return params_representation
def pre_step(self, control_index, simulation_time):
if self._task_event == 0:
current_jetbot_position, _ = self._jetbot.get_world_pose()
if np.mean(np.abs(current_jetbot_position[:2] - self._jetbot_goal_position[:2])) < 0.04:
self._task_event += 1
self._cube_arrive_step_index = control_index
elif self._task_event == 1:
if control_index - self._cube_arrive_step_index == 200:
self._task_event += 1
return
def post_reset(self):
self._franka.gripper.set_joint_positions(self._franka.gripper.joint_opened_positions)
self._task_event = 0
return
class HelloMultiRobot(BaseSample):
def __init__(self) -> None:
super().__init__()
return
def setup_scene(self):
world = self.get_world()
world.add_task(RobotsPlaying(name="awesome_task"))
return
async def setup_post_load(self):
self._world = self.get_world()
task_params = self._world.get_task("awesome_task").get_params()
# We need franka later to apply to it actions
self._franka = self._world.scene.get_object(task_params["franka_name"]["value"])
self._jetbot = self._world.scene.get_object(task_params["jetbot_name"]["value"])
# We need the cube later on for the pick place controller
self._cube_name = task_params["cube_name"]["value"]
# Add Franka Controller
self._franka_controller = PickPlaceController(name="pick_place_controller",
gripper=self._franka.gripper,
robot_articulation=self._franka)
self._jetbot_controller = WheelBasePoseController(name="cool_controller",
open_loop_wheel_controller=
DifferentialController(name="simple_control",
wheel_radius=0.03, wheel_base=0.1125))
self._world.add_physics_callback("sim_step", callback_fn=self.physics_step)
await self._world.play_async()
return
async def setup_post_reset(self):
self._franka_controller.reset()
self._jetbot_controller.reset()
await self._world.play_async()
return
def physics_step(self, step_size):
current_observations = self._world.get_observations()
if current_observations["task_event"] == 0:
self._jetbot.apply_wheel_actions(
self._jetbot_controller.forward(
start_position=current_observations[self._jetbot.name]["position"],
start_orientation=current_observations[self._jetbot.name]["orientation"],
goal_position=current_observations[self._jetbot.name]["goal_position"]))
elif current_observations["task_event"] == 1:
self._jetbot.apply_wheel_actions(ArticulationAction(joint_velocities=[-8, -8]))
elif current_observations["task_event"] == 2:
self._jetbot.apply_wheel_actions(ArticulationAction(joint_velocities=[0.0, 0.0]))
# Pick up the block
actions = self._franka_controller.forward(
picking_position=current_observations[self._cube_name]["position"],
placing_position=current_observations[self._cube_name]["target_position"],
current_joint_positions=current_observations[self._franka.name]["joint_positions"])
self._franka.apply_action(actions)
# Pause once the controller is done
if self._franka_controller.is_done():
self._world.pause()
return
| 7,063 |
Python
| 46.093333 | 118 | 0.612771 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/HelloMultiRobot/ui_builder.py
|
# Copyright (c) 2022-2023, NVIDIA CORPORATION. All rights reserved.
#
# NVIDIA CORPORATION and its licensors retain all intellectual property
# and proprietary rights in and to this software, related documentation
# and any modifications thereto. Any use, reproduction, disclosure or
# distribution of this software and related documentation without an express
# license agreement from NVIDIA CORPORATION is strictly prohibited.
#
import os
from typing import List
import omni.ui as ui
from omni.isaac.ui.element_wrappers import (
Button,
CheckBox,
CollapsableFrame,
ColorPicker,
DropDown,
FloatField,
IntField,
StateButton,
StringField,
TextBlock,
XYPlot,
)
from omni.isaac.ui.ui_utils import get_style
class UIBuilder:
def __init__(self):
# Frames are sub-windows that can contain multiple UI elements
self.frames = []
# UI elements created using a UIElementWrapper from omni.isaac.ui.element_wrappers
self.wrapped_ui_elements = []
###################################################################################
# The Functions Below Are Called Automatically By extension.py
###################################################################################
def on_menu_callback(self):
"""Callback for when the UI is opened from the toolbar.
This is called directly after build_ui().
"""
pass
def on_timeline_event(self, event):
"""Callback for Timeline events (Play, Pause, Stop)
Args:
event (omni.timeline.TimelineEventType): Event Type
"""
pass
def on_physics_step(self, step):
"""Callback for Physics Step.
Physics steps only occur when the timeline is playing
Args:
step (float): Size of physics step
"""
pass
def on_stage_event(self, event):
"""Callback for Stage Events
Args:
event (omni.usd.StageEventType): Event Type
"""
pass
def cleanup(self):
"""
Called when the stage is closed or the extension is hot reloaded.
Perform any necessary cleanup such as removing active callback functions
Buttons imported from omni.isaac.ui.element_wrappers implement a cleanup function that should be called
"""
# None of the UI elements in this template actually have any internal state that needs to be cleaned up.
# But it is best practice to call cleanup() on all wrapped UI elements to simplify development.
for ui_elem in self.wrapped_ui_elements:
ui_elem.cleanup()
def build_ui(self):
"""
Build a custom UI tool to run your extension.
This function will be called any time the UI window is closed and reopened.
"""
# Create a UI frame that prints the latest UI event.
self._create_status_report_frame()
# Create a UI frame demonstrating simple UI elements for user input
self._create_simple_editable_fields_frame()
# Create a UI frame with different button types
self._create_buttons_frame()
# Create a UI frame with different selection widgets
self._create_selection_widgets_frame()
# Create a UI frame with different plotting tools
self._create_plotting_frame()
def _create_status_report_frame(self):
self._status_report_frame = CollapsableFrame("Status Report", collapsed=False)
with self._status_report_frame:
with ui.VStack(style=get_style(), spacing=5, height=0):
self._status_report_field = TextBlock(
"Last UI Event",
num_lines=3,
tooltip="Prints the latest change to this UI",
include_copy_button=True,
)
def _create_simple_editable_fields_frame(self):
self._simple_fields_frame = CollapsableFrame("Simple Editable Fields", collapsed=False)
with self._simple_fields_frame:
with ui.VStack(style=get_style(), spacing=5, height=0):
int_field = IntField(
"Int Field",
default_value=1,
tooltip="Type an int or click and drag to set a new value.",
lower_limit=-100,
upper_limit=100,
on_value_changed_fn=self._on_int_field_value_changed_fn,
)
self.wrapped_ui_elements.append(int_field)
float_field = FloatField(
"Float Field",
default_value=1.0,
tooltip="Type a float or click and drag to set a new value.",
step=0.5,
format="%.2f",
lower_limit=-100.0,
upper_limit=100.0,
on_value_changed_fn=self._on_float_field_value_changed_fn,
)
self.wrapped_ui_elements.append(float_field)
def is_usd_or_python_path(file_path: str):
# Filter file paths shown in the file picker to only be USD or Python files
_, ext = os.path.splitext(file_path.lower())
return ext == ".usd" or ext == ".py"
string_field = StringField(
"String Field",
default_value="Type Here or Use File Picker on the Right",
tooltip="Type a string or use the file picker to set a value",
read_only=False,
multiline_okay=False,
on_value_changed_fn=self._on_string_field_value_changed_fn,
use_folder_picker=True,
item_filter_fn=is_usd_or_python_path,
)
self.wrapped_ui_elements.append(string_field)
def _create_buttons_frame(self):
buttons_frame = CollapsableFrame("Buttons Frame", collapsed=False)
with buttons_frame:
with ui.VStack(style=get_style(), spacing=5, height=0):
button = Button(
"Button",
"CLICK ME",
tooltip="Click This Button to activate a callback function",
on_click_fn=self._on_button_clicked_fn,
)
self.wrapped_ui_elements.append(button)
state_button = StateButton(
"State Button",
"State A",
"State B",
tooltip="Click this button to transition between two states",
on_a_click_fn=self._on_state_btn_a_click_fn,
on_b_click_fn=self._on_state_btn_b_click_fn,
physics_callback_fn=None, # See Loaded Scenario Template for example usage
)
self.wrapped_ui_elements.append(state_button)
check_box = CheckBox(
"Check Box",
default_value=False,
tooltip=" Click this checkbox to activate a callback function",
on_click_fn=self._on_checkbox_click_fn,
)
self.wrapped_ui_elements.append(check_box)
def _create_selection_widgets_frame(self):
self._selection_widgets_frame = CollapsableFrame("Selection Widgets", collapsed=False)
with self._selection_widgets_frame:
with ui.VStack(style=get_style(), spacing=5, height=0):
def dropdown_populate_fn():
return ["Option A", "Option B", "Option C"]
dropdown = DropDown(
"Drop Down",
tooltip=" Select an option from the DropDown",
populate_fn=dropdown_populate_fn,
on_selection_fn=self._on_dropdown_item_selection,
)
self.wrapped_ui_elements.append(dropdown)
dropdown.repopulate() # This does not happen automatically, and it triggers the on_selection_fn
color_picker = ColorPicker(
"Color Picker",
default_value=[0.69, 0.61, 0.39, 1.0],
tooltip="Select a Color",
on_color_picked_fn=self._on_color_picked,
)
self.wrapped_ui_elements.append(color_picker)
def _create_plotting_frame(self):
self._plotting_frame = CollapsableFrame("Plotting Tools", collapsed=False)
with self._plotting_frame:
with ui.VStack(style=get_style(), spacing=5, height=0):
import numpy as np
x = np.arange(-1, 6.01, 0.01)
y = np.sin((x - 0.5) * np.pi)
plot = XYPlot(
"XY Plot",
tooltip="Press mouse over the plot for data label",
x_data=[x[:300], x[100:400], x[200:]],
y_data=[y[:300], y[100:400], y[200:]],
x_min=None, # Use default behavior to fit plotted data to entire frame
x_max=None,
y_min=-1.5,
y_max=1.5,
x_label="X [rad]",
y_label="Y",
plot_height=10,
legends=["Line 1", "Line 2", "Line 3"],
show_legend=True,
plot_colors=[
[255, 0, 0],
[0, 255, 0],
[0, 100, 200],
], # List of [r,g,b] values; not necessary to specify
)
######################################################################################
# Functions Below This Point Are Callback Functions Attached to UI Element Wrappers
######################################################################################
def _on_int_field_value_changed_fn(self, new_value: int):
status = f"Value was changed in int field to {new_value}"
self._status_report_field.set_text(status)
def _on_float_field_value_changed_fn(self, new_value: float):
status = f"Value was changed in float field to {new_value}"
self._status_report_field.set_text(status)
def _on_string_field_value_changed_fn(self, new_value: str):
status = f"Value was changed in string field to {new_value}"
self._status_report_field.set_text(status)
def _on_button_clicked_fn(self):
status = "The Button was Clicked!"
self._status_report_field.set_text(status)
def _on_state_btn_a_click_fn(self):
status = "State Button was Clicked in State A!"
self._status_report_field.set_text(status)
def _on_state_btn_b_click_fn(self):
status = "State Button was Clicked in State B!"
self._status_report_field.set_text(status)
def _on_checkbox_click_fn(self, value: bool):
status = f"CheckBox was set to {value}!"
self._status_report_field.set_text(status)
def _on_dropdown_item_selection(self, item: str):
status = f"{item} was selected from DropDown"
self._status_report_field.set_text(status)
def _on_color_picked(self, color: List[float]):
formatted_color = [float("%0.2f" % i) for i in color]
status = f"RGBA Color {formatted_color} was picked in the ColorPicker"
self._status_report_field.set_text(status)
| 11,487 |
Python
| 38.888889 | 112 | 0.542178 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/HelloMultiRobot/README.md
|
# Loading Extension
To enable this extension, run Isaac Sim with the flags --ext-folder {path_to_ext_folder} --enable {ext_directory_name}
The user will see the extension appear on the toolbar on startup with the title they specified in the Extension Generator
# Extension Usage
This template provides the example usage for a library of UIElementWrapper objects that help to quickly develop
custom UI tools with minimal boilerplate code.
# Template Code Overview
The template is well documented and is meant to be self-explanatory to the user should they
start reading the provided python files. A short overview is also provided here:
global_variables.py:
A script that stores in global variables that the user specified when creating this extension such as the Title and Description.
extension.py:
A class containing the standard boilerplate necessary to have the user extension show up on the Toolbar. This
class is meant to fulfill most ues-cases without modification.
In extension.py, useful standard callback functions are created that the user may complete in ui_builder.py.
ui_builder.py:
This file is the user's main entrypoint into the template. Here, the user can see useful callback functions that have been
set up for them, and they may also create UI buttons that are hooked up to more user-defined callback functions. This file is
the most thoroughly documented, and the user should read through it before making serious modification.
| 1,488 |
Markdown
| 58.559998 | 132 | 0.793011 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/ETRIUR10/ur10_basic.py
|
# Copyright (c) 2020-2023, 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.
#
from omni.isaac.franka.controllers import PickPlaceController
from omni.isaac.examples.base_sample import BaseSample
from omni.isaac.core.tasks import BaseTask
from omni.isaac.franka import Franka
from omni.isaac.core.utils.stage import add_reference_to_stage, get_stage_units
from omni.isaac.core.physics_context.physics_context import PhysicsContext
from omni.isaac.core.prims.geometry_prim import GeometryPrim
from omni.isaac.core.utils.prims import get_prim_at_path
from omni.isaac.franka import Franka
from omni.isaac.core.utils.nucleus import get_assets_root_path, get_url_root
from omni.isaac.core.utils.rotations import euler_angles_to_quat
from pxr import UsdGeom, Gf, UsdPhysics, Sdf, Gf, Tf, UsdLux
from omni.isaac.core import SimulationContext
from omni.physx.scripts import utils
from pxr import PhysxSchema
import numpy as np
import carb
from omni.isaac.universal_robots import UR10
from omni.isaac.universal_robots.controllers.rmpflow_controller import RMPFlowController
class UR10Basic(BaseSample):
def __init__(self) -> None:
super().__init__()
# Nucleus Path Configuration
carb.log_info("Check /persistent/isaac/asset_root/default setting")
default_asset_root = carb.settings.get_settings().get("/persistent/isaac/asset_root/default")
self._server_root = get_url_root(default_asset_root)
return
def setup_scene(self):
self._world = self.get_world()
self._world.scene.add_default_ground_plane()
# Add UR10 robot
self._ur10 = self._world.scene.add(
UR10(
prim_path="/World/UR10",
name="UR10",
attach_gripper=False,
)
)
self.simulation_context = SimulationContext()
return
async def setup_post_load(self):
self._my_ur10 = self._world.scene.get_object("UR10")
# RMPFlow controller
self._controller = RMPFlowController(
name="target_follower_controller",
robot_articulation=self._my_ur10
)
self._articulation_controller = self._my_ur10.get_articulation_controller()
self._world.add_physics_callback("sim_step", callback_fn=self.physics_step)
return
def physics_step(self, step_size):
# RMPFlow controller
actions = self._controller.forward(
target_end_effector_position=np.array([0.4, 0, 0.5]),
# target_end_effector_orientation=ee_orientation,
# w x y z => x y z w
# 0 0 1 0 => 0 1 0 0
# 0 0 1 0 => 0 1 0 0
target_end_effector_orientation=np.array([1, 0, 0, 0]),
)
self._articulation_controller.apply_action(actions)
return
async def setup_pre_reset(self):
self._save_count = 0
self._event = 0
return
async def setup_post_reset(self):
await self._world.play_async()
return
def world_cleanup(self):
return
| 3,429 |
Python
| 31.666666 | 101 | 0.673666 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/ETRIUR10/global_variables.py
|
# Copyright (c) 2022-2023, 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.
#
EXTENSION_TITLE = "MyExtension"
EXTENSION_DESCRIPTION = ""
| 492 |
Python
| 36.923074 | 76 | 0.802846 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/ETRIUR10/extension.py
|
# Copyright (c) 2022-2023, NVIDIA CORPORATION. All rights reserved.
#
# NVIDIA CORPORATION and its licensors retain all intellectual property
# and proprietary rights in and to this software, related documentation
# and any modifications thereto. Any use, reproduction, disclosure or
# distribution of this software and related documentation without an express
# license agreement from NVIDIA CORPORATION is strictly prohibited.
#
import os
from omni.isaac.examples.base_sample import BaseSampleExtension
from .ur10_basic import UR10Basic
"""
This file serves as a basic template for the standard boilerplate operations
that make a UI-based extension appear on the toolbar.
This implementation is meant to cover most use-cases without modification.
Various callbacks are hooked up to a seperate class UIBuilder in .ui_builder.py
Most users will be able to make their desired UI extension by interacting solely with
UIBuilder.
This class sets up standard useful callback functions in UIBuilder:
on_menu_callback: Called when extension is opened
on_timeline_event: Called when timeline is stopped, paused, or played
on_physics_step: Called on every physics step
on_stage_event: Called when stage is opened or closed
cleanup: Called when resources such as physics subscriptions should be cleaned up
build_ui: User function that creates the UI they want.
"""
class Extension(BaseSampleExtension):
def on_startup(self, ext_id: str):
super().on_startup(ext_id)
super().start_extension(
menu_name="RoadBalanceEdu",
submenu_name="ETRIReal",
name="UR10Basic",
title="UR10Basic",
doc_link="https://docs.omniverse.nvidia.com/isaacsim/latest/core_api_tutorials/tutorial_core_hello_world.html",
overview="This Example introduces the user on how to do cool stuff with Isaac Sim through scripting in asynchronous mode.",
file_path=os.path.abspath(__file__),
sample=UR10Basic(),
)
return
| 2,035 |
Python
| 41.416666 | 135 | 0.738575 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/ETRIUR10/__init__.py
|
# Copyright (c) 2022-2023, 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.
#
from .extension import Extension
| 464 |
Python
| 45.499995 | 76 | 0.814655 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/ETRIUR10/ui_builder.py
|
# Copyright (c) 2022-2023, NVIDIA CORPORATION. All rights reserved.
#
# NVIDIA CORPORATION and its licensors retain all intellectual property
# and proprietary rights in and to this software, related documentation
# and any modifications thereto. Any use, reproduction, disclosure or
# distribution of this software and related documentation without an express
# license agreement from NVIDIA CORPORATION is strictly prohibited.
#
import os
from typing import List
import omni.ui as ui
from omni.isaac.ui.element_wrappers import (
Button,
CheckBox,
CollapsableFrame,
ColorPicker,
DropDown,
FloatField,
IntField,
StateButton,
StringField,
TextBlock,
XYPlot,
)
from omni.isaac.ui.ui_utils import get_style
class UIBuilder:
def __init__(self):
# Frames are sub-windows that can contain multiple UI elements
self.frames = []
# UI elements created using a UIElementWrapper from omni.isaac.ui.element_wrappers
self.wrapped_ui_elements = []
###################################################################################
# The Functions Below Are Called Automatically By extension.py
###################################################################################
def on_menu_callback(self):
"""Callback for when the UI is opened from the toolbar.
This is called directly after build_ui().
"""
pass
def on_timeline_event(self, event):
"""Callback for Timeline events (Play, Pause, Stop)
Args:
event (omni.timeline.TimelineEventType): Event Type
"""
pass
def on_physics_step(self, step):
"""Callback for Physics Step.
Physics steps only occur when the timeline is playing
Args:
step (float): Size of physics step
"""
pass
def on_stage_event(self, event):
"""Callback for Stage Events
Args:
event (omni.usd.StageEventType): Event Type
"""
pass
def cleanup(self):
"""
Called when the stage is closed or the extension is hot reloaded.
Perform any necessary cleanup such as removing active callback functions
Buttons imported from omni.isaac.ui.element_wrappers implement a cleanup function that should be called
"""
# None of the UI elements in this template actually have any internal state that needs to be cleaned up.
# But it is best practice to call cleanup() on all wrapped UI elements to simplify development.
for ui_elem in self.wrapped_ui_elements:
ui_elem.cleanup()
def build_ui(self):
"""
Build a custom UI tool to run your extension.
This function will be called any time the UI window is closed and reopened.
"""
# Create a UI frame that prints the latest UI event.
self._create_status_report_frame()
# Create a UI frame demonstrating simple UI elements for user input
self._create_simple_editable_fields_frame()
# Create a UI frame with different button types
self._create_buttons_frame()
# Create a UI frame with different selection widgets
self._create_selection_widgets_frame()
# Create a UI frame with different plotting tools
self._create_plotting_frame()
def _create_status_report_frame(self):
self._status_report_frame = CollapsableFrame("Status Report", collapsed=False)
with self._status_report_frame:
with ui.VStack(style=get_style(), spacing=5, height=0):
self._status_report_field = TextBlock(
"Last UI Event",
num_lines=3,
tooltip="Prints the latest change to this UI",
include_copy_button=True,
)
def _create_simple_editable_fields_frame(self):
self._simple_fields_frame = CollapsableFrame("Simple Editable Fields", collapsed=False)
with self._simple_fields_frame:
with ui.VStack(style=get_style(), spacing=5, height=0):
int_field = IntField(
"Int Field",
default_value=1,
tooltip="Type an int or click and drag to set a new value.",
lower_limit=-100,
upper_limit=100,
on_value_changed_fn=self._on_int_field_value_changed_fn,
)
self.wrapped_ui_elements.append(int_field)
float_field = FloatField(
"Float Field",
default_value=1.0,
tooltip="Type a float or click and drag to set a new value.",
step=0.5,
format="%.2f",
lower_limit=-100.0,
upper_limit=100.0,
on_value_changed_fn=self._on_float_field_value_changed_fn,
)
self.wrapped_ui_elements.append(float_field)
def is_usd_or_python_path(file_path: str):
# Filter file paths shown in the file picker to only be USD or Python files
_, ext = os.path.splitext(file_path.lower())
return ext == ".usd" or ext == ".py"
string_field = StringField(
"String Field",
default_value="Type Here or Use File Picker on the Right",
tooltip="Type a string or use the file picker to set a value",
read_only=False,
multiline_okay=False,
on_value_changed_fn=self._on_string_field_value_changed_fn,
use_folder_picker=True,
item_filter_fn=is_usd_or_python_path,
)
self.wrapped_ui_elements.append(string_field)
def _create_buttons_frame(self):
buttons_frame = CollapsableFrame("Buttons Frame", collapsed=False)
with buttons_frame:
with ui.VStack(style=get_style(), spacing=5, height=0):
button = Button(
"Button",
"CLICK ME",
tooltip="Click This Button to activate a callback function",
on_click_fn=self._on_button_clicked_fn,
)
self.wrapped_ui_elements.append(button)
state_button = StateButton(
"State Button",
"State A",
"State B",
tooltip="Click this button to transition between two states",
on_a_click_fn=self._on_state_btn_a_click_fn,
on_b_click_fn=self._on_state_btn_b_click_fn,
physics_callback_fn=None, # See Loaded Scenario Template for example usage
)
self.wrapped_ui_elements.append(state_button)
check_box = CheckBox(
"Check Box",
default_value=False,
tooltip=" Click this checkbox to activate a callback function",
on_click_fn=self._on_checkbox_click_fn,
)
self.wrapped_ui_elements.append(check_box)
def _create_selection_widgets_frame(self):
self._selection_widgets_frame = CollapsableFrame("Selection Widgets", collapsed=False)
with self._selection_widgets_frame:
with ui.VStack(style=get_style(), spacing=5, height=0):
def dropdown_populate_fn():
return ["Option A", "Option B", "Option C"]
dropdown = DropDown(
"Drop Down",
tooltip=" Select an option from the DropDown",
populate_fn=dropdown_populate_fn,
on_selection_fn=self._on_dropdown_item_selection,
)
self.wrapped_ui_elements.append(dropdown)
dropdown.repopulate() # This does not happen automatically, and it triggers the on_selection_fn
color_picker = ColorPicker(
"Color Picker",
default_value=[0.69, 0.61, 0.39, 1.0],
tooltip="Select a Color",
on_color_picked_fn=self._on_color_picked,
)
self.wrapped_ui_elements.append(color_picker)
def _create_plotting_frame(self):
self._plotting_frame = CollapsableFrame("Plotting Tools", collapsed=False)
with self._plotting_frame:
with ui.VStack(style=get_style(), spacing=5, height=0):
import numpy as np
x = np.arange(-1, 6.01, 0.01)
y = np.sin((x - 0.5) * np.pi)
plot = XYPlot(
"XY Plot",
tooltip="Press mouse over the plot for data label",
x_data=[x[:300], x[100:400], x[200:]],
y_data=[y[:300], y[100:400], y[200:]],
x_min=None, # Use default behavior to fit plotted data to entire frame
x_max=None,
y_min=-1.5,
y_max=1.5,
x_label="X [rad]",
y_label="Y",
plot_height=10,
legends=["Line 1", "Line 2", "Line 3"],
show_legend=True,
plot_colors=[
[255, 0, 0],
[0, 255, 0],
[0, 100, 200],
], # List of [r,g,b] values; not necessary to specify
)
######################################################################################
# Functions Below This Point Are Callback Functions Attached to UI Element Wrappers
######################################################################################
def _on_int_field_value_changed_fn(self, new_value: int):
status = f"Value was changed in int field to {new_value}"
self._status_report_field.set_text(status)
def _on_float_field_value_changed_fn(self, new_value: float):
status = f"Value was changed in float field to {new_value}"
self._status_report_field.set_text(status)
def _on_string_field_value_changed_fn(self, new_value: str):
status = f"Value was changed in string field to {new_value}"
self._status_report_field.set_text(status)
def _on_button_clicked_fn(self):
status = "The Button was Clicked!"
self._status_report_field.set_text(status)
def _on_state_btn_a_click_fn(self):
status = "State Button was Clicked in State A!"
self._status_report_field.set_text(status)
def _on_state_btn_b_click_fn(self):
status = "State Button was Clicked in State B!"
self._status_report_field.set_text(status)
def _on_checkbox_click_fn(self, value: bool):
status = f"CheckBox was set to {value}!"
self._status_report_field.set_text(status)
def _on_dropdown_item_selection(self, item: str):
status = f"{item} was selected from DropDown"
self._status_report_field.set_text(status)
def _on_color_picked(self, color: List[float]):
formatted_color = [float("%0.2f" % i) for i in color]
status = f"RGBA Color {formatted_color} was picked in the ColorPicker"
self._status_report_field.set_text(status)
| 11,487 |
Python
| 38.888889 | 112 | 0.542178 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/ETRIUR10/README.md
|
# Loading Extension
To enable this extension, run Isaac Sim with the flags --ext-folder {path_to_ext_folder} --enable {ext_directory_name}
The user will see the extension appear on the toolbar on startup with the title they specified in the Extension Generator
# Extension Usage
This template provides the example usage for a library of UIElementWrapper objects that help to quickly develop
custom UI tools with minimal boilerplate code.
# Template Code Overview
The template is well documented and is meant to be self-explanatory to the user should they
start reading the provided python files. A short overview is also provided here:
global_variables.py:
A script that stores in global variables that the user specified when creating this extension such as the Title and Description.
extension.py:
A class containing the standard boilerplate necessary to have the user extension show up on the Toolbar. This
class is meant to fulfill most ues-cases without modification.
In extension.py, useful standard callback functions are created that the user may complete in ui_builder.py.
ui_builder.py:
This file is the user's main entrypoint into the template. Here, the user can see useful callback functions that have been
set up for them, and they may also create UI buttons that are hooked up to more user-defined callback functions. This file is
the most thoroughly documented, and the user should read through it before making serious modification.
| 1,488 |
Markdown
| 58.559998 | 132 | 0.793011 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/WheeledRobotLimoAckermannTwistROS2/global_variables.py
|
# Copyright (c) 2022-2023, 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.
#
EXTENSION_TITLE = "MyExtension"
EXTENSION_DESCRIPTION = ""
| 492 |
Python
| 36.923074 | 76 | 0.802846 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/WheeledRobotLimoAckermannTwistROS2/extension.py
|
# Copyright (c) 2022-2023, NVIDIA CORPORATION. All rights reserved.
#
# NVIDIA CORPORATION and its licensors retain all intellectual property
# and proprietary rights in and to this software, related documentation
# and any modifications thereto. Any use, reproduction, disclosure or
# distribution of this software and related documentation without an express
# license agreement from NVIDIA CORPORATION is strictly prohibited.
#
import os
from omni.isaac.examples.base_sample import BaseSampleExtension
from .limo_ackermann import LimoAckermann
"""
This file serves as a basic template for the standard boilerplate operations
that make a UI-based extension appear on the toolbar.
This implementation is meant to cover most use-cases without modification.
Various callbacks are hooked up to a seperate class UIBuilder in .ui_builder.py
Most users will be able to make their desired UI extension by interacting solely with
UIBuilder.
This class sets up standard useful callback functions in UIBuilder:
on_menu_callback: Called when extension is opened
on_timeline_event: Called when timeline is stopped, paused, or played
on_physics_step: Called on every physics step
on_stage_event: Called when stage is opened or closed
cleanup: Called when resources such as physics subscriptions should be cleaned up
build_ui: User function that creates the UI they want.
"""
class Extension(BaseSampleExtension):
def on_startup(self, ext_id: str):
super().on_startup(ext_id)
super().start_extension(
menu_name="RoadBalanceEdu",
submenu_name="WheeledRobots",
name="LimoAckermann_ROS2_Twist",
title="LimoAckermann_ROS2_Twist",
doc_link="https://docs.omniverse.nvidia.com/isaacsim/latest/core_api_tutorials/tutorial_core_hello_world.html",
overview="This Example introduces the user on how to do cool stuff with Isaac Sim through scripting in asynchronous mode.",
file_path=os.path.abspath(__file__),
sample=LimoAckermann(),
)
return
| 2,082 |
Python
| 42.395832 | 135 | 0.742555 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/WheeledRobotLimoAckermannTwistROS2/__init__.py
|
# Copyright (c) 2022-2023, 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.
#
from .extension import Extension
| 464 |
Python
| 45.499995 | 76 | 0.814655 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/WheeledRobotLimoAckermannTwistROS2/ui_builder.py
|
# Copyright (c) 2022-2023, NVIDIA CORPORATION. All rights reserved.
#
# NVIDIA CORPORATION and its licensors retain all intellectual property
# and proprietary rights in and to this software, related documentation
# and any modifications thereto. Any use, reproduction, disclosure or
# distribution of this software and related documentation without an express
# license agreement from NVIDIA CORPORATION is strictly prohibited.
#
import os
from typing import List
import omni.ui as ui
from omni.isaac.ui.element_wrappers import (
Button,
CheckBox,
CollapsableFrame,
ColorPicker,
DropDown,
FloatField,
IntField,
StateButton,
StringField,
TextBlock,
XYPlot,
)
from omni.isaac.ui.ui_utils import get_style
class UIBuilder:
def __init__(self):
# Frames are sub-windows that can contain multiple UI elements
self.frames = []
# UI elements created using a UIElementWrapper from omni.isaac.ui.element_wrappers
self.wrapped_ui_elements = []
###################################################################################
# The Functions Below Are Called Automatically By extension.py
###################################################################################
def on_menu_callback(self):
"""Callback for when the UI is opened from the toolbar.
This is called directly after build_ui().
"""
pass
def on_timeline_event(self, event):
"""Callback for Timeline events (Play, Pause, Stop)
Args:
event (omni.timeline.TimelineEventType): Event Type
"""
pass
def on_physics_step(self, step):
"""Callback for Physics Step.
Physics steps only occur when the timeline is playing
Args:
step (float): Size of physics step
"""
pass
def on_stage_event(self, event):
"""Callback for Stage Events
Args:
event (omni.usd.StageEventType): Event Type
"""
pass
def cleanup(self):
"""
Called when the stage is closed or the extension is hot reloaded.
Perform any necessary cleanup such as removing active callback functions
Buttons imported from omni.isaac.ui.element_wrappers implement a cleanup function that should be called
"""
# None of the UI elements in this template actually have any internal state that needs to be cleaned up.
# But it is best practice to call cleanup() on all wrapped UI elements to simplify development.
for ui_elem in self.wrapped_ui_elements:
ui_elem.cleanup()
def build_ui(self):
"""
Build a custom UI tool to run your extension.
This function will be called any time the UI window is closed and reopened.
"""
# Create a UI frame that prints the latest UI event.
self._create_status_report_frame()
# Create a UI frame demonstrating simple UI elements for user input
self._create_simple_editable_fields_frame()
# Create a UI frame with different button types
self._create_buttons_frame()
# Create a UI frame with different selection widgets
self._create_selection_widgets_frame()
# Create a UI frame with different plotting tools
self._create_plotting_frame()
def _create_status_report_frame(self):
self._status_report_frame = CollapsableFrame("Status Report", collapsed=False)
with self._status_report_frame:
with ui.VStack(style=get_style(), spacing=5, height=0):
self._status_report_field = TextBlock(
"Last UI Event",
num_lines=3,
tooltip="Prints the latest change to this UI",
include_copy_button=True,
)
def _create_simple_editable_fields_frame(self):
self._simple_fields_frame = CollapsableFrame("Simple Editable Fields", collapsed=False)
with self._simple_fields_frame:
with ui.VStack(style=get_style(), spacing=5, height=0):
int_field = IntField(
"Int Field",
default_value=1,
tooltip="Type an int or click and drag to set a new value.",
lower_limit=-100,
upper_limit=100,
on_value_changed_fn=self._on_int_field_value_changed_fn,
)
self.wrapped_ui_elements.append(int_field)
float_field = FloatField(
"Float Field",
default_value=1.0,
tooltip="Type a float or click and drag to set a new value.",
step=0.5,
format="%.2f",
lower_limit=-100.0,
upper_limit=100.0,
on_value_changed_fn=self._on_float_field_value_changed_fn,
)
self.wrapped_ui_elements.append(float_field)
def is_usd_or_python_path(file_path: str):
# Filter file paths shown in the file picker to only be USD or Python files
_, ext = os.path.splitext(file_path.lower())
return ext == ".usd" or ext == ".py"
string_field = StringField(
"String Field",
default_value="Type Here or Use File Picker on the Right",
tooltip="Type a string or use the file picker to set a value",
read_only=False,
multiline_okay=False,
on_value_changed_fn=self._on_string_field_value_changed_fn,
use_folder_picker=True,
item_filter_fn=is_usd_or_python_path,
)
self.wrapped_ui_elements.append(string_field)
def _create_buttons_frame(self):
buttons_frame = CollapsableFrame("Buttons Frame", collapsed=False)
with buttons_frame:
with ui.VStack(style=get_style(), spacing=5, height=0):
button = Button(
"Button",
"CLICK ME",
tooltip="Click This Button to activate a callback function",
on_click_fn=self._on_button_clicked_fn,
)
self.wrapped_ui_elements.append(button)
state_button = StateButton(
"State Button",
"State A",
"State B",
tooltip="Click this button to transition between two states",
on_a_click_fn=self._on_state_btn_a_click_fn,
on_b_click_fn=self._on_state_btn_b_click_fn,
physics_callback_fn=None, # See Loaded Scenario Template for example usage
)
self.wrapped_ui_elements.append(state_button)
check_box = CheckBox(
"Check Box",
default_value=False,
tooltip=" Click this checkbox to activate a callback function",
on_click_fn=self._on_checkbox_click_fn,
)
self.wrapped_ui_elements.append(check_box)
def _create_selection_widgets_frame(self):
self._selection_widgets_frame = CollapsableFrame("Selection Widgets", collapsed=False)
with self._selection_widgets_frame:
with ui.VStack(style=get_style(), spacing=5, height=0):
def dropdown_populate_fn():
return ["Option A", "Option B", "Option C"]
dropdown = DropDown(
"Drop Down",
tooltip=" Select an option from the DropDown",
populate_fn=dropdown_populate_fn,
on_selection_fn=self._on_dropdown_item_selection,
)
self.wrapped_ui_elements.append(dropdown)
dropdown.repopulate() # This does not happen automatically, and it triggers the on_selection_fn
color_picker = ColorPicker(
"Color Picker",
default_value=[0.69, 0.61, 0.39, 1.0],
tooltip="Select a Color",
on_color_picked_fn=self._on_color_picked,
)
self.wrapped_ui_elements.append(color_picker)
def _create_plotting_frame(self):
self._plotting_frame = CollapsableFrame("Plotting Tools", collapsed=False)
with self._plotting_frame:
with ui.VStack(style=get_style(), spacing=5, height=0):
import numpy as np
x = np.arange(-1, 6.01, 0.01)
y = np.sin((x - 0.5) * np.pi)
plot = XYPlot(
"XY Plot",
tooltip="Press mouse over the plot for data label",
x_data=[x[:300], x[100:400], x[200:]],
y_data=[y[:300], y[100:400], y[200:]],
x_min=None, # Use default behavior to fit plotted data to entire frame
x_max=None,
y_min=-1.5,
y_max=1.5,
x_label="X [rad]",
y_label="Y",
plot_height=10,
legends=["Line 1", "Line 2", "Line 3"],
show_legend=True,
plot_colors=[
[255, 0, 0],
[0, 255, 0],
[0, 100, 200],
], # List of [r,g,b] values; not necessary to specify
)
######################################################################################
# Functions Below This Point Are Callback Functions Attached to UI Element Wrappers
######################################################################################
def _on_int_field_value_changed_fn(self, new_value: int):
status = f"Value was changed in int field to {new_value}"
self._status_report_field.set_text(status)
def _on_float_field_value_changed_fn(self, new_value: float):
status = f"Value was changed in float field to {new_value}"
self._status_report_field.set_text(status)
def _on_string_field_value_changed_fn(self, new_value: str):
status = f"Value was changed in string field to {new_value}"
self._status_report_field.set_text(status)
def _on_button_clicked_fn(self):
status = "The Button was Clicked!"
self._status_report_field.set_text(status)
def _on_state_btn_a_click_fn(self):
status = "State Button was Clicked in State A!"
self._status_report_field.set_text(status)
def _on_state_btn_b_click_fn(self):
status = "State Button was Clicked in State B!"
self._status_report_field.set_text(status)
def _on_checkbox_click_fn(self, value: bool):
status = f"CheckBox was set to {value}!"
self._status_report_field.set_text(status)
def _on_dropdown_item_selection(self, item: str):
status = f"{item} was selected from DropDown"
self._status_report_field.set_text(status)
def _on_color_picked(self, color: List[float]):
formatted_color = [float("%0.2f" % i) for i in color]
status = f"RGBA Color {formatted_color} was picked in the ColorPicker"
self._status_report_field.set_text(status)
| 11,487 |
Python
| 38.888889 | 112 | 0.542178 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/WheeledRobotLimoAckermannTwistROS2/limo_ackermann.py
|
# Copyright (c) 2020-2023, 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.
#
from omni.isaac.examples.base_sample import BaseSample
from omni.isaac.wheeled_robots.robots import WheeledRobot
from omni.isaac.core.utils.types import ArticulationAction
from omni.isaac.core.utils.stage import add_reference_to_stage
from omni.isaac.core.physics_context.physics_context import PhysicsContext
from omni.isaac.core.utils.nucleus import get_assets_root_path, get_url_root
from omni.isaac.wheeled_robots.controllers.holonomic_controller import HolonomicController
import omni.graph.core as og
import numpy as np
import usdrt.Sdf
import carb
class LimoAckermann(BaseSample):
def __init__(self) -> None:
super().__init__()
carb.log_info("Check /persistent/isaac/asset_root/default setting")
default_asset_root = carb.settings.get_settings().get("/persistent/isaac/asset_root/default")
self._server_root = get_url_root(default_asset_root)
self._robot_path = self._server_root + "/Projects/RBROS2/WheeledRobot/limo_ackermann.usd"
self._domain_id = 30
self._maxWheelRotation = 1e6
self._maxWheelVelocity = 1e6
self._trackWidth = 0.13
self._turningWheelRadius = 0.045
self._wheelBase = 0.2
self._targetPrim = "/World/Limo/base_link"
self._robotPath = "/World/Limo/base_link"
return
def og_setup(self):
try:
og.Controller.edit(
{"graph_path": "/ROS2Ackermann", "evaluator_name": "execution"},
{
og.Controller.Keys.CREATE_NODES: [
("onPlaybackTick", "omni.graph.action.OnPlaybackTick"),
("context", "omni.isaac.ros2_bridge.ROS2Context"),
("subscribeTwist", "omni.isaac.ros2_bridge.ROS2SubscribeTwist"),
("scaleToFromStage", "omni.isaac.core_nodes.OgnIsaacScaleToFromStageUnit"),
("angVelBreak", "omni.graph.nodes.BreakVector3"),
("linVelBreak", "omni.graph.nodes.BreakVector3"),
("wheelbase", "omni.graph.nodes.ConstantDouble"),
("multiply", "omni.graph.nodes.Multiply"),
("atan2", "omni.graph.nodes.ATan2"),
("toRad", "omni.graph.nodes.ToRad"),
("ackermannCtrl", "omni.isaac.wheeled_robots.AckermannSteering"),
("wheelJointNames", "omni.graph.nodes.ConstructArray"),
("wheelRotationVel", "omni.graph.nodes.ConstructArray"),
("hingeJointNames", "omni.graph.nodes.ConstructArray"),
("hingePosVel", "omni.graph.nodes.ConstructArray"),
("articulationRotation", "omni.isaac.core_nodes.IsaacArticulationController"),
("articulationPosition", "omni.isaac.core_nodes.IsaacArticulationController"),
],
og.Controller.Keys.SET_VALUES: [
("context.inputs:domain_id", self._domain_id),
("subscribeTwist.inputs:topicName", "cmd_vel"),
("wheelbase.inputs:value", self._wheelBase),
("ackermannCtrl.inputs:maxWheelRotation", self._maxWheelRotation),
("ackermannCtrl.inputs:maxWheelVelocity", self._maxWheelVelocity),
("ackermannCtrl.inputs:trackWidth", self._trackWidth),
("ackermannCtrl.inputs:turningWheelRadius", self._turningWheelRadius),
("ackermannCtrl.inputs:useAcceleration", False),
("wheelJointNames.inputs:arraySize", 4),
("wheelJointNames.inputs:arrayType", "token[]"),
("wheelJointNames.inputs:input0", "rear_left_wheel"),
("wheelJointNames.inputs:input1", "rear_right_wheel"),
("wheelJointNames.inputs:input2", "front_left_wheel"),
("wheelJointNames.inputs:input3", "front_right_wheel"),
("hingeJointNames.inputs:arraySize", 2),
("hingeJointNames.inputs:arrayType", "token[]"),
("hingeJointNames.inputs:input0", "left_steering_hinge_wheel"),
("hingeJointNames.inputs:input1", "right_steering_hinge_wheel"),
("wheelRotationVel.inputs:arraySize", 4),
("wheelRotationVel.inputs:arrayType", "double[]"),
("hingePosVel.inputs:arraySize", 2),
("hingePosVel.inputs:arrayType", "double[]"),
("articulationRotation.inputs:targetPrim", [usdrt.Sdf.Path(self._targetPrim)]),
("articulationRotation.inputs:robotPath", self._targetPrim),
("articulationRotation.inputs:usePath", False),
("articulationPosition.inputs:targetPrim", [usdrt.Sdf.Path(self._targetPrim)]),
("articulationPosition.inputs:robotPath", self._targetPrim),
("articulationPosition.inputs:usePath", False),
],
og.Controller.Keys.CREATE_ATTRIBUTES: [
("wheelJointNames.inputs:input1", "token"),
("wheelJointNames.inputs:input2", "token"),
("wheelJointNames.inputs:input3", "token"),
("hingeJointNames.inputs:input1", "token"),
("wheelRotationVel.inputs:input1", "double"),
("wheelRotationVel.inputs:input2", "double"),
("wheelRotationVel.inputs:input3", "double"),
("hingePosVel.inputs:input1", "double"),
],
og.Controller.Keys.CONNECT: [
("onPlaybackTick.outputs:tick", "subscribeTwist.inputs:execIn"),
("context.outputs:context", "subscribeTwist.inputs:context"),
("subscribeTwist.outputs:linearVelocity", "scaleToFromStage.inputs:value"),
("scaleToFromStage.outputs:result", "linVelBreak.inputs:tuple"),
("subscribeTwist.outputs:angularVelocity", "angVelBreak.inputs:tuple"),
("subscribeTwist.outputs:execOut", "ackermannCtrl.inputs:execIn"),
("angVelBreak.outputs:z", "multiply.inputs:a"),
("linVelBreak.outputs:x", "ackermannCtrl.inputs:speed"),
("wheelbase.inputs:value", "multiply.inputs:b"),
("wheelbase.inputs:value", "ackermannCtrl.inputs:wheelBase"),
("multiply.outputs:product", "atan2.inputs:a"),
("linVelBreak.outputs:x", "atan2.inputs:b"),
("atan2.outputs:result", "toRad.inputs:degrees"),
("toRad.outputs:radians", "ackermannCtrl.inputs:steeringAngle"),
("ackermannCtrl.outputs:leftWheelAngle", "hingePosVel.inputs:input0"),
("ackermannCtrl.outputs:rightWheelAngle", "hingePosVel.inputs:input1"),
("ackermannCtrl.outputs:wheelRotationVelocity", "wheelRotationVel.inputs:input0"),
("ackermannCtrl.outputs:wheelRotationVelocity", "wheelRotationVel.inputs:input1"),
("ackermannCtrl.outputs:wheelRotationVelocity", "wheelRotationVel.inputs:input2"),
("ackermannCtrl.outputs:wheelRotationVelocity", "wheelRotationVel.inputs:input3"),
("ackermannCtrl.outputs:execOut", "articulationRotation.inputs:execIn"),
("wheelJointNames.outputs:array", "articulationRotation.inputs:jointNames"),
("wheelRotationVel.outputs:array", "articulationRotation.inputs:velocityCommand"),
("ackermannCtrl.outputs:execOut", "articulationPosition.inputs:execIn"),
("hingeJointNames.outputs:array", "articulationPosition.inputs:jointNames"),
("hingePosVel.outputs:array", "articulationPosition.inputs:positionCommand"),
],
},
)
og.Controller.edit(
{"graph_path": "/ROS2Odom", "evaluator_name": "execution"},
{
og.Controller.Keys.CREATE_NODES: [
("onPlaybackTick", "omni.graph.action.OnPlaybackTick"),
("context", "omni.isaac.ros2_bridge.ROS2Context"),
("readSimTime", "omni.isaac.core_nodes.IsaacReadSimulationTime"),
("computeOdom", "omni.isaac.core_nodes.IsaacComputeOdometry"),
("publishOdom", "omni.isaac.ros2_bridge.ROS2PublishOdometry"),
("publishRawTF", "omni.isaac.ros2_bridge.ROS2PublishRawTransformTree"),
],
og.Controller.Keys.SET_VALUES: [
("context.inputs:domain_id", self._domain_id),
("computeOdom.inputs:chassisPrim", [usdrt.Sdf.Path(self._targetPrim)]),
],
og.Controller.Keys.CONNECT: [
("onPlaybackTick.outputs:tick", "computeOdom.inputs:execIn"),
("onPlaybackTick.outputs:tick", "publishOdom.inputs:execIn"),
("onPlaybackTick.outputs:tick", "publishRawTF.inputs:execIn"),
("readSimTime.outputs:simulationTime", "publishOdom.inputs:timeStamp"),
("readSimTime.outputs:simulationTime", "publishRawTF.inputs:timeStamp"),
("context.outputs:context", "publishOdom.inputs:context"),
("context.outputs:context", "publishRawTF.inputs:context"),
("computeOdom.outputs:angularVelocity", "publishOdom.inputs:angularVelocity"),
("computeOdom.outputs:linearVelocity", "publishOdom.inputs:linearVelocity"),
("computeOdom.outputs:orientation", "publishOdom.inputs:orientation"),
("computeOdom.outputs:position", "publishOdom.inputs:position"),
("computeOdom.outputs:orientation", "publishRawTF.inputs:rotation"),
("computeOdom.outputs:position", "publishRawTF.inputs:translation"),
],
},
)
except Exception as e:
print(e)
def setup_scene(self):
world = self.get_world()
world.scene.add_default_ground_plane()
add_reference_to_stage(usd_path=self._robot_path, prim_path="/World/Limo")
self._save_count = 0
self.og_setup()
return
async def setup_post_load(self):
self._world = self.get_world()
self._world.add_physics_callback("sending_actions", callback_fn=self.send_robot_actions)
return
def send_robot_actions(self, step_size):
self._save_count += 1
return
async def setup_pre_reset(self):
if self._world.physics_callback_exists("sim_step"):
self._world.remove_physics_callback("sim_step")
self._world.pause()
return
async def setup_post_reset(self):
self._summit_controller.reset()
await self._world.play_async()
self._world.pause()
return
def world_cleanup(self):
self._world.pause()
return
| 12,071 |
Python
| 56.21327 | 106 | 0.567724 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/WheeledRobotLimoAckermannTwistROS2/README.md
|
# Loading Extension
To enable this extension, run Isaac Sim with the flags --ext-folder {path_to_ext_folder} --enable {ext_directory_name}
The user will see the extension appear on the toolbar on startup with the title they specified in the Extension Generator
# Extension Usage
This template provides the example usage for a library of UIElementWrapper objects that help to quickly develop
custom UI tools with minimal boilerplate code.
# Template Code Overview
The template is well documented and is meant to be self-explanatory to the user should they
start reading the provided python files. A short overview is also provided here:
global_variables.py:
A script that stores in global variables that the user specified when creating this extension such as the Title and Description.
extension.py:
A class containing the standard boilerplate necessary to have the user extension show up on the Toolbar. This
class is meant to fulfill most ues-cases without modification.
In extension.py, useful standard callback functions are created that the user may complete in ui_builder.py.
ui_builder.py:
This file is the user's main entrypoint into the template. Here, the user can see useful callback functions that have been
set up for them, and they may also create UI buttons that are hooked up to more user-defined callback functions. This file is
the most thoroughly documented, and the user should read through it before making serious modification.
| 1,488 |
Markdown
| 58.559998 | 132 | 0.793011 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/HelloCamera/global_variables.py
|
# Copyright (c) 2022-2023, 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.
#
EXTENSION_TITLE = "RoadBalanceEdu"
EXTENSION_DESCRIPTION = ""
| 495 |
Python
| 37.153843 | 76 | 0.80404 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/HelloCamera/extension.py
|
# Copyright (c) 2022-2023, NVIDIA CORPORATION. All rights reserved.
#
# NVIDIA CORPORATION and its licensors retain all intellectual property
# and proprietary rights in and to this software, related documentation
# and any modifications thereto. Any use, reproduction, disclosure or
# distribution of this software and related documentation without an express
# license agreement from NVIDIA CORPORATION is strictly prohibited.
#
import os
from omni.isaac.examples.base_sample import BaseSampleExtension
from .hello_camera import HelloCamera
"""
This file serves as a basic template for the standard boilerplate operations
that make a UI-based extension appear on the toolbar.
This implementation is meant to cover most use-cases without modification.
Various callbacks are hooked up to a seperate class UIBuilder in .ui_builder.py
Most users will be able to make their desired UI extension by interacting solely with
UIBuilder.
This class sets up standard useful callback functions in UIBuilder:
on_menu_callback: Called when extension is opened
on_timeline_event: Called when timeline is stopped, paused, or played
on_physics_step: Called on every physics step
on_stage_event: Called when stage is opened or closed
cleanup: Called when resources such as physics subscriptions should be cleaned up
build_ui: User function that creates the UI they want.
"""
class Extension(BaseSampleExtension):
def on_startup(self, ext_id: str):
super().on_startup(ext_id)
super().start_extension(
menu_name="RoadBalanceEdu",
submenu_name="",
name="HelloCamera",
title="HelloCamera",
doc_link="https://docs.omniverse.nvidia.com/isaacsim/latest/core_api_tutorials/tutorial_core_hello_world.html",
overview="This Example introduces the user on how to do cool stuff with Isaac Sim through scripting in asynchronous mode.",
file_path=os.path.abspath(__file__),
sample=HelloCamera(),
)
return
| 2,037 |
Python
| 41.458332 | 135 | 0.738832 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/HelloCamera/__init__.py
|
# Copyright (c) 2022-2023, 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.
#
from .extension import Extension
| 464 |
Python
| 45.499995 | 76 | 0.814655 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/HelloCamera/hello_camera.py
|
# Copyright (c) 2020-2023, 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.
#
from omni.isaac.examples.base_sample import BaseSample
from datetime import datetime
import numpy as np
# Note: checkout the required tutorials at https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/overview.html
from omni.isaac.core.objects import DynamicCuboid
from omni.isaac.sensor import Camera
from omni.isaac.core import World
import omni.isaac.core.utils.numpy.rotations as rot_utils
from omni.isaac.core import SimulationContext
from PIL import Image
import carb
import h5py
import omni
import cv2
class HelloCamera(BaseSample):
def __init__(self) -> None:
super().__init__()
self._save_count = 0
self._f = None
self._time_list = []
self._img_list = []
return
def setup_camera(self):
self._camera = Camera(
prim_path="/World/camera",
position=np.array([0.0, 0.0, 25.0]),
frequency=30,
resolution=(640, 480),
orientation=rot_utils.euler_angles_to_quats(np.array([0, 90, 0]), degrees=True),
)
self._camera.initialize()
self._camera.add_motion_vectors_to_frame()
def setup_cube(self, prim_path, name, position, scale, color):
self._fancy_cube = self._world.scene.add(
DynamicCuboid(
prim_path=prim_path,
name=name,
position=position,
scale=scale,
color=color,
))
def setup_dataset(self):
now = datetime.now() # current date and time
date_time_str = now.strftime("%m_%d_%Y_%H_%M_%S")
file_name = f'hello_cam_{date_time_str}.hdf5'
print(file_name)
self._f = h5py.File(file_name,'w')
self._group = self._f.create_group("isaac_save_data")
def setup_scene(self):
print("setup_scene")
world = self.get_world()
world.scene.add_default_ground_plane()
self.setup_camera()
self.setup_cube(
prim_path="/World/random_cube",
name="fancy_cube",
position=np.array([0, 0, 1.0]),
scale=np.array([0.5015, 0.5015, 0.5015]),
color=np.array([0, 0, 1.0]),
)
self.setup_dataset()
self.simulation_context = SimulationContext()
async def setup_post_load(self):
print("setup_post_load")
world = self.get_world()
self._camera.add_motion_vectors_to_frame()
self._world.add_physics_callback("sim_step", callback_fn=self.physics_callback) #callback names have to be unique
return
def physics_callback(self, step_size):
self._camera.get_current_frame()
if self._save_count % 100 == 0:
current_time = self.simulation_context.current_time
self._time_list.append(current_time)
self._img_list.append(self._camera.get_rgba()[:, :, :3])
print("Data Collected")
self._save_count += 1
if self._save_count == 500:
self.world_cleanup()
async def setup_pre_reset(self):
if self._f is not None:
self._f.close()
self._f = None
elif self._f is None:
print("Create new file for new data collection...")
self.setup_dataset()
self._save_count = 0
return
# async def setup_post_reset(self):
# return
def world_cleanup(self):
if self._f is not None:
self._group.create_dataset(f"sim_time", data=self._time_list, compression='gzip', compression_opts=9)
self._group.create_dataset(f"image", data=self._img_list, compression='gzip', compression_opts=9)
self._f.close()
print("Data saved")
elif self._f is None:
print("Invalid Operation Data not saved")
self._f = None
self._save_count = 0
world = self.get_world()
world.pause()
return
| 4,415 |
Python
| 27.490322 | 121 | 0.593431 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/HelloCamera/ui_builder.py
|
# Copyright (c) 2022-2023, NVIDIA CORPORATION. All rights reserved.
#
# NVIDIA CORPORATION and its licensors retain all intellectual property
# and proprietary rights in and to this software, related documentation
# and any modifications thereto. Any use, reproduction, disclosure or
# distribution of this software and related documentation without an express
# license agreement from NVIDIA CORPORATION is strictly prohibited.
#
import os
from typing import List
import omni.ui as ui
from omni.isaac.ui.element_wrappers import (
Button,
CheckBox,
CollapsableFrame,
ColorPicker,
DropDown,
FloatField,
IntField,
StateButton,
StringField,
TextBlock,
XYPlot,
)
from omni.isaac.ui.ui_utils import get_style
class UIBuilder:
def __init__(self):
# Frames are sub-windows that can contain multiple UI elements
self.frames = []
# UI elements created using a UIElementWrapper from omni.isaac.ui.element_wrappers
self.wrapped_ui_elements = []
###################################################################################
# The Functions Below Are Called Automatically By extension.py
###################################################################################
def on_menu_callback(self):
"""Callback for when the UI is opened from the toolbar.
This is called directly after build_ui().
"""
pass
def on_timeline_event(self, event):
"""Callback for Timeline events (Play, Pause, Stop)
Args:
event (omni.timeline.TimelineEventType): Event Type
"""
pass
def on_physics_step(self, step):
"""Callback for Physics Step.
Physics steps only occur when the timeline is playing
Args:
step (float): Size of physics step
"""
pass
def on_stage_event(self, event):
"""Callback for Stage Events
Args:
event (omni.usd.StageEventType): Event Type
"""
pass
def cleanup(self):
"""
Called when the stage is closed or the extension is hot reloaded.
Perform any necessary cleanup such as removing active callback functions
Buttons imported from omni.isaac.ui.element_wrappers implement a cleanup function that should be called
"""
# None of the UI elements in this template actually have any internal state that needs to be cleaned up.
# But it is best practice to call cleanup() on all wrapped UI elements to simplify development.
for ui_elem in self.wrapped_ui_elements:
ui_elem.cleanup()
def build_ui(self):
"""
Build a custom UI tool to run your extension.
This function will be called any time the UI window is closed and reopened.
"""
# Create a UI frame that prints the latest UI event.
self._create_status_report_frame()
# Create a UI frame demonstrating simple UI elements for user input
self._create_simple_editable_fields_frame()
# Create a UI frame with different button types
self._create_buttons_frame()
# Create a UI frame with different selection widgets
self._create_selection_widgets_frame()
# Create a UI frame with different plotting tools
self._create_plotting_frame()
def _create_status_report_frame(self):
self._status_report_frame = CollapsableFrame("Status Report", collapsed=False)
with self._status_report_frame:
with ui.VStack(style=get_style(), spacing=5, height=0):
self._status_report_field = TextBlock(
"Last UI Event",
num_lines=3,
tooltip="Prints the latest change to this UI",
include_copy_button=True,
)
def _create_simple_editable_fields_frame(self):
self._simple_fields_frame = CollapsableFrame("Simple Editable Fields", collapsed=False)
with self._simple_fields_frame:
with ui.VStack(style=get_style(), spacing=5, height=0):
int_field = IntField(
"Int Field",
default_value=1,
tooltip="Type an int or click and drag to set a new value.",
lower_limit=-100,
upper_limit=100,
on_value_changed_fn=self._on_int_field_value_changed_fn,
)
self.wrapped_ui_elements.append(int_field)
float_field = FloatField(
"Float Field",
default_value=1.0,
tooltip="Type a float or click and drag to set a new value.",
step=0.5,
format="%.2f",
lower_limit=-100.0,
upper_limit=100.0,
on_value_changed_fn=self._on_float_field_value_changed_fn,
)
self.wrapped_ui_elements.append(float_field)
def is_usd_or_python_path(file_path: str):
# Filter file paths shown in the file picker to only be USD or Python files
_, ext = os.path.splitext(file_path.lower())
return ext == ".usd" or ext == ".py"
string_field = StringField(
"String Field",
default_value="Type Here or Use File Picker on the Right",
tooltip="Type a string or use the file picker to set a value",
read_only=False,
multiline_okay=False,
on_value_changed_fn=self._on_string_field_value_changed_fn,
use_folder_picker=True,
item_filter_fn=is_usd_or_python_path,
)
self.wrapped_ui_elements.append(string_field)
def _create_buttons_frame(self):
buttons_frame = CollapsableFrame("Buttons Frame", collapsed=False)
with buttons_frame:
with ui.VStack(style=get_style(), spacing=5, height=0):
button = Button(
"Button",
"CLICK ME",
tooltip="Click This Button to activate a callback function",
on_click_fn=self._on_button_clicked_fn,
)
self.wrapped_ui_elements.append(button)
state_button = StateButton(
"State Button",
"State A",
"State B",
tooltip="Click this button to transition between two states",
on_a_click_fn=self._on_state_btn_a_click_fn,
on_b_click_fn=self._on_state_btn_b_click_fn,
physics_callback_fn=None, # See Loaded Scenario Template for example usage
)
self.wrapped_ui_elements.append(state_button)
check_box = CheckBox(
"Check Box",
default_value=False,
tooltip=" Click this checkbox to activate a callback function",
on_click_fn=self._on_checkbox_click_fn,
)
self.wrapped_ui_elements.append(check_box)
def _create_selection_widgets_frame(self):
self._selection_widgets_frame = CollapsableFrame("Selection Widgets", collapsed=False)
with self._selection_widgets_frame:
with ui.VStack(style=get_style(), spacing=5, height=0):
def dropdown_populate_fn():
return ["Option A", "Option B", "Option C"]
dropdown = DropDown(
"Drop Down",
tooltip=" Select an option from the DropDown",
populate_fn=dropdown_populate_fn,
on_selection_fn=self._on_dropdown_item_selection,
)
self.wrapped_ui_elements.append(dropdown)
dropdown.repopulate() # This does not happen automatically, and it triggers the on_selection_fn
color_picker = ColorPicker(
"Color Picker",
default_value=[0.69, 0.61, 0.39, 1.0],
tooltip="Select a Color",
on_color_picked_fn=self._on_color_picked,
)
self.wrapped_ui_elements.append(color_picker)
def _create_plotting_frame(self):
self._plotting_frame = CollapsableFrame("Plotting Tools", collapsed=False)
with self._plotting_frame:
with ui.VStack(style=get_style(), spacing=5, height=0):
import numpy as np
x = np.arange(-1, 6.01, 0.01)
y = np.sin((x - 0.5) * np.pi)
plot = XYPlot(
"XY Plot",
tooltip="Press mouse over the plot for data label",
x_data=[x[:300], x[100:400], x[200:]],
y_data=[y[:300], y[100:400], y[200:]],
x_min=None, # Use default behavior to fit plotted data to entire frame
x_max=None,
y_min=-1.5,
y_max=1.5,
x_label="X [rad]",
y_label="Y",
plot_height=10,
legends=["Line 1", "Line 2", "Line 3"],
show_legend=True,
plot_colors=[
[255, 0, 0],
[0, 255, 0],
[0, 100, 200],
], # List of [r,g,b] values; not necessary to specify
)
######################################################################################
# Functions Below This Point Are Callback Functions Attached to UI Element Wrappers
######################################################################################
def _on_int_field_value_changed_fn(self, new_value: int):
status = f"Value was changed in int field to {new_value}"
self._status_report_field.set_text(status)
def _on_float_field_value_changed_fn(self, new_value: float):
status = f"Value was changed in float field to {new_value}"
self._status_report_field.set_text(status)
def _on_string_field_value_changed_fn(self, new_value: str):
status = f"Value was changed in string field to {new_value}"
self._status_report_field.set_text(status)
def _on_button_clicked_fn(self):
status = "The Button was Clicked!"
self._status_report_field.set_text(status)
def _on_state_btn_a_click_fn(self):
status = "State Button was Clicked in State A!"
self._status_report_field.set_text(status)
def _on_state_btn_b_click_fn(self):
status = "State Button was Clicked in State B!"
self._status_report_field.set_text(status)
def _on_checkbox_click_fn(self, value: bool):
status = f"CheckBox was set to {value}!"
self._status_report_field.set_text(status)
def _on_dropdown_item_selection(self, item: str):
status = f"{item} was selected from DropDown"
self._status_report_field.set_text(status)
def _on_color_picked(self, color: List[float]):
formatted_color = [float("%0.2f" % i) for i in color]
status = f"RGBA Color {formatted_color} was picked in the ColorPicker"
self._status_report_field.set_text(status)
| 11,487 |
Python
| 38.888889 | 112 | 0.542178 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/HelloCamera/README.md
|
# Loading Extension
To enable this extension, run Isaac Sim with the flags --ext-folder {path_to_ext_folder} --enable {ext_directory_name}
The user will see the extension appear on the toolbar on startup with the title they specified in the Extension Generator
# Extension Usage
This template provides the example usage for a library of UIElementWrapper objects that help to quickly develop
custom UI tools with minimal boilerplate code.
# Template Code Overview
The template is well documented and is meant to be self-explanatory to the user should they
start reading the provided python files. A short overview is also provided here:
global_variables.py:
A script that stores in global variables that the user specified when creating this extension such as the Title and Description.
extension.py:
A class containing the standard boilerplate necessary to have the user extension show up on the Toolbar. This
class is meant to fulfill most ues-cases without modification.
In extension.py, useful standard callback functions are created that the user may complete in ui_builder.py.
ui_builder.py:
This file is the user's main entrypoint into the template. Here, the user can see useful callback functions that have been
set up for them, and they may also create UI buttons that are hooked up to more user-defined callback functions. This file is
the most thoroughly documented, and the user should read through it before making serious modification.
| 1,488 |
Markdown
| 58.559998 | 132 | 0.793011 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/MirobotGripperControl/global_variables.py
|
# Copyright (c) 2022-2023, 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.
#
EXTENSION_TITLE = "MyExtension"
EXTENSION_DESCRIPTION = ""
| 492 |
Python
| 36.923074 | 76 | 0.802846 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/MirobotGripperControl/extension.py
|
# Copyright (c) 2022-2023, NVIDIA CORPORATION. All rights reserved.
#
# NVIDIA CORPORATION and its licensors retain all intellectual property
# and proprietary rights in and to this software, related documentation
# and any modifications thereto. Any use, reproduction, disclosure or
# distribution of this software and related documentation without an express
# license agreement from NVIDIA CORPORATION is strictly prohibited.
#
import os
from omni.isaac.examples.base_sample import BaseSampleExtension
from .gripper_control import GripperControl
"""
This file serves as a basic template for the standard boilerplate operations
that make a UI-based extension appear on the toolbar.
This implementation is meant to cover most use-cases without modification.
Various callbacks are hooked up to a seperate class UIBuilder in .ui_builder.py
Most users will be able to make their desired UI extension by interacting solely with
UIBuilder.
This class sets up standard useful callback functions in UIBuilder:
on_menu_callback: Called when extension is opened
on_timeline_event: Called when timeline is stopped, paused, or played
on_physics_step: Called on every physics step
on_stage_event: Called when stage is opened or closed
cleanup: Called when resources such as physics subscriptions should be cleaned up
build_ui: User function that creates the UI they want.
"""
class Extension(BaseSampleExtension):
def on_startup(self, ext_id: str):
super().on_startup(ext_id)
super().start_extension(
menu_name="RoadBalanceEdu",
submenu_name="AddingNewManip2",
name="GripperControl",
title="GripperControl",
doc_link="https://docs.omniverse.nvidia.com/isaacsim/latest/core_api_tutorials/tutorial_core_hello_world.html",
overview="This Example introduces the user on how to do cool stuff with Isaac Sim through scripting in asynchronous mode.",
file_path=os.path.abspath(__file__),
sample=GripperControl(),
)
return
| 2,067 |
Python
| 42.083332 | 135 | 0.742622 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/MirobotGripperControl/__init__.py
|
# Copyright (c) 2022-2023, 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.
#
from .extension import Extension
| 464 |
Python
| 45.499995 | 76 | 0.814655 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/MirobotGripperControl/gripper_control.py
|
# Copyright (c) 2020-2023, 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.
#
from omni.isaac.examples.base_sample import BaseSample
from omni.isaac.core.utils.nucleus import get_assets_root_path, get_url_root
from omni.isaac.core.utils.types import ArticulationAction
from omni.isaac.core.utils.stage import add_reference_to_stage
from omni.isaac.manipulators.grippers.surface_gripper import SurfaceGripper
from omni.isaac.manipulators import SingleManipulator
import numpy as np
import carb
class GripperControl(BaseSample):
def __init__(self) -> None:
super().__init__()
carb.log_info("Check /persistent/isaac/asset_root/default setting")
default_asset_root = carb.settings.get_settings().get("/persistent/isaac/asset_root/default")
self._server_root = get_url_root(default_asset_root)
self._robot_path = self._server_root + "/Projects/RBROS2/mirobot_ros2/mirobot_description/urdf/mirobot_urdf_2/mirobot_urdf_2.usd"
self._joints_default_positions = np.zeros(6)
# simulation step counter
self._sim_step = 0
return
def setup_scene(self):
world = self.get_world()
world.scene.add_default_ground_plane()
# add robot to the scene
add_reference_to_stage(usd_path=self._robot_path, prim_path="/World/mirobot")
self._gripper = SurfaceGripper(
end_effector_prim_path="/World/mirobot/Link6",
translate=0.1611,
direction="x"
)
#define the manipulator
self._my_mirobot = self._world.scene.add(
SingleManipulator(
prim_path="/World/mirobot",
name="mirobot",
end_effector_prim_name="Link6",
gripper=self._gripper,
))
# default joint states
self._my_mirobot.set_joints_default_state(
positions=self._joints_default_positions
)
return
async def setup_post_load(self):
self._world = self.get_world()
self._world.add_physics_callback("sending_actions", callback_fn=self.send_robot_actions)
return
def send_robot_actions(self, step_size):
self._sim_step += 1
return
| 2,611 |
Python
| 33.826666 | 137 | 0.661815 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/MirobotGripperControl/ui_builder.py
|
# Copyright (c) 2022-2023, NVIDIA CORPORATION. All rights reserved.
#
# NVIDIA CORPORATION and its licensors retain all intellectual property
# and proprietary rights in and to this software, related documentation
# and any modifications thereto. Any use, reproduction, disclosure or
# distribution of this software and related documentation without an express
# license agreement from NVIDIA CORPORATION is strictly prohibited.
#
import os
from typing import List
import omni.ui as ui
from omni.isaac.ui.element_wrappers import (
Button,
CheckBox,
CollapsableFrame,
ColorPicker,
DropDown,
FloatField,
IntField,
StateButton,
StringField,
TextBlock,
XYPlot,
)
from omni.isaac.ui.ui_utils import get_style
class UIBuilder:
def __init__(self):
# Frames are sub-windows that can contain multiple UI elements
self.frames = []
# UI elements created using a UIElementWrapper from omni.isaac.ui.element_wrappers
self.wrapped_ui_elements = []
###################################################################################
# The Functions Below Are Called Automatically By extension.py
###################################################################################
def on_menu_callback(self):
"""Callback for when the UI is opened from the toolbar.
This is called directly after build_ui().
"""
pass
def on_timeline_event(self, event):
"""Callback for Timeline events (Play, Pause, Stop)
Args:
event (omni.timeline.TimelineEventType): Event Type
"""
pass
def on_physics_step(self, step):
"""Callback for Physics Step.
Physics steps only occur when the timeline is playing
Args:
step (float): Size of physics step
"""
pass
def on_stage_event(self, event):
"""Callback for Stage Events
Args:
event (omni.usd.StageEventType): Event Type
"""
pass
def cleanup(self):
"""
Called when the stage is closed or the extension is hot reloaded.
Perform any necessary cleanup such as removing active callback functions
Buttons imported from omni.isaac.ui.element_wrappers implement a cleanup function that should be called
"""
# None of the UI elements in this template actually have any internal state that needs to be cleaned up.
# But it is best practice to call cleanup() on all wrapped UI elements to simplify development.
for ui_elem in self.wrapped_ui_elements:
ui_elem.cleanup()
def build_ui(self):
"""
Build a custom UI tool to run your extension.
This function will be called any time the UI window is closed and reopened.
"""
# Create a UI frame that prints the latest UI event.
self._create_status_report_frame()
# Create a UI frame demonstrating simple UI elements for user input
self._create_simple_editable_fields_frame()
# Create a UI frame with different button types
self._create_buttons_frame()
# Create a UI frame with different selection widgets
self._create_selection_widgets_frame()
# Create a UI frame with different plotting tools
self._create_plotting_frame()
def _create_status_report_frame(self):
self._status_report_frame = CollapsableFrame("Status Report", collapsed=False)
with self._status_report_frame:
with ui.VStack(style=get_style(), spacing=5, height=0):
self._status_report_field = TextBlock(
"Last UI Event",
num_lines=3,
tooltip="Prints the latest change to this UI",
include_copy_button=True,
)
def _create_simple_editable_fields_frame(self):
self._simple_fields_frame = CollapsableFrame("Simple Editable Fields", collapsed=False)
with self._simple_fields_frame:
with ui.VStack(style=get_style(), spacing=5, height=0):
int_field = IntField(
"Int Field",
default_value=1,
tooltip="Type an int or click and drag to set a new value.",
lower_limit=-100,
upper_limit=100,
on_value_changed_fn=self._on_int_field_value_changed_fn,
)
self.wrapped_ui_elements.append(int_field)
float_field = FloatField(
"Float Field",
default_value=1.0,
tooltip="Type a float or click and drag to set a new value.",
step=0.5,
format="%.2f",
lower_limit=-100.0,
upper_limit=100.0,
on_value_changed_fn=self._on_float_field_value_changed_fn,
)
self.wrapped_ui_elements.append(float_field)
def is_usd_or_python_path(file_path: str):
# Filter file paths shown in the file picker to only be USD or Python files
_, ext = os.path.splitext(file_path.lower())
return ext == ".usd" or ext == ".py"
string_field = StringField(
"String Field",
default_value="Type Here or Use File Picker on the Right",
tooltip="Type a string or use the file picker to set a value",
read_only=False,
multiline_okay=False,
on_value_changed_fn=self._on_string_field_value_changed_fn,
use_folder_picker=True,
item_filter_fn=is_usd_or_python_path,
)
self.wrapped_ui_elements.append(string_field)
def _create_buttons_frame(self):
buttons_frame = CollapsableFrame("Buttons Frame", collapsed=False)
with buttons_frame:
with ui.VStack(style=get_style(), spacing=5, height=0):
button = Button(
"Button",
"CLICK ME",
tooltip="Click This Button to activate a callback function",
on_click_fn=self._on_button_clicked_fn,
)
self.wrapped_ui_elements.append(button)
state_button = StateButton(
"State Button",
"State A",
"State B",
tooltip="Click this button to transition between two states",
on_a_click_fn=self._on_state_btn_a_click_fn,
on_b_click_fn=self._on_state_btn_b_click_fn,
physics_callback_fn=None, # See Loaded Scenario Template for example usage
)
self.wrapped_ui_elements.append(state_button)
check_box = CheckBox(
"Check Box",
default_value=False,
tooltip=" Click this checkbox to activate a callback function",
on_click_fn=self._on_checkbox_click_fn,
)
self.wrapped_ui_elements.append(check_box)
def _create_selection_widgets_frame(self):
self._selection_widgets_frame = CollapsableFrame("Selection Widgets", collapsed=False)
with self._selection_widgets_frame:
with ui.VStack(style=get_style(), spacing=5, height=0):
def dropdown_populate_fn():
return ["Option A", "Option B", "Option C"]
dropdown = DropDown(
"Drop Down",
tooltip=" Select an option from the DropDown",
populate_fn=dropdown_populate_fn,
on_selection_fn=self._on_dropdown_item_selection,
)
self.wrapped_ui_elements.append(dropdown)
dropdown.repopulate() # This does not happen automatically, and it triggers the on_selection_fn
color_picker = ColorPicker(
"Color Picker",
default_value=[0.69, 0.61, 0.39, 1.0],
tooltip="Select a Color",
on_color_picked_fn=self._on_color_picked,
)
self.wrapped_ui_elements.append(color_picker)
def _create_plotting_frame(self):
self._plotting_frame = CollapsableFrame("Plotting Tools", collapsed=False)
with self._plotting_frame:
with ui.VStack(style=get_style(), spacing=5, height=0):
import numpy as np
x = np.arange(-1, 6.01, 0.01)
y = np.sin((x - 0.5) * np.pi)
plot = XYPlot(
"XY Plot",
tooltip="Press mouse over the plot for data label",
x_data=[x[:300], x[100:400], x[200:]],
y_data=[y[:300], y[100:400], y[200:]],
x_min=None, # Use default behavior to fit plotted data to entire frame
x_max=None,
y_min=-1.5,
y_max=1.5,
x_label="X [rad]",
y_label="Y",
plot_height=10,
legends=["Line 1", "Line 2", "Line 3"],
show_legend=True,
plot_colors=[
[255, 0, 0],
[0, 255, 0],
[0, 100, 200],
], # List of [r,g,b] values; not necessary to specify
)
######################################################################################
# Functions Below This Point Are Callback Functions Attached to UI Element Wrappers
######################################################################################
def _on_int_field_value_changed_fn(self, new_value: int):
status = f"Value was changed in int field to {new_value}"
self._status_report_field.set_text(status)
def _on_float_field_value_changed_fn(self, new_value: float):
status = f"Value was changed in float field to {new_value}"
self._status_report_field.set_text(status)
def _on_string_field_value_changed_fn(self, new_value: str):
status = f"Value was changed in string field to {new_value}"
self._status_report_field.set_text(status)
def _on_button_clicked_fn(self):
status = "The Button was Clicked!"
self._status_report_field.set_text(status)
def _on_state_btn_a_click_fn(self):
status = "State Button was Clicked in State A!"
self._status_report_field.set_text(status)
def _on_state_btn_b_click_fn(self):
status = "State Button was Clicked in State B!"
self._status_report_field.set_text(status)
def _on_checkbox_click_fn(self, value: bool):
status = f"CheckBox was set to {value}!"
self._status_report_field.set_text(status)
def _on_dropdown_item_selection(self, item: str):
status = f"{item} was selected from DropDown"
self._status_report_field.set_text(status)
def _on_color_picked(self, color: List[float]):
formatted_color = [float("%0.2f" % i) for i in color]
status = f"RGBA Color {formatted_color} was picked in the ColorPicker"
self._status_report_field.set_text(status)
| 11,487 |
Python
| 38.888889 | 112 | 0.542178 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/MirobotGripperControl/README.md
|
# Loading Extension
To enable this extension, run Isaac Sim with the flags --ext-folder {path_to_ext_folder} --enable {ext_directory_name}
The user will see the extension appear on the toolbar on startup with the title they specified in the Extension Generator
# Extension Usage
This template provides the example usage for a library of UIElementWrapper objects that help to quickly develop
custom UI tools with minimal boilerplate code.
# Template Code Overview
The template is well documented and is meant to be self-explanatory to the user should they
start reading the provided python files. A short overview is also provided here:
global_variables.py:
A script that stores in global variables that the user specified when creating this extension such as the Title and Description.
extension.py:
A class containing the standard boilerplate necessary to have the user extension show up on the Toolbar. This
class is meant to fulfill most ues-cases without modification.
In extension.py, useful standard callback functions are created that the user may complete in ui_builder.py.
ui_builder.py:
This file is the user's main entrypoint into the template. Here, the user can see useful callback functions that have been
set up for them, and they may also create UI buttons that are hooked up to more user-defined callback functions. This file is
the most thoroughly documented, and the user should read through it before making serious modification.
| 1,488 |
Markdown
| 58.559998 | 132 | 0.793011 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/FootEnv/global_variables.py
|
# Copyright (c) 2022-2023, 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.
#
EXTENSION_TITLE = "RoadBalanceEdu"
EXTENSION_DESCRIPTION = ""
| 495 |
Python
| 37.153843 | 76 | 0.80404 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/FootEnv/extension.py
|
# Copyright (c) 2022-2023, NVIDIA CORPORATION. All rights reserved.
#
# NVIDIA CORPORATION and its licensors retain all intellectual property
# and proprietary rights in and to this software, related documentation
# and any modifications thereto. Any use, reproduction, disclosure or
# distribution of this software and related documentation without an express
# license agreement from NVIDIA CORPORATION is strictly prohibited.
#
import os
from omni.isaac.examples.base_sample import BaseSampleExtension
from .foot_env import FootEnv
"""
This file serves as a basic template for the standard boilerplate operations
that make a UI-based extension appear on the toolbar.
This implementation is meant to cover most use-cases without modification.
Various callbacks are hooked up to a seperate class UIBuilder in .ui_builder.py
Most users will be able to make their desired UI extension by interacting solely with
UIBuilder.
This class sets up standard useful callback functions in UIBuilder:
on_menu_callback: Called when extension is opened
on_timeline_event: Called when timeline is stopped, paused, or played
on_physics_step: Called on every physics step
on_stage_event: Called when stage is opened or closed
cleanup: Called when resources such as physics subscriptions should be cleaned up
build_ui: User function that creates the UI they want.
"""
class Extension(BaseSampleExtension):
def on_startup(self, ext_id: str):
super().on_startup(ext_id)
super().start_extension(
menu_name="RoadBalanceEdu",
submenu_name="",
name="FootEnv",
title="FootEnv",
doc_link="https://docs.omniverse.nvidia.com/isaacsim/latest/core_api_tutorials/tutorial_core_hello_world.html",
overview="This Example introduces the user on how to do cool stuff with Isaac Sim through scripting in asynchronous mode.",
file_path=os.path.abspath(__file__),
sample=FootEnv(),
)
return
| 2,017 |
Python
| 41.041666 | 135 | 0.736242 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/FootEnv/__init__.py
|
# Copyright (c) 2022-2023, 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.
#
from .extension import Extension
| 464 |
Python
| 45.499995 | 76 | 0.814655 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/FootEnv/ui_builder.py
|
# Copyright (c) 2022-2023, NVIDIA CORPORATION. All rights reserved.
#
# NVIDIA CORPORATION and its licensors retain all intellectual property
# and proprietary rights in and to this software, related documentation
# and any modifications thereto. Any use, reproduction, disclosure or
# distribution of this software and related documentation without an express
# license agreement from NVIDIA CORPORATION is strictly prohibited.
#
import os
from typing import List
import omni.ui as ui
from omni.isaac.ui.element_wrappers import (
Button,
CheckBox,
CollapsableFrame,
ColorPicker,
DropDown,
FloatField,
IntField,
StateButton,
StringField,
TextBlock,
XYPlot,
)
from omni.isaac.ui.ui_utils import get_style
class UIBuilder:
def __init__(self):
# Frames are sub-windows that can contain multiple UI elements
self.frames = []
# UI elements created using a UIElementWrapper from omni.isaac.ui.element_wrappers
self.wrapped_ui_elements = []
###################################################################################
# The Functions Below Are Called Automatically By extension.py
###################################################################################
def on_menu_callback(self):
"""Callback for when the UI is opened from the toolbar.
This is called directly after build_ui().
"""
pass
def on_timeline_event(self, event):
"""Callback for Timeline events (Play, Pause, Stop)
Args:
event (omni.timeline.TimelineEventType): Event Type
"""
pass
def on_physics_step(self, step):
"""Callback for Physics Step.
Physics steps only occur when the timeline is playing
Args:
step (float): Size of physics step
"""
pass
def on_stage_event(self, event):
"""Callback for Stage Events
Args:
event (omni.usd.StageEventType): Event Type
"""
pass
def cleanup(self):
"""
Called when the stage is closed or the extension is hot reloaded.
Perform any necessary cleanup such as removing active callback functions
Buttons imported from omni.isaac.ui.element_wrappers implement a cleanup function that should be called
"""
# None of the UI elements in this template actually have any internal state that needs to be cleaned up.
# But it is best practice to call cleanup() on all wrapped UI elements to simplify development.
for ui_elem in self.wrapped_ui_elements:
ui_elem.cleanup()
def build_ui(self):
"""
Build a custom UI tool to run your extension.
This function will be called any time the UI window is closed and reopened.
"""
# Create a UI frame that prints the latest UI event.
self._create_status_report_frame()
# Create a UI frame demonstrating simple UI elements for user input
self._create_simple_editable_fields_frame()
# Create a UI frame with different button types
self._create_buttons_frame()
# Create a UI frame with different selection widgets
self._create_selection_widgets_frame()
# Create a UI frame with different plotting tools
self._create_plotting_frame()
def _create_status_report_frame(self):
self._status_report_frame = CollapsableFrame("Status Report", collapsed=False)
with self._status_report_frame:
with ui.VStack(style=get_style(), spacing=5, height=0):
self._status_report_field = TextBlock(
"Last UI Event",
num_lines=3,
tooltip="Prints the latest change to this UI",
include_copy_button=True,
)
def _create_simple_editable_fields_frame(self):
self._simple_fields_frame = CollapsableFrame("Simple Editable Fields", collapsed=False)
with self._simple_fields_frame:
with ui.VStack(style=get_style(), spacing=5, height=0):
int_field = IntField(
"Int Field",
default_value=1,
tooltip="Type an int or click and drag to set a new value.",
lower_limit=-100,
upper_limit=100,
on_value_changed_fn=self._on_int_field_value_changed_fn,
)
self.wrapped_ui_elements.append(int_field)
float_field = FloatField(
"Float Field",
default_value=1.0,
tooltip="Type a float or click and drag to set a new value.",
step=0.5,
format="%.2f",
lower_limit=-100.0,
upper_limit=100.0,
on_value_changed_fn=self._on_float_field_value_changed_fn,
)
self.wrapped_ui_elements.append(float_field)
def is_usd_or_python_path(file_path: str):
# Filter file paths shown in the file picker to only be USD or Python files
_, ext = os.path.splitext(file_path.lower())
return ext == ".usd" or ext == ".py"
string_field = StringField(
"String Field",
default_value="Type Here or Use File Picker on the Right",
tooltip="Type a string or use the file picker to set a value",
read_only=False,
multiline_okay=False,
on_value_changed_fn=self._on_string_field_value_changed_fn,
use_folder_picker=True,
item_filter_fn=is_usd_or_python_path,
)
self.wrapped_ui_elements.append(string_field)
def _create_buttons_frame(self):
buttons_frame = CollapsableFrame("Buttons Frame", collapsed=False)
with buttons_frame:
with ui.VStack(style=get_style(), spacing=5, height=0):
button = Button(
"Button",
"CLICK ME",
tooltip="Click This Button to activate a callback function",
on_click_fn=self._on_button_clicked_fn,
)
self.wrapped_ui_elements.append(button)
state_button = StateButton(
"State Button",
"State A",
"State B",
tooltip="Click this button to transition between two states",
on_a_click_fn=self._on_state_btn_a_click_fn,
on_b_click_fn=self._on_state_btn_b_click_fn,
physics_callback_fn=None, # See Loaded Scenario Template for example usage
)
self.wrapped_ui_elements.append(state_button)
check_box = CheckBox(
"Check Box",
default_value=False,
tooltip=" Click this checkbox to activate a callback function",
on_click_fn=self._on_checkbox_click_fn,
)
self.wrapped_ui_elements.append(check_box)
def _create_selection_widgets_frame(self):
self._selection_widgets_frame = CollapsableFrame("Selection Widgets", collapsed=False)
with self._selection_widgets_frame:
with ui.VStack(style=get_style(), spacing=5, height=0):
def dropdown_populate_fn():
return ["Option A", "Option B", "Option C"]
dropdown = DropDown(
"Drop Down",
tooltip=" Select an option from the DropDown",
populate_fn=dropdown_populate_fn,
on_selection_fn=self._on_dropdown_item_selection,
)
self.wrapped_ui_elements.append(dropdown)
dropdown.repopulate() # This does not happen automatically, and it triggers the on_selection_fn
color_picker = ColorPicker(
"Color Picker",
default_value=[0.69, 0.61, 0.39, 1.0],
tooltip="Select a Color",
on_color_picked_fn=self._on_color_picked,
)
self.wrapped_ui_elements.append(color_picker)
def _create_plotting_frame(self):
self._plotting_frame = CollapsableFrame("Plotting Tools", collapsed=False)
with self._plotting_frame:
with ui.VStack(style=get_style(), spacing=5, height=0):
import numpy as np
x = np.arange(-1, 6.01, 0.01)
y = np.sin((x - 0.5) * np.pi)
plot = XYPlot(
"XY Plot",
tooltip="Press mouse over the plot for data label",
x_data=[x[:300], x[100:400], x[200:]],
y_data=[y[:300], y[100:400], y[200:]],
x_min=None, # Use default behavior to fit plotted data to entire frame
x_max=None,
y_min=-1.5,
y_max=1.5,
x_label="X [rad]",
y_label="Y",
plot_height=10,
legends=["Line 1", "Line 2", "Line 3"],
show_legend=True,
plot_colors=[
[255, 0, 0],
[0, 255, 0],
[0, 100, 200],
], # List of [r,g,b] values; not necessary to specify
)
######################################################################################
# Functions Below This Point Are Callback Functions Attached to UI Element Wrappers
######################################################################################
def _on_int_field_value_changed_fn(self, new_value: int):
status = f"Value was changed in int field to {new_value}"
self._status_report_field.set_text(status)
def _on_float_field_value_changed_fn(self, new_value: float):
status = f"Value was changed in float field to {new_value}"
self._status_report_field.set_text(status)
def _on_string_field_value_changed_fn(self, new_value: str):
status = f"Value was changed in string field to {new_value}"
self._status_report_field.set_text(status)
def _on_button_clicked_fn(self):
status = "The Button was Clicked!"
self._status_report_field.set_text(status)
def _on_state_btn_a_click_fn(self):
status = "State Button was Clicked in State A!"
self._status_report_field.set_text(status)
def _on_state_btn_b_click_fn(self):
status = "State Button was Clicked in State B!"
self._status_report_field.set_text(status)
def _on_checkbox_click_fn(self, value: bool):
status = f"CheckBox was set to {value}!"
self._status_report_field.set_text(status)
def _on_dropdown_item_selection(self, item: str):
status = f"{item} was selected from DropDown"
self._status_report_field.set_text(status)
def _on_color_picked(self, color: List[float]):
formatted_color = [float("%0.2f" % i) for i in color]
status = f"RGBA Color {formatted_color} was picked in the ColorPicker"
self._status_report_field.set_text(status)
| 11,487 |
Python
| 38.888889 | 112 | 0.542178 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/FootEnv/README.md
|
# Loading Extension
To enable this extension, run Isaac Sim with the flags --ext-folder {path_to_ext_folder} --enable {ext_directory_name}
The user will see the extension appear on the toolbar on startup with the title they specified in the Extension Generator
# Extension Usage
This template provides the example usage for a library of UIElementWrapper objects that help to quickly develop
custom UI tools with minimal boilerplate code.
# Template Code Overview
The template is well documented and is meant to be self-explanatory to the user should they
start reading the provided python files. A short overview is also provided here:
global_variables.py:
A script that stores in global variables that the user specified when creating this extension such as the Title and Description.
extension.py:
A class containing the standard boilerplate necessary to have the user extension show up on the Toolbar. This
class is meant to fulfill most ues-cases without modification.
In extension.py, useful standard callback functions are created that the user may complete in ui_builder.py.
ui_builder.py:
This file is the user's main entrypoint into the template. Here, the user can see useful callback functions that have been
set up for them, and they may also create UI buttons that are hooked up to more user-defined callback functions. This file is
the most thoroughly documented, and the user should read through it before making serious modification.
| 1,488 |
Markdown
| 58.559998 | 132 | 0.793011 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/FootEnv/foot_env.py
|
# Copyright (c) 2020-2023, 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.
#
from omni.isaac.examples.base_sample import BaseSample
import numpy as np
# Note: checkout the required tutorials at https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/overview.html
from omni.isaac.core.utils.stage import add_reference_to_stage, get_stage_units
from omni.isaac.core.utils.nucleus import get_assets_root_path, get_url_root
from omni.isaac.core.objects import DynamicCuboid
from omni.isaac.sensor import Camera
from omni.isaac.core import World
import omni.graph.core as og
import omni.isaac.core.utils.numpy.rotations as rot_utils
from omni.isaac.core import SimulationContext
from omni.physx.scripts import deformableUtils, physicsUtils
from pxr import UsdGeom, Gf, UsdPhysics, Sdf, Gf, Tf, UsdLux
from PIL import Image
import carb
import h5py
import omni
import cv2
class FootEnv(BaseSample):
def __init__(self) -> None:
super().__init__()
self._save_count = 0
self._rotate_count = 0
carb.log_info("Check /persistent/isaac/asset_root/default setting")
default_asset_root = carb.settings.get_settings().get("/persistent/isaac/asset_root/default")
self._server_root = get_url_root(default_asset_root)
self._time_list = []
self._img_list = []
return
def og_setup(self):
camprim1 = "/World/Orbbec_Gemini2/Orbbec_Gemini2/camera_ir_left/camera_left/Stream_depth"
camprim2 = "/World/Orbbec_Gemini2/Orbbec_Gemini2/camera_rgb/camera_rgb/Stream_rgb"
try:
og.Controller.edit(
{"graph_path": "/ActionGraph", "evaluator_name": "execution"},
{
og.Controller.Keys.CREATE_NODES: [
("OnPlaybackTick", "omni.graph.action.OnPlaybackTick"),
("RenderProduct1", "omni.isaac.core_nodes.IsaacCreateRenderProduct"),
("RenderProduct2", "omni.isaac.core_nodes.IsaacCreateRenderProduct"),
("RGBPublish", "omni.isaac.ros2_bridge.ROS2CameraHelper"),
("DepthPublish", "omni.isaac.ros2_bridge.ROS2CameraHelper"),
("CameraInfoPublish", "omni.isaac.ros2_bridge.ROS2CameraHelper"),
],
og.Controller.Keys.SET_VALUES: [
("RenderProduct1.inputs:cameraPrim", camprim1),
("RenderProduct2.inputs:cameraPrim", camprim2),
("RGBPublish.inputs:topicName", "rgb"),
("RGBPublish.inputs:type", "rgb"),
("RGBPublish.inputs:resetSimulationTimeOnStop", True),
("DepthPublish.inputs:topicName", "depth"),
("DepthPublish.inputs:type", "depth"),
("DepthPublish.inputs:resetSimulationTimeOnStop", True),
("CameraInfoPublish.inputs:topicName", "depth_camera_info"),
("CameraInfoPublish.inputs:type", "camera_info"),
("CameraInfoPublish.inputs:resetSimulationTimeOnStop", True),
],
og.Controller.Keys.CONNECT: [
("OnPlaybackTick.outputs:tick", "RenderProduct1.inputs:execIn"),
("OnPlaybackTick.outputs:tick", "RenderProduct2.inputs:execIn"),
("RenderProduct1.outputs:execOut", "DepthPublish.inputs:execIn"),
("RenderProduct1.outputs:execOut", "CameraInfoPublish.inputs:execIn"),
("RenderProduct2.outputs:execOut", "RGBPublish.inputs:execIn"),
("RenderProduct1.outputs:renderProductPath", "DepthPublish.inputs:renderProductPath"),
("RenderProduct1.outputs:renderProductPath", "CameraInfoPublish.inputs:renderProductPath"),
("RenderProduct2.outputs:renderProductPath", "RGBPublish.inputs:renderProductPath"),
],
},
)
except Exception as e:
print(e)
def camera_setup(self):
gemini_usd_path = self._server_root + "/NVIDIA/Assets/Isaac/2023.1.1/Isaac/Sensors/Orbbec/Gemini 2/orbbec_gemini2_V1.0.usd"
# TODO : check foot availability
add_reference_to_stage(
usd_path=gemini_usd_path,
prim_path=f"/World/Orbbec_Gemini2",
)
self._gemini_mesh = UsdGeom.Mesh.Get(self._stage, "/World/Orbbec_Gemini2")
physicsUtils.set_or_add_translate_op(self._gemini_mesh, translate=Gf.Vec3f(0.05, 0.5, 0.5))
# x: -3.1415927, y: 0, z: -1.5707963
rot = rot_utils.euler_angles_to_quats(np.array([
90, 0, 0
]), degrees=True)
physicsUtils.set_or_add_orient_op(self._gemini_mesh, orient=Gf.Quatf(*rot))
# physicsUtils.set_or_add_scale_op(gemini_mesh, scale=Gf.Vec3f(0.001, 0.001, 0.001))
ldm_light = self._stage.GetPrimAtPath("/World/Orbbec_Gemini2/Orbbec_Gemini2/camera_ldm/camera_ldm/RectLight")
ldm_light_intensity = ldm_light.GetAttribute("intensity")
ldm_light_intensity.Set(0)
def add_female_foot(self):
foot_usd_path = self._server_root + "/Projects/DInsight/Female_Foot.usd"
add_reference_to_stage(
usd_path=foot_usd_path,
prim_path=f"/World/foot",
)
foot_mesh = UsdGeom.Mesh.Get(self._stage, "/World/foot")
physicsUtils.set_or_add_translate_op(foot_mesh, translate=Gf.Vec3f(0.0, 0.0, 0.6))
physicsUtils.set_or_add_orient_op(foot_mesh, orient=Gf.Quatf(-0.5, -0.5, -0.5, -0.5))
physicsUtils.set_or_add_scale_op(foot_mesh, scale=Gf.Vec3f(0.001, 0.001, 0.001))
def add_male_foot(self):
foot_usd_path = self._server_root + "/Projects/DInsight/foot1.usd"
add_reference_to_stage(
usd_path=foot_usd_path,
prim_path=f"/World/foot",
)
foot_mesh = UsdGeom.Mesh.Get(self._stage, "/World/foot")
physicsUtils.set_or_add_translate_op(foot_mesh, translate=Gf.Vec3f(0.0, 0.0, 0.45))
physicsUtils.set_or_add_orient_op(foot_mesh, orient=Gf.Quatf(-0.5, -0.5, -0.5, -0.5))
physicsUtils.set_or_add_scale_op(foot_mesh, scale=Gf.Vec3f(0.25, 0.25, 0.25))
def add_soft_foot(self):
foot_usd_path = self._server_root + "/Projects/DInsight/foot2.usd"
add_reference_to_stage(
usd_path=foot_usd_path,
prim_path=f"/World/foot",
)
foot_mesh = UsdGeom.Mesh.Get(self._stage, "/World/foot")
physicsUtils.set_or_add_translate_op(foot_mesh, translate=Gf.Vec3f(0.2, 0.08, 0.33))
physicsUtils.set_or_add_orient_op(foot_mesh, orient=Gf.Quatf(0.6918005, 0.3113917, 0, 0.6514961))
physicsUtils.set_or_add_scale_op(foot_mesh, scale=Gf.Vec3f(1.0, 1.0, 1.0))
def add_leg_foot(self):
foot_usd_path = self._server_root + "/Projects/DInsight/foot3.usd"
add_reference_to_stage(
usd_path=foot_usd_path,
prim_path=f"/World/foot",
)
foot_mesh = UsdGeom.Mesh.Get(self._stage, "/World/foot")
physicsUtils.set_or_add_translate_op(foot_mesh, translate=Gf.Vec3f(0.0, 0.08, 0.30))
# physicsUtils.set_or_add_orient_op(foot_mesh, orient=Gf.Quatf(-0.5207212, -0.3471475, 0, -0.7799603))
physicsUtils.set_or_add_orient_op(foot_mesh, orient=Gf.Quatf(0.6513039, 0.4342026, 0.3618355, 0.5063066 ))
physicsUtils.set_or_add_scale_op(foot_mesh, scale=Gf.Vec3f(0.005, 0.005, 0.005))
def add_light(self):
sphereLight = UsdLux.SphereLight.Define(self._stage, Sdf.Path("/World/bottomSphereLight"))
sphereLight.CreateIntensityAttr(3000)
sphereLight.CreateRadiusAttr(0.05)
def setup_scene(self):
self._world = self.get_world()
self._stage = omni.usd.get_context().get_stage()
self._world.scene.add_default_ground_plane()
self.simulation_context = SimulationContext()
self.add_light()
self.camera_setup()
# self.add_female_foot()
# self.add_male_foot()
# self.add_soft_foot()
self.add_leg_foot()
self.og_setup()
# self._f = h5py.File('hello_cam.hdf5','w')
# self._group = self._f.create_group("isaac_save_data")
return
async def setup_post_load(self):
self._world.add_physics_callback("sim_step", callback_fn=self.physics_callback) #callback names have to be unique
return
def physics_callback(self, step_size):
# self._camera.get_current_frame()
if self._save_count % 11 == 0:
current_time = self.simulation_context.current_time
omega = 2 * np.pi * self._rotate_count / 100
x_offset, y_offset = 0.5 * np.cos(omega), 0.5 * np.sin(omega)
physicsUtils.set_or_add_translate_op(self._gemini_mesh, translate=Gf.Vec3f(
0.05, x_offset, 0.5 + y_offset))
rot = rot_utils.euler_angles_to_quats(
np.array([
90 + 360 / 100 * self._rotate_count, 0, 0
]), degrees=True)
print(f"rot: {rot}")
physicsUtils.set_or_add_orient_op(self._gemini_mesh,
orient=Gf.Quatf(*rot))
self._time_list.append(current_time)
# self._img_list.append(self._camera.get_rgba()[:, :, :3])
print("Data Collected")
self._rotate_count += 1
self._save_count += 1
if self._save_count > 1100:
self.world_cleanup()
# async def setup_pre_reset(self):
# return
# async def setup_post_reset(self):
# return
def world_cleanup(self):
# self._group.create_dataset(f"sim_time", data=self._time_list, compression='gzip', compression_opts=9)
# self._group.create_dataset(f"image", data=self._img_list, compression='gzip', compression_opts=9)
# self._f.close()
# print("Data saved")
self._save_count = 0
self._world.pause()
return
| 10,651 |
Python
| 39.501901 | 131 | 0.596564 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/ReplicatorBinwithStuffs/global_variables.py
|
# Copyright (c) 2022-2023, 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.
#
EXTENSION_TITLE = "RoadBalanceEdu"
EXTENSION_DESCRIPTION = ""
| 495 |
Python
| 37.153843 | 76 | 0.80404 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/ReplicatorBinwithStuffs/extension.py
|
# Copyright (c) 2022-2023, NVIDIA CORPORATION. All rights reserved.
#
# NVIDIA CORPORATION and its licensors retain all intellectual property
# and proprietary rights in and to this software, related documentation
# and any modifications thereto. Any use, reproduction, disclosure or
# distribution of this software and related documentation without an express
# license agreement from NVIDIA CORPORATION is strictly prohibited.
#
import os
from omni.isaac.examples.base_sample import BaseSampleExtension
from .replicator_basic import BinwithStuffs
"""
This file serves as a basic template for the standard boilerplate operations
that make a UI-based extension appear on the toolbar.
This implementation is meant to cover most use-cases without modification.
Various callbacks are hooked up to a seperate class UIBuilder in .ui_builder.py
Most users will be able to make their desired UI extension by interacting solely with
UIBuilder.
This class sets up standard useful callback functions in UIBuilder:
on_menu_callback: Called when extension is opened
on_timeline_event: Called when timeline is stopped, paused, or played
on_physics_step: Called on every physics step
on_stage_event: Called when stage is opened or closed
cleanup: Called when resources such as physics subscriptions should be cleaned up
build_ui: User function that creates the UI they want.
"""
class Extension(BaseSampleExtension):
def on_startup(self, ext_id: str):
super().on_startup(ext_id)
super().start_extension(
menu_name="RoadBalanceEdu",
submenu_name="Replicator",
name="BinwithStuffs",
title="BinwithStuffs",
doc_link="https://docs.omniverse.nvidia.com/isaacsim/latest/core_api_tutorials/tutorial_core_hello_world.html",
overview="This Example introduces the user on how to do cool stuff with Isaac Sim through scripting in asynchronous mode.",
file_path=os.path.abspath(__file__),
sample=BinwithStuffs(),
)
return
| 2,059 |
Python
| 41.916666 | 135 | 0.741622 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/ReplicatorBinwithStuffs/__init__.py
|
# Copyright (c) 2022-2023, 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.
#
from .extension import Extension
| 464 |
Python
| 45.499995 | 76 | 0.814655 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/ReplicatorBinwithStuffs/replicator_basic.py
|
# Copyright (c) 2020-2023, 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.
#
from omni.isaac.core.utils.stage import add_reference_to_stage, get_stage_units
from omni.isaac.core.utils.nucleus import get_assets_root_path, get_url_root
from omni.isaac.core.physics_context.physics_context import PhysicsContext
from semantics.schema.editor import remove_prim_semantics
from omni.isaac.core.utils.prims import get_prim_at_path
from omni.isaac.examples.base_sample import BaseSample
import omni.replicator.core as rep
import carb.settings
import numpy as np
from omni.isaac.core.prims.geometry_prim import GeometryPrim
from os.path import expanduser
import datetime
now = datetime.datetime.now()
PROPS = {
'spam' : "/Isaac/Props/YCB/Axis_Aligned/010_potted_meat_can.usd",
'jelly' : "/Isaac/Props/YCB/Axis_Aligned/009_gelatin_box.usd",
'tuna' : "/Isaac/Props/YCB/Axis_Aligned/007_tuna_fish_can.usd",
'cleanser' : "/Isaac/Props/YCB/Axis_Aligned/021_bleach_cleanser.usd",
'tomato_soup' : "/Isaac/Props/YCB/Axis_Aligned/005_tomato_soup_can.usd"
}
class BinwithStuffs(BaseSample):
def __init__(self) -> None:
super().__init__()
# Nucleus Path Configuration
self._isaac_assets_path = get_assets_root_path()
self._nucleus_server_path = "omniverse://localhost/NVIDIA/"
self.CRATE = self._nucleus_server_path + "Samples/Marbles/assets/standalone/SM_room_crate_3/SM_room_crate_3.usd"
self.BIN_URL = self._isaac_assets_path + "/Isaac/Props/KLT_Bin/small_KLT_visual.usd"
# Enable scripts
carb.settings.get_settings().set_bool("/app/omni.graph.scriptnode/opt_in", True)
# Disable capture on play and async rendering
carb.settings.get_settings().set("/omni/replicator/captureOnPlay", False)
carb.settings.get_settings().set("/omni/replicator/asyncRendering", False)
carb.settings.get_settings().set("/app/asyncRendering", False)
# Replicator Writerdir
now_str = now.strftime("%Y-%m-%d_%H:%M:%S")
self._out_dir = str(expanduser("~") + "/Documents/grocery_data_" + now_str)
# bin geometry property
self._bin_scale = np.array([2.0, 2.0, 0.5])
self._bin_position = np.array([0.0, 0.0, 0.3])
self._plane_scale = np.array([0.24, 0.4, 1.0])
self._plane_position = np.array([0.0, 0.0, 0.4])
self._plane_rotation = np.array([0.0, 0.0, 0.0])
self._sim_step = 0
return
def random_props(self, file_name, class_name, max_number=3, one_in_n_chance=4):
file_name = self._isaac_assets_path + file_name
instances = rep.randomizer.instantiate(file_name, size=max_number, mode='scene_instance')
with instances:
rep.physics.collider()
rep.modify.semantics([('class', class_name)])
rep.randomizer.scatter_2d(self.plane, check_for_collisions=True)
rep.modify.pose(
rotation=rep.distribution.uniform((-180,-180, -180), (180, 180, 180)),
)
visibility_dist = [True] + [False]*(one_in_n_chance)
rep.modify.visibility(rep.distribution.choice(visibility_dist))
def random_sphere_lights(self):
with self.rp_light:
rep.modify.pose(
position=rep.distribution.uniform((-0.5, -0.5, 1.0), (0.5, 0.5, 1.0)),
)
def setup_scene(self):
world = self.get_world()
world.scene.add_default_ground_plane()
add_reference_to_stage(usd_path=self.BIN_URL, prim_path="/World/bin")
world.scene.add(GeometryPrim(prim_path="/World/bin", name=f"bin_ref_geom", collision=True))
self._bin_ref_geom = world.scene.get_object(f"bin_ref_geom")
self._bin_ref_geom.set_local_scale(np.array([self._bin_scale]))
self._bin_ref_geom.set_world_pose(position=self._bin_position)
self._bin_ref_geom.set_default_state(position=self._bin_position)
self.cam = rep.create.camera(position=(0, 0, 2), look_at=(0, 0, 0))
self.rp = rep.create.render_product(self.cam, resolution=(1024, 1024))
self.plane = rep.create.plane(
scale=self._plane_scale,
position=self._plane_position,
rotation=self._plane_rotation,
visible=False
)
rep.randomizer.register(self.random_props)
# rep.randomizer.register(self.random_sphere_lights)
return
async def setup_post_load(self):
# interval : Number of frames to capture before switching.
# When generating large datasets, increasing this interval will reduce time taken.
# A good value to set is 10.
with rep.trigger.on_frame(num_frames=50, interval=2):
for n, f in PROPS.items():
self.random_props(f, n)
# Create a writer and apply the augmentations to its corresponding annotators
self._writer = rep.WriterRegistry.get("BasicWriter")
print(f"Writing data to: {self._out_dir}")
self._writer.initialize(
output_dir=self._out_dir,
rgb=True,
bounding_box_2d_tight=True,
)
# Attach render product to writer
self._writer.attach([self.rp])
return
| 5,609 |
Python
| 40.25 | 120 | 0.648244 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/ReplicatorBinwithStuffs/ui_builder.py
|
# Copyright (c) 2022-2023, NVIDIA CORPORATION. All rights reserved.
#
# NVIDIA CORPORATION and its licensors retain all intellectual property
# and proprietary rights in and to this software, related documentation
# and any modifications thereto. Any use, reproduction, disclosure or
# distribution of this software and related documentation without an express
# license agreement from NVIDIA CORPORATION is strictly prohibited.
#
import os
from typing import List
import omni.ui as ui
from omni.isaac.ui.element_wrappers import (
Button,
CheckBox,
CollapsableFrame,
ColorPicker,
DropDown,
FloatField,
IntField,
StateButton,
StringField,
TextBlock,
XYPlot,
)
from omni.isaac.ui.ui_utils import get_style
class UIBuilder:
def __init__(self):
# Frames are sub-windows that can contain multiple UI elements
self.frames = []
# UI elements created using a UIElementWrapper from omni.isaac.ui.element_wrappers
self.wrapped_ui_elements = []
###################################################################################
# The Functions Below Are Called Automatically By extension.py
###################################################################################
def on_menu_callback(self):
"""Callback for when the UI is opened from the toolbar.
This is called directly after build_ui().
"""
pass
def on_timeline_event(self, event):
"""Callback for Timeline events (Play, Pause, Stop)
Args:
event (omni.timeline.TimelineEventType): Event Type
"""
pass
def on_physics_step(self, step):
"""Callback for Physics Step.
Physics steps only occur when the timeline is playing
Args:
step (float): Size of physics step
"""
pass
def on_stage_event(self, event):
"""Callback for Stage Events
Args:
event (omni.usd.StageEventType): Event Type
"""
pass
def cleanup(self):
"""
Called when the stage is closed or the extension is hot reloaded.
Perform any necessary cleanup such as removing active callback functions
Buttons imported from omni.isaac.ui.element_wrappers implement a cleanup function that should be called
"""
# None of the UI elements in this template actually have any internal state that needs to be cleaned up.
# But it is best practice to call cleanup() on all wrapped UI elements to simplify development.
for ui_elem in self.wrapped_ui_elements:
ui_elem.cleanup()
def build_ui(self):
"""
Build a custom UI tool to run your extension.
This function will be called any time the UI window is closed and reopened.
"""
# Create a UI frame that prints the latest UI event.
self._create_status_report_frame()
# Create a UI frame demonstrating simple UI elements for user input
self._create_simple_editable_fields_frame()
# Create a UI frame with different button types
self._create_buttons_frame()
# Create a UI frame with different selection widgets
self._create_selection_widgets_frame()
# Create a UI frame with different plotting tools
self._create_plotting_frame()
def _create_status_report_frame(self):
self._status_report_frame = CollapsableFrame("Status Report", collapsed=False)
with self._status_report_frame:
with ui.VStack(style=get_style(), spacing=5, height=0):
self._status_report_field = TextBlock(
"Last UI Event",
num_lines=3,
tooltip="Prints the latest change to this UI",
include_copy_button=True,
)
def _create_simple_editable_fields_frame(self):
self._simple_fields_frame = CollapsableFrame("Simple Editable Fields", collapsed=False)
with self._simple_fields_frame:
with ui.VStack(style=get_style(), spacing=5, height=0):
int_field = IntField(
"Int Field",
default_value=1,
tooltip="Type an int or click and drag to set a new value.",
lower_limit=-100,
upper_limit=100,
on_value_changed_fn=self._on_int_field_value_changed_fn,
)
self.wrapped_ui_elements.append(int_field)
float_field = FloatField(
"Float Field",
default_value=1.0,
tooltip="Type a float or click and drag to set a new value.",
step=0.5,
format="%.2f",
lower_limit=-100.0,
upper_limit=100.0,
on_value_changed_fn=self._on_float_field_value_changed_fn,
)
self.wrapped_ui_elements.append(float_field)
def is_usd_or_python_path(file_path: str):
# Filter file paths shown in the file picker to only be USD or Python files
_, ext = os.path.splitext(file_path.lower())
return ext == ".usd" or ext == ".py"
string_field = StringField(
"String Field",
default_value="Type Here or Use File Picker on the Right",
tooltip="Type a string or use the file picker to set a value",
read_only=False,
multiline_okay=False,
on_value_changed_fn=self._on_string_field_value_changed_fn,
use_folder_picker=True,
item_filter_fn=is_usd_or_python_path,
)
self.wrapped_ui_elements.append(string_field)
def _create_buttons_frame(self):
buttons_frame = CollapsableFrame("Buttons Frame", collapsed=False)
with buttons_frame:
with ui.VStack(style=get_style(), spacing=5, height=0):
button = Button(
"Button",
"CLICK ME",
tooltip="Click This Button to activate a callback function",
on_click_fn=self._on_button_clicked_fn,
)
self.wrapped_ui_elements.append(button)
state_button = StateButton(
"State Button",
"State A",
"State B",
tooltip="Click this button to transition between two states",
on_a_click_fn=self._on_state_btn_a_click_fn,
on_b_click_fn=self._on_state_btn_b_click_fn,
physics_callback_fn=None, # See Loaded Scenario Template for example usage
)
self.wrapped_ui_elements.append(state_button)
check_box = CheckBox(
"Check Box",
default_value=False,
tooltip=" Click this checkbox to activate a callback function",
on_click_fn=self._on_checkbox_click_fn,
)
self.wrapped_ui_elements.append(check_box)
def _create_selection_widgets_frame(self):
self._selection_widgets_frame = CollapsableFrame("Selection Widgets", collapsed=False)
with self._selection_widgets_frame:
with ui.VStack(style=get_style(), spacing=5, height=0):
def dropdown_populate_fn():
return ["Option A", "Option B", "Option C"]
dropdown = DropDown(
"Drop Down",
tooltip=" Select an option from the DropDown",
populate_fn=dropdown_populate_fn,
on_selection_fn=self._on_dropdown_item_selection,
)
self.wrapped_ui_elements.append(dropdown)
dropdown.repopulate() # This does not happen automatically, and it triggers the on_selection_fn
color_picker = ColorPicker(
"Color Picker",
default_value=[0.69, 0.61, 0.39, 1.0],
tooltip="Select a Color",
on_color_picked_fn=self._on_color_picked,
)
self.wrapped_ui_elements.append(color_picker)
def _create_plotting_frame(self):
self._plotting_frame = CollapsableFrame("Plotting Tools", collapsed=False)
with self._plotting_frame:
with ui.VStack(style=get_style(), spacing=5, height=0):
import numpy as np
x = np.arange(-1, 6.01, 0.01)
y = np.sin((x - 0.5) * np.pi)
plot = XYPlot(
"XY Plot",
tooltip="Press mouse over the plot for data label",
x_data=[x[:300], x[100:400], x[200:]],
y_data=[y[:300], y[100:400], y[200:]],
x_min=None, # Use default behavior to fit plotted data to entire frame
x_max=None,
y_min=-1.5,
y_max=1.5,
x_label="X [rad]",
y_label="Y",
plot_height=10,
legends=["Line 1", "Line 2", "Line 3"],
show_legend=True,
plot_colors=[
[255, 0, 0],
[0, 255, 0],
[0, 100, 200],
], # List of [r,g,b] values; not necessary to specify
)
######################################################################################
# Functions Below This Point Are Callback Functions Attached to UI Element Wrappers
######################################################################################
def _on_int_field_value_changed_fn(self, new_value: int):
status = f"Value was changed in int field to {new_value}"
self._status_report_field.set_text(status)
def _on_float_field_value_changed_fn(self, new_value: float):
status = f"Value was changed in float field to {new_value}"
self._status_report_field.set_text(status)
def _on_string_field_value_changed_fn(self, new_value: str):
status = f"Value was changed in string field to {new_value}"
self._status_report_field.set_text(status)
def _on_button_clicked_fn(self):
status = "The Button was Clicked!"
self._status_report_field.set_text(status)
def _on_state_btn_a_click_fn(self):
status = "State Button was Clicked in State A!"
self._status_report_field.set_text(status)
def _on_state_btn_b_click_fn(self):
status = "State Button was Clicked in State B!"
self._status_report_field.set_text(status)
def _on_checkbox_click_fn(self, value: bool):
status = f"CheckBox was set to {value}!"
self._status_report_field.set_text(status)
def _on_dropdown_item_selection(self, item: str):
status = f"{item} was selected from DropDown"
self._status_report_field.set_text(status)
def _on_color_picked(self, color: List[float]):
formatted_color = [float("%0.2f" % i) for i in color]
status = f"RGBA Color {formatted_color} was picked in the ColorPicker"
self._status_report_field.set_text(status)
| 11,487 |
Python
| 38.888889 | 112 | 0.542178 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/ReplicatorBinwithStuffs/README.md
|
# Loading Extension
To enable this extension, run Isaac Sim with the flags --ext-folder {path_to_ext_folder} --enable {ext_directory_name}
The user will see the extension appear on the toolbar on startup with the title they specified in the Extension Generator
# Extension Usage
This template provides the example usage for a library of UIElementWrapper objects that help to quickly develop
custom UI tools with minimal boilerplate code.
# Template Code Overview
The template is well documented and is meant to be self-explanatory to the user should they
start reading the provided python files. A short overview is also provided here:
global_variables.py:
A script that stores in global variables that the user specified when creating this extension such as the Title and Description.
extension.py:
A class containing the standard boilerplate necessary to have the user extension show up on the Toolbar. This
class is meant to fulfill most ues-cases without modification.
In extension.py, useful standard callback functions are created that the user may complete in ui_builder.py.
ui_builder.py:
This file is the user's main entrypoint into the template. Here, the user can see useful callback functions that have been
set up for them, and they may also create UI buttons that are hooked up to more user-defined callback functions. This file is
the most thoroughly documented, and the user should read through it before making serious modification.
| 1,488 |
Markdown
| 58.559998 | 132 | 0.793011 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/ReplicatorBinwithStuffs/inference/model_info.py
|
import tritonclient.grpc as grpcclient
inference_server_url = "localhost:8003"
triton_client = grpcclient.InferenceServerClient(url=inference_server_url)
# find out info about model
model_name = "our_new_model"
config_info = triton_client.get_model_config(model_name)
print(config_info)
| 290 |
Python
| 25.454543 | 74 | 0.793103 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/ReplicatorBinwithStuffs/inference/inference.py
|
from tritonclient.utils import triton_to_np_dtype
import tritonclient.grpc as grpcclient
import cv2
import numpy as np
from matplotlib import pyplot as plt
inference_server_url = "localhost:8003"
triton_client = grpcclient.InferenceServerClient(url=inference_server_url)
model_name = "our_new_model"
# load image data
target_width, target_height = 1024, 1024
image_bgr = cv2.imread("sample_image3.png")
image_bgr = cv2.resize(image_bgr, (target_width, target_height))
image_rgb = cv2.cvtColor(image_bgr, cv2.COLOR_BGR2RGB)
image = np.float32(image_rgb)
# preprocessing
image = image/255
image = np.moveaxis(image, -1, 0) # HWC to CHW
image = image[np.newaxis, :] # add batch dimension
image = np.float32(image)
plt.imshow(image_rgb)
# create input
input_name = "input"
inputs = [grpcclient.InferInput(input_name, image.shape, "FP32")]
inputs[0].set_data_from_numpy(image)
output_names = ["boxes", "labels", "scores"]
outputs = [grpcclient.InferRequestedOutput(n) for n in output_names]
results = triton_client.infer(model_name, inputs, outputs=outputs)
boxes, labels, scores = [results.as_numpy(o) for o in output_names]
# annotate
annotated_image = image_bgr.copy()
props_dict = {
0: 'klt_bin',
1: 'tomato_soup',
2: 'tuna',
3: 'spam',
4: 'jelly',
5: 'cleanser',
}
if boxes.size > 0: # ensure something is found
for box, lab, scr in zip(boxes, labels, scores):
if scr > 0.4:
box_top_left = int(box[0]), int(box[1])
box_bottom_right = int(box[2]), int(box[3])
text_origin = int(box[0]), int(box[3])
border_color = list(np.random.random(size=3) * 256)
text_color = (255, 255, 255)
font_scale = 0.9
thickness = 1
# bounding box2
img = cv2.rectangle(
annotated_image,
box_top_left,
box_bottom_right,
border_color,
thickness=5,
lineType=cv2.LINE_8
)
print(f"index: {lab}, label: {props_dict[lab]}, score: {scr:.2f}")
# For the text background
# Finds space required by the text so that we can put a background with that amount of width.
(w, h), _ = cv2.getTextSize(
props_dict[lab], cv2.FONT_HERSHEY_SIMPLEX,
0.6, 1
)
# Prints the text.
img = cv2.rectangle(
img, (box_top_left[0], box_top_left[1] - 20),
(box_top_left[0] + w, box_top_left[1]),
border_color, -1
)
img = cv2.putText(
img, props_dict[lab], box_top_left,
cv2.FONT_HERSHEY_SIMPLEX, 0.6,
text_color, 1
)
plt.imshow(cv2.cvtColor(annotated_image, cv2.COLOR_BGR2RGB))
plt.show()
| 2,869 |
Python
| 28.587629 | 105 | 0.581039 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/ReplicatorBinwithStuffs/export/model_export.py
|
import os
import torch
import torchvision
import warnings
warnings.filterwarnings("ignore")
device = torch.device('cuda') if torch.cuda.is_available() else torch.device('cpu')
# load the PyTorch model.
pytorch_dir = "/home/kimsooyoung/Documents/model.pth"
model = torch.load(pytorch_dir).cuda()
# Export Model
dummy_input = torch.rand(1, 3, 1024, 1024).cuda()
torch.onnx.export(
model,
dummy_input,
"model.onnx",
opset_version=11,
input_names=["input"],
output_names=["boxes", "labels", "scores"]
)
| 527 |
Python
| 20.999999 | 83 | 0.698292 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/ReplicatorBinwithStuffs/viz/data_visualize.py
|
import os
import json
import hashlib
from PIL import Image
import numpy as np
import matplotlib.pyplot as plt
import matplotlib.patches as patches
# # Desktop
# data_dir = "/home/kimsooyoung/Documents/grocery_data_2024-05-21_18:52:00"
# Laptop
data_dir = "/home/kimsooyoung/Documents/grocery_data_2024-05-21_10:13:03"
out_dir = "/home/kimsooyoung/Documents"
number = "0025"
# Write Visualization Functions
# data_to_colour
# takes in our data from a specific label ID and maps it to the proper color for the bounding box.
def data_to_colour(data):
if isinstance(data, str):
data = bytes(data, "utf-8")
else:
data = bytes(data)
m = hashlib.sha256()
m.update(data)
key = int(m.hexdigest()[:8], 16)
r = ((((key >> 0) & 0xFF) + 1) * 33) % 255
g = ((((key >> 8) & 0xFF) + 1) * 33) % 255
b = ((((key >> 16) & 0xFF) + 1) * 33) % 255
inv_norm_i = 128 * (3.0 / (r + g + b))
return (int(r * inv_norm_i) / 255, int(g * inv_norm_i) / 255, int(b * inv_norm_i) / 255)
# colorize_bbox_2d
# takes in the path to the RGB image for the background,
# the bounding box data, the labels, and the path to store the visualization.
# It outputs a colorized bounding box.
def colorize_bbox_2d(rgb_path, data, id_to_labels, file_path):
rgb_img = Image.open(rgb_path)
colors = [data_to_colour(bbox["semanticId"]) for bbox in data]
fig, ax = plt.subplots(figsize=(10, 10))
ax.imshow(rgb_img)
for bbox_2d, color, index in zip(data, colors, id_to_labels.keys()):
labels = id_to_labels[str(index)]
rect = patches.Rectangle(
xy=(bbox_2d["x_min"], bbox_2d["y_min"]),
width=bbox_2d["x_max"] - bbox_2d["x_min"],
height=bbox_2d["y_max"] - bbox_2d["y_min"],
edgecolor=color,
linewidth=2,
label=labels,
fill=False,
)
ax.add_patch(rect)
plt.legend(loc="upper left")
plt.savefig(file_path)
# Load Synthetic Data and Visualize
rgb_path = data_dir
rgb = "rgb_"+number+".png"
rgb_path = os.path.join(rgb_path, rgb)
import os
print(os.path.abspath("."))
# load the bounding box data.
npy_path = data_dir
bbox2d_tight_file_name = "bounding_box_2d_tight_"+number+".npy"
data = np.load(os.path.join(npy_path, bbox2d_tight_file_name))
# load the labels corresponding to the image.
json_path = data_dir
bbox2d_tight_labels_file_name = "bounding_box_2d_tight_labels_"+number+".json"
bbox2d_tight_id_to_labels = None
with open(os.path.join(json_path, bbox2d_tight_labels_file_name), "r") as json_data:
bbox2d_tight_id_to_labels = json.load(json_data)
# Finally, we can call our function and see the labeled image!
colorize_bbox_2d(rgb_path, data, bbox2d_tight_id_to_labels, os.path.join(out_dir, "bbox2d_tight.png"))
| 2,790 |
Python
| 31.453488 | 102 | 0.642294 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/ReplicatorBinwithStuffs/train/fast_rcnn_train.py
|
from PIL import Image
import os
import numpy as np
import torch
import torch.utils.data
import torchvision
from torchvision.models.detection.faster_rcnn import FastRCNNPredictor
from torchvision import transforms as T
import json
import shutil
epochs = 15
num_classes = 6
data_dir = "/home/kimsooyoung/Documents/grocery_data_2024-05-21_18:52:00"
output_file = "/home/kimsooyoung/Documents/model.pth"
device = torch.device('cuda') if torch.cuda.is_available() else torch.device('cpu')
print(f"Using device: {device}")
class GroceryDataset(torch.utils.data.Dataset):
# This function is run once when instantiating the Dataset object
def __init__(self, root, transforms):
self.root = root
self.transforms = transforms
# In the first portion of this code we are taking our single dataset folder
# and splitting it into three folders based on the file types.
# This is just a preprocessing step.
list_ = os.listdir(root)
for file_ in list_:
name, ext = os.path.splitext(file_)
ext = ext[1:]
if ext == '':
continue
if os.path.exists(root+ '/' + ext):
shutil.move(root+'/'+file_, root+'/'+ext+'/'+file_)
else:
os.makedirs(root+'/'+ext)
shutil.move(root+'/'+file_, root+'/'+ext+'/'+file_)
self.imgs = list(sorted(os.listdir(os.path.join(root, "png"))))
self.label = list(sorted(os.listdir(os.path.join(root, "json"))))
self.box = list(sorted(os.listdir(os.path.join(root, "npy"))))
# We have our three attributes with the img, label, and box data
# Loads and returns a sample from the dataset at the given index idx
def __getitem__(self, idx):
img_path = os.path.join(self.root, "png", self.imgs[idx])
img = Image.open(img_path).convert("RGB")
label_path = os.path.join(self.root, "json", self.label[idx])
with open(os.path.join('root', label_path), "r") as json_data:
json_labels = json.load(json_data)
box_path = os.path.join(self.root, "npy", self.box[idx])
dat = np.load(str(box_path))
boxes = []
labels = []
for i in dat:
obj_val = i[0]
xmin = torch.as_tensor(np.min(i[1]), dtype=torch.float32)
xmax = torch.as_tensor(np.max(i[3]), dtype=torch.float32)
ymin = torch.as_tensor(np.min(i[2]), dtype=torch.float32)
ymax = torch.as_tensor(np.max(i[4]), dtype=torch.float32)
if (ymax > ymin) & (xmax > xmin):
boxes.append([xmin, ymin, xmax, ymax])
area = (xmax - xmin) * (ymax - ymin)
labels += [json_labels.get(str(obj_val)).get('class')]
label_dict = {}
# Labels for the dataset
static_labels = {
'klt_bin' : 0,
'tomato_soup' : 1,
'tuna' : 2,
'spam' : 3,
'jelly' : 4,
'cleanser' : 5
}
labels_out = []
# Transforming the input labels into a static label dictionary to use
for i in range(len(labels)):
label_dict[i] = labels[i]
for i in label_dict:
fruit = label_dict[i]
final_fruit_label = static_labels[fruit]
labels_out += [final_fruit_label]
target = {}
target["boxes"] = torch.as_tensor(boxes, dtype=torch.float32)
target["labels"] = torch.as_tensor(labels_out, dtype=torch.int64)
target["image_id"] = torch.tensor([idx])
target["area"] = area
if self.transforms is not None:
img= self.transforms(img)
return img, target
# Finally we have a function for the number of samples in our dataset
def __len__(self):
return len(self.imgs)
# Create Helper Functions
# converting to `Tensor` objects and also converting the `dtypes`.
def get_transform(train):
transforms = []
transforms.append(T.PILToTensor())
transforms.append(T.ConvertImageDtype(torch.float))
return T.Compose(transforms)
# Create a function to collate our samples.
def collate_fn(batch):
return tuple(zip(*batch))
# Create Model and Train
# We are starting with the pretrained (default weights) object detection
# fasterrcnn_resnet50 model from Torchvision.
def create_model(num_classes):
model = torchvision.models.detection.fasterrcnn_resnet50_fpn(weights='DEFAULT')
in_features = model.roi_heads.box_predictor.cls_score.in_features
model.roi_heads.box_predictor = FastRCNNPredictor(in_features, num_classes)
return model
# create our dataset by using our custom GroceryDataset class
# This is then passed into our DataLoader.
dataset = GroceryDataset(data_dir, get_transform(train=True))
data_loader = torch.utils.data.DataLoader(
dataset,
# batch_size=16,
batch_size=8,
shuffle=True,
collate_fn=collate_fn
)
# create our model with the N classes
# And then transfer it to the GPU for training.
model = create_model(num_classes)
model.to(device)
params = [p for p in model.parameters() if p.requires_grad]
optimizer = torch.optim.SGD(params, lr=0.001)
len_dataloader = len(data_loader)
# Now we can actually train our model.
# Keep track of our loss and print it out as we train.
model.train()
ep = 0
for epoch in range(epochs):
optimizer.zero_grad()
ep += 1
i = 0
for imgs, annotations in data_loader:
i += 1
imgs = list(img.to(device) for img in imgs)
annotations = [{k: v.to(device) for k, v in t.items()} for t in annotations]
loss_dict = model(imgs, annotations)
losses = sum(loss for loss in loss_dict.values())
losses.backward()
optimizer.step()
print(f'Epoch: {ep} Iteration: {i}/{len_dataloader}, Loss: {losses}')
torch.save(model, output_file)
| 5,909 |
Python
| 33.360465 | 84 | 0.616856 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/ReplicatorCubeRandomRotation/global_variables.py
|
# Copyright (c) 2022-2023, 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.
#
EXTENSION_TITLE = "RoadBalanceEdu"
EXTENSION_DESCRIPTION = ""
| 495 |
Python
| 37.153843 | 76 | 0.80404 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/ReplicatorCubeRandomRotation/extension.py
|
# Copyright (c) 2022-2023, NVIDIA CORPORATION. All rights reserved.
#
# NVIDIA CORPORATION and its licensors retain all intellectual property
# and proprietary rights in and to this software, related documentation
# and any modifications thereto. Any use, reproduction, disclosure or
# distribution of this software and related documentation without an express
# license agreement from NVIDIA CORPORATION is strictly prohibited.
#
import os
from omni.isaac.examples.base_sample import BaseSampleExtension
from .replicator_basic import BasicCubeRandomRotation
"""
This file serves as a basic template for the standard boilerplate operations
that make a UI-based extension appear on the toolbar.
This implementation is meant to cover most use-cases without modification.
Various callbacks are hooked up to a seperate class UIBuilder in .ui_builder.py
Most users will be able to make their desired UI extension by interacting solely with
UIBuilder.
This class sets up standard useful callback functions in UIBuilder:
on_menu_callback: Called when extension is opened
on_timeline_event: Called when timeline is stopped, paused, or played
on_physics_step: Called on every physics step
on_stage_event: Called when stage is opened or closed
cleanup: Called when resources such as physics subscriptions should be cleaned up
build_ui: User function that creates the UI they want.
"""
class Extension(BaseSampleExtension):
def on_startup(self, ext_id: str):
super().on_startup(ext_id)
super().start_extension(
menu_name="RoadBalanceEdu",
submenu_name="Replicator",
name="BasicCubeRandomRotation",
title="BasicCubeRandomRotation",
doc_link="https://docs.omniverse.nvidia.com/isaacsim/latest/core_api_tutorials/tutorial_core_hello_world.html",
overview="This Example introduces the user on how to do cool stuff with Isaac Sim through scripting in asynchronous mode.",
file_path=os.path.abspath(__file__),
sample=BasicCubeRandomRotation(),
)
return
| 2,099 |
Python
| 42.749999 | 135 | 0.746546 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/ReplicatorCubeRandomRotation/__init__.py
|
# Copyright (c) 2022-2023, 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.
#
from .extension import Extension
| 464 |
Python
| 45.499995 | 76 | 0.814655 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/ReplicatorCubeRandomRotation/replicator_basic.py
|
# Copyright (c) 2020-2023, 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.
#
from omni.isaac.core.utils.nucleus import get_assets_root_path, get_url_root
from omni.isaac.examples.base_sample import BaseSample
from omni.isaac.core.utils.stage import open_stage
import omni.replicator.core as rep
import carb.settings
import numpy as np
from os.path import expanduser
import datetime
now = datetime.datetime.now()
class BasicCubeRandomRotation(BaseSample):
def __init__(self) -> None:
super().__init__()
self.assets_root_path = get_assets_root_path()
self._nucleus_server_path = "omniverse://localhost/NVIDIA/"
# Enable scripts
carb.settings.get_settings().set_bool("/app/omni.graph.scriptnode/opt_in", True)
# Disable capture on play and async rendering
carb.settings.get_settings().set("/omni/replicator/captureOnPlay", False)
carb.settings.get_settings().set("/omni/replicator/asyncRendering", False)
carb.settings.get_settings().set("/app/asyncRendering", False)
now_str = now.strftime("%Y-%m-%d_%H:%M:%S")
self._out_dir = str(expanduser("~") + "/Documents/cube_data_" + now_str)
self._sim_step = 0
return
def setup_scene(self):
world = self.get_world()
world.scene.add_default_ground_plane()
# Create a red cube and a render product from a camera looking at the cube from the top
red_mat = rep.create.material_omnipbr(diffuse=(1, 0, 0))
self.red_cube = rep.create.cube(position=(0, 0, 0.71), material=red_mat)
self.cam = rep.create.camera(position=(0, 0, 5), look_at=(0, 0, 0))
self.rp = rep.create.render_product(self.cam, resolution=(1024, 1024))
return
async def setup_post_load(self):
with rep.trigger.on_frame(num_frames=20):
with self.red_cube:
rep.randomizer.rotation()
# Create a writer and apply the augmentations to its corresponding annotators
writer = rep.WriterRegistry.get("BasicWriter")
print(f"Writing data to: {self._out_dir}")
writer.initialize(
output_dir=self._out_dir,
rgb=True,
bounding_box_2d_tight=True,
distance_to_camera=True
)
# Attach render product to writer
writer.attach([self.rp])
return
| 2,733 |
Python
| 34.506493 | 95 | 0.663739 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/ReplicatorCubeRandomRotation/ui_builder.py
|
# Copyright (c) 2022-2023, NVIDIA CORPORATION. All rights reserved.
#
# NVIDIA CORPORATION and its licensors retain all intellectual property
# and proprietary rights in and to this software, related documentation
# and any modifications thereto. Any use, reproduction, disclosure or
# distribution of this software and related documentation without an express
# license agreement from NVIDIA CORPORATION is strictly prohibited.
#
import os
from typing import List
import omni.ui as ui
from omni.isaac.ui.element_wrappers import (
Button,
CheckBox,
CollapsableFrame,
ColorPicker,
DropDown,
FloatField,
IntField,
StateButton,
StringField,
TextBlock,
XYPlot,
)
from omni.isaac.ui.ui_utils import get_style
class UIBuilder:
def __init__(self):
# Frames are sub-windows that can contain multiple UI elements
self.frames = []
# UI elements created using a UIElementWrapper from omni.isaac.ui.element_wrappers
self.wrapped_ui_elements = []
###################################################################################
# The Functions Below Are Called Automatically By extension.py
###################################################################################
def on_menu_callback(self):
"""Callback for when the UI is opened from the toolbar.
This is called directly after build_ui().
"""
pass
def on_timeline_event(self, event):
"""Callback for Timeline events (Play, Pause, Stop)
Args:
event (omni.timeline.TimelineEventType): Event Type
"""
pass
def on_physics_step(self, step):
"""Callback for Physics Step.
Physics steps only occur when the timeline is playing
Args:
step (float): Size of physics step
"""
pass
def on_stage_event(self, event):
"""Callback for Stage Events
Args:
event (omni.usd.StageEventType): Event Type
"""
pass
def cleanup(self):
"""
Called when the stage is closed or the extension is hot reloaded.
Perform any necessary cleanup such as removing active callback functions
Buttons imported from omni.isaac.ui.element_wrappers implement a cleanup function that should be called
"""
# None of the UI elements in this template actually have any internal state that needs to be cleaned up.
# But it is best practice to call cleanup() on all wrapped UI elements to simplify development.
for ui_elem in self.wrapped_ui_elements:
ui_elem.cleanup()
def build_ui(self):
"""
Build a custom UI tool to run your extension.
This function will be called any time the UI window is closed and reopened.
"""
# Create a UI frame that prints the latest UI event.
self._create_status_report_frame()
# Create a UI frame demonstrating simple UI elements for user input
self._create_simple_editable_fields_frame()
# Create a UI frame with different button types
self._create_buttons_frame()
# Create a UI frame with different selection widgets
self._create_selection_widgets_frame()
# Create a UI frame with different plotting tools
self._create_plotting_frame()
def _create_status_report_frame(self):
self._status_report_frame = CollapsableFrame("Status Report", collapsed=False)
with self._status_report_frame:
with ui.VStack(style=get_style(), spacing=5, height=0):
self._status_report_field = TextBlock(
"Last UI Event",
num_lines=3,
tooltip="Prints the latest change to this UI",
include_copy_button=True,
)
def _create_simple_editable_fields_frame(self):
self._simple_fields_frame = CollapsableFrame("Simple Editable Fields", collapsed=False)
with self._simple_fields_frame:
with ui.VStack(style=get_style(), spacing=5, height=0):
int_field = IntField(
"Int Field",
default_value=1,
tooltip="Type an int or click and drag to set a new value.",
lower_limit=-100,
upper_limit=100,
on_value_changed_fn=self._on_int_field_value_changed_fn,
)
self.wrapped_ui_elements.append(int_field)
float_field = FloatField(
"Float Field",
default_value=1.0,
tooltip="Type a float or click and drag to set a new value.",
step=0.5,
format="%.2f",
lower_limit=-100.0,
upper_limit=100.0,
on_value_changed_fn=self._on_float_field_value_changed_fn,
)
self.wrapped_ui_elements.append(float_field)
def is_usd_or_python_path(file_path: str):
# Filter file paths shown in the file picker to only be USD or Python files
_, ext = os.path.splitext(file_path.lower())
return ext == ".usd" or ext == ".py"
string_field = StringField(
"String Field",
default_value="Type Here or Use File Picker on the Right",
tooltip="Type a string or use the file picker to set a value",
read_only=False,
multiline_okay=False,
on_value_changed_fn=self._on_string_field_value_changed_fn,
use_folder_picker=True,
item_filter_fn=is_usd_or_python_path,
)
self.wrapped_ui_elements.append(string_field)
def _create_buttons_frame(self):
buttons_frame = CollapsableFrame("Buttons Frame", collapsed=False)
with buttons_frame:
with ui.VStack(style=get_style(), spacing=5, height=0):
button = Button(
"Button",
"CLICK ME",
tooltip="Click This Button to activate a callback function",
on_click_fn=self._on_button_clicked_fn,
)
self.wrapped_ui_elements.append(button)
state_button = StateButton(
"State Button",
"State A",
"State B",
tooltip="Click this button to transition between two states",
on_a_click_fn=self._on_state_btn_a_click_fn,
on_b_click_fn=self._on_state_btn_b_click_fn,
physics_callback_fn=None, # See Loaded Scenario Template for example usage
)
self.wrapped_ui_elements.append(state_button)
check_box = CheckBox(
"Check Box",
default_value=False,
tooltip=" Click this checkbox to activate a callback function",
on_click_fn=self._on_checkbox_click_fn,
)
self.wrapped_ui_elements.append(check_box)
def _create_selection_widgets_frame(self):
self._selection_widgets_frame = CollapsableFrame("Selection Widgets", collapsed=False)
with self._selection_widgets_frame:
with ui.VStack(style=get_style(), spacing=5, height=0):
def dropdown_populate_fn():
return ["Option A", "Option B", "Option C"]
dropdown = DropDown(
"Drop Down",
tooltip=" Select an option from the DropDown",
populate_fn=dropdown_populate_fn,
on_selection_fn=self._on_dropdown_item_selection,
)
self.wrapped_ui_elements.append(dropdown)
dropdown.repopulate() # This does not happen automatically, and it triggers the on_selection_fn
color_picker = ColorPicker(
"Color Picker",
default_value=[0.69, 0.61, 0.39, 1.0],
tooltip="Select a Color",
on_color_picked_fn=self._on_color_picked,
)
self.wrapped_ui_elements.append(color_picker)
def _create_plotting_frame(self):
self._plotting_frame = CollapsableFrame("Plotting Tools", collapsed=False)
with self._plotting_frame:
with ui.VStack(style=get_style(), spacing=5, height=0):
import numpy as np
x = np.arange(-1, 6.01, 0.01)
y = np.sin((x - 0.5) * np.pi)
plot = XYPlot(
"XY Plot",
tooltip="Press mouse over the plot for data label",
x_data=[x[:300], x[100:400], x[200:]],
y_data=[y[:300], y[100:400], y[200:]],
x_min=None, # Use default behavior to fit plotted data to entire frame
x_max=None,
y_min=-1.5,
y_max=1.5,
x_label="X [rad]",
y_label="Y",
plot_height=10,
legends=["Line 1", "Line 2", "Line 3"],
show_legend=True,
plot_colors=[
[255, 0, 0],
[0, 255, 0],
[0, 100, 200],
], # List of [r,g,b] values; not necessary to specify
)
######################################################################################
# Functions Below This Point Are Callback Functions Attached to UI Element Wrappers
######################################################################################
def _on_int_field_value_changed_fn(self, new_value: int):
status = f"Value was changed in int field to {new_value}"
self._status_report_field.set_text(status)
def _on_float_field_value_changed_fn(self, new_value: float):
status = f"Value was changed in float field to {new_value}"
self._status_report_field.set_text(status)
def _on_string_field_value_changed_fn(self, new_value: str):
status = f"Value was changed in string field to {new_value}"
self._status_report_field.set_text(status)
def _on_button_clicked_fn(self):
status = "The Button was Clicked!"
self._status_report_field.set_text(status)
def _on_state_btn_a_click_fn(self):
status = "State Button was Clicked in State A!"
self._status_report_field.set_text(status)
def _on_state_btn_b_click_fn(self):
status = "State Button was Clicked in State B!"
self._status_report_field.set_text(status)
def _on_checkbox_click_fn(self, value: bool):
status = f"CheckBox was set to {value}!"
self._status_report_field.set_text(status)
def _on_dropdown_item_selection(self, item: str):
status = f"{item} was selected from DropDown"
self._status_report_field.set_text(status)
def _on_color_picked(self, color: List[float]):
formatted_color = [float("%0.2f" % i) for i in color]
status = f"RGBA Color {formatted_color} was picked in the ColorPicker"
self._status_report_field.set_text(status)
| 11,487 |
Python
| 38.888889 | 112 | 0.542178 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/ReplicatorCubeRandomRotation/README.md
|
# Loading Extension
To enable this extension, run Isaac Sim with the flags --ext-folder {path_to_ext_folder} --enable {ext_directory_name}
The user will see the extension appear on the toolbar on startup with the title they specified in the Extension Generator
# Extension Usage
This template provides the example usage for a library of UIElementWrapper objects that help to quickly develop
custom UI tools with minimal boilerplate code.
# Template Code Overview
The template is well documented and is meant to be self-explanatory to the user should they
start reading the provided python files. A short overview is also provided here:
global_variables.py:
A script that stores in global variables that the user specified when creating this extension such as the Title and Description.
extension.py:
A class containing the standard boilerplate necessary to have the user extension show up on the Toolbar. This
class is meant to fulfill most ues-cases without modification.
In extension.py, useful standard callback functions are created that the user may complete in ui_builder.py.
ui_builder.py:
This file is the user's main entrypoint into the template. Here, the user can see useful callback functions that have been
set up for them, and they may also create UI buttons that are hooked up to more user-defined callback functions. This file is
the most thoroughly documented, and the user should read through it before making serious modification.
| 1,488 |
Markdown
| 58.559998 | 132 | 0.793011 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/FrankaDeformable/global_variables.py
|
# Copyright (c) 2022-2023, 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.
#
EXTENSION_TITLE = "MyExtension"
EXTENSION_DESCRIPTION = ""
| 492 |
Python
| 36.923074 | 76 | 0.802846 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/FrankaDeformable/extension.py
|
# Copyright (c) 2022-2023, NVIDIA CORPORATION. All rights reserved.
#
# NVIDIA CORPORATION and its licensors retain all intellectual property
# and proprietary rights in and to this software, related documentation
# and any modifications thereto. Any use, reproduction, disclosure or
# distribution of this software and related documentation without an express
# license agreement from NVIDIA CORPORATION is strictly prohibited.
#
import os
from omni.isaac.examples.base_sample import BaseSampleExtension
from .franka_deformable import FrankaDeformable
"""
This file serves as a basic template for the standard boilerplate operations
that make a UI-based extension appear on the toolbar.
This implementation is meant to cover most use-cases without modification.
Various callbacks are hooked up to a seperate class UIBuilder in .ui_builder.py
Most users will be able to make their desired UI extension by interacting solely with
UIBuilder.
This class sets up standard useful callback functions in UIBuilder:
on_menu_callback: Called when extension is opened
on_timeline_event: Called when timeline is stopped, paused, or played
on_physics_step: Called on every physics step
on_stage_event: Called when stage is opened or closed
cleanup: Called when resources such as physics subscriptions should be cleaned up
build_ui: User function that creates the UI they want.
"""
class Extension(BaseSampleExtension):
def on_startup(self, ext_id: str):
super().on_startup(ext_id)
super().start_extension(
menu_name="RoadBalanceEdu",
submenu_name="ETRIDemo",
name="FrankaDeformable",
title="FrankaDeformable",
doc_link="https://docs.omniverse.nvidia.com/isaacsim/latest/core_api_tutorials/tutorial_core_hello_world.html",
overview="This Example introduces the user on how to do cool stuff with Isaac Sim through scripting in asynchronous mode.",
file_path=os.path.abspath(__file__),
sample=FrankaDeformable(),
)
return
| 2,070 |
Python
| 42.145832 | 135 | 0.742995 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/FrankaDeformable/__init__.py
|
# Copyright (c) 2022-2023, 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.
#
from .extension import Extension
| 464 |
Python
| 45.499995 | 76 | 0.814655 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/FrankaDeformable/franka_deformable.py
|
# Copyright (c) 2020-2023, 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.
#
from omni.isaac.examples.base_sample import BaseSample
# This extension has franka related tasks and controllers as well
from omni.isaac.franka import Franka
from omni.isaac.franka.controllers import PickPlaceController
from omni.isaac.franka.tasks import PickPlace
from omni.isaac.core.tasks import BaseTask
import numpy as np
from omni.isaac.core.materials.deformable_material import DeformableMaterial
from omni.isaac.core.physics_context.physics_context import PhysicsContext
from omni.physx.scripts import deformableUtils, physicsUtils
from pxr import UsdGeom, Gf, UsdPhysics
import omni.physx
import omni.usd
import omni
class FrankaPlaying(BaseTask):
#NOTE: we only cover here a subset of the task functions that are available,
# checkout the base class for all the available functions to override.
# ex: calculate_metrics, is_done..etc.
def __init__(self, name):
super().__init__(name=name, offset=None)
self._goal_position = np.array([-0.3, -0.3, 0.0515 / 2.0])
self._task_achieved = False
return
def create_cube(self, stage, prim_path):
# Create cube
result, path = omni.kit.commands.execute("CreateMeshPrimCommand", prim_type="Cube")
omni.kit.commands.execute("MovePrim", path_from=path, path_to=prim_path)
omni.usd.get_context().get_selection().set_selected_prim_paths([], False)
cube_mesh = UsdGeom.Mesh.Get(stage, prim_path)
physicsUtils.set_or_add_translate_op(cube_mesh, translate=Gf.Vec3f(0.3, 0.3, 0.3))
# physicsUtils.set_or_add_orient_op(cube_mesh, orient=Gf.Quatf(0.707, 0.707, 0, 0))
physicsUtils.set_or_add_scale_op(cube_mesh, scale=Gf.Vec3f(0.04, 0.04, 0.04))
cube_mesh.CreateDisplayColorAttr([(1.0, 0.0, 0.0)])
return
def setup_deformable_cube(self, stage, prim_path):
# Apply PhysxDeformableBodyAPI and PhysxCollisionAPI to skin mesh and set parameter to default values
deformableUtils.add_physx_deformable_body(
stage,
prim_path,
collision_simplification=True,
simulation_hexahedral_resolution=4,
self_collision=False,
)
# Create a deformable body material and set it on the deformable body
deformable_material_path = omni.usd.get_stage_next_free_path(stage, "/World/deformableBodyMaterial", True)
deformableUtils.add_deformable_body_material(
stage,
deformable_material_path,
youngs_modulus=10000.0,
poissons_ratio=0.49,
damping_scale=0.0,
dynamic_friction=0.5,
)
self._cube_prim = stage.GetPrimAtPath(prim_path)
physicsUtils.add_physics_material_to_prim(stage, self._cube_prim, prim_path)
return
# Here we setup all the assets that we care about in this task.
def set_up_scene(self, scene):
super().set_up_scene(scene)
scene.add_default_ground_plane()
stage = omni.usd.get_context().get_stage()
self.create_cube(stage, "/World/cube")
self.setup_deformable_cube(stage, "/World/cube")
self._franka = scene.add(Franka(prim_path="/World/Fancy_Franka",
name="fancy_franka"))
return
# Information exposed to solve the task is returned from the task through get_observations
def get_observations(self):
matrix: Gf.Matrix4d = omni.usd.get_world_transform_matrix(self._cube_prim)
translate: Gf.Vec3d = matrix.ExtractTranslation()
cube_position = np.array([translate[0], translate[1], translate[2]])
current_joint_positions = self._franka.get_joint_positions()
observations = {
self._franka.name: {
"joint_positions": current_joint_positions,
},
"deformable_cube": {
"position": cube_position,
"goal_position": self._goal_position
}
}
return observations
# Called before each physics step,
# for instance we can check here if the task was accomplished by
# changing the color of the cube once its accomplished
def pre_step(self, control_index, simulation_time):
return
# Called after each reset,
# for instance we can always set the gripper to be opened at the beginning after each reset
# also we can set the cube's color to be blue
def post_reset(self):
self._franka.gripper.set_joint_positions(self._franka.gripper.joint_opened_positions)
self._task_achieved = False
return
class FrankaDeformable(BaseSample):
def __init__(self) -> None:
super().__init__()
return
def _setup_simulation(self):
self._scene = PhysicsContext()
self._scene.set_solver_type("TGS")
self._scene.set_broadphase_type("GPU")
self._scene.enable_gpu_dynamics(flag=True)
def setup_scene(self):
world = self.get_world()
self._setup_simulation()
# We add the task to the world here
world.add_task(FrankaPlaying(name="deformable_franka_task"))
return
async def setup_post_load(self):
self._world = self.get_world()
# The world already called the setup_scene from the task (with first reset of the world)
# so we can retrieve the task objects
self._franka = self._world.scene.get_object("fancy_franka")
self._controller = PickPlaceController(
name="pick_place_controller",
gripper=self._franka.gripper,
robot_articulation=self._franka,
)
self._world.add_physics_callback("sim_step", callback_fn=self.physics_step)
await self._world.play_async()
return
async def setup_post_reset(self):
self._controller.reset()
await self._world.play_async()
return
def physics_step(self, step_size):
# Gets all the tasks observations
current_observations = self._world.get_observations()
actions = self._controller.forward(
picking_position=current_observations["deformable_cube"]["position"],
placing_position=current_observations["deformable_cube"]["goal_position"],
current_joint_positions=current_observations["fancy_franka"]["joint_positions"],
)
self._franka.apply_action(actions)
if self._controller.is_done():
self._world.pause()
return
| 6,929 |
Python
| 37.932584 | 114 | 0.65464 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/FrankaDeformable/ui_builder.py
|
# Copyright (c) 2022-2023, NVIDIA CORPORATION. All rights reserved.
#
# NVIDIA CORPORATION and its licensors retain all intellectual property
# and proprietary rights in and to this software, related documentation
# and any modifications thereto. Any use, reproduction, disclosure or
# distribution of this software and related documentation without an express
# license agreement from NVIDIA CORPORATION is strictly prohibited.
#
import os
from typing import List
import omni.ui as ui
from omni.isaac.ui.element_wrappers import (
Button,
CheckBox,
CollapsableFrame,
ColorPicker,
DropDown,
FloatField,
IntField,
StateButton,
StringField,
TextBlock,
XYPlot,
)
from omni.isaac.ui.ui_utils import get_style
class UIBuilder:
def __init__(self):
# Frames are sub-windows that can contain multiple UI elements
self.frames = []
# UI elements created using a UIElementWrapper from omni.isaac.ui.element_wrappers
self.wrapped_ui_elements = []
###################################################################################
# The Functions Below Are Called Automatically By extension.py
###################################################################################
def on_menu_callback(self):
"""Callback for when the UI is opened from the toolbar.
This is called directly after build_ui().
"""
pass
def on_timeline_event(self, event):
"""Callback for Timeline events (Play, Pause, Stop)
Args:
event (omni.timeline.TimelineEventType): Event Type
"""
pass
def on_physics_step(self, step):
"""Callback for Physics Step.
Physics steps only occur when the timeline is playing
Args:
step (float): Size of physics step
"""
pass
def on_stage_event(self, event):
"""Callback for Stage Events
Args:
event (omni.usd.StageEventType): Event Type
"""
pass
def cleanup(self):
"""
Called when the stage is closed or the extension is hot reloaded.
Perform any necessary cleanup such as removing active callback functions
Buttons imported from omni.isaac.ui.element_wrappers implement a cleanup function that should be called
"""
# None of the UI elements in this template actually have any internal state that needs to be cleaned up.
# But it is best practice to call cleanup() on all wrapped UI elements to simplify development.
for ui_elem in self.wrapped_ui_elements:
ui_elem.cleanup()
def build_ui(self):
"""
Build a custom UI tool to run your extension.
This function will be called any time the UI window is closed and reopened.
"""
# Create a UI frame that prints the latest UI event.
self._create_status_report_frame()
# Create a UI frame demonstrating simple UI elements for user input
self._create_simple_editable_fields_frame()
# Create a UI frame with different button types
self._create_buttons_frame()
# Create a UI frame with different selection widgets
self._create_selection_widgets_frame()
# Create a UI frame with different plotting tools
self._create_plotting_frame()
def _create_status_report_frame(self):
self._status_report_frame = CollapsableFrame("Status Report", collapsed=False)
with self._status_report_frame:
with ui.VStack(style=get_style(), spacing=5, height=0):
self._status_report_field = TextBlock(
"Last UI Event",
num_lines=3,
tooltip="Prints the latest change to this UI",
include_copy_button=True,
)
def _create_simple_editable_fields_frame(self):
self._simple_fields_frame = CollapsableFrame("Simple Editable Fields", collapsed=False)
with self._simple_fields_frame:
with ui.VStack(style=get_style(), spacing=5, height=0):
int_field = IntField(
"Int Field",
default_value=1,
tooltip="Type an int or click and drag to set a new value.",
lower_limit=-100,
upper_limit=100,
on_value_changed_fn=self._on_int_field_value_changed_fn,
)
self.wrapped_ui_elements.append(int_field)
float_field = FloatField(
"Float Field",
default_value=1.0,
tooltip="Type a float or click and drag to set a new value.",
step=0.5,
format="%.2f",
lower_limit=-100.0,
upper_limit=100.0,
on_value_changed_fn=self._on_float_field_value_changed_fn,
)
self.wrapped_ui_elements.append(float_field)
def is_usd_or_python_path(file_path: str):
# Filter file paths shown in the file picker to only be USD or Python files
_, ext = os.path.splitext(file_path.lower())
return ext == ".usd" or ext == ".py"
string_field = StringField(
"String Field",
default_value="Type Here or Use File Picker on the Right",
tooltip="Type a string or use the file picker to set a value",
read_only=False,
multiline_okay=False,
on_value_changed_fn=self._on_string_field_value_changed_fn,
use_folder_picker=True,
item_filter_fn=is_usd_or_python_path,
)
self.wrapped_ui_elements.append(string_field)
def _create_buttons_frame(self):
buttons_frame = CollapsableFrame("Buttons Frame", collapsed=False)
with buttons_frame:
with ui.VStack(style=get_style(), spacing=5, height=0):
button = Button(
"Button",
"CLICK ME",
tooltip="Click This Button to activate a callback function",
on_click_fn=self._on_button_clicked_fn,
)
self.wrapped_ui_elements.append(button)
state_button = StateButton(
"State Button",
"State A",
"State B",
tooltip="Click this button to transition between two states",
on_a_click_fn=self._on_state_btn_a_click_fn,
on_b_click_fn=self._on_state_btn_b_click_fn,
physics_callback_fn=None, # See Loaded Scenario Template for example usage
)
self.wrapped_ui_elements.append(state_button)
check_box = CheckBox(
"Check Box",
default_value=False,
tooltip=" Click this checkbox to activate a callback function",
on_click_fn=self._on_checkbox_click_fn,
)
self.wrapped_ui_elements.append(check_box)
def _create_selection_widgets_frame(self):
self._selection_widgets_frame = CollapsableFrame("Selection Widgets", collapsed=False)
with self._selection_widgets_frame:
with ui.VStack(style=get_style(), spacing=5, height=0):
def dropdown_populate_fn():
return ["Option A", "Option B", "Option C"]
dropdown = DropDown(
"Drop Down",
tooltip=" Select an option from the DropDown",
populate_fn=dropdown_populate_fn,
on_selection_fn=self._on_dropdown_item_selection,
)
self.wrapped_ui_elements.append(dropdown)
dropdown.repopulate() # This does not happen automatically, and it triggers the on_selection_fn
color_picker = ColorPicker(
"Color Picker",
default_value=[0.69, 0.61, 0.39, 1.0],
tooltip="Select a Color",
on_color_picked_fn=self._on_color_picked,
)
self.wrapped_ui_elements.append(color_picker)
def _create_plotting_frame(self):
self._plotting_frame = CollapsableFrame("Plotting Tools", collapsed=False)
with self._plotting_frame:
with ui.VStack(style=get_style(), spacing=5, height=0):
import numpy as np
x = np.arange(-1, 6.01, 0.01)
y = np.sin((x - 0.5) * np.pi)
plot = XYPlot(
"XY Plot",
tooltip="Press mouse over the plot for data label",
x_data=[x[:300], x[100:400], x[200:]],
y_data=[y[:300], y[100:400], y[200:]],
x_min=None, # Use default behavior to fit plotted data to entire frame
x_max=None,
y_min=-1.5,
y_max=1.5,
x_label="X [rad]",
y_label="Y",
plot_height=10,
legends=["Line 1", "Line 2", "Line 3"],
show_legend=True,
plot_colors=[
[255, 0, 0],
[0, 255, 0],
[0, 100, 200],
], # List of [r,g,b] values; not necessary to specify
)
######################################################################################
# Functions Below This Point Are Callback Functions Attached to UI Element Wrappers
######################################################################################
def _on_int_field_value_changed_fn(self, new_value: int):
status = f"Value was changed in int field to {new_value}"
self._status_report_field.set_text(status)
def _on_float_field_value_changed_fn(self, new_value: float):
status = f"Value was changed in float field to {new_value}"
self._status_report_field.set_text(status)
def _on_string_field_value_changed_fn(self, new_value: str):
status = f"Value was changed in string field to {new_value}"
self._status_report_field.set_text(status)
def _on_button_clicked_fn(self):
status = "The Button was Clicked!"
self._status_report_field.set_text(status)
def _on_state_btn_a_click_fn(self):
status = "State Button was Clicked in State A!"
self._status_report_field.set_text(status)
def _on_state_btn_b_click_fn(self):
status = "State Button was Clicked in State B!"
self._status_report_field.set_text(status)
def _on_checkbox_click_fn(self, value: bool):
status = f"CheckBox was set to {value}!"
self._status_report_field.set_text(status)
def _on_dropdown_item_selection(self, item: str):
status = f"{item} was selected from DropDown"
self._status_report_field.set_text(status)
def _on_color_picked(self, color: List[float]):
formatted_color = [float("%0.2f" % i) for i in color]
status = f"RGBA Color {formatted_color} was picked in the ColorPicker"
self._status_report_field.set_text(status)
| 11,487 |
Python
| 38.888889 | 112 | 0.542178 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/FrankaDeformable/README.md
|
# Loading Extension
To enable this extension, run Isaac Sim with the flags --ext-folder {path_to_ext_folder} --enable {ext_directory_name}
The user will see the extension appear on the toolbar on startup with the title they specified in the Extension Generator
# Extension Usage
This template provides the example usage for a library of UIElementWrapper objects that help to quickly develop
custom UI tools with minimal boilerplate code.
# Template Code Overview
The template is well documented and is meant to be self-explanatory to the user should they
start reading the provided python files. A short overview is also provided here:
global_variables.py:
A script that stores in global variables that the user specified when creating this extension such as the Title and Description.
extension.py:
A class containing the standard boilerplate necessary to have the user extension show up on the Toolbar. This
class is meant to fulfill most ues-cases without modification.
In extension.py, useful standard callback functions are created that the user may complete in ui_builder.py.
ui_builder.py:
This file is the user's main entrypoint into the template. Here, the user can see useful callback functions that have been
set up for them, and they may also create UI buttons that are hooked up to more user-defined callback functions. This file is
the most thoroughly documented, and the user should read through it before making serious modification.
| 1,488 |
Markdown
| 58.559998 | 132 | 0.793011 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/WheeledRobotSummitO3Wheel/global_variables.py
|
# Copyright (c) 2022-2023, 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.
#
EXTENSION_TITLE = "MyExtension"
EXTENSION_DESCRIPTION = ""
| 492 |
Python
| 36.923074 | 76 | 0.802846 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/WheeledRobotSummitO3Wheel/extension.py
|
# Copyright (c) 2022-2023, NVIDIA CORPORATION. All rights reserved.
#
# NVIDIA CORPORATION and its licensors retain all intellectual property
# and proprietary rights in and to this software, related documentation
# and any modifications thereto. Any use, reproduction, disclosure or
# distribution of this software and related documentation without an express
# license agreement from NVIDIA CORPORATION is strictly prohibited.
#
import os
from omni.isaac.examples.base_sample import BaseSampleExtension
from .robotnik_summit import RobotnikSummit
"""
This file serves as a basic template for the standard boilerplate operations
that make a UI-based extension appear on the toolbar.
This implementation is meant to cover most use-cases without modification.
Various callbacks are hooked up to a seperate class UIBuilder in .ui_builder.py
Most users will be able to make their desired UI extension by interacting solely with
UIBuilder.
This class sets up standard useful callback functions in UIBuilder:
on_menu_callback: Called when extension is opened
on_timeline_event: Called when timeline is stopped, paused, or played
on_physics_step: Called on every physics step
on_stage_event: Called when stage is opened or closed
cleanup: Called when resources such as physics subscriptions should be cleaned up
build_ui: User function that creates the UI they want.
"""
class Extension(BaseSampleExtension):
def on_startup(self, ext_id: str):
super().on_startup(ext_id)
super().start_extension(
menu_name="RoadBalanceEdu",
submenu_name="WheeledRobots",
name="RobotnikSummitO3Wheel",
title="RobotnikSummitO3Wheel",
doc_link="https://docs.omniverse.nvidia.com/isaacsim/latest/core_api_tutorials/tutorial_core_hello_world.html",
overview="This Example introduces the user on how to do cool stuff with Isaac Sim through scripting in asynchronous mode.",
file_path=os.path.abspath(__file__),
sample=RobotnikSummit(),
)
return
| 2,079 |
Python
| 42.333332 | 135 | 0.744108 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/WheeledRobotSummitO3Wheel/__init__.py
|
# Copyright (c) 2022-2023, 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.
#
from .extension import Extension
| 464 |
Python
| 45.499995 | 76 | 0.814655 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/WheeledRobotSummitO3Wheel/ui_builder.py
|
# Copyright (c) 2022-2023, NVIDIA CORPORATION. All rights reserved.
#
# NVIDIA CORPORATION and its licensors retain all intellectual property
# and proprietary rights in and to this software, related documentation
# and any modifications thereto. Any use, reproduction, disclosure or
# distribution of this software and related documentation without an express
# license agreement from NVIDIA CORPORATION is strictly prohibited.
#
import os
from typing import List
import omni.ui as ui
from omni.isaac.ui.element_wrappers import (
Button,
CheckBox,
CollapsableFrame,
ColorPicker,
DropDown,
FloatField,
IntField,
StateButton,
StringField,
TextBlock,
XYPlot,
)
from omni.isaac.ui.ui_utils import get_style
class UIBuilder:
def __init__(self):
# Frames are sub-windows that can contain multiple UI elements
self.frames = []
# UI elements created using a UIElementWrapper from omni.isaac.ui.element_wrappers
self.wrapped_ui_elements = []
###################################################################################
# The Functions Below Are Called Automatically By extension.py
###################################################################################
def on_menu_callback(self):
"""Callback for when the UI is opened from the toolbar.
This is called directly after build_ui().
"""
pass
def on_timeline_event(self, event):
"""Callback for Timeline events (Play, Pause, Stop)
Args:
event (omni.timeline.TimelineEventType): Event Type
"""
pass
def on_physics_step(self, step):
"""Callback for Physics Step.
Physics steps only occur when the timeline is playing
Args:
step (float): Size of physics step
"""
pass
def on_stage_event(self, event):
"""Callback for Stage Events
Args:
event (omni.usd.StageEventType): Event Type
"""
pass
def cleanup(self):
"""
Called when the stage is closed or the extension is hot reloaded.
Perform any necessary cleanup such as removing active callback functions
Buttons imported from omni.isaac.ui.element_wrappers implement a cleanup function that should be called
"""
# None of the UI elements in this template actually have any internal state that needs to be cleaned up.
# But it is best practice to call cleanup() on all wrapped UI elements to simplify development.
for ui_elem in self.wrapped_ui_elements:
ui_elem.cleanup()
def build_ui(self):
"""
Build a custom UI tool to run your extension.
This function will be called any time the UI window is closed and reopened.
"""
# Create a UI frame that prints the latest UI event.
self._create_status_report_frame()
# Create a UI frame demonstrating simple UI elements for user input
self._create_simple_editable_fields_frame()
# Create a UI frame with different button types
self._create_buttons_frame()
# Create a UI frame with different selection widgets
self._create_selection_widgets_frame()
# Create a UI frame with different plotting tools
self._create_plotting_frame()
def _create_status_report_frame(self):
self._status_report_frame = CollapsableFrame("Status Report", collapsed=False)
with self._status_report_frame:
with ui.VStack(style=get_style(), spacing=5, height=0):
self._status_report_field = TextBlock(
"Last UI Event",
num_lines=3,
tooltip="Prints the latest change to this UI",
include_copy_button=True,
)
def _create_simple_editable_fields_frame(self):
self._simple_fields_frame = CollapsableFrame("Simple Editable Fields", collapsed=False)
with self._simple_fields_frame:
with ui.VStack(style=get_style(), spacing=5, height=0):
int_field = IntField(
"Int Field",
default_value=1,
tooltip="Type an int or click and drag to set a new value.",
lower_limit=-100,
upper_limit=100,
on_value_changed_fn=self._on_int_field_value_changed_fn,
)
self.wrapped_ui_elements.append(int_field)
float_field = FloatField(
"Float Field",
default_value=1.0,
tooltip="Type a float or click and drag to set a new value.",
step=0.5,
format="%.2f",
lower_limit=-100.0,
upper_limit=100.0,
on_value_changed_fn=self._on_float_field_value_changed_fn,
)
self.wrapped_ui_elements.append(float_field)
def is_usd_or_python_path(file_path: str):
# Filter file paths shown in the file picker to only be USD or Python files
_, ext = os.path.splitext(file_path.lower())
return ext == ".usd" or ext == ".py"
string_field = StringField(
"String Field",
default_value="Type Here or Use File Picker on the Right",
tooltip="Type a string or use the file picker to set a value",
read_only=False,
multiline_okay=False,
on_value_changed_fn=self._on_string_field_value_changed_fn,
use_folder_picker=True,
item_filter_fn=is_usd_or_python_path,
)
self.wrapped_ui_elements.append(string_field)
def _create_buttons_frame(self):
buttons_frame = CollapsableFrame("Buttons Frame", collapsed=False)
with buttons_frame:
with ui.VStack(style=get_style(), spacing=5, height=0):
button = Button(
"Button",
"CLICK ME",
tooltip="Click This Button to activate a callback function",
on_click_fn=self._on_button_clicked_fn,
)
self.wrapped_ui_elements.append(button)
state_button = StateButton(
"State Button",
"State A",
"State B",
tooltip="Click this button to transition between two states",
on_a_click_fn=self._on_state_btn_a_click_fn,
on_b_click_fn=self._on_state_btn_b_click_fn,
physics_callback_fn=None, # See Loaded Scenario Template for example usage
)
self.wrapped_ui_elements.append(state_button)
check_box = CheckBox(
"Check Box",
default_value=False,
tooltip=" Click this checkbox to activate a callback function",
on_click_fn=self._on_checkbox_click_fn,
)
self.wrapped_ui_elements.append(check_box)
def _create_selection_widgets_frame(self):
self._selection_widgets_frame = CollapsableFrame("Selection Widgets", collapsed=False)
with self._selection_widgets_frame:
with ui.VStack(style=get_style(), spacing=5, height=0):
def dropdown_populate_fn():
return ["Option A", "Option B", "Option C"]
dropdown = DropDown(
"Drop Down",
tooltip=" Select an option from the DropDown",
populate_fn=dropdown_populate_fn,
on_selection_fn=self._on_dropdown_item_selection,
)
self.wrapped_ui_elements.append(dropdown)
dropdown.repopulate() # This does not happen automatically, and it triggers the on_selection_fn
color_picker = ColorPicker(
"Color Picker",
default_value=[0.69, 0.61, 0.39, 1.0],
tooltip="Select a Color",
on_color_picked_fn=self._on_color_picked,
)
self.wrapped_ui_elements.append(color_picker)
def _create_plotting_frame(self):
self._plotting_frame = CollapsableFrame("Plotting Tools", collapsed=False)
with self._plotting_frame:
with ui.VStack(style=get_style(), spacing=5, height=0):
import numpy as np
x = np.arange(-1, 6.01, 0.01)
y = np.sin((x - 0.5) * np.pi)
plot = XYPlot(
"XY Plot",
tooltip="Press mouse over the plot for data label",
x_data=[x[:300], x[100:400], x[200:]],
y_data=[y[:300], y[100:400], y[200:]],
x_min=None, # Use default behavior to fit plotted data to entire frame
x_max=None,
y_min=-1.5,
y_max=1.5,
x_label="X [rad]",
y_label="Y",
plot_height=10,
legends=["Line 1", "Line 2", "Line 3"],
show_legend=True,
plot_colors=[
[255, 0, 0],
[0, 255, 0],
[0, 100, 200],
], # List of [r,g,b] values; not necessary to specify
)
######################################################################################
# Functions Below This Point Are Callback Functions Attached to UI Element Wrappers
######################################################################################
def _on_int_field_value_changed_fn(self, new_value: int):
status = f"Value was changed in int field to {new_value}"
self._status_report_field.set_text(status)
def _on_float_field_value_changed_fn(self, new_value: float):
status = f"Value was changed in float field to {new_value}"
self._status_report_field.set_text(status)
def _on_string_field_value_changed_fn(self, new_value: str):
status = f"Value was changed in string field to {new_value}"
self._status_report_field.set_text(status)
def _on_button_clicked_fn(self):
status = "The Button was Clicked!"
self._status_report_field.set_text(status)
def _on_state_btn_a_click_fn(self):
status = "State Button was Clicked in State A!"
self._status_report_field.set_text(status)
def _on_state_btn_b_click_fn(self):
status = "State Button was Clicked in State B!"
self._status_report_field.set_text(status)
def _on_checkbox_click_fn(self, value: bool):
status = f"CheckBox was set to {value}!"
self._status_report_field.set_text(status)
def _on_dropdown_item_selection(self, item: str):
status = f"{item} was selected from DropDown"
self._status_report_field.set_text(status)
def _on_color_picked(self, color: List[float]):
formatted_color = [float("%0.2f" % i) for i in color]
status = f"RGBA Color {formatted_color} was picked in the ColorPicker"
self._status_report_field.set_text(status)
| 11,487 |
Python
| 38.888889 | 112 | 0.542178 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/WheeledRobotSummitO3Wheel/robotnik_summit.py
|
# Copyright (c) 2020-2023, 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.
#
from omni.isaac.examples.base_sample import BaseSample
from omni.isaac.wheeled_robots.robots import WheeledRobot
from omni.isaac.core.utils.types import ArticulationAction
from omni.isaac.core.utils.stage import add_reference_to_stage
from omni.isaac.core.physics_context.physics_context import PhysicsContext
from omni.isaac.core.utils.nucleus import get_assets_root_path, get_url_root
from omni.isaac.wheeled_robots.controllers.holonomic_controller import HolonomicController
import numpy as np
import carb
class RobotnikSummit(BaseSample):
def __init__(self) -> None:
super().__init__()
carb.log_info("Check /persistent/isaac/asset_root/default setting")
default_asset_root = carb.settings.get_settings().get("/persistent/isaac/asset_root/default")
self._server_root = get_url_root(default_asset_root)
# wheel models referenced from : https://git.openlogisticsfoundation.org/silicon-economy/simulation-model/o3dynsimmodel
self._robot_path = self._server_root + "/Projects/RBROS2/WheeledRobot/Collected_summit_xl_omni_four/summit_xl_omni_four.usd"
self._wheel_radius = np.array([ 0.127, 0.127, 0.127, 0.127 ])
self._wheel_positions = np.array([
[0.229, 0.235, 0.11],
[0.229, -0.235, 0.11],
[-0.229, 0.235, 0.11],
[-0.229, -0.235, 0.11],
])
self._wheel_orientations = np.array([
[0.7071068, 0, 0, 0.7071068],
[0.7071068, 0, 0, -0.7071068],
[0.7071068, 0, 0, 0.7071068],
[0.7071068, 0, 0, -0.7071068],
])
self._mecanum_angles = np.array([
-135.0,
-45.0,
-45.0,
-135.0,
])
self._wheel_axis = np.array([1, 0, 0])
self._up_axis = np.array([0, 0, 1])
return
def setup_scene(self):
world = self.get_world()
world.scene.add_default_ground_plane()
add_reference_to_stage(usd_path=self._robot_path, prim_path="/World/Summit")
self._wheeled_robot = WheeledRobot(
prim_path="/World/Summit/summit_xl_base_link",
name="my_summit",
wheel_dof_names=[
"fl_joint",
"fr_joint",
"rl_joint",
"rr_joint",
],
create_robot=True,
usd_path=self._robot_path,
position=np.array([0, 0.0, 0.02]),
orientation=np.array([1.0, 0.0, 0.0, 0.0]),
)
self._save_count = 0
self._scene = PhysicsContext()
self._scene.set_physics_dt(1 / 30.0)
return
async def setup_post_load(self):
self._world = self.get_world()
self._summit_controller = HolonomicController(
name="holonomic_controller",
wheel_radius=self._wheel_radius,
wheel_positions=self._wheel_positions,
wheel_orientations=self._wheel_orientations,
mecanum_angles=self._mecanum_angles,
wheel_axis=self._wheel_axis,
up_axis=self._up_axis,
)
self._summit_controller.reset()
self._wheeled_robot.initialize()
self._world.add_physics_callback("sending_actions", callback_fn=self.send_robot_actions)
return
def send_robot_actions(self, step_size):
self._save_count += 1
wheel_action = None
if self._save_count >= 0 and self._save_count < 150:
wheel_action = self._summit_controller.forward(command=[0.5, 0.0, 0.0])
elif self._save_count >= 150 and self._save_count < 300:
wheel_action = self._summit_controller.forward(command=[-0.5, 0.0, 0.0])
elif self._save_count >= 300 and self._save_count < 450:
wheel_action = self._summit_controller.forward(command=[0.0, 0.5, 0.0])
elif self._save_count >= 450 and self._save_count < 600:
wheel_action = self._summit_controller.forward(command=[0.0, -0.5, 0.0])
elif self._save_count >= 600 and self._save_count < 750:
wheel_action = self._summit_controller.forward(command=[0.0, 0.0, 0.3])
elif self._save_count >= 750 and self._save_count < 900:
wheel_action = self._summit_controller.forward(command=[0.0, 0.0, -0.3])
else:
self._save_count = 0
self._wheeled_robot.apply_wheel_actions(wheel_action)
return
async def setup_pre_reset(self):
if self._world.physics_callback_exists("sim_step"):
self._world.remove_physics_callback("sim_step")
self._world.pause()
return
async def setup_post_reset(self):
self._summit_controller.reset()
await self._world.play_async()
self._world.pause()
return
def world_cleanup(self):
self._world.pause()
return
| 5,294 |
Python
| 36.821428 | 132 | 0.604836 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/WheeledRobotSummitO3Wheel/README.md
|
# Loading Extension
To enable this extension, run Isaac Sim with the flags --ext-folder {path_to_ext_folder} --enable {ext_directory_name}
The user will see the extension appear on the toolbar on startup with the title they specified in the Extension Generator
# Extension Usage
This template provides the example usage for a library of UIElementWrapper objects that help to quickly develop
custom UI tools with minimal boilerplate code.
# Template Code Overview
The template is well documented and is meant to be self-explanatory to the user should they
start reading the provided python files. A short overview is also provided here:
global_variables.py:
A script that stores in global variables that the user specified when creating this extension such as the Title and Description.
extension.py:
A class containing the standard boilerplate necessary to have the user extension show up on the Toolbar. This
class is meant to fulfill most ues-cases without modification.
In extension.py, useful standard callback functions are created that the user may complete in ui_builder.py.
ui_builder.py:
This file is the user's main entrypoint into the template. Here, the user can see useful callback functions that have been
set up for them, and they may also create UI buttons that are hooked up to more user-defined callback functions. This file is
the most thoroughly documented, and the user should read through it before making serious modification.
| 1,488 |
Markdown
| 58.559998 | 132 | 0.793011 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/URBinFilling/extension.py
|
# Copyright (c) 2020-2023, NVIDIA CORPORATION. All rights reserved.
#
# NVIDIA CORPORATION and its licensors retain all intellectual property
# and proprietary rights in and to this software, related documentation
# and any modifications thereto. Any use, reproduction, disclosure or
# distribution of this software and related documentation without an express
# license agreement from NVIDIA CORPORATION is strictly prohibited.
#
import asyncio
import os
import omni.ui as ui
from omni.isaac.examples.base_sample import BaseSampleExtension
from omni.isaac.ui.ui_utils import btn_builder
from .bin_filling import BinFilling
class BinFillingExtension(BaseSampleExtension):
def on_startup(self, ext_id: str):
super().on_startup(ext_id)
super().start_extension(
menu_name="RoadBalanceEdu",
submenu_name="ETRIDemo",
name="UR10 Bin Filling",
title="UR10 Bin Filling",
doc_link="https://docs.omniverse.nvidia.com/isaacsim/latest/core_api_tutorials/tutorial_core_adding_manipulator.html",
overview="This Example shows how to do bin filling using UR10 robot in Isaac Sim.\n It showcases a realistic surface gripper that breaks with heavy bin load.\nPress the 'Open in IDE' button to view the source code.",
sample=BinFilling(),
file_path=os.path.abspath(__file__),
number_of_extra_frames=1,
)
self.task_ui_elements = {}
frame = self.get_frame(index=0)
self.build_task_controls_ui(frame)
return
def _on_fill_bin_button_event(self):
asyncio.ensure_future(self.sample.on_fill_bin_event_async())
self.task_ui_elements["Start Bin Filling"].enabled = False
return
def post_reset_button_event(self):
self.task_ui_elements["Start Bin Filling"].enabled = True
return
def post_load_button_event(self):
self.task_ui_elements["Start Bin Filling"].enabled = True
return
def post_clear_button_event(self):
self.task_ui_elements["Start Bin Filling"].enabled = False
return
def build_task_controls_ui(self, frame):
with frame:
with ui.VStack(spacing=5):
# Update the Frame Title
frame.title = "Task Controls"
frame.visible = True
dict = {
"label": "Start Bin Filling",
"type": "button",
"text": "Start Bin Filling",
"tooltip": "Start Bin Filling",
"on_clicked_fn": self._on_fill_bin_button_event,
}
self.task_ui_elements["Start Bin Filling"] = btn_builder(**dict)
self.task_ui_elements["Start Bin Filling"].enabled = False
| 2,801 |
Python
| 38.464788 | 228 | 0.632988 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/URBinFilling/__init__.py
|
# Copyright (c) 2021-2023, 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.
#
# from omni.isaac.examples.bin_filling.bin_filling import BinFilling
# from omni.isaac.examples.bin_filling.bin_filling_extension import BinFillingExtension
from .extension import BinFillingExtension
| 633 |
Python
| 44.285711 | 87 | 0.821485 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/URBinFilling/bin_filling.py
|
# Copyright (c) 2021-2023, NVIDIA CORPORATION. All rights reserved.
#
# NVIDIA CORPORATION and its licensors retain all intellectual property
# and proprietary rights in and to this software, related documentation
# and any modifications thereto. Any use, reproduction, disclosure or
# distribution of this software and related documentation without an express
# license agreement from NVIDIA CORPORATION is strictly prohibited.
#
import h5py
import numpy as np
import omni.isaac.core.utils.numpy.rotations as rot_utils
from omni.isaac.core.utils.rotations import euler_angles_to_quat
from omni.isaac.examples.base_sample import BaseSample
from omni.isaac.universal_robots.controllers.pick_place_controller import PickPlaceController
from omni.isaac.universal_robots.tasks import BinFilling as BinFillingTask
from omni.isaac.core import SimulationContext
from omni.isaac.sensor import Camera
class BinFilling(BaseSample):
def __init__(self) -> None:
super().__init__()
self._controller = None
self._articulation_controller = None
self._added_screws = False
self._sim_time_list = []
self._joint_positions = []
self._joint_velocities = []
self._camera1_img = []
self._camera2_img = []
self._camera3_img = []
def setup_scene(self):
world = self.get_world()
self.simulation_context = SimulationContext()
world.add_task(BinFillingTask(name="bin_filling"))
self._save_count = 0
self._camera1 = Camera(
prim_path="/World/Scene/ur10/ee_link/ee_camera",
# position=np.array([0.088, 0.0, 0.926]),
translation=np.array([0.0, 0.0, -0.1]),
frequency=30,
resolution=(640, 480),
orientation=rot_utils.euler_angles_to_quats(
np.array([
180.0, -30.0, 0.0
]), degrees=True),
)
self._camera1.set_clipping_range(0.1, 1000000.0)
self._camera1.set_focal_length(1.5)
self._camera1.initialize()
self._camera1.add_motion_vectors_to_frame()
self._camera1.set_visibility(False)
self._camera2 = Camera(
prim_path="/World/side_camera",
position=np.array([2.5, 0.0, 0.0]),
# translation=np.array([0.0, 0.0, -0.1]),
frequency=30,
resolution=(640, 480),
orientation=rot_utils.euler_angles_to_quats(
np.array([
0.0, 0.0, 180.0
]), degrees=True),
)
self._camera2.set_focal_length(1.5)
self._camera2.set_visibility(False)
self._camera2.initialize()
self._camera3 = Camera(
prim_path="/World/front_camera",
position=np.array([0.0, 2.0, 0.0]),
# translation=np.array([0.0, 0.0, -0.1]),
frequency=30,
resolution=(640, 480),
orientation=rot_utils.euler_angles_to_quats(
np.array([
0.0, 0.0, -90.0
]), degrees=True),
)
self._camera3.set_focal_length(1.5)
self._camera3.set_visibility(False)
self._camera3.initialize()
self._f = h5py.File('ur_bin_filling.hdf5','w')
self._group_f = self._f.create_group("isaac_dataset")
self._save_count = 0
self._img_f = self._group_f.create_group("camera_images")
return
async def setup_post_load(self):
self._ur10_task = self._world.get_task(name="bin_filling")
self._task_params = self._ur10_task.get_params()
self._my_ur10 = self._world.scene.get_object(self._task_params["robot_name"]["value"])
self._controller = PickPlaceController(
name="pick_place_controller", gripper=self._my_ur10.gripper, robot_articulation=self._my_ur10
)
self._articulation_controller = self._my_ur10.get_articulation_controller()
return
def _on_fill_bin_physics_step(self, step_size):
self._camera1.get_current_frame()
self._camera2.get_current_frame()
self._camera3.get_current_frame()
current_time = self.simulation_context.current_time
current_joint_state = self._my_ur10.get_joints_state()
current_joint_positions = current_joint_state.positions
current_joint_velocities = current_joint_state.velocities
if self._save_count % 100 == 0:
self._sim_time_list.append(current_time)
self._joint_positions.append(current_joint_positions)
self._joint_velocities.append(current_joint_velocities)
self._camera1_img.append(self._camera1.get_rgba()[:, :, :3])
self._camera2_img.append(self._camera2.get_rgba()[:, :, :3])
self._camera3_img.append(self._camera3.get_rgba()[:, :, :3])
print("Collecting data...")
observations = self._world.get_observations()
actions = self._controller.forward(
picking_position=observations[self._task_params["bin_name"]["value"]]["position"],
placing_position=observations[self._task_params["bin_name"]["value"]]["target_position"],
current_joint_positions=observations[self._task_params["robot_name"]["value"]]["joint_positions"],
end_effector_offset=np.array([0, -0.098, 0.03]),
end_effector_orientation=euler_angles_to_quat(np.array([np.pi, 0, np.pi / 2.0])),
)
# if not self._added_screws and self._controller.get_current_event() == 6 and not self._controller.is_paused():
# self._controller.pause()
# self._ur10_task.add_screws(screws_number=20)
# self._added_screws = True
# if self._controller.is_done():
# self._world.pause()
self._articulation_controller.apply_action(actions)
self._save_count += 1
if self._controller.is_done():
self.save_data()
return
async def on_fill_bin_event_async(self):
world = self.get_world()
world.add_physics_callback("sim_step", self._on_fill_bin_physics_step)
await world.play_async()
return
async def setup_pre_reset(self):
world = self.get_world()
if world.physics_callback_exists("sim_step"):
world.remove_physics_callback("sim_step")
self._controller.reset()
self._added_screws = False
return
def world_cleanup(self):
self._controller = None
self._added_screws = False
return
def save_data(self):
self._group_f.create_dataset(f"sim_time", data=self._sim_time_list, compression='gzip', compression_opts=9)
self._group_f.create_dataset(f"joint_positions", data=self._joint_positions, compression='gzip', compression_opts=9)
self._group_f.create_dataset(f"joint_velocities", data=self._joint_velocities, compression='gzip', compression_opts=9)
self._img_f.create_dataset(f"ee_camera", data=self._camera1_img, compression='gzip', compression_opts=9)
self._img_f.create_dataset(f"side_camera", data=self._camera2_img, compression='gzip', compression_opts=9)
self._img_f.create_dataset(f"front_camera", data=self._camera3_img, compression='gzip', compression_opts=9)
self._f.close()
print("Data saved")
self._save_count = 0
self._world.pause()
return
| 7,425 |
Python
| 38.291005 | 126 | 0.61037 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/WheeledRobotLimoAckermannROS2/global_variables.py
|
# Copyright (c) 2022-2023, 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.
#
EXTENSION_TITLE = "MyExtension"
EXTENSION_DESCRIPTION = ""
| 492 |
Python
| 36.923074 | 76 | 0.802846 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/WheeledRobotLimoAckermannROS2/extension.py
|
# Copyright (c) 2022-2023, NVIDIA CORPORATION. All rights reserved.
#
# NVIDIA CORPORATION and its licensors retain all intellectual property
# and proprietary rights in and to this software, related documentation
# and any modifications thereto. Any use, reproduction, disclosure or
# distribution of this software and related documentation without an express
# license agreement from NVIDIA CORPORATION is strictly prohibited.
#
import os
from omni.isaac.examples.base_sample import BaseSampleExtension
from .limo_ackermann import LimoAckermann
"""
This file serves as a basic template for the standard boilerplate operations
that make a UI-based extension appear on the toolbar.
This implementation is meant to cover most use-cases without modification.
Various callbacks are hooked up to a seperate class UIBuilder in .ui_builder.py
Most users will be able to make their desired UI extension by interacting solely with
UIBuilder.
This class sets up standard useful callback functions in UIBuilder:
on_menu_callback: Called when extension is opened
on_timeline_event: Called when timeline is stopped, paused, or played
on_physics_step: Called on every physics step
on_stage_event: Called when stage is opened or closed
cleanup: Called when resources such as physics subscriptions should be cleaned up
build_ui: User function that creates the UI they want.
"""
class Extension(BaseSampleExtension):
def on_startup(self, ext_id: str):
super().on_startup(ext_id)
super().start_extension(
menu_name="RoadBalanceEdu",
submenu_name="WheeledRobots",
name="LimoAckermann_ROS2_Ackermann",
title="LimoAckermann_ROS2_Ackermann",
doc_link="https://docs.omniverse.nvidia.com/isaacsim/latest/core_api_tutorials/tutorial_core_hello_world.html",
overview="This Example introduces the user on how to do cool stuff with Isaac Sim through scripting in asynchronous mode.",
file_path=os.path.abspath(__file__),
sample=LimoAckermann(),
)
return
| 2,090 |
Python
| 42.562499 | 135 | 0.743541 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/WheeledRobotLimoAckermannROS2/__init__.py
|
# Copyright (c) 2022-2023, 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.
#
from .extension import Extension
| 464 |
Python
| 45.499995 | 76 | 0.814655 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/WheeledRobotLimoAckermannROS2/ui_builder.py
|
# Copyright (c) 2022-2023, NVIDIA CORPORATION. All rights reserved.
#
# NVIDIA CORPORATION and its licensors retain all intellectual property
# and proprietary rights in and to this software, related documentation
# and any modifications thereto. Any use, reproduction, disclosure or
# distribution of this software and related documentation without an express
# license agreement from NVIDIA CORPORATION is strictly prohibited.
#
import os
from typing import List
import omni.ui as ui
from omni.isaac.ui.element_wrappers import (
Button,
CheckBox,
CollapsableFrame,
ColorPicker,
DropDown,
FloatField,
IntField,
StateButton,
StringField,
TextBlock,
XYPlot,
)
from omni.isaac.ui.ui_utils import get_style
class UIBuilder:
def __init__(self):
# Frames are sub-windows that can contain multiple UI elements
self.frames = []
# UI elements created using a UIElementWrapper from omni.isaac.ui.element_wrappers
self.wrapped_ui_elements = []
###################################################################################
# The Functions Below Are Called Automatically By extension.py
###################################################################################
def on_menu_callback(self):
"""Callback for when the UI is opened from the toolbar.
This is called directly after build_ui().
"""
pass
def on_timeline_event(self, event):
"""Callback for Timeline events (Play, Pause, Stop)
Args:
event (omni.timeline.TimelineEventType): Event Type
"""
pass
def on_physics_step(self, step):
"""Callback for Physics Step.
Physics steps only occur when the timeline is playing
Args:
step (float): Size of physics step
"""
pass
def on_stage_event(self, event):
"""Callback for Stage Events
Args:
event (omni.usd.StageEventType): Event Type
"""
pass
def cleanup(self):
"""
Called when the stage is closed or the extension is hot reloaded.
Perform any necessary cleanup such as removing active callback functions
Buttons imported from omni.isaac.ui.element_wrappers implement a cleanup function that should be called
"""
# None of the UI elements in this template actually have any internal state that needs to be cleaned up.
# But it is best practice to call cleanup() on all wrapped UI elements to simplify development.
for ui_elem in self.wrapped_ui_elements:
ui_elem.cleanup()
def build_ui(self):
"""
Build a custom UI tool to run your extension.
This function will be called any time the UI window is closed and reopened.
"""
# Create a UI frame that prints the latest UI event.
self._create_status_report_frame()
# Create a UI frame demonstrating simple UI elements for user input
self._create_simple_editable_fields_frame()
# Create a UI frame with different button types
self._create_buttons_frame()
# Create a UI frame with different selection widgets
self._create_selection_widgets_frame()
# Create a UI frame with different plotting tools
self._create_plotting_frame()
def _create_status_report_frame(self):
self._status_report_frame = CollapsableFrame("Status Report", collapsed=False)
with self._status_report_frame:
with ui.VStack(style=get_style(), spacing=5, height=0):
self._status_report_field = TextBlock(
"Last UI Event",
num_lines=3,
tooltip="Prints the latest change to this UI",
include_copy_button=True,
)
def _create_simple_editable_fields_frame(self):
self._simple_fields_frame = CollapsableFrame("Simple Editable Fields", collapsed=False)
with self._simple_fields_frame:
with ui.VStack(style=get_style(), spacing=5, height=0):
int_field = IntField(
"Int Field",
default_value=1,
tooltip="Type an int or click and drag to set a new value.",
lower_limit=-100,
upper_limit=100,
on_value_changed_fn=self._on_int_field_value_changed_fn,
)
self.wrapped_ui_elements.append(int_field)
float_field = FloatField(
"Float Field",
default_value=1.0,
tooltip="Type a float or click and drag to set a new value.",
step=0.5,
format="%.2f",
lower_limit=-100.0,
upper_limit=100.0,
on_value_changed_fn=self._on_float_field_value_changed_fn,
)
self.wrapped_ui_elements.append(float_field)
def is_usd_or_python_path(file_path: str):
# Filter file paths shown in the file picker to only be USD or Python files
_, ext = os.path.splitext(file_path.lower())
return ext == ".usd" or ext == ".py"
string_field = StringField(
"String Field",
default_value="Type Here or Use File Picker on the Right",
tooltip="Type a string or use the file picker to set a value",
read_only=False,
multiline_okay=False,
on_value_changed_fn=self._on_string_field_value_changed_fn,
use_folder_picker=True,
item_filter_fn=is_usd_or_python_path,
)
self.wrapped_ui_elements.append(string_field)
def _create_buttons_frame(self):
buttons_frame = CollapsableFrame("Buttons Frame", collapsed=False)
with buttons_frame:
with ui.VStack(style=get_style(), spacing=5, height=0):
button = Button(
"Button",
"CLICK ME",
tooltip="Click This Button to activate a callback function",
on_click_fn=self._on_button_clicked_fn,
)
self.wrapped_ui_elements.append(button)
state_button = StateButton(
"State Button",
"State A",
"State B",
tooltip="Click this button to transition between two states",
on_a_click_fn=self._on_state_btn_a_click_fn,
on_b_click_fn=self._on_state_btn_b_click_fn,
physics_callback_fn=None, # See Loaded Scenario Template for example usage
)
self.wrapped_ui_elements.append(state_button)
check_box = CheckBox(
"Check Box",
default_value=False,
tooltip=" Click this checkbox to activate a callback function",
on_click_fn=self._on_checkbox_click_fn,
)
self.wrapped_ui_elements.append(check_box)
def _create_selection_widgets_frame(self):
self._selection_widgets_frame = CollapsableFrame("Selection Widgets", collapsed=False)
with self._selection_widgets_frame:
with ui.VStack(style=get_style(), spacing=5, height=0):
def dropdown_populate_fn():
return ["Option A", "Option B", "Option C"]
dropdown = DropDown(
"Drop Down",
tooltip=" Select an option from the DropDown",
populate_fn=dropdown_populate_fn,
on_selection_fn=self._on_dropdown_item_selection,
)
self.wrapped_ui_elements.append(dropdown)
dropdown.repopulate() # This does not happen automatically, and it triggers the on_selection_fn
color_picker = ColorPicker(
"Color Picker",
default_value=[0.69, 0.61, 0.39, 1.0],
tooltip="Select a Color",
on_color_picked_fn=self._on_color_picked,
)
self.wrapped_ui_elements.append(color_picker)
def _create_plotting_frame(self):
self._plotting_frame = CollapsableFrame("Plotting Tools", collapsed=False)
with self._plotting_frame:
with ui.VStack(style=get_style(), spacing=5, height=0):
import numpy as np
x = np.arange(-1, 6.01, 0.01)
y = np.sin((x - 0.5) * np.pi)
plot = XYPlot(
"XY Plot",
tooltip="Press mouse over the plot for data label",
x_data=[x[:300], x[100:400], x[200:]],
y_data=[y[:300], y[100:400], y[200:]],
x_min=None, # Use default behavior to fit plotted data to entire frame
x_max=None,
y_min=-1.5,
y_max=1.5,
x_label="X [rad]",
y_label="Y",
plot_height=10,
legends=["Line 1", "Line 2", "Line 3"],
show_legend=True,
plot_colors=[
[255, 0, 0],
[0, 255, 0],
[0, 100, 200],
], # List of [r,g,b] values; not necessary to specify
)
######################################################################################
# Functions Below This Point Are Callback Functions Attached to UI Element Wrappers
######################################################################################
def _on_int_field_value_changed_fn(self, new_value: int):
status = f"Value was changed in int field to {new_value}"
self._status_report_field.set_text(status)
def _on_float_field_value_changed_fn(self, new_value: float):
status = f"Value was changed in float field to {new_value}"
self._status_report_field.set_text(status)
def _on_string_field_value_changed_fn(self, new_value: str):
status = f"Value was changed in string field to {new_value}"
self._status_report_field.set_text(status)
def _on_button_clicked_fn(self):
status = "The Button was Clicked!"
self._status_report_field.set_text(status)
def _on_state_btn_a_click_fn(self):
status = "State Button was Clicked in State A!"
self._status_report_field.set_text(status)
def _on_state_btn_b_click_fn(self):
status = "State Button was Clicked in State B!"
self._status_report_field.set_text(status)
def _on_checkbox_click_fn(self, value: bool):
status = f"CheckBox was set to {value}!"
self._status_report_field.set_text(status)
def _on_dropdown_item_selection(self, item: str):
status = f"{item} was selected from DropDown"
self._status_report_field.set_text(status)
def _on_color_picked(self, color: List[float]):
formatted_color = [float("%0.2f" % i) for i in color]
status = f"RGBA Color {formatted_color} was picked in the ColorPicker"
self._status_report_field.set_text(status)
| 11,487 |
Python
| 38.888889 | 112 | 0.542178 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/WheeledRobotLimoAckermannROS2/limo_ackermann.py
|
# Copyright (c) 2020-2023, 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.
#
from omni.isaac.examples.base_sample import BaseSample
from omni.isaac.wheeled_robots.robots import WheeledRobot
from omni.isaac.core.utils.types import ArticulationAction
from omni.isaac.core.utils.stage import add_reference_to_stage
from omni.isaac.core.physics_context.physics_context import PhysicsContext
from omni.isaac.core.utils.nucleus import get_assets_root_path, get_url_root
from omni.isaac.wheeled_robots.controllers.holonomic_controller import HolonomicController
import omni.graph.core as og
import numpy as np
import usdrt.Sdf
import carb
class LimoAckermann(BaseSample):
def __init__(self) -> None:
super().__init__()
carb.log_info("Check /persistent/isaac/asset_root/default setting")
default_asset_root = carb.settings.get_settings().get("/persistent/isaac/asset_root/default")
self._server_root = get_url_root(default_asset_root)
self._robot_path = self._server_root + "/Projects/RBROS2/WheeledRobot/limo_ackermann.usd"
self._domain_id = 30
self._maxWheelRotation = 1e6
self._maxWheelVelocity = 1e6
self._trackWidth = 0.13
self._turningWheelRadius = 0.045
self._wheelBase = 0.2
self._targetPrim = "/World/Limo/base_footprint"
self._robotPath = "/World/Limo/base_footprint"
return
def og_setup(self):
try:
# AckermannSteering reference : https://docs.omniverse.nvidia.com/py/isaacsim/source/extensions/omni.isaac.wheeled_robots/docs/index.html#ackermannsteering
og.Controller.edit(
{"graph_path": "/ROS2Ackermann", "evaluator_name": "execution"},
{
og.Controller.Keys.CREATE_NODES: [
("onPlaybackTick", "omni.graph.action.OnPlaybackTick"),
("context", "omni.isaac.ros2_bridge.ROS2Context"),
("subscribeAckermann", "omni.isaac.ros2_bridge.ROS2SubscribeAckermannDrive"),
("scaleToFromStage", "omni.isaac.core_nodes.OgnIsaacScaleToFromStageUnit"),
("ackermannCtrl", "omni.isaac.wheeled_robots.AckermannSteering"),
("wheelJointNames", "omni.graph.nodes.ConstructArray"),
("wheelRotationVel", "omni.graph.nodes.ConstructArray"),
("hingeJointNames", "omni.graph.nodes.ConstructArray"),
("hingePosVel", "omni.graph.nodes.ConstructArray"),
("articulationRotation", "omni.isaac.core_nodes.IsaacArticulationController"),
("articulationPosition", "omni.isaac.core_nodes.IsaacArticulationController"),
],
og.Controller.Keys.SET_VALUES: [
("context.inputs:domain_id", self._domain_id),
("subscribeAckermann.inputs:topicName", "ackermann_cmd"),
("ackermannCtrl.inputs:maxWheelRotation", self._maxWheelRotation),
("ackermannCtrl.inputs:maxWheelVelocity", self._maxWheelVelocity),
("ackermannCtrl.inputs:trackWidth", self._trackWidth),
("ackermannCtrl.inputs:turningWheelRadius", self._turningWheelRadius),
("ackermannCtrl.inputs:useAcceleration", False),
("ackermannCtrl.inputs:wheelBase", self._wheelBase),
("wheelJointNames.inputs:arraySize", 4),
("wheelJointNames.inputs:arrayType", "token[]"),
("wheelJointNames.inputs:input0", "rear_left_wheel"),
("wheelJointNames.inputs:input1", "rear_right_wheel"),
("wheelJointNames.inputs:input2", "front_left_wheel"),
("wheelJointNames.inputs:input3", "front_right_wheel"),
("hingeJointNames.inputs:arraySize", 2),
("hingeJointNames.inputs:arrayType", "token[]"),
("hingeJointNames.inputs:input0", "left_steering_hinge_wheel"),
("hingeJointNames.inputs:input1", "right_steering_hinge_wheel"),
("wheelRotationVel.inputs:arraySize", 4),
("wheelRotationVel.inputs:arrayType", "double[]"),
("hingePosVel.inputs:arraySize", 2),
("hingePosVel.inputs:arrayType", "double[]"),
("articulationRotation.inputs:targetPrim", [usdrt.Sdf.Path(self._targetPrim)]),
("articulationRotation.inputs:robotPath", self._robotPath),
("articulationRotation.inputs:usePath", False),
("articulationPosition.inputs:targetPrim", [usdrt.Sdf.Path(self._targetPrim)]),
("articulationPosition.inputs:robotPath", self._robotPath),
("articulationPosition.inputs:usePath", False),
],
og.Controller.Keys.CREATE_ATTRIBUTES: [
("wheelJointNames.inputs:input1", "token"),
("wheelJointNames.inputs:input2", "token"),
("wheelJointNames.inputs:input3", "token"),
("hingeJointNames.inputs:input1", "token"),
("wheelRotationVel.inputs:input1", "double"),
("wheelRotationVel.inputs:input2", "double"),
("wheelRotationVel.inputs:input3", "double"),
("hingePosVel.inputs:input1", "double"),
],
og.Controller.Keys.CONNECT: [
("onPlaybackTick.outputs:tick", "subscribeAckermann.inputs:execIn"),
("context.outputs:context", "subscribeAckermann.inputs:context"),
("subscribeAckermann.outputs:speed", "scaleToFromStage.inputs:value"),
("subscribeAckermann.outputs:execOut", "ackermannCtrl.inputs:execIn"),
("scaleToFromStage.outputs:result", "ackermannCtrl.inputs:speed"),
("subscribeAckermann.outputs:steeringAngle", "ackermannCtrl.inputs:steeringAngle"),
("ackermannCtrl.outputs:leftWheelAngle", "hingePosVel.inputs:input0"),
("ackermannCtrl.outputs:rightWheelAngle", "hingePosVel.inputs:input1"),
("ackermannCtrl.outputs:wheelRotationVelocity", "wheelRotationVel.inputs:input0"),
("ackermannCtrl.outputs:wheelRotationVelocity", "wheelRotationVel.inputs:input1"),
("ackermannCtrl.outputs:wheelRotationVelocity", "wheelRotationVel.inputs:input2"),
("ackermannCtrl.outputs:wheelRotationVelocity", "wheelRotationVel.inputs:input3"),
("ackermannCtrl.outputs:execOut", "articulationRotation.inputs:execIn"),
("wheelJointNames.outputs:array", "articulationRotation.inputs:jointNames"),
("wheelRotationVel.outputs:array", "articulationRotation.inputs:velocityCommand"),
("ackermannCtrl.outputs:execOut", "articulationPosition.inputs:execIn"),
("hingeJointNames.outputs:array", "articulationPosition.inputs:jointNames"),
("hingePosVel.outputs:array", "articulationPosition.inputs:positionCommand"),
],
},
)
except Exception as e:
print(e)
def setup_scene(self):
world = self.get_world()
world.scene.add_default_ground_plane()
add_reference_to_stage(usd_path=self._robot_path, prim_path="/World/Limo")
self._save_count = 0
self.og_setup()
return
async def setup_post_load(self):
self._world = self.get_world()
self._world.add_physics_callback("sending_actions", callback_fn=self.send_robot_actions)
return
def send_robot_actions(self, step_size):
self._save_count += 1
return
async def setup_pre_reset(self):
if self._world.physics_callback_exists("sim_step"):
self._world.remove_physics_callback("sim_step")
self._world.pause()
return
async def setup_post_reset(self):
self._summit_controller.reset()
await self._world.play_async()
self._world.pause()
return
def world_cleanup(self):
self._world.pause()
return
| 9,065 |
Python
| 51.709302 | 167 | 0.588969 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/WheeledRobotLimoAckermannROS2/README.md
|
# Loading Extension
To enable this extension, run Isaac Sim with the flags --ext-folder {path_to_ext_folder} --enable {ext_directory_name}
The user will see the extension appear on the toolbar on startup with the title they specified in the Extension Generator
# Extension Usage
This template provides the example usage for a library of UIElementWrapper objects that help to quickly develop
custom UI tools with minimal boilerplate code.
# Template Code Overview
The template is well documented and is meant to be self-explanatory to the user should they
start reading the provided python files. A short overview is also provided here:
global_variables.py:
A script that stores in global variables that the user specified when creating this extension such as the Title and Description.
extension.py:
A class containing the standard boilerplate necessary to have the user extension show up on the Toolbar. This
class is meant to fulfill most ues-cases without modification.
In extension.py, useful standard callback functions are created that the user may complete in ui_builder.py.
ui_builder.py:
This file is the user's main entrypoint into the template. Here, the user can see useful callback functions that have been
set up for them, and they may also create UI buttons that are hooked up to more user-defined callback functions. This file is
the most thoroughly documented, and the user should read through it before making serious modification.
| 1,488 |
Markdown
| 58.559998 | 132 | 0.793011 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/ManipFollowTarget/ik_solver.py
|
from omni.isaac.motion_generation import ArticulationKinematicsSolver, LulaKinematicsSolver
from omni.isaac.core.utils.nucleus import get_assets_root_path, get_url_root
from omni.isaac.core.articulations import Articulation
from typing import Optional
import carb
class KinematicsSolver(ArticulationKinematicsSolver):
def __init__(self, robot_articulation: Articulation, end_effector_frame_name: Optional[str] = None) -> None:
#TODO: change the config path
# desktop
# my_path = "/home/kimsooyoung/Documents/IsaacSim/rb_issac_tutorial/RoadBalanceEdu/ManipFollowTarget/"
# self._urdf_path = "/home/kimsooyoung/Downloads/USD/cobotta_pro_900/"
# lactop
self._desc_path = "/home/kimsooyoung/Documents/IssacSimTutorials/rb_issac_tutorial/RoadBalanceEdu/ManipFollowTarget/"
self._urdf_path = "/home/kimsooyoung/Downloads/Source/cobotta_pro_900/"
self._kinematics = LulaKinematicsSolver(
robot_description_path=self._desc_path+"rmpflow/robot_descriptor.yaml",
urdf_path=self._urdf_path+"cobotta_pro_900.urdf"
)
if end_effector_frame_name is None:
end_effector_frame_name = "onrobot_rg6_base_link"
ArticulationKinematicsSolver.__init__(self, robot_articulation, self._kinematics, end_effector_frame_name)
return
| 1,388 |
Python
| 45.299998 | 125 | 0.698127 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/ManipFollowTarget/global_variables.py
|
# Copyright (c) 2022-2023, 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.
#
EXTENSION_TITLE = "MyExtension"
EXTENSION_DESCRIPTION = ""
| 492 |
Python
| 36.923074 | 76 | 0.802846 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/ManipFollowTarget/extension.py
|
# Copyright (c) 2022-2023, NVIDIA CORPORATION. All rights reserved.
#
# NVIDIA CORPORATION and its licensors retain all intellectual property
# and proprietary rights in and to this software, related documentation
# and any modifications thereto. Any use, reproduction, disclosure or
# distribution of this software and related documentation without an express
# license agreement from NVIDIA CORPORATION is strictly prohibited.
#
import os
from omni.isaac.examples.base_sample import BaseSampleExtension
from .follow_target_example import FollowTargetExample
"""
This file serves as a basic template for the standard boilerplate operations
that make a UI-based extension appear on the toolbar.
This implementation is meant to cover most use-cases without modification.
Various callbacks are hooked up to a seperate class UIBuilder in .ui_builder.py
Most users will be able to make their desired UI extension by interacting solely with
UIBuilder.
This class sets up standard useful callback functions in UIBuilder:
on_menu_callback: Called when extension is opened
on_timeline_event: Called when timeline is stopped, paused, or played
on_physics_step: Called on every physics step
on_stage_event: Called when stage is opened or closed
cleanup: Called when resources such as physics subscriptions should be cleaned up
build_ui: User function that creates the UI they want.
"""
class Extension(BaseSampleExtension):
def on_startup(self, ext_id: str):
super().on_startup(ext_id)
super().start_extension(
menu_name="RoadBalanceEdu",
submenu_name="AddingNewManip",
name="FollowTarget",
title="FollowTarget",
doc_link="https://docs.omniverse.nvidia.com/isaacsim/latest/core_api_tutorials/tutorial_core_hello_world.html",
overview="This Example introduces the user on how to do cool stuff with Isaac Sim through scripting in asynchronous mode.",
file_path=os.path.abspath(__file__),
sample=FollowTargetExample(),
)
return
| 2,078 |
Python
| 42.312499 | 135 | 0.743503 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/ManipFollowTarget/__init__.py
|
# Copyright (c) 2022-2023, 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.
#
from .extension import Extension
| 464 |
Python
| 45.499995 | 76 | 0.814655 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/ManipFollowTarget/follow_target_example.py
|
# Copyright (c) 2020-2023, 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.
#
from omni.isaac.examples.base_sample import BaseSample
from omni.isaac.core.utils.nucleus import get_assets_root_path, get_url_root
from omni.isaac.core.utils.types import ArticulationAction
from omni.isaac.core.utils.stage import add_reference_to_stage
from omni.isaac.manipulators.grippers import ParallelGripper
from omni.isaac.manipulators import SingleManipulator
import omni.isaac.core.tasks as tasks
from typing import Optional
import numpy as np
import carb
from .ik_solver import KinematicsSolver
from .controllers.rmpflow import RMPFlowController
# Inheriting from the base class Follow Target
class FollowTarget(tasks.FollowTarget):
def __init__(
self,
name: str = "denso_follow_target",
target_prim_path: Optional[str] = None,
target_name: Optional[str] = None,
target_position: Optional[np.ndarray] = None,
target_orientation: Optional[np.ndarray] = None,
offset: Optional[np.ndarray] = None,
) -> None:
tasks.FollowTarget.__init__(
self,
name=name,
target_prim_path=target_prim_path,
target_name=target_name,
target_position=target_position,
target_orientation=target_orientation,
offset=offset,
)
carb.log_info("Check /persistent/isaac/asset_root/default setting")
default_asset_root = carb.settings.get_settings().get("/persistent/isaac/asset_root/default")
self._server_root = get_url_root(default_asset_root)
self._robot_path = self._server_root + "/Projects/RBROS2/cobotta_pro_900/cobotta_pro_900/cobotta_pro_900.usd"
self._joints_default_positions = np.zeros(12)
self._joints_default_positions[7] = 0.628
self._joints_default_positions[8] = 0.628
return
def set_robot(self) -> SingleManipulator:
# add robot to the scene
add_reference_to_stage(usd_path=self._robot_path, prim_path="/World/cobotta")
#define the gripper
gripper = ParallelGripper(
#We chose the following values while inspecting the articulation
end_effector_prim_path="/World/cobotta/onrobot_rg6_base_link",
joint_prim_names=["finger_joint", "right_outer_knuckle_joint"],
joint_opened_positions=np.array([0, 0]),
joint_closed_positions=np.array([0.628, -0.628]),
action_deltas=np.array([-0.628, 0.628]),
)
# define the manipulator
manipulator = SingleManipulator(
prim_path="/World/cobotta",
name="cobotta_robot",
end_effector_prim_name="onrobot_rg6_base_link",
gripper=gripper
)
manipulator.set_joints_default_state(positions=self._joints_default_positions)
return manipulator
class FollowTargetExample(BaseSample):
def __init__(self) -> None:
super().__init__()
self._articulation_controller = None
# simulation step counter
self._sim_step = 0
return
def setup_scene(self):
self._world = self.get_world()
self._world.scene.add_default_ground_plane()
# We add the task to the world here
my_task = FollowTarget(
name="denso_follow_target",
target_position=np.array([0.5, 0, 0.5])
)
self._world.add_task(my_task)
return
async def setup_post_load(self):
self._world = self.get_world()
self._task_params = self._world.get_task("denso_follow_target").get_params()
self._target_name = self._task_params["target_name"]["value"]
self._my_denso = self._world.scene.get_object(self._task_params["robot_name"]["value"])
self._my_controller = KinematicsSolver(self._my_denso)
# self._my_controller = RMPFlowController(name="target_follower_controller", robot_articulation=self._my_denso)
self._articulation_controller = self._my_denso.get_articulation_controller()
self._world.add_physics_callback("sim_step", callback_fn=self.sim_step_cb)
return
async def setup_post_reset(self):
self._my_controller.reset()
await self._world.play_async()
return
def sim_step_cb(self, step_size):
observations = self._world.get_observations()
pos = observations[self._target_name]["position"]
ori = observations[self._target_name]["orientation"]
print(self._target_name)
print(pos)
print(ori)
# IK controller
actions, succ = self._my_controller.compute_inverse_kinematics(
target_position=pos,
target_orientation=ori,
)
if succ:
self._articulation_controller.apply_action(actions)
else:
carb.log_warn("IK did not converge to a solution. No action is being taken.")
# # RMPFlow controller
# actions = self._my_controller.forward(
# target_end_effector_position=pos,
# target_end_effector_orientation=ori,
# )
# self._articulation_controller.apply_action(actions)
return
| 5,582 |
Python
| 34.560509 | 119 | 0.645468 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/ManipFollowTarget/ui_builder.py
|
# Copyright (c) 2022-2023, NVIDIA CORPORATION. All rights reserved.
#
# NVIDIA CORPORATION and its licensors retain all intellectual property
# and proprietary rights in and to this software, related documentation
# and any modifications thereto. Any use, reproduction, disclosure or
# distribution of this software and related documentation without an express
# license agreement from NVIDIA CORPORATION is strictly prohibited.
#
import os
from typing import List
import omni.ui as ui
from omni.isaac.ui.element_wrappers import (
Button,
CheckBox,
CollapsableFrame,
ColorPicker,
DropDown,
FloatField,
IntField,
StateButton,
StringField,
TextBlock,
XYPlot,
)
from omni.isaac.ui.ui_utils import get_style
class UIBuilder:
def __init__(self):
# Frames are sub-windows that can contain multiple UI elements
self.frames = []
# UI elements created using a UIElementWrapper from omni.isaac.ui.element_wrappers
self.wrapped_ui_elements = []
###################################################################################
# The Functions Below Are Called Automatically By extension.py
###################################################################################
def on_menu_callback(self):
"""Callback for when the UI is opened from the toolbar.
This is called directly after build_ui().
"""
pass
def on_timeline_event(self, event):
"""Callback for Timeline events (Play, Pause, Stop)
Args:
event (omni.timeline.TimelineEventType): Event Type
"""
pass
def on_physics_step(self, step):
"""Callback for Physics Step.
Physics steps only occur when the timeline is playing
Args:
step (float): Size of physics step
"""
pass
def on_stage_event(self, event):
"""Callback for Stage Events
Args:
event (omni.usd.StageEventType): Event Type
"""
pass
def cleanup(self):
"""
Called when the stage is closed or the extension is hot reloaded.
Perform any necessary cleanup such as removing active callback functions
Buttons imported from omni.isaac.ui.element_wrappers implement a cleanup function that should be called
"""
# None of the UI elements in this template actually have any internal state that needs to be cleaned up.
# But it is best practice to call cleanup() on all wrapped UI elements to simplify development.
for ui_elem in self.wrapped_ui_elements:
ui_elem.cleanup()
def build_ui(self):
"""
Build a custom UI tool to run your extension.
This function will be called any time the UI window is closed and reopened.
"""
# Create a UI frame that prints the latest UI event.
self._create_status_report_frame()
# Create a UI frame demonstrating simple UI elements for user input
self._create_simple_editable_fields_frame()
# Create a UI frame with different button types
self._create_buttons_frame()
# Create a UI frame with different selection widgets
self._create_selection_widgets_frame()
# Create a UI frame with different plotting tools
self._create_plotting_frame()
def _create_status_report_frame(self):
self._status_report_frame = CollapsableFrame("Status Report", collapsed=False)
with self._status_report_frame:
with ui.VStack(style=get_style(), spacing=5, height=0):
self._status_report_field = TextBlock(
"Last UI Event",
num_lines=3,
tooltip="Prints the latest change to this UI",
include_copy_button=True,
)
def _create_simple_editable_fields_frame(self):
self._simple_fields_frame = CollapsableFrame("Simple Editable Fields", collapsed=False)
with self._simple_fields_frame:
with ui.VStack(style=get_style(), spacing=5, height=0):
int_field = IntField(
"Int Field",
default_value=1,
tooltip="Type an int or click and drag to set a new value.",
lower_limit=-100,
upper_limit=100,
on_value_changed_fn=self._on_int_field_value_changed_fn,
)
self.wrapped_ui_elements.append(int_field)
float_field = FloatField(
"Float Field",
default_value=1.0,
tooltip="Type a float or click and drag to set a new value.",
step=0.5,
format="%.2f",
lower_limit=-100.0,
upper_limit=100.0,
on_value_changed_fn=self._on_float_field_value_changed_fn,
)
self.wrapped_ui_elements.append(float_field)
def is_usd_or_python_path(file_path: str):
# Filter file paths shown in the file picker to only be USD or Python files
_, ext = os.path.splitext(file_path.lower())
return ext == ".usd" or ext == ".py"
string_field = StringField(
"String Field",
default_value="Type Here or Use File Picker on the Right",
tooltip="Type a string or use the file picker to set a value",
read_only=False,
multiline_okay=False,
on_value_changed_fn=self._on_string_field_value_changed_fn,
use_folder_picker=True,
item_filter_fn=is_usd_or_python_path,
)
self.wrapped_ui_elements.append(string_field)
def _create_buttons_frame(self):
buttons_frame = CollapsableFrame("Buttons Frame", collapsed=False)
with buttons_frame:
with ui.VStack(style=get_style(), spacing=5, height=0):
button = Button(
"Button",
"CLICK ME",
tooltip="Click This Button to activate a callback function",
on_click_fn=self._on_button_clicked_fn,
)
self.wrapped_ui_elements.append(button)
state_button = StateButton(
"State Button",
"State A",
"State B",
tooltip="Click this button to transition between two states",
on_a_click_fn=self._on_state_btn_a_click_fn,
on_b_click_fn=self._on_state_btn_b_click_fn,
physics_callback_fn=None, # See Loaded Scenario Template for example usage
)
self.wrapped_ui_elements.append(state_button)
check_box = CheckBox(
"Check Box",
default_value=False,
tooltip=" Click this checkbox to activate a callback function",
on_click_fn=self._on_checkbox_click_fn,
)
self.wrapped_ui_elements.append(check_box)
def _create_selection_widgets_frame(self):
self._selection_widgets_frame = CollapsableFrame("Selection Widgets", collapsed=False)
with self._selection_widgets_frame:
with ui.VStack(style=get_style(), spacing=5, height=0):
def dropdown_populate_fn():
return ["Option A", "Option B", "Option C"]
dropdown = DropDown(
"Drop Down",
tooltip=" Select an option from the DropDown",
populate_fn=dropdown_populate_fn,
on_selection_fn=self._on_dropdown_item_selection,
)
self.wrapped_ui_elements.append(dropdown)
dropdown.repopulate() # This does not happen automatically, and it triggers the on_selection_fn
color_picker = ColorPicker(
"Color Picker",
default_value=[0.69, 0.61, 0.39, 1.0],
tooltip="Select a Color",
on_color_picked_fn=self._on_color_picked,
)
self.wrapped_ui_elements.append(color_picker)
def _create_plotting_frame(self):
self._plotting_frame = CollapsableFrame("Plotting Tools", collapsed=False)
with self._plotting_frame:
with ui.VStack(style=get_style(), spacing=5, height=0):
import numpy as np
x = np.arange(-1, 6.01, 0.01)
y = np.sin((x - 0.5) * np.pi)
plot = XYPlot(
"XY Plot",
tooltip="Press mouse over the plot for data label",
x_data=[x[:300], x[100:400], x[200:]],
y_data=[y[:300], y[100:400], y[200:]],
x_min=None, # Use default behavior to fit plotted data to entire frame
x_max=None,
y_min=-1.5,
y_max=1.5,
x_label="X [rad]",
y_label="Y",
plot_height=10,
legends=["Line 1", "Line 2", "Line 3"],
show_legend=True,
plot_colors=[
[255, 0, 0],
[0, 255, 0],
[0, 100, 200],
], # List of [r,g,b] values; not necessary to specify
)
######################################################################################
# Functions Below This Point Are Callback Functions Attached to UI Element Wrappers
######################################################################################
def _on_int_field_value_changed_fn(self, new_value: int):
status = f"Value was changed in int field to {new_value}"
self._status_report_field.set_text(status)
def _on_float_field_value_changed_fn(self, new_value: float):
status = f"Value was changed in float field to {new_value}"
self._status_report_field.set_text(status)
def _on_string_field_value_changed_fn(self, new_value: str):
status = f"Value was changed in string field to {new_value}"
self._status_report_field.set_text(status)
def _on_button_clicked_fn(self):
status = "The Button was Clicked!"
self._status_report_field.set_text(status)
def _on_state_btn_a_click_fn(self):
status = "State Button was Clicked in State A!"
self._status_report_field.set_text(status)
def _on_state_btn_b_click_fn(self):
status = "State Button was Clicked in State B!"
self._status_report_field.set_text(status)
def _on_checkbox_click_fn(self, value: bool):
status = f"CheckBox was set to {value}!"
self._status_report_field.set_text(status)
def _on_dropdown_item_selection(self, item: str):
status = f"{item} was selected from DropDown"
self._status_report_field.set_text(status)
def _on_color_picked(self, color: List[float]):
formatted_color = [float("%0.2f" % i) for i in color]
status = f"RGBA Color {formatted_color} was picked in the ColorPicker"
self._status_report_field.set_text(status)
| 11,487 |
Python
| 38.888889 | 112 | 0.542178 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/ManipFollowTarget/README.md
|
# Loading Extension
To enable this extension, run Isaac Sim with the flags --ext-folder {path_to_ext_folder} --enable {ext_directory_name}
The user will see the extension appear on the toolbar on startup with the title they specified in the Extension Generator
# Extension Usage
This template provides the example usage for a library of UIElementWrapper objects that help to quickly develop
custom UI tools with minimal boilerplate code.
# Template Code Overview
The template is well documented and is meant to be self-explanatory to the user should they
start reading the provided python files. A short overview is also provided here:
global_variables.py:
A script that stores in global variables that the user specified when creating this extension such as the Title and Description.
extension.py:
A class containing the standard boilerplate necessary to have the user extension show up on the Toolbar. This
class is meant to fulfill most ues-cases without modification.
In extension.py, useful standard callback functions are created that the user may complete in ui_builder.py.
ui_builder.py:
This file is the user's main entrypoint into the template. Here, the user can see useful callback functions that have been
set up for them, and they may also create UI buttons that are hooked up to more user-defined callback functions. This file is
the most thoroughly documented, and the user should read through it before making serious modification.
| 1,488 |
Markdown
| 58.559998 | 132 | 0.793011 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/ManipFollowTarget/rmpflow/robot_descriptor.yaml
|
api_version: 1.0
cspace:
- joint_1
- joint_2
- joint_3
- joint_4
- joint_5
- joint_6
root_link: world
default_q: [
0.00, 0.00, 0.00, 0.00, 0.00, 0.00
]
cspace_to_urdf_rules: []
composite_task_spaces: []
| 230 |
YAML
| 15.499999 | 38 | 0.56087 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/ManipFollowTarget/rmpflow/denso_rmpflow_common.yaml
|
joint_limit_buffers: [.01, .01, .01, .01, .01, .01]
rmp_params:
cspace_target_rmp:
metric_scalar: 50.
position_gain: 100.
damping_gain: 50.
robust_position_term_thresh: .5
inertia: 1.
cspace_trajectory_rmp:
p_gain: 100.
d_gain: 10.
ff_gain: .25
weight: 50.
cspace_affine_rmp:
final_handover_time_std_dev: .25
weight: 2000.
joint_limit_rmp:
metric_scalar: 1000.
metric_length_scale: .01
metric_exploder_eps: 1e-3
metric_velocity_gate_length_scale: .01
accel_damper_gain: 200.
accel_potential_gain: 1.
accel_potential_exploder_length_scale: .1
accel_potential_exploder_eps: 1e-2
joint_velocity_cap_rmp:
max_velocity: 1.
velocity_damping_region: .3
damping_gain: 1000.0
metric_weight: 100.
target_rmp:
accel_p_gain: 30.
accel_d_gain: 85.
accel_norm_eps: .075
metric_alpha_length_scale: .05
min_metric_alpha: .01
max_metric_scalar: 10000
min_metric_scalar: 2500
proximity_metric_boost_scalar: 20.
proximity_metric_boost_length_scale: .02
xi_estimator_gate_std_dev: 20000.
accept_user_weights: false
axis_target_rmp:
accel_p_gain: 210.
accel_d_gain: 60.
metric_scalar: 10
proximity_metric_boost_scalar: 3000.
proximity_metric_boost_length_scale: .08
xi_estimator_gate_std_dev: 20000.
accept_user_weights: false
collision_rmp:
damping_gain: 50.
damping_std_dev: .04
damping_robustness_eps: 1e-2
damping_velocity_gate_length_scale: .01
repulsion_gain: 800.
repulsion_std_dev: .01
metric_modulation_radius: .5
metric_scalar: 10000.
metric_exploder_std_dev: .02
metric_exploder_eps: .001
damping_rmp:
accel_d_gain: 30.
metric_scalar: 50.
inertia: 100.
canonical_resolve:
max_acceleration_norm: 50.
projection_tolerance: .01
verbose: false
body_cylinders:
- name: base
pt1: [0,0,.333]
pt2: [0,0,0.]
radius: .05
body_collision_controllers:
- name: onrobot_rg6_base_link
radius: .05
| 2,282 |
YAML
| 28.64935 | 51 | 0.583699 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/ManipFollowTarget/controllers/rmpflow.py
|
import omni.isaac.motion_generation as mg
from omni.isaac.core.articulations import Articulation
class RMPFlowController(mg.MotionPolicyController):
def __init__(self, name: str, robot_articulation: Articulation, physics_dt: float = 1.0 / 60.0) -> None:
# TODO: chamge the follow paths
# laptop
self._desc_path = "/home/kimsooyoung/Documents/IssacSimTutorials/rb_issac_tutorial/RoadBalanceEdu/ManipFollowTarget/"
self._urdf_path = "/home/kimsooyoung/Downloads/Source/cobotta_pro_900/"
self.rmpflow = mg.lula.motion_policies.RmpFlow(
robot_description_path=self._desc_path+"rmpflow/robot_descriptor.yaml",
rmpflow_config_path=self._desc_path+"rmpflow/denso_rmpflow_common.yaml",
urdf_path=self._urdf_path+"cobotta_pro_900.urdf",
end_effector_frame_name="onrobot_rg6_base_link",
maximum_substep_size=0.00334
)
self.articulation_rmp = mg.ArticulationMotionPolicy(robot_articulation, self.rmpflow, physics_dt)
mg.MotionPolicyController.__init__(self, name=name, articulation_motion_policy=self.articulation_rmp)
self._default_position, self._default_orientation = (
self._articulation_motion_policy._robot_articulation.get_world_pose()
)
self._motion_policy.set_robot_base_pose(
robot_position=self._default_position, robot_orientation=self._default_orientation
)
return
def reset(self):
mg.MotionPolicyController.reset(self)
self._motion_policy.set_robot_base_pose(
robot_position=self._default_position, robot_orientation=self._default_orientation
)
| 1,686 |
Python
| 45.86111 | 125 | 0.68446 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/WheeledRobotSummit/global_variables.py
|
# Copyright (c) 2022-2023, 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.
#
EXTENSION_TITLE = "MyExtension"
EXTENSION_DESCRIPTION = ""
| 492 |
Python
| 36.923074 | 76 | 0.802846 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/WheeledRobotSummit/extension.py
|
# Copyright (c) 2022-2023, NVIDIA CORPORATION. All rights reserved.
#
# NVIDIA CORPORATION and its licensors retain all intellectual property
# and proprietary rights in and to this software, related documentation
# and any modifications thereto. Any use, reproduction, disclosure or
# distribution of this software and related documentation without an express
# license agreement from NVIDIA CORPORATION is strictly prohibited.
#
import os
from omni.isaac.examples.base_sample import BaseSampleExtension
from .robotnik_summit import RobotnikSummit
"""
This file serves as a basic template for the standard boilerplate operations
that make a UI-based extension appear on the toolbar.
This implementation is meant to cover most use-cases without modification.
Various callbacks are hooked up to a seperate class UIBuilder in .ui_builder.py
Most users will be able to make their desired UI extension by interacting solely with
UIBuilder.
This class sets up standard useful callback functions in UIBuilder:
on_menu_callback: Called when extension is opened
on_timeline_event: Called when timeline is stopped, paused, or played
on_physics_step: Called on every physics step
on_stage_event: Called when stage is opened or closed
cleanup: Called when resources such as physics subscriptions should be cleaned up
build_ui: User function that creates the UI they want.
"""
class Extension(BaseSampleExtension):
def on_startup(self, ext_id: str):
super().on_startup(ext_id)
super().start_extension(
menu_name="RoadBalanceEdu",
submenu_name="WheeledRobots",
name="RobotnikSummit",
title="RobotnikSummit",
doc_link="https://docs.omniverse.nvidia.com/isaacsim/latest/core_api_tutorials/tutorial_core_hello_world.html",
overview="This Example introduces the user on how to do cool stuff with Isaac Sim through scripting in asynchronous mode.",
file_path=os.path.abspath(__file__),
sample=RobotnikSummit(),
)
return
| 2,065 |
Python
| 42.041666 | 135 | 0.742373 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/WheeledRobotSummit/__init__.py
|
# Copyright (c) 2022-2023, 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.
#
from .extension import Extension
| 464 |
Python
| 45.499995 | 76 | 0.814655 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/WheeledRobotSummit/ui_builder.py
|
# Copyright (c) 2022-2023, NVIDIA CORPORATION. All rights reserved.
#
# NVIDIA CORPORATION and its licensors retain all intellectual property
# and proprietary rights in and to this software, related documentation
# and any modifications thereto. Any use, reproduction, disclosure or
# distribution of this software and related documentation without an express
# license agreement from NVIDIA CORPORATION is strictly prohibited.
#
import os
from typing import List
import omni.ui as ui
from omni.isaac.ui.element_wrappers import (
Button,
CheckBox,
CollapsableFrame,
ColorPicker,
DropDown,
FloatField,
IntField,
StateButton,
StringField,
TextBlock,
XYPlot,
)
from omni.isaac.ui.ui_utils import get_style
class UIBuilder:
def __init__(self):
# Frames are sub-windows that can contain multiple UI elements
self.frames = []
# UI elements created using a UIElementWrapper from omni.isaac.ui.element_wrappers
self.wrapped_ui_elements = []
###################################################################################
# The Functions Below Are Called Automatically By extension.py
###################################################################################
def on_menu_callback(self):
"""Callback for when the UI is opened from the toolbar.
This is called directly after build_ui().
"""
pass
def on_timeline_event(self, event):
"""Callback for Timeline events (Play, Pause, Stop)
Args:
event (omni.timeline.TimelineEventType): Event Type
"""
pass
def on_physics_step(self, step):
"""Callback for Physics Step.
Physics steps only occur when the timeline is playing
Args:
step (float): Size of physics step
"""
pass
def on_stage_event(self, event):
"""Callback for Stage Events
Args:
event (omni.usd.StageEventType): Event Type
"""
pass
def cleanup(self):
"""
Called when the stage is closed or the extension is hot reloaded.
Perform any necessary cleanup such as removing active callback functions
Buttons imported from omni.isaac.ui.element_wrappers implement a cleanup function that should be called
"""
# None of the UI elements in this template actually have any internal state that needs to be cleaned up.
# But it is best practice to call cleanup() on all wrapped UI elements to simplify development.
for ui_elem in self.wrapped_ui_elements:
ui_elem.cleanup()
def build_ui(self):
"""
Build a custom UI tool to run your extension.
This function will be called any time the UI window is closed and reopened.
"""
# Create a UI frame that prints the latest UI event.
self._create_status_report_frame()
# Create a UI frame demonstrating simple UI elements for user input
self._create_simple_editable_fields_frame()
# Create a UI frame with different button types
self._create_buttons_frame()
# Create a UI frame with different selection widgets
self._create_selection_widgets_frame()
# Create a UI frame with different plotting tools
self._create_plotting_frame()
def _create_status_report_frame(self):
self._status_report_frame = CollapsableFrame("Status Report", collapsed=False)
with self._status_report_frame:
with ui.VStack(style=get_style(), spacing=5, height=0):
self._status_report_field = TextBlock(
"Last UI Event",
num_lines=3,
tooltip="Prints the latest change to this UI",
include_copy_button=True,
)
def _create_simple_editable_fields_frame(self):
self._simple_fields_frame = CollapsableFrame("Simple Editable Fields", collapsed=False)
with self._simple_fields_frame:
with ui.VStack(style=get_style(), spacing=5, height=0):
int_field = IntField(
"Int Field",
default_value=1,
tooltip="Type an int or click and drag to set a new value.",
lower_limit=-100,
upper_limit=100,
on_value_changed_fn=self._on_int_field_value_changed_fn,
)
self.wrapped_ui_elements.append(int_field)
float_field = FloatField(
"Float Field",
default_value=1.0,
tooltip="Type a float or click and drag to set a new value.",
step=0.5,
format="%.2f",
lower_limit=-100.0,
upper_limit=100.0,
on_value_changed_fn=self._on_float_field_value_changed_fn,
)
self.wrapped_ui_elements.append(float_field)
def is_usd_or_python_path(file_path: str):
# Filter file paths shown in the file picker to only be USD or Python files
_, ext = os.path.splitext(file_path.lower())
return ext == ".usd" or ext == ".py"
string_field = StringField(
"String Field",
default_value="Type Here or Use File Picker on the Right",
tooltip="Type a string or use the file picker to set a value",
read_only=False,
multiline_okay=False,
on_value_changed_fn=self._on_string_field_value_changed_fn,
use_folder_picker=True,
item_filter_fn=is_usd_or_python_path,
)
self.wrapped_ui_elements.append(string_field)
def _create_buttons_frame(self):
buttons_frame = CollapsableFrame("Buttons Frame", collapsed=False)
with buttons_frame:
with ui.VStack(style=get_style(), spacing=5, height=0):
button = Button(
"Button",
"CLICK ME",
tooltip="Click This Button to activate a callback function",
on_click_fn=self._on_button_clicked_fn,
)
self.wrapped_ui_elements.append(button)
state_button = StateButton(
"State Button",
"State A",
"State B",
tooltip="Click this button to transition between two states",
on_a_click_fn=self._on_state_btn_a_click_fn,
on_b_click_fn=self._on_state_btn_b_click_fn,
physics_callback_fn=None, # See Loaded Scenario Template for example usage
)
self.wrapped_ui_elements.append(state_button)
check_box = CheckBox(
"Check Box",
default_value=False,
tooltip=" Click this checkbox to activate a callback function",
on_click_fn=self._on_checkbox_click_fn,
)
self.wrapped_ui_elements.append(check_box)
def _create_selection_widgets_frame(self):
self._selection_widgets_frame = CollapsableFrame("Selection Widgets", collapsed=False)
with self._selection_widgets_frame:
with ui.VStack(style=get_style(), spacing=5, height=0):
def dropdown_populate_fn():
return ["Option A", "Option B", "Option C"]
dropdown = DropDown(
"Drop Down",
tooltip=" Select an option from the DropDown",
populate_fn=dropdown_populate_fn,
on_selection_fn=self._on_dropdown_item_selection,
)
self.wrapped_ui_elements.append(dropdown)
dropdown.repopulate() # This does not happen automatically, and it triggers the on_selection_fn
color_picker = ColorPicker(
"Color Picker",
default_value=[0.69, 0.61, 0.39, 1.0],
tooltip="Select a Color",
on_color_picked_fn=self._on_color_picked,
)
self.wrapped_ui_elements.append(color_picker)
def _create_plotting_frame(self):
self._plotting_frame = CollapsableFrame("Plotting Tools", collapsed=False)
with self._plotting_frame:
with ui.VStack(style=get_style(), spacing=5, height=0):
import numpy as np
x = np.arange(-1, 6.01, 0.01)
y = np.sin((x - 0.5) * np.pi)
plot = XYPlot(
"XY Plot",
tooltip="Press mouse over the plot for data label",
x_data=[x[:300], x[100:400], x[200:]],
y_data=[y[:300], y[100:400], y[200:]],
x_min=None, # Use default behavior to fit plotted data to entire frame
x_max=None,
y_min=-1.5,
y_max=1.5,
x_label="X [rad]",
y_label="Y",
plot_height=10,
legends=["Line 1", "Line 2", "Line 3"],
show_legend=True,
plot_colors=[
[255, 0, 0],
[0, 255, 0],
[0, 100, 200],
], # List of [r,g,b] values; not necessary to specify
)
######################################################################################
# Functions Below This Point Are Callback Functions Attached to UI Element Wrappers
######################################################################################
def _on_int_field_value_changed_fn(self, new_value: int):
status = f"Value was changed in int field to {new_value}"
self._status_report_field.set_text(status)
def _on_float_field_value_changed_fn(self, new_value: float):
status = f"Value was changed in float field to {new_value}"
self._status_report_field.set_text(status)
def _on_string_field_value_changed_fn(self, new_value: str):
status = f"Value was changed in string field to {new_value}"
self._status_report_field.set_text(status)
def _on_button_clicked_fn(self):
status = "The Button was Clicked!"
self._status_report_field.set_text(status)
def _on_state_btn_a_click_fn(self):
status = "State Button was Clicked in State A!"
self._status_report_field.set_text(status)
def _on_state_btn_b_click_fn(self):
status = "State Button was Clicked in State B!"
self._status_report_field.set_text(status)
def _on_checkbox_click_fn(self, value: bool):
status = f"CheckBox was set to {value}!"
self._status_report_field.set_text(status)
def _on_dropdown_item_selection(self, item: str):
status = f"{item} was selected from DropDown"
self._status_report_field.set_text(status)
def _on_color_picked(self, color: List[float]):
formatted_color = [float("%0.2f" % i) for i in color]
status = f"RGBA Color {formatted_color} was picked in the ColorPicker"
self._status_report_field.set_text(status)
| 11,487 |
Python
| 38.888889 | 112 | 0.542178 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/WheeledRobotSummit/robotnik_summit.py
|
# Copyright (c) 2020-2023, 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.
#
from omni.isaac.examples.base_sample import BaseSample
from omni.isaac.wheeled_robots.robots import WheeledRobot
from omni.isaac.core.utils.types import ArticulationAction
from omni.isaac.core.utils.stage import add_reference_to_stage
from omni.isaac.core.physics_context.physics_context import PhysicsContext
from omni.isaac.core.utils.nucleus import get_assets_root_path, get_url_root
from omni.isaac.wheeled_robots.controllers.holonomic_controller import HolonomicController
import numpy as np
import carb
class RobotnikSummit(BaseSample):
def __init__(self) -> None:
super().__init__()
carb.log_info("Check /persistent/isaac/asset_root/default setting")
default_asset_root = carb.settings.get_settings().get("/persistent/isaac/asset_root/default")
self._server_root = get_url_root(default_asset_root)
self._robot_path = self._server_root + "/Projects/RBROS2/WheeledRobot/summit_xl_original.usd"
self._wheel_radius = np.array([ 0.127, 0.127, 0.127, 0.127 ])
self._wheel_positions = np.array([
[0.229, 0.235, 0.11],
[0.229, -0.235, 0.11],
[-0.229, 0.235, 0.11],
[-0.229, -0.235, 0.11],
])
self._wheel_orientations = np.array([
# w, x, y, z
[0.7071068, 0, 0, 0.7071068],
[0.7071068, 0, 0, 0.7071068],
[0.7071068, 0, 0, 0.7071068],
[0.7071068, 0, 0, 0.7071068],
])
self._mecanum_angles = np.array([
-135.0,
-45.0,
-45.0,
-135.0,
])
self._wheel_axis = np.array([1, 0, 0])
self._up_axis = np.array([0, 0, 1])
return
def setup_scene(self):
world = self.get_world()
world.scene.add_default_ground_plane()
add_reference_to_stage(usd_path=self._robot_path, prim_path="/World/Summit")
self._wheeled_robot = WheeledRobot(
prim_path="/World/Summit/summit_xl_base_link",
name="my_summit",
wheel_dof_names=[
"summit_xl_front_left_wheel_joint",
"summit_xl_front_right_wheel_joint",
"summit_xl_back_left_wheel_joint",
"summit_xl_back_right_wheel_joint",
],
create_robot=True,
usd_path=self._robot_path,
position=np.array([0, 0.0, 0.02]),
orientation=np.array([1.0, 0.0, 0.0, 0.0]),
)
self._save_count = 0
self._scene = PhysicsContext()
self._scene.set_physics_dt(1 / 30.0)
return
async def setup_post_load(self):
self._world = self.get_world()
self._summit_controller = HolonomicController(
name="holonomic_controller",
wheel_radius=self._wheel_radius,
wheel_positions=self._wheel_positions,
wheel_orientations=self._wheel_orientations,
mecanum_angles=self._mecanum_angles,
wheel_axis=self._wheel_axis,
up_axis=self._up_axis,
)
self._summit_controller.reset()
self._wheeled_robot.initialize()
self._world.add_physics_callback("sending_actions", callback_fn=self.send_robot_actions)
return
def send_robot_actions(self, step_size):
self._save_count += 1
wheel_action = None
if self._save_count >= 0 and self._save_count < 150:
wheel_action = self._summit_controller.forward(command=[0.5, 0.0, 0.0])
elif self._save_count >= 150 and self._save_count < 300:
wheel_action = self._summit_controller.forward(command=[-0.5, 0.0, 0.0])
elif self._save_count >= 300 and self._save_count < 450:
wheel_action = self._summit_controller.forward(command=[0.0, 0.5, 0.0])
elif self._save_count >= 450 and self._save_count < 600:
wheel_action = self._summit_controller.forward(command=[0.0, -0.5, 0.0])
elif self._save_count >= 600 and self._save_count < 750:
wheel_action = self._summit_controller.forward(command=[0.0, 0.0, 0.5])
elif self._save_count >= 750 and self._save_count < 900:
wheel_action = self._summit_controller.forward(command=[0.0, 0.0, -0.5])
else:
self._save_count = 0
self._wheeled_robot.apply_wheel_actions(wheel_action)
return
async def setup_pre_reset(self):
if self._world.physics_callback_exists("sim_step"):
self._world.remove_physics_callback("sim_step")
self._world.pause()
return
async def setup_post_reset(self):
self._summit_controller.reset()
await self._world.play_async()
self._world.pause()
return
def world_cleanup(self):
self._world.pause()
return
| 5,254 |
Python
| 36.535714 | 101 | 0.601447 |
kimsooyoung/rb_issac_tutorial/RoadBalanceEdu/WheeledRobotSummit/README.md
|
# Loading Extension
To enable this extension, run Isaac Sim with the flags --ext-folder {path_to_ext_folder} --enable {ext_directory_name}
The user will see the extension appear on the toolbar on startup with the title they specified in the Extension Generator
# Extension Usage
This template provides the example usage for a library of UIElementWrapper objects that help to quickly develop
custom UI tools with minimal boilerplate code.
# Template Code Overview
The template is well documented and is meant to be self-explanatory to the user should they
start reading the provided python files. A short overview is also provided here:
global_variables.py:
A script that stores in global variables that the user specified when creating this extension such as the Title and Description.
extension.py:
A class containing the standard boilerplate necessary to have the user extension show up on the Toolbar. This
class is meant to fulfill most ues-cases without modification.
In extension.py, useful standard callback functions are created that the user may complete in ui_builder.py.
ui_builder.py:
This file is the user's main entrypoint into the template. Here, the user can see useful callback functions that have been
set up for them, and they may also create UI buttons that are hooked up to more user-defined callback functions. This file is
the most thoroughly documented, and the user should read through it before making serious modification.
| 1,488 |
Markdown
| 58.559998 | 132 | 0.793011 |
kimsooyoung/rb_issac_tutorial/config/extension.toml
|
[core]
reloadable = true
order = 0
[package]
version = "1.0.0"
category = "Simulation"
title = "RoadBalanceEdu"
description = "NVIDIA Isaac Sim tutorial Extension"
authors = ["RoadBalanceEdu"]
repository = ""
keywords = []
changelog = "docs/CHANGELOG.md"
readme = "docs/README.md"
preview_image = "data/preview.png"
icon = "data/icon.png"
[dependencies]
"omni.kit.uiapp" = {}
"omni.isaac.ui" = {}
"omni.isaac.core" = {}
[[python.module]]
name = "RoadBalanceEdu.HelloWorld"
[[python.module]]
name = "RoadBalanceEdu.HelloRobot"
[[python.module]]
name = "RoadBalanceEdu.HelloManipulator"
[[python.module]]
name = "RoadBalanceEdu.HelloMultiRobot"
[[python.module]]
name = "RoadBalanceEdu.HelloMultiTask"
[[python.module]]
name = "RoadBalanceEdu.HelloCamera"
[[python.module]]
name = "RoadBalanceEdu.HelloLight"
[[python.module]]
name = "RoadBalanceEdu.HelloDeformable"
[[python.module]]
name = "RoadBalanceEdu.FootEnv"
[[python.module]]
name = "RoadBalanceEdu.FrankaNuts"
[[python.module]]
name = "RoadBalanceEdu.FrankaNutsTable"
[[python.module]]
name = "RoadBalanceEdu.FrankaDeformable"
[[python.module]]
name = "RoadBalanceEdu.URBinFilling"
[[python.module]]
name = "RoadBalanceEdu.URPalletizing"
[[python.module]]
name = "RoadBalanceEdu.DingoLibrary"
[[python.module]]
name = "RoadBalanceEdu.FrankaFactory"
[[python.module]]
name = "RoadBalanceEdu.ManipGripperControl"
[[python.module]]
name = "RoadBalanceEdu.ManipFollowTarget"
[[python.module]]
name = "RoadBalanceEdu.ManipPickandPlace"
[[python.module]]
name = "RoadBalanceEdu.ManipLULA"
[[python.module]]
name = "RoadBalanceEdu.MirobotGripperControl"
[[python.module]]
name = "RoadBalanceEdu.MirobotFollowTarget"
[[python.module]]
name = "RoadBalanceEdu.MirobotPickandPlace"
[[python.module]]
name = "RoadBalanceEdu.ManipURGripper"
[[python.module]]
name = "RoadBalanceEdu.MirobotPickandPlaceROS2"
[[python.module]]
name = "RoadBalanceEdu.SurfaceGripper"
[[python.module]]
name = "RoadBalanceEdu.WheeledRobotLimoDiff"
[[python.module]]
name = "RoadBalanceEdu.WheeledRobotLimoDiffROS2"
[[python.module]]
name = "RoadBalanceEdu.WheeledRobotLimoAckermannROS2"
[[python.module]]
name = "RoadBalanceEdu.WheeledRobotLimoAckermannTwistROS2"
[[python.module]]
name = "RoadBalanceEdu.WheeledRobotsKaya"
[[python.module]]
name = "RoadBalanceEdu.WheeledRobotSummit"
[[python.module]]
name = "RoadBalanceEdu.WheeledRobotSummitO3Wheel"
[[python.module]]
name = "RoadBalanceEdu.WheeledRobotSummitO3WheelROS2"
#[[python.module]]
#name = "RoadBalanceEdu.ReplicatorCubeRandomRotation"
#[[python.module]]
#name = "RoadBalanceEdu.ReplicatorSpamRandomPose"
#[[python.module]]
#name = "RoadBalanceEdu.ReplicatorScatter2D"
#[[python.module]]
#name = "RoadBalanceEdu.ReplicatorBinwithStuffs"
#[[python.module]]
#name = "RoadBalanceEdu.ReplicatorFactory"
#[[python.module]]
#name = "RoadBalanceEdu.ReplicatorFactoryDemo"
# [[python.module]]
# name = "RoadBalanceEdu.ReplicatorFactoryDemoROS2"
[[python.module]]
name = "RoadBalanceEdu.ETRIusbA"
[[python.module]]
name = "RoadBalanceEdu.ETRIcable"
[[python.module]]
name = "RoadBalanceEdu.ETRIUR10"
[[python.module]]
name = "RoadBalanceEdu.ETRIFrankaGripper"
[[python.module]]
name = "RoadBalanceEdu.ETRIUR102F85"
#[[python.module]]
#name = "RoadBalanceEdu.FrankaFollowTarget"
#[[python.module]]
#name = "RoadBalanceEdu.FrankaCabinet"
[[python.module]]
name = "RoadBalanceEdu.LimoDiffROS2"
[[python.module]]
name = "RoadBalanceEdu.LimoAckermannROS2"
[[python.module]]
name = "RoadBalanceEdu.SimpleRobotFollowTarget"
| 3,548 |
TOML
| 19.164773 | 58 | 0.755637 |
kimsooyoung/rb_issac_tutorial/docs/CHANGELOG.md
|
# Changelog
## [0.1.0] - 2024-02-23
### Added
- Initial version of RoadBalanceEdu Extension
| 95 |
Markdown
| 10.999999 | 45 | 0.673684 |
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