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renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/opendog_config/include/hardware_config.h

#ifndef HARDWARE_CONFIG_H #define HARDWARE_CONFIG_H #define USE_SIMULATION_ACTUATOR // #define USE_DYNAMIXEL_ACTUATOR // #define USE_SERVO_ACTUATOR // #define USE_BRUSHLESS_ACTUATOR #define USE_SIMULATION_IMU // #define USE_BNO0809DOF_IMU #define USE_ROS // #define USE_ROS_RF #ifdef USE_ROS_RF #define ELE_PIN 16 #define AIL_PIN 21 #define RUD_PIN 17 #define THR_PIN 20 #define AUX1_PIN 22 #define AUX2_PIN 23 #define RF_INV_LX false #define RF_INV_LY false #define RF_INV_AZ false #define RF_INV_ROLL true #define RF_INV_PITCH false #define RF_INV_YAW false #endif #ifdef USE_DYNAMIXEL_ACTUATOR #define LFH_SERVO_ID 16 #define LFU_SERVO_ID 17 #define LFL_SERVO_ID 18 #define RFH_SERVO_ID 14 #define RFU_SERVO_ID 7 #define RFL_SERVO_ID 4 #define LHH_SERVO_ID 2 #define LHU_SERVO_ID 11 #define LHL_SERVO_ID 12 #define RHH_SERVO_ID 6 #define RHU_SERVO_ID 5 #define RHL_SERVO_ID 8 #define LFH_INV false #define LFU_INV false #define LFL_INV true #define RFH_INV false #define RFU_INV true #define RFL_INV false #define LHH_INV false #define LHU_INV false #define LHL_INV true #define RHH_INV false #define RHU_INV true #define RHL_INV false #endif #ifdef USE_SERVO_ACTUATOR #define LFH_PIN 8 #define LFU_PIN 7 #define LFL_PIN 6 #define RFH_PIN 14 #define RFU_PIN 16 #define RFL_PIN 17 #define LHH_PIN 4 #define LHU_PIN 3 #define LHL_PIN 2 #define RHH_PIN 21 #define RHU_PIN 22 #define RHL_PIN 23 #define LFH_OFFSET 0 #define LFU_OFFSET 0 #define LFL_OFFSET 0 #define RFH_OFFSET 0 #define RFU_OFFSET 0 #define RFL_OFFSET 0 #define LHH_OFFSET 0 #define LHU_OFFSET 0 #define LHL_OFFSET 3 #define RHH_OFFSET 0 #define RHU_OFFSET 0 #define RHL_OFFSET 0 #define LFH_INV false #define LFU_INV false #define LFL_INV false #define RFH_INV false #define RFU_INV true #define RFL_INV true #define LHH_INV true #define LHU_INV false #define LHL_INV false #define RHH_INV true #define RHU_INV true #define RHL_INV true #endif #endif

C

renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/opendog_config/include/gait_config.h

#ifndef GAIT_CONFIG_H #define GAIT_CONFIG_H #define KNEE_ORIENTATION ">>" #define PANTOGRAPH_LEG false #define ODOM_SCALER 1.15 #define MAX_LINEAR_VELOCITY_X 0.5 #define MAX_LINEAR_VELOCITY_Y 0.25 #define MAX_ANGULAR_VELOCITY_Z 1.0 #define COM_X_TRANSLATION -0.05 #define SWING_HEIGHT 0.035 #define STANCE_DEPTH 0.0 #define STANCE_DURATION 0.25 #define NOMINAL_HEIGHT 0.35 #endif

C

renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/opendog_config/config/links/links.yaml

base: base_link left_front: - lf_hip_link - lf_upper_leg_link - lf_lower_leg_link - lf_foot_link right_front: - rf_hip_link - rf_upper_leg_link - rf_lower_leg_link - rf_foot_link left_hind: - lh_hip_link - lh_upper_leg_link - lh_lower_leg_link - lh_foot_link right_hind: - rh_hip_link - rh_upper_leg_link - rh_lower_leg_link - rh_foot_link

YAML

renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/opendog_config/config/ros_control/ros_control.yaml

"": joint_states_controller: type: joint_state_controller/JointStateController publish_rate: 50 joint_group_position_controller: type: effort_controllers/JointTrajectoryController joints: - lf_hip_joint - lf_upper_leg_joint - lf_lower_leg_joint - rf_hip_joint - rf_upper_leg_joint - rf_lower_leg_joint - lh_hip_joint - lh_upper_leg_joint - lh_lower_leg_joint - rh_hip_joint - rh_upper_leg_joint - rh_lower_leg_joint gains: lf_hip_joint : {p: 180, d: 0.9, i: 20} lf_upper_leg_joint : {p: 180, d: 0.9, i: 20} lf_lower_leg_joint : {p: 180, d: 0.9, i: 20} rf_hip_joint : {p: 180, d: 0.9, i: 20} rf_upper_leg_joint : {p: 180, d: 0.9, i: 20} rf_lower_leg_joint : {p: 180, d: 0.9, i: 20} lh_hip_joint : {p: 180, d: 0.9, i: 20} lh_upper_leg_joint : {p: 180, d: 0.9, i: 20} lh_lower_leg_joint : {p: 180, d: 0.9, i: 20} rh_hip_joint : {p: 180, d: 0.9, i: 20} rh_upper_leg_joint : {p: 180, d: 0.9, i: 20} rh_lower_leg_joint : {p: 180, d: 0.9, i: 20}

YAML

renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/opendog_config/config/gait/gait.yaml

knee_orientation : ">>" pantograph_leg : false odom_scaler: 1.0 max_linear_velocity_x : 0.5 max_linear_velocity_y : 0.25 max_angular_velocity_z : 1.0 com_x_translation : -0.05 swing_height : 0.035 stance_depth : 0.0 stance_duration : 0.25 nominal_height : 0.28

YAML

renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/opendog_config/config/joints/joints.yaml

left_front: - lf_hip_joint - lf_upper_leg_joint - lf_lower_leg_joint - lf_foot_joint right_front: - rf_hip_joint - rf_upper_leg_joint - rf_lower_leg_joint - rf_foot_joint left_hind: - lh_hip_joint - lh_upper_leg_joint - lh_lower_leg_joint - lh_foot_joint right_hind: - rh_hip_joint - rh_upper_leg_joint - rh_lower_leg_joint - rh_foot_joint

YAML

renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/opendog_config/config/move_base/costmap_common_params.yaml

obstacle_range: 2.5 raytrace_range: 3.0 footprint: [[-0.25, -0.145], [-0.25, 0.145], [0.25, 0.145], [0.25, -0.145]] transform_tolerance: 0.5 resolution: 0.05 static_map_layer: map_topic: map subscribe_to_updates: true 2d_obstacles_layer: observation_sources: scan scan: {data_type: LaserScan, topic: scan, marking: true, clearing: true} 3d_obstacles_layer: observation_sources: depth depth: {data_type: PointCloud2, topic: camera/depth/points, min_obstacle_height: 0.1, marking: true, clearing: true} inflation_layer: inflation_radius: 2.0

YAML

renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/opendog_config/config/move_base/base_local_planner_holonomic_params.yaml

DWAPlannerROS: #http://wiki.ros.org/dwa_local_planner min_vel_trans: 0.01 max_vel_trans: 0.5 min_vel_x: -0.025 max_vel_x: 0.5 min_vel_y: 0.0 max_vel_y: 0.0 max_vel_rot: 1.0 min_vel_rot: -1.0 acc_lim_trans: 1.7 acc_lim_x: 1.7 acc_lim_y: 0.0 acc_lim_theta: 3 trans_stopped_vel: 0.1 theta_stopped_vel: 0.1 xy_goal_tolerance: 0.25 yaw_goal_tolerance: 0.34 sim_time: 3.5 sim_granularity: 0.1 vx_samples: 20 vy_samples: 0 vth_samples: 40 path_distance_bias: 34.0 goal_distance_bias: 24.0 occdist_scale: 0.05 forward_point_distance: 0.2 stop_time_buffer: 0.5 scaling_speed: 0.25 max_scaling_factor: 0.2 oscillation_reset_dist: 0.05 use_dwa: true prune_plan: false

YAML

renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/opendog_config/config/move_base/move_base_params.yaml

base_global_planner: global_planner/GlobalPlanner base_local_planner: dwa_local_planner/DWAPlannerROS shutdown_costmaps: false controller_frequency: 5.0 controller_patience: 3.0 planner_frequency: 0.5 planner_patience: 5.0 oscillation_timeout: 10.0 oscillation_distance: 0.2 conservative_reset_dist: 0.1

YAML

renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/opendog_config/config/move_base/global_costmap_params.yaml

global_costmap: global_frame: map robot_base_frame: base_footprint update_frequency: 1.0 publish_frequency: 0.5 static_map: true cost_scaling_factor: 10.0 plugins: - {name: static_map_layer, type: "costmap_2d::StaticLayer"} - {name: inflation_layer, type: "costmap_2d::InflationLayer"} - {name: 2d_obstacles_layer, type: "costmap_2d::ObstacleLayer"} - {name: 3d_obstacles_layer, type: "costmap_2d::VoxelLayer"}

YAML

renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/opendog_config/config/move_base/local_costmap_params.yaml

local_costmap: global_frame: odom robot_base_frame: base_footprint update_frequency: 1.0 publish_frequency: 2.0 static_map: false rolling_window: true width: 2.5 height: 2.5 cost_scaling_factor: 5 plugins: - {name: inflation_layer, type: "costmap_2d::InflationLayer"} - {name: 2d_obstacles_layer, type: "costmap_2d::ObstacleLayer"} - {name: 3d_obstacles_layer, type: "costmap_2d::VoxelLayer"}

YAML

renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/spot_config/include/quadruped_description.h

#ifndef QUADRUPED_DESCRIPTION_H #define QUADRUPED_DESCRIPTION_H #include <quadruped_base/quadruped_base.h> namespace champ { namespace URDF { void loadFromHeader(champ::QuadrupedBase &base) { base.lf.hip.setOrigin(0.29785, 0.055, 0.0, 0.0, 0.0, 0.0); base.lf.upper_leg.setOrigin(0.0, 0.110945, -0.0, 0.0, 0.0, 0.0); base.lf.lower_leg.setOrigin(0.025, 0.0, -0.3205, 0.0, 0.0, 0.0); base.lf.foot.setOrigin(0.0, 0.0, -0.37, 0.0, 0.0, 0.0); base.rf.hip.setOrigin(0.29785, -0.055, 0.0, 0.0, 0.0, 0.0); base.rf.upper_leg.setOrigin(0.0, -0.110945, -0.0, 0.0, 0.0, 0.0); base.rf.lower_leg.setOrigin(0.025, 0.0, -0.3205, 0.0, 0.0, 0.0); base.rf.foot.setOrigin(0.0, 0.0, -0.37, 0.0, 0.0, 0.0); base.lh.hip.setOrigin(-0.29785, 0.055, 0.0, 0.0, 0.0, 0.0); base.lh.upper_leg.setOrigin(0.0, 0.110945, -0.0, 0.0, 0.0, 0.0); base.lh.lower_leg.setOrigin(0.025, 0.0, -0.3205, 0.0, 0.0, 0.0); base.lh.foot.setOrigin(0.0, 0.0, -0.37, 0.0, 0.0, 0.0); base.rh.hip.setOrigin(-0.29785, -0.055, 0.0, 0.0, 0.0, 0.0); base.rh.upper_leg.setOrigin(0.0, -0.110945, -0.0, 0.0, 0.0, 0.0); base.rh.lower_leg.setOrigin(0.025, 0.0, -0.3205, 0.0, 0.0, 0.0); base.rh.foot.setOrigin(0.0, 0.0, -0.37, 0.0, 0.0, 0.0); } } } #endif

C

renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/spot_config/config/links/links.yaml

base: body left_front: - front_left_hip - front_left_upper_leg - front_left_lower_leg - front_left_ee right_front: - front_right_hip - front_right_upper_leg - front_right_lower_leg - front_right_ee left_hind: - rear_left_hip - rear_left_upper_leg - rear_left_lower_leg - rear_left_ee right_hind: - rear_right_hip - rear_right_upper_leg - rear_right_lower_leg - rear_right_ee

YAML

renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/spot_config/config/ros_control/ros_control.yaml

"": joint_states_controller: type: joint_state_controller/JointStateController publish_rate: 50 joint_group_position_controller: type: effort_controllers/JointTrajectoryController joints: - front_left_hip_x - front_left_hip_y - front_left_knee - front_right_hip_x - front_right_hip_y - front_right_knee - rear_left_hip_x - rear_left_hip_y - rear_left_knee - rear_right_hip_x - rear_right_hip_y - rear_right_knee gains: front_left_hip_x : {p: 600, i: 0.9, d: 20} front_left_hip_y : {p: 600, i: 0.9, d: 20} front_left_knee : {p: 600, i: 0.9, d: 20} front_right_hip_x : {p: 600, i: 0.9, d: 20} front_right_hip_y : {p: 600, i: 0.9, d: 20} front_right_knee : {p: 600, i: 0.9, d: 20} rear_left_hip_x : {p: 600, i: 0.9, d: 20} rear_left_hip_y : {p: 600, i: 0.9, d: 20} rear_left_knee : {p: 600, i: 0.9, d: 20} rear_right_hip_x : {p: 600, i: 0.9, d: 20} rear_right_hip_y : {p: 600, i: 0.9, d: 20} rear_right_knee : {p: 600, i: 0.9, d: 20}

YAML

renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/spot_config/config/gait/gait.yaml

knee_orientation : ">>" pantograph_leg : false odom_scaler: 1.0 max_linear_velocity_x : 1.5 max_linear_velocity_y : 0.25 max_angular_velocity_z : 1.0 com_x_translation : -0.05 swing_height : 0.06 stance_depth : -0.01 stance_duration : 0.4 nominal_height : 0.48

YAML

renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/spot_config/config/joints/joints.yaml

left_front: - front_left_hip_x - front_left_hip_y - front_left_knee - front_left_foot right_front: - front_right_hip_x - front_right_hip_y - front_right_knee - front_right_foot left_hind: - rear_left_hip_x - rear_left_hip_y - rear_left_knee - rear_left_foot right_hind: - rear_right_hip_x - rear_right_hip_y - rear_right_knee - rear_right_foot

YAML

renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/stochlite_config/include/quadruped_description.h

#ifndef QUADRUPED_DESCRIPTION_H #define QUADRUPED_DESCRIPTION_H #include <quadruped_base/quadruped_base.h> namespace champ { namespace URDF { void loadFromHeader(champ::QuadrupedBase &base) { base.lf.hip.setOrigin(0.16695, 0.0956, -0.0050001, 0.0, 0.0, 0.0); base.lf.upper_leg.setOrigin(0.0, 0.052019, -0.0, 0.0, 0.0, 0.0); base.lf.lower_leg.setOrigin(0.0, 0.023481, -0.146, 0.0, 0.0, 0.0); base.lf.foot.setOrigin(0.0, 0.023481, -0.169, 0.0, 0.0, 0.0); base.rf.hip.setOrigin(0.16695, -0.0964, -0.0049999, 0.0, 0.0, 0.0); base.rf.upper_leg.setOrigin(0.0, -0.052019, -0.0, 0.0, 0.0, 0.0); base.rf.lower_leg.setOrigin(0.0, -0.023481, -0.146, 0.0, 0.0, 0.0); base.rf.foot.setOrigin(0.0, -0.023481, -0.169, 0.0, 0.0, 0.0); base.lh.hip.setOrigin(-0.16695, 0.0956, -0.0049999, 0.0, 0.0, 0.0); base.lh.upper_leg.setOrigin(0.0, 0.052019, -0.0, 0.0, 0.0, 0.0); base.lh.lower_leg.setOrigin(0.0, 0.023481, -0.146, 0.0, 0.0, 0.0); base.lh.foot.setOrigin(0.0, 0.023481, -0.169, 0.0, 0.0, 0.0); base.rh.hip.setOrigin(-0.16695, -0.0964, -0.0050001, 0.0, 0.0, 0.0); base.rh.upper_leg.setOrigin(0.0, -0.052019, -0.0, 0.0, 0.0, 0.0); base.rh.lower_leg.setOrigin(0.0, -0.023481, -0.146, 0.0, 0.0, 0.0); base.rh.foot.setOrigin(0.0, -0.023481, -0.169, 0.0, 0.0, 0.0); } } } #endif

C

renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/stochlite_config/config/links/links.yaml

base: base_link left_front: - fl_abd_link - fl_thigh_link - fl_shank_link - fl_toe_link right_front: - fr_abd_link - fr_thigh_link - fr_shank_link - fr_toe_link left_hind: - bl_abd_link - bl_thigh_link - bl_shank_link - bl_toe_link right_hind: - br_abd_link - br_thigh_link - br_shank_link - br_toe_link

YAML

renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/stochlite_config/config/ros_control/ros_control.yaml

"": joint_states_controller: type: joint_state_controller/JointStateController publish_rate: 50 joint_group_position_controller: type: effort_controllers/JointTrajectoryController joints: - fl_abd_joint - fl_hip_joint - fl_knee_joint - fr_abd_joint - fr_hip_joint - fr_knee_joint - bl_abd_joint - bl_hip_joint - bl_knee_joint - br_abd_joint - br_hip_joint - br_knee_joint # constraints: # goal_time: 0.01 # stopped_velocity_tolerance: 0.01 # stop_trajectory_duration: 0.01 gains: fl_abd_joint : {p: 100, d: 6, i: 0.2} fl_hip_joint : {p: 100, d: 6, i: 0.2} fl_knee_joint : {p: 100, d: 6, i: 0.2} fr_abd_joint : {p: 100, d: 6, i: 0.2} fr_hip_joint : {p: 100, d: 6, i: 0.2} fr_knee_joint : {p: 100, d: 6, i: 0.2} bl_abd_joint : {p: 100, d: 6, i: 0.2} bl_hip_joint : {p: 100, d: 6, i: 0.2} bl_knee_joint : {p: 100, d: 6, i: 0.2} br_abd_joint : {p: 100, d: 6, i: 0.2} br_hip_joint : {p: 100, d: 6, i: 0.2} br_knee_joint : {p: 100, d: 6, i: 0.2}

YAML

renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/stochlite_config/config/gait/gait.yaml

knee_orientation : "><" pantograph_leg : false odom_scaler: 1.0 max_linear_velocity_x : 0.4 max_linear_velocity_y : 0.25 max_angular_velocity_z : 1.0 com_x_translation : 0.0 swing_height : 0.04 stance_depth : 0.0 stance_duration : 0.25 nominal_height : 0.23

YAML

renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/stochlite_config/config/joints/joints.yaml

left_front: - fl_abd_joint - fl_hip_joint - fl_knee_joint - fl_toe_joint right_front: - fr_abd_joint - fr_hip_joint - fr_knee_joint - fr_toe_joint left_hind: - bl_abd_joint - bl_hip_joint - bl_knee_joint - bl_toe_joint right_hind: - br_abd_joint - br_hip_joint - br_knee_joint - br_toe_joint

YAML

renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/dream_walker_config/include/quadruped_description.h

#ifndef QUADRUPED_DESCRIPTION_H #define QUADRUPED_DESCRIPTION_H #include <quadruped_base/quadruped_base.h> namespace champ { namespace URDF { void loadFromHeader(champ::QuadrupedBase &base) { base.lf.hip.setOrigin(0.4585, 0.083, 0.0, 0.0, 0.0, 0.0); base.lf.upper_leg.setOrigin(0.0, 0.203, -0.0, 0.0, 0.0, 0.0); base.lf.lower_leg.setOrigin(0.0, 0.075, -0.32, 0.0, 0.0, 0.0); base.lf.foot.setOrigin(0.0, 0.0, -0.44, 0.0, 0.0, 0.0); base.rf.hip.setOrigin(0.4585, -0.083, 0.0, 0.0, 0.0, 0.0); base.rf.upper_leg.setOrigin(0.0, -0.203, -0.0, 0.0, 0.0, 0.0); base.rf.lower_leg.setOrigin(0.0, -0.075, -0.32, 0.0, 0.0, 0.0); base.rf.foot.setOrigin(0.0, 0.0, -0.44, 0.0, 0.0, 0.0); base.lh.hip.setOrigin(-0.4585, 0.083, 0.0, 0.0, 0.0, 0.0); base.lh.upper_leg.setOrigin(0.0, 0.203, -0.0, 0.0, 0.0, 0.0); base.lh.lower_leg.setOrigin(0.0, 0.075, -0.32, 0.0, 0.0, 0.0); base.lh.foot.setOrigin(0.0, 0.0, -0.44, 0.0, 0.0, 0.0); base.rh.hip.setOrigin(-0.4585, -0.083, 0.0, 0.0, 0.0, 0.0); base.rh.upper_leg.setOrigin(0.0, -0.203, -0.0, 0.0, 0.0, 0.0); base.rh.lower_leg.setOrigin(0.0, -0.075, -0.32, 0.0, 0.0, 0.0); base.rh.foot.setOrigin(0.0, 0.0, -0.44, 0.0, 0.0, 0.0); } } } #endif

C

renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/dream_walker_config/config/links/links.yaml

base: base_link left_front: - B1_Link - B2_Link - B3_Link - B4_Link right_front: - A1_Link - A2_Link - A3_Link - A4_Link left_hind: - D1_Link - D2_Link - D3_Link - D4_Link right_hind: - C1_Link - C2_Link - C3_Link - C4_Link

YAML

renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/dream_walker_config/config/ros_control/ros_control.yaml

"": joint_states_controller: type: joint_state_controller/JointStateController publish_rate: 50 joint_group_position_controller: type: effort_controllers/JointTrajectoryController joints: - B1_joint - B2_joint - B3_joint - A1_joint - A2_joint - A3_joint - D1_joint - D2_joint - D3_joint - C1_joint - C2_joint - C3_joint gains: B1_joint : {p: 180, d: 0.9, i: 20} B2_joint : {p: 180, d: 0.9, i: 20} B3_joint : {p: 180, d: 0.9, i: 20} A1_joint : {p: 180, d: 0.9, i: 20} A2_joint : {p: 180, d: 0.9, i: 20} A3_joint : {p: 180, d: 0.9, i: 20} D1_joint : {p: 180, d: 0.9, i: 20} D2_joint : {p: 180, d: 0.9, i: 20} D3_joint : {p: 180, d: 0.9, i: 20} C1_joint : {p: 180, d: 0.9, i: 20} C2_joint : {p: 180, d: 0.9, i: 20} C3_joint : {p: 180, d: 0.9, i: 20}

YAML

renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/dream_walker_config/config/joints/joints.yaml

left_front: - B1_joint - B2_joint - B3_joint - B4_joint right_front: - A1_joint - A2_joint - A3_joint - A4_joint left_hind: - D1_joint - D2_joint - D3_joint - D4_joint right_hind: - C1_joint - C2_joint - C3_joint - C4_joint

YAML

renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/mini_cheetah_config/config/links/links.yaml

base: trunk left_front: - FL_hip - FL_thigh - FL_calf - FL_foot right_front: - FR_hip - FR_thigh - FR_calf - FR_foot left_hind: - RL_hip - RL_thigh - RL_calf - RL_foot right_hind: - RR_hip - RR_thigh - RR_calf - RR_foot

YAML

renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/mini_cheetah_config/config/gait/gait.yaml

knee_orientation : ">>" pantograph_leg : false odom_scaler: 0.9 max_linear_velocity_x : 0.5 max_linear_velocity_y : 0.25 max_angular_velocity_z : 1.0 com_x_translation : 0.0 swing_height : 0.05 stance_depth : 0.0 stance_duration : 0.3 nominal_height : 0.3

YAML

renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/mini_cheetah_config/config/joints/joints.yaml

left_front: - FL_hip_joint - FL_thigh_joint - FL_calf_joint - FL_foot_fixed right_front: - FR_hip_joint - FR_thigh_joint - FR_calf_joint - FR_foot_fixed left_hind: - RL_hip_joint - RL_thigh_joint - RL_calf_joint - RL_foot_fixed right_hind: - RR_hip_joint - RR_thigh_joint - RR_calf_joint - RR_foot_fixed

YAML

renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/aliengo_config/config/gait/gait.yaml

knee_orientation : ">>" pantograph_leg : false odom_scaler: 0.9 max_linear_velocity_x : 1.5 max_linear_velocity_y : 0.25 max_angular_velocity_z : 1.0 com_x_translation : -0.05 swing_height : 0.06 stance_depth : 0.0 stance_duration : 0.4 nominal_height : 0.35

YAML

renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/stanford_pupper_config/include/quadruped_description.h

#ifndef QUADRUPED_DESCRIPTION_H #define QUADRUPED_DESCRIPTION_H #include <quadruped_base/quadruped_base.h> namespace champ { namespace URDF { void loadFromHeader(champ::QuadrupedBase &base) { base.lf.hip.setOrigin(0.0705, 0.04, 0.02425, 0.0, 0.0, 0.0); base.lf.upper_leg.setOrigin(0.02735, 0.029523, -0.0012724, 0.0, 0.0, -1.5708); base.lf.lower_leg.setOrigin(-0.00516, -0.10458, -0.065536, -0.043072, 0.0, 1.5708); base.lf.foot.setOrigin(0.097, -0.0055, -0.064, 0.0, 0.0, 0.0); base.rf.hip.setOrigin(0.0705, -0.04, 0.02425, 0.0, 0.0, 0.0); base.rf.upper_leg.setOrigin(0.02735, -0.029523, -0.0012724, 0.0, 0.0, -1.5708); base.rf.lower_leg.setOrigin(0.00516, -0.10458, -0.065536, -0.043072, 0.0, 1.5708); base.rf.foot.setOrigin(0.097, 0.0054, -0.064, 0.0, 0.0, 0.0); base.lh.hip.setOrigin(-0.1299, 0.04, 0.02425, 0.0, 0.0, 0.0); base.lh.upper_leg.setOrigin(0.02775, 0.029523, -0.0012724, 0.0, 0.0, -1.5708); base.lh.lower_leg.setOrigin(-0.0054498, -0.10458, -0.065524, -0.043072, 0.0, 1.5708); base.lh.foot.setOrigin(0.097, -0.0055, -0.064, 0.0, 0.0, 0.0); base.rh.hip.setOrigin(-0.0705, -0.04, 0.02425, 0.0, 0.0, 0.0); base.rh.upper_leg.setOrigin(-0.17265, -0.029523, -0.0012724, 0.0, 0.0, -1.5708); base.rh.lower_leg.setOrigin(0.0054098, -0.10458, -0.065525, -0.043072, 0.0, 1.5708); base.rh.foot.setOrigin(0.097, 0.0054, -0.064, 0.0, 0.0, 0.0); } } } #endif

C

renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/stanford_pupper_config/config/links/links.yaml

base: base_link left_front: - LF_HIP - LF_THIGH - LF_THIGH_FOOT - LF_TOE right_front: - RF_HIP - RF_THIGH - RF_THIGH_FOOT - RF_TOE left_hind: - LH_HIP - LH_THIGH - LH_THIGH_FOOT - LH_TOE right_hind: - RH_HIP - RH_THIGH - RH_THIGH_FOOT - RH_TOE

YAML

renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/stanford_pupper_config/config/ros_control/ros_control.yaml

"": joint_states_controller: type: joint_state_controller/JointStateController publish_rate: 50 joint_group_position_controller: type: effort_controllers/JointTrajectoryController joints: - LF_HIP_JOINT - LF_THIGH_JOINT - LF_THIGH_FOOT_JOINT - RF_HIP_JOINT - RF_THIGH_JOINT - RF_THIGH_FOOT_JOINT - LH_HIP_JOINT - LH_THIGH_JOINT - LH_THIGH_FOOT_JOINT - RH_HIP_JOINT - RH_THIGH_JOINT - RH_THIGH_FOOT_JOINT gains: LF_HIP_JOINT : {p: 100, d: 0.00000001, i: 0.5} LF_THIGH_JOINT : {p: 50, d: 0.0000001, i: 0.2} LF_THIGH_FOOT_JOINT : {p: 10, d: 0.00000001, i: 0.1} RF_HIP_JOINT : {p: 100, d: 0.00000001, i: 0.5} RF_THIGH_JOINT : {p: 50, d: 0.0000001, i: 0.2} RF_THIGH_FOOT_JOINT : {p: 10, d: 0.00000001, i: 0.1} LH_HIP_JOINT : {p: 100, d: 0.00000001, i: 0.5} LH_THIGH_JOINT : {p: 50, d: 0.0000001, i: 0.2} LH_THIGH_FOOT_JOINT : {p: 10, d: 0.00000001, i: 0.1} RH_HIP_JOINT : {p: 100, d: 0.00000001, i: 0.5} RH_THIGH_JOINT : {p: 50, d: 0.0000001, i: 0.2} RH_THIGH_FOOT_JOINT : {p: 10, d: 0.00000001, i: 0.1}

YAML

renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/stanford_pupper_config/config/gait/gait.yaml

knee_orientation : ">>" pantograph_leg : false odom_scaler: 1.0 max_linear_velocity_x : 0.25 max_linear_velocity_y : 0.125 max_angular_velocity_z : 1.0 com_x_translation : 0.0 swing_height : 0.01 stance_depth : 0.0 stance_duration : 0.25 nominal_height : 0.15

YAML

renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/stanford_pupper_config/config/joints/joints.yaml

left_front: - LF_HIP_JOINT - LF_THIGH_JOINT - LF_THIGH_FOOT_JOINT - LF_TOE_JOINT right_front: - RF_HIP_JOINT - RF_THIGH_JOINT - RF_THIGH_FOOT_JOINT - RF_TOE_JOINT left_hind: - LH_HIP_JOINT - LH_THIGH_JOINT - LH_THIGH_FOOT_JOINT - LH_TOE_JOINT right_hind: - RH_HIP_JOINT - RH_THIGH_JOINT - RH_THIGH_FOOT_JOINT - RH_TOE_JOINT

YAML

renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/mini_pupper_config/include/quadruped_description.h

#ifndef QUADRUPED_DESCRIPTION_H #define QUADRUPED_DESCRIPTION_H #include <quadruped_base/quadruped_base.h> namespace champ { namespace URDF { void loadFromHeader(champ::QuadrupedBase &base) { base.lf.hip.setOrigin(0.06014, 0.0235, 0.0171, 0.0, 0.0, 0.0); base.lf.upper_leg.setOrigin(0.0, 0.0197, -0.0, 0.0, 0.0, 0.0); base.lf.lower_leg.setOrigin(0.0, 0.00475, -0.05, 0.0, 0.0, 0.0); base.lf.foot.setOrigin(0.0, 0.0, -0.056, 0.0, 0.0, 0.0); base.rf.hip.setOrigin(0.06014, -0.0235, 0.0171, 0.0, 0.0, 0.0); base.rf.upper_leg.setOrigin(0.0, -0.0197, -0.0, 0.0, 0.0, 0.0); base.rf.lower_leg.setOrigin(0.0, -0.00475, -0.05, 0.0, 0.0, 0.0); base.rf.foot.setOrigin(0.0, 0.0, -0.056, 0.0, 0.0, 0.0); base.lh.hip.setOrigin(-0.05886, 0.0235, 0.0171, 0.0, 0.0, 0.0); base.lh.upper_leg.setOrigin(0.0, 0.0197, -0.0, 0.0, 0.0, 0.0); base.lh.lower_leg.setOrigin(0.0, 0.00475, -0.05, 0.0, 0.0, 0.0); base.lh.foot.setOrigin(0.0, 0.0, -0.056, 0.0, 0.0, 0.0); base.rh.hip.setOrigin(-0.05886, -0.0235, 0.0171, 0.0, 0.0, 0.0); base.rh.upper_leg.setOrigin(0.0, -0.0197, -0.0, 0.0, 0.0, 0.0); base.rh.lower_leg.setOrigin(0.0, -0.00475, -0.05, 0.0, 0.0, 0.0); base.rh.foot.setOrigin(0.0, 0.0, -0.056, 0.0, 0.0, 0.0); } } } #endif

C

renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/mini_pupper_config/include/gait_config.h

#ifndef GAIT_CONFIG_H #define GAIT_CONFIG_H #define KNEE_ORIENTATION ">>" #define PANTOGRAPH_LEG false #define ODOM_SCALER 1.0 #define MAX_LINEAR_VELOCITY_X 0.2 #define MAX_LINEAR_VELOCITY_Y 0.1 #define MAX_ANGULAR_VELOCITY_Z 0.45 #define COM_X_TRANSLATION 0.0 #define SWING_HEIGHT 0.008 #define STANCE_DEPTH 0.0 #define STANCE_DURATION 0.25 #define NOMINAL_HEIGHT 0.045 #endif

C

renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/mini_pupper_config/config/gait/gait.yaml

knee_orientation : ">>" pantograph_leg : false odom_scaler: 1.0 max_linear_velocity_x : 0.2 max_linear_velocity_y : 0.1 max_angular_velocity_z : 0.45 com_x_translation : 0.0 swing_height : 0.008 stance_depth : 0.0 stance_duration : 0.25 nominal_height : 0.045

YAML

renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/dkitty_config/include/quadruped_description.h

#ifndef QUADRUPED_DESCRIPTION_H #define QUADRUPED_DESCRIPTION_H #include <quadruped_base/quadruped_base.h> namespace champ { namespace URDF { void loadFromHeader(champ::QuadrupedBase &base) { base.lf.hip.setOrigin(0.1212, 0.0903, 0.0, 0.0, 0.0, 0.0); base.lf.upper_leg.setOrigin(0.0, 0.0, -0.0955, 0.0, 0.0, 0.0); base.lf.lower_leg.setOrigin(0.0, 0.0, -0.0955, 0.0, 0.0, 0.0); base.lf.foot.setOrigin(0.0, 0.0, -0.10885, 0.0, 0.0, 0.0); base.rf.hip.setOrigin(0.1212, -0.0903, 0.0, 0.0, 0.0, 0.0); base.rf.upper_leg.setOrigin(0.0, 0.0, -0.0955, 0.0, 0.0, 0.0); base.rf.lower_leg.setOrigin(0.0, 0.0, -0.0955, 0.0, 0.0, 0.0); base.rf.foot.setOrigin(0.0, 0.0, -0.10885, 0.0, 0.0, 0.0); base.lh.hip.setOrigin(-0.1212, 0.0903, 0.0, 0.0, 0.0, 0.0); base.lh.upper_leg.setOrigin(0.0, 0.0, -0.0955, 0.0, 0.0, 0.0); base.lh.lower_leg.setOrigin(0.0, 0.0, -0.0955, 0.0, 0.0, 0.0); base.lh.foot.setOrigin(0.0, 0.0, -0.10885, 0.0, 0.0, 0.0); base.rh.hip.setOrigin(-0.1212, -0.0903, 0.0, 0.0, 0.0, 0.0); base.rh.upper_leg.setOrigin(0.0, 0.0, -0.0955, 0.0, 0.0, 0.0); base.rh.lower_leg.setOrigin(0.0, 0.0, -0.0955, 0.0, 0.0, 0.0); base.rh.foot.setOrigin(0.0, 0.0, -0.10885, 0.0, 0.0, 0.0); } } } #endif

C

renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/dkitty_config/config/links/links.yaml

base: base_link left_front: - lf_hip_adapter_link - lf_upper_leg_adapter_link - lf_lower_leg_adapter_link - lf_foot_link right_front: - rf_hip_adapter_link - rf_upper_leg_adapter_link - rf_lower_leg_adapter_link - rf_foot_link left_hind: - lh_hip_adapter_link - lh_upper_leg_adapter_link - lh_lower_leg_adapter_link - lh_foot_link right_hind: - rh_hip_adapter_link - rh_upper_leg_adapter_link - rh_lower_leg_adapter_link - rh_foot_link

YAML

renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/dkitty_config/config/ros_control/ros_control.yaml

"": joint_states_controller: type: joint_state_controller/JointStateController publish_rate: 50 joint_group_position_controller: type: effort_controllers/JointTrajectoryController joints: - lf_hip_adapter_joint - lf_upper_leg_adapter_joint - lf_lower_leg_adapter_joint - rf_hip_adapter_joint - rf_upper_leg_adapter_joint - rf_lower_leg_adapter_joint - lh_hip_adapter_joint - lh_upper_leg_adapter_joint - lh_lower_leg_adapter_joint - rh_hip_adapter_joint - rh_upper_leg_adapter_joint - rh_lower_leg_adapter_joint gains: lf_hip_adapter_joint : {p: 180, d: 0.9, i: 20} lf_upper_leg_adapter_joint : {p: 180, d: 0.9, i: 20} lf_lower_leg_adapter_joint : {p: 180, d: 0.9, i: 20} rf_hip_adapter_joint : {p: 180, d: 0.9, i: 20} rf_upper_leg_adapter_joint : {p: 180, d: 0.9, i: 20} rf_lower_leg_adapter_joint : {p: 180, d: 0.9, i: 20} lh_hip_adapter_joint : {p: 180, d: 0.9, i: 20} lh_upper_leg_adapter_joint : {p: 180, d: 0.9, i: 20} lh_lower_leg_adapter_joint : {p: 180, d: 0.9, i: 20} rh_hip_adapter_joint : {p: 180, d: 0.9, i: 20} rh_upper_leg_adapter_joint : {p: 180, d: 0.9, i: 20} rh_lower_leg_adapter_joint : {p: 180, d: 0.9, i: 20}

YAML

renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/dkitty_config/config/joints/joints.yaml

left_front: - lf_hip_adapter_joint - lf_upper_leg_adapter_joint - lf_lower_leg_adapter_joint - lf_foot_joint right_front: - rf_hip_adapter_joint - rf_upper_leg_adapter_joint - rf_lower_leg_adapter_joint - rf_foot_joint left_hind: - lh_hip_adapter_joint - lh_upper_leg_adapter_joint - lh_lower_leg_adapter_joint - lh_foot_joint right_hind: - rh_hip_adapter_joint - rh_upper_leg_adapter_joint - rh_lower_leg_adapter_joint - rh_foot_joint

YAML

renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/bruno_config/include/quadruped_description.h

#ifndef QUADRUPED_DESCRIPTION_H #define QUADRUPED_DESCRIPTION_H #include <quadruped_base/quadruped_base.h> namespace champ { namespace URDF { void loadFromHeader(champ::QuadrupedBase &base) { base.lf.hip.setOrigin(0.1425, 0.04, 0.0, 0.0, 0.0, 0.0); base.lf.upper_leg.setOrigin(0.0, 0.05, -0.04, 0.0, 0.0, 0.0); base.lf.lower_leg.setOrigin(0.015, 0.0, -0.148, 0.0, 0.0, 0.0); base.lf.foot.setOrigin(-0.0225, 0.0, -0.15, 0.0, 0.0, 0.0); base.rf.hip.setOrigin(0.1425, -0.04, 0.0, 0.0, 0.0, 0.0); base.rf.upper_leg.setOrigin(0.0, -0.05, -0.04, 0.0, 0.0, 0.0); base.rf.lower_leg.setOrigin(0.015, 0.0, -0.148, 0.0, 0.0, 0.0); base.rf.foot.setOrigin(-0.0225, 0.0, -0.15, 0.0, 0.0, 0.0); base.lh.hip.setOrigin(-0.1425, 0.04, 0.0, 0.0, 0.0, 0.0); base.lh.upper_leg.setOrigin(0.0, 0.05, -0.04, 0.0, 0.0, 0.0); base.lh.lower_leg.setOrigin(0.015, 0.0, -0.148, 0.0, 0.0, 0.0); base.lh.foot.setOrigin(-0.0225, 0.0, -0.15, 0.0, 0.0, 0.0); base.rh.hip.setOrigin(-0.1425, -0.04, 0.0, 0.0, 0.0, 0.0); base.rh.upper_leg.setOrigin(0.0, -0.05, -0.04, 0.0, 0.0, 0.0); base.rh.lower_leg.setOrigin(0.015, 0.0, -0.148, 0.0, 0.0, 0.0); base.rh.foot.setOrigin(-0.0225, 0.0, -0.15, 0.0, 0.0, 0.0); } } } #endif

C

renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/a1_config/config/move_base/move_base_params.yaml

base_global_planner: global_planner/GlobalPlanner base_local_planner: dwa_local_planner/DWAPlannerROS shutdown_costmaps: false controller_frequency: 10.0 #5 controller_patience: 3.0 planner_frequency: 0.5 planner_patience: 5.0 oscillation_timeout: 10.0 oscillation_distance: 0.2 conservative_reset_dist: 0.1

YAML

renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/open_quadruped_config/include/quadruped_description.h

#ifndef QUADRUPED_DESCRIPTION_H #define QUADRUPED_DESCRIPTION_H #include <quadruped_base/quadruped_base.h> namespace champ { namespace URDF { void loadFromHeader(champ::QuadrupedBase &base) { base.lf.hip.setOrigin(0.0915, 0.0394, 0.022, 0.0, 0.0, 0.0); base.lf.upper_leg.setOrigin(0.0015, 0.045, -0.0087, 0.0, 0.0, 0.0); base.lf.lower_leg.setOrigin(-0.005, 0.018, -0.109, 0.0, 0.0, 0.0); base.lf.foot.setOrigin(0.0, 0.0, -0.1265, 0.0, 0.0, 0.0); base.rf.hip.setOrigin(0.0915, -0.0394, 0.022, 0.0, 0.0, 0.0); base.rf.upper_leg.setOrigin(0.0015, -0.045, -0.0087, 0.0, 0.0, 0.0); base.rf.lower_leg.setOrigin(-0.005, -0.018, -0.109, 0.0, 0.0, 0.0); base.rf.foot.setOrigin(0.0, 0.0, -0.1265, 0.0, 0.0, 0.0); base.lh.hip.setOrigin(-0.1365, 0.0394, 0.022, 0.0, 0.0, 0.0); base.lh.upper_leg.setOrigin(0.0015, 0.045, -0.0087, 0.0, 0.0, 0.0); base.lh.lower_leg.setOrigin(-0.005, 0.018, -0.109, 0.0, 0.0, 0.0); base.lh.foot.setOrigin(0.0, 0.0, -0.1265, 0.0, 0.0, 0.0); base.rh.hip.setOrigin(-0.1365, -0.0394, 0.022, 0.0, 0.0, 0.0); base.rh.upper_leg.setOrigin(0.0015, -0.045, -0.0087, 0.0, 0.0, 0.0); base.rh.lower_leg.setOrigin(-0.005, -0.018, -0.109, 0.0, 0.0, 0.0); base.rh.foot.setOrigin(0.0, 0.0, -0.1265, 0.0, 0.0, 0.0); } } } #endif

C

renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/open_quadruped_config/include/gait_config.h

#ifndef GAIT_CONFIG_H #define GAIT_CONFIG_H #define KNEE_ORIENTATION ">>" #define PANTOGRAPH_LEG false #define ODOM_SCALER 1.15 #define MAX_LINEAR_VELOCITY_X 0.3 #define MAX_LINEAR_VELOCITY_Y 0.15 #define MAX_ANGULAR_VELOCITY_Z 1.0 #define COM_X_TRANSLATION -0.03 #define SWING_HEIGHT 0.02 #define STANCE_DEPTH 0.0 #define STANCE_DURATION 0.25 #define NOMINAL_HEIGHT 0.15 #endif

C

renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/open_quadruped_config/config/links/links.yaml

base: base_link left_front: - front_left_hip - front_left_upper_leg - front_left_lower_leg - front_left_foot right_front: - front_right_hip - front_right_upper_leg - front_right_lower_leg - front_right_foot left_hind: - back_left_hip - back_left_upper_leg - back_left_lower_leg - back_left_foot right_hind: - back_right_hip - back_right_upper_leg - back_right_lower_leg - back_right_foot

YAML

renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/open_quadruped_config/config/gait/gait.yaml

knee_orientation : ">>" pantograph_leg : false odom_scaler: 1.15 max_linear_velocity_x : 0.3 max_linear_velocity_y : 0.15 max_angular_velocity_z : 1.0 com_x_translation : -0.03 swing_height : 0.02 stance_depth : 0.0 stance_duration : 0.25 nominal_height : 0.15

YAML

renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/open_quadruped_config/config/joints/joints.yaml

left_front: - motor_front_left_hip - motor_front_left_upper_leg - motor_front_left_lower_leg - front_left_leg_foot right_front: - motor_front_right_hip - motor_front_right_upper_leg - motor_front_right_lower_leg - front_right_leg_foot left_hind: - motor_back_left_hip - motor_back_left_upper_leg - motor_back_left_lower_leg - back_left_leg_foot right_hind: - motor_back_right_hip - motor_back_right_upper_leg - motor_back_right_lower_leg - back_right_leg_foot

YAML

renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/go1_config/include/quadruped_description.h

#ifndef QUADRUPED_DESCRIPTION_H #define QUADRUPED_DESCRIPTION_H #include <quadruped_base/quadruped_base.h> namespace champ { namespace URDF { void loadFromHeader(champ::QuadrupedBase &base) { base.lf.hip.setOrigin(0.1881, 0.04675, 0.0, 0.0, 0.0, 0.0); base.lf.upper_leg.setOrigin(0.0, 0.08, -0.0, 0.0, 0.0, 0.0); base.lf.lower_leg.setOrigin(0.0, 0.0, -0.213, 0.0, 0.0, 0.0); base.lf.foot.setOrigin(0.0, 0.0, -0.213, 0.0, 0.0, 0.0); base.rf.hip.setOrigin(0.1881, -0.04675, 0.0, 0.0, 0.0, 0.0); base.rf.upper_leg.setOrigin(0.0, -0.08, -0.0, 0.0, 0.0, 0.0); base.rf.lower_leg.setOrigin(0.0, 0.0, -0.213, 0.0, 0.0, 0.0); base.rf.foot.setOrigin(0.0, 0.0, -0.213, 0.0, 0.0, 0.0); base.lh.hip.setOrigin(-0.1881, 0.04675, 0.0, 0.0, 0.0, 0.0); base.lh.upper_leg.setOrigin(0.0, 0.08, -0.0, 0.0, 0.0, 0.0); base.lh.lower_leg.setOrigin(0.0, 0.0, -0.213, 0.0, 0.0, 0.0); base.lh.foot.setOrigin(0.0, 0.0, -0.213, 0.0, 0.0, 0.0); base.rh.hip.setOrigin(-0.1881, -0.04675, 0.0, 0.0, 0.0, 0.0); base.rh.upper_leg.setOrigin(0.0, -0.08, -0.0, 0.0, 0.0, 0.0); base.rh.lower_leg.setOrigin(0.0, 0.0, -0.213, 0.0, 0.0, 0.0); base.rh.foot.setOrigin(0.0, 0.0, -0.213, 0.0, 0.0, 0.0); } } } #endif

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renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/astro_config/maps/octomap.yaml

image: octomap.pgm resolution: 0.050000 origin: [-7.500000, -14.400000, 0.0] negate: 0 occupied_thresh: 0.65 free_thresh: 0.196

YAML

renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/astro_config/include/quadruped_description.h

#ifndef QUADRUPED_DESCRIPTION_H #define QUADRUPED_DESCRIPTION_H #include <quadruped_base/quadruped_base.h> namespace champ { namespace URDF { void loadFromHeader(champ::QuadrupedBase &base) { base.lf.hip.setOrigin(0.117, 0.0415, 0, 0, 0, 0); base.lf.upper_leg.setOrigin(0, 0.05, -0.031, 0, 0, 0); base.lf.lower_leg.setOrigin(0.0, 0, -0.078, 0, 0, 0); base.lf.foot.setOrigin(0, 0, -0.108, 0, 0, 0); base.rf.hip.setOrigin(0.117, -0.0415, 0, 0, 0, 0); base.rf.upper_leg.setOrigin(0, -0.05, -0.031, 0, 0, 0); base.rf.lower_leg.setOrigin(0.0, 0, -0.078, 0, 0, 0); base.rf.foot.setOrigin(0, 0, -0.108, 0, 0, 0); base.lh.hip.setOrigin(-0.117, 0.0415, 0, 0, 0, 0); base.lh.upper_leg.setOrigin(0, 0.05, -0.031, 0, 0, 0); base.lh.lower_leg.setOrigin(0.0, 0, -0.078, 0, 0, 0); base.lh.foot.setOrigin(0, 0, -0.108, 0, 0, 0); base.rh.hip.setOrigin(-0.117, -0.0415, 0, 0, 0, 0); base.rh.upper_leg.setOrigin(0, -0.05, -0.031, 0, 0, 0); base.rh.lower_leg.setOrigin(0, 0, -0.078, 0, 0, 0); base.rh.foot.setOrigin(0, 0, -0.108, 0, 0, 0); } } } #endif

C

renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/astro_config/include/hardware_config.h

#ifndef HARDWARE_CONFIG_H #define HARDWARE_CONFIG_H // #define USE_SIMULATION_ACTUATOR #define USE_DYNAMIXEL_ACTUATOR // #define USE_SERVO_ACTUATOR // #define USE_BRUSHLESS_ACTUATOR // #define USE_SIMULATION_IMU #define USE_BNO0809DOF_IMU // #define USE_ROS #define USE_ROS_RF #ifdef USE_ROS_RF #define ELE_PIN 16 #define AIL_PIN 21 #define RUD_PIN 17 #define THR_PIN 20 #define AUX1_PIN 22 #define AUX2_PIN 23 #define RF_INV_LX false #define RF_INV_LY false #define RF_INV_AZ false #define RF_INV_ROLL true #define RF_INV_PITCH false #define RF_INV_YAW false #endif #ifdef USE_DYNAMIXEL_ACTUATOR #define LFH_SERVO_ID 16 #define LFU_SERVO_ID 17 #define LFL_SERVO_ID 18 #define RFH_SERVO_ID 14 #define RFU_SERVO_ID 7 #define RFL_SERVO_ID 4 #define LHH_SERVO_ID 2 #define LHU_SERVO_ID 11 #define LHL_SERVO_ID 12 #define RHH_SERVO_ID 6 #define RHU_SERVO_ID 5 #define RHL_SERVO_ID 8 #define LFH_INV false #define LFU_INV false #define LFL_INV true #define RFH_INV false #define RFU_INV true #define RFL_INV false #define LHH_INV false #define LHU_INV false #define LHL_INV true #define RHH_INV false #define RHU_INV true #define RHL_INV false #endif #ifdef USE_SERVO_ACTUATOR #define LFH_PIN 2 #define LFU_PIN 3 #define LFL_PIN 4 #define RFH_PIN 23 #define RFU_PIN 22 #define RFL_PIN 21 #define LHH_PIN 6 #define LHU_PIN 7 #define LHL_PIN 8 #define RHH_PIN 17 #define RHU_PIN 16 #define RHL_PIN 14 #define LFH_INV false #define LFU_INV false #define LFL_INV true #define RFH_INV false #define RFU_INV true #define RFL_INV false #define LHH_INV false #define LHU_INV false #define LHL_INV true #define RHH_INV false #define RHU_INV true #define RHL_INV false #endif #endif

C

renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/astro_config/include/gait_config.h

#ifndef GAIT_CONFIG_H #define GAIT_CONFIG_H #define KNEE_ORIENTATION "><" #define PANTOGRAPH_LEG false #define MAX_LINEAR_VELOCITY_X 0.20 #define MAX_LINEAR_VELOCITY_Y 0.10 #define MAX_ANGULAR_VELOCITY_Z 0.5 #define SWING_HEIGHT 0.010 #define STANCE_DEPTH 0.002 #define STANCE_DURATION 0.275 #define NOMINAL_HEIGHT 0.145 #endif

C

renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/astro_config/config/gait/gait.yaml

knee_orientation : "><" pantograph_leg : false max_linear_velocity_x : 0.20 max_linear_velocity_y : 0.10 max_angular_velocity_z : 0.5 swing_height : 0.010 stance_depth : 0.002 stance_duration : 0.275 nominal_height : 0.145

YAML

renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/astro_config/config/joints/joints.yaml

left_front: - lf_hip_joint - lf_upper_leg_joint - lf_lower_leg_joint right_front: - rf_hip_joint - rf_upper_leg_joint - rf_lower_leg_joint left_hind: - lh_hip_joint - lh_upper_leg_joint - lh_lower_leg_joint right_hind: - rh_hip_joint - rh_upper_leg_joint - rh_lower_leg_joint

YAML

renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/astro_config/config/navigation/costmap_common_params.yaml

obstacle_range: 2.5 raytrace_range: 3.0 footprint: [[-0.16, -0.12], [-0.16, 0.12], [0.16, 0.12], [0.16, -0.12]] inflation_radius: 0.55 transform_tolerance: 0.5 observation_sources: scan scan: data_type: LaserScan topic: scan marking: true clearing: true map_type: costmap

YAML

renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/astro_config/config/navigation/base_local_planner_holonomic_params.yaml

DWAPlannerROS: max_trans_vel: 0.2 min_trans_vel: 0.01 max_vel_x: 0.2 min_vel_x: -0.025 max_vel_y: 0.2 min_vel_y: -0.025 max_rot_vel: 0.5 min_rot_vel: -0.5 acc_lim_x: 0.5 acc_lim_y: 0.5 acc_lim_theta: 1.0 acc_lim_trans: 0.5 prune_plan: false xy_goal_tolerance: 0.25 yaw_goal_tolerance: 0.1 trans_stopped_vel: 0.1 rot_stopped_vel: 0.1 sim_time: 3.0 sim_granularity: 0.1 angular_sim_granularity: 0.1 path_distance_bias: 34.0 goal_distance_bias: 24.0 occdist_scale: 0.05 twirling_scale: 0.0 stop_time_buffer: 0.5 oscillation_reset_dist: 0.05 oscillation_reset_angle: 0.2 forward_point_distance: 0.3 scaling_speed: 0.25 max_scaling_factor: 0.2 vx_samples: 20 vy_samples: 0 vth_samples: 40 use_dwa: true restore_defaults: true

YAML

renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/astro_config/config/navigation/move_base_params.yaml

base_global_planner: global_planner/GlobalPlanner base_local_planner: dwa_local_planner/DWAPlannerROS shutdown_costmaps: false controller_frequency: 5.0 #before 5.0 controller_patience: 3.0 planner_frequency: 0.5 planner_patience: 5.0 oscillation_timeout: 10.0 oscillation_distance: 0.2 conservative_reset_dist: 0.1 #distance from an obstacle at which it will unstuck itself cost_factor: 1.0 neutral_cost: 55 lethal_cost: 253

YAML

renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/astro_config/config/navigation/global_costmap_params.yaml

global_costmap: global_frame: map robot_base_frame: base_footprint update_frequency: 1.0 #before: 5.0 publish_frequency: 0.5 #before 0.5 static_map: true transform_tolerance: 0.5 cost_scaling_factor: 10.0 inflation_radius: 0.55

YAML

renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/astro_config/config/navigation/local_costmap_params.yaml

local_costmap: global_frame: odom robot_base_frame: base_footprint update_frequency: 1.0 #before 5.0 publish_frequency: 2.0 #before 2.0 static_map: false rolling_window: true width: 2.5 height: 2.5 resolution: 0.05 #increase to for higher res 0.025 transform_tolerance: 0.5 cost_scaling_factor: 5 inflation_radius: 0.55

YAML

renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/spotmicro_config/config/links/links.yaml

base: base_link left_front: - front_left_shoulder_link - front_left_leg_link - front_left_foot_link - front_left_toe_link right_front: - front_right_shoulder_link - front_right_leg_link - front_right_foot_link - front_right_toe_link left_hind: - rear_left_shoulder_link - rear_left_leg_link - rear_left_foot_link - rear_left_toe_link right_hind: - rear_right_shoulder_link - rear_right_leg_link - rear_right_foot_link - rear_right_toe_link

YAML

renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/spotmicro_config/config/ros_control/ros_control.yaml

"": joint_states_controller: type: joint_state_controller/JointStateController publish_rate: 50 joint_group_position_controller: type: position_controllers/JointTrajectoryController joints: - front_left_shoulder - front_left_leg - front_left_foot - front_right_shoulder - front_right_leg - front_right_foot - rear_left_shoulder - rear_left_leg - rear_left_foot - rear_right_shoulder - rear_right_leg - rear_right_foot # Servomotors have inner control loops so PIDs are not needed

YAML

renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/spotmicro_config/config/ros_control/hardware.yaml

"": hardware_interface: loop_hz: 200 # hz joints: - front_left_shoulder - front_left_leg - front_left_foot - front_right_shoulder - front_right_leg - front_right_foot - rear_left_shoulder - rear_left_leg - rear_left_foot - rear_right_shoulder - rear_right_leg - rear_right_foot

YAML

renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/spotmicro_config/config/joints/joints.yaml

left_front: - front_left_shoulder - front_left_leg - front_left_foot - front_left_toe right_front: - front_right_shoulder - front_right_leg - front_right_foot - front_right_toe left_hind: - rear_left_shoulder - rear_left_leg - rear_left_foot - rear_left_toe right_hind: - rear_right_shoulder - rear_right_leg - rear_right_foot - rear_right_toe

YAML

renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/anymal_c_config/include/quadruped_description.h

#ifndef QUADRUPED_DESCRIPTION_H #define QUADRUPED_DESCRIPTION_H #include <quadruped_base/quadruped_base.h> namespace champ { namespace URDF { void loadFromHeader(champ::QuadrupedBase &base) { base.lf.hip.setOrigin(0.2999, 0.104, 0.0, 2.61799387799, 0.0, 0.0); base.lf.upper_leg.setOrigin(0.0599, 0.08381, -0.0, -2.61799387799, 0.0, 1.57079632679); base.lf.lower_leg.setOrigin(0.0, 0.1003, -0.285, 0.0, 0.0, 0.0); base.lf.foot.setOrigin(0.08795, 0.01305, -0.33797, 0.0, 0.0, -1.57079632679); base.rf.hip.setOrigin(0.2999, -0.104, 0.0, -2.61799387799, 0.0, 0.0); base.rf.upper_leg.setOrigin(0.0599, -0.08381, -0.0, 2.61799387799, 0.0, -1.57079632679); base.rf.lower_leg.setOrigin(0.0, -0.1003, -0.285, 0.0, 0.0, 0.0); base.rf.foot.setOrigin(0.08795, -0.01305, -0.33797, 0.0, 0.0, 1.57079632679); base.lh.hip.setOrigin(-0.2999, 0.104, 0.0, -2.61799387799, 0.0, -3.14159265359); base.lh.upper_leg.setOrigin(-0.0599, 0.08381, -0.0, -2.61799387799, 0.0, -1.5707963268); base.lh.lower_leg.setOrigin(0.0, 0.1003, -0.285, 0.0, 0.0, 0.0); base.lh.foot.setOrigin(-0.08795, 0.01305, -0.33797, 0.0, 0.0, -1.57079632679); base.rh.hip.setOrigin(-0.2999, -0.104, 0.0, 2.61799387799, 0.0, -3.14159265359); base.rh.upper_leg.setOrigin(-0.0599, -0.08381, -0.0, 2.61799387799, 0.0, -4.71238898038); base.rh.lower_leg.setOrigin(0.0, -0.1003, -0.285, 0.0, 0.0, 0.0); base.rh.foot.setOrigin(-0.08795, -0.01305, -0.33797, 0.0, 0.0, 1.57079632679); } } } #endif

C

renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/anymal_c_config/config/links/links.yaml

base: base left_front: - LF_HIP - LF_THIGH - LF_SHANK - LF_FOOT right_front: - RF_HIP - RF_THIGH - RF_SHANK - RF_FOOT left_hind: - LH_HIP - LH_THIGH - LH_SHANK - LH_FOOT right_hind: - RH_HIP - RH_THIGH - RH_SHANK - RH_FOOT

YAML

renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/anymal_c_config/config/ros_control/ros_control.yaml

"": joint_states_controller: type: joint_state_controller/JointStateController publish_rate: 30 joint_group_position_controller: type: effort_controllers/JointTrajectoryController joints: - LF_HAA - LF_HFE - LF_KFE - RF_HAA - RF_HFE - RF_KFE - LH_HAA - LH_HFE - LH_KFE - RH_HAA - RH_HFE - RH_KFE gains: LF_HAA : {p: 500, i: 1, d: 30} LF_HFE : {p: 500, i: 1, d: 30} LF_KFE : {p: 500, i: 1, d: 30} RF_HAA : {p: 500, i: 1, d: 30} RF_HFE : {p: 500, i: 1, d: 30} RF_KFE : {p: 500, i: 1, d: 30} LH_HAA : {p: 500, i: 1, d: 30} LH_HFE : {p: 500, i: 1, d: 30} LH_KFE : {p: 500, i: 1, d: 30} RH_HAA : {p: 500, i: 1, d: 30} RH_HFE : {p: 500, i: 1, d: 30} RH_KFE : {p: 500, i: 1, d: 30}

YAML

renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/anymal_c_config/config/joints/joints.yaml

left_front: - LF_HAA - LF_HFE - LF_KFE - LF_shank_fixed_LF_FOOT right_front: - RF_HAA - RF_HFE - RF_KFE - RF_shank_fixed_RF_FOOT left_hind: - LH_HAA - LH_HFE - LH_KFE - LH_shank_fixed_LH_FOOT right_hind: - RH_HAA - RH_HFE - RH_KFE - RH_shank_fixed_RH_FOOT

YAML

renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/littledog_config/config/ros_control/ros_control.yaml

"": joint_states_controller: type: joint_state_controller/JointStateController publish_rate: 50 joint_group_position_controller: type: effort_controllers/JointTrajectoryController joints: - front_left_hip_roll - front_left_hip_pitch - front_left_knee - front_right_hip_roll - front_right_hip_pitch - front_right_knee - back_left_hip_roll - back_left_hip_pitch - back_left_knee - back_right_hip_roll - back_right_hip_pitch - back_right_knee gains: front_left_hip_roll : {p: 180, d: 0.9, i: 20} front_left_hip_pitch : {p: 180, d: 0.9, i: 20} front_left_knee : {p: 180, d: 0.9, i: 20} front_right_hip_roll : {p: 180, d: 0.9, i: 20} front_right_hip_pitch : {p: 180, d: 0.9, i: 20} front_right_knee : {p: 180, d: 0.9, i: 20} back_left_hip_roll : {p: 180, d: 0.9, i: 20} back_left_hip_pitch : {p: 180, d: 0.9, i: 20} back_left_knee : {p: 180, d: 0.9, i: 20} back_right_hip_roll : {p: 180, d: 0.9, i: 20} back_right_hip_pitch : {p: 180, d: 0.9, i: 20} back_right_knee : {p: 180, d: 0.9, i: 20}

YAML

renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/littledog_config/config/joints/joints.yaml

left_front: - front_left_hip_roll - front_left_hip_pitch - front_left_knee - front_left_ankle right_front: - front_right_hip_roll - front_right_hip_pitch - front_right_knee - front_right_ankle left_hind: - back_left_hip_roll - back_left_hip_pitch - back_left_knee - back_left_ankle right_hind: - back_right_hip_roll - back_right_hip_pitch - back_right_knee - back_right_ankle

YAML

renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/anymal_b_config/include/quadruped_description.h

#ifndef QUADRUPED_DESCRIPTION_H #define QUADRUPED_DESCRIPTION_H #include <quadruped_base/quadruped_base.h> namespace champ { namespace URDF { void loadFromHeader(champ::QuadrupedBase &base) { base.lf.hip.setOrigin(0.277, 0.116, 0.0, 0, 0, 0); base.lf.upper_leg.setOrigin(0.0635, 0.041, -0.0, 0, 0, 0); base.lf.lower_leg.setOrigin(0.0, 0.109, -0.25, 0, 0, 0); base.lf.foot.setOrigin(0.1, -0.02, -0.32125, 0.0, 0.0, 0.0); base.rf.hip.setOrigin(0.277, -0.116, 0.0, 0, 0, 0); base.rf.upper_leg.setOrigin(0.0635, -0.041, -0.0, 0, 0, 0); base.rf.lower_leg.setOrigin(0.0, -0.109, -0.25, 0, 0, 0); base.rf.foot.setOrigin(0.1, 0.02, -0.32125, 0.0, 0.0, 0.0); base.lh.hip.setOrigin(-0.277, 0.116, 0.0, 0, 0, 0); base.lh.upper_leg.setOrigin(-0.0635, 0.041, -0.0, 0, 0, 0); base.lh.lower_leg.setOrigin(0.0, 0.109, -0.25, 0, 0, 0); base.lh.foot.setOrigin(-0.1, -0.02, -0.32125, 0.0, 0.0, 0.0); base.rh.hip.setOrigin(-0.277, -0.116, 0.0, 0, 0, 0); base.rh.upper_leg.setOrigin(-0.0635, -0.041, -0.0, 0, 0, 0); base.rh.lower_leg.setOrigin(0.0, -0.109, -0.25, 0, 0, 0); base.rh.foot.setOrigin(-0.1, 0.02, -0.32125, 0.0, 0.0, 0.0); } } } #endif

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renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/anymal_b_config/config/ros_control/ros_control.yaml

"": joint_states_controller: type: joint_state_controller/JointStateController publish_rate: 50 joint_group_position_controller: type: effort_controllers/JointTrajectoryController joints: - LF_HAA - LF_HFE - LF_KFE - RF_HAA - RF_HFE - RF_KFE - LH_HAA - LH_HFE - LH_KFE - RH_HAA - RH_HFE - RH_KFE gains: LF_HAA : {p: 250, i: 0, d: 15} LF_HFE : {p: 250, i: 0, d: 15} LF_KFE : {p: 250, i: 0, d: 15} RF_HAA : {p: 250, i: 0, d: 15} RF_HFE : {p: 250, i: 0, d: 15} RF_KFE : {p: 250, i: 0, d: 15} LH_HAA : {p: 250, i: 0, d: 15} LH_HFE : {p: 250, i: 0, d: 15} LH_KFE : {p: 250, i: 0, d: 15} RH_HAA : {p: 250, i: 0, d: 15} RH_HFE : {p: 250, i: 0, d: 15} RH_KFE : {p: 250, i: 0, d: 15}

YAML

renanmb/Omniverse_legged_robotics/CHAMP-stuff/configs/anymal_b_config/config/joints/joints.yaml

left_front: - LF_HAA - LF_HFE - LF_KFE - LF_ADAPTER_TO_FOOT right_front: - RF_HAA - RF_HFE - RF_KFE - RF_ADAPTER_TO_FOOT left_hind: - LH_HAA - LH_HFE - LH_KFE - LH_ADAPTER_TO_FOOT right_hind: - RH_HAA - RH_HFE - RH_KFE - RH_ADAPTER_TO_FOOT

YAML

ft-lab/omniverse_sample_scripts/readme.md

# Omniverse sample scripts ここでは、NVIDIA Omniverse ( https://www.nvidia.com/ja-jp/omniverse/ ) のスクリプトのサンプルを貯めていってます。 Omniverseは、データ構造としてUSDを使用してます。 3Dモデルやシーンのファイルへの保存、読み込みでUSDが使用されるだけでなく、 Omniverse CreateやOmniverse ViewなどのOmniverseアプリのビュー上の制御もUSDを介して行われます（形状の表示/非表示の切り替えや移動など）。 ここでは、OmniverseアプリであるOmniverse CreateのScript Editorで試せるスクリプトのサンプルを用途別に列挙します。 Omniverse Create ~~2021.3.8~~ ~~2022.1.4~~ 2022.3.1(Kit.104)で確認しました。 ## 開発の参考サイト Omniverseの情報は、Omniverse Launcherがポータルになっています。 ここのLEARNにチュートリアル動画やドキュメントなどが列挙されています。 ### NVIDIA Omniverse Developer Resource Center https://developer.nvidia.com/nvidia-omniverse-developer-resource-center Omniverse開発の入口となるサイトです。 全体的に何ができて何が重要か、というのは俯瞰して見ることができます。 ### Omniverse Kit https://docs.omniverse.nvidia.com/prod_kit/prod_kit/overview.html Omniverse Kitのトップページです。 "Search API"のようなAPIからの検索もあるため、ある程度理解が進んだ方はこちらから進めるのがよいかもしれません。 ## はじめに Omniverse Createで、メインメニューの [Window] - [Script Editor]を選択して、Script Editorを起動します。  この中でPythonを使用してプログラムを書きます。 左下のRunボタンを押すか、[Ctrl] +[Enter]キーを押すことで実行します。 以下、Pythonの初歩的な説明です。 ### コメント 1行のコメントの場合、"#"から行の末尾までがコメントになります。 ```python # comment. ``` 複数行の場合は、""" から """ までがコメントになります。 ```python """ comment. line2. """ ``` ### print デバッグ用のメッセージはprintで記載します。 ```python print('Hello Omniverse !') ``` ## 学習のための知識 * [Omniverseでの開発手段](./knowledge/dev_method.md) * [Omniverseのスクリプトの学習手順](./knowledge/dev_info.md) * [USDについての情報](./knowledge/dev_usd.md) ## Pythonの基礎的なこと |サンプル|説明| |---|---| |[Python](./Python)|Pythonの文字列処理やクラスなど。<br>Pythonの標準機能。| ## 機能説明用のサンプル |サンプル|説明| |---|---| |[Audio](./Audio)|Audioの再生| |[Animation](./Animation)|Animation関連| |[Camera](./Camera)|カメラ操作| |[Geometry](./Geometry)|ジオメトリの作成/情報取得| |[Light](./Light)|光源の作成/操作| |[Material](./Material)|マテリアルの割り当て| |[Math](./Math)|ベクトル/行列計算関連| |[Operation](./Operation)|Ominverseの操作/イベント処理| |[Event](./Event)|イベント処理| |[Physics](./Physics)|Physics(物理)処理| |[pip_archive](./pip_archive)|Pythonのよく使われるモジュールの使用| |[Prim](./Prim)|USDのPrim(ノード)の操作| |[Rendering](./Rendering)|レンダリング画像の取得| |[Scene](./Scene)|シーン(Stage)情報の取得/読み込みなど| |[Settings](./Settings)|設定の取得| |[System](./System)|システム関連情報の取得| |[UI](./UI)|UI操作| |[Post Processing](./PostProcessing)|Post Processingのパラメータを変更 (omni.kit.commands.executeを使用)| |[AssetConverter](./AssetConverter)|obj/fbx/glTFファイルなどをUSDファイルに変換| |[Nucleus](./Nucleus)|Nucleus上のファイル操作| ## プロジェクト別のサンプル |サンプル|説明| |---|---| |[PLATEAU](./PLATEAU)|Project PLATEAUの3D都市データをOmniverseに読み込み| ## ツール的なサンプル |サンプル|説明| |---|---| |[Samples](./Samples)|サンプルスクリプト| ## Extension |サンプル|説明| |---|---| |[Extensions](./Extensions)|サンプルExtension|

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ft-lab/omniverse_sample_scripts/Light/readme.md

# Light 光源を作成/取得するためのサンプルです。 ## Samples |ファイル|説明| |---|---| |[CreateLight.py](./CreateLight.py)|DistantLightを作成してパラメータを指定。| |[CreateSphereLight.py](./CreateSphereLight.py)|SphereLightを作成してパラメータを指定。| |[CheckLightPrim.py](./CheckLightPrim.py)|選択PrimがLightかどうか判断。|

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ft-lab/omniverse_sample_scripts/Light/CheckLightPrim.py

from pxr import Usd, UsdGeom, UsdPhysics, UsdLux, UsdShade, Sdf, Gf, Tf # Get stage. stage = omni.usd.get_context().get_stage() # Get selection. selection = omni.usd.get_context().get_selection() paths = selection.get_selected_prim_paths() # Check if prim is Light. def checkLight (prim : Usd.Prim): typeName = prim.GetTypeName() if typeName == "DistantLight" or typeName == "CylinderLight" or \ typeName == "DiskLight" or typeName == "DomeLight" or \ typeName == "RectLight" or typeName == "SphereLight": return True return False for path in paths: # Get prim. prim = stage.GetPrimAtPath(path) if checkLight(prim): print(f"[ {prim.GetPath().pathString} ] : {prim.GetTypeName()}")

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ft-lab/omniverse_sample_scripts/Light/CreateSphereLight.py

from pxr import Usd, UsdGeom, UsdPhysics, UsdLux, UsdShade, Sdf, Gf, Tf # Get stage. stage = omni.usd.get_context().get_stage() # Create sphere light. pathName = "/World/sphereLight" light = UsdLux.SphereLight.Define(stage, pathName) # Set Radius. light.CreateRadiusAttr(2.0) # Set intensity. light.CreateIntensityAttr(10000.0) # Set color. light.CreateColorAttr(Gf.Vec3f(1.0, 0.9, 0.8)) # Set Exposure. light.CreateExposureAttr(0.0) # cone angle. shapingAPI = UsdLux.ShapingAPI(light) shapingAPI.CreateShapingConeAngleAttr(180.0) shapingAPI.Apply(light.GetPrim()) # Register ShapingAPI as a schema in prim. # Compute extent. boundable = UsdGeom.Boundable(light.GetPrim()) extent = boundable.ComputeExtent(Usd.TimeCode(0)) # Set Extent. light.CreateExtentAttr(extent)

Python

ft-lab/omniverse_sample_scripts/Light/CreateLight.py

from pxr import Usd, UsdGeom, UsdPhysics, UsdLux, UsdShade, Sdf, Gf, Tf # Get stage. stage = omni.usd.get_context().get_stage() # Create distant light. pathName = "/World/distantLight" light = UsdLux.DistantLight.Define(stage, pathName) # Set intensity. light.CreateIntensityAttr(100.0) # Set color. light.CreateColorAttr(Gf.Vec3f(1.0, 0.5, 0.2)) # Set Exposure. light.CreateExposureAttr(0.0) # Compute extent. boundable = UsdGeom.Boundable(light.GetPrim()) extent = boundable.ComputeExtent(Usd.TimeCode(0)) # Set Extent. light.CreateExtentAttr(extent)

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ft-lab/omniverse_sample_scripts/Nucleus/createFolder.py

# See : https://docs.omniverse.nvidia.com/py/kit/source/extensions/omni.client/docs/index.html import asyncio import omni.client # The following should be rewritten for your environment. url = "omniverse://localhost/test/new_folder" result = omni.client.create_folder(url) if result == omni.client.Result.OK: print("success !") else: print("failed ...")

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ft-lab/omniverse_sample_scripts/Nucleus/readme.md

# Nucleus OmniverseではUSDからの保存はNucleusの指定のパス(omniverse://localhost/xxx/yyy.usd)に出力できます。 別途、Nucleus上でファイル操作を行う「omni.client」が用意されています。 ## 参考 https://docs.omniverse.nvidia.com/py/kit/source/extensions/omni.client/docs/index.html ## サンプル |ファイル|説明| |---|---| |[existPath.py](./existPath.py)|Nucleus上のファイルまたはフォルダが存在するかチェック。| |[listFiles.py](./listFiles.py)|Nucleus上の指定のフォルダ内のファイルを一覧。| |[FileCopy.py](./FileCopy.py)|ローカルからNucleus上にファイルを転送。| |[createFolder.py](./createFolder.py)|Nucleus上にフォルダを作成。| |[deleteFile.py](./deleteFile.py)|Nucleus上のファイルやフォルダを削除。| |[ReadImageFile.py](./ReadImageFile.py)|Nucleus上の画像ファイルをPIL.Imageに読み込み。|

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ft-lab/omniverse_sample_scripts/Nucleus/existPath.py

# See : https://docs.omniverse.nvidia.com/py/kit/source/extensions/omni.client/docs/index.html import asyncio import omni.client # Check for the existence of the specified path. async def existPath (path : str): (result, entry) = await omni.client.stat_async(path) if result == omni.client.Result.ERROR_NOT_FOUND: print("Does not exist : " + path) return print("Exist : " + path) # Awaiting results. async def _ocl_existPath (path : str): (result, entry) = await omni.client.stat_async(path) if result == omni.client.Result.ERROR_NOT_FOUND: return False return True def ocl_existPath (path : str): loop = asyncio.get_event_loop() return loop.run_until_complete(_ocl_existPath(path)) # ------------------------------------------. path1 = "omniverse://localhost/Users/test" asyncio.ensure_future(existPath(path1)) path2 = "omniverse://localhost/Users/test/xxx.usd" asyncio.ensure_future(existPath(path2)) if ocl_existPath(path1): print("Exist : " + path1) else: print("Does not exist : " + path1)

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ft-lab/omniverse_sample_scripts/Nucleus/listFiles.py

# See : https://docs.omniverse.nvidia.com/py/kit/source/extensions/omni.client/docs/index.html import asyncio import omni.client # Lists files in the specified path. async def listFiles (_depth : int, _path : str): (result, entries) = await omni.client.list_async(_path) if result != omni.client.Result.OK: return for entry in entries: # Skip for Channel file. if (entry.flags & omni.client.ItemFlags.IS_CHANNEL) != 0: continue name = entry.relative_path if name == "" or name.find(".") == 0: continue path = _path + "/" + name isFolder = (entry.flags & omni.client.ItemFlags.CAN_HAVE_CHILDREN) != 0 msg = "" for i in range(_depth): msg += " " if isFolder: msg += "[" + name + "]" else: msg += name msg += " " if (entry.flags & omni.client.ItemFlags.READABLE_FILE) != 0: msg += " [R]" if (entry.flags & omni.client.ItemFlags.WRITEABLE_FILE) != 0: msg += " [W]" if (entry.flags & omni.client.ItemFlags.CAN_LIVE_UPDATE) != 0: msg += " [LiveUpdate]" if not isFolder: msg += f" {entry.size} bytes" print(msg) if isFolder: await listFiles(_depth + 1, path) # -----------------------------------------------. path1 = "omniverse://localhost/Users/test" asyncio.ensure_future(listFiles(0, path1))

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ft-lab/omniverse_sample_scripts/Nucleus/ReadImageFile.py

# See : https://docs.omniverse.nvidia.com/py/kit/source/extensions/omni.client/docs/index.html import io import omni.client from PIL import Image result, vers, content = omni.client.read_file("omniverse://localhost/Users/test/xxx.png") if result != omni.client.Result.ERROR_NOT_FOUND: image_data = memoryview(content).tobytes() image = Image.open(io.BytesIO(image_data)) # Show Image. image.show() # Save Image. #image.save("C:\\temp\\xxx.png")

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ft-lab/omniverse_sample_scripts/Nucleus/FileCopy.py

# See : https://docs.omniverse.nvidia.com/py/kit/source/extensions/omni.client/docs/index.html import asyncio import omni.client # The following should be rewritten for your environment. srcURL = "K:\\NVIDIA_omniverse\\images\\tile_image.png" dstURL = "omniverse://localhost/test/tile_image.png" # Copy a file or folder. # When copying is complete, proceed. result = omni.client.copy(srcURL, dstURL) if result == omni.client.Result.OK: print("success !") else: print("failed ...")

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ft-lab/omniverse_sample_scripts/Physics/RayCast.py

from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf import random import omni.physx # Get stage. stage = omni.usd.get_context().get_stage() # Y-Up. UsdGeom.SetStageUpAxis(stage, UsdGeom.Tokens.y) # Get default prim. defaultPrim = stage.GetDefaultPrim() defaultPrimPath = defaultPrim.GetPath().pathString # Physics scene definition. scene = UsdPhysics.Scene.Define(stage, defaultPrimPath + '/physicsScene') scene.CreateGravityDirectionAttr().Set(Gf.Vec3f(0.0, -1.0, 0.0)) scene.CreateGravityMagnitudeAttr().Set(981.0) # --------------------------------------------. # Create cube. # --------------------------------------------. def CreateCube (name : str, pos : Gf.Vec3f, scale : Gf.Vec3f): path = defaultPrimPath + '/cubes' prim = stage.GetPrimAtPath(path) if prim.IsValid() == False: UsdGeom.Xform.Define(stage, path) cubePath = path + '/' + name cubeGeom = UsdGeom.Cube.Define(stage, cubePath) # Set cube size. cubeGeom.CreateSizeAttr(10.0) # Set color. cubeGeom.CreateDisplayColorAttr([(0.0, 1.0, 0.0)]) # Set position. UsdGeom.XformCommonAPI(cubeGeom).SetTranslate((pos[0], pos[1], pos[2])) # Set scale. UsdGeom.XformCommonAPI(cubeGeom).SetScale((scale[0], scale[1], scale[2])) # Physics settings. cubePrim = stage.GetPrimAtPath(cubePath) UsdPhysics.CollisionAPI.Apply(cubePrim) # --------------------------------------------. # Create red sphere. # --------------------------------------------. def CreateRedSphere (name : str, pos : Gf.Vec3f, radius : float): path = defaultPrimPath + '/spheres' prim = stage.GetPrimAtPath(path) if prim.IsValid() == False: UsdGeom.Xform.Define(stage, path) spherePath = path + '/' + name sphereGeom = UsdGeom.Sphere.Define(stage, spherePath) # Set radius. sphereGeom.CreateRadiusAttr(radius) # Set color. sphereGeom.CreateDisplayColorAttr([(1.0, 0.0, 0.0)]) # Set position. UsdGeom.XformCommonAPI(sphereGeom).SetTranslate((pos[0], pos[1], pos[2])) # ------------------------------------------------------. # Create cubes. areaV = 100.0 cubeScale = 1.0 for i in range(50): posX = (random.random() - 0.5) * areaV posY = (random.random() - 0.5) * (areaV * 0.1) posZ = (random.random() - 0.5) * areaV + 100.0 pos = Gf.Vec3f(posX, posY, posZ) scale = Gf.Vec3f(cubeScale, cubeScale, cubeScale) name = 'cube_' + str(i) CreateCube(name, pos, scale) # Remove spheres. path = defaultPrimPath + '/spheres' prim = stage.GetPrimAtPath(path) if prim.IsValid(): stage.RemovePrim(path) # Callback for Rayhit. # rayhit works during animation playback. sphereIndex = 0 def ray_hit (hit): global sphereIndex print("distance : " + str(hit.distance)) print("Hit position : " + str(hit.position)) print("Hit normal : " + str(hit.normal)) print("Collision prim path : " + str(hit.collision)) # Get collision prim. prim = stage.GetPrimAtPath(hit.collision) print(" name : " + str(prim.GetName())) print("-----------------------------") # Create sphere. name = "sphere_" + str(sphereIndex) CreateRedSphere(name, hit.position, 1.0) sphereIndex += 1 for i in range(100): # Ray position. rayPos = Gf.Vec3f(0, 0, 0) # Ray direction. dx = (random.random() - 0.5) * 0.3 dy = (random.random() - 0.5) * 0.3 dz = 1.0 rayDir = Gf.Vec3f(dx, dy, dz).GetNormalized() # Ray distance. distance = 10000.0 # raycast. omni.physx.get_physx_scene_query_interface().raycast_all(rayPos, rayDir, distance, ray_hit)

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ft-lab/omniverse_sample_scripts/Physics/readme.md

# Physics Physicsのサンプルです。 Physicsの計算はGPU上で行われます。 PhysicsはUSDのUsdPhysics ( https://graphics.pixar.com/usd/release/api/usd_physics_page_front.html ) が使用されます。 ## Physicsデモ Physicsのデモは、Omniverse Createのメインメニューの「Window」-「Physics」-「Demo Scenes」から確認でき、Extensionとしてのソースはすべて公開されているため参考になります。 また、メインメニューの「Help」-「Physics Scripting Manual」から表示されるドキュメントに、 Physicsを使用する場合の説明がされています。 これらの情報はかなり詳しく書かれており分かりやすいですので、PhysicsについてはOmniverse Create上のPhysicsデモから学習するほうが理解が深まると思います。 ## Physicsのアニメーションが遅い場合 デフォルトでは、Physicsの剛体を配置してアニメーション再生すると重いです。 これは、アニメーション時にフレームごとにUSDを更新する書き込みが走るのが原因になります。 USD Composer 2023.2.1の場合は、Viewportの設定から Show By Type - Physics - Simulation Settings を選択。 Simulation Settingsウィンドウで"Fabric GPU"を選択します。  ## サンプル |ファイル|説明| |---|---| |[RayCast.py](./RayCast.py)|Collisionの形状を配置し、レイの始点と向きを指定して衝突判定します。<br>このRayCastはアニメーション再生中に機能します。<br>| |サンプル|説明| |---|---| |[simpleJoint01.py](./Joint/simpleJoint01.py)|2つのCubeをつなぐ簡単なジョイント<br>| |[simpleJoint02.py](./Joint/simpleJoint02.py)|3つのCubeをつなぐ簡単なジョイント<br>| |[rigidBody_01.py](./RigidBody/rigidBody_01.py)|RigidBodyによる簡単な自由落下<br>| |[rigidbody_benchmark.py](./RigidBody/rigidbody_benchmark.py)|RigidBodyによる球の自由落下。<br>たくさんの球を配置。<br>| |[gear_01.py](./Gear/gear_01.py)|歯車の回転。<br>アニメーション再生中に、歯車を回転させると連動します。<br>|

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ft-lab/omniverse_sample_scripts/Physics/RigidBody/rigidbody_benchmark.py

from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf import math import random # Get stage. g_stage = omni.usd.get_context().get_stage() # Y-Up. UsdGeom.SetStageUpAxis(g_stage, UsdGeom.Tokens.y) # Physics scene definition. scene = UsdPhysics.Scene.Define(g_stage, "/physicsScene") scene.CreateGravityDirectionAttr().Set(Gf.Vec3f(0.0, -1.0, 0.0)) scene.CreateGravityMagnitudeAttr().Set(981.0) # Create Xform. g_basePath = '/World/spheres' xformPrim = UsdGeom.Xform.Define(g_stage, g_basePath) # --------------------------------------------------------. # Create ground. # --------------------------------------------------------. def createGround (): # Create cube. path = '/World/ground' cubeGeom = UsdGeom.Cube.Define(g_stage, path) # Set color. cubeGeom.CreateDisplayColorAttr([(0.2, 0.2, 0.2)]) # Set position. UsdGeom.XformCommonAPI(cubeGeom).SetTranslate((0.0, -5.0, 0.0)) # Set scale. UsdGeom.XformCommonAPI(cubeGeom).SetScale((200.0, 10, 200.0)) # Create collider. objPrim = g_stage.GetPrimAtPath(path) UsdPhysics.CollisionAPI.Apply(objPrim) # --------------------------------------------------------. # Create sphere. # @param[in] index serial number. # @param[in] radius radius of sphere. # @param[in] wPos world position (x, y, z). # @param[in] colorV color (red, green, blue). # --------------------------------------------------------. def createSphere(index, radius, wPos, colorV): # Create sphere. name = 'sphere_' + str(index) path = g_basePath + '/' + name spherePrim = UsdGeom.Sphere.Define(g_stage, path) # Set radius. spherePrim.CreateRadiusAttr(radius) # Set color. spherePrim.CreateDisplayColorAttr([colorV]) objPrim = g_stage.GetPrimAtPath(path) # Set position. UsdGeom.XformCommonAPI(spherePrim).SetTranslate(wPos) # Create collider. UsdPhysics.CollisionAPI.Apply(objPrim) UsdPhysics.MeshCollisionAPI(objPrim).CreateApproximationAttr("boundingSphere") UsdPhysics.MeshCollisionAPI.Apply(objPrim) # Rigid body. rigidBodyAPI = UsdPhysics.RigidBodyAPI.Apply(objPrim) # --------------------------------------------------------. # Create cube. # @param[in] wPos world position (x, y, z). # @param[in] wSize size (x, y, z). # --------------------------------------------------------. def createCube (index, wPos, wSize): name = 'cube_' + str(index) path = '/World/' + name cubePrim = UsdGeom.Cube.Define(g_stage, path) # Set cube size. cubePrim.CreateSizeAttr(1.0) # Set color. cubePrim.CreateDisplayColorAttr([(0.2, 0.2, 0.2)]) # Set position. UsdGeom.XformCommonAPI(cubePrim).SetTranslate((wPos[0], wPos[1], wPos[2])) # Set scale. UsdGeom.XformCommonAPI(cubePrim).SetScale((wSize[0], wSize[1], wSize[2])) # Create collider. objPrim = g_stage.GetPrimAtPath(path) UsdPhysics.CollisionAPI.Apply(objPrim) # --------------------------------------------------------. # Create wall. # --------------------------------------------------------. def createWall (): createCube(0, [-200.0, 25.0, 0.0], [ 10.0, 50.0, 400.0]) createCube(1, [ 200.0, 25.0, 0.0], [ 10.0, 50.0, 400.0]) createCube(2, [ 0.0, 25.0, -200.0], [400.0, 50.0, 10.0]) createCube(3, [ 0.0, 25.0, 200.0], [400.0, 50.0, 10.0]) # -----------------------------------------------------------. # -----------------------------------------------------------. # Create ground. createGround() # Create wall. createWall() # Create spheres. sR = 5.0 dd = 15.0 sCount = 16 dMin = dd * (float)(sCount) * 0.5 i = 0 fy = 30.0 for y in range(10): fz = -dMin for z in range(sCount): fx = -dMin for x in range(sCount): colR = random.random() colG = random.random() colB = random.random() dx = random.random() * 5.0 dz = random.random() * 5.0 createSphere(i, sR, (fx + dx, fy, fz + dz), (colR, colG, colB)) i = i + 1 fx += dd fz += dd fy += dd

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ft-lab/omniverse_sample_scripts/Physics/RigidBody/rigidBody_01.py

from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf import math import random # Get stage. g_stage = omni.usd.get_context().get_stage() # Y-Up. UsdGeom.SetStageUpAxis(g_stage, UsdGeom.Tokens.y) # Physics scene definition. scene = UsdPhysics.Scene.Define(g_stage, "/physicsScene") scene.CreateGravityDirectionAttr().Set(Gf.Vec3f(0.0, -1.0, 0.0)) scene.CreateGravityMagnitudeAttr().Set(981.0) # Create Xform. g_basePath = '/World/spheres' xformPrim = UsdGeom.Xform.Define(g_stage, g_basePath) # --------------------------------------------------------. # Create ground. # --------------------------------------------------------. def createGround (): # Create cube. path = '/World/ground' cubeGeom = UsdGeom.Cube.Define(g_stage, path) # Set color. cubeGeom.CreateDisplayColorAttr([(0.2, 0.2, 0.2)]) # Set position. UsdGeom.XformCommonAPI(cubeGeom).SetTranslate((0.0, -5.0, 0.0)) # Set scale. UsdGeom.XformCommonAPI(cubeGeom).SetScale((200.0, 10, 200.0)) # Create collider. objPrim = g_stage.GetPrimAtPath(path) UsdPhysics.CollisionAPI.Apply(objPrim) # --------------------------------------------------------. # Create sphere. # @param[in] index serial number. # @param[in] radius radius of sphere. # @param[in] wPos world position (x, y, z). # @param[in] colorV color (red, green, blue). # --------------------------------------------------------. def createSphere(index, radius, wPos, colorV): # Create sphere. name = 'sphere_' + str(index) path = g_basePath + '/' + name spherePrim = UsdGeom.Sphere.Define(g_stage, path) # Set radius. spherePrim.CreateRadiusAttr(radius) # Set color. spherePrim.CreateDisplayColorAttr([colorV]) objPrim = g_stage.GetPrimAtPath(path) # Set position. UsdGeom.XformCommonAPI(spherePrim).SetTranslate(wPos) # Create collider. UsdPhysics.CollisionAPI.Apply(objPrim) UsdPhysics.MeshCollisionAPI(objPrim).CreateApproximationAttr("boundingSphere") UsdPhysics.MeshCollisionAPI.Apply(objPrim) # Rigid body. rigidBodyAPI = UsdPhysics.RigidBodyAPI.Apply(objPrim) # -----------------------------------------------------------. # -----------------------------------------------------------. # Create ground. createGround() # Create spheres. r = 100.0 sR = 10.0 rCount = 32 fV = 0.0 fVD = 2.0 * math.pi / (float)(rCount) fy = 50.0 fyD = 1.0 for i in range(200): fx = r * math.cos(fV) fz = r * math.sin(fV) colR = random.random() colG = random.random() colB = random.random() createSphere(i, sR, (fx, fy, fz), (colR, colG, colB)) fV += fVD fy += fyD if (i & 15) == 15: r *= 0.9 sR *= 0.9

Python

ft-lab/omniverse_sample_scripts/Physics/Joint/simpleJoint02.py

from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf # Get stage. stage = omni.usd.get_context().get_stage() # Y-Up. UsdGeom.SetStageUpAxis(stage, UsdGeom.Tokens.y) rootPath = '/World' # Physics scene definition. scene = UsdPhysics.Scene.Define(stage, rootPath + '/physicsScene') scene.CreateGravityDirectionAttr().Set(Gf.Vec3f(0.0, -1.0, 0.0)) scene.CreateGravityMagnitudeAttr().Set(981.0) hPos = 15.0 # --------------------------------------------. # cube0. # --------------------------------------------. cube0Path = rootPath + '/cube0' cube0Geom = UsdGeom.Cube.Define(stage, cube0Path) # Set cube size. cube0Geom.CreateSizeAttr(10.0) # Set color. cube0Geom.CreateDisplayColorAttr([(0.0, 1.0, 0.0)]) # Set position. UsdGeom.XformCommonAPI(cube0Geom).SetTranslate((0.0, hPos, 0.0)) # Set scale. UsdGeom.XformCommonAPI(cube0Geom).SetScale((2.0, 0.5, 0.5)) # --------------------------------------------. # cube1. # --------------------------------------------. cube1Path = rootPath + '/cube1' cube1Geom = UsdGeom.Cube.Define(stage, cube1Path) # Set cube size. cube1Geom.CreateSizeAttr(10.0) # Set color. cube1Geom.CreateDisplayColorAttr([(0.0, 0.0, 1.0)]) # Set position. UsdGeom.XformCommonAPI(cube1Geom).SetTranslate((21.0, hPos, 0.0)) # Set scale. UsdGeom.XformCommonAPI(cube1Geom).SetScale((2.0, 0.5, 0.5)) # --------------------------------------------. # cube2. # --------------------------------------------. cube2Path = rootPath + '/cube2' cube2Geom = UsdGeom.Cube.Define(stage, cube2Path) # Set cube size. cube2Geom.CreateSizeAttr(10.0) # Set color. cube2Geom.CreateDisplayColorAttr([(0.0, 1.0, 1.0)]) # Set position. UsdGeom.XformCommonAPI(cube2Geom).SetTranslate((42.0, hPos, 0.0)) # Set scale. UsdGeom.XformCommonAPI(cube2Geom).SetScale((2.0, 0.5, 0.5)) # --------------------------------------------. # Physics settings. # --------------------------------------------. # cube0 : static body cube0Prim = stage.GetPrimAtPath(cube0Path) UsdPhysics.CollisionAPI.Apply(cube0Prim) # cube1 : dynamic body cube1Prim = stage.GetPrimAtPath(cube1Path) UsdPhysics.CollisionAPI.Apply(cube1Prim) UsdPhysics.RigidBodyAPI.Apply(cube1Prim) # cube2 : dynamic body cube2Prim = stage.GetPrimAtPath(cube2Path) UsdPhysics.CollisionAPI.Apply(cube2Prim) UsdPhysics.RigidBodyAPI.Apply(cube2Prim) # ----------------------------------------. # Setup joint. # ----------------------------------------. jointPath = rootPath + '/revoluteJoint' revoluteJoint = UsdPhysics.RevoluteJoint.Define(stage, jointPath) # define revolute joint axis and its limits, defined in degrees revoluteJoint.CreateAxisAttr("Z") revoluteJoint.CreateLowerLimitAttr(-50.0) revoluteJoint.CreateUpperLimitAttr(50.0) # define revolute joint bodies revoluteJoint.CreateBody0Rel().SetTargets([cube0Path]) revoluteJoint.CreateBody1Rel().SetTargets([cube1Path]) # define revolute joint local poses for bodies revoluteJoint.CreateLocalPos0Attr().Set(Gf.Vec3f(5.25, 0.0, 0.0)) revoluteJoint.CreateLocalRot0Attr().Set(Gf.Quatf(1.0)) revoluteJoint.CreateLocalPos1Attr().Set(Gf.Vec3f(-5.25, 0.0, 0.0)) revoluteJoint.CreateLocalRot1Attr().Set(Gf.Quatf(1.0)) # set break force/torque revoluteJoint.CreateBreakForceAttr().Set(1e20) revoluteJoint.CreateBreakTorqueAttr().Set(1e20) # optionally add angular drive for example angularDriveAPI = UsdPhysics.DriveAPI.Apply(stage.GetPrimAtPath(jointPath), "angular") angularDriveAPI.CreateTypeAttr("force") angularDriveAPI.CreateMaxForceAttr(100.0) angularDriveAPI.CreateTargetVelocityAttr(1.0) angularDriveAPI.CreateDampingAttr(100.0) angularDriveAPI.CreateStiffnessAttr(0.0) # ----------------------------------------. # Setup joint2. # ----------------------------------------. jointPath2 = rootPath + '/revoluteJoint2' revoluteJoint2 = UsdPhysics.RevoluteJoint.Define(stage, jointPath2) # define revolute joint axis and its limits, defined in degrees revoluteJoint2.CreateAxisAttr("Z") revoluteJoint2.CreateLowerLimitAttr(-50.0) revoluteJoint2.CreateUpperLimitAttr(50.0) # define revolute joint bodies revoluteJoint2.CreateBody0Rel().SetTargets([cube1Path]) revoluteJoint2.CreateBody1Rel().SetTargets([cube2Path]) # define revolute joint local poses for bodies revoluteJoint2.CreateLocalPos0Attr().Set(Gf.Vec3f(5.25, 0.0, 0.0)) revoluteJoint2.CreateLocalRot0Attr().Set(Gf.Quatf(1.0)) revoluteJoint2.CreateLocalPos1Attr().Set(Gf.Vec3f(-5.25, 0.0, 0.0)) revoluteJoint2.CreateLocalRot1Attr().Set(Gf.Quatf(1.0)) # set break force/torque revoluteJoint2.CreateBreakForceAttr().Set(1e20) revoluteJoint2.CreateBreakTorqueAttr().Set(1e20) # optionally add angular drive for example #angularDriveAPI2 = UsdPhysics.DriveAPI.Apply(stage.GetPrimAtPath(jointPath2), "angular") #angularDriveAPI2.CreateTypeAttr("force") #angularDriveAPI2.CreateMaxForceAttr(100.0) #angularDriveAPI2.CreateTargetVelocityAttr(1.0) #angularDriveAPI2.CreateDampingAttr(100.0) #angularDriveAPI2.CreateStiffnessAttr(0.0)

Python

ft-lab/omniverse_sample_scripts/Physics/Gear/gear_01.py

from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf, UsdSkel, PhysxSchema import math # Get stage. g_stage = omni.usd.get_context().get_stage() # gear path. gear_basePath = '/World/gears' # Y-Up. UsdGeom.SetStageUpAxis(g_stage, UsdGeom.Tokens.y) xformCache = UsdGeom.XformCache(0) # -------------------------------------------------------. # Calculate normal. # -------------------------------------------------------. def calcTriangleNormal (v1 : Gf.Vec3d, v2 : Gf.Vec3d, v3 : Gf.Vec3d): e1 = v2 - v1 e2 = v3 - v2 e1 = Gf.Vec4f(e1[0], e1[1], e1[2],1.0) e2 = Gf.Vec4f(e2[0], e2[1], e2[2],1.0) e3 = Gf.HomogeneousCross(e1, e2) n = Gf.Vec3d(e3[0], e3[1], e3[2]) return n.GetNormalized() # -------------------------------------------------------. # Attach thickness. # @param[in] primPath Target Prim path. # @param[in] thickness Thickness. # -------------------------------------------------------. def AttachThickness (primPath : str, thickness : float): prim = g_stage.GetPrimAtPath(primPath) if prim.IsValid() == False: return if prim.GetTypeName() != 'Mesh': return m = UsdGeom.Mesh(prim) # Number of faces. faceVCouList = m.GetFaceVertexCountsAttr().Get() faceCou = len(faceVCouList) if faceCou == 0: return normalsList = m.GetNormalsAttr().Get() normalsCou = len(normalsList) if normalsCou == 0: return normalV = normalsList[0] versList = m.GetPointsAttr().Get() versCou = len(versList) if versCou < 3: return faceVIList = m.GetFaceVertexIndicesAttr().Get() faceVICou = len(faceVIList) # Stores the face number for each vertex. vFList = [[]] * (versCou) for i in range(versCou): vFList[i] = [] index = 0 for i in range(len(faceVCouList)): faceVCou = faceVCouList[i] for j in range(faceVCou): vI = faceVIList[index + j] vFList[vI].append(i) index += faceVCou faceIndicesList = [[]] * faceCou for i in range(faceCou): faceIndicesList[i] = [] # Rearrange the vertex indices per face. index = 0 for i in range(faceCou): faceVCou = faceVCouList[i] for j in range(faceVCou): faceIndicesList[i].append(faceVIList[index + j]) index += faceVCou # Create a list of independent edges. edgesList = [] for i in range(faceCou): faceVCou = faceVCouList[i] for j in range(faceVCou): vI1 = faceIndicesList[i][j] vI2 = faceIndicesList[i][(j + 1) % faceVCou] chkF = False cI = -1 for k in range(len(edgesList)): if (edgesList[k][0] == vI1 and edgesList[k][1] == vI2) or (edgesList[k][0] == vI2 and edgesList[k][1] == vI1): chkF = True cI = k break if chkF == False: edgesList.append([vI1, vI2, 1]) else: cou = edgesList[cI][2] edgesList[cI] = [vI1, vI2, cou + 1] edgesOneList = [] for p in edgesList: if p[2] == 1: edgesOneList.append([p[0], p[1]]) # Create a symmetrical face. faceVCouList2 = [0] * (faceCou * 2) normalsList2 = [(0.0, 0.0, 0.0)] * (normalsCou * 2) versList2 = [(0.0, 0.0, 0.0)] * (versCou * 2) faceVIList2 = [0] * (faceVICou * 2) for i in range(faceCou): faceVCouList2[i] = faceVCouList[i] faceVCouList2[i + faceCou] = faceVCouList[i] for i in range(faceVICou): faceVIList2[i] = faceVIList[i] faceVIList2[i + faceVICou] = faceVIList[faceVICou - i - 1] + versCou for i in range(normalsCou): normalsList2[i] = normalsList[i] normalsList2[i + normalsCou] = -normalsList[i] for i in range(versCou): versList2[i] = versList[i] n = normalsList[i] versList2[i + versCou] = versList[i] - (n * thickness) # Create side faces. vIndex = len(versList2) for edgeI in edgesOneList: e1 = edgeI[0] e2 = edgeI[1] i1 = e1 i2 = e2 i3 = e1 + versCou i4 = e2 + versCou v1 = versList2[i2] v2 = versList2[i1] v3 = versList2[i3] v4 = versList2[i4] n = calcTriangleNormal(v1, v2, v3) faceVCouList2.append(4) for j in range(4): normalsList2.append(n) versList2.append(v1) versList2.append(v2) versList2.append(v3) versList2.append(v4) for j in range(4): faceVIList2.append(vIndex + j) vIndex += 4 m.CreatePointsAttr(versList2) m.CreateNormalsAttr(normalsList2) m.CreateFaceVertexCountsAttr(faceVCouList2) m.CreateFaceVertexIndicesAttr(faceVIList2) # -------------------------------------------------------. # Create gear. # @param[in] name Prim name. # @param[in] gearR Radius of gear. # @param[in] filletCount Number of gear divisions. # @param[in] filletHeight Fillet height. # @param[in] gearWidth Gear width. # @param[in] position position. # -------------------------------------------------------. def CreateGear (name : str, gearR : float, filletCount : int, filletHeight : float, gearWidth : float, position : Gf.Vec3f): angle = 360.0 / filletCount # Angle of one tooth. # Calculate the length of one tooth on the circumference. D = (gearR * math.sin((angle / 2.0) * math.pi / 180.0)) * 2 dHalf = D * 0.5 dQuarter = D * 0.25 centerV = Gf.Vec3d(0, 0, 0) versList = [] versList.append(centerV) faceIndexList = [] maxVCou = 1 + (5 * filletCount) index = 1 aV = 0.0 for i in range(filletCount): # Vertices of a single tooth. vDirX = math.cos(aV * math.pi / 180.0) vDirY = math.sin(aV * math.pi / 180.0) v2X = -vDirY v2Y = vDirX vD = Gf.Vec3d(vDirX, vDirY, 0) vCrossD = Gf.Vec3d(v2X, v2Y, 0) vCenter = vD * gearR v1 = vCenter - (vCrossD * dHalf) v2 = v1 + (vCrossD * dQuarter) v3 = v2 + (vD * filletHeight) v4 = v3 + (vCrossD * dHalf) v5 = v4 - (vD * filletHeight) v6 = v5 + (vCrossD * dQuarter) dd = D * 0.1 vCD = vCrossD * dd v3 += vCD v4 -= vCD v2 -= vCD v5 += vCD versList.append(v1) versList.append(v2) versList.append(v3) versList.append(v4) versList.append(v5) faceIndexList.append(0) faceIndexList.append(index) faceIndexList.append(index + 1) faceIndexList.append(index + 2) faceIndexList.append(index + 3) faceIndexList.append(index + 4) if index + 5 >= maxVCou: faceIndexList.append(1) else: faceIndexList.append(index + 5) index += 5 aV += angle # Create mesh. pathName = "/World/gears" prim = g_stage.GetPrimAtPath(pathName) if prim.IsValid() == False: UsdGeom.Xform.Define(g_stage, pathName) pathMeshName0 = pathName + '/' + name pathMeshName = pathMeshName0 index = 0 while True: pathMeshName = pathMeshName0 if index > 0: pathMeshName += '_' + str(index) prim = g_stage.GetPrimAtPath(pathMeshName) if prim.IsValid() == False: break index += 1 meshGeom = UsdGeom.Mesh.Define(g_stage, pathMeshName) # Set vertices. stVersList = [] stNormalList = [] for i in range(len(versList)): stVersList.append((versList[i][0], versList[i][1], versList[i][2])) stNormalList.append((0, 0, 1)) meshGeom.CreatePointsAttr(stVersList) # Set normals. meshGeom.CreateNormalsAttr(stNormalList) # Set face vertex count. faceVCouList = [] for i in range(filletCount): faceVCouList.append(7) meshGeom.CreateFaceVertexCountsAttr(faceVCouList) # Set face vertex indices. meshGeom.CreateFaceVertexIndicesAttr(faceIndexList) # Set position. UsdGeom.XformCommonAPI(meshGeom).SetTranslate((position[0], position[1], position[2])) # Set rotation. UsdGeom.XformCommonAPI(meshGeom).SetRotate((0.0, 0.0, 0.0), UsdGeom.XformCommonAPI.RotationOrderXYZ) # Set scale. UsdGeom.XformCommonAPI(meshGeom).SetScale((1.0, 1.0, 1.0)) # Attach thickness. if gearWidth > 0.0: AttachThickness(pathMeshName, gearWidth) # ------------------------------------------ # Get prim center position. # @param[in] primPath Prim path. # @return position(Gf.Vec3f) # ------------------------------------------ def GetPrimCenter (primPath : str): prim = g_stage.GetPrimAtPath(primPath) if prim.IsValid() == False: return globalPose = xformCache.GetLocalToWorldTransform(prim) translate, rotation, scale = UsdSkel.DecomposeTransform(globalPose) return translate # ------------------------------------------ # Set RigidBody on gear. # ------------------------------------------ def SetRigidBodyOnGear (primPath : str, index : int): prim = g_stage.GetPrimAtPath(primPath) if prim.IsValid() == False: return physicsAPI = UsdPhysics.RigidBodyAPI.Apply(prim) UsdPhysics.MassAPI.Apply(prim) # Create collider. UsdPhysics.CollisionAPI.Apply(prim) UsdPhysics.MeshCollisionAPI(prim).CreateApproximationAttr("convexHull") UsdPhysics.MeshCollisionAPI.Apply(prim) pos = GetPrimCenter(primPath) # revolute joint path = gear_basePath + '/revoluteJoint_' + str(index) revoluteJoint = UsdPhysics.RevoluteJoint.Define(g_stage, path) revoluteJoint.CreateAxisAttr("Z") revoluteJoint.CreateBody1Rel().SetTargets([primPath]) revoluteJoint.CreateLocalPos0Attr().Set(pos) revoluteJoint.CreateLocalRot0Attr().Set(Gf.Quatf(1.0)) revoluteJoint.CreateLocalPos1Attr().Set(Gf.Vec3f(0.0, 0.0, 0.0)) revoluteJoint.CreateLocalRot1Attr().Set(Gf.Quatf(1.0)) # ----------------------------------------------- # Radius. radius1 = 5.0 radius2 = 10.0 radius3 = 6.25 # Create Gears. CreateGear("gear", radius1, 24, 1.0, 1.0, Gf.Vec3f(0, 0, 0)) CreateGear("gear_1", radius2, 48, 1.0, 1.0, Gf.Vec3f(16.3, 0.72, 0)) CreateGear("gear_2", radius3, 30, 1.0, 1.0, Gf.Vec3f(0.0, -12.6, 0)) # gear1 path. gear1_path = gear_basePath + '/gear' # gear2 path. gear2_path = gear_basePath + '/gear_1' # gear3 path. gear3_path = gear_basePath + '/gear_2' # Physics scene definition. scene = UsdPhysics.Scene.Define(g_stage, "/physicsScene") scene.CreateGravityDirectionAttr().Set(Gf.Vec3f(0.0, -1.0, 0.0)) scene.CreateGravityMagnitudeAttr().Set(981.0) gear1_prim = g_stage.GetPrimAtPath(gear1_path) pos1 = GetPrimCenter(gear1_path) # Set RigidBody on gear. SetRigidBodyOnGear(gear1_path, 0) SetRigidBodyOnGear(gear2_path, 1) SetRigidBodyOnGear(gear3_path, 2) # add angular drive. revolute0_path = gear_basePath + "/revoluteJoint_0" revolute1_path = gear_basePath + "/revoluteJoint_1" revolute2_path = gear_basePath + "/revoluteJoint_2" # gear joint (0-1) gearJoint = PhysxSchema.PhysxPhysicsGearJoint.Define(g_stage, gear_basePath+"/gearJoint_0_1") gearJoint.CreateBody0Rel().SetTargets([gear1_path]) gearJoint.CreateBody1Rel().SetTargets([gear2_path]) gearJoint.CreateGearRatioAttr(radius1/radius2) gearJoint.CreateHinge0Rel().SetTargets([revolute0_path]) gearJoint.CreateHinge1Rel().SetTargets([revolute1_path]) # gear joint (0-2) gearJoint2 = PhysxSchema.PhysxPhysicsGearJoint.Define(g_stage, gear_basePath+"/gearJoint_0_2") gearJoint2.CreateBody0Rel().SetTargets([gear1_path]) gearJoint2.CreateBody1Rel().SetTargets([gear3_path]) gearJoint2.CreateGearRatioAttr(radius1/radius3) gearJoint2.CreateHinge0Rel().SetTargets([revolute0_path]) gearJoint2.CreateHinge1Rel().SetTargets([revolute2_path])

Python

ft-lab/omniverse_sample_scripts/PostProcessing/readme.md

# Post Processing Post Processingの変更を行います。 Post ProcessingはOmniverse Createの「Post Processings」ウィンドウでパラメータにマウスを合わせたときのツールチップにパスが表示されています。 下記の場合は"rtx/post/lensFlares/flareScale"。  もしくはPost Processingの値を変更してusda形式でエクスポートすると、 customLayerDataで以下のように"rtx:post: ... " というパスを確認できます。 ``` dictionary renderSettings = { bool "rtx:post:lensFlares:enabled" = 1 double "rtx:post:lensFlares:flareScale" = 0.2 double "rtx:post:tonemap:fNumber" = 4.669999895617366 token "rtx:rendermode" = "PathTracing" } ``` Pythonで以下のようにするとその値を変更できます。 ```python import omni.kit omni.kit.commands.execute("ChangeSetting", path="rtx/post/lensFlares/enabled", value=True) omni.kit.commands.execute("ChangeSetting", path="rtx/post/lensFlares/flareScale", value=0.2) ``` 「enabled」がPost Processingのその項目自身を有効/無効にする設定です。 ## サンプル |ファイル|説明| |---|---| |[ChangePostProcessing.py](./ChangePostProcessing.py)|Post Processingの"FTT Bloom"のパラメータを変更します。|

Markdown

ft-lab/omniverse_sample_scripts/PostProcessing/ChangePostProcessing.py

from pxr import Usd, UsdGeom, UsdShade, Sdf, Gf, Tf import omni.kit # Change Post Processing parameter. omni.kit.commands.execute("ChangeSetting", path="rtx/post/lensFlares/enabled", value=True) omni.kit.commands.execute("ChangeSetting", path="rtx/post/lensFlares/flareScale", value=0.2)

Python

ft-lab/omniverse_sample_scripts/UI/readme.md

# UI UI関連の処理を行います。 UIは「omni.ui」からアクセスすることでさまざまなウィジットを表現できます。 UIについては生成と破棄はセットになるためExtensionで実装するほうがよいですが、Script Editorからの実行でUI表示を行うこともできます（ただし、手動で破棄処理を呼ぶ必要あり）。 |サンプル|説明| |---|---| |[DebugDraw](./DebugDraw)|3Dの座標指定で、Depthによる遮蔽を考慮したラインを描画 (omni.debugdrawを使用)| |[DragAndDrop](./DragAndDrop)|UIでのドラッグ＆ドロップ| |[DrawImage](./DrawImage)|スクリーンにイメージをオーバーレイして描画| |[Viewport](./Viewport)|ビューポートにオーバレイして表示| |[Window](./Window)|新しいウィンドウを表示|

Markdown

ft-lab/omniverse_sample_scripts/UI/DragAndDrop/readme.md

# DragAndDrop UI間のドラッグ＆ドロップ。 |ファイル|説明| |---|---| |[dropTest.py](./dropTest.py)|Primをウィンドウ内のテキスト領域にドラッグすると、パスが表示される。<br>|

Markdown

ft-lab/omniverse_sample_scripts/UI/DragAndDrop/dropTest.py

from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf import omni.ui # Create new window. my_window = omni.ui.Window("Drop test window", width=300, height=200) # ------------------------------------------. with my_window.frame: sField = None # Enable Drop. def drop_accept(url): return True # Called at Drop event. def drop (uiField, event): # prim path. vPath = event.mime_data # Get stage. stage = omni.usd.get_context().get_stage() # Get prim. if Sdf.Path(vPath): prim = stage.GetPrimAtPath(vPath) if prim.IsValid(): # Set string. uiField.model.set_value(vPath) # Create window UI. with omni.ui.VStack(height=0): with omni.ui.Placer(offset_x=8, offset_y=8): omni.ui.Label("Please drop Prim below.") with omni.ui.Placer(offset_x=8, offset_y=0): omni.ui.Spacer(height=4) with omni.ui.Placer(offset_x=8, offset_y=0): sField = omni.ui.StringField(width=240, height=14, style={"color": 0xffffffff}) sField.set_accept_drop_fn(drop_accept) sField.set_drop_fn(lambda a, w=sField: drop(w, a))

Python

ft-lab/omniverse_sample_scripts/UI/DrawImage/readme.md

# DrawImage ビューポートに画像をオーバレイ表示します。 なお、Omniverse Code(Omniverse Kit 103を使用)では、Omniverse自身のビューポートの実装が大きく進化しているようでした (2022/01/21 確認)。 そのため、おそらく以下に列挙した描画実装は将来的には不要になると思われます。 |ファイル|説明| |---|---| |[drawImage.py](./drawImage.py)|omni.ui.ByteImageProviderを使用して、RGBAバッファに描画したイメージをビューポートにオーバレイ<br>| |[drawImageWithPIL.py](./drawImageWithPIL.py)|omni.ui.ByteImageProviderを使用して、Pillow(PIL)での描画をRGBAバッファに送りビューポートにオーバレイ<br>|

Markdown

ft-lab/omniverse_sample_scripts/UI/DrawImage/drawImageWithPIL.py

from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf import omni.ui import omni.kit.app import carb.events import asyncio import math import itertools # PIL exists in "kit/extscore/omni.kit.pip_archive/pip_prebundle". from PIL import Image, ImageDraw, ImageFont # Get main window viewport. window = omni.ui.Window('Viewport') # ref : omni.kit.window.images extension.py # ------------------------------------------. # Managing overlay image. # ------------------------------------------. class OverlayImageBuffer: _width = 256 _height = 256 _byte_provider = None _byte_data = None def __init__(self): self._width = 256 self._height = 256 self._byte_provider = None self._byte_data = None def startup (self, width : int, height : int): self._byte_provider = omni.ui.ByteImageProvider() self._width = width self._height = height # default format omni.ui.TextureFormat.RGBA8_UNORM. self._byte_data = [0] * (4 * self._width * self._height) self._byte_provider.set_bytes_data(self._byte_data, [self._width, self._height]) def update (self): self._byte_provider.set_bytes_data(self._byte_data, [self._width, self._height]) # ------------------------------------------. # Draw image with PIL. # ------------------------------------------. class DrawImageWithPIL: _timeCount = 0 _image = None _draw = None _overlayImageBuffer = None def __init__(self): self._image = None self._draw = None self._overlayImageBuffer = None def __del__(self): self._image = None self._draw = None def getWidth (self): return self._overlayImageBuffer._width def getHeight (self): return self._overlayImageBuffer._height def getByteProvider (self): return self._overlayImageBuffer._byte_provider def startup (self, width : int, height : int): # Create new image. self._image = Image.new("RGBA", (width, height), (0, 0, 0, 0)) self._draw = ImageDraw.Draw(self._image) self._overlayImageBuffer = OverlayImageBuffer() self._overlayImageBuffer.startup(width, height) def draw (self): # Draw rectangle (fill). self._draw.rectangle((0, 0, self._image.width, self._image.height), fill=(0, 0, 0, 0)) # Draw rectangle (fill). self._draw.rectangle((100, 100, 200, 200), fill=(255, 0, 0)) # Draw rectangle. self._draw.rectangle((100, 220, 200, 320), outline=(0, 0, 255), width=1) # Draw line. self._draw.line((0, 0, self._image.width, self._image.height), fill=(0, 255, 0), width=2) # Draw circle. self._draw.ellipse((100, 400, 150, 450), outline=(0, 0, 255), width=2) # Draw circle (fill). self._draw.ellipse((280, 300, 380, 400), fill=(0, 0, 255)) def update (self): self.draw() # Get image data(RGBA buffer). imgD = self._image.getdata() # Converting a 2d array to a 1d array. self._overlayImageBuffer._byte_data = list(itertools.chain.from_iterable(imgD)) # Update omni.ui.ByteImageProvider. self._overlayImageBuffer.update() # ------------------------------------------. # Update event. # ------------------------------------------. _drawImageWithPIL = None _img1 = None def on_update(e: carb.events.IEvent): global _drawImageWithPIL global _img1 if _drawImageWithPIL == None: _drawImageWithPIL = DrawImageWithPIL() _drawImageWithPIL.startup(512, 512) _drawImageWithPIL.update() with window.frame: with omni.ui.VStack(height=0): with omni.ui.Placer(offset_x=8, offset_y=8): _img1 = omni.ui.ImageWithProvider(_drawImageWithPIL.getByteProvider(), width=_drawImageWithPIL.getWidth(), height=_drawImageWithPIL.getHeight()) # ------------------------------------------. # Register for update events. # To clear the event, specify "subs=None". subs = omni.kit.app.get_app().get_update_event_stream().create_subscription_to_pop(on_update, name="Test update")

Python

ft-lab/omniverse_sample_scripts/UI/DrawImage/drawImage.py

from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf import omni.ui import omni.kit.app import carb.events import asyncio import math # Get main window viewport. window = omni.ui.Window('Viewport') # ref : omni.kit.window.images extension.py # ------------------------------------------. # Managing overlay image. # ------------------------------------------. class OverlayImageBuffer: _width = 256 _height = 256 _byte_provider = None _timeCount = 0 def __init__(self): self._timeCount = 0 self._width = 512 self._height = 256 self._byte_provider = None def startup (self): self._byte_provider = omni.ui.ByteImageProvider() def update (self): # default format omni.ui.TextureFormat.RGBA8_UNORM. byte_data = [0] * (4 * self._width * self._height) for x in range(self._width): hV = 100.0 v = math.cos((float)(x + self._timeCount) * 1.2 * math.pi / 180.0) * hV iV = 128 + (int)(v) iPos = (iV * self._width + x) * 4 byte_data[iPos + 0] = 255 # Red byte_data[iPos + 1] = 255 # Green byte_data[iPos + 2] = 0 # Blue byte_data[iPos + 3] = 255 # Alpha self._byte_provider.set_bytes_data(byte_data, [self._width, self._height]) self._timeCount += 1 # ------------------------------------------. # Update event. # ------------------------------------------. _imgBuffer = None _img1 = None def on_update(e: carb.events.IEvent): global _imgBuffer global _img1 if _imgBuffer == None: _imgBuffer = OverlayImageBuffer() _imgBuffer.startup() _imgBuffer.update() with window.frame: with omni.ui.VStack(height=0): with omni.ui.Placer(offset_x=8, offset_y=8): _img1 = omni.ui.ImageWithProvider(_imgBuffer._byte_provider, width=_imgBuffer._width, height=_imgBuffer._height) _imgBuffer.update() # ------------------------------------------. # Register for update events. # To clear the event, specify "subs=None". subs = omni.kit.app.get_app().get_update_event_stream().create_subscription_to_pop(on_update, name="Test update")

Python

ft-lab/omniverse_sample_scripts/UI/DebugDraw/readme.md

# DebugDraw 3Dの座標指定で、Depthによる遮蔽を考慮したラインを描画(omni.debugdrawを使用)。 |ファイル|説明| |---|---| |[UseDebugDraw.py](./UseDebugDraw.py)|ラインを描画<br>|

Markdown

ft-lab/omniverse_sample_scripts/UI/DebugDraw/UseDebugDraw.py

from pxr import Usd, UsdGeom, UsdPhysics, UsdShade, Sdf, Gf, Tf import omni.ui import omni.kit.app import carb import carb.events import math from omni.debugdraw import _debugDraw _debugDraw = _debugDraw.acquire_debug_draw_interface() # --------------------------------------------. # Draw arrow. # --------------------------------------------. def drawArrow (p1, p2, color): _debugDraw.draw_line(carb.Float3(p1[0], p1[1], p1[2]), color, carb.Float3(p2[0], p2[1], p2[2]), color) P1 = Gf.Vec3f(p1[0], p1[1], p1[2]) P2 = Gf.Vec3f(p2[0], p2[1], p2[2]) vDir = P2 - P1 lenV = vDir.GetLength() vDir /= lenV v1_2 = Gf.Vec4f(vDir[0], vDir[1], vDir[2], 1.0) v2_2 = Gf.Vec4f(0, 1, 0, 1.0) v3_2 = Gf.HomogeneousCross(v1_2, v2_2) vDirX = Gf.Vec3f(v3_2[0], v3_2[1], v3_2[2]).GetNormalized() vD1 = (vDir + vDirX).GetNormalized() * (lenV * 0.1) vD2 = (vDir - vDirX).GetNormalized() * (lenV * 0.1) pp = P1 + vD1 _debugDraw.draw_line(carb.Float3(pp[0], pp[1], pp[2]), color, carb.Float3(P1[0], P1[1], P1[2]), color) pp = P1 + vD2 _debugDraw.draw_line(carb.Float3(pp[0], pp[1], pp[2]), color, carb.Float3(P1[0], P1[1], P1[2]), color) pp = P2 - vD1 _debugDraw.draw_line(carb.Float3(pp[0], pp[1], pp[2]), color, carb.Float3(P2[0], P2[1], P2[2]), color) pp = P2 - vD2 _debugDraw.draw_line(carb.Float3(pp[0], pp[1], pp[2]), color, carb.Float3(P2[0], P2[1], P2[2]), color) # ------------------------------------------. # Update event. # ------------------------------------------. def on_update(e: carb.events.IEvent): color = 0xffffc000 # AARRGGBB r = 100.0 angleD = 10.0 angleV = 0.0 px1 = 0.0 pz1 = 0.0 py1 = 0.0 for i in range(200): px2 = math.cos(angleV * math.pi / 180.0) * r pz2 = math.sin(angleV * math.pi / 180.0) * r py2 = py1 + 0.1 if i == 0: px1 = px2 pz1 = pz2 _debugDraw.draw_line(carb.Float3(px1, py1, pz1), color, carb.Float3(px2, py2, pz2), color) r -= 0.5 angleV += angleD px1 = px2 py1 = py2 pz1 = pz2 #_debugDraw.draw_point(carb.Float3(0, 30, 0), 0xffff0000) color2 = 0xffff0000 drawArrow((-100.0, 5.0, -100.0), (-100.0, 5.0, 100.0), color2) # ------------------------------------------. # Register for update events. # To clear the event, specify "subs=None". subs = omni.kit.app.get_app().get_update_event_stream().create_subscription_to_pop(on_update, name="draw update")

Python