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eliabntt/GRADE-RR/isaac_internals/kit/extscore/omni.syntheticdata/omni/syntheticdata/tests/pipeline/test_instance_mapping.py | import carb
from pxr import Gf, UsdGeom, UsdLux, Sdf
import omni.hydratexture
import omni.kit.test
from omni.syntheticdata import SyntheticData, SyntheticDataStage
# Test the instance mapping pipeline
class TestInstanceMapping(omni.kit.test.AsyncTestCase):
def __init__(self, methodName: str) -> None:
super().__init__(methodName=methodName)
def render_product_path(self, hydra_texture) -> str:
'''Return a string to the UsdRender.Product used by the texture'''
render_product = hydra_texture.get_render_product_path()
if render_product and (not render_product.startswith('/')):
render_product = '/Render/RenderProduct_' + render_product
return render_product
def register_test_instance_mapping_pipeline(self):
sdg_iface = SyntheticData.Get()
if not sdg_iface.is_node_template_registered("TestSimSWHFrameNumber"):
sdg_iface.register_node_template(
SyntheticData.NodeTemplate(
SyntheticDataStage.SIMULATION,
"omni.syntheticdata.SdUpdateSwFrameNumber"
),
template_name="TestSimSWHFrameNumber"
)
if not sdg_iface.is_node_template_registered("TestSimInstanceMapping"):
sdg_iface.register_node_template(
SyntheticData.NodeTemplate(
SyntheticDataStage.SIMULATION,
"omni.syntheticdata.SdTestInstanceMapping",
[
SyntheticData.NodeConnectionTemplate("TestSimSWHFrameNumber", ())
],
{"inputs:stage":"simulation"}
),
template_name="TestSimInstanceMapping"
)
if not sdg_iface.is_node_template_registered("TestOnDemandInstanceMapping"):
sdg_iface.register_node_template(
SyntheticData.NodeTemplate(
SyntheticDataStage.ON_DEMAND,
"omni.syntheticdata.SdTestInstanceMapping",
[
SyntheticData.NodeConnectionTemplate("InstanceMappingPtrWithTransforms"),
SyntheticData.NodeConnectionTemplate("TestSimInstanceMapping", (), attributes_mapping={"outputs:exec": "inputs:exec"})
],
{"inputs:stage":"ondemand"}
),
template_name="TestOnDemandInstanceMapping"
)
def activate_test_instance_mapping_pipeline(self, case_index):
sdg_iface = SyntheticData.Get()
sdg_iface.activate_node_template("TestSimInstanceMapping", attributes={"inputs:testCaseIndex":case_index})
sdg_iface.activate_node_template("TestOnDemandInstanceMapping", 0,
[self.render_product_path(self._hydra_texture_0)],
{"inputs:testCaseIndex":case_index})
sdg_iface.connect_node_template("TestSimInstanceMapping",
"InstanceMappingPre", None,
{"outputs:semanticFilterPredicate":"inputs:semanticFilterPredicate"})
async def wait_for_num_frames(self, num_frames, max_num_frames=5000):
self._hydra_texture_rendered_counter = 0
wait_frames_left = max_num_frames
while (self._hydra_texture_rendered_counter < num_frames) and (wait_frames_left > 0):
await omni.kit.app.get_app().next_update_async()
wait_frames_left -= 1
async def setUp(self):
self._settings = carb.settings.acquire_settings_interface()
self._hydra_texture_factory = omni.hydratexture.acquire_hydra_texture_factory_interface()
self._usd_context_name = ''
self._usd_context = omni.usd.get_context(self._usd_context_name)
await self._usd_context.new_stage_async()
# renderer
renderer = "rtx"
if renderer not in self._usd_context.get_attached_hydra_engine_names():
omni.usd.add_hydra_engine(renderer, self._usd_context)
# create the hydra textures
self._hydra_texture_0 = self._hydra_texture_factory.create_hydra_texture(
"TEX0",
1920,
1080,
self._usd_context_name,
hydra_engine_name=renderer,
is_async=self._settings.get("/app/asyncRendering")
)
self._hydra_texture_rendered_counter = 0
def on_hydra_texture_0(event: carb.events.IEvent):
self._hydra_texture_rendered_counter += 1
self._hydra_texture_rendered_counter_sub = self._hydra_texture_0.get_event_stream().create_subscription_to_push_by_type(
omni.hydratexture.EVENT_TYPE_DRAWABLE_CHANGED,
on_hydra_texture_0,
name='async rendering test drawable update',
)
self.register_test_instance_mapping_pipeline()
async def tearDown(self):
self._hydra_texture_rendered_counter_sub = None
self._hydra_texture_0 = None
self._usd_context.close_stage()
omni.usd.release_all_hydra_engines(self._usd_context)
self._hydra_texture_factory = None
self._settings = None
wait_iterations = 6
for _ in range(wait_iterations):
await omni.kit.app.get_app().next_update_async()
async def test_case_0(self):
self.activate_test_instance_mapping_pipeline(0)
await self.wait_for_num_frames(11)
async def test_case_1(self):
self.activate_test_instance_mapping_pipeline(1)
await self.wait_for_num_frames(11)
async def test_case_2(self):
self.activate_test_instance_mapping_pipeline(2)
await self.wait_for_num_frames(11)
async def test_case_3(self):
self.activate_test_instance_mapping_pipeline(3)
await self.wait_for_num_frames(11)
async def test_case_4(self):
self.activate_test_instance_mapping_pipeline(4)
await self.wait_for_num_frames(11)
|
eliabntt/GRADE-RR/isaac_internals/kit/extscore/omni.syntheticdata/omni/syntheticdata/tests/sensors/test_motion_vector.py | # NOTE:
# omni.kit.test - std python's unittest module with additional wrapping to add suport for async/await tests
# For most things refer to unittest docs: https://docs.python.org/3/library/unittest.html
import os
import math
import asyncio
from PIL import Image
from time import time
from pathlib import Path
import carb
import numpy as np
from numpy.lib.arraysetops import unique
import unittest
import omni.kit.test
from omni.kit.viewport.utility import get_active_viewport
from pxr import Gf, UsdGeom
# Import extension python module we are testing with absolute import path, as if we are external user (other extension)
import omni.syntheticdata as syn
from ..utils import add_semantics
FILE_DIR = os.path.dirname(os.path.realpath(__file__))
TIMEOUT = 200
# Having a test class derived from omni.kit.test.AsyncTestCase declared on the root of module will make it auto-discoverable by omni.kit.test
class TestMotionVector(omni.kit.test.AsyncTestCase):
def __init__(self, methodName: str) -> None:
super().__init__(methodName=methodName)
self.golden_image_path = Path(os.path.dirname(os.path.abspath(__file__))) / ".." / "data" / "golden"
self.output_image_path = Path(os.path.dirname(os.path.abspath(__file__))) / ".." / "data" / "output"
def writeDataToImage(self, data, name):
if not os.path.isdir(self.output_image_path):
os.mkdir(self.output_image_path)
data = ((data + 1.0) / 2) * 255
outputPath = str(self.output_image_path) + "/" + name + ".png"
print("Writing data to " + outputPath)
Image.fromarray(data.astype(np.uint8), "RGBA").save(outputPath)
# Before running each test
async def setUp(self):
np.random.seed(1234)
# Setup viewport
self.viewport = get_active_viewport()
# Initialize Sensor
await omni.usd.get_context().new_stage_async()
stage = omni.usd.get_context().get_stage()
await omni.kit.app.get_app().next_update_async()
await syn.sensors.create_or_retrieve_sensor_async(self.viewport, syn._syntheticdata.SensorType.MotionVector)
async def test_empty(self):
""" Test motion vector sensor on empty stage.
"""
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_motion_vector(self.viewport)
allChannelsAreZero = np.allclose(data, 0, atol=0.001)
if not allChannelsAreZero:
self.writeDataToImage(data, "test_empty")
assert allChannelsAreZero
async def test_dtype(self):
stage = omni.usd.get_context().get_stage()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_motion_vector(self.viewport)
assert data.dtype == np.float32
async def test_unmoving_cube(self):
stage = omni.usd.get_context().get_stage()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
cube.GetAttribute("size").Set(100)
cube.GetAttribute("primvars:displayColor").Set([(0, 0, 1)])
UsdGeom.Xformable(cube).AddTranslateOp()
cube.GetAttribute("xformOp:translate").Set((350, 365, 350), time=0)
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_motion_vector(self.viewport)
# 4th channel will wary based on geo hit, so we ignore checking it here
rgbChannelsAreZero = np.allclose(data[:, [0, 1, 2]], 0, atol=0.001)
if not rgbChannelsAreZero:
self.writeDataToImage(data, "test_unmoving_cube")
assert rgbChannelsAreZero
@unittest.skip("OM-44310")
async def test_partially_disoccluding_cube(self):
# disabling temporarly the test for OMNI-GRAPH support : OM-44310
stage = omni.usd.get_context().get_stage()
stage.SetStartTimeCode(0)
stage.SetEndTimeCode(100)
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
cube.GetAttribute("size").Set(10)
cube.GetAttribute("primvars:displayColor").Set([(0, 0, 1)])
# add translation down to create disocclusion due to fetching from out of screen bounds
UsdGeom.Xformable(cube).AddTranslateOp()
cube.GetAttribute("xformOp:translate").Set((480, 487, 480), time=0)
cube.GetAttribute("xformOp:translate").Set((480, 480, 480), time=0.001)
# add rotation around up vector to create disocclusion due to fetching from an incompatible surface
UsdGeom.Xformable(cube).AddRotateYOp()
cube.GetAttribute("xformOp:rotateY").Set(40, time=0)
cube.GetAttribute("xformOp:rotateY").Set(70, time=0.001)
await omni.kit.app.get_app().next_update_async()
# Render one frame
itl = omni.timeline.get_timeline_interface()
itl.play()
await syn.sensors.next_sensor_data_async(self.viewport, True)
data = syn.sensors.get_motion_vector(self.viewport)
golden_image = np.load(self.golden_image_path / "motion_partially_disoccluding_cube.npz")["array"]
# normalize xy (mvec) to zw channels' value range
# x100 seems like a good number to bring mvecs to ~1
data[:, [0, 1]] *= 100
golden_image[:, [0, 1]] *= 100
std_dev = np.sqrt(np.square(data - golden_image).astype(float).mean())
# OM-41605 - using higher std dev here to make linux run succeed
std_dev_tolerance = 0.12
print("Calculated std.dev: " + str(std_dev), " Std dev tolerance: " + str(std_dev_tolerance))
if std_dev >= std_dev_tolerance:
self.writeDataToImage(golden_image, "test_partially_disoccluding_cube_golden")
self.writeDataToImage(data, "test_partially_disoccluding_cube")
np.savez_compressed(self.output_image_path / "motion_partially_disoccluding_cube.npz", array=data)
assert std_dev < std_dev_tolerance
# After running each test
async def tearDown(self):
pass
|
eliabntt/GRADE-RR/isaac_internals/kit/extscore/omni.syntheticdata/omni/syntheticdata/tests/sensors/test_occlusion.py | # NOTE:
# omni.kit.test - std python's unittest module with additional wrapping to add suport for async/await tests
# For most things refer to unittest docs: https://docs.python.org/3/library/unittest.html
import os
import math
from time import time
from pathlib import Path
import carb
import numpy as np
import unittest
import omni.kit.test
from omni.kit.viewport.utility import get_active_viewport
from pxr import UsdGeom, Sdf
# Import extension python module we are testing with absolute import path, as if we are external user (other extension)
import omni.syntheticdata as syn
from ..utils import add_semantics
FILE_DIR = os.path.dirname(os.path.realpath(__file__))
TIMEOUT = 200
# Having a test class derived from omni.kit.test.AsyncTestCase declared on the root of module will make it auto-discoverable by omni.kit.test
class TestOcclusion(omni.kit.test.AsyncTestCase):
def __init__(self, methodName: str) -> None:
super().__init__(methodName=methodName)
self.golden_image_path = Path(os.path.dirname(os.path.abspath(__file__))) / ".." / "data" / "golden"
# Before running each test
async def setUp(self):
await omni.usd.get_context().new_stage_async()
stage = omni.usd.get_context().get_stage()
self.viewport = get_active_viewport()
# Initialize Sensors
syn.sensors.enable_sensors(
self.viewport,
[
syn._syntheticdata.SensorType.BoundingBox2DLoose,
syn._syntheticdata.SensorType.BoundingBox2DTight,
syn._syntheticdata.SensorType.Occlusion,
],
)
await syn.sensors.next_sensor_data_async(self.viewport,True)
async def test_fields_exist(self):
stage = omni.usd.get_context().get_stage()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_occlusion(self.viewport)
valid_dtype = [("instanceId", "<u4"), ("semanticId", "<u4"), ("occlusionRatio", "<f4")]
assert data.dtype == np.dtype(valid_dtype)
async def test_fields_exist_parsed(self):
stage = omni.usd.get_context().get_stage()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_occlusion(self.viewport, parsed=True)
valid_dtype = [
("uniqueId", "<i4"),
("name", "O"),
("semanticLabel", "O"),
("metadata", "O"),
("instanceIds", "O"),
("semanticId", "<u4"),
("occlusionRatio", "<f4"),
]
assert data.dtype == np.dtype(valid_dtype)
async def test_occlusion(self):
path = os.path.join(FILE_DIR, "../data/scenes/occlusion.usda")
await omni.usd.get_context().open_stage_async(path)
syn.sensors.enable_sensors(self.viewport, [syn._syntheticdata.SensorType.Occlusion])
await syn.sensors.next_sensor_data_async(self.viewport,True)
occlusion_out = syn.sensors.get_occlusion(self.viewport, parsed=True)
for row in occlusion_out:
gt = float(row["semanticLabel"]) / 100.0
assert math.isclose(gt, row["occlusionRatio"], abs_tol=0.015), f"Expected {gt}, got {row['occlusionRatio']}"
async def test_self_occlusion(self):
path = os.path.join(FILE_DIR, "../data/scenes/torus_sphere.usda")
await omni.usd.get_context().open_stage_async(path)
syn.sensors.enable_sensors(self.viewport, [syn._syntheticdata.SensorType.Occlusion])
await syn.sensors.next_sensor_data_async(self.viewport,True)
occlusion_out = syn.sensors.get_occlusion(self.viewport)
occlusion_out_ratios = np.sort(occlusion_out["occlusionRatio"])
assert np.allclose(occlusion_out_ratios, [0.0, 0.6709], atol=0.05)
async def test_full_occlusion(self):
path = os.path.join(FILE_DIR, "../data/scenes/cube_full_occlusion.usda")
await omni.usd.get_context().open_stage_async(path)
syn.sensors.enable_sensors(self.viewport, [syn._syntheticdata.SensorType.Occlusion])
await syn.sensors.next_sensor_data_async(self.viewport,True)
occlusion_out = syn.sensors.get_occlusion(self.viewport)
occlusion_out_ratios = np.sort(occlusion_out["occlusionRatio"])
assert np.allclose(occlusion_out_ratios, [0.0, 1.0], atol=0.05)
async def test_occlusion_pathtracing(self):
""" Basic funtionality test of the sensor, but in path tracing mode.
"""
settings = carb.settings.get_settings()
settings.set_string("/rtx/rendermode", "PathTracing")
settings.set_int("/rtx/pathtracing/spp", 32)
settings.set_int("/persistent/app/viewport/displayOptions", 0)
path = os.path.join(FILE_DIR, "../data/scenes/occlusion.usda")
await omni.usd.get_context().open_stage_async(path)
syn.sensors.enable_sensors(self.viewport, [syn._syntheticdata.SensorType.Occlusion])
await syn.sensors.next_sensor_data_async(self.viewport,True)
occlusion_out = syn.sensors.get_occlusion(self.viewport, parsed=True)
for row in occlusion_out:
gt = float(row["semanticLabel"]) / 100.0
assert math.isclose(gt, row["occlusionRatio"], abs_tol=0.015), f"Expected {gt}, got {row['occlusionRatio']}"
async def test_occlusion_ray_traced_lighting(self):
""" Basic funtionality test of the sensor, but in ray traced lighting.
"""
# Set the rendering mode to be ray traced lighting.
settings_interface = carb.settings.get_settings()
settings_interface.set_string("/rtx/rendermode", "RayTracedLighting")
path = os.path.join(FILE_DIR, "../data/scenes/occlusion.usda")
await omni.usd.get_context().open_stage_async(path)
syn.sensors.enable_sensors(self.viewport, [syn._syntheticdata.SensorType.Occlusion])
await syn.sensors.next_sensor_data_async(self.viewport,True)
occlusion_out = syn.sensors.get_occlusion(self.viewport, parsed=True)
for row in occlusion_out:
gt = float(row["semanticLabel"]) / 100.0
assert math.isclose(gt, row["occlusionRatio"], abs_tol=0.015), f"Expected {gt}, got {row['occlusionRatio']}"
async def test_occlusion_ftheta(self):
""" Basic funtionality test of the sensor under ftheta camera.
"""
settings = carb.settings.get_settings()
settings.set_string("/rtx/rendermode", "PathTracing")
settings.set_int("/rtx/pathtracing/spp", 32)
settings.set_int("/persistent/app/viewport/displayOptions", 0)
path = os.path.join(FILE_DIR, "../data/scenes/occlusion.usda")
await omni.usd.get_context().open_stage_async(path)
await omni.kit.app.get_app().next_update_async()
stage = omni.usd.get_context().get_stage()
camera = stage.DefinePrim("/Camera", "Camera")
# Set the camera to be polynomial fish eye camera.
camera.CreateAttribute("cameraProjectionType", Sdf.ValueTypeNames.Token).Set("fisheyePolynomial")
# Set the Camera's position
UsdGeom.Xformable(camera).AddTranslateOp().Set((100, 200, 300))
self.viewport.camera_path = camera.GetPath()
syn.sensors.enable_sensors(self.viewport, [syn._syntheticdata.SensorType.Occlusion])
await syn.sensors.next_sensor_data_async(self.viewport,True)
# Camera type should not affect occlusion.
occlusion_out = syn.sensors.get_occlusion(self.viewport, parsed=True)
data = np.array([row['occlusionRatio'] for row in occlusion_out])
# np.savez_compressed(self.golden_image_path / 'occlusion_ftheta.npz', array=data)
golden = np.load(self.golden_image_path / "occlusion_ftheta.npz")["array"]
assert np.isclose(data, golden, atol=1e-3).all()
async def test_occlusion_spherical(self):
""" Basic funtionality test of the sensor under spherical camera.
"""
settings = carb.settings.get_settings()
settings.set_string("/rtx/rendermode", "PathTracing")
settings.set_int("/rtx/pathtracing/spp", 32)
settings.set_int("/persistent/app/viewport/displayOptions", 0)
path = os.path.join(FILE_DIR, "../data/scenes/occlusion.usda")
await omni.usd.get_context().open_stage_async(path)
await omni.kit.app.get_app().next_update_async()
stage = omni.usd.get_context().get_stage()
camera = stage.DefinePrim("/Camera", "Camera")
# Set the camera to be polynomial fish eye camera.
camera.CreateAttribute("cameraProjectionType", Sdf.ValueTypeNames.Token).Set("fisheyeSpherical")
# Set the Camera's position
UsdGeom.Xformable(camera).AddTranslateOp().Set((100, 200, 300))
self.viewport.camera_path = camera.GetPath()
syn.sensors.enable_sensors(self.viewport, [syn._syntheticdata.SensorType.Occlusion])
await syn.sensors.next_sensor_data_async(self.viewport,True)
# Camera type should not affect occlusion.
occlusion_out = syn.sensors.get_occlusion(self.viewport, parsed=True)
data = np.array([row['occlusionRatio'] for row in occlusion_out])
# np.savez_compressed(self.golden_image_path / 'occlusion_spherical.npz', array=data)
golden = np.load(self.golden_image_path / "occlusion_spherical.npz")["array"]
assert np.isclose(data, golden, atol=1e-1).all()
@unittest.skip("OM-44310")
async def test_occlusion_quadrant(self):
# disabling temporarly the test for OMNI-GRAPH support : OM-44310
# Test quadrant sensor. It takes loose and tight bounding boxes to
# return the type of occlusion
# Expected occlusion value for time=1, 2, 3...
TESTS = [
"fully-occluded",
"left",
"right",
"bottom",
"top",
"fully-visible", # corner occlusion
"fully-visible", # corner occlusion
"bottom-right",
"bottom-left",
"top-right",
"top-left",
"fully-visible",
]
path = os.path.join(FILE_DIR, "../data/scenes/occlusion_quadrant.usda")
await omni.usd.get_context().open_stage_async(path)
await omni.kit.app.get_app().next_update_async()
syn.sensors.enable_sensors(
self.viewport,
[
syn._syntheticdata.SensorType.BoundingBox2DLoose,
syn._syntheticdata.SensorType.BoundingBox2DTight,
syn._syntheticdata.SensorType.Occlusion,
],
)
await syn.sensors.next_sensor_data_async(self.viewport,True)
timeline_iface = omni.timeline.acquire_timeline_interface()
timeline_iface.set_time_codes_per_second(1)
for time, gt in enumerate(TESTS):
timeline_iface.set_current_time(time)
await omni.kit.app.get_app().next_update_async()
# Investigate these in OM-31155
sensor_out = syn.sensors.get_occlusion_quadrant(self.viewport)
result = sensor_out["occlusion_quadrant"][0]
assert result == gt, f"Got {result}, expected {gt}"
# After running each test
async def tearDown(self):
pass
|
eliabntt/GRADE-RR/isaac_internals/kit/extscore/omni.syntheticdata/omni/syntheticdata/tests/sensors/test_renderproduct_camera.py | # NOTE:
# omni.kit.test - std python's unittest module with additional wrapping to add suport for async/await tests
# For most things refer to unittest docs: https://docs.python.org/3/library/unittest.html
import os
import carb
from pxr import Gf, UsdGeom, Sdf, UsdLux
from omni.kit.viewport.utility import get_active_viewport, create_viewport_window
import omni.kit.test
from omni.syntheticdata import SyntheticData, SyntheticDataStage
# Test the RenderProductCamera nodes
class TestRenderProductCamera(omni.kit.test.AsyncTestCase):
def __init__(self, methodName: str) -> None:
super().__init__(methodName=methodName)
async def setUp(self):
settings = carb.settings.get_settings()
settings.set_string("/rtx/rendermode", "PathTracing")
settings.set_int("/rtx/pathtracing/spp", 32)
settings.set_int("/persistent/app/viewport/displayOptions", 0)
self.numLoops = 7
self.multiViewport = False
# Setup the scene
await omni.usd.get_context().new_stage_async()
stage = omni.usd.get_context().get_stage()
# Setup viewports / renderproduct
# first default viewport with the default perspective camera
viewport_0 = get_active_viewport()
resolution_0 = viewport_0.resolution
camera_0 = UsdGeom.Camera.Define(stage, "/Camera0").GetPrim()
viewport_0.camera_path = camera_0.GetPath()
render_product_path_0 = viewport_0.render_product_path
self.render_product_path_0 = render_product_path_0
# second viewport with a ftheta camera
if self.multiViewport:
resolution_1 = (512, 512)
viewport_window = create_viewport_window(width=resolution_1[0], height=resolution_1[1])
viewport_1 = viewport_window.viewport_api
viewport_1.resolution = resolution_1
camera_1 = UsdGeom.Camera.Define(stage, "/Camera1").GetPrim()
viewport_1.camera_path = camera_1.GetPath()
render_product_path_1 = viewport_1.render_product_path
self.render_product_path_1 = render_product_path_1
# SyntheticData singleton interface
sdg_iface = SyntheticData.Get()
if not sdg_iface.is_node_template_registered("TestSimRpCam"):
sdg_iface.register_node_template(
SyntheticData.NodeTemplate(
SyntheticDataStage.SIMULATION,
"omni.syntheticdata.SdTestRenderProductCamera",
attributes={"inputs:stage":"simulation"}
),
template_name="TestSimRpCam"
)
if not sdg_iface.is_node_template_registered("TestPostRpCam"):
sdg_iface.register_node_template(
SyntheticData.NodeTemplate(
SyntheticDataStage.POST_RENDER,
"omni.syntheticdata.SdTestRenderProductCamera",
[SyntheticData.NodeConnectionTemplate("PostRenderProductCamera")],
attributes={"inputs:stage":"postRender"}
),
template_name="TestPostRpCam"
)
if not sdg_iface.is_node_template_registered("TestOnDemandRpCam"):
sdg_iface.register_node_template(
SyntheticData.NodeTemplate(
SyntheticDataStage.ON_DEMAND,
"omni.syntheticdata.SdTestRenderProductCamera",
[SyntheticData.NodeConnectionTemplate("PostProcessRenderProductCamera")],
attributes={"inputs:stage":"onDemand"}
),
template_name="TestOnDemandRpCam"
)
attributes_0 = {
"inputs:renderProductCameraPath":camera_0.GetPath().pathString,
"inputs:width":resolution_0[0],
"inputs:height":resolution_0[1]
}
sdg_iface.activate_node_template("TestSimRpCam", 0, [render_product_path_0], attributes_0)
sdg_iface.activate_node_template("TestPostRpCam", 0, [render_product_path_0], attributes_0)
sdg_iface.activate_node_template("TestOnDemandRpCam", 0, [render_product_path_0],attributes_0)
if self.multiViewport:
attributes_1 = {
"inputs:renderProductCameraPath":camera_1.GetPath().pathString,
"inputs:width":resolution_1[0],
"inputs:height":resolution_1[1]
}
sdg_iface.activate_node_template("TestSimRpCam", 0, [render_product_path_1], attributes_1)
sdg_iface.activate_node_template("TestPostRpCam", 0, [render_product_path_1], attributes_1)
sdg_iface.activate_node_template("TestOnDemandRpCam", 0, [render_product_path_1],attributes_1)
async def test_renderproduct_camera(self):
""" Test render product camera pipeline
"""
sdg_iface = SyntheticData.Get()
test_outname = "outputs:test"
test_attributes_names = [test_outname]
for _ in range(3):
await omni.kit.app.get_app().next_update_async()
for _ in range(self.numLoops):
await omni.kit.app.get_app().next_update_async()
assert sdg_iface.get_node_attributes("TestSimRpCam", test_attributes_names, self.render_product_path_0)[test_outname]
assert sdg_iface.get_node_attributes("TestPostRpCam", test_attributes_names, self.render_product_path_0)[test_outname]
assert sdg_iface.get_node_attributes("TestOnDemandRpCam", test_attributes_names, self.render_product_path_0)[test_outname]
if self.multiViewport:
assert sdg_iface.get_node_attributes("TestSimRpCam", test_attributes_names, self.render_product_path_1)[test_outname]
assert sdg_iface.get_node_attributes("TestPostRpCam", test_attributes_names, self.render_product_path_1)[test_outname]
assert sdg_iface.get_node_attributes("TestOnDemandRpCam", test_attributes_names, self.render_product_path_1)[test_outname]
async def tearDown(self):
pass
|
eliabntt/GRADE-RR/isaac_internals/kit/extscore/omni.syntheticdata/omni/syntheticdata/tests/sensors/test_swh_frame_number.py | # NOTE:
# omni.kit.test - std python's unittest module with additional wrapping to add suport for async/await tests
# For most things refer to unittest docs: https://docs.python.org/3/library/unittest.html
import os
import carb
from pxr import Gf, UsdGeom, UsdLux, Sdf
import unittest
import omni.kit.test
from omni.kit.viewport.utility import get_active_viewport, create_viewport_window
from omni.syntheticdata import SyntheticData, SyntheticDataStage
# Test the Fabric frame number synchronization
class TestSWHFrameNumber(omni.kit.test.AsyncTestCase):
def __init__(self, methodName: str) -> None:
super().__init__(methodName=methodName)
async def setUp(self):
settings = carb.settings.get_settings()
settings.set_string("/rtx/rendermode", "PathTracing")
settings.set_int("/rtx/pathtracing/spp", 32)
settings.set_int("/persistent/app/viewport/displayOptions", 0)
# Setup the scene
await omni.usd.get_context().new_stage_async()
stage = omni.usd.get_context().get_stage()
world_prim = UsdGeom.Xform.Define(stage,"/World")
UsdGeom.Xformable(world_prim).AddTranslateOp().Set((0, 0, 0))
UsdGeom.Xformable(world_prim).AddRotateXYZOp().Set((0, 0, 0))
capsule0_prim = stage.DefinePrim("/World/Capsule0", "Capsule")
UsdGeom.Xformable(capsule0_prim).AddTranslateOp().Set((100, 0, 0))
UsdGeom.Xformable(capsule0_prim).AddScaleOp().Set((30, 30, 30))
UsdGeom.Xformable(capsule0_prim).AddRotateXYZOp().Set((-90, 0, 0))
capsule0_prim.GetAttribute("primvars:displayColor").Set([(0.3, 1, 0)])
capsule1_prim = stage.DefinePrim("/World/Capsule1", "Capsule")
UsdGeom.Xformable(capsule1_prim).AddTranslateOp().Set((-100, 0, 0))
UsdGeom.Xformable(capsule1_prim).AddScaleOp().Set((30, 30, 30))
UsdGeom.Xformable(capsule1_prim).AddRotateXYZOp().Set((-90, 0, 0))
capsule1_prim.GetAttribute("primvars:displayColor").Set([(0, 1, 0.3)])
spherelight = UsdLux.SphereLight.Define(stage, "/SphereLight")
spherelight.GetIntensityAttr().Set(30000)
spherelight.GetRadiusAttr().Set(30)
# first default viewport with the default perspective camera
viewport_0 = get_active_viewport()
render_product_path_0 = viewport_0.render_product_path
# second viewport with a ftheta camera
viewport_1_window = create_viewport_window(width=512, height=512)
viewport_1 = viewport_1_window.viewport_api
camera_1 = stage.DefinePrim("/Camera1", "Camera")
camera_1.CreateAttribute("cameraProjectionType", Sdf.ValueTypeNames.Token).Set("fisheyePolynomial")
UsdGeom.Xformable(camera_1).AddTranslateOp().Set((0, 250, 0))
UsdGeom.Xformable(camera_1).AddRotateXYZOp().Set((-90, 0, 0))
viewport_1.camera_path = camera_1.GetPath()
render_product_path_1 = viewport_1.render_product_path
# SyntheticData singleton interface
sdg_iface = SyntheticData.Get()
# Register node templates in the SyntheticData register
# (a node template is a template for creating a node specified by its type and its connections)
#
# to illustrate we are using the generic omni.syntheticdata.SdTestStageSynchronization node type which supports every stage of the SyntheticData pipeline. When executed it logs the fabric frame number.
#
# register a node template in the simulation stage
# NB : this node template has no connections
if not sdg_iface.is_node_template_registered("TestSyncSim"):
sdg_iface.register_node_template(
SyntheticData.NodeTemplate(
SyntheticDataStage.SIMULATION, # node tempalte stage
"omni.syntheticdata.SdTestStageSynchronization", # node template type
attributes={"inputs:tag":"0"}), # node template default attribute values (when differs from the default value specified in the .ogn)
template_name="TestSyncSim" # node template name
)
# register a node template in the postrender stage
# NB : this template may be activated for several different renderproducts
if not sdg_iface.is_node_template_registered("TestSyncPost"):
sdg_iface.register_node_template(
SyntheticData.NodeTemplate(
SyntheticDataStage.POST_RENDER, # node template stage
"omni.syntheticdata.SdTestStageSynchronization", # node template type
# node template connections
[
# connected to a TestSyncSim node (a TestSyncSim node will be activated when activating this template)
SyntheticData.NodeConnectionTemplate("TestSyncSim", (), None),
# connected to a LdrColorSD rendervar (the renderVar will be activated when activating this template)
SyntheticData.NodeConnectionTemplate("LdrColorSD"),
# connected to a BoundingBox3DSD rendervar (the renderVar will be activated when activating this template)
SyntheticData.NodeConnectionTemplate("BoundingBox3DSD")
]),
template_name="TestSyncPost" # node template name
)
# register a node template in the postprocess stage
# NB : this template may be activated for several different renderproducts
if not sdg_iface.is_node_template_registered("TestSyncOnDemand"):
sdg_iface.register_node_template(
SyntheticData.NodeTemplate(
SyntheticDataStage.ON_DEMAND, # node template stage
"omni.syntheticdata.SdTestStageSynchronization", # node template type
# node template connections
[
# connected to a TestSyncSim node (a TestSyncSim node will be activated when activating this template)
SyntheticData.NodeConnectionTemplate("TestSyncSim", (), None),
# connected to a PostProcessDispatch node : the PostProcessDispatch node trigger the execution of its downstream connections for every rendered frame
# (a PostProcessDispatch node will be activated when activating this template)
SyntheticData.NodeConnectionTemplate("PostProcessDispatch")
]
),
template_name="TestSyncOnDemand" # node template name
)
# register a node template in the postprocess stage
# NB : this template may be activated for any combination of renderproduct pairs
if not sdg_iface.is_node_template_registered("TestSyncCross"):
# register an accumulator which trigger once when all its upstream connections have triggered
sdg_iface.register_node_template(
SyntheticData.NodeTemplate(
SyntheticDataStage.ON_DEMAND, # node template stage
"omni.graph.action.SyncGate", # node template type
# node template connections
[
# connected to the PostProcessDispatcher for the synchronization value
SyntheticData.NodeConnectionTemplate(
"PostProcessDispatcher",
(),
{"outputs:swhFrameNumber":"inputs:syncValue"}
),
# connected to a TestSyncOnDemand node for the first renderproduct (a TestSyncSim node will be activated when activating this template)
SyntheticData.NodeConnectionTemplate(
"TestSyncOnDemand",
(0,),
{"outputs:exec":"inputs:execIn"}
),
# connected to a TestSyncOnDemand node for the second renderproduct (a TestSyncSim node will be activated when activating this template)
SyntheticData.NodeConnectionTemplate(
"TestSyncOnDemand",
(1,),
{"outputs:exec":"inputs:execIn"}
),
]
),
template_name="TestSyncAccum" # node template name
)
sdg_iface.register_node_template(
SyntheticData.NodeTemplate(
SyntheticDataStage.ON_DEMAND, # node template stage
"omni.syntheticdata.SdTestStageSynchronization", # node template type
# node template connections
[
# connected to a TestSyncAccum node (a TestSyncAccum node will be activated when activating this template)
SyntheticData.NodeConnectionTemplate(
"TestSyncAccum",
(0,1),
{
"outputs:execOut":"inputs:exec",
"outputs:syncValue":"inputs:swhFrameNumber"
}
),
]
),
template_name="TestSyncCross" # node template name
)
# Activate the node templates for the renderproducts
# this will create the node (and all their missing dependencies) within the associated graphs
#
# activate the TestSyncPost for the renderpoduct renderpoduct_0
# this will also activate the TestSyncSim node and the LdrColorSD and BoundingBox3DSD renderVars for the renderpoduct renderpoduct_0
# this will set the tag node attribute to "1"
sdg_iface.activate_node_template("TestSyncPost", 0, [render_product_path_0],{"inputs:tag":"1"})
# activate the TestSyncPost for the renderpoduct renderpoduct_1
# this will also activate the LdrColorSD and BoundingBox3DSD renderVars for the renderpoduct renderpoduct_1
# NB TestSyncSim has already been activated
# this will set the tag node attribute to "2"
sdg_iface.activate_node_template("TestSyncPost", 0, [render_product_path_1],{"inputs:tag":"2"})
# activate the TestSyncCross for the renderpoducts [renderproduct_0, renderproduct_1]
# this will also activate :
# - TestSyncAccum for the renderpoducts [renderproduct_0, renderproduct_1]
# - PostProcessDispatch for the renderpoduct renderproduct_0
# - TestSyncOnDemand for the renderproduct renderproduct_0
# - TestSyncOnDemand for the renderproduct renderproduct_1
# - PostProcessDispatch for the renderpoduct renderproduct_1
# this will set the tag node attribute to "5"
sdg_iface.activate_node_template("TestSyncCross", 0, [render_product_path_0,render_product_path_1],{"inputs:tag":"5"})
# Set some specific attributes to nodes that have been automatically activated
# set the tag to the TestSyncOnDemand for renderproduct renderproduct_0
sdg_iface.set_node_attributes("TestSyncOnDemand",{"inputs:tag":"3"},render_product_path_0)
# set the tag to the TestSyncOnDemand for renderproduct renderproduct_1
sdg_iface.set_node_attributes("TestSyncOnDemand",{"inputs:tag":"4"},render_product_path_1)
# setup members
self.render_product_path_0 = render_product_path_0
self.render_product_path_1 = render_product_path_1
self.numLoops = 33
async def run_loop(self):
sdg_iface = SyntheticData.Get()
render_product_path_0 = self.render_product_path_0
render_product_path_1 = self.render_product_path_1
test_attributes_names = ["outputs:swhFrameNumber","outputs:fabricSWHFrameNumber"]
# ensuring that the setup is taken into account
for _ in range(5):
await omni.kit.app.get_app().next_update_async()
for _ in range(self.numLoops):
await omni.kit.app.get_app().next_update_async()
# test the post-render pipeline synchronization
sync_post_attributes = sdg_iface.get_node_attributes(
"TestSyncPost",test_attributes_names,render_product_path_0)
assert sync_post_attributes and all(attr in sync_post_attributes for attr in test_attributes_names)
assert sync_post_attributes["outputs:swhFrameNumber"] == sync_post_attributes["outputs:fabricSWHFrameNumber"]
# test the on-demand pipeline synchronization
sync_ondemand_attributes = sdg_iface.get_node_attributes(
"TestSyncOnDemand",test_attributes_names,render_product_path_1)
assert sync_ondemand_attributes and all(attr in sync_ondemand_attributes for attr in test_attributes_names)
assert sync_ondemand_attributes["outputs:swhFrameNumber"] == sync_ondemand_attributes["outputs:fabricSWHFrameNumber"]
# test the on-demand cross renderproduct synchronization
sync_cross_ondemand_attributes = sdg_iface.get_node_attributes(
"TestSyncCross",test_attributes_names,render_product_path_0)
assert sync_cross_ondemand_attributes and all(attr in sync_cross_ondemand_attributes for attr in test_attributes_names)
assert sync_cross_ondemand_attributes["outputs:swhFrameNumber"] == sync_cross_ondemand_attributes["outputs:fabricSWHFrameNumber"]
async def test_sync_idle(self):
""" Test swh frame synhronization with :
- asyncRendering Off
- waitIdle On
"""
settings = carb.settings.get_settings()
settings.set_bool("/app/asyncRendering",False)
settings.set_int("/app/settings/flatCacheStageFrameHistoryCount",3)
settings.set_bool("/app/renderer/waitIdle",True)
settings.set_bool("/app/hydraEngine/waitIdle",True)
await self.run_loop()
@unittest.skip("DRIVE-3247 : SyntheticData does not support async rendering.")
async def test_sync(self):
""" Test swh frame synhronization with :
- asyncRendering Off
- waitIdle Off
"""
settings = carb.settings.get_settings()
settings.set_bool("/app/asyncRendering",False)
settings.set_int("/app/settings/flatCacheStageFrameHistoryCount",3)
settings.set_bool("/app/renderer/waitIdle",False)
settings.set_bool("/app/hydraEngine/waitIdle",False)
await self.run_loop()
@unittest.skip("DRIVE-3247 : SyntheticData does not support async rendering.")
async def test_async(self):
""" Test swh frame synhronization with :
- asyncRendering On
- waitIdle Off
"""
settings = carb.settings.get_settings()
settings.set_bool("/app/asyncRendering",True)
settings.set_int("/app/settings/flatCacheStageFrameHistoryCount",3)
settings.set_bool("/app/renderer/waitIdle",False)
settings.set_bool("/app/hydraEngine/waitIdle",False)
await self.run_loop()
async def tearDown(self):
# reset to the default params
settings = carb.settings.get_settings()
settings.set_bool("/app/asyncRendering",False)
settings.set_bool("/app/renderer/waitIdle",True)
settings.set_bool("/app/hydraEngine/waitIdle",True)
|
eliabntt/GRADE-RR/isaac_internals/kit/extscore/omni.syntheticdata/omni/syntheticdata/tests/sensors/test_distance_to_image_plane.py | # NOTE:
# omni.kit.test - std python's unittest module with additional wrapping to add suport for async/await tests
# For most things refer to unittest docs: https://docs.python.org/3/library/unittest.html
import os
import math
import asyncio
from time import time
import carb
import numpy as np
import omni.kit.test
from omni.kit.viewport.utility import get_active_viewport
from pxr import Gf, UsdGeom
# Import extension python module we are testing with absolute import path, as if we are external user (other extension)
import omni.syntheticdata as syn
from ..utils import add_semantics
FILE_DIR = os.path.dirname(os.path.realpath(__file__))
TIMEOUT = 200
# Having a test class derived from omni.kit.test.AsyncTestCase declared on the root of module will make it auto-discoverable by omni.kit.test
class TestDistanceToImagePlane(omni.kit.test.AsyncTestCase):
# Before running each test
async def setUp(self):
np.random.seed(1234)
# Setup viewport
self.viewport = get_active_viewport()
# Initialize Sensor
await omni.usd.get_context().new_stage_async()
stage = omni.usd.get_context().get_stage()
await omni.kit.app.get_app().next_update_async()
await syn.sensors.create_or_retrieve_sensor_async(
self.viewport, syn._syntheticdata.SensorType.DistanceToImagePlane
)
async def test_parsed_empty(self):
""" Test distance-to-image-plane sensor on empty stage.
"""
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_distance_to_image_plane(self.viewport)
assert np.all(data > 1000)
async def test_parsed_dtype(self):
stage = omni.usd.get_context().get_stage()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_distance_to_image_plane(self.viewport)
assert data.dtype == np.float32
async def test_distances(self):
stage = omni.usd.get_context().get_stage()
camera = stage.DefinePrim("/Camera", "Camera")
UsdGeom.Xformable(camera).AddTranslateOp().Set((0, 0, 0))
self.viewport.camera_path = camera.GetPath()
await omni.kit.app.get_app().next_update_async()
for n in range(10, 100, 10):
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
# n = 5
UsdGeom.XformCommonAPI(cube).SetTranslate((0, 0, -n))
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_distance_to_image_plane(self.viewport)
assert data.max() > 1000
# The front of the cube is 1 ahead of its center position
assert np.isclose(data.min(), (n - 1) / 100, atol=1e-5)
async def test_distances_pathtracing(self):
""" Basic funtionality test of the sensor, but in path tracing mode.
"""
# Set the rendering mode to be pathtracing
settings = carb.settings.get_settings()
settings.set_string("/rtx/rendermode", "PathTracing")
settings.set_int("/rtx/pathtracing/spp", 32)
settings.set_int("/persistent/app/viewport/displayOptions", 0)
stage = omni.usd.get_context().get_stage()
camera = stage.DefinePrim("/Camera", "Camera")
UsdGeom.Xformable(camera).AddTranslateOp().Set((0, 0, 0))
self.viewport.camera_path = camera.GetPath()
await omni.kit.app.get_app().next_update_async()
for n in range(10, 100, 10):
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
# n = 5
UsdGeom.XformCommonAPI(cube).SetTranslate((0, 0, -n))
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_distance_to_image_plane(self.viewport)
assert data.max() > 1000
# The front of the cube is 1 ahead of its center position
assert np.isclose(data.min(), (n - 1) / 100, atol=1e-5)
async def test_distances_ray_traced_lighting(self):
""" Basic funtionality test of the sensor, but in ray traced lighting.
"""
# Set the rendering mode to be pathtracing
settings_interface = carb.settings.get_settings()
settings_interface.set_string("/rtx/rendermode", "RayTracedLighting")
stage = omni.usd.get_context().get_stage()
camera = stage.DefinePrim("/Camera", "Camera")
UsdGeom.Xformable(camera).AddTranslateOp().Set((0, 0, 0))
self.viewport.camera_path = camera.GetPath()
await omni.kit.app.get_app().next_update_async()
for n in range(10, 100, 10):
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
# n = 5
UsdGeom.XformCommonAPI(cube).SetTranslate((0, 0, -n))
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_distance_to_image_plane(self.viewport)
assert data.max() > 1000
# The front of the cube is 1 ahead of its center position
assert np.isclose(data.min(), (n - 1) / 100, atol=1e-5)
# After running each test
async def tearDown(self):
pass
|
eliabntt/GRADE-RR/isaac_internals/kit/extscore/omni.syntheticdata/omni/syntheticdata/tests/sensors/test_semantic_filter.py | # NOTE:
# omni.kit.test - std python's unittest module with additional wrapping to add suport for async/await tests
# For most things refer to unittest docs: https://docs.python.org/3/library/unittest.html
import os
import unittest
import omni.kit.test
from omni.kit.viewport.utility import get_active_viewport
from omni.syntheticdata import SyntheticData
from ..utils import add_semantics
import numpy as np
# Test the semantic filter
class TestSemanticFilter(omni.kit.test.AsyncTestCase):
def __init__(self, methodName: str) -> None:
super().__init__(methodName=methodName)
async def setUp(self):
await omni.usd.get_context().new_stage_async()
stage = omni.usd.get_context().get_stage()
# scene
# /World [belong_to:world]
# /Cube [class:cube]
# /Sphere [class:sphere]
# /Sphere [class:sphere]
# /Capsule [class:capsule]
# /Cube [class:cube]
# /Capsule [class:capsule]
# /Nothing [belong_to:nothing]
world_prim = stage.DefinePrim("/World", "Plane")
add_semantics(world_prim, "world", "belong_to")
world_cube_prim = stage.DefinePrim("/World/Cube", "Cube")
add_semantics(world_cube_prim, "cube", "class")
world_cube_sphere_prim = stage.DefinePrim("/World/Cube/Sphere", "Sphere")
add_semantics(world_cube_sphere_prim, "sphere", "class")
world_sphere_prim = stage.DefinePrim("/World/Sphere", "Sphere")
add_semantics(world_sphere_prim, "sphere", "class")
world_capsule_prim = stage.DefinePrim("/World/Capsule", "Capsule")
add_semantics(world_capsule_prim, "capsule", "class")
cube_prim = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube_prim, "cube", "class")
capsule_prim = stage.DefinePrim("/Capsule", "Capsule")
add_semantics(capsule_prim, "capsule", "class")
nothing_prim = stage.DefinePrim("/Nothing", "Plane")
add_semantics(nothing_prim, "nothing", "belong_to")
self.render_product_path = get_active_viewport().render_product_path
SyntheticData.Get().activate_node_template("SemanticLabelTokenSDExportRawArray", 0, [self.render_product_path])
await omni.kit.app.get_app().next_update_async()
def fetch_semantic_label_tokens(self):
output_names = ["outputs:data","outputs:bufferSize"]
outputs = SyntheticData.Get().get_node_attributes("SemanticLabelTokenSDExportRawArray", output_names, self.render_product_path)
assert outputs
return outputs["outputs:data"].view(np.uint64)
async def check_num_valid_labels(self, expected_num_valid_labels):
wait_iterations = 6
for _ in range(wait_iterations):
await omni.kit.app.get_app().next_update_async()
num_valid_labels = np.count_nonzero(self.fetch_semantic_label_tokens())
assert num_valid_labels == expected_num_valid_labels
async def test_semantic_filter_all(self):
SyntheticData.Get().set_default_semantic_filter("*:*", True)
await self.check_num_valid_labels(8)
async def test_semantic_filter_no_world(self):
SyntheticData.Get().set_default_semantic_filter("!belong_to:world", True)
# /Cube /Capsule /Nothing
await self.check_num_valid_labels(3)
async def test_semantic_filter_all_class_test(self):
SyntheticData.Get().set_default_semantic_filter("class:*", True)
await self.check_num_valid_labels(6)
async def test_semantic_filter_all_class_no_cube_test(self):
SyntheticData.Get().set_default_semantic_filter("class:!cube&*", True)
await self.check_num_valid_labels(3)
async def test_semantic_filter_only_sphere_or_cube_test(self):
SyntheticData.Get().set_default_semantic_filter("class:cube|sphere", True)
await self.check_num_valid_labels(4)
async def test_semantic_filter_sphere_and_cube_test(self):
SyntheticData.Get().set_default_semantic_filter("class:cube&sphere", True)
# /World/Cube/Sphere
await self.check_num_valid_labels(1)
async def test_semantic_filter_world_and_sphere_test(self):
SyntheticData.Get().set_default_semantic_filter("class:sphere,belong_to:world", True)
await self.check_num_valid_labels(2)
async def test_semantic_filter_no_belong_test(self):
SyntheticData.Get().set_default_semantic_filter("belong_to:!*", True)
# /Cube /Capsule
await self.check_num_valid_labels(2)
async def test_semantic_filter_world_or_capsule_test(self):
SyntheticData.Get().set_default_semantic_filter("belong_to:world;class:capsule", True)
await self.check_num_valid_labels(6)
async def test_semantic_filter_belong_to_nohierarchy(self):
SyntheticData.Get().set_default_semantic_filter("belong_to:*", False)
await self.check_num_valid_labels(2)
async def tearDown(self):
SyntheticData.Get().set_default_semantic_filter("*:*")
|
eliabntt/GRADE-RR/isaac_internals/kit/extscore/omni.syntheticdata/omni/syntheticdata/tests/sensors/test_depth_linear.py | # NOTE:
# omni.kit.test - std python's unittest module with additional wrapping to add suport for async/await tests
# For most things refer to unittest docs: https://docs.python.org/3/library/unittest.html
import os
import math
import asyncio
from time import time
import carb
import numpy as np
import omni.kit.test
from omni.kit.viewport.utility import get_active_viewport
from pxr import Gf, UsdGeom, Sdf
# Import extension python module we are testing with absolute import path, as if we are external user (other extension)
import omni.syntheticdata as syn
from ..utils import add_semantics
FILE_DIR = os.path.dirname(os.path.realpath(__file__))
TIMEOUT = 200
# Having a test class derived from omni.kit.test.AsyncTestCase declared on the root of module will make it auto-discoverable by omni.kit.test
class TestDepthLinear(omni.kit.test.AsyncTestCase):
# Before running each test
async def setUp(self):
np.random.seed(1234)
# Setup viewport
self.viewport = get_active_viewport()
# Initialize Sensor
await omni.usd.get_context().new_stage_async()
stage = omni.usd.get_context().get_stage()
await omni.kit.app.get_app().next_update_async()
await syn.sensors.create_or_retrieve_sensor_async(self.viewport, syn._syntheticdata.SensorType.DepthLinear)
async def test_parsed_empty(self):
""" Test depth sensor on empty stage.
"""
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_depth_linear(self.viewport)
assert np.all(data > 1000)
async def test_parsed_dtype(self):
stage = omni.usd.get_context().get_stage()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_depth_linear(self.viewport)
assert data.dtype == np.float32
async def test_distances(self):
stage = omni.usd.get_context().get_stage()
camera = stage.DefinePrim("/Camera", "Camera")
UsdGeom.Xformable(camera).AddTranslateOp().Set((0, 0, 0))
self.viewport.camera_path = camera.GetPath()
await omni.kit.app.get_app().next_update_async()
for n in range(10, 100, 10):
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
# n = 5
UsdGeom.XformCommonAPI(cube).SetTranslate((0, 0, -n))
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_depth_linear(self.viewport)
assert data.max() > 1000
# The front of the cube is 1 ahead of its center position
assert np.isclose(data.min(), (n - 1) / 100, atol=1e-5)
async def test_distances_pathtracing(self):
""" Basic funtionality test of the sensor, but in path tracing mode.
"""
# Set the rendering mode to be pathtracing
settings = carb.settings.get_settings()
settings.set_string("/rtx/rendermode", "PathTracing")
settings.set_int("/rtx/pathtracing/spp", 32)
settings.set_int("/persistent/app/viewport/displayOptions", 0)
stage = omni.usd.get_context().get_stage()
stage = omni.usd.get_context().get_stage()
camera = stage.DefinePrim("/Camera", "Camera")
UsdGeom.Xformable(camera).AddTranslateOp().Set((0, 0, 0))
self.viewport.camera_path = camera.GetPath()
await omni.kit.app.get_app().next_update_async()
for n in range(10, 100, 10):
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
# n = 5
UsdGeom.XformCommonAPI(cube).SetTranslate((0, 0, -n))
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_depth_linear(self.viewport)
assert data.max() > 1000
# The front of the cube is 1 ahead of its center position
assert np.isclose(data.min(), (n - 1) / 100, atol=1e-5)
async def test_distances_ray_traced_lighting(self):
""" Basic funtionality test of the sensor, but in ray traced lighting.
"""
# Set the rendering mode to be pathtracing
settings_interface = carb.settings.get_settings()
settings_interface.set_string("/rtx/rendermode", "RayTracedLighting")
stage = omni.usd.get_context().get_stage()
camera = stage.DefinePrim("/Camera", "Camera")
UsdGeom.Xformable(camera).AddTranslateOp().Set((0, 0, 0))
self.viewport.camera_path = camera.GetPath()
await omni.kit.app.get_app().next_update_async()
for n in range(10, 100, 10):
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
# n = 5
UsdGeom.XformCommonAPI(cube).SetTranslate((0, 0, -n))
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_depth_linear(self.viewport)
assert data.max() > 1000
# The front of the cube is 1 ahead of its center position
assert np.isclose(data.min(), (n - 1) / 100, atol=1e-5)
# After running each test
async def tearDown(self):
pass
|
eliabntt/GRADE-RR/isaac_internals/kit/extscore/omni.syntheticdata/omni/syntheticdata/tests/sensors/test_cross_correspondence.py | # NOTE:
# omni.kit.test - std python's unittest module with additional wrapping to add suport for async/await tests
# For most things refer to unittest docs: https://docs.python.org/3/library/unittest.html
import os
import math
import asyncio
from PIL import Image
from time import time
from pathlib import Path
import carb
import numpy as np
from numpy.lib.arraysetops import unique
import omni.kit.test
from pxr import Gf, UsdGeom
from omni.kit.viewport.utility import get_active_viewport, next_viewport_frame_async, create_viewport_window
# Import extension python module we are testing with absolute import path, as if we are external user (other extension)
import omni.syntheticdata as syn
from ..utils import add_semantics
FILE_DIR = os.path.dirname(os.path.realpath(__file__))
TIMEOUT = 200
cameras = ["/World/Cameras/CameraFisheyeLeft", "/World/Cameras/CameraPinhole", "/World/Cameras/CameraFisheyeRight"]
# Having a test class derived from omni.kit.test.AsyncTestCase declared on the root of module will make it auto-discoverable by omni.kit.test
# This test has to run last and thus it's prefixed as such to force that:
# - This is because it has to create additional viewports which makes the test
# get stuck if it's not the last one in the OV process session
class ZZHasToRunLast_TestCrossCorrespondence(omni.kit.test.AsyncTestCase):
def __init__(self, methodName: str) -> None:
super().__init__(methodName=methodName)
self.golden_image_path = Path(os.path.dirname(os.path.abspath(__file__))) / ".." / "data" / "golden"
self.output_image_path = Path(os.path.dirname(os.path.abspath(__file__))) / ".." / "data" / "output"
self.StdDevTolerance = 0.1
self.sensorViewport = None
# Before running each test
async def setUp(self):
global cameras
np.random.seed(1234)
# Load the scene
scenePath = os.path.join(FILE_DIR, "../data/scenes/cross_correspondence.usda")
await omni.usd.get_context().open_stage_async(scenePath)
await omni.kit.app.get_app().next_update_async()
# Get the main-viewport as the sensor-viewport
self.sensorViewport = get_active_viewport()
await next_viewport_frame_async(self.sensorViewport)
# Setup viewports
resolution = self.sensorViewport.resolution
viewport_windows = [None] * 2
x_pos, y_pos = 12, 75
for i in range(len(viewport_windows)):
viewport_windows[i] = create_viewport_window(width=resolution[0], height=resolution[1], position_x=x_pos, position_y=y_pos)
viewport_windows[i].width = 500
viewport_windows[i].height = 500
x_pos += 500
# Setup cameras
self.sensorViewport.camera_path = cameras[0]
for i in range(len(viewport_windows)):
viewport_windows[i].viewport_api.camera_path = cameras[i + 1]
# Use default viewport for sensor target as otherwise sensor enablement doesn't work
# also the test will get stuck
# Initialize Sensor
await syn.sensors.create_or_retrieve_sensor_async(
self.sensorViewport, syn._syntheticdata.SensorType.CrossCorrespondence
)
async def test_golden_image(self):
# Render one frame
await syn.sensors.next_sensor_data_async(self.sensorViewport,True)
data = syn.sensors.get_cross_correspondence(self.sensorViewport)
golden_image = np.load(self.golden_image_path / "cross_correspondence.npz")["array"]
# normalize xy (uv offset) to zw channels' value range
# x100 seems like a good number to bring uv offset to ~1
data[:, [0, 1]] *= 100
golden_image[:, [0, 1]] *= 100
std_dev = np.sqrt(np.square(data - golden_image).astype(float).mean())
if std_dev >= self.StdDevTolerance:
if not os.path.isdir(self.output_image_path):
os.mkdir(self.output_image_path)
np.savez_compressed(self.output_image_path / "cross_correspondence.npz", array=data)
golden_image = ((golden_image + 1.0) / 2) * 255
data = ((data + 1.0) / 2) * 255
Image.fromarray(golden_image.astype(np.uint8), "RGBA").save(
self.output_image_path / "cross_correspondence_golden.png"
)
Image.fromarray(data.astype(np.uint8), "RGBA").save(self.output_image_path / "cross_correspondence.png")
self.assertTrue(std_dev < self.StdDevTolerance)
# After running each test
async def tearDown(self):
pass
|
eliabntt/GRADE-RR/isaac_internals/kit/extscore/omni.syntheticdata/omni/syntheticdata/tests/sensors/__init__.py | |
eliabntt/GRADE-RR/isaac_internals/kit/extscore/omni.syntheticdata/omni/syntheticdata/tests/sensors/test_stage_manipulation.py | # NOTE:
# omni.kit.test - std python's unittest module with additional wrapping to add suport for async/await tests
# For most things refer to unittest docs: https://docs.python.org/3/library/unittest.html
import os
import carb
import random
from pxr import Gf, UsdGeom, UsdLux, Sdf
import unittest
import omni.kit.test
from omni.syntheticdata import SyntheticData, SyntheticDataStage
from omni.kit.viewport.utility import get_active_viewport
FILE_DIR = os.path.dirname(os.path.realpath(__file__))
# Test the ogn node repeatability under stage manipulation
class TestStageManipulation(omni.kit.test.AsyncTestCase):
def __init__(self, methodName: str) -> None:
super().__init__(methodName=methodName)
async def setUp(self):
path = os.path.join(FILE_DIR, "../data/scenes/scene_instance_test.usda")
await omni.usd.get_context().open_stage_async(path)
#await omni.usd.get_context().new_stage_async()
viewport = get_active_viewport()
self.render_product_path = viewport.render_product_path
# SyntheticData singleton interface
sdg_iface = SyntheticData.Get()
if not sdg_iface.is_node_template_registered("TestStageManipulationScenarii"):
sdg_iface.register_node_template(
SyntheticData.NodeTemplate(
SyntheticDataStage.SIMULATION,
"omni.syntheticdata.SdTestStageManipulationScenarii",
attributes={"inputs:worldPrimPath":"/World"}
),
template_name="TestStageManipulationScenarii" # node template name
)
render_vars = [
#"SemanticMapSD",
#"SemanticPrimTokenSD",
#"InstanceMapSD",
#"InstancePrimTokenSD",
#"SemanticLabelTokenSD",
#"SemanticLocalTransformSD",
#"SemanticWorldTransformSD",
"SemanticBoundingBox2DExtentTightSD",
#"SemanticBoundingBox2DInfosTightSD",
"SemanticBoundingBox2DExtentLooseSD",
#"SemanticBoundingBox2DInfosLooseSD",
"SemanticBoundingBox3DExtentSD",
"SemanticBoundingBox3DInfosSD"
]
for rv in render_vars:
template_name = "TestRawArray" + rv
if not sdg_iface.is_node_template_registered(template_name):
sdg_iface.register_node_template(
SyntheticData.NodeTemplate(
SyntheticDataStage.ON_DEMAND,
"omni.syntheticdata.SdTestPrintRawArray",
[SyntheticData.NodeConnectionTemplate(rv + "ExportRawArray")]
),
template_name=template_name
)
self.num_loops = 37
async def render_var_test(self, render_var, ref_values, num_references_values, element_type, rand_seed=0, mode="printReferences"):
sdg_iface = SyntheticData.Get()
sdg_iface.activate_node_template("TestStageManipulationScenarii")
sdg_iface.activate_node_template("TestRawArray" + render_var, 0, [self.render_product_path],
{"inputs:elementType": element_type, "inputs:referenceValues": ref_values, "inputs:randomSeed": rand_seed, "inputs:mode": mode,
"inputs:referenceNumUniqueRandomValues": num_references_values})
for _ in range(self.num_loops):
await omni.kit.app.get_app().next_update_async()
sdg_iface.deactivate_node_template("TestRawArray" + render_var, 0, [self.render_product_path])
sdg_iface.deactivate_node_template("TestStageManipulationScenarii")
@unittest.skip("Unimplemented")
async def test_semantic_map(self):
await self.render_var_test("SemanticMapSD", [], "uint16", 2)
async def test_semantic_bbox3d_extent(self):
await self.render_var_test("SemanticBoundingBox3DExtentSD",
[
87.556404, 223.83577, -129.42677, -155.79227, -49.999996, 421.41083, 88.13742, -50.000004, 49.999905, 39.782856, -50.000004, -155.52794, -16.202198,
-50.0, 136.29709, -104.94976, -155.52792, 87.556404, -50.000008, 223.83577, 49.99991, -87.8103, -50.0, -50.00001, 276.29846, 50.000004,
421.41083, -50.0, 60.42457, 223.83574, -129.42676, 312.2204, 277.44424, -50.000004, -37.84166, 87.556404, 188.92877, 136.2971, 50.000004
], 13, "float32", 3, mode="testReferences")
# async def test_semantic_bbox3d_infos(self):
# await self.render_var_test("SemanticBoundingBox3DInfosSD",
# [
# -50.000008, 57.119793, 49.9999, -50.000004, -50.000015, -50.000004, 62.03122,
# -50.000008, -50.000004, -50.000004, -50.0, 50.0, -50.0, 57.119793,
# 9.5100141e-01, -4.7552836e-01, 6.1506079e+02, 1.0000000e+00, -1.0000000e+00, 1.3421423e+03, 4.9999901e+01
# ], 11, "int32", 4, mode="printReferences")
async def test_semantic_bbox2d_extent_loose(self):
await self.render_var_test("SemanticBoundingBox2DExtentLooseSD",
[
733, 479, 532, 507, 460, 611, 763, 309, 17, 827, 789,
698, 554, 947, 789, 581, 534, 156, 582, 323, 825, 298,
562, 959, 595, 299, 117, 445, 572, 31, 622, 609, 228
], 11, "int32", 5, mode="testReferences")
async def test_semantic_bbox2d_extent_tight(self):
await self.render_var_test("SemanticBoundingBox2DExtentTightSD",
[
0.0000000e+00, 5.0700000e+02, 1.1600000e+02, 7.4600000e+02, 5.9500000e+02, 2.1474836e+09, 2.1474836e+09, 2.5300000e+02, 3.6100000e+02, 1.7000000e+01, 0.0000000e+00,
2.1474836e+09, 2.1474836e+09, 2.1474836e+09, 2.1474836e+09, 2.1474836e+09, 0.0000000e+00, 0.0000000e+00, 0.0000000e+00, 2.1474836e+09, 0.0000000e+00, 2.1474836e+09,
0.0000000e+00, 3.1000000e+01, 5.3900000e+02, 2.3600000e+02, 2.1474836e+09, 5.7200000e+02, 8.9200000e+02, 9.0500000e+02, 5.6200000e+02, 5.1300000e+02, 0.0000000e+00
], 11, "int32", 9, mode="testReferences")
async def tearDown(self):
pass
|
eliabntt/GRADE-RR/isaac_internals/kit/extscore/omni.syntheticdata/omni/syntheticdata/tests/sensors/test_bbox3d.py | # NOTE:
# omni.kit.test - std python's unittest module with additional wrapping to add suport for async/await tests
# For most things refer to unittest docs: https://docs.python.org/3/library/unittest.html
import os
import unittest
import uuid
import math
import shutil
import asyncio
from time import time
import carb.tokens
import carb.settings
import numpy as np
import omni.kit.test
from omni.kit.viewport.utility import get_active_viewport
from pxr import Gf, UsdGeom, Usd, Sdf
# Import extension python module we are testing with absolute import path, as if we are external user (other extension)
import omni.syntheticdata as syn
from .. import utils
FILE_DIR = os.path.dirname(os.path.realpath(__file__))
TIMEOUT = 200
TMP = carb.tokens.get_tokens_interface().resolve("${temp}")
# Having a test class derived from omni.kit.test.AsyncTestCase declared on the root of module will make it auto-discoverable by omni.kit.test
class TestBBox3D(omni.kit.test.AsyncTestCase):
# Before running each test
async def setUp(self):
np.random.seed(1234)
# Setup viewport
self.viewport = get_active_viewport()
# Initialize Sensor
await omni.usd.get_context().new_stage_async()
stage = omni.usd.get_context().get_stage()
await omni.kit.app.get_app().next_update_async()
await syn.sensors.create_or_retrieve_sensor_async(self.viewport, syn._syntheticdata.SensorType.BoundingBox3D)
async def test_parsed_empty(self):
""" Test 3D bounding box on empty stage.
"""
bbox3d_data = syn.sensors.get_bounding_box_3d(self.viewport, parsed=True, return_corners=True)
assert not bool(bbox3d_data)
async def test_fields_exist(self):
""" Test the correctness of the output dtype.
"""
stage = omni.usd.get_context().get_stage()
cube = stage.DefinePrim("/Cube", "Cube")
utils.add_semantics(cube, "cube")
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport, True)
bbox3d_data_raw = syn.sensors.get_bounding_box_3d(self.viewport, parsed=False, return_corners=False)
bbox3d_data_parsed = syn.sensors.get_bounding_box_3d(self.viewport, parsed=True, return_corners=True)
raw_dtype = np.dtype(
[
("instanceId", "<u4"),
("semanticId", "<u4"),
("x_min", "<f4"),
("y_min", "<f4"),
("z_min", "<f4"),
("x_max", "<f4"),
("y_max", "<f4"),
("z_max", "<f4"),
("transform", "<f4", (4, 4)),
]
)
parsed_dtype = np.dtype(
[
("uniqueId", "<i4"),
("name", "O"),
("semanticLabel", "O"),
("metadata", "O"),
("instanceIds", "O"),
("semanticId", "<u4"),
("x_min", "<f4"),
("y_min", "<f4"),
("z_min", "<f4"),
("x_max", "<f4"),
("y_max", "<f4"),
("z_max", "<f4"),
("transform", "<f4", (4, 4)),
("corners", "<f4", (8, 3)),
]
)
assert bbox3d_data_raw.dtype == raw_dtype
assert bbox3d_data_parsed.dtype == parsed_dtype
async def test_parsed_nested_Y_pathtracing(self):
""" Test 3D bounding box with nested semantics and transforms, Y-Up, in pathtracing mode.
"""
settings = carb.settings.get_settings()
settings.set_string("/rtx/rendermode", "PathTracing")
settings.set_int("/rtx/pathtracing/spp", 32)
settings.set_int("/persistent/app/viewport/displayOptions", 0)
# Create 2 cubes (size=1) under a parent prim
stage = omni.usd.get_context().get_stage()
UsdGeom.SetStageUpAxis(stage, "Y")
parent = stage.DefinePrim("/World/Parent", "Xform")
child1 = stage.DefinePrim("/World/Parent/Child1", "Cube")
child2 = stage.DefinePrim("/World/Parent/Child2", "Cube")
child1.GetAttribute("size").Set(1.0)
child2.GetAttribute("size").Set(1.0)
utils.add_semantics(parent, "parent")
utils.add_semantics(child1, "child1")
utils.add_semantics(child2, "child2")
UsdGeom.Xformable(parent).ClearXformOpOrder()
UsdGeom.Xformable(child1).ClearXformOpOrder()
UsdGeom.Xformable(child2).ClearXformOpOrder()
UsdGeom.Xformable(parent).AddRotateYOp().Set(45)
UsdGeom.Xformable(child1).AddTranslateOp().Set((-0.5, 0.5, 0.0))
UsdGeom.Xformable(child1).AddRotateYOp().Set(45)
UsdGeom.Xformable(child2).AddTranslateOp().Set((0.5, -0.5, 0.0))
await omni.kit.app.get_app().next_update_async()
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
bbox3d_data = syn.sensors.get_bounding_box_3d(self.viewport, parsed=True, return_corners=True)
parent_bbox = [row for row in bbox3d_data if row["name"] == parent.GetPath()][0]
child1_bbox = [row for row in bbox3d_data if row["name"] == child1.GetPath()][0]
child2_bbox = [row for row in bbox3d_data if row["name"] == child2.GetPath()][0]
# Only takes into account child transforms
a = math.cos(math.pi / 4)
parent_bounds = [[-a - 0.5, -1.0, -a], [1.0, 1.0, a]]
child1_bounds = [[-0.5, -0.5, -0.5], [0.5, 0.5, 0.5]]
child2_bounds = [[-0.5, -0.5, -0.5], [0.5, 0.5, 0.5]] # Doesn't take into account transforms
for bbox, bounds in zip([parent_bbox, child1_bbox, child2_bbox], [parent_bounds, child1_bounds, child2_bounds]):
self.assertAlmostEqual(bbox["x_min"], bounds[0][0], places=5)
self.assertAlmostEqual(bbox["y_min"], bounds[0][1], places=5)
self.assertAlmostEqual(bbox["z_min"], bounds[0][2], places=5)
self.assertAlmostEqual(bbox["x_max"], bounds[1][0], places=5)
self.assertAlmostEqual(bbox["y_max"], bounds[1][1], places=5)
self.assertAlmostEqual(bbox["z_max"], bounds[1][2], places=5)
prim = stage.GetPrimAtPath(bbox["name"])
tf = np.array(UsdGeom.Imageable(prim).ComputeLocalToWorldTransform(0.0))
gf_range = Gf.Range3f(*bounds)
gf_corners = np.array([gf_range.GetCorner(i) for i in range(8)])
gf_corners = np.pad(gf_corners, ((0, 0), (0, 1)), constant_values=1.0)
gf_corners = np.dot(gf_corners, tf)[:, :3]
assert np.allclose(bbox["corners"], gf_corners, atol=1e-5)
async def test_parsed_nested_Y_ray_traced_lighting(self):
""" Test 3D bounding box with nested semantics and transforms, Y-Up, in ray traced lighting mode.
"""
# Set the rendering mode to be ray traced lighting.
settings_interface = carb.settings.get_settings()
settings_interface.set_string("/rtx/rendermode", "RayTracedLighting")
# Create 2 cubes (size=1) under a parent prim
stage = omni.usd.get_context().get_stage()
UsdGeom.SetStageUpAxis(stage, "Y")
parent = stage.DefinePrim("/World/Parent", "Xform")
child1 = stage.DefinePrim("/World/Parent/Child1", "Cube")
child2 = stage.DefinePrim("/World/Parent/Child2", "Cube")
child1.GetAttribute("size").Set(1.0)
child2.GetAttribute("size").Set(1.0)
utils.add_semantics(parent, "parent")
utils.add_semantics(child1, "child1")
utils.add_semantics(child2, "child2")
UsdGeom.Xformable(parent).ClearXformOpOrder()
UsdGeom.Xformable(child1).ClearXformOpOrder()
UsdGeom.Xformable(child2).ClearXformOpOrder()
UsdGeom.Xformable(parent).AddRotateYOp().Set(45)
UsdGeom.Xformable(child1).AddTranslateOp().Set((-0.5, 0.5, 0.0))
UsdGeom.Xformable(child1).AddRotateYOp().Set(45)
UsdGeom.Xformable(child2).AddTranslateOp().Set((0.5, -0.5, 0.0))
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
bbox3d_data = syn.sensors.get_bounding_box_3d(self.viewport, parsed=True, return_corners=True)
parent_bbox = [row for row in bbox3d_data if row["name"] == parent.GetPath()][0]
child1_bbox = [row for row in bbox3d_data if row["name"] == child1.GetPath()][0]
child2_bbox = [row for row in bbox3d_data if row["name"] == child2.GetPath()][0]
# Only takes into account child transforms
a = math.cos(math.pi / 4)
parent_bounds = [[-a - 0.5, -1.0, -a], [1.0, 1.0, a]]
child1_bounds = [[-0.5, -0.5, -0.5], [0.5, 0.5, 0.5]]
child2_bounds = [[-0.5, -0.5, -0.5], [0.5, 0.5, 0.5]] # Doesn't take into account transforms
for bbox, bounds in zip([parent_bbox, child1_bbox, child2_bbox], [parent_bounds, child1_bounds, child2_bounds]):
self.assertAlmostEqual(bbox["x_min"], bounds[0][0], places=5)
self.assertAlmostEqual(bbox["y_min"], bounds[0][1], places=5)
self.assertAlmostEqual(bbox["z_min"], bounds[0][2], places=5)
self.assertAlmostEqual(bbox["x_max"], bounds[1][0], places=5)
self.assertAlmostEqual(bbox["y_max"], bounds[1][1], places=5)
self.assertAlmostEqual(bbox["z_max"], bounds[1][2], places=5)
prim = stage.GetPrimAtPath(bbox["name"])
tf = np.array(UsdGeom.Imageable(prim).ComputeLocalToWorldTransform(0.0))
gf_range = Gf.Range3f(*bounds)
gf_corners = np.array([gf_range.GetCorner(i) for i in range(8)])
gf_corners = np.pad(gf_corners, ((0, 0), (0, 1)), constant_values=1.0)
gf_corners = np.dot(gf_corners, tf)[:, :3]
assert np.allclose(bbox["corners"], gf_corners, atol=1e-5)
async def test_parsed_nested_Y(self):
""" Test 3D bounding box with nested semantics and transforms, Y-Up.
"""
# Create 2 cubes (size=1) under a parent prim
stage = omni.usd.get_context().get_stage()
UsdGeom.SetStageUpAxis(stage, "Y")
parent = stage.DefinePrim("/World/Parent", "Xform")
child1 = stage.DefinePrim("/World/Parent/Child1", "Cube")
child2 = stage.DefinePrim("/World/Parent/Child2", "Cube")
child1.GetAttribute("size").Set(1.0)
child2.GetAttribute("size").Set(1.0)
utils.add_semantics(parent, "parent")
utils.add_semantics(child1, "child1")
utils.add_semantics(child2, "child2")
UsdGeom.Xformable(parent).ClearXformOpOrder()
UsdGeom.Xformable(child1).ClearXformOpOrder()
UsdGeom.Xformable(child2).ClearXformOpOrder()
UsdGeom.Xformable(parent).AddRotateYOp().Set(45)
UsdGeom.Xformable(child1).AddTranslateOp().Set((-0.5, 0.5, 0.0))
UsdGeom.Xformable(child1).AddRotateYOp().Set(45)
UsdGeom.Xformable(child2).AddTranslateOp().Set((0.5, -0.5, 0.0))
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
bbox3d_data = syn.sensors.get_bounding_box_3d(self.viewport, parsed=True, return_corners=True)
parent_bbox = [row for row in bbox3d_data if row["name"] == parent.GetPath()][0]
child1_bbox = [row for row in bbox3d_data if row["name"] == child1.GetPath()][0]
child2_bbox = [row for row in bbox3d_data if row["name"] == child2.GetPath()][0]
# Only takes into account child transforms
a = math.cos(math.pi / 4)
parent_bounds = [[-a - 0.5, -1.0, -a], [1.0, 1.0, a]]
child1_bounds = [[-0.5, -0.5, -0.5], [0.5, 0.5, 0.5]]
child2_bounds = [[-0.5, -0.5, -0.5], [0.5, 0.5, 0.5]] # Doesn't take into account transforms
for bbox, bounds in zip([parent_bbox, child1_bbox, child2_bbox], [parent_bounds, child1_bounds, child2_bounds]):
self.assertAlmostEqual(bbox["x_min"], bounds[0][0], places=5)
self.assertAlmostEqual(bbox["y_min"], bounds[0][1], places=5)
self.assertAlmostEqual(bbox["z_min"], bounds[0][2], places=5)
self.assertAlmostEqual(bbox["x_max"], bounds[1][0], places=5)
self.assertAlmostEqual(bbox["y_max"], bounds[1][1], places=5)
self.assertAlmostEqual(bbox["z_max"], bounds[1][2], places=5)
prim = stage.GetPrimAtPath(bbox["name"])
tf = np.array(UsdGeom.Imageable(prim).ComputeLocalToWorldTransform(0.0))
gf_range = Gf.Range3f(*bounds)
gf_corners = np.array([gf_range.GetCorner(i) for i in range(8)])
gf_corners = np.pad(gf_corners, ((0, 0), (0, 1)), constant_values=1.0)
gf_corners = np.dot(gf_corners, tf)[:, :3]
assert np.allclose(bbox["corners"], gf_corners, atol=1e-5)
async def test_parsed_nested_Z(self):
""" Test 3D bounding box with nested semantics and transforms, Z-Up.
"""
# Create 2 cubes (size=1) under a parent prim
stage = omni.usd.get_context().get_stage()
UsdGeom.SetStageUpAxis(stage, "Z")
parent = stage.DefinePrim("/World/Parent", "Xform")
child1 = stage.DefinePrim("/World/Parent/Child1", "Cube")
child2 = stage.DefinePrim("/World/Parent/Child2", "Cube")
child1.GetAttribute("size").Set(1.0)
child2.GetAttribute("size").Set(1.0)
utils.add_semantics(parent, "parent")
utils.add_semantics(child1, "child1")
utils.add_semantics(child2, "child2")
UsdGeom.Xformable(parent).ClearXformOpOrder()
UsdGeom.Xformable(child1).ClearXformOpOrder()
UsdGeom.Xformable(child2).ClearXformOpOrder()
UsdGeom.Xformable(parent).AddRotateYOp().Set(45)
UsdGeom.Xformable(child1).AddTranslateOp().Set((-0.5, 0.5, 0.0))
UsdGeom.Xformable(child1).AddRotateYOp().Set(45)
UsdGeom.Xformable(child2).AddTranslateOp().Set((0.5, -0.5, 0.0))
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
bbox3d_data = syn.sensors.get_bounding_box_3d(self.viewport, parsed=True, return_corners=True)
parent_bbox = [row for row in bbox3d_data if row["name"] == parent.GetPath()][0]
child1_bbox = [row for row in bbox3d_data if row["name"] == child1.GetPath()][0]
child2_bbox = [row for row in bbox3d_data if row["name"] == child2.GetPath()][0]
# Only takes into account child transforms
a = math.cos(math.pi / 4)
parent_bounds = [[-a - 0.5, -1.0, -a], [1.0, 1.0, a]]
child1_bounds = [[-0.5, -0.5, -0.5], [0.5, 0.5, 0.5]]
child2_bounds = [[-0.5, -0.5, -0.5], [0.5, 0.5, 0.5]] # Doesn't take into account transforms
for bbox, bounds in zip([parent_bbox, child1_bbox, child2_bbox], [parent_bounds, child1_bounds, child2_bounds]):
self.assertAlmostEqual(bbox["x_min"], bounds[0][0], places=5)
self.assertAlmostEqual(bbox["y_min"], bounds[0][1], places=5)
self.assertAlmostEqual(bbox["z_min"], bounds[0][2], places=5)
self.assertAlmostEqual(bbox["x_max"], bounds[1][0], places=5)
self.assertAlmostEqual(bbox["y_max"], bounds[1][1], places=5)
self.assertAlmostEqual(bbox["z_max"], bounds[1][2], places=5)
prim = stage.GetPrimAtPath(bbox["name"])
tf = np.array(UsdGeom.Imageable(prim).ComputeLocalToWorldTransform(0.0))
gf_range = Gf.Range3f(*bounds)
gf_corners = np.array([gf_range.GetCorner(i) for i in range(8)])
gf_corners = np.pad(gf_corners, ((0, 0), (0, 1)), constant_values=1.0)
gf_corners = np.dot(gf_corners, tf)[:, :3]
assert np.allclose(bbox["corners"], gf_corners, atol=1e-5)
@unittest.skip("OM-45008")
async def test_camera_frame_simple_ftheta(self):
""" Test 3D bounding box in a simple scene under ftheta camera.
"""
settings = carb.settings.get_settings()
settings.set_string("/rtx/rendermode", "PathTracing")
settings.set_int("/rtx/pathtracing/spp", 32)
settings.set_int("/persistent/app/viewport/displayOptions", 0)
stage = omni.usd.get_context().get_stage()
# TEST SIMPLE SCENE
cube = stage.DefinePrim("/Cube", "Cube")
cube.GetAttribute("size").Set(2.0)
UsdGeom.Xformable(cube).AddTranslateOp().Set((10.0, 1.0, 2))
utils.add_semantics(cube, "cube")
camera = stage.DefinePrim("/Camera", "Camera")
camera.CreateAttribute("cameraProjectionType", Sdf.ValueTypeNames.Token).Set("fisheyePolynomial")
UsdGeom.Xformable(camera).AddTranslateOp().Set((10.0, 0.0, 0.0))
self.viewport.camera_path = camera.GetPath()
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
bbox3d_data = syn.sensors.get_bounding_box_3d(
self.viewport, parsed=True, return_corners=True, camera_frame=True
)
# TODO: find the correct value of distorted result.
# The f theta will distort the result.
extents = Gf.Range3d([-1.0, 0, 1], [1.0, 2.0, 3])
corners = np.array([[extents.GetCorner(i) for i in range(8)]])
assert not np.allclose(bbox3d_data[0]["corners"], corners)
@unittest.skip("OM-45008")
async def test_camera_frame_simple_spherical(self):
""" Test 3D bounding box in a simple scene under fisheye spherical camera.
"""
settings = carb.settings.get_settings()
settings.set_string("/rtx/rendermode", "PathTracing")
settings.set_int("/rtx/pathtracing/spp", 32)
settings.set_int("/persistent/app/viewport/displayOptions", 0)
stage = omni.usd.get_context().get_stage()
# TEST SIMPLE SCENE
cube = stage.DefinePrim("/Cube", "Cube")
cube.GetAttribute("size").Set(2.0)
UsdGeom.Xformable(cube).AddTranslateOp().Set((10.0, 1.0, 2))
utils.add_semantics(cube, "cube")
camera = stage.DefinePrim("/Camera", "Camera")
camera.CreateAttribute("cameraProjectionType", Sdf.ValueTypeNames.Token).Set("fisheyeSpherical")
UsdGeom.Xformable(camera).AddTranslateOp().Set((10.0, 0.0, 0.0))
self.viewport.camera_path = camera.GetPath()
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
bbox3d_data = syn.sensors.get_bounding_box_3d(
self.viewport, parsed=True, return_corners=True, camera_frame=True
)
# TODO: find the correct value of distorted result.
# The spherical camera will distort the result.
extents = Gf.Range3d([-1.0, 0, 1], [1.0, 2.0, 3])
corners = np.array([[extents.GetCorner(i) for i in range(8)]])
assert not np.allclose(bbox3d_data[0]["corners"], corners)
async def test_camera_frame_simple(self):
""" Test 3D bounding box in a simple scene.
"""
stage = omni.usd.get_context().get_stage()
# TEST SIMPLE SCENE
cube = stage.DefinePrim("/Cube", "Cube")
cube.GetAttribute("size").Set(2.0)
UsdGeom.Xformable(cube).AddTranslateOp().Set((10.0, 0.0, 10.0))
utils.add_semantics(cube, "cube")
camera = stage.DefinePrim("/Camera", "Camera")
UsdGeom.Xformable(camera).AddTranslateOp().Set((10.0, 0.0, 0.0))
self.viewport.camera_path = camera.GetPath()
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
bbox3d_data = syn.sensors.get_bounding_box_3d(
self.viewport, parsed=True, return_corners=True, camera_frame=True
)
extents = Gf.Range3d([-1.0, -1.0, 9.0], [1.0, 1.0, 11.0])
corners = np.array([[extents.GetCorner(i) for i in range(8)]])
assert np.allclose(bbox3d_data[0]["corners"], corners)
tf = np.eye(4)
tf[3, 2] = 10.0
assert np.allclose(bbox3d_data[0]["transform"], tf)
async def test_camera_frame_reference(self):
""" Test 3D bounding box in a simple scene.
"""
ref_path = os.path.join(TMP, f"ref_stage{uuid.uuid1()}.usd")
ref_stage = Usd.Stage.CreateNew(ref_path)
world = ref_stage.DefinePrim("/World", "Xform")
world_tf = utils.get_random_transform()
UsdGeom.Xformable(world).AddTransformOp().Set(world_tf)
cube = ref_stage.DefinePrim("/World/Cube", "Cube")
cube.GetAttribute("size").Set(2.0)
cube_tf = Gf.Matrix4d().SetTranslateOnly((10.0, 0.0, 10.0))
UsdGeom.Xformable(cube).AddTransformOp().Set(cube_tf)
utils.add_semantics(cube, "cube")
camera = ref_stage.DefinePrim("/World/Camera", "Camera")
camera_tf = cube_tf
UsdGeom.Xformable(camera).AddTransformOp().Set(camera_tf)
ref_stage.Save()
# omni.usd.get_context().new_stage()
# await omni.usd.get_context().new_stage_async()
stage = omni.usd.get_context().get_stage()
rig = stage.DefinePrim("/Rig", "Xform")
rig_tf = utils.get_random_transform()
UsdGeom.Xformable(rig).AddTransformOp().Set(rig_tf)
ref = stage.DefinePrim("/Rig/Ref")
ref.GetReferences().AddReference(ref_path, "/World")
self.viewport.camera_path = "/Rig/Ref/Camera"
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
bbox3d_data_world = syn.sensors.get_bounding_box_3d(
self.viewport, parsed=True, return_corners=True, camera_frame=False
)
bbox3d_data_camera = syn.sensors.get_bounding_box_3d(
self.viewport, parsed=True, return_corners=True, camera_frame=True
)
extents = Gf.Range3d([-1.0, -1.0, -1.0], [1.0, 1.0, 1.0])
corners = np.array([[extents.GetCorner(i) for i in range(8)]])
assert np.allclose(bbox3d_data_camera[0]["corners"], corners)
combined_tf = np.matmul(cube_tf, np.matmul(world_tf, rig_tf))
corners_tf = np.matmul(np.pad(corners.reshape(-1, 3), ((0, 0), (0, 1)), constant_values=1), combined_tf)
corners_tf = corners_tf[:, :3].reshape(-1, 8, 3)
assert np.allclose(bbox3d_data_world[0]["corners"], corners_tf)
# tf = np.eye(4)
# tf[3, 2] = 10.0
assert np.allclose(bbox3d_data_world[0]["transform"], combined_tf)
pt_camera_min = [bbox3d_data_camera[0][f"{a}_min"] for a in ["x", "y", "z"]]
pt_camera_min = np.array([*pt_camera_min, 1.0])
pt_camera_max = [bbox3d_data_camera[0][f"{a}_max"] for a in ["x", "y", "z"]]
pt_camera_max = np.array([*pt_camera_max, 1.0])
assert np.allclose(np.matmul(pt_camera_min, bbox3d_data_camera[0]["transform"])[:3], corners[0, 0])
assert np.allclose(np.matmul(pt_camera_max, bbox3d_data_camera[0]["transform"])[:3], corners[0, 7])
async def test_camera_frame_Y(self):
# TEST NESTED TRANSFORMS, UP AXIS
# Create 2 cubes (size=1) under a parent prim
stage = omni.usd.get_context().get_stage()
UsdGeom.SetStageUpAxis(stage, "Y")
parent = stage.DefinePrim("/World/Parent", "Xform")
child1 = stage.DefinePrim("/World/Parent/Child1", "Cube")
child2 = stage.DefinePrim("/World/Parent/Child2", "Cube")
camera = stage.DefinePrim("/World/Camera", "Camera")
child1.GetAttribute("size").Set(1.0)
child2.GetAttribute("size").Set(1.0)
utils.add_semantics(parent, "parent")
utils.add_semantics(child1, "child1")
utils.add_semantics(child2, "child2")
UsdGeom.Xformable(parent).ClearXformOpOrder()
UsdGeom.Xformable(child1).ClearXformOpOrder()
UsdGeom.Xformable(child2).ClearXformOpOrder()
UsdGeom.Xformable(camera).ClearXformOpOrder()
UsdGeom.Xformable(parent).AddRotateYOp().Set(45)
UsdGeom.Xformable(child1).AddTranslateOp().Set((-0.5, 0.5, 0.0))
UsdGeom.Xformable(child1).AddRotateYOp().Set(45)
UsdGeom.Xformable(child2).AddTranslateOp().Set((0.5, -0.5, 0.0))
# Move camera with random transform
camera_tf = utils.get_random_transform()
UsdGeom.Xformable(camera).AddTransformOp().Set(Gf.Matrix4d(camera_tf))
camera_tf_inv = np.linalg.inv(camera_tf)
self.viewport.camera_path = camera.GetPath()
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
bbox3d_data = syn.sensors.get_bounding_box_3d(
self.viewport, parsed=True, return_corners=True, camera_frame=True
)
parent_bbox = [row for row in bbox3d_data if row["name"] == parent.GetPath()][0]
child1_bbox = [row for row in bbox3d_data if row["name"] == child1.GetPath()][0]
child2_bbox = [row for row in bbox3d_data if row["name"] == child2.GetPath()][0]
# Only takes into account child transforms
a = math.cos(math.pi / 4)
parent_bounds = [[-a - 0.5, -1.0, -a], [1.0, 1.0, a]]
child1_bounds = [[-0.5, -0.5, -0.5], [0.5, 0.5, 0.5]]
child2_bounds = [[-0.5, -0.5, -0.5], [0.5, 0.5, 0.5]] # Doesn't take into account transforms
for bbox, bounds in zip([parent_bbox, child1_bbox, child2_bbox], [parent_bounds, child1_bounds, child2_bounds]):
self.assertAlmostEqual(bbox["x_min"], bounds[0][0], places=5)
self.assertAlmostEqual(bbox["y_min"], bounds[0][1], places=5)
self.assertAlmostEqual(bbox["z_min"], bounds[0][2], places=5)
self.assertAlmostEqual(bbox["x_max"], bounds[1][0], places=5)
self.assertAlmostEqual(bbox["y_max"], bounds[1][1], places=5)
self.assertAlmostEqual(bbox["z_max"], bounds[1][2], places=5)
prim = stage.GetPrimAtPath(bbox["name"])
tf = np.array(UsdGeom.Imageable(prim).ComputeLocalToWorldTransform(0.0))
gf_range = Gf.Range3f(*bounds)
gf_corners = np.array([gf_range.GetCorner(i) for i in range(8)])
gf_corners = np.pad(gf_corners, ((0, 0), (0, 1)), constant_values=1.0)
gf_corners = np.dot(gf_corners, tf)
gf_corners = np.dot(gf_corners, camera_tf_inv)[:, :3]
assert np.allclose(bbox["corners"], gf_corners, atol=1e-5)
async def test_camera_frame_Z(self):
# TEST NESTED TRANSFORMS, UP AXIS
# Create 2 cubes (size=1) under a parent prim
stage = omni.usd.get_context().get_stage()
UsdGeom.SetStageUpAxis(stage, "Z")
parent = stage.DefinePrim("/World/Parent", "Xform")
child1 = stage.DefinePrim("/World/Parent/Child1", "Cube")
child2 = stage.DefinePrim("/World/Parent/Child2", "Cube")
camera = stage.DefinePrim("/World/Camera", "Camera")
child1.GetAttribute("size").Set(1.0)
child2.GetAttribute("size").Set(1.0)
utils.add_semantics(parent, "parent")
utils.add_semantics(child1, "child1")
utils.add_semantics(child2, "child2")
UsdGeom.Xformable(parent).ClearXformOpOrder()
UsdGeom.Xformable(child1).ClearXformOpOrder()
UsdGeom.Xformable(child2).ClearXformOpOrder()
UsdGeom.Xformable(camera).ClearXformOpOrder()
UsdGeom.Xformable(parent).AddRotateYOp().Set(45)
UsdGeom.Xformable(child1).AddTranslateOp().Set((-0.5, 0.5, 0.0))
UsdGeom.Xformable(child1).AddRotateYOp().Set(45)
UsdGeom.Xformable(child2).AddTranslateOp().Set((0.5, -0.5, 0.0))
# Move camera with random transform
camera_tf = np.eye(4)
camera_tf[:3, :3] = Gf.Matrix3d(Gf.Rotation(np.random.rand(3).tolist(), np.random.rand(3).tolist()))
camera_tf[3, :3] = np.random.rand(1, 3)
UsdGeom.Xformable(camera).AddTransformOp().Set(Gf.Matrix4d(camera_tf))
camera_tf_inv = np.linalg.inv(camera_tf)
self.viewport.camera_path = camera.GetPath()
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
bbox3d_data = syn.sensors.get_bounding_box_3d(
self.viewport, parsed=True, return_corners=True, camera_frame=True
)
parent_bbox = [row for row in bbox3d_data if row["name"] == parent.GetPath()][0]
child1_bbox = [row for row in bbox3d_data if row["name"] == child1.GetPath()][0]
child2_bbox = [row for row in bbox3d_data if row["name"] == child2.GetPath()][0]
# Only takes into account child transforms
a = math.cos(math.pi / 4)
parent_bounds = [[-a - 0.5, -1.0, -a], [1.0, 1.0, a]]
child1_bounds = [[-0.5, -0.5, -0.5], [0.5, 0.5, 0.5]]
child2_bounds = [[-0.5, -0.5, -0.5], [0.5, 0.5, 0.5]] # Doesn't take into account transforms
for bbox, bounds in zip([parent_bbox, child1_bbox, child2_bbox], [parent_bounds, child1_bounds, child2_bounds]):
self.assertAlmostEqual(bbox["x_min"], bounds[0][0], places=5)
self.assertAlmostEqual(bbox["y_min"], bounds[0][1], places=5)
self.assertAlmostEqual(bbox["z_min"], bounds[0][2], places=5)
self.assertAlmostEqual(bbox["x_max"], bounds[1][0], places=5)
self.assertAlmostEqual(bbox["y_max"], bounds[1][1], places=5)
self.assertAlmostEqual(bbox["z_max"], bounds[1][2], places=5)
prim = stage.GetPrimAtPath(bbox["name"])
tf = np.array(UsdGeom.Imageable(prim).ComputeLocalToWorldTransform(0.0))
gf_range = Gf.Range3f(*bounds)
gf_corners = np.array([gf_range.GetCorner(i) for i in range(8)])
gf_corners = np.pad(gf_corners, ((0, 0), (0, 1)), constant_values=1.0)
gf_corners = np.dot(gf_corners, tf)
gf_corners = np.dot(gf_corners, camera_tf_inv)[:, :3]
assert np.allclose(bbox["corners"], gf_corners, atol=1e-5)
@unittest.skip("OM-46398")
async def test_bbox_3d_scene_instance(self):
""" Test sensor on scene instance.
"""
path = os.path.join(FILE_DIR, "../data/scenes/scene_instance_test.usda")
await omni.usd.get_context().open_stage_async(path)
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_bounding_box_3d_(self.viewport)
# should be 3 prims in the scene
# TODO: add more complicated test
assert len(data) == 3
# After running each test
async def tearDown(self):
pass
|
eliabntt/GRADE-RR/isaac_internals/kit/extscore/omni.syntheticdata/omni/syntheticdata/tests/sensors/test_depth.py | # NOTE:
# omni.kit.test - std python's unittest module with additional wrapping to add suport for async/await tests
# For most things refer to unittest docs: https://docs.python.org/3/library/unittest.html
import os
import math
import asyncio
from time import time
import carb
import numpy as np
import omni.kit.test
from omni.kit.viewport.utility import get_active_viewport
from pxr import Gf, UsdGeom, Sdf
# Import extension python module we are testing with absolute import path, as if we are external user (other extension)
import omni.syntheticdata as syn
from ..utils import add_semantics
FILE_DIR = os.path.dirname(os.path.realpath(__file__))
TIMEOUT = 200
# Having a test class derived from omni.kit.test.AsyncTestCase declared on the root of module will make it auto-discoverable by omni.kit.test
class TestDepth(omni.kit.test.AsyncTestCase):
# Before running each test
async def setUp(self):
np.random.seed(1234)
# Setup viewport
self.viewport = get_active_viewport()
# Initialize Sensor
await omni.usd.get_context().new_stage_async()
stage = omni.usd.get_context().get_stage()
await omni.kit.app.get_app().next_update_async()
await syn.sensors.create_or_retrieve_sensor_async(self.viewport, syn._syntheticdata.SensorType.Depth)
async def test_parsed_empty(self):
""" Test depth sensor on empty stage.
"""
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_depth(self.viewport)
assert data.sum() == 0
async def test_parsed_dtype(self):
stage = omni.usd.get_context().get_stage()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_depth(self.viewport)
assert data.dtype == np.float32
async def test_distances(self):
stage = omni.usd.get_context().get_stage()
camera = stage.DefinePrim("/Camera", "Camera")
UsdGeom.Xformable(camera).AddTranslateOp().Set((0, 0, 0))
self.viewport.camera_path = camera.GetPath()
await omni.kit.app.get_app().next_update_async()
for n in range(10, 100, 10):
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
# n = 5
UsdGeom.XformCommonAPI(cube).SetTranslate((0, 0, -n))
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_depth(self.viewport)
assert np.isclose(data.min(), 0, atol=1e-5)
# The front of the cube is 1 ahead of its center position
assert np.isclose(data.max(), 1 / (n - 1), atol=1e-5)
async def test_distances_pathtracing(self):
""" Basic funtionality test of the sensor, but in path tracing mode.
"""
# Set the rendering mode to be pathtracing
settings = carb.settings.get_settings()
settings.set_string("/rtx/rendermode", "PathTracing")
settings.set_int("/rtx/pathtracing/spp", 32)
settings.set_int("/persistent/app/viewport/displayOptions", 0)
stage = omni.usd.get_context().get_stage()
camera = stage.DefinePrim("/Camera", "Camera")
UsdGeom.Xformable(camera).AddTranslateOp().Set((0, 0, 0))
self.viewport.camera_path = camera.GetPath()
await omni.kit.app.get_app().next_update_async()
for n in range(10, 100, 10):
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
# n = 5
UsdGeom.XformCommonAPI(cube).SetTranslate((0, 0, -n))
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_depth(self.viewport)
assert np.isclose(data.min(), 0, atol=1e-5)
# The front of the cube is 1 ahead of its center position
assert np.isclose(data.max(), 1 / (n - 1), atol=1e-5)
async def test_distances_ray_traced_lighting(self):
""" Basic funtionality test of the sensor, but in ray traced lighting.
"""
# Set the rendering mode to be pathtracing
settings_interface = carb.settings.get_settings()
settings_interface.set_string("/rtx/rendermode", "RayTracedLighting")
stage = omni.usd.get_context().get_stage()
camera = stage.DefinePrim("/Camera", "Camera")
UsdGeom.Xformable(camera).AddTranslateOp().Set((0, 0, 0))
self.viewport.camera_path = camera.GetPath()
await omni.kit.app.get_app().next_update_async()
for n in range(10, 100, 10):
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
# n = 5
UsdGeom.XformCommonAPI(cube).SetTranslate((0, 0, -n))
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_depth(self.viewport)
assert np.isclose(data.min(), 0, atol=1e-5)
# The front of the cube is 1 ahead of its center position
assert np.isclose(data.max(), 1 / (n - 1), atol=1e-5)
async def test_ftheta_camera(self):
""" Test the functionality of the sensor under f-theta camera.
"""
settings = carb.settings.get_settings()
settings.set_string("/rtx/rendermode", "PathTracing")
settings.set_int("/rtx/pathtracing/spp", 32)
settings.set_int("/persistent/app/viewport/displayOptions", 0)
stage = omni.usd.get_context().get_stage()
camera = stage.DefinePrim("/Camera", "Camera")
# Set the camera to be polynomial fish eye camera.
camera.CreateAttribute("cameraProjectionType", Sdf.ValueTypeNames.Token).Set("fisheyePolynomial")
# Set the Camera's position
UsdGeom.Xformable(camera).AddTranslateOp().Set((0, 0, 0))
self.viewport.camera_path = camera.GetPath()
await omni.kit.app.get_app().next_update_async()
# Add a cube at the centre of the scene
cube_prim = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube_prim, "cube")
cube = UsdGeom.Cube(cube_prim)
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_depth(self.viewport)
await omni.kit.app.get_app().next_update_async()
# Centre of the data should be half of the cube edge's length, adjusted to correct scale.
edge_length = cube.GetSizeAttr().Get()
assert np.isclose(1 / (edge_length - 1), data.max(), atol=1e-3)
assert np.isclose(1 / (np.sqrt(((edge_length) ** 2)*2) - 1), data[data > 0].min(), atol=1e-1)
# After running each test
async def tearDown(self):
pass
|
eliabntt/GRADE-RR/isaac_internals/kit/extscore/omni.syntheticdata/omni/syntheticdata/tests/sensors/test_semantic_seg.py | # NOTE:
# omni.kit.test - std python's unittest module with additional wrapping to add suport for async/await tests
# For most things refer to unittest docs: https://docs.python.org/3/library/unittest.html
import os
import math
import asyncio
from time import time
from pathlib import Path
import carb
import numpy as np
import omni.kit.test
from omni.kit.viewport.utility import get_active_viewport
from pxr import Gf, UsdGeom, Sdf
# Import extension python module we are testing with absolute import path, as if we are external user (other extension)
import omni.syntheticdata as syn
from ..utils import add_semantics
import unittest
FILE_DIR = os.path.dirname(os.path.realpath(__file__))
TIMEOUT = 200
# Having a test class derived from omni.kit.test.AsyncTestCase declared on the root of module will make it auto-discoverable by omni.kit.test
class TestSemanticSeg(omni.kit.test.AsyncTestCase):
def __init__(self, methodName: str) -> None:
super().__init__(methodName=methodName)
self.golden_image_path = Path(os.path.dirname(os.path.abspath(__file__))) / ".." / "data" / "golden"
# Before running each test
async def setUp(self):
np.random.seed(1234)
# Setup viewport
self.viewport = get_active_viewport()
# Initialize Sensor
await omni.usd.get_context().new_stage_async()
await syn.sensors.initialize_async(
self.viewport,
[
syn._syntheticdata.SensorType.SemanticSegmentation,
syn._syntheticdata.SensorType.InstanceSegmentation
]
)
async def test_empty(self):
""" Test semantic segmentation on empty stage.
"""
data = syn.sensors.get_semantic_segmentation(self.viewport)
assert data.sum() == 0
async def test_dtype(self):
stage = omni.usd.get_context().get_stage()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_semantic_segmentation(self.viewport)
assert data.dtype == np.uint32
async def test_cube(self):
stage = omni.usd.get_context().get_stage()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
cube.GetAttribute("size").Set(100)
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_semantic_segmentation(self.viewport)
# np.savez_compressed(self.golden_image_path / 'semantic_seg_cube.npz', array=data)
golden_image = np.load(self.golden_image_path / "semantic_seg_cube.npz")["array"]
std_dev = np.sqrt(np.square(data - golden_image).astype(float).mean())
assert std_dev < 0.1
async def test_cube_sphere(self):
stage = omni.usd.get_context().get_stage()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
cube.GetAttribute("size").Set(100)
sphere_prim = stage.DefinePrim("/Sphere", "Sphere")
UsdGeom.XformCommonAPI(sphere_prim).SetTranslate((300, 0, 0))
add_semantics(sphere_prim, "sphere")
sphere = UsdGeom.Sphere(sphere_prim)
sphere.GetRadiusAttr().Set(100)
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_instance_segmentation(self.viewport)
# np.savez_compressed(self.golden_image_path / 'instance_seg_cube.npz', array=data)
assert len(data) != 0
async def test_cube_pathtracing(self):
""" Basic funtionality test of the sensor, but in path tracing mode.
"""
settings = carb.settings.get_settings()
settings.set_string("/rtx/rendermode", "PathTracing")
settings.set_int("/rtx/pathtracing/spp", 32)
settings.set_int("/persistent/app/viewport/displayOptions", 0)
stage = omni.usd.get_context().get_stage()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
cube.GetAttribute("size").Set(100)
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_semantic_segmentation(self.viewport)
golden_image = np.load(self.golden_image_path / "semantic_seg_cube.npz")["array"]
std_dev = np.sqrt(np.square(data - golden_image).astype(float).mean())
assert std_dev < 0.1
async def test_cube_ray_traced_lighting(self):
""" Basic funtionality test of the sensor, but in ray traced lighting.
"""
settings = carb.settings.get_settings()
settings.set_string("/rtx/rendermode", "RayTracedLighting")
stage = omni.usd.get_context().get_stage()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
cube.GetAttribute("size").Set(100)
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_semantic_segmentation(self.viewport)
golden_image = np.load(self.golden_image_path / "semantic_seg_cube.npz")["array"]
std_dev = np.sqrt(np.square(data - golden_image).astype(float).mean())
assert std_dev < 0.1
async def test_cube_ftheta(self):
""" Basic funtionality test of the sensor under f theta camera.
"""
settings = carb.settings.get_settings()
settings.set_string("/rtx/rendermode", "PathTracing")
settings.set_int("/rtx/pathtracing/spp", 32)
settings.set_int("/persistent/app/viewport/displayOptions", 0)
stage = omni.usd.get_context().get_stage()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
cube.GetAttribute("size").Set(100)
await omni.kit.app.get_app().next_update_async()
camera = stage.DefinePrim("/Camera", "Camera")
# Set the camera to be polynomial fish eye camera.
camera.CreateAttribute("cameraProjectionType", Sdf.ValueTypeNames.Token).Set("fisheyePolynomial")
# Set the Camera's position
UsdGeom.Xformable(camera).AddTranslateOp().Set((100, 100, 100))
self.viewport.camera_path = camera.GetPath()
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_semantic_segmentation(self.viewport)
# np.savez_compressed(self.golden_image_path / 'semantic_seg_cube_ftheta.npz', array=data)
golden_image = np.load(self.golden_image_path / "semantic_seg_cube_ftheta.npz")["array"]
std_dev = np.sqrt(np.square(data - golden_image).astype(float).mean())
assert std_dev < 0.1
async def test_cube_spherical(self):
""" Basic funtionality test of the sensor under spherical camera.
"""
settings = carb.settings.get_settings()
settings.set_string("/rtx/rendermode", "PathTracing")
settings.set_int("/rtx/pathtracing/spp", 32)
settings.set_int("/persistent/app/viewport/displayOptions", 0)
stage = omni.usd.get_context().get_stage()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
cube.GetAttribute("size").Set(100)
await omni.kit.app.get_app().next_update_async()
camera = stage.DefinePrim("/Camera", "Camera")
# Set the camera to be spherical fish eye camera.
camera.CreateAttribute("cameraProjectionType", Sdf.ValueTypeNames.Token).Set("fisheyeSpherical")
# Set the Camera's position
UsdGeom.Xformable(camera).AddTranslateOp().Set((100, 100, 100))
self.viewport.camera_path = camera.GetPath()
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_semantic_segmentation(self.viewport)
# np.savez_compressed(self.golden_image_path / 'semantic_seg_cube_spherical.npz', array=data)
golden_image = np.load(self.golden_image_path / "semantic_seg_cube_spherical.npz")["array"]
std_dev = np.sqrt(np.square(data - golden_image).astype(float).mean())
assert std_dev < 0.1
@unittest.skip("OM-46393")
async def test_geom_subset(self):
""" Test sensor on GeomSubset.
"""
path = os.path.join(FILE_DIR, "../data/scenes/streetlamp_03_golden.usd")
await omni.usd.get_context().open_stage_async(path)
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_semantic_segmentation(self.viewport)
assert len(data) != 0
@unittest.skip("OM-46394")
async def test_sem_seg_scene_instance(self):
""" Test sensor on scene instance.
"""
path = os.path.join(FILE_DIR, "../data/scenes/scene_instance_test.usda")
await omni.usd.get_context().open_stage_async(path)
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_semantic_segmentation(self.viewport)
# TODO add more complicated test
assert len(data) != 0
# After running each test
async def tearDown(self):
pass
|
eliabntt/GRADE-RR/isaac_internals/kit/extscore/omni.syntheticdata/omni/syntheticdata/tests/sensors/test_bbox2d_tight.py | # NOTE:
# omni.kit.test - std python's unittest module with additional wrapping to add suport for async/await tests
# For most things refer to unittest docs: https://docs.python.org/3/library/unittest.html
import os
import math
import asyncio
from time import time
import unittest
import carb
import numpy as np
import omni.kit.test
from pxr import Gf, UsdGeom
from omni.kit.viewport.utility import get_active_viewport
# Import extension python module we are testing with absolute import path, as if we are external user (other extension)
import omni.syntheticdata as syn
from ..utils import add_semantics
FILE_DIR = os.path.dirname(os.path.realpath(__file__))
TIMEOUT = 200
# Having a test class derived from omni.kit.test.AsyncTestCase declared on the root of module will make it auto-discoverable by omni.kit.test
class TestBBox2DTight(omni.kit.test.AsyncTestCase):
# Before running each test
async def setUp(self):
np.random.seed(1234)
# Setup viewport
self.viewport = get_active_viewport()
# Initialize Sensor
await omni.usd.get_context().new_stage_async()
stage = omni.usd.get_context().get_stage()
await omni.kit.app.get_app().next_update_async()
await syn.sensors.create_or_retrieve_sensor_async(
self.viewport, syn._syntheticdata.SensorType.BoundingBox2DTight
)
async def test_parsed_empty(self):
""" Test 2D bounding box on empty stage.
"""
bbox2d_data = syn.sensors.get_bounding_box_2d_tight(self.viewport)
assert not bool(bbox2d_data)
async def test_fields_exist(self):
stage = omni.usd.get_context().get_stage()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
bbox2d_data = syn.sensors.get_bounding_box_2d_tight(self.viewport)
valid_dtype = [
("uniqueId", "<i4"),
("name", "O"),
("semanticLabel", "O"),
("metadata", "O"),
("instanceIds", "O"),
("semanticId", "<u4"),
("x_min", "<i4"),
("y_min", "<i4"),
("x_max", "<i4"),
("y_max", "<i4"),
]
assert bbox2d_data.dtype == np.dtype(valid_dtype)
async def test_cube(self):
""" Basic test for the sensor.
"""
stage = omni.usd.get_context().get_stage()
camera = stage.DefinePrim("/Camera", "Camera")
UsdGeom.Xformable(camera).AddTranslateOp().Set((0, 0, 0))
self.viewport.camera_path = camera.GetPath()
await omni.kit.app.get_app().next_update_async()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
UsdGeom.XformCommonAPI(cube).SetTranslate((0, 0, -10))
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
bbox2d_data = syn.sensors.get_bounding_box_2d_tight(self.viewport)
assert bbox2d_data[0]
x_min, y_min, x_max, y_max = bbox2d_data[0][6], bbox2d_data[0][7], bbox2d_data[0][8], bbox2d_data[0][9]
assert x_min == 301
assert y_min == 21
assert x_max == 978
assert y_max == 698
@unittest.skip("OM-46398")
async def test_bbox_2d_tight_scene_instance(self):
""" Test sensor on scene instance.
"""
settings = carb.settings.get_settings()
if settings.get("/rtx/hydra/enableSemanticSchema"):
path = os.path.join(FILE_DIR, "../data/scenes/scene_instance_test.usda")
await omni.usd.get_context().open_stage_async(path)
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_bounding_box_2d_tight(self.viewport)
# should be 3 prims in the scene.
# TODO: Add more complicated test
assert len(data) == 3
async def test_cube_pathtracing(self):
""" Basic funtionality test of the sensor, but in path tracing mode.
"""
settings = carb.settings.get_settings()
settings.set_string("/rtx/rendermode", "PathTracing")
settings.set_int("/rtx/pathtracing/spp", 32)
settings.set_int("/persistent/app/viewport/displayOptions", 0)
stage = omni.usd.get_context().get_stage()
camera = stage.DefinePrim("/Camera", "Camera")
UsdGeom.Xformable(camera).AddTranslateOp().Set((0, 0, 0))
self.viewport.camera_path = camera.GetPath()
await omni.kit.app.get_app().next_update_async()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
UsdGeom.XformCommonAPI(cube).SetTranslate((0, 0, -10))
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
bbox2d_data = syn.sensors.get_bounding_box_2d_tight(self.viewport)
x_min, y_min, x_max, y_max = bbox2d_data[0][6], bbox2d_data[0][7], bbox2d_data[0][8], bbox2d_data[0][9]
assert x_min == 301
assert y_min == 21
assert x_max == 978
assert y_max == 698
async def test_cube_ray_traced_lighting(self):
""" Basic test for the sensor, but in ray traced lighting mode.
"""
# Set the rendering mode to be ray traced lighting.
settings_interface = carb.settings.get_settings()
settings_interface.set_string("/rtx/rendermode", "RayTracedLighting")
stage = omni.usd.get_context().get_stage()
camera = stage.DefinePrim("/Camera", "Camera")
UsdGeom.Xformable(camera).AddTranslateOp().Set((0, 0, 0))
self.viewport.camera_path = camera.GetPath()
await omni.kit.app.get_app().next_update_async()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
UsdGeom.XformCommonAPI(cube).SetTranslate((0, 0, -10))
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
bbox2d_data = syn.sensors.get_bounding_box_2d_tight(self.viewport)
x_min, y_min, x_max, y_max = bbox2d_data[0][6], bbox2d_data[0][7], bbox2d_data[0][8], bbox2d_data[0][9]
assert x_min == 301
assert y_min == 21
assert x_max == 978
assert y_max == 698
# After running each test
async def tearDown(self):
pass
|
eliabntt/GRADE-RR/isaac_internals/kit/extscore/omni.syntheticdata/omni/syntheticdata/tests/sensors/test_distance_to_camera.py | # NOTE:
# omni.kit.test - std python's unittest module with additional wrapping to add suport for async/await tests
# For most things refer to unittest docs: https://docs.python.org/3/library/unittest.html
import os
from time import time
from pathlib import Path
import carb
import numpy as np
import omni.kit.test
from omni.kit.viewport.utility import get_active_viewport
from pxr import Gf, UsdGeom, Sdf
# Import extension python module we are testing with absolute import path, as if we are external user (other extension)
import omni.syntheticdata as syn
from ..utils import add_semantics
FILE_DIR = os.path.dirname(os.path.realpath(__file__))
TIMEOUT = 200
# Having a test class derived from omni.kit.test.AsyncTestCase declared on the root of module will make it auto-discoverable by omni.kit.test
class TestDistanceToCamera(omni.kit.test.AsyncTestCase):
# Before running each test
async def setUp(self):
np.random.seed(1234)
# Setup viewport
self.viewport = get_active_viewport()
self.golden_image_path = Path(os.path.dirname(os.path.abspath(__file__))) / ".." / "data" / "golden"
# Initialize Sensor
await omni.usd.get_context().new_stage_async()
stage = omni.usd.get_context().get_stage()
await omni.kit.app.get_app().next_update_async()
await syn.sensors.create_or_retrieve_sensor_async(self.viewport, syn._syntheticdata.SensorType.DistanceToCamera)
async def test_parsed_empty(self):
""" Test distance-to-camera sensor on empty stage.
"""
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_distance_to_camera(self.viewport)
assert np.all(data > 1000)
async def test_parsed_dtype(self):
stage = omni.usd.get_context().get_stage()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_distance_to_camera(self.viewport)
assert data.dtype == np.float32
async def test_distances(self):
stage = omni.usd.get_context().get_stage()
camera = stage.DefinePrim("/Camera", "Camera")
UsdGeom.Xformable(camera).AddTranslateOp().Set((0, 0, 0))
self.viewport.camera_path = camera.GetPath()
await omni.kit.app.get_app().next_update_async()
for n in range(10, 100, 10):
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
# n = 5
UsdGeom.XformCommonAPI(cube).SetTranslate((0, 0, -n))
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_distance_to_camera(self.viewport)
assert data.max() > 1000
# The front of the cube is 1 ahead of its center position
# TODO get a more precise calculation of eye distance
assert np.isclose(data.min(), (n - 1) / 100, atol=1e-1)
async def test_distances_pathtracing(self):
""" Basic funtionality test of the sensor, but in path tracing mode.
"""
# Set the rendering mode to be pathtracing
settings = carb.settings.get_settings()
settings.set_string("/rtx/rendermode", "PathTracing")
settings.set_int("/rtx/pathtracing/spp", 32)
settings.set_int("/persistent/app/viewport/displayOptions", 0)
stage = omni.usd.get_context().get_stage()
camera = stage.DefinePrim("/Camera", "Camera")
UsdGeom.Xformable(camera).AddTranslateOp().Set((0, 0, 0))
self.viewport.camera_path = camera.GetPath()
await omni.kit.app.get_app().next_update_async()
for n in range(10, 100, 10):
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
# n = 5
UsdGeom.XformCommonAPI(cube).SetTranslate((0, 0, -n))
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_distance_to_camera(self.viewport)
assert data.max() > 1000
# The front of the cube is 1 ahead of its center position
# TODO get a more precise calculation of eye distance
assert np.isclose(data.min(), (n - 1) / 100, atol=1e-1)
async def test_distances_ray_traced_lighting(self):
""" Basic funtionality test of the sensor, but in ray traced lighting.
"""
# Set the rendering mode to be pathtracing
settings_interface = carb.settings.get_settings()
settings_interface.set_string("/rtx/rendermode", "RayTracedLighting")
stage = omni.usd.get_context().get_stage()
camera = stage.DefinePrim("/Camera", "Camera")
UsdGeom.Xformable(camera).AddTranslateOp().Set((0, 0, 0))
self.viewport.camera_path = camera.GetPath()
await omni.kit.app.get_app().next_update_async()
for n in range(10, 100, 10):
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
# n = 5
UsdGeom.XformCommonAPI(cube).SetTranslate((0, 0, -n))
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_distance_to_camera(self.viewport)
assert data.max() > 1000
# The front of the cube is 1 ahead of its center position
# TODO get a more precise calculation of eye distance
assert np.isclose(data.min(), (n - 1) / 100, atol=1e-1)
async def test_ftheta_camera(self):
""" Test the functionality of the sensor under f-theta camera.
"""
settings = carb.settings.get_settings()
settings.set_string("/rtx/rendermode", "PathTracing")
settings.set_int("/rtx/pathtracing/spp", 32)
settings.set_int("/persistent/app/viewport/displayOptions", 0)
stage = omni.usd.get_context().get_stage()
camera = stage.DefinePrim("/Camera", "Camera")
# Set the camera to be polynomial fish eye camera.
camera.CreateAttribute("cameraProjectionType", Sdf.ValueTypeNames.Token).Set("fisheyePolynomial")
# Set the Camera's position
UsdGeom.Xformable(camera).AddTranslateOp().Set((0, 0, 0))
self.viewport.camera_path = camera.GetPath()
await omni.kit.app.get_app().next_update_async()
# Add a cube at the centre of the scene
cube_prim = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube_prim, "cube")
cube = UsdGeom.Cube(cube_prim)
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_distance_to_camera(self.viewport)
await omni.kit.app.get_app().next_update_async()
# Centre of the data should be half of the cube edge's length, adjusted to correct scale.
edge_length = (cube.GetSizeAttr().Get() - 1) / 100
# The max should be sqrt(((edge_length / 2) ** 2) * 2), which a pinhole camera won't see.
assert np.isclose(np.sqrt(((edge_length / 2) ** 2)*2), data[data != np.inf].max(), atol=1e-3)
async def test_spherical_camera(self):
""" Test the functionality of the sensor under fisheye spherical camera.
"""
settings = carb.settings.get_settings()
settings.set_string("/rtx/rendermode", "PathTracing")
settings.set_int("/rtx/pathtracing/spp", 32)
settings.set_int("/persistent/app/viewport/displayOptions", 0)
stage = omni.usd.get_context().get_stage()
camera = stage.DefinePrim("/Camera", "Camera")
# Set the camera to be spherical camera
camera.CreateAttribute("cameraProjectionType", Sdf.ValueTypeNames.Token).Set("fisheyeSpherical")
# Set the Camera at the centre of the stage.
UsdGeom.Xformable(camera).AddTranslateOp().Set((0, 0, 0))
self.viewport.camera_path = camera.GetPath()
await omni.kit.app.get_app().next_update_async()
sphere_prim = stage.DefinePrim("/Sphere", "Sphere")
add_semantics(sphere_prim, "sphere")
sphere = UsdGeom.Sphere(sphere_prim)
sphere.GetRadiusAttr().Set(20)
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_distance_to_camera(self.viewport)
# np.savez_compressed(self.golden_image_path / 'distance_to_camera_spherical.npz', array=data)
golden_image = np.load(self.golden_image_path / "distance_to_camera_spherical.npz")["array"]
std_dev = np.sqrt(np.square(data - golden_image).astype(float).mean())
assert std_dev < 2
# After running each test
async def tearDown(self):
pass
|
eliabntt/GRADE-RR/isaac_internals/kit/extscore/omni.syntheticdata/omni/syntheticdata/tests/sensors/test_normals.py | # NOTE:
# omni.kit.test - std python's unittest module with additional wrapping to add suport for async/await tests
# For most things refer to unittest docs: https://docs.python.org/3/library/unittest.html
import os
import math
import asyncio
from time import time
from pathlib import Path
import carb
import numpy as np
import omni.kit.test
from omni.kit.viewport.utility import get_active_viewport
from pxr import Gf, UsdGeom, Sdf
# Import extension python module we are testing with absolute import path, as if we are external user (other extension)
import omni.syntheticdata as syn
from ..utils import add_semantics
FILE_DIR = os.path.dirname(os.path.realpath(__file__))
TIMEOUT = 200
# Having a test class derived from omni.kit.test.AsyncTestCase declared on the root of module will make it auto-discoverable by omni.kit.test
class TestNormals(omni.kit.test.AsyncTestCase):
def __init__(self, methodName: str) -> None:
super().__init__(methodName=methodName)
self.golden_image_path = Path(os.path.dirname(os.path.abspath(__file__))) / ".." / "data" / "golden"
# Before running each test
async def setUp(self):
np.random.seed(1234)
# Setup viewport
self.viewport = get_active_viewport()
# Initialize Sensor
await omni.usd.get_context().new_stage_async()
stage = omni.usd.get_context().get_stage()
await omni.kit.app.get_app().next_update_async()
await syn.sensors.create_or_retrieve_sensor_async(self.viewport, syn._syntheticdata.SensorType.Normal)
async def test_parsed_empty(self):
""" Test normals sensor on empty stage.
"""
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_normals(self.viewport)
assert np.allclose(data, 0, 1e-3)
async def test_parsed_dtype(self):
stage = omni.usd.get_context().get_stage()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_normals(self.viewport)
assert data.dtype == np.float32
async def test_neg_z(self):
""" Test that negative z faces are distinct from background
"""
stage = omni.usd.get_context().get_stage()
camera = stage.DefinePrim("/Camera", "Camera")
UsdGeom.Xformable(camera).AddRotateYOp().Set(180)
UsdGeom.Xformable(camera).AddTranslateOp().Set((0.0, 0.0, 20.0))
self.viewport.camera_path = camera.GetPath()
await omni.kit.app.get_app().next_update_async()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_normals(self.viewport)
assert len(np.unique(data)) == 2
async def test_rotated_cube(self):
stage = omni.usd.get_context().get_stage()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
cube.GetAttribute("size").Set(100)
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_normals(self.viewport)
# np.savez_compressed(self.golden_image_path / 'normals_cube.npz', array=data)
golden_image = np.load(self.golden_image_path / "normals_cube.npz")["array"]
std_dev = np.sqrt(np.square(data - golden_image).astype(float).mean())
assert std_dev < 2
async def test_rotated_cube_pathtracing(self):
""" Basic funtionality test of the sensor, but in path tracing mode.
"""
settings = carb.settings.get_settings()
settings.set_string("/rtx/rendermode", "PathTracing")
settings.set_int("/rtx/pathtracing/spp", 32)
settings.set_int("/persistent/app/viewport/displayOptions", 0)
stage = omni.usd.get_context().get_stage()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
cube.GetAttribute("size").Set(100)
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_normals(self.viewport)
# np.savez_compressed(self.golden_image_path / 'normals_cube.npz', array=data)
golden_image = np.load(self.golden_image_path / "normals_cube.npz")["array"]
std_dev = np.sqrt(np.square(data - golden_image).astype(float).mean())
assert std_dev < 2
async def test_rotated_cube_ray_traced_lighting(self):
""" Basic funtionality test of the sensor, but in ray traced lighting.
"""
# Set the rendering mode to be ray traced lighting.
settings_interface = carb.settings.get_settings()
settings_interface.set_string("/rtx/rendermode", "RayTracedLighting")
stage = omni.usd.get_context().get_stage()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
cube.GetAttribute("size").Set(100)
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_normals(self.viewport)
# np.savez_compressed(self.golden_image_path / 'normals_cube.npz', array=data)
golden_image = np.load(self.golden_image_path / "normals_cube.npz")["array"]
std_dev = np.sqrt(np.square(data - golden_image).astype(float).mean())
assert std_dev < 2
async def test_rotated_cube_ftheta(self):
""" Basic funtionality test of the sensor in f theta camera.
"""
# Set the mode to path traced for f theta camera.
settings = carb.settings.get_settings()
settings.set_string("/rtx/rendermode", "PathTracing")
settings.set_int("/rtx/pathtracing/spp", 32)
settings.set_int("/persistent/app/viewport/displayOptions", 0)
stage = omni.usd.get_context().get_stage()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
cube.GetAttribute("size").Set(100)
await omni.kit.app.get_app().next_update_async()
# Setting up camera.
camera = stage.DefinePrim("/Camera", "Camera")
# Set the camera to be polynomial fish eye camera.
camera.CreateAttribute("cameraProjectionType", Sdf.ValueTypeNames.Token).Set("fisheyePolynomial")
# Set the Camera's position
UsdGeom.Xformable(camera).AddTranslateOp().Set((200, 200, 200))
self.viewport.camera_path = camera.GetPath()
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_normals(self.viewport)
# np.savez_compressed(self.golden_image_path / 'normals_cube_ftheta.npz', array=data)
golden_image = np.load(self.golden_image_path / "normals_cube_ftheta.npz")["array"]
std_dev = np.sqrt(np.square(data - golden_image).astype(float).mean())
assert std_dev < 2
async def test_rotated_cube_spherical(self):
""" Basic funtionality test of the sensor in fisheye spherical camera.
"""
# Set the mode to path traced.
settings = carb.settings.get_settings()
settings.set_string("/rtx/rendermode", "PathTracing")
settings.set_int("/rtx/pathtracing/spp", 32)
settings.set_int("/persistent/app/viewport/displayOptions", 0)
stage = omni.usd.get_context().get_stage()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
cube.GetAttribute("size").Set(100)
# Setting up camera.
camera = stage.DefinePrim("/Camera", "Camera")
# Set the camera to be polynomial fish eye camera.
camera.CreateAttribute("cameraProjectionType", Sdf.ValueTypeNames.Token).Set("fisheyeSpherical")
# Set the Camera's position
UsdGeom.Xformable(camera).AddTranslateOp().Set((200, 200, 200))
self.viewport.camera_path = camera.GetPath()
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_normals(self.viewport)
# np.savez_compressed(self.golden_image_path / 'normals_cube_spherical.npz', array=data)
golden_image = np.load(self.golden_image_path / "normals_cube_spherical.npz")["array"]
std_dev = np.sqrt(np.square(data - golden_image).astype(float).mean())
assert std_dev < 2
# After running each test
async def tearDown(self):
pass
|
eliabntt/GRADE-RR/isaac_internals/kit/extscore/omni.syntheticdata/omni/syntheticdata/tests/sensors/test_rgb.py | # NOTE:
# omni.kit.test - std python's unittest module with additional wrapping to add suport for async/await tests
# For most things refer to unittest docs: https://docs.python.org/3/library/unittest.html
import os
import math
import asyncio
from time import time
from pathlib import Path
import unittest
from PIL import Image
import carb
import numpy as np
from numpy.lib.arraysetops import unique
import omni.kit.test
from omni.kit.viewport.utility import get_active_viewport
from pxr import Gf, UsdGeom, Sdf, UsdLux
# Import extension python module we are testing with absolute import path, as if we are external user (other extension)
import omni.syntheticdata as syn
from ..utils import add_semantics
FILE_DIR = os.path.dirname(os.path.realpath(__file__))
TIMEOUT = 200
# Having a test class derived from omni.kit.test.AsyncTestCase declared on the root of module will make it auto-discoverable by omni.kit.test
class TestRGB(omni.kit.test.AsyncTestCase):
def __init__(self, methodName: str) -> None:
super().__init__(methodName=methodName)
self.golden_image_path = Path(os.path.dirname(os.path.abspath(__file__))) / ".." / "data" / "golden"
# Before running each test
async def setUp(self):
np.random.seed(1234)
settings = carb.settings.get_settings()
settings.set_string("/rtx/rendermode", "PathTracing")
settings.set_int("/rtx/pathtracing/spp", 32)
settings.set_int("/persistent/app/viewport/displayOptions", 0)
# Setup viewport
self.viewport = get_active_viewport()
# Initialize Sensor
await omni.usd.get_context().new_stage_async()
stage = omni.usd.get_context().get_stage()
await omni.kit.app.get_app().next_update_async()
await syn.sensors.create_or_retrieve_sensor_async(self.viewport, syn._syntheticdata.SensorType.Rgb)
async def test_empty(self):
""" Test RGB sensor on empty stage.
"""
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_rgb(self.viewport)
std_dev = np.sqrt(np.square(data - np.zeros_like(data)).astype(float).mean())
assert std_dev < 2
async def test_cube(self):
""" Test RGB sensor on stage with cube.
"""
stage = omni.usd.get_context().get_stage()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
cube.GetAttribute("size").Set(100)
cube.GetAttribute("primvars:displayColor").Set([(0, 0, 1)])
await omni.kit.app.get_app().next_update_async()
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_rgb(self.viewport)
golden_image = np.asarray(Image.open(str(self.golden_image_path / "rgb_cube.png")))
std_dev = np.sqrt(np.square(data - golden_image).astype(float).mean())
assert std_dev < 2
async def test_dtype(self):
stage = omni.usd.get_context().get_stage()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_rgb(self.viewport)
assert data.dtype == np.uint8
@unittest.skip("OM-44741")
async def test_cube_polynomial(self):
""" Test RGB sensor on stage with cube.
"""
settings = carb.settings.get_settings()
settings.set_string("/rtx/rendermode", "PathTracing")
settings.set_int("/rtx/pathtracing/spp", 32)
settings.set_int("/persistent/app/viewport/displayOptions", 0)
stage = omni.usd.get_context().get_stage()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
cube.GetAttribute("size").Set(100)
cube.GetAttribute("primvars:displayColor").Set([(0, 0, 1)])
await omni.kit.app.get_app().next_update_async()
# TODO: Add a light
camera = stage.DefinePrim("/Camera", "Camera")
# Set the camera to be spherical camera
camera.CreateAttribute("cameraProjectionType", Sdf.ValueTypeNames.Token).Set("fisheyePolynomial")
UsdGeom.Xformable(camera).AddTranslateOp().Set((0, 0, 200))
self.viewport.camera_path = camera.GetPath()
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_rgb(self.viewport)
# image = Image.fromarray(data)
# image.save(str(self.golden_image_path / "rgb_cube_ftheta.png"))
golden_image = np.asarray(Image.open(str(self.golden_image_path / "rgb_cube_ftheta.png")))
std_dev = np.sqrt(np.square(data - golden_image).astype(float).mean())
assert std_dev < 2
@unittest.skip("OM-44741")
async def test_cube_spherical(self):
""" Test RGB sensor on stage with cube.
"""
settings = carb.settings.get_settings()
settings.set_string("/rtx/rendermode", "PathTracing")
settings.set_int("/rtx/pathtracing/spp", 32)
settings.set_int("/persistent/app/viewport/displayOptions", 0)
stage = omni.usd.get_context().get_stage()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
cube.GetAttribute("size").Set(100)
cube.GetAttribute("primvars:displayColor").Set([(0, 0, 1)])
await omni.kit.app.get_app().next_update_async()
# TODO: Add a light
camera = stage.DefinePrim("/Camera", "Camera")
# Set the camera to be spherical camera
camera.CreateAttribute("cameraProjectionType", Sdf.ValueTypeNames.Token).Set("fisheyeSpherical")
UsdGeom.Xformable(camera).AddTranslateOp().Set((0, 0, 200))
self.viewport.camera_path = camera.GetPath()
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_rgb(self.viewport)
# image = Image.fromarray(data)
# image.save(str(self.golden_image_path / "rgb_cube_spherical.png"))
golden_image = np.asarray(Image.open(str(self.golden_image_path / "rgb_cube_spherical.png")))
std_dev = np.sqrt(np.square(data - golden_image).astype(float).mean())
assert std_dev < 2
# After running each test
async def tearDown(self):
pass
|
eliabntt/GRADE-RR/isaac_internals/kit/extscore/omni.syntheticdata/omni/syntheticdata/tests/sensors/test_rendervar_buff_host_ptr.py | # NOTE:
# omni.kit.test - std python's unittest module with additional wrapping to add suport for async/await tests
# For most things refer to unittest docs: https://docs.python.org/3/library/unittest.html
import unittest
import numpy as np
import ctypes
import omni.kit.test
from omni.kit.viewport.utility import get_active_viewport
from pxr import UsdGeom, UsdLux
# Import extension python module we are testing with absolute import path, as if we are external user (other extension)
import omni.syntheticdata as syn
from ..utils import add_semantics
# Test the SyntheticData following nodes :
# - SdPostRenderVarTextureToBuffer : node to convert a texture device rendervar into a buffer device rendervar
# - SdPostRenderVarToHost : node to readback a device rendervar into a host rendervar
# - SdRenderVarPtr : node to expose in the action graph, raw device / host pointers on the renderVars
#
# the tests consists in pulling the ptr data and comparing it with the data ouputed by :
# - SdRenderVarToRawArray
#
class TestRenderVarBuffHostPtr(omni.kit.test.AsyncTestCase):
_tolerance = 1.1
_outputs_ptr = ["outputs:dataPtr","outputs:width","outputs:height","outputs:bufferSize","outputs:format"]
_outputs_arr = ["outputs:data","outputs:width","outputs:height","outputs:bufferSize","outputs:format"]
@staticmethod
def _assert_equal_tex_infos(out_a, out_b):
assert((out_a["outputs:width"] == out_b["outputs:width"]) and (out_a["outputs:height"] == out_b["outputs:height"]) and (out_a["outputs:format"] == out_b["outputs:format"]))
@staticmethod
def _assert_equal_buff_infos(out_a, out_b):
assert((out_a["outputs:bufferSize"] == out_b["outputs:bufferSize"]))
@staticmethod
def _assert_equal_data(data_a, data_b):
assert(np.amax(np.square(data_a - data_b)) < TestRenderVarBuffHostPtr._tolerance)
def _get_raw_array(self, rv):
return syn.SyntheticData.Get().get_node_attributes(rv + "ExportRawArray", TestRenderVarBuffHostPtr._outputs_arr, self.render_product)
def _get_ptr_array(self, rv, ptr_suffix):
ptr_outputs = syn.SyntheticData.Get().get_node_attributes(rv + ptr_suffix, TestRenderVarBuffHostPtr._outputs_ptr, self.render_product)
c_ptr = ctypes.cast(ptr_outputs["outputs:dataPtr"],ctypes.POINTER(ctypes.c_ubyte))
ptr_outputs["outputs:dataPtr"] = np.ctypeslib.as_array(c_ptr,shape=(ptr_outputs["outputs:bufferSize"],))
return ptr_outputs
def _assert_equal_rv_ptr(self, rv:str, ptr_suffix:str, texture=None):
arr_out = self._get_raw_array(rv)
ptr_out = self._get_ptr_array(rv,ptr_suffix)
if not texture is None:
if texture:
TestRenderVarBuffHostPtr._assert_equal_tex_infos(arr_out,ptr_out)
else:
TestRenderVarBuffHostPtr._assert_equal_buff_infos(arr_out,ptr_out)
TestRenderVarBuffHostPtr._assert_equal_data(arr_out["outputs:data"],ptr_out["outputs:dataPtr"])
def _assert_equal_rv_arr(self, rv:str, ptr_suffix:str, texture=None):
arr_out_a = self._get_raw_array(rv)
arr_out_b = self._get_raw_array(rv+ptr_suffix)
if not texture is None:
if texture:
TestRenderVarBuffHostPtr._assert_equal_tex_infos(arr_out_a,arr_out_b)
else:
TestRenderVarBuffHostPtr._assert_equal_buff_infos(arr_out_a,arr_out_b)
TestRenderVarBuffHostPtr._assert_equal_data(arr_out_a["outputs:data"],arr_out_b["outputs:data"])
def __init__(self, methodName: str) -> None:
super().__init__(methodName=methodName)
async def setUp(self):
await omni.usd.get_context().new_stage_async()
stage = omni.usd.get_context().get_stage()
world_prim = UsdGeom.Xform.Define(stage,"/World")
UsdGeom.Xformable(world_prim).AddTranslateOp().Set((0, 0, 0))
UsdGeom.Xformable(world_prim).AddRotateXYZOp().Set((0, 0, 0))
sphere_prim = stage.DefinePrim("/World/Sphere", "Sphere")
add_semantics(sphere_prim, "sphere")
UsdGeom.Xformable(sphere_prim).AddTranslateOp().Set((0, 0, 0))
UsdGeom.Xformable(sphere_prim).AddScaleOp().Set((77, 77, 77))
UsdGeom.Xformable(sphere_prim).AddRotateXYZOp().Set((-90, 0, 0))
sphere_prim.GetAttribute("primvars:displayColor").Set([(1, 0.3, 1)])
capsule0_prim = stage.DefinePrim("/World/Sphere/Capsule0", "Capsule")
add_semantics(capsule0_prim, "capsule0")
UsdGeom.Xformable(capsule0_prim).AddTranslateOp().Set((3, 0, 0))
UsdGeom.Xformable(capsule0_prim).AddRotateXYZOp().Set((0, 0, 0))
capsule0_prim.GetAttribute("primvars:displayColor").Set([(0.3, 1, 0)])
capsule1_prim = stage.DefinePrim("/World/Sphere/Capsule1", "Capsule")
add_semantics(capsule1_prim, "capsule1")
UsdGeom.Xformable(capsule1_prim).AddTranslateOp().Set((-3, 0, 0))
UsdGeom.Xformable(capsule1_prim).AddRotateXYZOp().Set((0, 0, 0))
capsule1_prim.GetAttribute("primvars:displayColor").Set([(0, 1, 0.3)])
capsule2_prim = stage.DefinePrim("/World/Sphere/Capsule2", "Capsule")
add_semantics(capsule2_prim, "capsule2")
UsdGeom.Xformable(capsule2_prim).AddTranslateOp().Set((0, 3, 0))
UsdGeom.Xformable(capsule2_prim).AddRotateXYZOp().Set((0, 0, 0))
capsule2_prim.GetAttribute("primvars:displayColor").Set([(0.7, 0.1, 0.4)])
capsule3_prim = stage.DefinePrim("/World/Sphere/Capsule3", "Capsule")
add_semantics(capsule3_prim, "capsule3")
UsdGeom.Xformable(capsule3_prim).AddTranslateOp().Set((0, -3, 0))
UsdGeom.Xformable(capsule3_prim).AddRotateXYZOp().Set((0, 0, 0))
capsule3_prim.GetAttribute("primvars:displayColor").Set([(0.1, 0.7, 0.4)])
spherelight = UsdLux.SphereLight.Define(stage, "/SphereLight")
spherelight.GetIntensityAttr().Set(30000)
spherelight.GetRadiusAttr().Set(30)
self.viewport = get_active_viewport()
self.render_product = self.viewport.render_product_path
async def test_host_arr(self):
render_vars = [
"BoundingBox2DLooseSD",
"SemanticLocalTransformSD"
]
for rv in render_vars:
syn.SyntheticData.Get().activate_node_template(rv + "ExportRawArray", 0, [self.render_product])
syn.SyntheticData.Get().activate_node_template(rv + "hostExportRawArray", 0, [self.render_product])
await syn.sensors.next_sensor_data_async(self.viewport,True)
await omni.kit.app.get_app().next_update_async()
for rv in render_vars:
self._assert_equal_rv_arr(rv,"host", False)
async def test_buff_arr(self):
render_vars = [
"Camera3dPositionSD",
"DistanceToImagePlaneSD",
]
for rv in render_vars:
syn.SyntheticData.Get().activate_node_template(rv + "ExportRawArray", 0, [self.render_product])
syn.SyntheticData.Get().activate_node_template(rv + "buffExportRawArray", 0, [self.render_product])
await syn.sensors.next_sensor_data_async(self.viewport,True)
await omni.kit.app.get_app().next_update_async()
for rv in render_vars:
self._assert_equal_rv_arr(rv, "buff")
async def test_host_ptr(self):
render_vars = [
"BoundingBox2DTightSD",
"BoundingBox3DSD",
"InstanceMapSD"
]
for rv in render_vars:
syn.SyntheticData.Get().activate_node_template(rv + "ExportRawArray", 0, [self.render_product])
syn.SyntheticData.Get().activate_node_template(rv + "hostPtr", 0, [self.render_product])
await syn.sensors.next_sensor_data_async(self.viewport,True)
await omni.kit.app.get_app().next_update_async()
for rv in render_vars:
self._assert_equal_rv_ptr(rv,"hostPtr",False)
async def test_host_ptr_tex(self):
render_vars = [
"NormalSD",
"DistanceToCameraSD"
]
for rv in render_vars:
syn.SyntheticData.Get().activate_node_template(rv + "ExportRawArray", 0, [self.render_product])
syn.SyntheticData.Get().activate_node_template(rv + "hostPtr", 0, [self.render_product])
await syn.sensors.next_sensor_data_async(self.viewport,True)
await omni.kit.app.get_app().next_update_async()
for rv in render_vars:
self._assert_equal_rv_ptr(rv,"hostPtr",True)
async def test_buff_host_ptr(self):
render_vars = [
"LdrColorSD",
"InstanceSegmentationSD",
]
for rv in render_vars:
syn.SyntheticData.Get().activate_node_template(rv + "ExportRawArray", 0, [self.render_product])
syn.SyntheticData.Get().activate_node_template(rv + "buffhostPtr", 0, [self.render_product])
await syn.sensors.next_sensor_data_async(self.viewport,True)
await syn.sensors.next_sensor_data_async(self.viewport,True)
await syn.sensors.next_sensor_data_async(self.viewport,True)
await omni.kit.app.get_app().next_update_async()
for rv in render_vars:
self._assert_equal_rv_ptr(rv, "buffhostPtr",True)
# After running each test
async def tearDown(self):
pass
|
eliabntt/GRADE-RR/isaac_internals/kit/extscore/omni.syntheticdata/omni/syntheticdata/tests/sensors/test_bbox2d_loose.py | # NOTE:
# omni.kit.test - std python's unittest module with additional wrapping to add suport for async/await tests
# For most things refer to unittest docs: https://docs.python.org/3/library/unittest.html
import os
import math
import asyncio
from time import time
import unittest
import carb
import numpy as np
import omni.kit.test
from omni.kit.viewport.utility import get_active_viewport
from pxr import Gf, UsdGeom, Sdf
# Import extension python module we are testing with absolute import path, as if we are external user (other extension)
import omni.syntheticdata as syn
from ..utils import add_semantics
FILE_DIR = os.path.dirname(os.path.realpath(__file__))
TIMEOUT = 200
# Having a test class derived from omni.kit.test.AsyncTestCase declared on the root of module will make it auto-discoverable by omni.kit.test
class TestBBox2DLoose(omni.kit.test.AsyncTestCase):
# Before running each test
async def setUp(self):
np.random.seed(1234)
# Setup viewport
self.viewport = get_active_viewport()
# Initialize Sensor
await omni.usd.get_context().new_stage_async()
stage = omni.usd.get_context().get_stage()
await omni.kit.app.get_app().next_update_async()
await syn.sensors.create_or_retrieve_sensor_async(
self.viewport, syn._syntheticdata.SensorType.BoundingBox2DLoose
)
async def test_parsed_empty(self):
""" Test 2D bounding box on empty stage.
"""
bbox2d_data = syn.sensors.get_bounding_box_2d_loose(self.viewport)
assert not bool(bbox2d_data)
async def test_bbox_2d_loose_fields_exist(self):
stage = omni.usd.get_context().get_stage()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
bbox2d_data = syn.sensors.get_bounding_box_2d_loose(self.viewport)
valid_dtype = [
("uniqueId", "<i4"),
("name", "O"),
("semanticLabel", "O"),
("metadata", "O"),
("instanceIds", "O"),
("semanticId", "<u4"),
("x_min", "<i4"),
("y_min", "<i4"),
("x_max", "<i4"),
("y_max", "<i4"),
]
assert bbox2d_data.dtype == np.dtype(valid_dtype)
async def test_bbox_2d_loose_cube(self):
""" Basic test for the sensor.
"""
stage = omni.usd.get_context().get_stage()
camera = stage.DefinePrim("/Camera", "Camera")
UsdGeom.Xformable(camera).AddTranslateOp().Set((0, 0, 0))
self.viewport.camera_path = camera.GetPath()
await omni.kit.app.get_app().next_update_async()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
UsdGeom.XformCommonAPI(cube).SetTranslate((0, 0, -10))
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
bbox2d_data = syn.sensors.get_bounding_box_2d_loose(self.viewport)
assert bbox2d_data['x_min'] == 301
assert bbox2d_data['y_min'] == 21
assert bbox2d_data['x_max'] == 978
assert bbox2d_data['y_max'] == 698
async def test_cube_pathtracing(self):
""" Basic funtionality test of the sensor, but in path tracing mode.
"""
settings = carb.settings.get_settings()
settings.set_string("/rtx/rendermode", "PathTracing")
settings.set_int("/rtx/pathtracing/spp", 32)
settings.set_int("/persistent/app/viewport/displayOptions", 0)
stage = omni.usd.get_context().get_stage()
camera = stage.DefinePrim("/Camera", "Camera")
UsdGeom.Xformable(camera).AddTranslateOp().Set((0, 0, 0))
self.viewport.camera_path = camera.GetPath()
await omni.kit.app.get_app().next_update_async()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
UsdGeom.XformCommonAPI(cube).SetTranslate((0, 0, -10))
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
bbox2d_data = syn.sensors.get_bounding_box_2d_loose(self.viewport)
assert bbox2d_data['x_min'] == 301
assert bbox2d_data['y_min'] == 21
assert bbox2d_data['x_max'] == 978
assert bbox2d_data['y_max'] == 698
async def test_cube_ray_traced_lighting(self):
""" Basic test for the sensor, but in ray traced lighting mode.
"""
# Set the rendering mode to be ray traced lighting.
settings_interface = carb.settings.get_settings()
settings_interface.set_string("/rtx/rendermode", "RayTracedLighting")
stage = omni.usd.get_context().get_stage()
camera = stage.DefinePrim("/Camera", "Camera")
UsdGeom.Xformable(camera).AddTranslateOp().Set((0, 0, 0))
self.viewport.camera_path = camera.GetPath()
await omni.kit.app.get_app().next_update_async()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
UsdGeom.XformCommonAPI(cube).SetTranslate((0, 0, -10))
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
bbox2d_data = syn.sensors.get_bounding_box_2d_loose(self.viewport)
assert bbox2d_data['x_min'] == 301
assert bbox2d_data['y_min'] == 21
assert bbox2d_data['x_max'] == 978
assert bbox2d_data['y_max'] == 698
async def test_cube_ftheta(self):
""" Basic funtionality test of the sensor in ftheta camera.
"""
settings = carb.settings.get_settings()
settings.set_string("/rtx/rendermode", "PathTracing")
settings.set_int("/rtx/pathtracing/spp", 32)
settings.set_int("/persistent/app/viewport/displayOptions", 0)
stage = omni.usd.get_context().get_stage()
camera = stage.DefinePrim("/Camera", "Camera")
# Set the camera to be polynomial fish eye camera.
camera.CreateAttribute("cameraProjectionType", Sdf.ValueTypeNames.Token).Set("fisheyePolynomial")
UsdGeom.Xformable(camera).AddTranslateOp().Set((0, 0, 0))
self.viewport.camera_path = camera.GetPath()
await omni.kit.app.get_app().next_update_async()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
UsdGeom.XformCommonAPI(cube).SetTranslate((0, 0, -10))
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
bbox2d_data = syn.sensors.get_bounding_box_2d_loose(self.viewport)
assert bbox2d_data['x_min'] == 612
assert bbox2d_data['y_min'] == 325
assert bbox2d_data['x_max'] == 671
assert bbox2d_data['y_max'] == 384
async def test_cube_spherical(self):
""" Basic funtionality test of the sensor in fisheye spherical camera.
"""
settings = carb.settings.get_settings()
settings.set_string("/rtx/rendermode", "PathTracing")
settings.set_int("/rtx/pathtracing/spp", 32)
settings.set_int("/persistent/app/viewport/displayOptions", 0)
stage = omni.usd.get_context().get_stage()
camera = stage.DefinePrim("/Camera", "Camera")
# Set the camera to be polynomial fish eye camera.
camera.CreateAttribute("cameraProjectionType", Sdf.ValueTypeNames.Token).Set("fisheyeSpherical")
UsdGeom.Xformable(camera).AddTranslateOp().Set((0, 0, 0))
self.viewport.camera_path = camera.GetPath()
await omni.kit.app.get_app().next_update_async()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
UsdGeom.XformCommonAPI(cube).SetTranslate((0, 0, -10))
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
bbox2d_data = syn.sensors.get_bounding_box_2d_loose(self.viewport)
assert bbox2d_data['x_min'] == 617
assert bbox2d_data['y_min'] == 335
assert bbox2d_data['x_max'] == 662
assert bbox2d_data['y_max'] == 384
# After running each test
async def tearDown(self):
pass
|
eliabntt/GRADE-RR/isaac_internals/kit/extscore/omni.syntheticdata/omni/syntheticdata/tests/sensors/test_instance_seg.py | # NOTE:
# omni.kit.test - std python's unittest module with additional wrapping to add suport for async/await tests
# For most things refer to unittest docs: https://docs.python.org/3/library/unittest.html
import os
import math
import asyncio
from time import time
from pathlib import Path
import unittest
import carb
import numpy as np
import omni.kit.test
from omni.kit.viewport.utility import get_active_viewport
from pxr import Gf, UsdGeom, Sdf
# Import extension python module we are testing with absolute import path, as if we are external user (other extension)
import omni.syntheticdata as syn
from ..utils import add_semantics
FILE_DIR = os.path.dirname(os.path.realpath(__file__))
TIMEOUT = 200
# Having a test class derived from omni.kit.test.AsyncTestCase declared on the root of module will make it auto-discoverable by omni.kit.test
class TestInstanceSeg(omni.kit.test.AsyncTestCase):
def __init__(self, methodName: str) -> None:
super().__init__(methodName=methodName)
self.golden_image_path = Path(os.path.dirname(os.path.abspath(__file__))) / ".." / "data" / "golden"
# Before running each test
async def setUp(self):
settings = carb.settings.get_settings()
settings.set_bool("syntheticdata/sensors/perSubsetSegmentation", False)
np.random.seed(1234)
# Setup viewport
self.viewport = get_active_viewport()
# Initialize Sensor
await omni.usd.get_context().new_stage_async()
stage = omni.usd.get_context().get_stage()
await omni.kit.app.get_app().next_update_async()
await syn.sensors.create_or_retrieve_sensor_async(
self.viewport, syn._syntheticdata.SensorType.InstanceSegmentation
)
# TODO
# async def test_parsed_empty(self):
# """ Test instance segmentation on empty stage.
# """
# data = syn.sensors.get_instance_segmentation(self.viewport, parsed=True)
# assert data.sum() == 0
async def test_parsed_dtype(self):
stage = omni.usd.get_context().get_stage()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
await omni.kit.app.get_app().next_update_async()
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_instance_segmentation(self.viewport, parsed=True)
assert data.dtype == np.uint32
async def test_cube(self):
stage = omni.usd.get_context().get_stage()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
cube.GetAttribute("size").Set(100)
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_instance_segmentation(self.viewport, return_mapping=False)
# np.savez_compressed(self.golden_image_path / 'instance_seg_cube.npz', array=data)
golden_image = np.load(self.golden_image_path / "instance_seg_cube.npz")["array"]
std_dev = np.sqrt(np.square(data - golden_image).astype(float).mean())
assert std_dev < 2
async def test_cube_sphere(self):
stage = omni.usd.get_context().get_stage()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
cube.GetAttribute("size").Set(100)
sphere_prim = stage.DefinePrim("/Sphere", "Sphere")
UsdGeom.XformCommonAPI(sphere_prim).SetTranslate((300, 0, 0))
add_semantics(sphere_prim, "sphere")
sphere = UsdGeom.Sphere(sphere_prim)
sphere.GetRadiusAttr().Set(100)
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_instance_segmentation(self.viewport)
# np.savez_compressed(self.golden_image_path / 'instance_seg_cube_sphere.npz', array=data)
golden_image = np.load(self.golden_image_path / "instance_seg_cube_sphere.npz")["array"]
std_dev = np.sqrt(np.square(data - golden_image).astype(float).mean())
assert std_dev < 2
async def test_cube_pathtracing(self):
""" Basic funtionality test of the sensor, but in path tracing mode.
"""
settings = carb.settings.get_settings()
settings.set_string("/rtx/rendermode", "PathTracing")
settings.set_int("/rtx/pathtracing/spp", 32)
settings.set_int("/persistent/app/viewport/displayOptions", 0)
stage = omni.usd.get_context().get_stage()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
cube.GetAttribute("size").Set(100)
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_instance_segmentation(self.viewport)
# np.savez_compressed(self.golden_image_path / 'instance_seg_cube_pathtracing.npz', array=data)
golden_image = np.load(self.golden_image_path / "instance_seg_cube_pathtracing.npz")["array"]
std_dev = np.sqrt(np.square(data - golden_image).astype(float).mean())
assert std_dev < 2
async def test_cube_ray_traced_lighting(self):
""" Basic funtionality test of the sensor, but in ray traced lighting.
"""
# Set the rendering mode to be ray traced lighting.
settings_interface = carb.settings.get_settings()
settings_interface.set_string("/rtx/rendermode", "RayTracedLighting")
stage = omni.usd.get_context().get_stage()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
cube.GetAttribute("size").Set(100)
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_instance_segmentation(self.viewport)
# np.savez_compressed(self.golden_image_path / 'instance_seg_cube_ray_traced_lighting.npz', array=data)
golden_image = np.load(self.golden_image_path / "instance_seg_cube_ray_traced_lighting.npz")["array"]
std_dev = np.sqrt(np.square(data - golden_image).astype(float).mean())
assert std_dev < 2
async def test_cube_ftheta(self):
""" Basic funtionality test of the sensor under ftheta camera.
"""
settings = carb.settings.get_settings()
settings.set_string("/rtx/rendermode", "PathTracing")
settings.set_int("/rtx/pathtracing/spp", 32)
settings.set_int("/persistent/app/viewport/displayOptions", 0)
stage = omni.usd.get_context().get_stage()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
cube.GetAttribute("size").Set(100)
await omni.kit.app.get_app().next_update_async()
camera = stage.DefinePrim("/Camera", "Camera")
# Set the camera to be polynomial fish eye camera.
camera.CreateAttribute("cameraProjectionType", Sdf.ValueTypeNames.Token).Set("fisheyePolynomial")
# Set the Camera's position
UsdGeom.Xformable(camera).AddTranslateOp().Set((100, 100, 100))
self.viewport.camera_path = camera.GetPath()
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_instance_segmentation(self.viewport)
# np.savez_compressed(self.golden_image_path / 'instance_seg_cube_ftheta.npz', array=data)
golden_image = np.load(self.golden_image_path / "instance_seg_cube_ftheta.npz")["array"]
std_dev = np.sqrt(np.square(data - golden_image).astype(float).mean())
assert std_dev < 2
async def test_cube_spherical(self):
""" Basic funtionality test of the sensor under fisheye spherical camera.
"""
settings = carb.settings.get_settings()
settings.set_string("/rtx/rendermode", "PathTracing")
settings.set_int("/rtx/pathtracing/spp", 32)
settings.set_int("/persistent/app/viewport/displayOptions", 0)
stage = omni.usd.get_context().get_stage()
cube = stage.DefinePrim("/Cube", "Cube")
add_semantics(cube, "cube")
cube.GetAttribute("size").Set(100)
await omni.kit.app.get_app().next_update_async()
camera = stage.DefinePrim("/Camera", "Camera")
# Set the camera to be spherical fish eye camera.
camera.CreateAttribute("cameraProjectionType", Sdf.ValueTypeNames.Token).Set("fisheyeSpherical")
# Set the Camera's position
UsdGeom.Xformable(camera).AddTranslateOp().Set((100, 100, 100))
self.viewport.camera_path = camera.GetPath()
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_instance_segmentation(self.viewport)
# np.savez_compressed(self.golden_image_path / 'instance_seg_cube_spherical.npz', array=data)
golden_image = np.load(self.golden_image_path / "instance_seg_cube_spherical.npz")["array"]
std_dev = np.sqrt(np.square(data - golden_image).astype(float).mean())
assert std_dev < 2
@unittest.skip("OM-46393")
async def test_geom_subset(self):
""" Test sensor on GeomSubset.
"""
path = os.path.join(FILE_DIR, "../data/scenes/streetlamp_03_golden.usd")
await omni.usd.get_context().open_stage_async(path)
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_instance_segmentation(self.viewport)
assert len(data) != 0
async def test_instance_seg_scene_instance(self):
""" Test sensor on scene instance.
"""
settings = carb.settings.get_settings()
path = os.path.join(FILE_DIR, "../data/scenes/scene_instance_test.usda")
await omni.usd.get_context().open_stage_async(path)
await omni.kit.app.get_app().next_update_async()
await syn.sensors.create_or_retrieve_sensor_async(
self.viewport, syn._syntheticdata.SensorType.InstanceSegmentation
)
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_instance_segmentation(self.viewport)
assert len(data) != 0
async def test_instance_seg_scene_instance_benchchair(self):
""" Test sensor on scene instanced bench and chair data.
"""
settings = carb.settings.get_settings()
path = os.path.join(FILE_DIR, "../data/scenes/BenchChair_SceneInstance_Mini.usda")
await omni.usd.get_context().open_stage_async(path)
await omni.kit.app.get_app().next_update_async()
await syn.sensors.create_or_retrieve_sensor_async(
self.viewport, syn._syntheticdata.SensorType.InstanceSegmentation
)
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_instance_segmentation(self.viewport,parsed=True)
assert len(data) != 0
# should be 4 semantic objects in the scene.
assert data.max() == 4
async def test_instance_seg_point_instance_benchchair(self):
""" Test sensor on point instanced bench and chair data.
"""
settings = carb.settings.get_settings()
path = os.path.join(FILE_DIR, "../data/scenes/BenchChair_Mini.usda")
await omni.usd.get_context().open_stage_async(path)
await omni.kit.app.get_app().next_update_async()
await syn.sensors.create_or_retrieve_sensor_async(
self.viewport, syn._syntheticdata.SensorType.InstanceSegmentation
)
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_instance_segmentation(self.viewport,parsed=True)
assert len(data) != 0
assert data.max() == 2
async def test_instance_seg_point_instance_shapes(self):
""" Test sensor on point instanced shapes that have semantics on the mesh.
"""
settings = carb.settings.get_settings()
path = os.path.join(FILE_DIR, "../data/scenes/point_instancer_semantic_shapes.usda")
await omni.usd.get_context().open_stage_async(path)
await omni.kit.app.get_app().next_update_async()
await syn.sensors.create_or_retrieve_sensor_async(
self.viewport, syn._syntheticdata.SensorType.InstanceSegmentation
)
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
data = syn.sensors.get_instance_segmentation(self.viewport,parsed=True)
assert len(data) != 0
# After running each test
async def tearDown(self):
settings = carb.settings.get_settings()
settings.set_bool("syntheticdata/sensors/perSubsetSegmentation", True)
pass
|
eliabntt/GRADE-RR/isaac_internals/kit/extscore/omni.syntheticdata/omni/syntheticdata/tests/helpers/test_projection.py | # NOTE:
# omni.kit.test - std python's unittest module with additional wrapping to add suport for async/await tests
# For most things refer to unittest docs: https://docs.python.org/3/library/unittest.html
import os
import math
import asyncio
from time import time
import carb
import numpy as np
import omni.kit.test
from omni.kit.viewport.utility import get_active_viewport
from pxr import Sdf, UsdGeom, Vt
# Import extension python module we are testing with absolute import path, as if we are external user (other extension)
import omni.syntheticdata as syn
from ..utils import add_semantics
FILE_DIR = os.path.dirname(os.path.realpath(__file__))
# Having a test class derived from omni.kit.test.AsyncTestCase declared on the root of module will make it auto-discoverable by omni.kit.test
class TestProjection(omni.kit.test.AsyncTestCase):
# Before running each test
async def setUp(self):
await omni.usd.get_context().new_stage_async()
# Setup viewport
self.viewport = get_active_viewport()
self.stage = omni.usd.get_context().get_stage()
prim = self.stage.DefinePrim("/World", "Xform")
self.stage.SetDefaultPrim(prim)
cube = self.stage.DefinePrim("/World/Cube", "Cube")
add_semantics(cube, "cube")
usd_camera = UsdGeom.Camera.Define(self.stage, "/World/Camera")
usd_camera.AddTranslateOp()
self.camera = usd_camera.GetPrim()
self.camera.CreateAttribute("cameraProjectionType", Sdf.ValueTypeNames.Token).Set(Vt.Token("pinhole"))
self.camera.CreateAttribute("fthetaWidth", Sdf.ValueTypeNames.Float).Set(960)
self.camera.CreateAttribute("fthetaHeight", Sdf.ValueTypeNames.Float).Set(604)
self.camera.CreateAttribute("fthetaCx", Sdf.ValueTypeNames.Float).Set(460)
self.camera.CreateAttribute("fthetaCy", Sdf.ValueTypeNames.Float).Set(340)
self.camera.CreateAttribute("fthetaMaxFov", Sdf.ValueTypeNames.Float).Set(200.0)
self.camera.CreateAttribute("fthetaPolyA", Sdf.ValueTypeNames.Float).Set(0.0)
self.camera.CreateAttribute("fthetaPolyB", Sdf.ValueTypeNames.Float).Set(0.0059)
self.camera.CreateAttribute("fthetaPolyC", Sdf.ValueTypeNames.Float).Set(0.0)
self.camera.CreateAttribute("fthetaPolyD", Sdf.ValueTypeNames.Float).Set(0.0)
self.camera.CreateAttribute("fthetaPolyE", Sdf.ValueTypeNames.Float).Set(0.0)
self.viewport.camera_path = self.camera.GetPath()
syn.sensors.enable_sensors(self.viewport, [syn._syntheticdata.SensorType.BoundingBox3D])
await syn.sensors.next_sensor_data_async(self.viewport, True)
async def test_pinhole(self):
""" Test pinhole projection
"""
self.camera.GetAttribute("xformOp:translate").Set((0.0, 0.0, 9.0))
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
# Get 3D bbox
bbox3d = syn.sensors.get_bounding_box_3d(self.viewport, return_corners=True, parsed=True)
# Project corners
corners = bbox3d["corners"]
projected = syn.helpers.world_to_image(corners.reshape(-1, 3), self.viewport).reshape(-1, 8, 3)
# GT
# Confirmed visually to be correct
GT = [
[
[0.26139346, 0.9241894, 0.9000009],
[0.73860654, 0.9241894, 0.9000009],
[0.26139346, 0.0758106, 0.9000009],
[0.73860654, 0.0758106, 0.9000009],
[0.20174183, 1.03023675, 0.87500088],
[0.79825817, 1.03023675, 0.87500088],
[0.20174183, -0.03023675, 0.87500088],
[0.79825817, -0.03023675, 0.87500088],
]
]
# Validate
assert np.allclose(GT, projected)
async def test_fisheye_polynomial(self):
""" Test fisheye polynomial projection (F-Theta)
"""
self.camera.GetAttribute("xformOp:translate").Set((0.0, 0.0, 3.0))
self.camera.GetAttribute("cameraProjectionType").Set(Vt.Token("fisheyePolynomial"))
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport, True)
# Get 3D bbox
bbox3d = syn.sensors.get_bounding_box_3d(self.viewport, return_corners=True, parsed=True)
# Project corners
corners = bbox3d["corners"]
projected = syn.helpers.world_to_image(corners.reshape(-1, 3), self.viewport).reshape(-1, 8, 3)
# GT
# Confirmed visually to be correct
GT = [
[
[0.43674065, 0.6457944, 0.0],
[0.52159268, 0.6457944, 0.0],
[0.43674065, 0.49494634, 0.0],
[0.52159268, 0.49494634, 0.0],
[0.40232877, 0.70697108, 0.0],
[0.55600456, 0.70697108, 0.0],
[0.40232877, 0.43376967, 0.0],
[0.55600456, 0.43376967, 0.0],
]
]
# Validate
assert np.allclose(GT, projected)
# Run the operation in reverse
view_params = syn.helpers.get_view_params(self.viewport)
proj_i2w = projected[0, :, :2]
proj_i2w[..., 0] *= view_params["width"]
proj_i2w[..., 1] *= view_params["height"]
origin, directions = syn.helpers.image_to_world(proj_i2w, view_params)
gt_corner_directions = corners[0] - origin
gt_corner_directions /= np.linalg.norm(gt_corner_directions, axis=1, keepdims=True)
assert np.allclose(gt_corner_directions, directions)
# FOR VISUAL DEBUGGING
self.camera.GetAttribute("clippingRange").Set((0.1, 1000000))
for i, d in enumerate(directions):
s = self.stage.DefinePrim(f"/World/pt{i}", "Sphere")
UsdGeom.Xformable(s).AddTranslateOp().Set(tuple((d + origin).tolist()))
s.GetAttribute("radius").Set(0.03)
await syn.sensors.next_sensor_data_async(self.viewport,True)
async def test_fisheye_polynomial_edge(self):
""" Test fisheye polynomial projection (F-Theta) at edge of FOV
"""
self.camera.GetAttribute("xformOp:translate").Set((4.0, 0.0, 0.5))
self.camera.GetAttribute("cameraProjectionType").Set(Vt.Token("fisheyePolynomial"))
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport, True)
# Get 3D bbox
bbox3d = syn.sensors.get_bounding_box_3d(self.viewport, return_corners=True, parsed=True)
# Project corners
corners = bbox3d["corners"]
projected = syn.helpers.world_to_image(corners.reshape(-1, 3), self.viewport).reshape(-1, 8, 3)
# GT
# Confirmed visually to be correct
GT = [
[
[0.25675408, 0.6494504, 0.0],
[0.2902532, 0.68231909, 0.0],
[0.25675408, 0.49129034, 0.0],
[0.2902532, 0.45842165, 0.0],
[0.19030016, 0.67307846, 0.0],
[0.18980286, 0.74184522, 0.0],
[0.19030016, 0.46766228, 0.0],
[0.18980286, 0.39889552, 0.0],
]
]
# Validate
assert np.allclose(GT, projected)
# Run the operation in reverse
view_params = syn.helpers.get_view_params(self.viewport)
proj_i2w = projected[0, :, :2]
proj_i2w[..., 0] *= view_params["width"]
proj_i2w[..., 1] *= view_params["height"]
origin, directions = syn.helpers.image_to_world(proj_i2w, view_params)
gt_corner_directions = corners[0] - origin
gt_corner_directions /= np.linalg.norm(gt_corner_directions, axis=1, keepdims=True)
assert np.allclose(gt_corner_directions, directions)
# FOR VISUAL DEBUGGING
self.camera.GetAttribute("clippingRange").Set((0.1, 1000000))
for i, d in enumerate(directions):
s = self.stage.DefinePrim(f"/World/pt{i}", "Sphere")
UsdGeom.Xformable(s).AddTranslateOp().Set(tuple((d + origin).tolist()))
await syn.sensors.next_sensor_data_async(self.viewport,True)
# After running each test
async def tearDown(self):
pass
|
eliabntt/GRADE-RR/isaac_internals/kit/extscore/omni.syntheticdata/omni/syntheticdata/tests/helpers/test_instance_mapping.py | # NOTE:
# omni.kit.test - std python's unittest module with additional wrapping to add suport for async/await tests
# For most things refer to unittest docs: https://docs.python.org/3/library/unittest.html
import os
import math
import asyncio
from time import time
import carb
import numpy as np
import omni.kit.test
from omni.kit.viewport.utility import get_active_viewport
from pxr import UsdPhysics
# Import extension python module we are testing with absolute import path, as if we are external user (other extension)
import omni.syntheticdata as syn
from ..utils import add_semantics
FILE_DIR = os.path.dirname(os.path.realpath(__file__))
# Having a test class derived from omni.kit.test.AsyncTestCase declared on the root of module will make it auto-discoverable by omni.kit.test
class TestHelpersInstanceMappings(omni.kit.test.AsyncTestCase):
# Before running each test
async def setUp(self):
# Setup viewport
self.viewport = get_active_viewport()
await omni.usd.get_context().new_stage_async()
self.stage = omni.usd.get_context().get_stage()
prim = self.stage.DefinePrim("/World", "Xform")
self.stage.SetDefaultPrim(prim)
async def test_non_semantic_schemas(self):
""" Test mixture of applied schemas including non-semantics.
"""
prim = self.stage.DefinePrim("/World/Cone", "Cone")
# Add semantics schema
add_semantics(prim, "Je ne suis pas un cone.")
# Non-semantics schema
UsdPhysics.RigidBodyAPI.Apply(prim)
await syn.sensors.next_sensor_data_async(self.viewport,True)
# Get instance mappings
instance_mappings = syn.helpers.get_instance_mappings()
# Validate
cone_im = instance_mappings[0]
assert cone_im["uniqueId"] == 1
assert cone_im["name"] == "/World/Cone"
assert cone_im["semanticId"] == 1
assert cone_im["semanticLabel"] == "Je ne suis pas un cone."
# After running each test
async def tearDown(self):
pass
|
eliabntt/GRADE-RR/isaac_internals/kit/extscore/omni.syntheticdata/omni/syntheticdata/tests/helpers/__init__.py | |
eliabntt/GRADE-RR/isaac_internals/kit/extscore/omni.syntheticdata/omni/syntheticdata/tests/helpers/test_bboxes.py | # NOTE:
# omni.kit.test - std python's unittest module with additional wrapping to add suport for async/await tests
# For most things refer to unittest docs: https://docs.python.org/3/library/unittest.html
import os
import math
import asyncio
from time import time
import carb
import numpy as np
import omni.kit.test
from omni.kit.viewport.utility import get_active_viewport
from pxr import Sdf, UsdGeom, Vt
# Import extension python module we are testing with absolute import path, as if we are external user (other extension)
import omni.syntheticdata as syn
from ..utils import add_semantics
FILE_DIR = os.path.dirname(os.path.realpath(__file__))
# Having a test class derived from omni.kit.test.AsyncTestCase declared on the root of module will make it auto-discoverable by omni.kit.test
class TestBBoxes(omni.kit.test.AsyncTestCase):
# Before running each test
async def setUp(self):
await omni.usd.get_context().new_stage_async()
# Setup viewport
self.viewport = get_active_viewport()
await omni.usd.get_context().new_stage_async()
self.stage = omni.usd.get_context().get_stage()
prim = self.stage.DefinePrim("/World", "Xform")
self.stage.SetDefaultPrim(prim)
marked_cube = self.stage.DefinePrim("/World/MarkedCube0", "Cube")
add_semantics(marked_cube, "cube")
marked_cube.GetAttribute("size").Set(100)
UsdGeom.XformCommonAPI(marked_cube).SetTranslate((3, 3, 0))
unmarked_cube = self.stage.DefinePrim("/World/UnmarkedCube", "Cube")
unmarked_cube.GetAttribute("size").Set(100)
UsdGeom.XformCommonAPI(unmarked_cube).SetTranslate((3, 3, -100))
await omni.kit.app.get_app().next_update_async()
syn.sensors.enable_sensors(self.viewport, [syn._syntheticdata.SensorType.BoundingBox2DLoose])
syn.sensors.enable_sensors(self.viewport, [syn._syntheticdata.SensorType.BoundingBox2DTight])
syn.sensors.enable_sensors(self.viewport, [syn._syntheticdata.SensorType.BoundingBox3D])
syn.sensors.enable_sensors(self.viewport, [syn._syntheticdata.SensorType.Occlusion])
async def test_reduce_bboxes_3d(self):
"""Verify that reduce_bboxes_3d removes a cube without a semantic label"""
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport,True)
# Get 3D bbox
bbox = syn.sensors.get_bounding_box_3d(self.viewport, return_corners=True)
assert np.allclose(bbox["z_min"], [-50, -50])
# Transform of unmarked cube should be included in pre-reduced bbox but not included in reduced bbox
UNMARKED_CUBE_GT = [[[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [3.0, 3.0, -100.0, 1.0]]]
assert np.allclose(bbox["transform"][0], UNMARKED_CUBE_GT) or np.allclose(
bbox["transform"][1], UNMARKED_CUBE_GT
)
instance_mappings = syn.helpers.get_instance_mappings()
bbox_reduced = syn.helpers.reduce_bboxes_3d(bbox, instance_mappings)
assert np.allclose(bbox_reduced["z_min"], [-50])
assert np.allclose(
bbox_reduced["transform"],
[[[1.0, 0.0, 0.0, 0.0], [0.0, 1.0, 0.0, 0.0], [0.0, 0.0, 1.0, 0.0], [3.0, 3.0, 0.0, 1.0]]],
)
async def test_reduce_occlusion(self):
"""Verify that reduce_occlusion removes a cube without a semantic label"""
# Add an extra cube
cube = self.stage.DefinePrim("/World/MarkedCube1", "Cube")
add_semantics(cube, "cube")
cube.GetAttribute("size").Set(100)
UsdGeom.XformCommonAPI(cube).SetTranslate((3, -10, 0))
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport, True)
# Get occlusion
occlusion = syn.sensors.get_occlusion(self.viewport)
occlusion_ratios = np.sort(occlusion["occlusionRatio"])
assert np.allclose(occlusion_ratios, [0.0327, 0.38059998, 0.8886], atol=0.05)
instance_mappings = syn.helpers.get_instance_mappings()
reduced_occlusion = syn.helpers.reduce_occlusion(occlusion, instance_mappings)
reduced_occlusion_ratios = np.sort(reduced_occlusion["occlusionRatio"])
assert np.allclose(reduced_occlusion_ratios, [0.0327, 0.8886], atol=0.05)
async def test_merge_sensors(self):
"""Verify that merge_sensors merges the data correctly"""
# Render one frame
await syn.sensors.next_sensor_data_async(self.viewport, True)
# Get bounding boxes and merge
bounding_box_2d_tight = syn.sensors.get_bounding_box_2d_tight(self.viewport)
bounding_box_2d_loose = syn.sensors.get_bounding_box_2d_loose(self.viewport)
bounding_box_3d = syn.sensors.get_bounding_box_3d(self.viewport, parsed=True)
merged_data = syn.helpers.merge_sensors(bounding_box_2d_tight, bounding_box_2d_loose, bounding_box_3d)
for suffix, data_source in [
("_bbox2d_tight", bounding_box_2d_tight),
("_bbox2d_loose", bounding_box_2d_loose),
("_bbox3d", bounding_box_3d),
]:
suffix_present = False
for key in merged_data.dtype.fields:
if key.endswith(suffix):
sub_key = key[: -len(suffix)]
assert merged_data[key] == data_source[key]
suffix_present = True
assert suffix_present
# After running each test
async def tearDown(self):
pass
|
eliabntt/GRADE-RR/isaac_internals/kit/extscore/omni.syntheticdata/omni/syntheticdata/tests/visualize/test_warp_post_vis.py | # NOTE:
# omni.kit.test - std python's unittest module with additional wrapping to add suport for async/await tests
# For most things refer to unittest docs: https://docs.python.org/3/library/unittest.html
import os
import carb
from pxr import Gf, UsdGeom, UsdLux, Sdf
import unittest
import omni.kit.test
from omni.syntheticdata import SyntheticData, SyntheticDataStage
from ..utils import add_semantics
class TestWarpPostVisualization(omni.kit.test.AsyncTestCase):
def __init__(self, methodName: str) -> None:
super().__init__(methodName=methodName)
async def setUp(self):
# Setup the scene
await omni.usd.get_context().new_stage_async()
stage = omni.usd.get_context().get_stage()
world_prim = UsdGeom.Xform.Define(stage,"/World")
UsdGeom.Xformable(world_prim).AddTranslateOp().Set((0, 0, 0))
UsdGeom.Xformable(world_prim).AddRotateXYZOp().Set((0, 0, 0))
capsule0_prim = stage.DefinePrim("/World/Capsule0", "Capsule")
add_semantics(capsule0_prim, "capsule_0")
UsdGeom.Xformable(capsule0_prim).AddTranslateOp().Set((100, 0, 0))
UsdGeom.Xformable(capsule0_prim).AddScaleOp().Set((30, 30, 30))
UsdGeom.Xformable(capsule0_prim).AddRotateXYZOp().Set((-90, 0, 0))
capsule0_prim.GetAttribute("primvars:displayColor").Set([(0.3, 1, 0)])
capsule1_prim = stage.DefinePrim("/World/Capsule1", "Capsule")
add_semantics(capsule0_prim, "capsule_1")
UsdGeom.Xformable(capsule1_prim).AddTranslateOp().Set((-100, 0, 0))
UsdGeom.Xformable(capsule1_prim).AddScaleOp().Set((30, 30, 30))
UsdGeom.Xformable(capsule1_prim).AddRotateXYZOp().Set((-90, 0, 0))
capsule1_prim.GetAttribute("primvars:displayColor").Set([(0, 1, 0.3)])
spherelight = UsdLux.SphereLight.Define(stage, "/SphereLight")
spherelight.GetIntensityAttr().Set(30000)
spherelight.GetRadiusAttr().Set(30)
# Setup viewports / renderproduct
vp_iface = omni.kit.viewport_legacy.get_viewport_interface()
viewport = vp_iface.get_viewport_window()
render_product_path = viewport.get_render_product_path()
# SyntheticData singleton interface
sdg_iface = SyntheticData.Get()
if not sdg_iface.is_node_template_registered("TestWarpPostVisualization"):
sdg_iface.register_node_template(
SyntheticData.NodeTemplate(
SyntheticDataStage.ON_DEMAND, # node tempalte stage
"omni.syntheticdata.SdTestWarpPostVisulation", # node template type
# node template connections
[
SyntheticData.NodeConnectionTemplate("LdrColorSDExportRawArray"),
]),
template_name="TestWarpPostVisualization" # node template name
)
if not sdg_iface.is_node_template_registered("TestWarpPostVisualizationDisplay"):
sdg_iface.register_node_template(
SyntheticData.NodeTemplate(
SyntheticDataStage.ON_DEMAND, # node tempalte stage
"omni.syntheticdata.SdLinearArrayToTexture", # node template type
# node template connections
[
SyntheticData.NodeConnectionTemplate("TestWarpPostVisualization"),
]),
template_name="TestWarpPostVisualizationDisplay" # node template name
)
sdg_iface.activate_node_template("TestWarpPostVisualizationDisplay", 0, [render_product_path])
self.numLoops = 100
async def run_loop(self):
# ensuring that the setup is taken into account
for _ in range(5):
await omni.kit.app.get_app().next_update_async()
for _ in range(self.numLoops):
await omni.kit.app.get_app().next_update_async()
async def test_display(self):
""" Test display
"""
await self.run_loop()
async def tearDown(self):
pass
|
eliabntt/GRADE-RR/isaac_internals/kit/extscore/omni.syntheticdata/omni/syntheticdata/tests/visualize/test_flattener.py | # NOTE:
# omni.kit.test - std python's unittest module with additional wrapping to add suport for async/await tests
# For most things refer to unittest docs: https://docs.python.org/3/library/unittest.html
import os
import math
from time import time
import carb
import numpy as np
import omni.kit.test
from omni.kit.viewport.utility import get_active_viewport
# Import extension python module we are testing with absolute import path, as if we are external user (other extension)
import omni.syntheticdata as syn
FILE_DIR = os.path.dirname(os.path.realpath(__file__))
TIMEOUT = 50
BAKE_ACCURACY_THRESHOLD = 0.9
# segmentation mask testing against inputs of different resolutions
def test_against_golden(semantic_data, golden_semantic_data):
input_dim = semantic_data.shape
golden_dim = golden_semantic_data.shape
correct_count = 0
for y in range(0, input_dim[0]):
for x in range(0, input_dim[1]):
u = x / input_dim[1]
v = y / input_dim[0]
sample_x = math.floor(u * golden_dim[1])
sample_y = math.floor(v * golden_dim[0])
if semantic_data[y, x] == golden_semantic_data[sample_y, sample_x]:
correct_count += 1
return correct_count / (input_dim[0] * input_dim[1])
# Having a test class derived from omni.kit.test.AsyncTestCase declared on the root of module will make it auto-discoverable by omni.kit.test
class TestFlattenerSegmentationBakingVis(omni.kit.test.AsyncTestCase):
# Before running each test
async def setUp(self):
np.random.seed(1234)
# Setup viewport
self.viewport = get_active_viewport()
await omni.kit.app.get_app_interface().next_update_async()
filepath = os.path.join(FILE_DIR, "../data/scenes/OmniUe4-benchmark.usda")
usd_context = omni.usd.get_context()
await usd_context.open_stage_async(filepath)
await omni.kit.app.get_app().next_update_async()
syn.sensors.enable_sensors(self.viewport, [syn._syntheticdata.SensorType.SemanticSegmentation])
async def _wait_for_data(self):
data = np.empty(0)
start = time()
settings = carb.settings.get_settings()
# wait until flattener is done loading in assets
while not settings.get_as_bool("/app/captureFrame/ready"):
await omni.kit.app.get_app_interface().next_update_async()
# stall a couple of frames until samplerFeedback kicks off baking work.
# NOTE: If we don't stall here, then we won't bake at all, because the ready flag will be falsely set
# since samplerFeedback hasn't seen any tiles yet, so flattener thinks scene is ready for capture.
for i in range(0, 20):
await omni.kit.app.get_app_interface().next_update_async()
# wait until baking to be done
while not settings.get_as_bool("/app/captureFrame/ready"):
await omni.kit.app.get_app_interface().next_update_async()
async def test_baking(self):
""" Test that flattener correctly bakes semantic information into vtex
"""
settings = carb.settings.get_settings()
settings.set("/app/hydraEngine/waitIdle", True)
# start flattener baking
settings.set("/rtx/materialflattener/bake", True)
settings.set("/rtx/materialflattener/rebaking", True)
await omni.kit.app.get_app_interface().next_update_async()
await self._wait_for_data()
await syn.sensors.next_sensor_data_async(self.viewport)
semantic_data = syn.sensors.get_semantic_segmentation(self.viewport)
unique_classes = np.unique(semantic_data)
# visual debug code
#from PIL import Image
#semantic_image = syn.visualize.colorize_segmentation(semantic_data)
#semantic_image = np.uint8(semantic_image[:,:,:3])
#im = Image.fromarray(semantic_image)
#im.save('/home/chen/work/debug_segmentation.png')
golden_filepath = os.path.join(FILE_DIR, "../data/golden/baked_segmentation.npz")
golden_semantic_data = np.load(golden_filepath)["array"]
unique_classes = np.unique(semantic_data)
carb.log_warn(f'unique classes = {unique_classes}')
assert len(unique_classes) == 3
if len(unique_classes) == 3:
accuracy = test_against_golden(semantic_data, golden_semantic_data)
carb.log_warn(f'1st accuracy = {accuracy}')
# it's possible semantic labels are flipped between road and lanemark, so redo the test
# if accuracy is strikingly low
if accuracy < BAKE_ACCURACY_THRESHOLD:
for y in range(0, semantic_data.shape[0]):
for x in range(0, semantic_data.shape[1]):
# flip classes
if semantic_data[y, x] == unique_classes[1]:
semantic_data[y, x] = unique_classes[2]
elif semantic_data[y, x] == unique_classes[2]:
semantic_data[y, x] = unique_classes[1]
accuracy = test_against_golden(semantic_data, golden_semantic_data)
# visual debug code
#semantic_image = syn.visualize.colorize_segmentation(semantic_data)
#semantic_image = np.uint8(semantic_image[:,:,:3])
#im = Image.fromarray(semantic_image)
#im.save('/home/chen/work/debug_segmentation_2nd_try.png')
carb.log_warn(f'2nd accuracy = {accuracy}')
assert accuracy >= BAKE_ACCURACY_THRESHOLD
# After running each test
async def tearDown(self):
pass |
eliabntt/GRADE-RR/isaac_internals/kit/extscore/omni.syntheticdata/omni/syntheticdata/tests/visualize/test_post_vis.py | # NOTE:
# omni.kit.test - std python's unittest module with additional wrapping to add suport for async/await tests
# For most things refer to unittest docs: https://docs.python.org/3/library/unittest.html
import os
import carb
from pxr import Gf, UsdGeom, UsdLux, Sdf
import unittest
import omni.kit.test
from omni.syntheticdata import SyntheticData, SyntheticDataStage
from ..utils import add_semantics
class TestPostVisualization(omni.kit.test.AsyncTestCase):
def __init__(self, methodName: str) -> None:
super().__init__(methodName=methodName)
def activate_post_vis(self,render_product_path, render_var):
sdg_iface = SyntheticData.Get()
render_var_post_display = "Test" + render_var + "PostDisplay"
if not sdg_iface.is_node_template_registered(render_var_post_display):
sdg_iface.register_node_template(
SyntheticData.NodeTemplate(
SyntheticDataStage.ON_DEMAND, # node tempalte stage
"omni.syntheticdata.SdLinearArrayToTexture", # node template type
# node template connections
[
SyntheticData.NodeConnectionTemplate(render_var),
]),
template_name=render_var_post_display
)
sdg_iface.activate_node_template(render_var_post_display, 0, [render_product_path])
async def setUp(self):
# Setup the scene
await omni.usd.get_context().new_stage_async()
stage = omni.usd.get_context().get_stage()
world_prim = UsdGeom.Xform.Define(stage,"/World")
UsdGeom.Xformable(world_prim).AddTranslateOp().Set((0, 0, 0))
UsdGeom.Xformable(world_prim).AddRotateXYZOp().Set((0, 0, 0))
capsule0_prim = stage.DefinePrim("/World/Capsule0", "Capsule")
add_semantics(capsule0_prim, "capsule_0")
UsdGeom.Xformable(capsule0_prim).AddTranslateOp().Set((100, 0, 0))
UsdGeom.Xformable(capsule0_prim).AddScaleOp().Set((30, 30, 30))
UsdGeom.Xformable(capsule0_prim).AddRotateXYZOp().Set((-90, 0, 0))
capsule0_prim.GetAttribute("primvars:displayColor").Set([(0.3, 1, 0)])
capsule1_prim = stage.DefinePrim("/World/Capsule1", "Capsule")
add_semantics(capsule0_prim, "capsule_1")
UsdGeom.Xformable(capsule1_prim).AddTranslateOp().Set((-100, 0, 0))
UsdGeom.Xformable(capsule1_prim).AddScaleOp().Set((30, 30, 30))
UsdGeom.Xformable(capsule1_prim).AddRotateXYZOp().Set((-90, 0, 0))
capsule1_prim.GetAttribute("primvars:displayColor").Set([(0, 1, 0.3)])
spherelight = UsdLux.SphereLight.Define(stage, "/SphereLight")
spherelight.GetIntensityAttr().Set(30000)
spherelight.GetRadiusAttr().Set(30)
# Setup viewports / renderproduct
vp_iface = omni.kit.viewport_legacy.get_viewport_interface()
viewport = vp_iface.get_viewport_window()
render_product_path = viewport.get_render_product_path()
self.activate_post_vis("LdrColorSD")
self.numLoops = 100
async def run_loop(self):
# ensuring that the setup is taken into account
for _ in range(5):
await omni.kit.app.get_app().next_update_async()
for _ in range(self.numLoops):
await omni.kit.app.get_app().next_update_async()
async def test_display(self):
""" Test display
"""
await self.run_loop()
async def tearDown(self):
pass
|
eliabntt/GRADE-RR/isaac_internals/kit/extscore/omni.syntheticdata/omni/syntheticdata/tests/visualize/test_semantic_seg.py | # NOTE:
# omni.kit.test - std python's unittest module with additional wrapping to add suport for async/await tests
# For most things refer to unittest docs: https://docs.python.org/3/library/unittest.html
import os
import numpy as np
import omni.kit.test
from omni.kit.viewport.utility import get_active_viewport
from pxr import UsdGeom
# Import extension python module we are testing with absolute import path, as if we are external user (other extension)
import omni.syntheticdata as syn
from ..utils import add_semantics
FILE_DIR = os.path.dirname(os.path.realpath(__file__))
TIMEOUT = 50
# Having a test class derived from omni.kit.test.AsyncTestCase declared on the root of module will make it auto-discoverable by omni.kit.test
class TestSemanticSegVis(omni.kit.test.AsyncTestCase):
# Before running each test
async def setUp(self):
np.random.seed(1234)
# Setup viewport
self.viewport = get_active_viewport()
# Initialize Sensor
await omni.usd.get_context().new_stage_async()
stage = omni.usd.get_context().get_stage()
await omni.kit.app.get_app().next_update_async()
syn.sensors.enable_sensors(
self.viewport,
[syn._syntheticdata.SensorType.SemanticSegmentation, syn._syntheticdata.SensorType.InstanceSegmentation],
)
async def test_parsed_empty(self):
""" Test semantic segmentation returns zero array with empty scene
"""
await syn.sensors.next_sensor_data_async(self.viewport, True)
data = syn.visualize.get_semantic_segmentation(self.viewport, mode="parsed")
assert np.array_equal(data, np.zeros_like(data).astype(np.uint8))
async def test_number_of_classes(self):
""" Test that number of classes in output matches number of classes in scene
"""
stage = omni.usd.get_context().get_stage()
cube = stage.DefinePrim("/Cube1", "Cube")
add_semantics(cube, "cube1")
UsdGeom.Xformable(cube).AddTranslateOp().Set((0, 10, 0))
cube = stage.DefinePrim("/Cube2", "Cube")
add_semantics(cube, "cube2")
UsdGeom.Xformable(cube).AddTranslateOp().Set((0, -10, 0))
await syn.sensors.next_sensor_data_async(self.viewport, True)
data = syn.visualize.get_semantic_segmentation(self.viewport, mode="parsed")
data_non_bkg = data[data.sum(axis=-1) != 0] # Remove background, encoded as (0, 0, 0, 0)
assert len(np.unique(data_non_bkg, axis=0)) == 2
# After running each test
async def tearDown(self):
pass
|
eliabntt/GRADE-RR/isaac_internals/kit/extscore/omni.syntheticdata/omni/syntheticdata/tests/graph/test_graph_manipulation.py | import carb
from pxr import Gf, UsdGeom, UsdLux, Sdf
import omni.hydratexture
import omni.kit.test
from omni.syntheticdata import SyntheticData, SyntheticDataStage
# Test the instance mapping pipeline
class TestGraphManipulation(omni.kit.test.AsyncTestCase):
def __init__(self, methodName: str) -> None:
super().__init__(methodName=methodName)
def render_product_path(self, hydra_texture) -> str:
'''Return a string to the UsdRender.Product used by the texture'''
render_product = hydra_texture.get_render_product_path()
if render_product and (not render_product.startswith('/')):
render_product = '/Render/RenderProduct_' + render_product
return render_product
async def setUp(self):
self._settings = carb.settings.acquire_settings_interface()
self._hydra_texture_factory = omni.hydratexture.acquire_hydra_texture_factory_interface()
self._usd_context_name = ''
self._usd_context = omni.usd.get_context(self._usd_context_name)
await self._usd_context.new_stage_async()
self._stage = omni.usd.get_context().get_stage()
# renderer
renderer = "rtx"
if renderer not in self._usd_context.get_attached_hydra_engine_names():
omni.usd.add_hydra_engine(renderer, self._usd_context)
# create the hydra textures
self._hydra_texture_0 = self._hydra_texture_factory.create_hydra_texture(
"TEX0",
1920,
1080,
self._usd_context_name,
hydra_engine_name=renderer,
is_async=self._settings.get("/app/asyncRendering")
)
self._render_product_path_0 = self.render_product_path(self._hydra_texture_0)
self._hydra_texture_rendered_counter = 0
def on_hydra_texture_0(event: carb.events.IEvent):
self._hydra_texture_rendered_counter += 1
self._hydra_texture_rendered_counter_sub = self._hydra_texture_0.get_event_stream().create_subscription_to_push_by_type(
omni.hydratexture.EVENT_TYPE_DRAWABLE_CHANGED,
on_hydra_texture_0,
name='async rendering test drawable update',
)
async def tearDown(self):
self._hydra_texture_rendered_counter_sub = None
self._hydra_texture_0 = None
self._usd_context.close_stage()
omni.usd.release_all_hydra_engines(self._usd_context)
self._hydra_texture_factory = None
self._settings = None
wait_iterations = 6
for _ in range(wait_iterations):
await omni.kit.app.get_app().next_update_async()
async def test_rendervar_enable(self):
isdg = SyntheticData.Get()
render_var = "BoundingBox3DSD"
assert(not isdg.is_rendervar_enabled(self._render_product_path_0, render_var, False, self._stage))
assert(not isdg.is_rendervar_used(self._render_product_path_0, render_var))
isdg.enable_rendervar(self._render_product_path_0, render_var, self._stage)
assert(isdg.is_rendervar_enabled(self._render_product_path_0, render_var, False, self._stage))
assert(not isdg.is_rendervar_used(self._render_product_path_0, render_var))
isdg.disable_rendervar(self._render_product_path_0, render_var, self._stage)
assert(not isdg.is_rendervar_enabled(self._render_product_path_0, render_var, False, self._stage))
assert(not isdg.is_rendervar_used(self._render_product_path_0, render_var))
async def test_rendervar_auto_activation(self):
isdg = SyntheticData.Get()
render_var = "BoundingBox3DSD"
assert(not isdg.is_rendervar_enabled(self._render_product_path_0, render_var, True, self._stage))
assert(not isdg.is_rendervar_used(self._render_product_path_0, render_var))
isdg.activate_node_template("BoundingBox3DReduction",0, [self._render_product_path_0], {}, self._stage, True)
assert(isdg.is_rendervar_enabled(self._render_product_path_0, render_var, False, self._stage))
assert(isdg.is_rendervar_used(self._render_product_path_0, render_var))
assert(isdg.is_rendervar_enabled(self._render_product_path_0, render_var, True, self._stage))
isdg.deactivate_node_template("BoundingBox3DReduction",0, [self._render_product_path_0], self._stage, True)
assert(not isdg.is_rendervar_enabled(self._render_product_path_0, render_var, False, self._stage))
assert(not isdg.is_rendervar_used(self._render_product_path_0, render_var))
async def test_rendervar_manual_activation(self):
isdg = SyntheticData.Get()
render_var = "BoundingBox3DSD"
assert(not isdg.is_rendervar_enabled(self._render_product_path_0, render_var, False, self._stage))
assert(not isdg.is_rendervar_used(self._render_product_path_0, render_var))
assert(not isdg.is_node_template_activated("BoundingBox3DReduction",self._render_product_path_0,False))
isdg.activate_node_template("BoundingBox3DReduction",0, [self._render_product_path_0], {}, self._stage, False)
assert(isdg.is_node_template_activated("BoundingBox3DReduction",self._render_product_path_0,False))
assert(isdg.is_node_template_activated("BoundingBox3DReduction",self._render_product_path_0,True))
assert(not isdg.is_rendervar_enabled(self._render_product_path_0, render_var, False, self._stage))
assert(isdg.is_rendervar_used(self._render_product_path_0, render_var))
isdg.enable_rendervar(self._render_product_path_0, render_var, self._stage)
assert(isdg.is_rendervar_enabled(self._render_product_path_0, render_var, False, self._stage))
assert(isdg.is_rendervar_used(self._render_product_path_0, render_var))
assert(not isdg.is_rendervar_enabled(self._render_product_path_0, render_var, True, self._stage))
isdg.deactivate_node_template("BoundingBox3DReduction",0, [self._render_product_path_0], self._stage, False)
assert(not isdg.is_node_template_activated("BoundingBox3DReduction",self._render_product_path_0,True))
assert(isdg.is_rendervar_enabled(self._render_product_path_0, render_var, False, self._stage))
assert(not isdg.is_rendervar_used(self._render_product_path_0, render_var))
isdg.disable_rendervar(self._render_product_path_0, render_var, self._stage)
assert(not isdg.is_rendervar_enabled(self._render_product_path_0, render_var, False, self._stage))
assert(not isdg.is_rendervar_used(self._render_product_path_0, render_var))
async def test_rendervar_hybrid_activation(self):
isdg = SyntheticData.Get()
render_var = "BoundingBox3DSD"
assert(not isdg.is_rendervar_enabled(self._render_product_path_0, render_var, False, self._stage))
assert(not isdg.is_rendervar_used(self._render_product_path_0, render_var))
isdg.activate_node_template("BoundingBox3DReduction",0, [self._render_product_path_0], {}, self._stage, False)
assert(not isdg.is_rendervar_enabled(self._render_product_path_0, render_var, False, self._stage))
assert(isdg.is_rendervar_used(self._render_product_path_0, render_var))
isdg.enable_rendervar(self._render_product_path_0, render_var, self._stage)
assert(isdg.is_rendervar_enabled(self._render_product_path_0, render_var, False, self._stage))
assert(isdg.is_rendervar_used(self._render_product_path_0, render_var))
isdg.deactivate_node_template("BoundingBox3DReduction",0, [self._render_product_path_0], self._stage, True)
assert(isdg.is_rendervar_enabled(self._render_product_path_0, render_var, False, self._stage))
assert(not isdg.is_rendervar_used(self._render_product_path_0, render_var))
assert(not isdg.is_rendervar_enabled(self._render_product_path_0, render_var, True, self._stage))
isdg.disable_rendervar(self._render_product_path_0, render_var, self._stage)
assert(not isdg.is_rendervar_enabled(self._render_product_path_0, render_var, False, self._stage))
async def test_rendervar_initially_activated(self):
isdg = SyntheticData.Get()
render_var = "BoundingBox3DSD"
assert(not isdg.is_rendervar_enabled(self._render_product_path_0, render_var, False, self._stage))
assert(not isdg.is_rendervar_used(self._render_product_path_0, render_var))
isdg.enable_rendervar(self._render_product_path_0, render_var, self._stage)
assert(isdg.is_rendervar_enabled(self._render_product_path_0, render_var, False, self._stage))
assert(not isdg.is_rendervar_used(self._render_product_path_0, render_var))
isdg.activate_node_template("BoundingBox3DReduction",0, [self._render_product_path_0], {}, self._stage, True)
assert(isdg.is_rendervar_enabled(self._render_product_path_0, render_var, False, self._stage))
assert(isdg.is_rendervar_used(self._render_product_path_0, render_var))
assert(not isdg.is_rendervar_enabled(self._render_product_path_0, render_var, True, self._stage))
isdg.deactivate_node_template("BoundingBox3DReduction",0, [self._render_product_path_0], self._stage, True)
assert(isdg.is_rendervar_enabled(self._render_product_path_0, render_var, False, self._stage))
assert(not isdg.is_rendervar_used(self._render_product_path_0, render_var))
isdg.disable_rendervar(self._render_product_path_0, render_var, self._stage)
assert(not isdg.is_rendervar_enabled(self._render_product_path_0, render_var, False, self._stage))
async def test_rendervar_multiple_activation(self):
isdg = SyntheticData.Get()
render_var = "BoundingBox3DSD"
if not isdg.is_node_template_registered("BoundingBox3DDisplayPostDuplicate"):
isdg.register_node_template(
SyntheticData.NodeTemplate(
SyntheticDataStage.POST_RENDER,
"omni.syntheticdata.SdPostRenderVarDisplayTexture",
[
SyntheticData.NodeConnectionTemplate("LdrColorSD"),
SyntheticData.NodeConnectionTemplate("Camera3dPositionSD"),
SyntheticData.NodeConnectionTemplate("PostRenderProductCamera"),
SyntheticData.NodeConnectionTemplate("InstanceMappingPost"),
SyntheticData.NodeConnectionTemplate("BoundingBox3DReduction")
],
{
"inputs:renderVar": "LdrColorSD",
"inputs:renderVarDisplay": "BoundingBox3DSDDisplay",
"inputs:mode": "semanticBoundingBox3dMode",
"inputs:parameters": [0.0, 5.0, 0.027, 0.27]
}
), # node template default attribute values (when differs from the default value specified in the .ogn)
template_name="BoundingBox3DDisplayPostDuplicate" # node template name
)
assert(not isdg.is_rendervar_enabled(self._render_product_path_0, render_var, False, self._stage))
assert(not isdg.is_rendervar_used(self._render_product_path_0, render_var))
isdg.activate_node_template("BoundingBox3DDisplayPost",0, [self._render_product_path_0], {}, self._stage, True)
assert(not isdg.is_node_template_activated("BoundingBox3DReduction",self._render_product_path_0,True))
assert(isdg.is_node_template_activated("BoundingBox3DReduction",self._render_product_path_0,False))
assert(isdg.is_rendervar_enabled(self._render_product_path_0, render_var, True, self._stage))
assert(isdg.is_rendervar_used(self._render_product_path_0, render_var))
isdg.activate_node_template("BoundingBox3DDisplayPostDuplicate",0, [self._render_product_path_0], {}, self._stage, True)
isdg.deactivate_node_template("BoundingBox3DDisplayPost",0, [self._render_product_path_0], self._stage, True)
assert(isdg.is_rendervar_enabled(self._render_product_path_0, render_var, True, self._stage))
assert(isdg.is_rendervar_used(self._render_product_path_0, render_var))
assert(not isdg.is_node_template_activated("BoundingBox3DReduction",self._render_product_path_0,True))
assert(isdg.is_node_template_activated("BoundingBox3DReduction",self._render_product_path_0,False))
isdg.deactivate_node_template("BoundingBox3DDisplayPostDuplicate",0, [self._render_product_path_0], self._stage, True)
assert(not isdg.is_node_template_activated("BoundingBox3DReduction",self._render_product_path_0,False))
assert(not isdg.is_rendervar_enabled(self._render_product_path_0, render_var, True, self._stage))
assert(not isdg.is_rendervar_used(self._render_product_path_0, render_var))
|
eliabntt/GRADE-RR/isaac_internals/kit/extscore/omni.syntheticdata/omni/syntheticdata/tests/data/scenes/OmniUe4-benchmark.usda | #usda 1.0
(
customLayerData = {
dictionary audioSettings = {
double dopplerLimit = 2
double dopplerScale = 1
token enableDoppler = "off"
double nonSpatialTimeScale = 1
double spatialTimeScale = 1
double speedOfSound = 340
}
dictionary cameraSettings = {
dictionary Front = {
double radius = 500
double3 target = (0, 0, 0)
}
dictionary Perspective = {
double3 position = (-24.033213095504543, -12999.287136619847, 1.064741362676223)
double3 target = (-28.947327053926287, -12864.479153751896, -24.096511278608087)
}
dictionary Right = {
double radius = 500
double3 target = (0, 0, 0)
}
dictionary Top = {
double radius = 500
double3 target = (0, 0, 0)
}
string boundCamera = "/OmniverseKit_Persp"
}
dictionary omni_layer = {
dictionary muteness = {
}
}
dictionary renderSettings = {
float "rtx:materialflattener:decalDistanceTolerance" = 1000
token "rtx:materialflattener:upAxis" = "z"
float "rtx:post:lensDistortion:cameraFocalLength" = 18.147562
}
}
defaultPrim = "World"
endTimeCode = 100
metersPerUnit = 0.009999999776482582
startTimeCode = 0
timeCodesPerSecond = 24
upAxis = "Z"
)
def Xform "World"
{
def DistantLight "defaultLight" (
prepend apiSchemas = ["ShapingAPI"]
)
{
float angle = 1
float intensity = 3000
float shaping:cone:angle = 180
float shaping:cone:softness
float shaping:focus
color3f shaping:focusTint
asset shaping:ies:file
float3 xformOp:rotateZYX = (49.25, 359.75, 0)
float3 xformOp:translate = (0, 0, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateZYX"]
}
def Scope "Looks"
{
def Material "road_base"
{
token outputs:mdl:displacement.connect = </World/Looks/road_base/Shader.outputs:out>
token outputs:mdl:surface.connect = </World/Looks/road_base/Shader.outputs:out>
token outputs:mdl:volume.connect = </World/Looks/road_base/Shader.outputs:out>
def Shader "Shader"
{
uniform token info:implementationSource = "sourceAsset"
uniform asset info:mdl:sourceAsset = @../ds2_materials/drivable_surfaces/general/road/road_base.mdl@
uniform token info:mdl:sourceAsset:subIdentifier = "road_base"
float inputs:AlbedoMult = 1.75 (
customData = {
float default = 2
}
)
float inputs:Puddle_NoiseBlend = 0.2 (
customData = {
float default = 1
}
)
float inputs:RoughnessMult_Order2 = 0.5 (
customData = {
float default = 1
}
)
float inputs:RoughnessOffset_Order3 = 0 (
customData = {
float default = -0.085716
}
)
float inputs:RoughnessPow_Order1 = 0.5 (
customData = {
float default = 1.5
}
)
float inputs:WorldSpaceUVMult = 50 (
customData = {
float default = 5000
}
)
token outputs:out
}
}
def Material "road_base_omniue4"
{
token outputs:mdl:displacement.connect = </World/Looks/road_base/Shader.outputs:out>
token outputs:mdl:surface.connect = </World/Looks/road_base/Shader.outputs:out>
token outputs:mdl:volume.connect = </World/Looks/road_base/Shader.outputs:out>
def Shader "Shader"
{
uniform token info:implementationSource = "sourceAsset"
uniform asset info:mdl:sourceAsset = @../ds2_materials/drivable_surfaces/general/road/road_base_omniue4.mdl@
uniform token info:mdl:sourceAsset:subIdentifier = "road_base"
float inputs:AlbedoMult = 1.75 (
customData = {
float default = 2
}
)
float inputs:Puddle_NoiseBlend = 0.2 (
customData = {
float default = 1
}
)
float inputs:RoughnessMult_Order2 = 0.5 (
customData = {
float default = 1
}
)
float inputs:RoughnessOffset_Order3 = 0 (
customData = {
float default = -0.085716
}
)
float inputs:RoughnessPow_Order1 = 0.5 (
customData = {
float default = 1.5
}
)
float inputs:WorldSpaceUVMult = 50 (
customData = {
float default = 5000
}
)
token outputs:out
}
}
def Material "DrivesimPBR_LaneMarking"
{
token outputs:mdl:displacement.connect = </World/Looks/DrivesimPBR_LaneMarking/Shader.outputs:out>
token outputs:mdl:surface.connect = </World/Looks/DrivesimPBR_LaneMarking/Shader.outputs:out>
token outputs:mdl:volume.connect = </World/Looks/DrivesimPBR_LaneMarking/Shader.outputs:out>
def Shader "Shader"
{
uniform token info:implementationSource = "sourceAsset"
uniform asset info:mdl:sourceAsset = @../ds2_materials/DrivesimPBR.mdl@
uniform token info:mdl:sourceAsset:subIdentifier = "DrivesimPBR"
float inputs:alpha_cutout_cutoff = 1 (
customData = {
float default = 1
dictionary range = {
float max = 1
float min = 0
}
}
displayGroup = "Alpha"
displayName = "Alpha Cutout Cutoff"
)
asset inputs:diffuse_texture = @../ds2_materials/drivable_surfaces/general/lanemarkings/lw/lw_basecolor.png@ (
colorSpace = "auto"
customData = {
asset default = @@
}
displayGroup = "Diffuse"
displayName = "Albedo Map"
)
bool inputs:enable_opacity = 0 (
customData = {
bool default = 0
}
displayGroup = "Alpha"
displayName = "Enable Opacity"
)
bool inputs:enable_opacity_cutout = 1 (
customData = {
bool default = 0
}
displayGroup = "Alpha"
displayName = "Enable Alpha Cutout"
)
asset inputs:normalmap_texture = @../ds2_materials/drivable_surfaces/general/lanemarkings/lw/lw_n.png@ (
colorSpace = "auto"
customData = {
asset default = @@
}
displayGroup = "Normal"
displayName = "Normal Map"
)
asset inputs:opacity_texture = @../ds2_materials/drivable_surfaces/general/lanemarkings/lw/lw_opacity.png@ (
colorSpace = "auto"
customData = {
asset default = @@
}
displayGroup = "Alpha"
displayName = "Opacity Map"
)
asset inputs:ORM_texture = @../ds2_materials/drivable_surfaces/general/lanemarkings/lw/lw_orm.png@ (
colorSpace = "auto"
customData = {
asset default = @@
}
displayGroup = "Reflectivity"
displayName = "ORM Map"
)
asset inputs:reflectionroughness_texture = @../ds2_materials/drivable_surfaces/general/lanemarkings/lw/lw_r.png@ (
colorSpace = "auto"
customData = {
asset default = @@
}
displayGroup = "Specular"
displayName = "Roughness Map"
)
float inputs:specular_constant = 1 (
customData = {
float default = 1
dictionary range = {
float max = 1
float min = 0
}
}
displayGroup = "Specular"
displayName = "Specular amount"
)
float2 inputs:texture_scale = (0.39999998, 115.7) (
customData = {
float2 default = (1, 1)
}
displayGroup = "UV"
displayName = "Texture Scale"
)
token outputs:out
}
}
def Material "DrivesimPBR"
{
token outputs:mdl:displacement.connect = </World/Looks/DrivesimPBR/Shader.outputs:out>
token outputs:mdl:surface.connect = </World/Looks/DrivesimPBR/Shader.outputs:out>
token outputs:mdl:volume.connect = </World/Looks/DrivesimPBR/Shader.outputs:out>
def Shader "Shader"
{
uniform token info:implementationSource = "sourceAsset"
uniform asset info:mdl:sourceAsset = @../ds2_materials/DrivesimPBR.mdl@
uniform token info:mdl:sourceAsset:subIdentifier = "DrivesimPBR"
float inputs:ao_to_diffuse = 0 (
customData = {
float default = 0
}
displayGroup = "AO"
displayName = "AO to Diffuse"
)
asset inputs:diffuse_texture = @../ds2_materials/drivable_surfaces/general/asphalt/asphalt_base/asphalt_base_basecolor_ms.png@ (
colorSpace = "auto"
customData = {
asset default = @@
}
displayGroup = "Diffuse"
displayName = "Albedo Map"
)
bool inputs:enable_opacity = 0 (
customData = {
bool default = 0
}
displayGroup = "Alpha"
displayName = "Enable Opacity"
)
bool inputs:enable_ORM_texture = 1 (
customData = {
bool default = 1
}
displayGroup = "Reflectivity"
displayName = "Enable ORM Texture"
)
bool inputs:enable_retroreflection = 0 (
customData = {
bool default = 0
}
displayGroup = "Reflectivity"
displayName = "Enable Retroreflection"
)
asset inputs:normalmap_texture = @../ds2_materials/drivable_surfaces/general/asphalt/asphalt_base/asphalt_base_n_ms.png@ (
colorSpace = "auto"
customData = {
asset default = @@
}
displayGroup = "Normal"
displayName = "Normal Map"
)
asset inputs:ORM_texture = @../ds2_materials/drivable_surfaces/general/asphalt/asphalt_base/asphalt_base_orm_ms.png@ (
colorSpace = "auto"
customData = {
asset default = @@
}
displayGroup = "Reflectivity"
displayName = "ORM Map"
)
token outputs:out
}
}
def Material "OmniPBR"
{
token outputs:mdl:displacement.connect = </World/Looks/OmniPBR/Shader.outputs:out>
token outputs:mdl:surface.connect = </World/Looks/OmniPBR/Shader.outputs:out>
token outputs:mdl:volume.connect = </World/Looks/OmniPBR/Shader.outputs:out>
def Shader "Shader"
{
uniform token info:implementationSource = "sourceAsset"
uniform asset info:mdl:sourceAsset = @OmniPBR.mdl@
uniform token info:mdl:sourceAsset:subIdentifier = "OmniPBR"
token outputs:out
}
}
def Material "DrivesimPBR_01"
{
token outputs:mdl:displacement.connect = </World/Looks/DrivesimPBR_01/Shader.outputs:out>
token outputs:mdl:surface.connect = </World/Looks/DrivesimPBR_01/Shader.outputs:out>
token outputs:mdl:volume.connect = </World/Looks/DrivesimPBR_01/Shader.outputs:out>
def Shader "Shader"
{
uniform token info:implementationSource = "sourceAsset"
uniform asset info:mdl:sourceAsset = @E:/material-flattening-assets/ds2_materials/DrivesimPBR.mdl@
uniform token info:mdl:sourceAsset:subIdentifier = "DrivesimPBR"
token outputs:out
}
}
def Material "DrivesimPBR_2"
{
token outputs:mdl:displacement.connect = </World/Looks/DrivesimPBR_2/Shader.outputs:out>
token outputs:mdl:surface.connect = </World/Looks/DrivesimPBR_2/Shader.outputs:out>
token outputs:mdl:volume.connect = </World/Looks/DrivesimPBR_2/Shader.outputs:out>
def Shader "Shader"
{
uniform token info:implementationSource = "sourceAsset"
uniform asset info:mdl:sourceAsset = @../ds2_materials/DrivesimPBR.mdl@
uniform token info:mdl:sourceAsset:subIdentifier = "DrivesimPBR"
token outputs:out
}
}
}
def "road_base" (
prepend references = @../ds2_materials/drivable_surfaces/general/road/road_base.usda@
)
{
float3 xformOp:rotateXYZ = (0, -0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (-118.774872, -116.608191, -1723.065986)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
}
def Xform "road_omniue4" (
prepend references = @maya2_atlas_road_tile_237_01.usd2.usda@
)
{
float3 xformOp:rotateZYX = (-0, 0, -0)
float3 xformOp:scale = (1, 120.700005, 1)
double3 xformOp:translate = (0, -45001, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateZYX", "xformOp:scale"]
over "SceneNode"
{
over "Tile_0_0Node"
{
over "RoadsNode"
{
over "Road_RoadNode"
{
over "Road_Road_Layer0Node" (
prepend apiSchemas = ["SemanticsAPI:Semantics"]
)
{
rel material:binding = </World/Looks/road_base> (
bindMaterialAs = "weakerThanDescendants"
)
string semantic:Semantics:params:semanticData = "road"
string semantic:Semantics:params:semanticType = "class"
float3 xformOp:rotateXYZ = (90, -0, 0)
float3 xformOp:scale = (0.9999998, 1, 1)
double3 xformOp:translate = (0, 0, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
}
}
}
}
}
}
def Mesh "Plane" (
prepend apiSchemas = ["SemanticsAPI:Semantics"]
)
{
int[] faceVertexCounts = [4]
int[] faceVertexIndices = [0, 1, 3, 2]
rel material:binding = </World/Looks/DrivesimPBR_LaneMarking> (
bindMaterialAs = "weakerThanDescendants"
)
normal3f[] normals = [(0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1)] (
interpolation = "faceVarying"
)
point3f[] points = [(-50, -50, 0), (50, -50, 0), (-50, 50, 0), (50, 50, 0)]
bool primvars:isDecal = 1
bool primvars:materialFlattening_isDecal = 1
float2[] primvars:st = [(0, 0), (1, 0), (1, 1), (0, 1)] (
interpolation = "faceVarying"
)
string semantic:Semantics:params:semanticData = "lane"
string semantic:Semantics:params:semanticType = "class"
uniform token subdivisionScheme = "none"
token visibility = "inherited"
double3 xformOp:rotateXYZ = (0, 0, 0)
double3 xformOp:scale = (0.005, 50, 1)
double3 xformOp:translate = (-24, -10497, 0.1)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
}
}
|
eliabntt/GRADE-RR/isaac_internals/kit/extscore/omni.syntheticdata/omni/syntheticdata/tests/data/scenes/torus_sphere.usda | #usda 1.0
(
customLayerData = {
dictionary cameraSettings = {
dictionary Front = {
double3 position = (0, 0, 50000)
double radius = 500
}
dictionary Perspective = {
double3 position = (500, 500, 500)
double3 target = (-0.0000039780385918675165, 0.00000795607684267452, -0.000003978038364493841)
}
dictionary Right = {
double3 position = (-50000, 0, 0)
double radius = 500
}
dictionary Top = {
double3 position = (0, 50000, 0)
double radius = 467.708984375
}
string boundCamera = "/OmniverseKit_Front"
}
dictionary omni_layer = {
dictionary muteness = {
}
}
dictionary renderSettings = {
float3 "rtx:debugView:pixelDebug:textColor" = (0, 1e18, 0)
float3 "rtx:dynamicDiffuseGI:probeCounts" = (6, 6, 6)
float3 "rtx:dynamicDiffuseGI:probeGridOrigin" = (-210, -250, -10)
float3 "rtx:dynamicDiffuseGI:volumeSize" = (600, 440, 300)
float3 "rtx:fog:fogColor" = (0.75, 0.75, 0.75)
float3 "rtx:raytracing:inscattering:singleScatteringAlbedo" = (0.9, 0.9, 0.9)
float3 "rtx:raytracing:inscattering:transmittanceColor" = (0.5, 0.5, 0.5)
token "rtx:rendermode" = "PathTracing"
float3 "rtx:sceneDb:ambientLightColor" = (0.1, 0.1, 0.1)
}
}
defaultPrim = "World"
endTimeCode = 100
metersPerUnit = 0.01
startTimeCode = 0
timeCodesPerSecond = 24
upAxis = "Y"
)
def Xform "World"
{
def Mesh "Torus"
{
int[] faceVertexCounts = [4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4]
int[] faceVertexIndices = [0, 33, 34, 1, 1, 34, 35, 2, 2, 35, 36, 3, 3, 36, 37, 4, 4, 37, 38, 5, 5, 38, 39, 6, 6, 39, 40, 7, 7, 40, 41, 8, 8, 41, 42, 9, 9, 42, 43, 10, 10, 43, 44, 11, 11, 44, 45, 12, 12, 45, 46, 13, 13, 46, 47, 14, 14, 47, 48, 15, 15, 48, 49, 16, 16, 49, 50, 17, 17, 50, 51, 18, 18, 51, 52, 19, 19, 52, 53, 20, 20, 53, 54, 21, 21, 54, 55, 22, 22, 55, 56, 23, 23, 56, 57, 24, 24, 57, 58, 25, 25, 58, 59, 26, 26, 59, 60, 27, 27, 60, 61, 28, 28, 61, 62, 29, 29, 62, 63, 30, 30, 63, 64, 31, 31, 64, 65, 32, 32, 65, 33, 0, 33, 66, 67, 34, 34, 67, 68, 35, 35, 68, 69, 36, 36, 69, 70, 37, 37, 70, 71, 38, 38, 71, 72, 39, 39, 72, 73, 40, 40, 73, 74, 41, 41, 74, 75, 42, 42, 75, 76, 43, 43, 76, 77, 44, 44, 77, 78, 45, 45, 78, 79, 46, 46, 79, 80, 47, 47, 80, 81, 48, 48, 81, 82, 49, 49, 82, 83, 50, 50, 83, 84, 51, 51, 84, 85, 52, 52, 85, 86, 53, 53, 86, 87, 54, 54, 87, 88, 55, 55, 88, 89, 56, 56, 89, 90, 57, 57, 90, 91, 58, 58, 91, 92, 59, 59, 92, 93, 60, 60, 93, 94, 61, 61, 94, 95, 62, 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rel material:binding = None (
bindMaterialAs = "weakerThanDescendants"
)
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0.93749064), (0.7187528, 0.93749064), (0.7187528, 0.9687403), (0.6875031, 0.9687403), (0.6875031, 0.93749064), (0.6875031, 0.93749064), (0.6875031, 0.9687403), (0.65625346, 0.9687403), (0.65625346, 0.93749064), (0.65625346, 0.93749064), (0.65625346, 0.9687403), (0.62500376, 0.9687403), (0.62500376, 0.93749064), (0.62500376, 0.93749064), (0.62500376, 0.9687403), (0.59375405, 0.9687403), (0.59375405, 0.93749064), (0.59375405, 0.93749064), (0.59375405, 0.9687403), (0.56250435, 0.9687403), (0.56250435, 0.93749064), (0.56250435, 0.93749064), (0.56250435, 0.9687403), (0.5312547, 0.9687403), (0.5312547, 0.93749064), (0.5312547, 0.93749064), (0.5312547, 0.9687403), (0.500005, 0.9687403), (0.500005, 0.93749064), (0.500005, 0.93749064), (0.500005, 0.9687403), (0.4687553, 0.9687403), (0.4687553, 0.93749064), (0.4687553, 0.93749064), (0.4687553, 0.9687403), (0.43750563, 0.9687403), (0.43750563, 0.93749064), (0.43750563, 0.93749064), (0.43750563, 0.9687403), (0.40625593, 0.9687403), (0.40625593, 0.93749064), (0.40625593, 0.93749064), (0.40625593, 0.9687403), (0.37500626, 0.9687403), (0.37500626, 0.93749064), (0.37500626, 0.93749064), (0.37500626, 0.9687403), (0.34375656, 0.9687403), (0.34375656, 0.93749064), (0.34375656, 0.93749064), (0.34375656, 0.9687403), (0.31250688, 0.9687403), (0.31250688, 0.93749064), (0.31250688, 0.93749064), (0.31250688, 0.9687403), (0.28125718, 0.9687403), (0.28125718, 0.93749064), (0.28125718, 0.93749064), (0.28125718, 0.9687403), (0.2500075, 0.9687403), (0.2500075, 0.93749064), (0.2500075, 0.93749064), (0.2500075, 0.9687403), (0.21875781, 0.9687403), (0.21875781, 0.93749064), (0.21875781, 0.93749064), (0.21875781, 0.9687403), (0.18750812, 0.9687403), (0.18750812, 0.93749064), (0.18750812, 0.93749064), (0.18750812, 0.9687403), (0.15625843, 0.9687403), (0.15625843, 0.93749064), (0.15625843, 0.93749064), (0.15625843, 0.9687403), (0.12500875, 0.9687403), (0.12500875, 0.93749064), (0.12500875, 0.93749064), (0.12500875, 0.9687403), (0.09375906, 0.9687403), (0.09375906, 0.93749064), (0.09375906, 0.93749064), (0.09375906, 0.9687403), (0.06250937, 0.9687403), (0.06250937, 0.93749064), (0.06250937, 0.93749064), (0.06250937, 0.9687403), (0.031259686, 0.9687403), (0.031259686, 0.93749064), (0.031259686, 0.93749064), (0.031259686, 0.9687403), (0.00001, 0.9687403), (0.00001, 0.93749064), (0.00001, 0.93749064), (0.00001, 0.9687403), (1, 0.9687403), (1, 0.93749064), (1, 0.9687403), (1, 0.99999), (0.9687503, 0.99999), (0.9687503, 0.9687403), (0.9687503, 0.9687403), (0.9687503, 0.99999), (0.9375006, 0.99999), (0.9375006, 0.9687403), (0.9375006, 0.9687403), (0.9375006, 0.99999), (0.90625095, 0.99999), (0.90625095, 0.9687403), (0.90625095, 0.9687403), (0.90625095, 0.99999), (0.87500125, 0.99999), (0.87500125, 0.9687403), (0.87500125, 0.9687403), (0.87500125, 0.99999), (0.84375155, 0.99999), (0.84375155, 0.9687403), (0.84375155, 0.9687403), (0.84375155, 0.99999), (0.81250185, 0.99999), (0.81250185, 0.9687403), (0.81250185, 0.9687403), (0.81250185, 0.99999), (0.7812522, 0.99999), (0.7812522, 0.9687403), (0.7812522, 0.9687403), (0.7812522, 0.99999), (0.7500025, 0.99999), (0.7500025, 0.9687403), (0.7500025, 0.9687403), (0.7500025, 0.99999), (0.7187528, 0.99999), (0.7187528, 0.9687403), (0.7187528, 0.9687403), (0.7187528, 0.99999), (0.6875031, 0.99999), (0.6875031, 0.9687403), (0.6875031, 0.9687403), (0.6875031, 0.99999), (0.65625346, 0.99999), (0.65625346, 0.9687403), (0.65625346, 0.9687403), (0.65625346, 0.99999), (0.62500376, 0.99999), (0.62500376, 0.9687403), (0.62500376, 0.9687403), (0.62500376, 0.99999), (0.59375405, 0.99999), (0.59375405, 0.9687403), (0.59375405, 0.9687403), (0.59375405, 0.99999), (0.56250435, 0.99999), (0.56250435, 0.9687403), (0.56250435, 0.9687403), (0.56250435, 0.99999), (0.5312547, 0.99999), (0.5312547, 0.9687403), (0.5312547, 0.9687403), (0.5312547, 0.99999), (0.500005, 0.99999), (0.500005, 0.9687403), (0.500005, 0.9687403), (0.500005, 0.99999), (0.4687553, 0.99999), (0.4687553, 0.9687403), (0.4687553, 0.9687403), (0.4687553, 0.99999), (0.43750563, 0.99999), (0.43750563, 0.9687403), (0.43750563, 0.9687403), (0.43750563, 0.99999), (0.40625593, 0.99999), (0.40625593, 0.9687403), (0.40625593, 0.9687403), (0.40625593, 0.99999), (0.37500626, 0.99999), (0.37500626, 0.9687403), (0.37500626, 0.9687403), (0.37500626, 0.99999), (0.34375656, 0.99999), (0.34375656, 0.9687403), (0.34375656, 0.9687403), (0.34375656, 0.99999), (0.31250688, 0.99999), (0.31250688, 0.9687403), (0.31250688, 0.9687403), (0.31250688, 0.99999), (0.28125718, 0.99999), (0.28125718, 0.9687403), (0.28125718, 0.9687403), (0.28125718, 0.99999), (0.2500075, 0.99999), (0.2500075, 0.9687403), (0.2500075, 0.9687403), (0.2500075, 0.99999), (0.21875781, 0.99999), (0.21875781, 0.9687403), (0.21875781, 0.9687403), (0.21875781, 0.99999), (0.18750812, 0.99999), (0.18750812, 0.9687403), (0.18750812, 0.9687403), (0.18750812, 0.99999), (0.15625843, 0.99999), (0.15625843, 0.9687403), (0.15625843, 0.9687403), (0.15625843, 0.99999), (0.12500875, 0.99999), (0.12500875, 0.9687403), (0.12500875, 0.9687403), (0.12500875, 0.99999), (0.09375906, 0.99999), (0.09375906, 0.9687403), (0.09375906, 0.9687403), (0.09375906, 0.99999), (0.06250937, 0.99999), (0.06250937, 0.9687403), (0.06250937, 0.9687403), (0.06250937, 0.99999), (0.031259686, 0.99999), (0.031259686, 0.9687403), (0.031259686, 0.9687403), (0.031259686, 0.99999), (0.00001, 0.99999), (0.00001, 0.9687403), (0.00001, 0.9687403), (0.00001, 0.99999), (1, 0.99999), (1, 0.9687403), (1, 0.99999), (1, 1), (0.9687503, 1), (0.9687503, 0.99999), (0.9687503, 0.99999), (0.9687503, 1), (0.9375006, 1), (0.9375006, 0.99999), (0.9375006, 0.99999), (0.9375006, 1), (0.90625095, 1), (0.90625095, 0.99999), (0.90625095, 0.99999), (0.90625095, 1), (0.87500125, 1), (0.87500125, 0.99999), (0.87500125, 0.99999), (0.87500125, 1), (0.84375155, 1), (0.84375155, 0.99999), (0.84375155, 0.99999), (0.84375155, 1), (0.81250185, 1), (0.81250185, 0.99999), (0.81250185, 0.99999), (0.81250185, 1), (0.7812522, 1), (0.7812522, 0.99999), (0.7812522, 0.99999), (0.7812522, 1), (0.7500025, 1), (0.7500025, 0.99999), (0.7500025, 0.99999), (0.7500025, 1), (0.7187528, 1), (0.7187528, 0.99999), (0.7187528, 0.99999), (0.7187528, 1), (0.6875031, 1), (0.6875031, 0.99999), (0.6875031, 0.99999), (0.6875031, 1), (0.65625346, 1), (0.65625346, 0.99999), (0.65625346, 0.99999), (0.65625346, 1), (0.62500376, 1), (0.62500376, 0.99999), (0.62500376, 0.99999), (0.62500376, 1), (0.59375405, 1), (0.59375405, 0.99999), (0.59375405, 0.99999), (0.59375405, 1), (0.56250435, 1), (0.56250435, 0.99999), (0.56250435, 0.99999), (0.56250435, 1), (0.5312547, 1), (0.5312547, 0.99999), (0.5312547, 0.99999), (0.5312547, 1), (0.500005, 1), (0.500005, 0.99999), (0.500005, 0.99999), (0.500005, 1), (0.4687553, 1), (0.4687553, 0.99999), (0.4687553, 0.99999), (0.4687553, 1), (0.43750563, 1), (0.43750563, 0.99999), (0.43750563, 0.99999), (0.43750563, 1), (0.40625593, 1), (0.40625593, 0.99999), (0.40625593, 0.99999), (0.40625593, 1), (0.37500626, 1), (0.37500626, 0.99999), (0.37500626, 0.99999), (0.37500626, 1), (0.34375656, 1), (0.34375656, 0.99999), (0.34375656, 0.99999), (0.34375656, 1), (0.31250688, 1), (0.31250688, 0.99999), (0.31250688, 0.99999), (0.31250688, 1), (0.28125718, 1), (0.28125718, 0.99999), (0.28125718, 0.99999), (0.28125718, 1), (0.2500075, 1), (0.2500075, 0.99999), (0.2500075, 0.99999), (0.2500075, 1), (0.21875781, 1), (0.21875781, 0.99999), (0.21875781, 0.99999), (0.21875781, 1), (0.18750812, 1), (0.18750812, 0.99999), (0.18750812, 0.99999), (0.18750812, 1), (0.15625843, 1), (0.15625843, 0.99999), (0.15625843, 0.99999), (0.15625843, 1), (0.12500875, 1), (0.12500875, 0.99999), (0.12500875, 0.99999), (0.12500875, 1), (0.09375906, 1), (0.09375906, 0.99999), (0.09375906, 0.99999), (0.09375906, 1), (0.06250937, 1), (0.06250937, 0.99999), (0.06250937, 0.99999), (0.06250937, 1), (0.031259686, 1), (0.031259686, 0.99999), (0.031259686, 0.99999), (0.031259686, 1), (0.00001, 1), (0.00001, 0.99999), (0.00001, 0.99999), (0.00001, 1), (1, 1), (1, 0.99999)] (
interpolation = "faceVarying"
)
uniform token subdivisionScheme = "none"
double3 xformOp:rotateXYZ = (0, 0, 0)
double3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0, 0, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
}
def Mesh "Sphere"
{
int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
int[] faceVertexIndices = [0, 1, 2, 0, 2, 3, 0, 3, 4, 0, 4, 5, 0, 5, 6, 0, 6, 7, 0, 7, 8, 0, 8, 9, 0, 9, 10, 0, 10, 11, 0, 11, 12, 0, 12, 13, 0, 13, 14, 0, 14, 15, 0, 15, 16, 0, 16, 17, 0, 17, 18, 0, 18, 19, 0, 19, 20, 0, 20, 21, 0, 21, 22, 0, 22, 23, 0, 23, 24, 0, 24, 25, 0, 25, 26, 0, 26, 27, 0, 27, 28, 0, 28, 29, 0, 29, 30, 0, 30, 31, 0, 31, 32, 0, 32, 1, 1, 33, 34, 2, 2, 34, 35, 3, 3, 35, 36, 4, 4, 36, 37, 5, 5, 37, 38, 6, 6, 38, 39, 7, 7, 39, 40, 8, 8, 40, 41, 9, 9, 41, 42, 10, 10, 42, 43, 11, 11, 43, 44, 12, 12, 44, 45, 13, 13, 45, 46, 14, 14, 46, 47, 15, 15, 47, 48, 16, 16, 48, 49, 17, 17, 49, 50, 18, 18, 50, 51, 19, 19, 51, 52, 20, 20, 52, 53, 21, 21, 53, 54, 22, 22, 54, 55, 23, 23, 55, 56, 24, 24, 56, 57, 25, 25, 57, 58, 26, 26, 58, 59, 27, 27, 59, 60, 28, 28, 60, 61, 29, 29, 61, 62, 30, 30, 62, 63, 31, 31, 63, 64, 32, 32, 64, 33, 1, 33, 65, 66, 34, 34, 66, 67, 35, 35, 67, 68, 36, 36, 68, 69, 37, 37, 69, 70, 38, 38, 70, 71, 39, 39, 71, 72, 40, 40, 72, 73, 41, 41, 73, 74, 42, 42, 74, 75, 43, 43, 75, 76, 44, 44, 76, 77, 45, 45, 77, 78, 46, 46, 78, 79, 47, 47, 79, 80, 48, 48, 80, 81, 49, 49, 81, 82, 50, 50, 82, 83, 51, 51, 83, 84, 52, 52, 84, 85, 53, 53, 85, 86, 54, 54, 86, 87, 55, 55, 87, 88, 56, 56, 88, 89, 57, 57, 89, 90, 58, 58, 90, 91, 59, 59, 91, 92, 60, 60, 92, 93, 61, 61, 93, 94, 62, 62, 94, 95, 63, 63, 95, 96, 64, 64, 96, 65, 33, 65, 97, 98, 66, 66, 98, 99, 67, 67, 99, 100, 68, 68, 100, 101, 69, 69, 101, 102, 70, 70, 102, 103, 71, 71, 103, 104, 72, 72, 104, 105, 73, 73, 105, 106, 74, 74, 106, 107, 75, 75, 107, 108, 76, 76, 108, 109, 77, 77, 109, 110, 78, 78, 110, 111, 79, 79, 111, 112, 80, 80, 112, 113, 81, 81, 113, 114, 82, 82, 114, 115, 83, 83, 115, 116, 84, 84, 116, 117, 85, 85, 117, 118, 86, 86, 118, 119, 87, 87, 119, 120, 88, 88, 120, 121, 89, 89, 121, 122, 90, 90, 122, 123, 91, 91, 123, 124, 92, 92, 124, 125, 93, 93, 125, 126, 94, 94, 126, 127, 95, 95, 127, 128, 96, 96, 128, 97, 65, 97, 129, 130, 98, 98, 130, 131, 99, 99, 131, 132, 100, 100, 132, 133, 101, 101, 133, 134, 102, 102, 134, 135, 103, 103, 135, 136, 104, 104, 136, 137, 105, 105, 137, 138, 106, 106, 138, 139, 107, 107, 139, 140, 108, 108, 140, 141, 109, 109, 141, 142, 110, 110, 142, 143, 111, 111, 143, 144, 112, 112, 144, 145, 113, 113, 145, 146, 114, 114, 146, 147, 115, 115, 147, 148, 116, 116, 148, 149, 117, 117, 149, 150, 118, 118, 150, 151, 119, 119, 151, 152, 120, 120, 152, 153, 121, 121, 153, 154, 122, 122, 154, 155, 123, 123, 155, 156, 124, 124, 156, 157, 125, 125, 157, 158, 126, 126, 158, 159, 127, 127, 159, 160, 128, 128, 160, 129, 97, 129, 161, 162, 130, 130, 162, 163, 131, 131, 163, 164, 132, 132, 164, 165, 133, 133, 165, 166, 134, 134, 166, 167, 135, 135, 167, 168, 136, 136, 168, 169, 137, 137, 169, 170, 138, 138, 170, 171, 139, 139, 171, 172, 140, 140, 172, 173, 141, 141, 173, 174, 142, 142, 174, 175, 143, 143, 175, 176, 144, 144, 176, 177, 145, 145, 177, 178, 146, 146, 178, 179, 147, 147, 179, 180, 148, 148, 180, 181, 149, 149, 181, 182, 150, 150, 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rel material:binding = None (
bindMaterialAs = "weakerThanDescendants"
)
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interpolation = "faceVarying"
)
uniform token subdivisionScheme = "none"
double3 xformOp:rotateXYZ = (0, 0, 0)
double3 xformOp:scale = (0.9000000134110451, 0.9000000134110451, 0.9000000134110451)
double3 xformOp:translate = (0, 0, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
}
}
def Xform "Environment"
{
double3 xformOp:rotateXYZ = (0, 0, 0)
double3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0, 0, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
def DistantLight "defaultLight" (
prepend apiSchemas = ["ShapingAPI"]
)
{
float angle = 1
bool enableColorTemperature = 0
float intensity = 3000
float shaping:cone:angle = 180
float shaping:cone:softness
float shaping:focus
color3f shaping:focusTint
asset shaping:ies:file
double3 xformOp:rotateXYZ = (315, 0, 0)
double3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0, 0, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
}
}
|
eliabntt/GRADE-RR/isaac_internals/kit/extscore/omni.syntheticdata/omni/syntheticdata/tests/data/scenes/BenchChair_Mini.usda | #usda 1.0
(
customLayerData = {
dictionary audioSettings = {
double dopplerLimit = 2
double dopplerScale = 1
double nonSpatialTimeScale = 1
double spatialTimeScale = 1
double speedOfSound = 340
}
dictionary cameraSettings = {
dictionary Front = {
double3 position = (0, 0, 1000)
double radius = 500
double3 target = (0, 0, 0)
}
dictionary Perspective = {
double3 position = (284.0601537893443, 376.0975079160896, 678.3476801943718)
double radius = 4103.913656878516
double3 target = (2.25830078125, 4.174749374389648, 163.00079822540283)
}
dictionary Right = {
double3 position = (-1000, 0, -2.220446049250313e-13)
double radius = 500
double3 target = (0, 0, 0)
}
dictionary Top = {
double3 position = (-8.659560562354932e-14, 1000, 2.220446049250313e-13)
double radius = 500
double3 target = (0, 0, 0)
}
string boundCamera = "/OmniverseKit_Persp"
}
dictionary omni_layer = {
dictionary muteness = {
}
}
dictionary renderSettings = {
}
}
defaultPrim = "World"
metersPerUnit = 0.009999999776482582
timeCodesPerSecond = 24
upAxis = "Y"
)
def Xform "World"
{
def DistantLight "defaultLight" (
prepend apiSchemas = ["ShapingAPI"]
kind = "model"
)
{
float angle = 1
float intensity = 3000
float shaping:cone:angle = 180
float shaping:cone:softness
float shaping:focus
color3f shaping:focusTint
asset shaping:ies:file
float3 xformOp:rotateZYX = (315, 0, 0)
float3 xformOp:translate = (0, 0, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateZYX"]
}
def PointInstancer "PI"
{
point3f[] positions = [(0, 0, 0), (2, 0, 100), (4, 0, 200), (6, 0, 300)]
int[] protoIndices = [1, 0, 1, 0]
rel prototypes = [
</World/PI/Prototypes/bench/proto_0>,
</World/PI/Prototypes/sofa/proto_0>,
]
float3[] scales = [(100, 100, 100), (100, 100, 100), (100, 100, 100), (100, 100, 100)]
def Xform "Prototypes"
{
def Xform "chair"
{
}
def Xform "bench"
{
def Xform "proto_0" (
prepend apiSchemas = ["SemanticsAPI:Semantics"]
instanceable = true
references = @./bench_golden.usd@
)
{
string semantic:Semantics:params:semanticData = "bench"
string semantic:Semantics:params:semanticType = "class"
}
}
def Xform "sofa"
{
def Xform "proto_0" (
prepend apiSchemas = ["SemanticsAPI:Semantics"]
instanceable = true
references = @./sofa_golden.usd@
)
{
string semantic:Semantics:params:semanticData = "sofa"
string semantic:Semantics:params:semanticType = "class"
}
}
}
}
}
|
eliabntt/GRADE-RR/isaac_internals/kit/extscore/omni.syntheticdata/omni/syntheticdata/tests/data/scenes/cube.usda | #usda 1.0
(
customLayerData = {
dictionary cameraSettings = {
dictionary Front = {
double radius = 500
double3 target = (0, 0, 0)
}
dictionary Perspective = {
double3 position = (188.15415084862954, 188.15415084863005, 188.15415084862929)
double3 target = (-3.410605131648481e-13, 1.1368683772161603e-13, -4.263256414560601e-13)
}
dictionary Right = {
double radius = 500
double3 target = (0, 0, 0)
}
dictionary Top = {
double radius = 500
double3 target = (0, 0, 0)
}
string boundCamera = "/OmniverseKit_Persp"
}
dictionary renderSettings = {
float "rtx:post:lensDistortion:cameraFocalLength" = 18.147562
}
}
defaultPrim = "World"
endTimeCode = 100
metersPerUnit = 0.009999999776482582
startTimeCode = 0
timeCodesPerSecond = 24
upAxis = "Y"
)
def Xform "World"
{
def DistantLight "defaultLight" (
prepend apiSchemas = ["ShapingAPI"]
)
{
float angle = 1
float intensity = 3000
float shaping:cone:angle = 180
float shaping:cone:softness
float shaping:focus
color3f shaping:focusTint
asset shaping:ies:file
float3 xformOp:rotateXYZ = (315, 0, 0)
double3 xformOp:scale = (1, 1, 1)
float3 xformOp:translate = (0, 0, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
}
def Cube "Cube"
{
float3[] extent = [(-50, -50, -50), (50, 50, 50)]
color3f[] primvars:displayColor = [(1, 0.5, 0.5)]
double size = 100
double3 xformOp:rotateXYZ = (0, 0, 0)
double3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0, 0, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
}
}
|
eliabntt/GRADE-RR/isaac_internals/kit/extscore/omni.syntheticdata/omni/syntheticdata/tests/data/scenes/occlusion.usda | #usda 1.0
(
customLayerData = {
dictionary audioSettings = {
double dopplerLimit = 2
double dopplerScale = 1
double nonSpatialTimeScale = 1
double spatialTimeScale = 1
double speedOfSound = 340
}
dictionary cameraSettings = {
dictionary Front = {
double radius = 3000
double3 target = (98.03826837800693, 7.528925233790124, 0)
}
dictionary Perspective = {
double3 position = (-154.72631975736212, 1150.551337133561, 628.9729272322076)
double3 target = (4.206412995699793e-12, 4.9112713895738125e-11, 6.298250809777528e-11)
}
dictionary Right = {
double radius = 500
double3 target = (0, 0, 0)
}
dictionary Top = {
double radius = 500
double3 target = (9.0205620750794e-12, 0, 7.632783294297953e-12)
}
string boundCamera = "/OmniverseKit_Front"
}
dictionary renderSettings = {
float "rtx:post:lensDistortion:cameraFocalLength" = 50
}
}
defaultPrim = "World"
endTimeCode = 100
metersPerUnit = 0.009999999776482582
startTimeCode = 0
timeCodesPerSecond = 24
upAxis = "Y"
)
def Xform "World"
{
def DistantLight "defaultLight" (
prepend apiSchemas = ["ShapingAPI"]
kind = "model"
)
{
float angle = 1
float intensity = 3000
float shaping:cone:angle = 180
float shaping:cone:softness
float shaping:focus
color3f shaping:focusTint
asset shaping:ies:file
float3 xformOp:rotateZYX = (315, 0, 0)
float3 xformOp:translate = (0, 0, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateZYX"]
}
def Mesh "Cube" (
kind = "model"
)
{
int[] faceVertexCounts = [4, 4, 4, 4, 4, 4]
int[] faceVertexIndices = [0, 4, 5, 1, 4, 0, 2, 6, 5, 4, 6, 7, 1, 5, 7, 3, 0, 1, 3, 2, 3, 7, 6, 2]
normal3f[] normals = [(0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (1, 0, 0), (1, 0, 0), (1, 0, 0), (1, 0, 0), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (-1, 0, 0), (-1, 0, 0), (-1, 0, 0), (-1, 0, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0)] (
interpolation = "faceVarying"
)
point3f[] points = [(-50, -50, -50), (-50, -50, 50), (-50, 50, -50), (-50, 50, 50), (50, -50, -50), (50, -50, 50), (50, 50, -50), (50, 50, 50)]
float2[] primvars:st = [(0, 0), (1, 0), (1, 1), (0, 1), (0, 0), (1, 0), (1, 1), (0, 1), (0, 0), (1, 0), (1, 1), (0, 1), (0, 0), (1, 0), (1, 1), (0, 1), (0, 0), (1, 0), (1, 1), (0, 1), (0, 0), (1, 0), (1, 1), (0, 1)] (
interpolation = "faceVarying"
)
uniform token subdivisionScheme = "none"
double3 xformOp:rotateZYX = (0, 0, 0)
double3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0, 0, 121.195201)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateZYX", "xformOp:scale"]
}
def Mesh "Cube_100" (
prepend apiSchemas = ["SemanticsAPI:Semantics"]
kind = "model"
)
{
int[] faceVertexCounts = [4, 4, 4, 4, 4, 4]
int[] faceVertexIndices = [0, 4, 5, 1, 4, 0, 2, 6, 5, 4, 6, 7, 1, 5, 7, 3, 0, 1, 3, 2, 3, 7, 6, 2]
normal3f[] normals = [(0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (1, 0, 0), (1, 0, 0), (1, 0, 0), (1, 0, 0), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (-1, 0, 0), (-1, 0, 0), (-1, 0, 0), (-1, 0, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0)] (
interpolation = "faceVarying"
)
point3f[] points = [(-50, -50, -50), (-50, -50, 50), (-50, 50, -50), (-50, 50, 50), (50, -50, -50), (50, -50, 50), (50, 50, -50), (50, 50, 50)]
float2[] primvars:st = [(0, 0), (1, 0), (1, 1), (0, 1), (0, 0), (1, 0), (1, 1), (0, 1), (0, 0), (1, 0), (1, 1), (0, 1), (0, 0), (1, 0), (1, 1), (0, 1), (0, 0), (1, 0), (1, 1), (0, 1), (0, 0), (1, 0), (1, 1), (0, 1)] (
interpolation = "faceVarying"
)
string semantic:Semantics:params:semanticData = "100"
string semantic:Semantics:params:semanticType = "class"
uniform token subdivisionScheme = "none"
double3 xformOp:rotateZYX = (0, 0, 0)
double3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0, 0, 90.130004)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateZYX", "xformOp:scale"]
}
def Mesh "Cube_50" (
prepend apiSchemas = ["SemanticsAPI:Semantics"]
kind = "model"
)
{
int[] faceVertexCounts = [4, 4, 4, 4, 4, 4]
int[] faceVertexIndices = [0, 4, 5, 1, 4, 0, 2, 6, 5, 4, 6, 7, 1, 5, 7, 3, 0, 1, 3, 2, 3, 7, 6, 2]
normal3f[] normals = [(0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (1, 0, 0), (1, 0, 0), (1, 0, 0), (1, 0, 0), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (-1, 0, 0), (-1, 0, 0), (-1, 0, 0), (-1, 0, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0)] (
interpolation = "faceVarying"
)
point3f[] points = [(-50, -50, -50), (-50, -50, 50), (-50, 50, -50), (-50, 50, 50), (50, -50, -50), (50, -50, 50), (50, 50, -50), (50, 50, 50)]
float2[] primvars:st = [(0, 0), (1, 0), (1, 1), (0, 1), (0, 0), (1, 0), (1, 1), (0, 1), (0, 0), (1, 0), (1, 1), (0, 1), (0, 0), (1, 0), (1, 1), (0, 1), (0, 0), (1, 0), (1, 1), (0, 1), (0, 0), (1, 0), (1, 1), (0, 1)] (
interpolation = "faceVarying"
)
string semantic:Semantics:params:semanticData = "50"
string semantic:Semantics:params:semanticType = "class"
uniform token subdivisionScheme = "none"
double3 xformOp:rotateZYX = (0, 0, 0)
double3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (75, 0, 29.276982)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateZYX", "xformOp:scale"]
}
def Mesh "Cube_0" (
prepend apiSchemas = ["SemanticsAPI:Semantics"]
kind = "model"
)
{
int[] faceVertexCounts = [4, 4, 4, 4, 4, 4]
int[] faceVertexIndices = [0, 4, 5, 1, 4, 0, 2, 6, 5, 4, 6, 7, 1, 5, 7, 3, 0, 1, 3, 2, 3, 7, 6, 2]
normal3f[] normals = [(0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (1, 0, 0), (1, 0, 0), (1, 0, 0), (1, 0, 0), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (-1, 0, 0), (-1, 0, 0), (-1, 0, 0), (-1, 0, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0)] (
interpolation = "faceVarying"
)
point3f[] points = [(-50, -50, -50), (-50, -50, 50), (-50, 50, -50), (-50, 50, 50), (50, -50, -50), (50, -50, 50), (50, 50, -50), (50, 50, 50)]
float2[] primvars:st = [(0, 0), (1, 0), (1, 1), (0, 1), (0, 0), (1, 0), (1, 1), (0, 1), (0, 0), (1, 0), (1, 1), (0, 1), (0, 0), (1, 0), (1, 1), (0, 1), (0, 0), (1, 0), (1, 1), (0, 1), (0, 0), (1, 0), (1, 1), (0, 1)] (
interpolation = "faceVarying"
)
string semantic:Semantics:params:semanticData = "0"
string semantic:Semantics:params:semanticType = "class"
uniform token subdivisionScheme = "none"
double3 xformOp:rotateZYX = (0, 0, 0)
double3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (250, 0, -33.879526)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateZYX", "xformOp:scale"]
}
def Mesh "Cube_25" (
prepend apiSchemas = ["SemanticsAPI:Semantics"]
kind = "model"
)
{
int[] faceVertexCounts = [4, 4, 4, 4, 4, 4]
int[] faceVertexIndices = [0, 4, 5, 1, 4, 0, 2, 6, 5, 4, 6, 7, 1, 5, 7, 3, 0, 1, 3, 2, 3, 7, 6, 2]
normal3f[] normals = [(0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (1, 0, 0), (1, 0, 0), (1, 0, 0), (1, 0, 0), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (-1, 0, 0), (-1, 0, 0), (-1, 0, 0), (-1, 0, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0)] (
interpolation = "faceVarying"
)
point3f[] points = [(-50, -50, -50), (-50, -50, 50), (-50, 50, -50), (-50, 50, 50), (50, -50, -50), (50, -50, 50), (50, 50, -50), (50, 50, 50)]
float2[] primvars:st = [(0, 0), (1, 0), (1, 1), (0, 1), (0, 0), (1, 0), (1, 1), (0, 1), (0, 0), (1, 0), (1, 1), (0, 1), (0, 0), (1, 0), (1, 1), (0, 1), (0, 0), (1, 0), (1, 1), (0, 1), (0, 0), (1, 0), (1, 1), (0, 1)] (
interpolation = "faceVarying"
)
string semantic:Semantics:params:semanticData = "25"
string semantic:Semantics:params:semanticType = "class"
uniform token subdivisionScheme = "none"
double3 xformOp:rotateZYX = (0, 0, 0)
double3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (150, 0, 1.671752)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateZYX", "xformOp:scale"]
}
def Mesh "Cube_75" (
prepend apiSchemas = ["SemanticsAPI:Semantics"]
kind = "model"
)
{
int[] faceVertexCounts = [4, 4, 4, 4, 4, 4]
int[] faceVertexIndices = [0, 4, 5, 1, 4, 0, 2, 6, 5, 4, 6, 7, 1, 5, 7, 3, 0, 1, 3, 2, 3, 7, 6, 2]
normal3f[] normals = [(0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (1, 0, 0), (1, 0, 0), (1, 0, 0), (1, 0, 0), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (-1, 0, 0), (-1, 0, 0), (-1, 0, 0), (-1, 0, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0)] (
interpolation = "faceVarying"
)
point3f[] points = [(-50, -50, -50), (-50, -50, 50), (-50, 50, -50), (-50, 50, 50), (50, -50, -50), (50, -50, 50), (50, 50, -50), (50, 50, 50)]
float2[] primvars:st = [(0, 0), (1, 0), (1, 1), (0, 1), (0, 0), (1, 0), (1, 1), (0, 1), (0, 0), (1, 0), (1, 1), (0, 1), (0, 0), (1, 0), (1, 1), (0, 1), (0, 0), (1, 0), (1, 1), (0, 1), (0, 0), (1, 0), (1, 1), (0, 1)] (
interpolation = "faceVarying"
)
string semantic:Semantics:params:semanticData = "75"
string semantic:Semantics:params:semanticType = "class"
uniform token subdivisionScheme = "none"
double3 xformOp:rotateZYX = (0, 0, 0)
double3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (25, 0, 66.267482)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateZYX", "xformOp:scale"]
}
}
|
eliabntt/GRADE-RR/isaac_internals/kit/extscore/omni.syntheticdata/omni/syntheticdata/tests/data/scenes/point_instancer_semantic_shapes.usda | #usda 1.0
(
customLayerData = {
dictionary cameraSettings = {
dictionary Front = {
double3 position = (0, 0, 50000)
double radius = 500
}
dictionary Perspective = {
double3 position = (25.320213923059804, 25.32022525282619, 25.32021392305995)
double3 target = (-0.000003978038350282986, 0.00000795607681425281, -0.0000039780382046217255)
}
dictionary Right = {
double3 position = (-50000, 0, 0)
double radius = 500
}
dictionary Top = {
double3 position = (0, 50000, 0)
double radius = 500
}
string boundCamera = "/OmniverseKit_Persp"
}
dictionary omni_layer = {
dictionary muteness = {
}
}
dictionary renderSettings = {
}
}
defaultPrim = "World"
endTimeCode = 100
metersPerUnit = 0.01
startTimeCode = 0
timeCodesPerSecond = 24
upAxis = "Y"
)
def Xform "World"
{
def Xform "prototypes"
{
token visibility = "invisible"
def Xform "Cone"
{
def Cone "Cone" (
prepend apiSchemas = ["SemanticsAPI:Semantics"]
)
{
string semantic:Semantics:params:semanticData = "cone_p"
string semantic:Semantics:params:semanticType = "class"
}
}
def Xform "Cube"
{
def Cube "Cube" (
prepend apiSchemas = ["SemanticsAPI:Semantics"]
)
{
string semantic:Semantics:params:semanticData = "cube_p"
string semantic:Semantics:params:semanticType = "class"
}
}
}
def PointInstancer "PI"
{
point3f[] positions = [(0, 10, 0), (10, 10, 0), (0, 10, 10), (10, 10, 10)]
int[] protoIndices = [0, 0, 0, 1]
rel prototypes = [
</World/PI/Xform/Cone>,
</World/PI/Xform/Cube>,
]
def Xform "Xform"
{
token visibility = "invisible"
def "Cone" (
prepend references = </World/prototypes/Cone>
)
{
}
def "Cube" (
prepend references = </World/prototypes/Cube>
)
{
}
}
}
}
def Xform "Environment"
{
double3 xformOp:rotateXYZ = (0, 0, 0)
double3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0, 0, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
def DistantLight "defaultLight" (
prepend apiSchemas = ["ShapingAPI"]
)
{
float angle = 1
float intensity = 3000
float shaping:cone:angle = 180
float shaping:cone:softness
float shaping:focus
color3f shaping:focusTint
asset shaping:ies:file
double3 xformOp:rotateXYZ = (315, 0, 0)
double3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0, 0, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
}
}
|
eliabntt/GRADE-RR/isaac_internals/kit/extscore/omni.syntheticdata/omni/syntheticdata/tests/data/scenes/cube_full_occlusion.usda | #usda 1.0
(
customLayerData = {
dictionary cameraSettings = {
dictionary Front = {
double3 position = (0, 0, 50000)
double radius = 500
}
dictionary Perspective = {
double3 position = (500, 500, 500)
double3 target = (-0.00000397803842133726, 0.000007956076785831101, -0.000003978038307650422)
}
dictionary Right = {
double3 position = (-50000, 0, 0)
double radius = 500
}
dictionary Top = {
double3 position = (0, 50000, 0)
double radius = 500
}
string boundCamera = "/OmniverseKit_Front"
}
dictionary omni_layer = {
dictionary muteness = {
}
}
dictionary renderSettings = {
float3 "rtx:debugView:pixelDebug:textColor" = (0, 1e18, 0)
float3 "rtx:dynamicDiffuseGI:probeCounts" = (6, 6, 6)
float3 "rtx:dynamicDiffuseGI:probeGridOrigin" = (-210, -250, -10)
float3 "rtx:dynamicDiffuseGI:volumeSize" = (600, 440, 300)
float3 "rtx:fog:fogColor" = (0.75, 0.75, 0.75)
float3 "rtx:raytracing:inscattering:singleScatteringAlbedo" = (0.9, 0.9, 0.9)
float3 "rtx:raytracing:inscattering:transmittanceColor" = (0.5, 0.5, 0.5)
float3 "rtx:sceneDb:ambientLightColor" = (0.1, 0.1, 0.1)
}
}
defaultPrim = "World"
endTimeCode = 100
metersPerUnit = 0.01
startTimeCode = 0
timeCodesPerSecond = 24
upAxis = "Y"
)
def Xform "World"
{
def Mesh "Cube"
{
int[] faceVertexCounts = [4, 4, 4, 4, 4, 4]
int[] faceVertexIndices = [0, 1, 3, 2, 0, 4, 5, 1, 1, 5, 6, 3, 2, 3, 6, 7, 0, 2, 7, 4, 4, 7, 6, 5]
normal3f[] normals = [(0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (1, 0, 0), (1, 0, 0), (1, 0, 0), (1, 0, 0), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (-1, 0, 0), (-1, 0, 0), (-1, 0, 0), (-1, 0, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0)] (
interpolation = "faceVarying"
)
point3f[] points = [(-50, -50, -50), (50, -50, -50), (-50, -50, 50), (50, -50, 50), (-50, 50, -50), (50, 50, -50), (50, 50, 50), (-50, 50, 50)]
float2[] primvars:st = [(1, 0), (0, 0), (0, 1), (1, 1), (1, 0), (1, 1), (0, 1), (0, 0), (1, 0), (0, 0), (0, 1), (1, 1), (1, 0), (0, 0), (0, 1), (1, 1), (1, 0), (1, 1), (0, 1), (0, 0), (1, 0), (1, 1), (0, 1), (0, 0)] (
interpolation = "faceVarying"
)
uniform token subdivisionScheme = "none"
double3 xformOp:rotateXYZ = (0, 0, 0)
double3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0, 0, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
}
def Mesh "Cube_01"
{
int[] faceVertexCounts = [4, 4, 4, 4, 4, 4]
int[] faceVertexIndices = [0, 1, 3, 2, 0, 4, 5, 1, 1, 5, 6, 3, 2, 3, 6, 7, 0, 2, 7, 4, 4, 7, 6, 5]
normal3f[] normals = [(0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (1, 0, 0), (1, 0, 0), (1, 0, 0), (1, 0, 0), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (-1, 0, 0), (-1, 0, 0), (-1, 0, 0), (-1, 0, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0)] (
interpolation = "faceVarying"
)
point3f[] points = [(-50, -50, -50), (50, -50, -50), (-50, -50, 50), (50, -50, 50), (-50, 50, -50), (50, 50, -50), (50, 50, 50), (-50, 50, 50)]
float2[] primvars:st = [(1, 0), (0, 0), (0, 1), (1, 1), (1, 0), (1, 1), (0, 1), (0, 0), (1, 0), (0, 0), (0, 1), (1, 1), (1, 0), (0, 0), (0, 1), (1, 1), (1, 0), (1, 1), (0, 1), (0, 0), (1, 0), (1, 1), (0, 1), (0, 0)] (
interpolation = "faceVarying"
)
uniform token subdivisionScheme = "none"
double3 xformOp:rotateXYZ = (0, 0, 0)
double3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0, 0, 150)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
}
}
def Xform "Environment"
{
double3 xformOp:rotateXYZ = (0, 0, 0)
double3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0, 0, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
def DistantLight "defaultLight" (
prepend apiSchemas = ["ShapingAPI"]
)
{
float angle = 1
float intensity = 3000
float shaping:cone:angle = 180
float shaping:cone:softness
float shaping:focus
color3f shaping:focusTint
asset shaping:ies:file
double3 xformOp:rotateXYZ = (315, 0, 0)
double3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0, 0, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
}
}
|
eliabntt/GRADE-RR/isaac_internals/kit/extscore/omni.syntheticdata/omni/syntheticdata/tests/data/scenes/BenchChair_SceneInstance_Mini.usda | #usda 1.0
(
customLayerData = {
dictionary audioSettings = {
double dopplerLimit = 2
double dopplerScale = 1
token enableDistanceDelay = "off"
token enableDoppler = "off"
double nonSpatialTimeScale = 1
double spatialTimeScale = 1
double speedOfSound = 340
}
dictionary cameraSettings = {
dictionary Front = {
double3 position = (0, 0, 1000)
double radius = 500
double3 target = (0, 0, 0)
}
dictionary Perspective = {
double3 position = (1980.5111035466489, 475.2360575421583, 2180.5243867717586)
double radius = 2676.7526261935177
double3 target = (435.0872419642733, -1070.1877671536854, 635.100525189383)
}
dictionary Right = {
double3 position = (-1000, 0, -2.220446049250313e-13)
double radius = 500
double3 target = (0, 0, 0)
}
dictionary Top = {
double3 position = (-8.659560562354932e-14, 1000, 2.220446049250313e-13)
double radius = 500
double3 target = (0, 0, 0)
}
string boundCamera = "/OmniverseKit_Persp"
}
dictionary omni_layer = {
dictionary muteness = {
}
}
dictionary renderSettings = {
}
}
defaultPrim = "World"
metersPerUnit = 0.009999999776482582
timeCodesPerSecond = 24
upAxis = "Y"
)
def Xform "World"
{
def DistantLight "defaultLight" (
prepend apiSchemas = ["ShapingAPI"]
kind = "model"
)
{
float angle = 1
float intensity = 3000
float shaping:cone:angle = 180
float shaping:cone:softness
float shaping:focus
color3f shaping:focusTint
asset shaping:ies:file
float3 xformOp:rotateZYX = (315, 0, 0)
float3 xformOp:translate = (0, 0, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateZYX"]
}
def Xform "Prototypes"
{
token visibility = "invisible"
def Xform "bench" (
prepend apiSchemas = ["SemanticsAPI:Semantics"]
instanceable = true
references = @./bench_golden.usd@
)
{
string semantic:Semantics:params:semanticData = "bench"
string semantic:Semantics:params:semanticType = "class"
}
def Xform "sofa" (
prepend apiSchemas = ["SemanticsAPI:Semantics"]
instanceable = true
references = @./sofa_golden.usd@
)
{
string semantic:Semantics:params:semanticData = "sofa"
string semantic:Semantics:params:semanticType = "class"
}
}
def "Objects"
{
def Xform "obj_667" (
prepend apiSchemas = ["SemanticsAPI:Semantics"]
instanceable = true
references = @./bench_golden.usd@
)
{
string semantic:Semantics:params:semanticData = "bench"
string semantic:Semantics:params:semanticType = "class"
float3 xformOp:scale = (100, 100, 100)
double3 xformOp:translate = (1334, 0, 1700)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:scale"]
}
def Xform "obj_716" (
prepend apiSchemas = ["SemanticsAPI:Semantics"]
instanceable = true
references = @./sofa_golden.usd@
)
{
string semantic:Semantics:params:semanticData = "sofa"
string semantic:Semantics:params:semanticType = "class"
float3 xformOp:scale = (100, 100, 100)
double3 xformOp:translate = (1432, 0, 1600)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:scale"]
}
def Xform "obj_717" (
prepend apiSchemas = ["SemanticsAPI:Semantics"]
instanceable = true
references = @./sofa_golden.usd@
)
{
string semantic:Semantics:params:semanticData = "sofa"
string semantic:Semantics:params:semanticType = "class"
float3 xformOp:scale = (100, 100, 100)
double3 xformOp:translate = (1434, 0, 1700)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:scale"]
}
def Xform "obj_767" (
prepend apiSchemas = ["SemanticsAPI:Semantics"]
instanceable = true
references = @./bench_golden.usd@
)
{
string semantic:Semantics:params:semanticData = "bench"
string semantic:Semantics:params:semanticType = "class"
float3 xformOp:scale = (100, 100, 100)
double3 xformOp:translate = (1534, 0, 1700)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:scale"]
}
}
}
|
eliabntt/GRADE-RR/isaac_internals/kit/extscore/omni.syntheticdata/omni/syntheticdata/tests/data/scenes/cross_correspondence.usda | #usda 1.0
(
customLayerData = {
dictionary cameraSettings = {
dictionary Front = {
double3 position = (0, 0, 50000)
double radius = 500
}
dictionary Perspective = {
double3 position = (500, 500, 499.99999999999983)
double3 target = (-1.1368683772161603e-13, -2.2737367544323206e-13, 2.8421709430404007e-13)
}
dictionary Right = {
double3 position = (-50000, 0, -1.1102230246251565e-11)
double radius = 500
}
dictionary Top = {
double3 position = (-4.329780281177466e-12, 50000, 1.1102230246251565e-11)
double radius = 500
}
string boundCamera = "/World/Cameras/CameraFisheyeLeft"
}
dictionary omni_layer = {
dictionary muteness = {
}
}
dictionary renderSettings = {
bool "rtx:directLighting:enabled" = 0
int "rtx:ecoMode:maxFramesWithoutChange" = 5
bool "rtx:hydra:enableSemanticSchema" = 1
bool "rtx:reflections:enabled" = 0
bool "rtx:translucency:enabled" = 0
bool "rtx:raytracing:autoToggleDenoiserSettings" = 0
bool "rtx:fishEye:useCubemap" = 1
}
}
defaultPrim = "World"
endTimeCode = 100
metersPerUnit = 0.01
startTimeCode = 0
timeCodesPerSecond = 24
upAxis = "Y"
)
def Xform "World"
{
def Scope "Cameras"
{
def Camera "CameraFisheyeLeft"
{
token cameraProjectionType = "fisheyePolynomial" (
allowedTokens = ["pinhole", "fisheyeOrthographic", "fisheyeEquidistant", "fisheyeEquisolid", "fisheyePolynomial", "fisheyeSpherical"]
)
string crossCameraReferenceName = "CameraFisheyeRight"
float focalLength = 24
float focusDistance = 400
float horizontalAperture = 20.955
float verticalAperture = 11.764211
double3 xformOp:rotateXYZ = (-10, 0, 0)
double3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (-10, 4, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
}
def Camera "CameraPinhole"
{
float focalLength = 24
float focusDistance = 400
float horizontalAperture = 20.955
float verticalAperture = 11.770693
double3 xformOp:rotateXYZ = (-9.999999999999982, -0, 0)
double3 xformOp:scale = (1, 0.9999999999999999, 0.9999999999999999)
double3 xformOp:translate = (10, 3.999999999999968, -1.4210854715202004e-14)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
}
def Camera "CameraFisheyeRight"
{
token cameraProjectionType = "fisheyePolynomial" (
allowedTokens = ["pinhole", "fisheyeOrthographic", "fisheyeEquidistant", "fisheyeEquisolid", "fisheyePolynomial", "fisheyeSpherical"]
)
string crossCameraReferenceName = "CameraFisheyeLeft"
float focalLength = 24
float focusDistance = 400
float horizontalAperture = 20.955
float verticalAperture = 11.807976
double3 xformOp:rotateXYZ = (-10, 0, 0)
double3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0, 4, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
}
}
def Mesh "Plane"
{
int[] faceVertexCounts = [4]
int[] faceVertexIndices = [0, 2, 3, 1]
rel material:binding = </World/Looks/OmniPBR_green> (
bindMaterialAs = "weakerThanDescendants"
)
normal3f[] normals = [(0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0)] (
interpolation = "faceVarying"
)
point3f[] points = [(-50, 0, -50), (50, 0, -50), (-50, 0, 50), (50, 0, 50)]
float2[] primvars:st = [(1, 0), (1, 1), (0, 1), (0, 0)] (
interpolation = "faceVarying"
)
uniform token subdivisionScheme = "none"
double3 xformOp:rotateXYZ = (0, 0, 0)
double3 xformOp:scale = (11.937299728393555, 1, 11.937299728393555)
double3 xformOp:translate = (0, -1.29846, -588.602)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
}
def Mesh "Cone"
{
int[] faceVertexCounts = [4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
int[] faceVertexIndices = [0, 32, 33, 1, 1, 33, 34, 2, 2, 34, 35, 3, 3, 35, 36, 4, 4, 36, 37, 5, 5, 37, 38, 6, 6, 38, 39, 7, 7, 39, 40, 8, 8, 40, 41, 9, 9, 41, 42, 10, 10, 42, 43, 11, 11, 43, 44, 12, 12, 44, 45, 13, 13, 45, 46, 14, 14, 46, 47, 15, 15, 47, 48, 16, 16, 48, 49, 17, 17, 49, 50, 18, 18, 50, 51, 19, 19, 51, 52, 20, 20, 52, 53, 21, 21, 53, 54, 22, 22, 54, 55, 23, 23, 55, 56, 24, 24, 56, 57, 25, 25, 57, 58, 26, 26, 58, 59, 27, 27, 59, 60, 28, 28, 60, 61, 29, 29, 61, 62, 30, 30, 62, 63, 31, 31, 63, 32, 0, 32, 64, 65, 33, 33, 65, 66, 34, 34, 66, 67, 35, 35, 67, 68, 36, 36, 68, 69, 37, 37, 69, 70, 38, 38, 70, 71, 39, 39, 71, 72, 40, 40, 72, 73, 41, 41, 73, 74, 42, 42, 74, 75, 43, 43, 75, 76, 44, 44, 76, 77, 45, 45, 77, 78, 46, 46, 78, 79, 47, 47, 79, 80, 48, 48, 80, 81, 49, 49, 81, 82, 50, 50, 82, 83, 51, 51, 83, 84, 52, 52, 84, 85, 53, 53, 85, 86, 54, 54, 86, 87, 55, 55, 87, 88, 56, 56, 88, 89, 57, 57, 89, 90, 58, 58, 90, 91, 59, 59, 91, 92, 60, 60, 92, 93, 61, 61, 93, 94, 62, 62, 94, 95, 63, 63, 95, 64, 32, 64, 96, 97, 65, 65, 97, 98, 66, 66, 98, 99, 67, 67, 99, 100, 68, 68, 100, 101, 69, 69, 101, 102, 70, 70, 102, 103, 71, 71, 103, 104, 72, 72, 104, 105, 73, 73, 105, 106, 74, 74, 106, 107, 75, 75, 107, 108, 76, 76, 108, 109, 77, 77, 109, 110, 78, 78, 110, 111, 79, 79, 111, 112, 80, 80, 112, 113, 81, 81, 113, 114, 82, 82, 114, 115, 83, 83, 115, 116, 84, 84, 116, 117, 85, 85, 117, 118, 86, 86, 118, 119, 87, 87, 119, 120, 88, 88, 120, 121, 89, 89, 121, 122, 90, 90, 122, 123, 91, 91, 123, 124, 92, 92, 124, 125, 93, 93, 125, 126, 94, 94, 126, 127, 95, 95, 127, 96, 64, 96, 128, 129, 97, 97, 129, 130, 98, 98, 130, 131, 99, 99, 131, 132, 100, 100, 132, 133, 101, 101, 133, 134, 102, 102, 134, 135, 103, 103, 135, 136, 104, 104, 136, 137, 105, 105, 137, 138, 106, 106, 138, 139, 107, 107, 139, 140, 108, 108, 140, 141, 109, 109, 141, 142, 110, 110, 142, 143, 111, 111, 143, 144, 112, 112, 144, 145, 113, 113, 145, 146, 114, 114, 146, 147, 115, 115, 147, 148, 116, 116, 148, 149, 117, 117, 149, 150, 118, 118, 150, 151, 119, 119, 151, 152, 120, 120, 152, 153, 121, 121, 153, 154, 122, 122, 154, 155, 123, 123, 155, 156, 124, 124, 156, 157, 125, 125, 157, 158, 126, 126, 158, 159, 127, 127, 159, 128, 96, 160, 161, 162, 160, 162, 163, 160, 163, 164, 160, 164, 165, 160, 165, 166, 160, 166, 167, 160, 167, 168, 160, 168, 169, 160, 169, 170, 160, 170, 171, 160, 171, 172, 160, 172, 173, 160, 173, 174, 160, 174, 175, 160, 175, 176, 160, 176, 177, 160, 177, 178, 160, 178, 179, 160, 179, 180, 160, 180, 181, 160, 181, 182, 160, 182, 183, 160, 183, 184, 160, 184, 185, 160, 185, 186, 160, 186, 187, 160, 187, 188, 160, 188, 189, 160, 189, 190, 160, 190, 191, 160, 191, 192, 160, 192, 161]
rel material:binding = </World/Looks/OmniPBR_blue> (
bindMaterialAs = "weakerThanDescendants"
)
normal3f[] normals = [(0.8944272, 0.4472136, 0), (0.89442724, 0.44721362, 0), (0.8772411, 0.44721362, 0.17449394), (0.877241, 0.4472136, 0.17449391), (0.877241, 0.4472136, 0.17449391), (0.8772411, 0.44721362, 0.17449394), (0.8263431, 0.4472136, 0.34228215), (0.8263431, 0.44721362, 0.34228215), (0.8263431, 0.44721362, 0.34228215), (0.8263431, 0.4472136, 0.34228215), (0.7436893, 0.4472136, 0.49691668), (0.74368936, 0.44721362, 0.4969167), (0.74368936, 0.44721362, 0.4969167), (0.7436893, 0.4472136, 0.49691668), (0.632456, 0.44721362, 0.63245505), (0.632456, 0.44721365, 0.63245505), (0.632456, 0.44721365, 0.63245505), (0.632456, 0.44721362, 0.63245505), (0.49691784, 0.4472136, 0.7436885), (0.49691784, 0.4472136, 0.7436885), (0.49691784, 0.4472136, 0.7436885), (0.49691784, 0.4472136, 0.7436885), (0.34228343, 0.4472136, 0.8263426), (0.34228346, 0.44721362, 0.8263426), (0.34228346, 0.44721362, 0.8263426), (0.34228343, 0.4472136, 0.8263426), (0.1744953, 0.4472136, 0.8772408), (0.17449528, 0.4472136, 0.8772408), (0.17449528, 0.4472136, 0.8772408), (0.1744953, 0.4472136, 0.8772408), (0.0000014049631, 0.44721362, 0.89442724), (0.0000014049629, 0.4472136, 0.8944272), (0.0000014049629, 0.4472136, 0.8944272), (0.0000014049631, 0.44721362, 0.89442724), (-0.17449255, 0.44721356, 0.8772414), (-0.17449254, 0.44721362, 0.8772414), (-0.17449254, 0.44721362, 0.8772414), (-0.17449255, 0.44721356, 0.8772414), (-0.34228083, 0.4472136, 0.82634366), (-0.34228083, 0.4472136, 0.82634366), (-0.34228083, 0.4472136, 0.82634366), (-0.34228083, 0.4472136, 0.82634366), (-0.4969155, 0.44721362, 0.74369013), (-0.49691552, 0.4472136, 0.74369013), (-0.49691552, 0.4472136, 0.74369013), (-0.4969155, 0.44721362, 0.74369013), (-0.63245404, 0.4472136, 0.632457), (-0.63245404, 0.4472136, 0.632457), (-0.63245404, 0.4472136, 0.632457), (-0.63245404, 0.4472136, 0.632457), (-0.74368775, 0.4472136, 0.496919), (-0.7436878, 0.44721362, 0.49691904), (-0.7436878, 0.44721362, 0.49691904), (-0.74368775, 0.4472136, 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0.24999975), (0.9062501, 0.4999995), (0.8750001, 0.4999995), (0.8750001, 0.24999975), (0.8750001, 0.24999975), (0.8750001, 0.4999995), (0.8437502, 0.4999995), (0.8437502, 0.24999975), (0.8437502, 0.24999975), (0.8437502, 0.4999995), (0.8125002, 0.4999995), (0.8125002, 0.24999975), (0.8125002, 0.24999975), (0.8125002, 0.4999995), (0.78125024, 0.4999995), (0.78125024, 0.24999975), (0.78125024, 0.24999975), (0.78125024, 0.4999995), (0.75000024, 0.4999995), (0.75000024, 0.24999975), (0.75000024, 0.24999975), (0.75000024, 0.4999995), (0.7187503, 0.4999995), (0.7187503, 0.24999975), (0.7187503, 0.24999975), (0.7187503, 0.4999995), (0.6875003, 0.4999995), (0.6875003, 0.24999975), (0.6875003, 0.24999975), (0.6875003, 0.4999995), (0.65625036, 0.4999995), (0.65625036, 0.24999975), (0.65625036, 0.24999975), (0.65625036, 0.4999995), (0.62500036, 0.4999995), (0.62500036, 0.24999975), (0.62500036, 0.24999975), (0.62500036, 0.4999995), (0.5937504, 0.4999995), (0.5937504, 0.24999975), (0.5937504, 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0.24999975), (0.28125072, 0.4999995), (0.25000075, 0.4999995), (0.25000075, 0.24999975), (0.25000075, 0.24999975), (0.25000075, 0.4999995), (0.21875077, 0.4999995), (0.21875077, 0.24999975), (0.21875077, 0.24999975), (0.21875077, 0.4999995), (0.18750082, 0.4999995), (0.18750082, 0.24999975), (0.18750082, 0.24999975), (0.18750082, 0.4999995), (0.15625085, 0.4999995), (0.15625085, 0.24999975), (0.15625085, 0.24999975), (0.15625085, 0.4999995), (0.12500088, 0.4999995), (0.12500088, 0.24999975), (0.12500088, 0.24999975), (0.12500088, 0.4999995), (0.09375091, 0.4999995), (0.09375091, 0.24999975), (0.09375091, 0.24999975), (0.09375091, 0.4999995), (0.06250094, 0.4999995), (0.06250094, 0.24999975), (0.06250094, 0.24999975), (0.06250094, 0.4999995), (0.03125097, 0.4999995), (0.03125097, 0.24999975), (0.03125097, 0.24999975), (0.03125097, 0.4999995), (0, 0.4999995), (0, 0.24999975), (1, 0.4999995), (1, 0.7499992), (0.96875006, 0.7499992), (0.96875006, 0.4999995), (0.96875006, 0.4999995), (0.96875006, 0.7499992), (0.93750006, 0.7499992), (0.93750006, 0.4999995), (0.93750006, 0.4999995), (0.93750006, 0.7499992), (0.9062501, 0.7499992), (0.9062501, 0.4999995), (0.9062501, 0.4999995), (0.9062501, 0.7499992), (0.8750001, 0.7499992), (0.8750001, 0.4999995), (0.8750001, 0.4999995), (0.8750001, 0.7499992), (0.8437502, 0.7499992), (0.8437502, 0.4999995), (0.8437502, 0.4999995), (0.8437502, 0.7499992), (0.8125002, 0.7499992), (0.8125002, 0.4999995), (0.8125002, 0.4999995), (0.8125002, 0.7499992), (0.78125024, 0.7499992), (0.78125024, 0.4999995), (0.78125024, 0.4999995), (0.78125024, 0.7499992), (0.75000024, 0.7499992), (0.75000024, 0.4999995), (0.75000024, 0.4999995), (0.75000024, 0.7499992), (0.7187503, 0.7499992), (0.7187503, 0.4999995), (0.7187503, 0.4999995), (0.7187503, 0.7499992), (0.6875003, 0.7499992), (0.6875003, 0.4999995), (0.6875003, 0.4999995), (0.6875003, 0.7499992), (0.65625036, 0.7499992), (0.65625036, 0.4999995), (0.65625036, 0.4999995), (0.65625036, 0.7499992), (0.62500036, 0.7499992), (0.62500036, 0.4999995), (0.62500036, 0.4999995), (0.62500036, 0.7499992), (0.5937504, 0.7499992), (0.5937504, 0.4999995), (0.5937504, 0.4999995), (0.5937504, 0.7499992), (0.5625004, 0.7499992), (0.5625004, 0.4999995), (0.5625004, 0.4999995), (0.5625004, 0.7499992), (0.5312505, 0.7499992), (0.5312505, 0.4999995), (0.5312505, 0.4999995), (0.5312505, 0.7499992), (0.5000005, 0.7499992), (0.5000005, 0.4999995), (0.5000005, 0.4999995), (0.5000005, 0.7499992), (0.46875054, 0.7499992), (0.46875054, 0.4999995), (0.46875054, 0.4999995), (0.46875054, 0.7499992), (0.43750057, 0.7499992), (0.43750057, 0.4999995), (0.43750057, 0.4999995), (0.43750057, 0.7499992), (0.4062506, 0.7499992), (0.4062506, 0.4999995), (0.4062506, 0.4999995), (0.4062506, 0.7499992), (0.37500063, 0.7499992), (0.37500063, 0.4999995), (0.37500063, 0.4999995), (0.37500063, 0.7499992), (0.34375066, 0.7499992), (0.34375066, 0.4999995), (0.34375066, 0.4999995), (0.34375066, 0.7499992), (0.3125007, 0.7499992), (0.3125007, 0.4999995), (0.3125007, 0.4999995), (0.3125007, 0.7499992), (0.28125072, 0.7499992), (0.28125072, 0.4999995), (0.28125072, 0.4999995), (0.28125072, 0.7499992), (0.25000075, 0.7499992), (0.25000075, 0.4999995), (0.25000075, 0.4999995), (0.25000075, 0.7499992), (0.21875077, 0.7499992), (0.21875077, 0.4999995), (0.21875077, 0.4999995), (0.21875077, 0.7499992), (0.18750082, 0.7499992), (0.18750082, 0.4999995), (0.18750082, 0.4999995), (0.18750082, 0.7499992), (0.15625085, 0.7499992), (0.15625085, 0.4999995), (0.15625085, 0.4999995), (0.15625085, 0.7499992), (0.12500088, 0.7499992), (0.12500088, 0.4999995), (0.12500088, 0.4999995), (0.12500088, 0.7499992), (0.09375091, 0.7499992), (0.09375091, 0.4999995), (0.09375091, 0.4999995), (0.09375091, 0.7499992), (0.06250094, 0.7499992), (0.06250094, 0.4999995), (0.06250094, 0.4999995), (0.06250094, 0.7499992), (0.03125097, 0.7499992), (0.03125097, 0.4999995), (0.03125097, 0.4999995), (0.03125097, 0.7499992), (0, 0.7499992), (0, 0.4999995), (1, 0.7499992), (1, 0.999999), (0.96875006, 0.999999), (0.96875006, 0.7499992), (0.96875006, 0.7499992), (0.96875006, 0.999999), (0.93750006, 0.999999), (0.93750006, 0.7499992), (0.93750006, 0.7499992), (0.93750006, 0.999999), (0.9062501, 0.999999), (0.9062501, 0.7499992), (0.9062501, 0.7499992), (0.9062501, 0.999999), (0.8750001, 0.999999), (0.8750001, 0.7499992), (0.8750001, 0.7499992), (0.8750001, 0.999999), (0.8437502, 0.999999), (0.8437502, 0.7499992), (0.8437502, 0.7499992), (0.8437502, 0.999999), (0.8125002, 0.999999), (0.8125002, 0.7499992), (0.8125002, 0.7499992), (0.8125002, 0.999999), (0.78125024, 0.999999), (0.78125024, 0.7499992), (0.78125024, 0.7499992), (0.78125024, 0.999999), (0.75000024, 0.999999), (0.75000024, 0.7499992), (0.75000024, 0.7499992), (0.75000024, 0.999999), (0.7187503, 0.999999), (0.7187503, 0.7499992), (0.7187503, 0.7499992), (0.7187503, 0.999999), (0.6875003, 0.999999), (0.6875003, 0.7499992), (0.6875003, 0.7499992), (0.6875003, 0.999999), (0.65625036, 0.999999), (0.65625036, 0.7499992), (0.65625036, 0.7499992), (0.65625036, 0.999999), (0.62500036, 0.999999), (0.62500036, 0.7499992), (0.62500036, 0.7499992), (0.62500036, 0.999999), (0.5937504, 0.999999), (0.5937504, 0.7499992), (0.5937504, 0.7499992), (0.5937504, 0.999999), (0.5625004, 0.999999), (0.5625004, 0.7499992), (0.5625004, 0.7499992), (0.5625004, 0.999999), (0.5312505, 0.999999), (0.5312505, 0.7499992), (0.5312505, 0.7499992), (0.5312505, 0.999999), (0.5000005, 0.999999), (0.5000005, 0.7499992), (0.5000005, 0.7499992), (0.5000005, 0.999999), (0.46875054, 0.999999), (0.46875054, 0.7499992), (0.46875054, 0.7499992), (0.46875054, 0.999999), (0.43750057, 0.999999), (0.43750057, 0.7499992), (0.43750057, 0.7499992), (0.43750057, 0.999999), (0.4062506, 0.999999), (0.4062506, 0.7499992), (0.4062506, 0.7499992), (0.4062506, 0.999999), (0.37500063, 0.999999), (0.37500063, 0.7499992), (0.37500063, 0.7499992), (0.37500063, 0.999999), (0.34375066, 0.999999), (0.34375066, 0.7499992), (0.34375066, 0.7499992), (0.34375066, 0.999999), (0.3125007, 0.999999), (0.3125007, 0.7499992), (0.3125007, 0.7499992), (0.3125007, 0.999999), (0.28125072, 0.999999), (0.28125072, 0.7499992), (0.28125072, 0.7499992), (0.28125072, 0.999999), (0.25000075, 0.999999), (0.25000075, 0.7499992), (0.25000075, 0.7499992), (0.25000075, 0.999999), (0.21875077, 0.999999), (0.21875077, 0.7499992), (0.21875077, 0.7499992), (0.21875077, 0.999999), (0.18750082, 0.999999), (0.18750082, 0.7499992), (0.18750082, 0.7499992), (0.18750082, 0.999999), (0.15625085, 0.999999), (0.15625085, 0.7499992), (0.15625085, 0.7499992), (0.15625085, 0.999999), (0.12500088, 0.999999), (0.12500088, 0.7499992), (0.12500088, 0.7499992), (0.12500088, 0.999999), (0.09375091, 0.999999), (0.09375091, 0.7499992), (0.09375091, 0.7499992), (0.09375091, 0.999999), (0.06250094, 0.999999), (0.06250094, 0.7499992), (0.06250094, 0.7499992), (0.06250094, 0.999999), (0.03125097, 0.999999), (0.03125097, 0.7499992), (0.03125097, 0.7499992), (0.03125097, 0.999999), (0, 0.999999), (0, 0.7499992), (0.5, 0.5), (1, 0.5), (0.9903927, 0.5975451), (0.5, 0.5), (0.9903927, 0.5975451), (0.9619398, 0.6913415), (0.5, 0.5), (0.9619398, 0.6913415), (0.91573495, 0.7777849), (0.5, 0.5), (0.91573495, 0.7777849), (0.85355365, 0.8535531), (0.5, 0.5), (0.85355365, 0.8535531), (0.77778554, 0.9157345), (0.5, 0.5), (0.77778554, 0.9157345), (0.69134223, 0.9619395), (0.5, 0.5), (0.69134223, 0.9619395), (0.59754586, 0.9903925), (0.5, 0.5), (0.59754586, 0.9903925), (0.5000008, 1), (0.5, 0.5), (0.5000008, 1), (0.40245572, 0.9903928), (0.5, 0.5), (0.40245572, 0.9903928), (0.3086592, 0.96194017), (0.5, 0.5), (0.3086592, 0.96194017), (0.22221579, 0.9157354), (0.5, 0.5), (0.22221579, 0.9157354), (0.14644744, 0.85355425), (0.5, 0.5), (0.14644744, 0.85355425), (0.0842659, 0.7777862), (0.5, 0.5), (0.0842659, 0.7777862), (0.03806076, 0.691343), (0.5, 0.5), (0.03806076, 0.691343), (0.009607648, 0.5975466), (0.5, 0.5), (0.009607648, 0.5975466), (2.4674152e-12, 0.50000155), (0.5, 0.5), (2.4674152e-12, 0.50000155), (0.009607034, 0.40245646), (0.5, 0.5), (0.009607034, 0.40245646), (0.03805956, 0.3086599), (0.5, 0.5), (0.03805956, 0.3086599), (0.08426416, 0.22221643), (0.5, 0.5), (0.08426416, 0.22221643), (0.14644521, 0.146448), (0.5, 0.5), (0.14644521, 0.146448), (0.22221316, 0.08426634), (0.5, 0.5), (0.22221316, 0.08426634), (0.30865628, 0.03806106), (0.5, 0.5), (0.30865628, 0.03806106), (0.40245262, 0.0096078), (0.5, 0.5), (0.40245262, 0.0096078), (0.49999765, 5.5516702e-12), (0.5, 0.5), (0.49999765, 5.5516702e-12), (0.59754276, 0.009606881), (0.5, 0.5), (0.59754276, 0.009606881), (0.6913394, 0.038059257), (0.5, 0.5), (0.6913394, 0.038059257), (0.7777829, 0.08426372), (0.5, 0.5), (0.7777829, 0.08426372), (0.85355145, 0.14644466), (0.5, 0.5), (0.85355145, 0.14644466), (0.9157332, 0.22221252), (0.5, 0.5), (0.9157332, 0.22221252), (0.9619386, 0.30865556), (0.5, 0.5), (0.9619386, 0.30865556), (0.990392, 0.40245184), (0.5, 0.5), (0.990392, 0.40245184), (1, 0.5)] (
interpolation = "faceVarying"
)
uniform token subdivisionScheme = "none"
double3 xformOp:rotateXYZ = (0, 0, 0)
double3 xformOp:scale = (0.03, 0.2, 0.029999999329447746)
double3 xformOp:translate = (-5.67828, 0, -4.58463)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
}
def Mesh "Cube"
{
int[] faceVertexCounts = [4, 4, 4, 4, 4, 4]
int[] faceVertexIndices = [0, 1, 3, 2, 0, 4, 5, 1, 1, 5, 6, 3, 2, 3, 6, 7, 0, 2, 7, 4, 4, 7, 6, 5]
normal3f[] normals = [(0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (1, 0, 0), (1, 0, 0), (1, 0, 0), (1, 0, 0), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (-1, 0, 0), (-1, 0, 0), (-1, 0, 0), (-1, 0, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0)] (
interpolation = "faceVarying"
)
point3f[] points = [(-50, -50, -50), (50, -50, -50), (-50, -50, 50), (50, -50, 50), (-50, 50, -50), (50, 50, -50), (50, 50, 50), (-50, 50, 50)]
float2[] primvars:st = [(1, 0), (0, 0), (0, 1), (1, 1), (1, 0), (1, 1), (0, 1), (0, 0), (1, 0), (0, 0), (0, 1), (1, 1), (1, 0), (0, 0), (0, 1), (1, 1), (1, 0), (1, 1), (0, 1), (0, 0), (1, 0), (1, 1), (0, 1), (0, 0)] (
interpolation = "faceVarying"
)
uniform token subdivisionScheme = "none"
double3 xformOp:rotateXYZ = (0, 0, 0)
double3 xformOp:scale = (0.30000001192092896, 0.029999999329447746, 0.029999999329447746)
double3 xformOp:translate = (-6.36188, 0, -8.10291)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
}
def Mesh "CubeBackground"
{
int[] faceVertexCounts = [4, 4, 4, 4, 4, 4]
int[] faceVertexIndices = [0, 1, 3, 2, 0, 4, 5, 1, 1, 5, 6, 3, 2, 3, 6, 7, 0, 2, 7, 4, 4, 7, 6, 5]
normal3f[] normals = [(0, -1, 0), (0, -1, 0), (0, -1, 0), (0, -1, 0), (0, 0, -1), (0, 0, -1), (0, 0, -1), (0, 0, -1), (1, 0, 0), (1, 0, 0), (1, 0, 0), (1, 0, 0), (0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1), (-1, 0, 0), (-1, 0, 0), (-1, 0, 0), (-1, 0, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0)] (
interpolation = "faceVarying"
)
point3f[] points = [(-50, -50, -50), (50, -50, -50), (-50, -50, 50), (50, -50, 50), (-50, 50, -50), (50, 50, -50), (50, 50, 50), (-50, 50, 50)]
float2[] primvars:st = [(1, 0), (0, 0), (0, 1), (1, 1), (1, 0), (1, 1), (0, 1), (0, 0), (1, 0), (0, 0), (0, 1), (1, 1), (1, 0), (0, 0), (0, 1), (1, 1), (1, 0), (1, 1), (0, 1), (0, 0), (1, 0), (1, 1), (0, 1), (0, 0)] (
interpolation = "faceVarying"
)
uniform token subdivisionScheme = "none"
double3 xformOp:rotateXYZ = (0, 0, 0)
double3 xformOp:scale = (20, 2, 1)
double3 xformOp:translate = (-6.36188, 0, -320)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
}
}
|
eliabntt/GRADE-RR/isaac_internals/kit/extscore/omni.syntheticdata/omni/syntheticdata/tests/data/scenes/maya2_atlas_road_tile_237_01.usd2.usda | #usda 1.0
(
defaultPrim = "atlas_road_tile_237_01_usd2"
upAxis = "Y"
)
def "atlas_road_tile_237_01_usd2" (
kind = "component"
)
{
def Xform "SceneNode" (
kind = "group"
)
{
def Xform "Tile_0_0Node" (
kind = "group"
)
{
def Xform "RoadsNode" (
kind = "group"
)
{
def Xform "Road_RoadNode" (
kind = "group"
)
{
def Mesh "Road_Road_Layer0Node" (
prepend apiSchemas = ["ShadowAPI"]
kind = "component"
)
{
bool primvars:materialFlattening_isBaseMesh = 1
float3[] extent = [(-35.747242, -0.095022194, -365.21683), (-7.774334, -3.3177234e-14, -265.1001)]
int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 4, 4, 4, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 4, 3, 4, 3, 4, 3, 3, 4, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
int[] faceVertexIndices = [0, 2, 1, 0, 3, 2, 0, 4, 3, 5, 4, 0, 6, 4, 5, 7, 6, 5, 6, 8, 4, 4, 8, 9, 4, 9, 3, 9, 10, 3, 9, 11, 10, 12, 11, 9, 8, 12, 9, 11, 12, 13, 11, 13, 14, 15, 11, 14, 15, 14, 16, 15, 16, 17, 10, 15, 17, 10, 17, 18, 10, 18, 3, 3, 18, 2, 10, 11, 15, 14, 127, 128, 16, 13, 131, 130, 14, 19, 133, 132, 13, 12, 19, 13, 20, 22, 21, 22, 20, 23, 24, 22, 23, 25, 24, 23, 26, 25, 23, 27, 26, 23, 27, 23, 20, 28, 27, 20, 29, 27, 28, 27, 30, 26, 30, 25, 26, 25, 31, 24, 25, 32, 31, 32, 33, 31, 31, 33, 34, 31, 34, 35, 24, 31, 35, 24, 35, 36, 37, 24, 36, 22, 24, 37, 35, 38, 36, 34, 38, 35, 39, 38, 34, 40, 39, 34, 33, 40, 34, 40, 134, 135, 39, 39, 135, 136, 39, 136, 137, 38, 38, 137, 138, 38, 138, 139, 41, 36, 38, 41, 41, 139, 140, 126, 43, 42, 125, 42, 43, 44, 43, 45, 44, 45, 46, 44, 44, 46, 47, 46, 48, 47, 47, 48, 49, 48, 50, 49, 49, 50, 51, 50, 52, 51, 52, 53, 51, 53, 54, 51, 55, 54, 53, 55, 56, 54, 55, 57, 56, 56, 57, 58, 57, 59, 58, 58, 59, 60, 59, 61, 60, 60, 61, 62, 61, 63, 62, 62, 63, 64, 63, 65, 64, 64, 65, 66, 65, 67, 66, 66, 67, 68, 67, 69, 68, 69, 70, 68, 71, 70, 69, 71, 72, 70, 73, 72, 71, 73, 71, 74, 75, 73, 74, 74, 76, 75, 77, 76, 74, 77, 74, 78, 78, 74, 79, 79, 74, 80, 80, 74, 71, 77, 81, 76, 81, 82, 76, 82, 83, 76, 76, 83, 84, 76, 84, 75, 84, 85, 75, 86, 85, 84, 83, 86, 84, 75, 85, 87, 75, 87, 88, 89, 75, 88, 75, 89, 90, 75, 90, 91, 75, 91, 73, 73, 91, 92, 73, 92, 93, 94, 73, 93, 95, 73, 94, 73, 95, 96, 73, 96, 97, 72, 73, 97, 72, 97, 98, 72, 98, 99, 72, 99, 100, 100, 99, 101, 99, 102, 101, 99, 103, 102, 98, 103, 99, 104, 103, 98, 97, 104, 98, 105, 104, 97, 97, 106, 105, 97, 107, 106, 97, 96, 107, 105, 108, 104, 104, 108, 109, 104, 109, 110, 104, 110, 111, 104, 111, 112, 104, 112, 113, 104, 113, 114, 104, 114, 115, 115, 116, 104, 104, 116, 103, 103, 116, 117, 103, 117, 102, 102, 117, 118, 118, 119, 102, 102, 119, 101, 116, 120, 117, 120, 121, 117, 87, 122, 88, 122, 87, 123, 124, 125, 42, 129, 127, 14, 130, 129, 14, 13, 132, 131]
rel material:binding = </atlas_road_tile_237_01_usd2/Looks/lambert>
# normal3f[] normals = [(-3.6485125e-22, -1, -6.1232144e-17), (7.529882e-22, -1, -6.1233e-17), (-6.1415184e-21, -1, -6.1231376e-17), (-3.6485125e-22, -1, -6.1232144e-17), (2.4111807e-22, -1, -6.123268e-17), (7.529882e-22, -1, -6.1233e-17), (-3.6485125e-22, -1, -6.1232144e-17), (-1.2104193e-23, -1, -6.1232594e-17), (2.4111807e-22, -1, -6.123268e-17), (4.05927e-22, -1, -6.1232124e-17), (-1.2104193e-23, -1, -6.1232594e-17), (-3.6485125e-22, -1, -6.1232144e-17), (-6.78704e-24, -1, -6.123258e-17), (-1.2104193e-23, -1, -6.1232594e-17), (4.05927e-22, -1, -6.1232124e-17), (6.6063483e-22, -1, -6.1232045e-17), (-6.78704e-24, -1, -6.123258e-17), (4.05927e-22, -1, -6.1232124e-17), (-6.78704e-24, -1, -6.123258e-17), (2.1114811e-22, -1, -6.123226e-17), (-1.2104193e-23, -1, -6.1232594e-17), (-1.2104193e-23, -1, -6.1232594e-17), (2.1114811e-22, -1, -6.123226e-17), (1.1864844e-22, -1, -6.1232296e-17), (-1.2104193e-23, -1, -6.1232594e-17), (1.1864844e-22, -1, -6.1232296e-17), (2.4111807e-22, -1, -6.123268e-17), (1.1864844e-22, -1, -6.1232296e-17), (-8.300981e-23, -1, -6.1232276e-17), (2.4111807e-22, -1, -6.123268e-17), (1.1864844e-22, -1, -6.1232296e-17), (9.958789e-24, -1, -6.123247e-17), (-8.300981e-23, -1, -6.1232276e-17), (3.651635e-23, -1, -6.123238e-17), (9.958789e-24, -1, -6.123247e-17), (1.1864844e-22, -1, -6.1232296e-17), (2.1114811e-22, -1, -6.123226e-17), (3.651635e-23, -1, -6.123238e-17), (1.1864844e-22, -1, -6.1232296e-17), (9.958789e-24, -1, -6.123247e-17), (3.651635e-23, -1, -6.123238e-17), (5.660923e-23, -1, -6.1232554e-17), (9.958789e-24, -1, -6.123247e-17), (5.660923e-23, -1, -6.1232554e-17), (-1.2073672e-23, -1, -6.123245e-17), (-2.1764144e-23, -1, -6.123258e-17), (9.958789e-24, -1, -6.123247e-17), (-1.2073672e-23, -1, -6.123245e-17), (-2.1764144e-23, -1, -6.123258e-17), (-1.2073672e-23, -1, -6.123245e-17), (-8.427858e-22, -1, -6.1232243e-17), (-2.1764144e-23, -1, -6.123258e-17), (-8.427858e-22, -1, -6.1232243e-17), (-2.2203574e-22, -1, -6.1232396e-17), (-8.300981e-23, -1, -6.1232276e-17), (-2.1764144e-23, -1, -6.123258e-17), (-2.2203574e-22, -1, -6.1232396e-17), (-8.300981e-23, -1, -6.1232276e-17), (-2.2203574e-22, -1, -6.1232396e-17), (-1.2202113e-21, -1, -6.1232296e-17), (-8.300981e-23, -1, -6.1232276e-17), (-1.2202113e-21, -1, -6.1232296e-17), (2.4111807e-22, -1, -6.123268e-17), (2.4111807e-22, -1, -6.123268e-17), (-1.2202113e-21, -1, -6.1232296e-17), (7.529882e-22, -1, -6.1233e-17), (-8.300981e-23, -1, -6.1232276e-17), (9.958789e-24, -1, -6.123247e-17), (-2.1764144e-23, -1, -6.123258e-17), (-1.2073672e-23, -1, -6.123245e-17), (-1.2618686e-21, -1, -6.123295e-17), (-1.8251399e-21, -1, -6.123253e-17), (-8.427858e-22, -1, -6.1232243e-17), (5.660923e-23, -1, -6.1232554e-17), (1.8698818e-22, -1, -6.1232614e-17), (2.3010313e-22, -1, -6.123252e-17), (-1.2073672e-23, -1, -6.123245e-17), (-2.919419e-23, -1, -6.123274e-17), (-6.215274e-23, -1, -6.123288e-17), (-4.924853e-23, -1, -6.1232806e-17), (5.660923e-23, -1, -6.1232554e-17), (3.651635e-23, -1, -6.123238e-17), (-2.919419e-23, -1, -6.123274e-17), (5.660923e-23, -1, -6.1232554e-17), (4.1524664e-22, -1, -6.123251e-17), (-5.2696045e-22, -1, -6.123212e-17), (6.1782586e-22, -1, -6.1232316e-17), (-5.2696045e-22, -1, -6.123212e-17), (4.1524664e-22, -1, -6.123251e-17), (-2.509189e-22, -1, -6.123247e-17), (-9.267729e-23, -1, -6.123226e-17), (-5.2696045e-22, -1, -6.123212e-17), (-2.509189e-22, -1, -6.123247e-17), (-3.6432934e-25, -1, -6.123283e-17), (-9.267729e-23, -1, -6.123226e-17), (-2.509189e-22, -1, -6.123247e-17), (-1.7392807e-22, -1, -6.123247e-17), (-3.6432934e-25, -1, -6.123283e-17), (-2.509189e-22, -1, -6.123247e-17), (3.3923922e-22, -1, -6.1232846e-17), (-1.7392807e-22, -1, -6.123247e-17), (-2.509189e-22, -1, -6.123247e-17), (3.3923922e-22, -1, -6.1232846e-17), (-2.509189e-22, -1, -6.123247e-17), (4.1524664e-22, -1, -6.123251e-17), (-7.027061e-23, -1, -6.123144e-17), (3.3923922e-22, -1, -6.1232846e-17), (4.1524664e-22, -1, -6.123251e-17), (-1.5260621e-21, -1, -6.1233236e-17), (3.3923922e-22, -1, -6.1232846e-17), (-7.027061e-23, -1, -6.123144e-17), (3.3923922e-22, -1, -6.1232846e-17), (-1.1997939e-21, -1, -6.123334e-17), (-1.7392807e-22, -1, -6.123247e-17), (-1.1997939e-21, -1, -6.123334e-17), (-3.6432934e-25, -1, -6.123283e-17), (-1.7392807e-22, -1, -6.123247e-17), (-3.6432934e-25, -1, -6.123283e-17), (-2.6044332e-22, -1, -6.123202e-17), (-9.267729e-23, -1, -6.123226e-17), (-3.6432934e-25, -1, -6.123283e-17), (-1.0744059e-21, -1, -6.123282e-17), (-2.6044332e-22, -1, -6.123202e-17), (-1.0744059e-21, -1, -6.123282e-17), (-1.2274267e-21, -1, -6.123218e-17), (-2.6044332e-22, -1, -6.123202e-17), (-2.6044332e-22, -1, -6.123202e-17), (-1.2274267e-21, -1, -6.123218e-17), (5.567601e-23, -1, -6.123245e-17), (-2.6044332e-22, -1, -6.123202e-17), (5.567601e-23, -1, -6.123245e-17), (-8.533897e-23, -1, -6.123256e-17), (-9.267729e-23, -1, -6.123226e-17), (-2.6044332e-22, -1, -6.123202e-17), (-8.533897e-23, -1, -6.123256e-17), (-9.267729e-23, -1, -6.123226e-17), (-8.533897e-23, -1, -6.123256e-17), (-6.5070306e-22, -1, -6.123245e-17), (0, -1, -6.123225e-17), (-9.267729e-23, -1, -6.123226e-17), (-6.5070306e-22, -1, -6.123245e-17), (-5.2696045e-22, -1, -6.123212e-17), (-9.267729e-23, -1, -6.123226e-17), (0, -1, -6.123225e-17), (-8.533897e-23, -1, -6.123256e-17), (-2.9179283e-22, -1, -6.123202e-17), (-6.5070306e-22, -1, -6.123245e-17), (5.567601e-23, -1, -6.123245e-17), (-2.9179283e-22, -1, -6.123202e-17), (-8.533897e-23, -1, -6.123256e-17), (-5.4073646e-24, -1, -6.1232144e-17), (-2.9179283e-22, -1, -6.123202e-17), (5.567601e-23, -1, -6.123245e-17), (-3.0518842e-22, -1, -6.1232085e-17), (-5.4073646e-24, -1, -6.1232144e-17), (5.567601e-23, -1, -6.123245e-17), (-1.2274267e-21, -1, -6.123218e-17), (-3.0518842e-22, -1, -6.1232085e-17), (5.567601e-23, -1, -6.123245e-17), (-3.0518842e-22, -1, -6.1232085e-17), (-6.3589767e-22, -1, -6.123223e-17), (-5.249384e-22, -1, -6.1232316e-17), (-5.4073646e-24, -1, -6.1232144e-17), (-5.4073646e-24, -1, -6.1232144e-17), (-5.249384e-22, -1, -6.1232316e-17), (1.8075093e-22, -1, -6.123122e-17), (-5.4073646e-24, -1, -6.1232144e-17), (1.8075093e-22, -1, -6.123122e-17), (4.2133902e-22, -1, -6.1231376e-17), (-2.9179283e-22, -1, -6.123202e-17), (-2.9179283e-22, -1, -6.123202e-17), (4.2133902e-22, -1, -6.1231376e-17), (-2.4263678e-23, -1, -6.123272e-17), (-2.9179283e-22, -1, -6.123202e-17), (-2.4263678e-23, -1, -6.123272e-17), (-6.469645e-22, -1, -6.123231e-17), (-7.7175103e-22, -1, -6.123143e-17), (-6.5070306e-22, -1, -6.123245e-17), (-2.9179283e-22, -1, -6.123202e-17), (-7.7175103e-22, -1, -6.123143e-17), (-7.7175103e-22, -1, -6.123143e-17), (-6.469645e-22, -1, -6.123231e-17), (0, -1, -6.123195e-17), (0.00045326314, -0.9999712, 0.007577902), (0.00042736702, -0.9999752, 0.0070428797), (0.00045143615, -0.9999751, 0.007046324), (0.0004548705, -0.9999712, 0.0075880517), (0.00045143615, -0.9999751, 0.007046324), (0.00042736702, -0.9999752, 0.0070428797), (0.00039287584, -0.99998075, 0.0062020435), (0.00042736702, -0.9999752, 0.0070428797), (0.00037355695, -0.99998057, 0.006235507), (0.00039287584, -0.99998075, 0.0062020435), (0.00037355695, -0.99998057, 0.006235507), (0.00030642014, -0.99998564, 0.0053476244), (0.00039287584, -0.99998075, 0.0062020435), (0.00039287584, -0.99998075, 0.0062020435), (0.00030642014, -0.99998564, 0.0053476244), (0.00031123572, -0.99998766, 0.004964043), (0.00030642014, -0.99998564, 0.0053476244), (0.00016780948, -0.9999923, 0.0039284313), (0.00031123572, -0.99998766, 0.004964043), (0.00031123572, -0.99998766, 0.004964043), (0.00016780948, -0.9999923, 0.0039284313), (0.00025444385, -0.99999577, 0.0029239277), (0.00016780948, -0.9999923, 0.0039284313), (0.00016328246, -0.9999963, 0.0027547868), (0.00025444385, -0.99999577, 0.0029239277), (0.00025444385, -0.99999577, 0.0029239277), (0.00016328246, -0.9999963, 0.0027547868), (0.0002604198, -0.9999976, 0.0021712906), (0.00016328246, -0.9999963, 0.0027547868), (0.00012358239, -0.99999875, 0.0016435258), (0.0002604198, -0.9999976, 0.0021712906), (0.00012358239, -0.99999875, 0.0016435258), (0.00002970595, -0.9999995, 0.001075443), (0.0002604198, -0.9999976, 0.0021712906), (0.00002970595, -0.9999995, 0.001075443), (0.0000016438415, -0.9999998, 0.0007153118), (0.0002604198, -0.9999976, 0.0021712906), (0.0000039594647, -0.99999976, 0.0007448297), (0.0000016438415, -0.9999998, 0.0007153118), (0.00002970595, -0.9999995, 0.001075443), (0.0000039594647, -0.99999976, 0.0007448297), (0.000014449269, -0.9999998, 0.0006479358), (0.0000016438415, -0.9999998, 0.0007153118), (0.0000039594647, -0.99999976, 0.0007448297), (0.000010262533, -0.99999976, 0.00068328646), (0.000014449269, -0.9999998, 0.0006479358), (0.000014449269, -0.9999998, 0.0006479358), (0.000010262533, -0.99999976, 0.00068328646), (0.000015461319, -0.9999999, 0.0005679259), (0.000010262533, -0.99999976, 0.00068328646), (0.00001982972, -0.99999994, 0.00057249767), (0.000015461319, -0.9999999, 0.0005679259), (0.000015461319, -0.9999999, 0.0005679259), (0.00001982972, -0.99999994, 0.00057249767), (0.0000150695105, -0.99999994, 0.00045836007), (0.00001982972, -0.99999994, 0.00057249767), (0.00002379181, -0.9999999, 0.00047548526), (0.0000150695105, -0.99999994, 0.00045836007), (0.0000150695105, -0.99999994, 0.00045836007), (0.00002379181, -0.9999999, 0.00047548526), (0.0000149502785, -0.99999994, 0.00035524007), (0.00002379181, -0.9999999, 0.00047548526), (0.000019594603, -1, 0.00037781993), (0.0000149502785, -0.99999994, 0.00035524007), (0.0000149502785, -0.99999994, 0.00035524007), (0.000019594603, -1, 0.00037781993), (0.000016491604, -1, 0.0002861417), (0.000019594603, -1, 0.00037781993), (0.00001686244, -1, 0.00028836742), (0.000016491604, -1, 0.0002861417), (0.000016491604, -1, 0.0002861417), (0.00001686244, -1, 0.00028836742), (0.000015013587, -1, 0.00021947335), (0.00001686244, -1, 0.00028836742), (0.00001391493, -1, 0.00021107642), (0.000015013587, -1, 0.00021947335), (0.000015013587, -1, 0.00021947335), (0.00001391493, -1, 0.00021107642), (0.000010226686, -1, 0.00010994751), (0.00001391493, -1, 0.00021107642), (0.000013909594, -1, 0.00012925663), (0.000010226686, -1, 0.00010994751), (0.000013909594, -1, 0.00012925663), (0.0000010018234, -1, 0.00003147856), (0.000010226686, -1, 0.00010994751), (0.000004974253, -1, 0.000032391978), (0.0000010018234, -1, 0.00003147856), (0.000013909594, -1, 0.00012925663), (0.000004974253, -1, 0.000032391978), (-0.0000029387127, -1, 0.000002435062), (0.0000010018234, -1, 0.00003147856), (-0.0000017330298, -1, 0.0000038507283), (-0.0000029387127, -1, 0.000002435062), (0.000004974253, -1, 0.000032391978), (-0.0000017330298, -1, 0.0000038507283), (0.000004974253, -1, 0.000032391978), (9.0721767e-7, -1, 0.0000038868097), (-3.0532189e-22, -1, -6.122932e-17), (-0.0000017330298, -1, 0.0000038507283), (9.0721767e-7, -1, 0.0000038868097), (9.0721767e-7, -1, 0.0000038868097), (-8.736974e-22, -1, -6.123366e-17), (-3.0532189e-22, -1, -6.122932e-17), (-1.2263052e-21, -1, -6.123231e-17), (-8.736974e-22, -1, -6.123366e-17), (9.0721767e-7, -1, 0.0000038868097), (-1.2263052e-21, -1, -6.123231e-17), (9.0721767e-7, -1, 0.0000038868097), (7.8324815e-22, -1, -6.1233176e-17), (7.8324815e-22, -1, -6.1233176e-17), (9.0721767e-7, -1, 0.0000038868097), (-9.417867e-22, -1, -6.123014e-17), (-9.417867e-22, -1, -6.123014e-17), (9.0721767e-7, -1, 0.0000038868097), (0.00007594335, -1, 0.000022449161), (0.00007594335, -1, 0.000022449161), (9.0721767e-7, -1, 0.0000038868097), (0.000004974253, -1, 0.000032391978), (-1.2263052e-21, -1, -6.123231e-17), (2.3896725e-21, -1, -6.123334e-17), (-8.736974e-22, -1, -6.123366e-17), (2.3896725e-21, -1, -6.123334e-17), (7.2088654e-22, -1, -6.123202e-17), (-8.736974e-22, -1, -6.123366e-17), (7.2088654e-22, -1, -6.123202e-17), (9.265542e-22, -1, -6.1230245e-17), (-8.736974e-22, -1, -6.123366e-17), (-8.736974e-22, -1, -6.123366e-17), (9.265542e-22, -1, -6.1230245e-17), (5.03548e-22, -1, -6.1233e-17), (-8.736974e-22, -1, -6.123366e-17), (5.03548e-22, -1, -6.1233e-17), (-3.0532189e-22, -1, -6.122932e-17), (5.03548e-22, -1, -6.1233e-17), (-1.128467e-22, -1, -6.12292e-17), (-3.0532189e-22, -1, -6.122932e-17), (1.9892324e-22, -1, -6.123038e-17), (-1.128467e-22, -1, -6.12292e-17), (5.03548e-22, -1, -6.1233e-17), (9.265542e-22, -1, -6.1230245e-17), (1.9892324e-22, -1, -6.123038e-17), (5.03548e-22, -1, -6.1233e-17), (-3.0532189e-22, -1, -6.122932e-17), (-1.128467e-22, -1, -6.12292e-17), (-3.4962674e-22, -1, -6.1222066e-17), (-3.0532189e-22, -1, -6.122932e-17), (-3.4962674e-22, -1, -6.1222066e-17), (-2.169195e-21, -1, -6.130378e-17), (-9.133292e-22, -1, -6.124258e-17), (-3.0532189e-22, -1, -6.122932e-17), (-2.169195e-21, -1, -6.130378e-17), (-3.0532189e-22, -1, -6.122932e-17), (-9.133292e-22, -1, -6.124258e-17), (1.2418912e-21, -1, -6.1227935e-17), (-3.0532189e-22, -1, -6.122932e-17), (1.2418912e-21, -1, -6.1227935e-17), (4.168579e-22, -1, -6.12341e-17), (-3.0532189e-22, -1, -6.122932e-17), (4.168579e-22, -1, -6.12341e-17), (-0.0000017330298, -1, 0.0000038507283), (-0.0000017330298, -1, 0.0000038507283), (4.168579e-22, -1, -6.12341e-17), (1.1130442e-20, -1, -6.123129e-17), (-0.0000017330298, -1, 0.0000038507283), (1.1130442e-20, -1, -6.123129e-17), (-7.282593e-21, -1, -6.123089e-17), (1.1818559e-20, -1, -6.123561e-17), (-0.0000017330298, -1, 0.0000038507283), (-7.282593e-21, -1, -6.123089e-17), (1.5978871e-21, -1, -6.1226294e-17), (-0.0000017330298, -1, 0.0000038507283), (1.1818559e-20, -1, -6.123561e-17), (-0.0000017330298, -1, 0.0000038507283), (1.5978871e-21, -1, -6.1226294e-17), (-2.9951134e-21, -1, -6.1230834e-17), (-0.0000017330298, -1, 0.0000038507283), (-2.9951134e-21, -1, -6.1230834e-17), (-4.5947116e-22, -1, -6.1236796e-17), (-0.0000029387127, -1, 0.000002435062), (-0.0000017330298, -1, 0.0000038507283), (-4.5947116e-22, -1, -6.1236796e-17), (-0.0000029387127, -1, 0.000002435062), (-4.5947116e-22, -1, -6.1236796e-17), (3.8458118e-22, -1, -6.1231595e-17), (-0.0000029387127, -1, 0.000002435062), (3.8458118e-22, -1, -6.1231595e-17), (9.920974e-23, -1, -6.1231376e-17), (-0.0000029387127, -1, 0.000002435062), (9.920974e-23, -1, -6.1231376e-17), (1.647227e-21, -1, -6.1231324e-17), (1.647227e-21, -1, -6.1231324e-17), (9.920974e-23, -1, -6.1231376e-17), (6.9372415e-21, -1, -6.1231515e-17), (9.920974e-23, -1, -6.1231376e-17), (1.6821686e-22, -1, -6.123207e-17), (6.9372415e-21, -1, -6.1231515e-17), (9.920974e-23, -1, -6.1231376e-17), (-8.241473e-23, -1, -6.1230834e-17), (1.6821686e-22, -1, -6.123207e-17), (3.8458118e-22, -1, -6.1231595e-17), (-8.241473e-23, -1, -6.1230834e-17), (9.920974e-23, -1, -6.1231376e-17), (6.166056e-23, -1, -6.1235916e-17), (-8.241473e-23, -1, -6.1230834e-17), (3.8458118e-22, -1, -6.1231595e-17), (-4.5947116e-22, -1, -6.1236796e-17), (6.166056e-23, -1, -6.1235916e-17), (3.8458118e-22, -1, -6.1231595e-17), (5.732337e-21, -1, -6.1231906e-17), (6.166056e-23, -1, -6.1235916e-17), (-4.5947116e-22, -1, -6.1236796e-17), (-4.5947116e-22, -1, -6.1236796e-17), (1.7086884e-20, -1, -6.122272e-17), (5.732337e-21, -1, -6.1231906e-17), (-4.5947116e-22, -1, -6.1236796e-17), (-2.0554433e-20, -1, -6.123802e-17), (1.7086884e-20, -1, -6.122272e-17), (-4.5947116e-22, -1, -6.1236796e-17), (-2.9951134e-21, -1, -6.1230834e-17), (-2.0554433e-20, -1, -6.123802e-17), (5.732337e-21, -1, -6.1231906e-17), (9.2962814e-21, -1, -6.116485e-17), (6.166056e-23, -1, -6.1235916e-17), (6.166056e-23, -1, -6.1235916e-17), (9.2962814e-21, -1, -6.116485e-17), (3.8106902e-21, -1, -6.131878e-17), (6.166056e-23, -1, -6.1235916e-17), (3.8106902e-21, -1, -6.131878e-17), (9.364407e-21, -1, -6.1209546e-17), (6.166056e-23, -1, -6.1235916e-17), (9.364407e-21, -1, -6.1209546e-17), (0, -1, -6.120703e-17), (6.166056e-23, -1, -6.1235916e-17), (0, -1, -6.120703e-17), (0, -1, -6.1232045e-17), (6.166056e-23, -1, -6.1235916e-17), (0, -1, -6.1232045e-17), (0, -1, -6.122133e-17), (6.166056e-23, -1, -6.1235916e-17), (0, -1, -6.122133e-17), (0, -1, -6.1240694e-17), (6.166056e-23, -1, -6.1235916e-17), (0, -1, -6.1240694e-17), (0, -1, -6.1268136e-17), (0, -1, -6.1268136e-17), (0, -1, -6.122661e-17), (6.166056e-23, -1, -6.1235916e-17), (6.166056e-23, -1, -6.1235916e-17), (0, -1, -6.122661e-17), (-8.241473e-23, -1, -6.1230834e-17), (-8.241473e-23, -1, -6.1230834e-17), (0, -1, -6.122661e-17), (-2.2994144e-22, -1, -6.122786e-17), (-8.241473e-23, -1, -6.1230834e-17), (-2.2994144e-22, -1, -6.122786e-17), (1.6821686e-22, -1, -6.123207e-17), (1.6821686e-22, -1, -6.123207e-17), (-2.2994144e-22, -1, -6.122786e-17), (0, -1, -6.123522e-17), (0, -1, -6.123522e-17), (2.3544923e-21, -1, -6.123149e-17), (1.6821686e-22, -1, -6.123207e-17), (1.6821686e-22, -1, -6.123207e-17), (2.3544923e-21, -1, -6.123149e-17), (6.9372415e-21, -1, -6.1231515e-17), (0, -1, -6.122661e-17), (0, -1, -6.1240654e-17), (-2.2994144e-22, -1, -6.122786e-17), (0, -1, -6.1240654e-17), (0, -1, -6.130486e-17), (-2.2994144e-22, -1, -6.122786e-17), (-3.4962674e-22, -1, -6.1222066e-17), (-8.0590747e-22, -1, -6.13189e-17), (-2.169195e-21, -1, -6.130378e-17), (-8.0590747e-22, -1, -6.13189e-17), (-3.4962674e-22, -1, -6.1222066e-17), (-3.0164833e-21, -1, -6.1218525e-17), (0.00052958913, -0.9999674, 0.008059868), (0.0004548705, -0.9999712, 0.0075880517), (0.00045143615, -0.9999751, 0.007046324), (0, -1, -6.123216e-17), (-1.2618686e-21, -1, -6.123295e-17), (-1.2073672e-23, -1, -6.123245e-17), (2.3010313e-22, -1, -6.123252e-17), (0, -1, -6.123216e-17), (-1.2073672e-23, -1, -6.123245e-17), (5.660923e-23, -1, -6.1232554e-17), (-4.924853e-23, -1, -6.1232806e-17), (1.8698818e-22, -1, -6.1232614e-17)] (
# normal3f[] normals = [(0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (-0.00047480434, 0.9999719, -0.007476213), (-0.0004321736, 0.99997544, -0.0070021525), (-0.0003852808, 0.99998075, -0.0062117353), (-0.00037313532, 0.9999806, -0.00622981), (-0.00032304882, 0.9999852, -0.0054318015), (-0.0002996303, 0.9999878, -0.0049361703), (-0.0001937583, 0.9999919, -0.0040231324), (-0.00021860337, 0.9999954, -0.0030266854), (-0.00019825515, 0.9999967, -0.0025569373), (-0.00021519681, 0.99999803, -0.0019925465), (-0.00011908179, 0.99999875, -0.001616332), (-0.000029429728, 0.99999946, -0.0010719418), (-0.0000037813809, 0.9999998, -0.0007430077), (-0.000003954158, 0.9999998, -0.0007447579), (-0.00001089513, 0.9999998, -0.00068065396), (-0.00001201546, 0.9999999, -0.0006683113), (-0.00001533885, 0.9999998, -0.0005824069), (-0.000018544202, 0.9999999, -0.0005421457), (-0.00001830038, 0.99999994, -0.0004793314), (-0.000020890337, 1, -0.0004512229), (-0.000017114464, 1, -0.00037996643), (-0.000018803828, 1, -0.00036157624), (-0.00001697498, 0.99999994, -0.00029906034), (-0.000016669552, 1, -0.00027724318), (-0.000015188796, 1, -0.00022793126), (-0.000013859618, 1, -0.00020298123), (-0.000010662276, 1, -0.00012408638), (-0.000011758428, 1, -0.00010527236), (-0.0000043463842, 1, -0.000046533358), (-0.0000021026724, 1, -0.000013358976), (0.0000026094754, 1, -0.0000021803778), (0.0000015009123, 1, -0.000003738723), (-0.000007754741, 1, -0.000004201465), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (-0.00003893976, 1, -0.000011510737), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (-0.0005000827, 0.9999675, -0.008021407), (-0.0004878739, 0.99996847, -0.0079104025), (-0.00046015042, 0.9999712, -0.0075504463), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17), (0, 1, 6.123234e-17)] (
normal3f[] normals = [(-3.6485125e-22, 1, -6.1232144e-17), (7.529882e-22, 1, -6.1233e-17), (-6.1415184e-21, 1, -6.1231376e-17), (-3.6485125e-22, 1, -6.1232144e-17), (2.4111807e-22, 1, -6.123268e-17), (7.529882e-22, 1, -6.1233e-17), (-3.6485125e-22, 1, -6.1232144e-17), (-1.2104193e-23, 1, -6.1232594e-17), (2.4111807e-22, 1, -6.123268e-17), (4.05927e-22, 1, -6.1232124e-17), (-1.2104193e-23, 1, -6.1232594e-17), (-3.6485125e-22, 1, -6.1232144e-17), (-6.78704e-24, 1, -6.123258e-17), (-1.2104193e-23, 1, -6.1232594e-17), (4.05927e-22, 1, -6.1232124e-17), (6.6063483e-22, 1, -6.1232045e-17), (-6.78704e-24, 1, -6.123258e-17), (4.05927e-22, 1, -6.1232124e-17), (-6.78704e-24, 1, -6.123258e-17), (2.1114811e-22, 1, -6.123226e-17), (-1.2104193e-23, 1, -6.1232594e-17), (-1.2104193e-23, 1, -6.1232594e-17), (2.1114811e-22, 1, -6.123226e-17), (1.1864844e-22, 1, -6.1232296e-17), (-1.2104193e-23, 1, -6.1232594e-17), (1.1864844e-22, 1, -6.1232296e-17), (2.4111807e-22, 1, -6.123268e-17), (1.1864844e-22, 1, -6.1232296e-17), (-8.300981e-23, 1, -6.1232276e-17), (2.4111807e-22, 1, -6.123268e-17), (1.1864844e-22, 1, -6.1232296e-17), (9.958789e-24, 1, -6.123247e-17), (-8.300981e-23, 1, -6.1232276e-17), (3.651635e-23, 1, -6.123238e-17), (9.958789e-24, 1, -6.123247e-17), (1.1864844e-22, 1, -6.1232296e-17), (2.1114811e-22, 1, -6.123226e-17), (3.651635e-23, 1, -6.123238e-17), (1.1864844e-22, 1, -6.1232296e-17), (9.958789e-24, 1, -6.123247e-17), (3.651635e-23, 1, -6.123238e-17), (5.660923e-23, 1, -6.1232554e-17), (9.958789e-24, 1, -6.123247e-17), (5.660923e-23, 1, -6.1232554e-17), (-1.2073672e-23, 1, -6.123245e-17), (-2.1764144e-23, 1, -6.123258e-17), (9.958789e-24, 1, -6.123247e-17), (-1.2073672e-23, 1, -6.123245e-17), (-2.1764144e-23, 1, -6.123258e-17), (-1.2073672e-23, 1, -6.123245e-17), (-8.427858e-22, 1, -6.1232243e-17), (-2.1764144e-23, 1, -6.123258e-17), (-8.427858e-22, 1, -6.1232243e-17), (-2.2203574e-22, 1, -6.1232396e-17), (-8.300981e-23, 1, -6.1232276e-17), (-2.1764144e-23, 1, -6.123258e-17), (-2.2203574e-22, 1, -6.1232396e-17), (-8.300981e-23, 1, -6.1232276e-17), (-2.2203574e-22, 1, -6.1232396e-17), (-1.2202113e-21, 1, -6.1232296e-17), (-8.300981e-23, 1, -6.1232276e-17), (-1.2202113e-21, 1, -6.1232296e-17), (2.4111807e-22, 1, -6.123268e-17), (2.4111807e-22, 1, -6.123268e-17), (-1.2202113e-21, 1, -6.1232296e-17), (7.529882e-22, 1, -6.1233e-17), (-8.300981e-23, 1, -6.1232276e-17), (9.958789e-24, 1, -6.123247e-17), (-2.1764144e-23, 1, -6.123258e-17), (-1.2073672e-23, 1, -6.123245e-17), (-1.2618686e-21, 1, -6.123295e-17), (-1.8251399e-21, 1, -6.123253e-17), (-8.427858e-22, 1, -6.1232243e-17), (5.660923e-23, 1, -6.1232554e-17), (1.8698818e-22, 1, -6.1232614e-17), (2.3010313e-22, 1, -6.123252e-17), (-1.2073672e-23, 1, -6.123245e-17), (-2.919419e-23, 1, -6.123274e-17), (-6.215274e-23, 1, -6.123288e-17), (-4.924853e-23, 1, -6.1232806e-17), (5.660923e-23, 1, -6.1232554e-17), (3.651635e-23, 1, -6.123238e-17), (-2.919419e-23, 1, -6.123274e-17), (5.660923e-23, 1, -6.1232554e-17), (4.1524664e-22, 1, -6.123251e-17), (-5.2696045e-22, 1, -6.123212e-17), (6.1782586e-22, 1, -6.1232316e-17), (-5.2696045e-22, 1, -6.123212e-17), (4.1524664e-22, 1, -6.123251e-17), (-2.509189e-22, 1, -6.123247e-17), (-9.267729e-23, 1, -6.123226e-17), (-5.2696045e-22, 1, -6.123212e-17), (-2.509189e-22, 1, -6.123247e-17), (-3.6432934e-25, 1, -6.123283e-17), (-9.267729e-23, 1, -6.123226e-17), (-2.509189e-22, 1, -6.123247e-17), (-1.7392807e-22, 1, -6.123247e-17), (-3.6432934e-25, 1, -6.123283e-17), (-2.509189e-22, 1, -6.123247e-17), (3.3923922e-22, 1, -6.1232846e-17), (-1.7392807e-22, 1, -6.123247e-17), (-2.509189e-22, 1, -6.123247e-17), (3.3923922e-22, 1, -6.1232846e-17), (-2.509189e-22, 1, -6.123247e-17), (4.1524664e-22, 1, -6.123251e-17), (-7.027061e-23, 1, -6.123144e-17), (3.3923922e-22, 1, -6.1232846e-17), (4.1524664e-22, 1, -6.123251e-17), (-1.5260621e-21, 1, -6.1233236e-17), (3.3923922e-22, 1, -6.1232846e-17), (-7.027061e-23, 1, -6.123144e-17), (3.3923922e-22, 1, -6.1232846e-17), (-1.1997939e-21, 1, -6.123334e-17), (-1.7392807e-22, 1, -6.123247e-17), (-1.1997939e-21, 1, -6.123334e-17), (-3.6432934e-25, 1, -6.123283e-17), (-1.7392807e-22, 1, -6.123247e-17), (-3.6432934e-25, 1, -6.123283e-17), (-2.6044332e-22, 1, -6.123202e-17), (-9.267729e-23, 1, -6.123226e-17), (-3.6432934e-25, 1, -6.123283e-17), (-1.0744059e-21, 1, -6.123282e-17), (-2.6044332e-22, 1, -6.123202e-17), (-1.0744059e-21, 1, -6.123282e-17), (-1.2274267e-21, 1, -6.123218e-17), (-2.6044332e-22, 1, -6.123202e-17), (-2.6044332e-22, 1, -6.123202e-17), (-1.2274267e-21, 1, -6.123218e-17), (5.567601e-23, 1, -6.123245e-17), (-2.6044332e-22, 1, -6.123202e-17), (5.567601e-23, 1, -6.123245e-17), (-8.533897e-23, 1, -6.123256e-17), (-9.267729e-23, 1, -6.123226e-17), (-2.6044332e-22, 1, -6.123202e-17), (-8.533897e-23, 1, -6.123256e-17), (-9.267729e-23, 1, -6.123226e-17), (-8.533897e-23, 1, -6.123256e-17), (-6.5070306e-22, 1, -6.123245e-17), (0, 1, -6.123225e-17), (-9.267729e-23, 1, -6.123226e-17), (-6.5070306e-22, 1, -6.123245e-17), (-5.2696045e-22, 1, -6.123212e-17), (-9.267729e-23, 1, -6.123226e-17), (0, 1, -6.123225e-17), (-8.533897e-23, 1, -6.123256e-17), (-2.9179283e-22, 1, -6.123202e-17), (-6.5070306e-22, 1, -6.123245e-17), (5.567601e-23, 1, -6.123245e-17), (-2.9179283e-22, 1, -6.123202e-17), (-8.533897e-23, 1, -6.123256e-17), (-5.4073646e-24, 1, -6.1232144e-17), (-2.9179283e-22, 1, -6.123202e-17), (5.567601e-23, 1, -6.123245e-17), (-3.0518842e-22, 1, -6.1232085e-17), (-5.4073646e-24, 1, -6.1232144e-17), (5.567601e-23, 1, -6.123245e-17), (-1.2274267e-21, 1, -6.123218e-17), (-3.0518842e-22, 1, -6.1232085e-17), (5.567601e-23, 1, -6.123245e-17), (-3.0518842e-22, 1, -6.1232085e-17), (-6.3589767e-22, 1, -6.123223e-17), (-5.249384e-22, 1, -6.1232316e-17), (-5.4073646e-24, 1, -6.1232144e-17), (-5.4073646e-24, 1, -6.1232144e-17), (-5.249384e-22, 1, -6.1232316e-17), (1.8075093e-22, 1, -6.123122e-17), (-5.4073646e-24, 1, -6.1232144e-17), (1.8075093e-22, 1, -6.123122e-17), (4.2133902e-22, 1, -6.1231376e-17), (-2.9179283e-22, 1, -6.123202e-17), (-2.9179283e-22, 1, -6.123202e-17), (4.2133902e-22, 1, -6.1231376e-17), (-2.4263678e-23, 1, -6.123272e-17), (-2.9179283e-22, 1, -6.123202e-17), (-2.4263678e-23, 1, -6.123272e-17), (-6.469645e-22, 1, -6.123231e-17), (-7.7175103e-22, 1, -6.123143e-17), (-6.5070306e-22, 1, -6.123245e-17), (-2.9179283e-22, 1, -6.123202e-17), (-7.7175103e-22, 1, -6.123143e-17), (-7.7175103e-22, 1, -6.123143e-17), (-6.469645e-22, 1, -6.123231e-17), (0, 1, -6.123195e-17), (0.00045326314, 0.9999712, 0.007577902), (0.00042736702, 0.9999752, 0.0070428797), (0.00045143615, 0.9999751, 0.007046324), (0.0004548705, 0.9999712, 0.0075880517), (0.00045143615, 0.9999751, 0.007046324), (0.00042736702, 0.9999752, 0.0070428797), (0.00039287584, 0.99998075, 0.0062020435), (0.00042736702, 0.9999752, 0.0070428797), (0.00037355695, 0.99998057, 0.006235507), (0.00039287584, 0.99998075, 0.0062020435), (0.00037355695, 0.99998057, 0.006235507), (0.00030642014, 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(-23.642452, -3.4003277e-14, -308.91583), (-27.133297, -3.4018795e-14, -308.6624), (-30.62408, -3.4034312e-14, -308.409), (-31.122799, -3.4036528e-14, -308.3728), (-30.977962, -3.4158674e-14, -306.37805), (-30.479305, -3.4156455e-14, -306.41425), (-26.98846, -3.414094e-14, -306.66766), (-23.497677, -3.4125423e-14, -306.92108), (-22.946163, -3.412021e-14, -307.00616), (-22.859005, -3.411805e-14, -307.04144), (-22.76855, -3.411648e-14, -307.06708), (-23.029049, -3.412294e-14, -306.9616), (-23.123104, -3.4126998e-14, -306.89532), (-23.20007, -3.4131308e-14, -306.82495), (-23.268002, -3.4136146e-14, -306.7459), (-23.325985, -3.4141455e-14, -306.65924), (-23.373104, -3.414715e-14, -306.56622), (-23.408749, -3.415315e-14, -306.4682), (-23.43237, -3.4159372e-14, -306.36664), (-23.4436, -3.4165718e-14, -306.263), (-26.923336, -3.4195903e-14, -305.77002), (-30.41412, -3.421142e-14, -305.5166), (-30.912838, -3.4213636e-14, -305.4804), (-23.442318, -3.41721e-14, -306.15875), (-23.432491, 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color3f[] primvars:displayColor = [(0.68561757, 0.4460292, 0.59804285)]
int[] primvars:displayColor:indices = [0]
# texCoord2f[] primvars:st1 = [(0.6368808, 0.0104429815), (0.6391797, 0.15725206), (0.62856543, 0.011046336), (0.6474941, 0.15664831), (0.70569867, 0.15242323), (0.64979297, 0.30345735), (0.6950844, 0.0062175067), (0.71631193, 0.29862854), (0.65810835, 0.302854), (0.7639023, 0.14819776), (0.7745166, 0.29440346), (0.66040725, 0.4496631), (0.753289, 0.0019920322), (0.78512985, 0.4406088), (0.72692627, 0.44483426), (0.6687216, 0.44905975), (0.6710216, 0.5958688), (0.73754054, 0.59104), (0.67933595, 0.59526545), (0.7957441, 0.5868145), (0.6807306, 0.6843276), (0.6774429, 0.6843276), (0.8028234, 0.6843276), (0.7827572, 0.6843276), (0.74431247, 0.6843276), (0.72250456, 0.6843276), (0.6858017, 0.6843276), (0.44715416, 0.014347675), (0.4109047, 0.1776328), (0.3893515, 0.022371978), (0.4687084, 0.16960849), (0.5463994, 0.079697065), (0.4902616, 0.3248701), (0.5265111, 0.1615842), (0.50495785, 0.0063233725), (0.43245792, 0.33289438), (0.56605667, 0.23522174), (0.55635315, 0.1574423), (0.5361596, 0.0019920322), (0.45401224, 0.48815525), (0.5480643, 0.3168458), (0.51181483, 0.48013094), (0.5755495, 0.31303066), (0.53336805, 0.63539296), (0.5940497, 0.46871576), (0.5696175, 0.47210783), (0.4755655, 0.64341724), (0.59117174, 0.6273686), (0.543441, 0.70795476), (0.5103489, 0.70795476), (0.61215305, 0.62445617), (0.60235864, 0.70795476), (0.57247686, 0.70795476), (0.48452446, 0.70795476), (0.61172897, 0.70795476), (0.6218069, 0.70795476), (0.3073766, 0.00199243), (0.30839017, 0.0185234), (0.0031898804, 0.025620382), (0.15230854, 0.00199243), (0.0073471, 0.081819154), (0.0016024421, 0.00199243), (0.31069514, 0.05939871), (0.31279972, 0.10028516), (0.011883853, 0.13798927), (0.31470275, 0.14118196), (0.016800191, 0.19412835), (0.31870118, 0.23189454), (0.029113993, 0.3294661), (0.32087287, 0.2811615), (0.32203302, 0.30659392), (0.02913643, 0.32971045), (0.32204217, 0.3067822), (0.029148618, 0.3298414), (0.3248286, 0.3619804), (0.03696736, 0.41577572), (0.3279813, 0.41715953), (0.044785105, 0.50170887), (0.33150044, 0.47231638), (0.048148528, 0.53963226), (0.33538383, 0.52744853), (0.051338926, 0.57756996), (0.3385824, 0.57080054), (0.05435531, 0.615522), (0.34138814, 0.60708225), (0.057198655, 0.6534872), (0.3444472, 0.64334285), (0.06367408, 0.74268067), (0.34776077, 0.67958236), (0.07119059, 0.8462317), (0.22934063, 0.94095045), (0.20343173, 0.9407276), (0.2871432, 0.9329261), (0.21954958, 0.9712913), (0.14522713, 0.944953), (0.35132766, 0.715796), (0.29172885, 0.9659566), (0.22229318, 0.9712455), (0.21800274, 0.9715528), (0.20584565, 0.9739869), (0.087023534, 0.9491781), (0.3563112, 0.7625325), (0.2318695, 0.976068), (0.34494588, 0.92490184), (0.22499415, 0.9717279), (0.21649456, 0.9719802), (0.2150413, 0.97256845), (0.14764205, 0.97821236), (0.07870815, 0.9497819), (0.3617181, 0.80922204), (0.2334662, 0.9782999), (0.22987384, 0.97418433), (0.36754832, 0.85586107), (0.34953147, 0.95793235), (0.22755355, 0.9727201), (0.21365932, 0.9733111), (0.2067473, 0.98495954), (0.089437455, 0.98243785), (0.08112306, 0.9830412), (0.234605, 0.98079735), (0.37379986, 0.9024448), (0.3807872, 0.953593), (0.35115975, 0.96965796), (0.21209107, 0.9744163), (0.20693456, 0.9832314), (0.14872791, 0.99317926), (0.23524204, 0.9834655), (0.3763135, 0.920547), (0.38236153, 0.9653266), (0.2933561, 0.97768223), (0.2108078, 0.97559), (0.20732841, 0.981538), (0.20676863, 0.98669755), (0.090524316, 0.9974047), (0.08220893, 0.9980081), (0.20967516, 0.9769078), (0.20792271, 0.9799038), (0.20693251, 0.98895377), (0.23527765, 0.983719), (0.20870835, 0.97835284), (0.23555346, 0.98570657)] (
# customData = {
# dictionary Maya = {
# int UVSetIndex = 0
# }
# }
# interpolation = "faceVarying"
# )
texCoord2f[] primvars:st = [(31.03888, -558.7149), (30.540161, -558.7511), (31.176758, -567.51984), (31.675415, -567.48364), (35.16626, -567.2302), (34.529663, -558.4615), (38.657043, -566.9768), (38.020508, -558.20807), (39.29364, -575.74554), (35.802795, -575.99896), (32.31201, -576.2524), (36.439392, -584.7677), (39.930176, -584.5143), (37.07599, -593.53644), (33.585144, -593.78986), (32.948547, -585.0211), (33.086487, -593.82605), (32.44989, -585.0573), (31.813293, -576.2886), (40.566772, -593.283), (43.203796, -557.53204), (39.73706, -558.0133), (41.029724, -567.32513), (44.49652, -566.8439), (45.789185, -576.15576), (50.335022, -570.77905), (47.963257, -566.3626), (49.156067, -561.4514), (46.670593, -557.0508), (48.54193, -556.791), (49.75305, -566.1142), (49.25592, -575.6745), (50.904358, -575.4457), (52.013916, -584.78296), (50.548584, -584.9864), (47.08185, -585.4676), (43.615112, -585.94885), (42.322388, -576.637), (48.37451, -594.7795), (51.84131, -594.2982), (53.09967, -594.12354), (44.907776, -595.26074), (25.800964, -500.43176), (44.10547, -500.0061), (26.050293, -503.8023), (44.243713, -502.45764), (44.369934, -504.9098), (26.322388, -507.17114), (44.48407, -507.3626), (26.617249, -510.5381), (44.723877, -512.80316), (27.355774, -518.655), (44.854126, -515.75793), (44.923706, -517.28326), (27.357117, -518.6697), (44.924255, -517.29456), (27.35785, -518.67755), (45.09137, -520.6051), (27.826782, -523.8315), (45.280457, -523.9145), (28.295654, -528.98535), (45.491516, -527.22253), (28.497375, -531.2598), (45.724426, -530.5291), (28.68872, -533.53516), (45.91626, -533.12915), (28.869629, -535.81134), (46.084534, -535.3052), (29.040161, -538.0883), (46.268005, -537.4799), (29.428528, -543.43774), (46.466736, -539.6534), (29.879333, -549.64825), (39.36444, -555.32904), (42.831177, -554.8478), (43.1062, -556.8288), (46.297913, -554.3665), (47.653503, -550.22577), (47.303833, -547.4286), (46.979553, -544.62836), (46.680664, -541.8253), (48.028442, -553.01965), (48.1792, -554.10535), (48.44751, -556.0873), (46.572937, -556.34753), (46.670593, -557.0508), (48.54193, -556.791), (43.203796, -557.53204), (39.718384, -557.8789), (39.680176, -557.7189), (39.611877, -557.5691), (39.516113, -557.43524), (39.396423, -557.32227), (39.257263, -557.23444), (39.10376, -557.1749), (38.941772, -557.146), (38.77722, -557.14874), (37.810547, -555.3157), (34.319702, -555.5691), (30.828918, -555.8225), (30.3302, -555.8587), (30.475037, -557.85345), (30.973694, -557.81726), (34.46454, -557.56384), (37.955322, -557.3104), (38.506836, -557.22534), (38.593994, -557.19006), (38.68445, -557.1644), (38.42395, -557.2699), (38.329895, -557.3362), (38.25293, -557.40656), (38.184998, -557.4856), (38.127014, -557.57227), (38.079895, -557.6653), (38.04425, -557.7633), (38.02063, -557.86487), (38.0094, -557.9685), (34.529663, -558.4615), (31.03888, -558.7149), (30.540161, -558.7511), (38.01068, -558.07275), (38.020508, -558.20807), (39.72052, -557.8941), (39.73706, -558.0133), (25.705757, -499.01468), (34.744415, -499.01468), (44.04468, -499.01468), (33.66879, -599.1314), (33.47161, -599.1314), (33.97293, -599.1314), (36.1742, -599.1314), (37.482136, -599.1314), (39.787876, -599.1314), (40.991356, -599.1314), (53.678665, -599.1314), (53.074234, -599.1314), (52.512245, -599.1314), (50.720078, -599.1314), (48.97864, -599.1314), (46.99393, -599.1314), (45.445095, -599.1314)] (
customData = {
dictionary Maya = {
int UVSetIndex = 1
}
}
interpolation = "faceVarying"
)
int[] primvars:st:indices = [0, 2, 1, 0, 3, 2, 0, 4, 3, 5, 4, 0, 6, 4, 5, 7, 6, 5, 6, 8, 4, 4, 8, 9, 4, 9, 3, 9, 10, 3, 9, 11, 10, 12, 11, 9, 8, 12, 9, 11, 12, 13, 11, 13, 14, 15, 11, 14, 15, 14, 16, 15, 16, 17, 10, 15, 17, 10, 17, 18, 10, 18, 3, 3, 18, 2, 10, 11, 15, 14, 127, 128, 16, 13, 131, 130, 14, 19, 133, 132, 13, 12, 19, 13, 20, 22, 21, 22, 20, 23, 24, 22, 23, 25, 24, 23, 26, 25, 23, 27, 26, 23, 27, 23, 20, 28, 27, 20, 29, 27, 28, 27, 30, 26, 30, 25, 26, 25, 31, 24, 25, 32, 31, 32, 33, 31, 31, 33, 34, 31, 34, 35, 24, 31, 35, 24, 35, 36, 37, 24, 36, 22, 24, 37, 35, 38, 36, 34, 38, 35, 39, 38, 34, 40, 39, 34, 33, 40, 34, 40, 134, 135, 39, 39, 135, 136, 39, 136, 137, 38, 38, 137, 138, 38, 138, 139, 41, 36, 38, 41, 41, 139, 140, 126, 43, 42, 125, 42, 43, 44, 43, 45, 44, 45, 46, 44, 44, 46, 47, 46, 48, 47, 47, 48, 49, 48, 50, 49, 49, 50, 51, 50, 52, 51, 52, 53, 51, 53, 54, 51, 55, 54, 53, 55, 56, 54, 55, 57, 56, 56, 57, 58, 57, 59, 58, 58, 59, 60, 59, 61, 60, 60, 61, 62, 61, 63, 62, 62, 63, 64, 63, 65, 64, 64, 65, 66, 65, 67, 66, 66, 67, 68, 67, 69, 68, 69, 70, 68, 71, 70, 69, 71, 72, 70, 73, 72, 71, 73, 71, 74, 75, 73, 74, 74, 76, 75, 77, 76, 74, 77, 74, 78, 78, 74, 79, 79, 74, 80, 80, 74, 71, 77, 81, 76, 81, 82, 76, 82, 83, 76, 76, 83, 84, 76, 84, 75, 84, 85, 75, 86, 85, 84, 83, 86, 84, 75, 85, 87, 75, 87, 88, 89, 75, 88, 75, 89, 90, 75, 90, 91, 75, 91, 73, 73, 91, 92, 73, 92, 93, 94, 73, 93, 95, 73, 94, 73, 95, 96, 73, 96, 97, 72, 73, 97, 72, 97, 98, 72, 98, 99, 72, 99, 100, 100, 99, 101, 99, 102, 101, 99, 103, 102, 98, 103, 99, 104, 103, 98, 97, 104, 98, 105, 104, 97, 97, 106, 105, 97, 107, 106, 97, 96, 107, 105, 108, 104, 104, 108, 109, 104, 109, 110, 104, 110, 111, 104, 111, 112, 104, 112, 113, 104, 113, 114, 104, 114, 115, 115, 116, 104, 104, 116, 103, 103, 116, 117, 103, 117, 102, 102, 117, 118, 118, 119, 102, 102, 119, 101, 116, 120, 117, 120, 121, 117, 87, 122, 88, 122, 87, 123, 124, 125, 42, 129, 127, 14, 130, 129, 14, 13, 132, 131]
# int[] primvars:st1:indices = [0, 1, 2, 0, 3, 1, 0, 4, 3, 6, 4, 0, 9, 4, 6, 12, 9, 6, 9, 10, 4, 4, 10, 7, 4, 7, 3, 7, 8, 3, 7, 14, 8, 13, 14, 7, 10, 13, 7, 14, 13, 17, 14, 17, 18, 15, 14, 18, 15, 18, 16, 15, 16, 11, 8, 15, 11, 8, 11, 5, 8, 5, 3, 3, 5, 1, 8, 14, 15, 18, 20, 21, 16, 17, 24, 25, 18, 19, 22, 23, 17, 13, 19, 17, 27, 28, 29, 28, 27, 30, 32, 28, 30, 36, 32, 30, 33, 36, 30, 31, 33, 30, 31, 30, 27, 34, 31, 27, 38, 31, 34, 31, 37, 33, 37, 36, 33, 36, 40, 32, 36, 42, 40, 42, 44, 40, 40, 44, 45, 40, 45, 41, 32, 40, 41, 32, 41, 39, 35, 32, 39, 28, 32, 35, 41, 43, 39, 45, 43, 41, 47, 43, 45, 50, 47, 45, 44, 50, 45, 50, 55, 54, 47, 47, 54, 51, 47, 51, 52, 43, 43, 52, 48, 43, 48, 49, 46, 39, 43, 46, 46, 49, 53, 56, 57, 58, 59, 58, 57, 60, 57, 62, 60, 62, 63, 60, 60, 63, 64, 63, 65, 64, 64, 65, 66, 65, 67, 66, 66, 67, 68, 67, 69, 68, 69, 70, 68, 70, 71, 68, 72, 71, 70, 72, 73, 71, 72, 74, 73, 73, 74, 75, 74, 76, 75, 75, 76, 77, 76, 78, 77, 77, 78, 79, 78, 80, 79, 79, 80, 81, 80, 82, 81, 81, 82, 83, 82, 84, 83, 83, 84, 85, 84, 86, 85, 86, 87, 85, 88, 87, 86, 88, 89, 87, 90, 89, 88, 90, 88, 92, 96, 90, 92, 92, 103, 96, 112, 103, 92, 112, 92, 109, 109, 92, 101, 101, 92, 95, 95, 92, 88, 112, 120, 103, 120, 127, 103, 127, 121, 103, 103, 121, 113, 103, 113, 96, 113, 122, 96, 128, 122, 113, 121, 128, 113, 96, 122, 129, 96, 129, 126, 119, 96, 126, 96, 119, 110, 96, 110, 102, 96, 102, 90, 90, 102, 111, 90, 111, 114, 104, 90, 114, 97, 90, 104, 90, 97, 93, 90, 93, 91, 89, 90, 91, 89, 91, 94, 89, 94, 100, 89, 100, 108, 108, 100, 118, 100, 117, 118, 100, 107, 117, 94, 107, 100, 99, 107, 94, 91, 99, 94, 106, 99, 91, 91, 105, 106, 91, 98, 105, 91, 93, 98, 106, 115, 99, 99, 115, 123, 99, 123, 130, 99, 130, 135, 99, 135, 139, 99, 139, 136, 99, 136, 131, 99, 131, 124, 124, 116, 99, 99, 116, 107, 107, 116, 125, 107, 125, 117, 117, 125, 133, 133, 134, 117, 117, 134, 118, 116, 132, 125, 132, 137, 125, 129, 138, 126, 138, 129, 140, 61, 59, 58, 26, 20, 18, 25, 26, 18, 17, 23, 24]
bool shadow:enable = 1
uniform token subdivisionScheme = "none"
}
}
}
}
}
def Scope "Looks"
{
def Material "lambert"
{
token outputs:mdl:surface.connect = </atlas_road_tile_237_01_usd2/Looks/lambert/Shader.outputs:out>
token outputs:surface.connect = </atlas_road_tile_237_01_usd2/Looks/lambert/lambertPreviewSurface.outputs:surface>
def Shader "lambertPreviewSurface"
{
uniform token info:id = "UsdPreviewSurface"
float inputs:clearcoat = 0
float inputs:clearcoatRoughness = 0
color3f inputs:diffuseColor.connect = </atlas_road_tile_237_01_usd2/Looks/lambert/diffuseColorTex.outputs:rgb>
float inputs:displacement = 0
color3f inputs:emissiveColor = (0, 0, 0)
float inputs:ior = 1.5
float inputs:metallic.connect = </atlas_road_tile_237_01_usd2/Looks/lambert/metallicTex.outputs:r>
normal3f inputs:normal = (0, 0, 1)
float inputs:occlusion = 1
float inputs:opacity = 1
float inputs:opacityThreshold = 0
float inputs:roughness.connect = </atlas_road_tile_237_01_usd2/Looks/lambert/roughnessTex.outputs:r>
color3f inputs:specularColor = (0, 0, 0)
int inputs:useSpecularWorkflow = 0
token outputs:surface
}
def Shader "diffuseColorTex"
{
uniform token info:id = "UsdUVTexture"
float4 inputs:fallback = (0, 0, 0, 1)
asset inputs:file = @lambertPreviewSurface/diffuseColorTex.png@
color3f outputs:rgb
}
def Shader "metallicTex"
{
uniform token info:id = "UsdUVTexture"
float4 inputs:fallback = (0, 0, 0, 1)
asset inputs:file = @lambertPreviewSurface/metallicTex.png@
float outputs:r
}
def Shader "roughnessTex"
{
uniform token info:id = "UsdUVTexture"
float4 inputs:fallback = (0, 0, 0, 1)
asset inputs:file = @lambertPreviewSurface/roughnessTex.png@
float outputs:r
}
def Shader "Shader" (
kind = "Material"
)
{
uniform token info:implementationSource = "sourceAsset"
uniform asset info:mdl:sourceAsset = @OmniPBR.mdl@
uniform token info:mdl:sourceAsset:subIdentifier = "OmniPBR"
color3f inputs:diffuse_color_constant = (0.68561757, 0.4460292, 0.59804285)
token outputs:out
}
}
}
}
|
eliabntt/GRADE-RR/isaac_internals/kit/extscore/omni.syntheticdata/omni/syntheticdata/tests/data/scenes/occlusion_quadrant.usda | #usda 1.0
(
customLayerData = {
dictionary cameraSettings = {
dictionary Front = {
double radius = 270.1800438313185
double3 target = (0, 0, 0)
}
dictionary Perspective = {
double3 position = (-17.686258971514064, 52.51496952187055, 502.9662731226373)
double3 target = (-36.99007381299464, 11.4077862535474, -0.02879534425244401)
}
dictionary Right = {
double radius = 500
double3 target = (0, 0, 0)
}
dictionary Top = {
double radius = 500
double3 target = (0, 0, 0)
}
string boundCamera = "/OmniverseKit_Front"
}
dictionary renderSettings = {
float "rtx:post:lensDistortion:cameraFocalLength" = 50
token "rtx:rendermode" = "PathTracing"
}
}
defaultPrim = "World"
endTimeCode = 100
metersPerUnit = 0.009999999776482582
startTimeCode = 0
timeCodesPerSecond = 24
upAxis = "Y"
)
def Xform "World"
{
def DistantLight "defaultLight" (
prepend apiSchemas = ["ShapingAPI"]
)
{
float angle = 1
float intensity = 3000
float shaping:cone:angle = 180
float shaping:cone:softness
float shaping:focus
color3f shaping:focusTint
asset shaping:ies:file
float3 xformOp:rotateXYZ = (22, 0, 0)
double3 xformOp:scale = (1, 1, 1)
float3 xformOp:translate = (0, 0, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
}
def Xform "Object" (
prepend apiSchemas = ["SemanticsAPI:Semantics"]
)
{
bool semantic:Semantics:params:decorator
string semantic:Semantics:params:semanticData = "object"
string semantic:Semantics:params:semanticType = "class"
double3 xformOp:rotateXYZ = (0, 0, 0)
double3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0, 0, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
def Mesh "Cube"
{
int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
int[] faceVertexIndices = [1, 2, 3, 3, 2, 4, 3, 4, 5, 5, 4, 6, 5, 6, 7, 7, 6, 8, 7, 8, 1, 1, 8, 2, 2, 8, 4, 4, 8, 6, 7, 1, 5, 5, 1, 3]
point3f[] points = [(0, 0, 0), (-0.5, -0.5, 0.5), (0.5, -0.5, 0.5), (-0.5, 0.5, 0.5), (0.5, 0.5, 0.5), (-0.5, 0.5, -0.5), (0.5, 0.5, -0.5), (-0.5, -0.5, -0.5), (0.5, -0.5, -0.5)]
token visibility = "inherited"
float3 xformOp:rotateXYZ = (0, -0, 0)
float3 xformOp:scale = (100, 100, 100)
double3 xformOp:translate = (-55, 0, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
}
def Mesh "Cube_01"
{
int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
int[] faceVertexIndices = [1, 2, 3, 3, 2, 4, 3, 4, 5, 5, 4, 6, 5, 6, 7, 7, 6, 8, 7, 8, 1, 1, 8, 2, 2, 8, 4, 4, 8, 6, 7, 1, 5, 5, 1, 3]
point3f[] points = [(0, 0, 0), (-0.5, -0.5, 0.5), (0.5, -0.5, 0.5), (-0.5, 0.5, 0.5), (0.5, 0.5, 0.5), (-0.5, 0.5, -0.5), (0.5, 0.5, -0.5), (-0.5, -0.5, -0.5), (0.5, -0.5, -0.5)]
token visibility = "inherited"
float3 xformOp:rotateXYZ = (0, -0, 0)
float3 xformOp:scale = (100, 100, 100)
double3 xformOp:translate = (55, 0, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
}
}
def Xform "Occluder"
{
token visibility = "inherited"
token visibility.timeSamples = {
0: "inherited",
11: "invisible",
}
double3 xformOp:rotateXYZ = (0, 0, 0)
double3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0, 0, 200)
double3 xformOp:translate.timeSamples = {
0: (0, 0, 0),
1: (-100, 0, 0),
2: (100, 0, 0),
3: (0, -100, 0),
4: (0, 100, 0),
5: (-100, -100, 0),
6: (100, -100, 0),
7: (100, 0, 0),
8: (-100, 0, 0),
9: (100, 0, 0),
10: (-100, 0, 0),
}
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
def Mesh "Cube_02"
{
int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
int[] faceVertexIndices = [1, 2, 3, 3, 2, 4, 3, 4, 5, 5, 4, 6, 5, 6, 7, 7, 6, 8, 7, 8, 1, 1, 8, 2, 2, 8, 4, 4, 8, 6, 7, 1, 5, 5, 1, 3]
point3f[] points = [(0, 0, 0), (-0.5, -0.5, 0.5), (0.5, -0.5, 0.5), (-0.5, 0.5, 0.5), (0.5, 0.5, 0.5), (-0.5, 0.5, -0.5), (0.5, 0.5, -0.5), (-0.5, -0.5, -0.5), (0.5, -0.5, -0.5)]
token visibility = "inherited"
float3 xformOp:rotateXYZ = (0, -0, 0)
float3 xformOp:scale = (211.93092, 200, 100)
double3 xformOp:translate = (0, 0, 100)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
}
}
def Xform "Occluder_2"
{
token visibility = "inherited"
token visibility.timeSamples = {
0: "invisible",
7: "inherited",
11: "invisible",
}
double3 xformOp:rotateXYZ = (0, 0, 0)
double3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0, 0, 200)
double3 xformOp:translate.timeSamples = {
0: (0, 0, 0),
7: (0, -100, 0),
8: (0, -100, 0),
9: (0, 100, 0),
}
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
def Mesh "Cube_03"
{
int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
int[] faceVertexIndices = [1, 2, 3, 3, 2, 4, 3, 4, 5, 5, 4, 6, 5, 6, 7, 7, 6, 8, 7, 8, 1, 1, 8, 2, 2, 8, 4, 4, 8, 6, 7, 1, 5, 5, 1, 3]
point3f[] points = [(0, 0, 0), (-0.5, -0.5, 0.5), (0.5, -0.5, 0.5), (-0.5, 0.5, 0.5), (0.5, 0.5, 0.5), (-0.5, 0.5, -0.5), (0.5, 0.5, -0.5), (-0.5, -0.5, -0.5), (0.5, -0.5, -0.5)]
token visibility = "inherited"
float3 xformOp:rotateXYZ = (0, -0, 0)
float3 xformOp:scale = (217.9884, 200, 100)
double3 xformOp:translate = (0, 0, 100)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
}
}
}
|
eliabntt/GRADE-RR/isaac_internals/kit/extscore/omni.syntheticdata/omni/syntheticdata/tests/data/scenes/scene_instance_test.usda | #usda 1.0
(
customLayerData = {
dictionary cameraSettings = {
dictionary Front = {
double3 position = (0, 0, 50000)
double radius = 500
}
dictionary Perspective = {
double3 position = (485.64670945959244, 499.31261288765523, 515.0406776527499)
double3 target = (-14.353290540407405, -0.6873871123448527, 15.040677652750043)
}
dictionary Right = {
double3 position = (-50000, 0, -1.1102230246251565e-11)
double radius = 500
}
dictionary Top = {
double3 position = (-4.329780281177466e-12, 50000, 1.1102230246251565e-11)
double radius = 500
}
string boundCamera = "/OmniverseKit_Persp"
}
dictionary omni_layer = {
dictionary muteness = {
}
}
dictionary renderSettings = {
}
}
defaultPrim = "World"
endTimeCode = 100
metersPerUnit = 0.01
startTimeCode = 0
timeCodesPerSecond = 24
upAxis = "Y"
)
def Xform "World"
{
def Mesh "Cone" (
prepend apiSchemas = ["SemanticsAPI:Semantics_JAfl"]
instanceable = true
)
{
int[] faceVertexCounts = [4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 4, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
int[] faceVertexIndices = [0, 32, 33, 1, 1, 33, 34, 2, 2, 34, 35, 3, 3, 35, 36, 4, 4, 36, 37, 5, 5, 37, 38, 6, 6, 38, 39, 7, 7, 39, 40, 8, 8, 40, 41, 9, 9, 41, 42, 10, 10, 42, 43, 11, 11, 43, 44, 12, 12, 44, 45, 13, 13, 45, 46, 14, 14, 46, 47, 15, 15, 47, 48, 16, 16, 48, 49, 17, 17, 49, 50, 18, 18, 50, 51, 19, 19, 51, 52, 20, 20, 52, 53, 21, 21, 53, 54, 22, 22, 54, 55, 23, 23, 55, 56, 24, 24, 56, 57, 25, 25, 57, 58, 26, 26, 58, 59, 27, 27, 59, 60, 28, 28, 60, 61, 29, 29, 61, 62, 30, 30, 62, 63, 31, 31, 63, 32, 0, 32, 64, 65, 33, 33, 65, 66, 34, 34, 66, 67, 35, 35, 67, 68, 36, 36, 68, 69, 37, 37, 69, 70, 38, 38, 70, 71, 39, 39, 71, 72, 40, 40, 72, 73, 41, 41, 73, 74, 42, 42, 74, 75, 43, 43, 75, 76, 44, 44, 76, 77, 45, 45, 77, 78, 46, 46, 78, 79, 47, 47, 79, 80, 48, 48, 80, 81, 49, 49, 81, 82, 50, 50, 82, 83, 51, 51, 83, 84, 52, 52, 84, 85, 53, 53, 85, 86, 54, 54, 86, 87, 55, 55, 87, 88, 56, 56, 88, 89, 57, 57, 89, 90, 58, 58, 90, 91, 59, 59, 91, 92, 60, 60, 92, 93, 61, 61, 93, 94, 62, 62, 94, 95, 63, 63, 95, 64, 32, 64, 96, 97, 65, 65, 97, 98, 66, 66, 98, 99, 67, 67, 99, 100, 68, 68, 100, 101, 69, 69, 101, 102, 70, 70, 102, 103, 71, 71, 103, 104, 72, 72, 104, 105, 73, 73, 105, 106, 74, 74, 106, 107, 75, 75, 107, 108, 76, 76, 108, 109, 77, 77, 109, 110, 78, 78, 110, 111, 79, 79, 111, 112, 80, 80, 112, 113, 81, 81, 113, 114, 82, 82, 114, 115, 83, 83, 115, 116, 84, 84, 116, 117, 85, 85, 117, 118, 86, 86, 118, 119, 87, 87, 119, 120, 88, 88, 120, 121, 89, 89, 121, 122, 90, 90, 122, 123, 91, 91, 123, 124, 92, 92, 124, 125, 93, 93, 125, 126, 94, 94, 126, 127, 95, 95, 127, 96, 64, 96, 128, 129, 97, 97, 129, 130, 98, 98, 130, 131, 99, 99, 131, 132, 100, 100, 132, 133, 101, 101, 133, 134, 102, 102, 134, 135, 103, 103, 135, 136, 104, 104, 136, 137, 105, 105, 137, 138, 106, 106, 138, 139, 107, 107, 139, 140, 108, 108, 140, 141, 109, 109, 141, 142, 110, 110, 142, 143, 111, 111, 143, 144, 112, 112, 144, 145, 113, 113, 145, 146, 114, 114, 146, 147, 115, 115, 147, 148, 116, 116, 148, 149, 117, 117, 149, 150, 118, 118, 150, 151, 119, 119, 151, 152, 120, 120, 152, 153, 121, 121, 153, 154, 122, 122, 154, 155, 123, 123, 155, 156, 124, 124, 156, 157, 125, 125, 157, 158, 126, 126, 158, 159, 127, 127, 159, 128, 96, 160, 161, 162, 160, 162, 163, 160, 163, 164, 160, 164, 165, 160, 165, 166, 160, 166, 167, 160, 167, 168, 160, 168, 169, 160, 169, 170, 160, 170, 171, 160, 171, 172, 160, 172, 173, 160, 173, 174, 160, 174, 175, 160, 175, 176, 160, 176, 177, 160, 177, 178, 160, 178, 179, 160, 179, 180, 160, 180, 181, 160, 181, 182, 160, 182, 183, 160, 183, 184, 160, 184, 185, 160, 185, 186, 160, 186, 187, 160, 187, 188, 160, 188, 189, 160, 189, 190, 160, 190, 191, 160, 191, 192, 160, 192, 161]
normal3f[] normals = [(0.8944272, 0.4472136, 0), (0.89442724, 0.44721362, 0), (0.8772411, 0.44721362, 0.17449394), (0.877241, 0.4472136, 0.17449391), (0.877241, 0.4472136, 0.17449391), (0.8772411, 0.44721362, 0.17449394), (0.8263431, 0.4472136, 0.34228215), (0.8263431, 0.44721362, 0.34228215), (0.8263431, 0.44721362, 0.34228215), (0.8263431, 0.4472136, 0.34228215), (0.7436893, 0.4472136, 0.49691668), (0.74368936, 0.44721362, 0.4969167), (0.74368936, 0.44721362, 0.4969167), (0.7436893, 0.4472136, 0.49691668), (0.632456, 0.44721362, 0.63245505), (0.632456, 0.44721365, 0.63245505), (0.632456, 0.44721365, 0.63245505), (0.632456, 0.44721362, 0.63245505), (0.49691784, 0.4472136, 0.7436885), (0.49691784, 0.4472136, 0.7436885), (0.49691784, 0.4472136, 0.7436885), (0.49691784, 0.4472136, 0.7436885), (0.34228343, 0.4472136, 0.8263426), (0.34228346, 0.44721362, 0.8263426), (0.34228346, 0.44721362, 0.8263426), (0.34228343, 0.4472136, 0.8263426), (0.1744953, 0.4472136, 0.8772408), (0.17449528, 0.4472136, 0.8772408), (0.17449528, 0.4472136, 0.8772408), (0.1744953, 0.4472136, 0.8772408), (0.0000014049631, 0.44721362, 0.89442724), (0.0000014049629, 0.4472136, 0.8944272), (0.0000014049629, 0.4472136, 0.8944272), (0.0000014049631, 0.44721362, 0.89442724), (-0.17449255, 0.44721356, 0.8772414), (-0.17449254, 0.44721362, 0.8772414), (-0.17449254, 0.44721362, 0.8772414), (-0.17449255, 0.44721356, 0.8772414), (-0.34228083, 0.4472136, 0.82634366), (-0.34228083, 0.4472136, 0.82634366), (-0.34228083, 0.4472136, 0.82634366), (-0.34228083, 0.4472136, 0.82634366), (-0.4969155, 0.44721362, 0.74369013), (-0.49691552, 0.4472136, 0.74369013), (-0.49691552, 0.4472136, 0.74369013), (-0.4969155, 0.44721362, 0.74369013), (-0.63245404, 0.4472136, 0.632457), (-0.63245404, 0.4472136, 0.632457), (-0.63245404, 0.4472136, 0.632457), (-0.63245404, 0.4472136, 0.632457), (-0.74368775, 0.4472136, 0.496919), (-0.7436878, 0.44721362, 0.49691904), (-0.7436878, 0.44721362, 0.49691904), (-0.74368775, 0.4472136, 0.496919), (-0.82634205, 0.4472136, 0.34228474), (-0.82634205, 0.4472136, 0.34228474), (-0.82634205, 0.4472136, 0.34228474), (-0.82634205, 0.4472136, 0.34228474), (-0.8772405, 0.4472136, 0.17449667), (-0.8772405, 0.4472136, 0.17449667), (-0.8772405, 0.4472136, 0.17449667), (-0.8772405, 0.4472136, 0.17449667), (-0.89442724, 0.44721362, 0.0000028099262), (-0.8944272, 0.4472136, 0.0000028099257), (-0.8944272, 0.4472136, 0.0000028099257), (-0.89442724, 0.44721362, 0.0000028099262), (-0.8772417, 0.44721356, -0.17449118), (-0.8772416, 0.4472136, -0.17449117), (-0.8772416, 0.4472136, -0.17449117), (-0.8772417, 0.44721356, -0.17449118), (-0.8263442, 0.44721362, -0.34227955), (-0.8263442, 0.44721362, -0.34227955), (-0.8263442, 0.44721362, -0.34227955), (-0.8263442, 0.44721362, -0.34227955), (-0.7436909, 0.4472136, -0.49691436), (-0.7436909, 0.4472136, -0.49691436), (-0.7436909, 0.4472136, -0.49691436), (-0.7436909, 0.4472136, -0.49691436), (-0.63245803, 0.44721362, -0.632453), (-0.632458, 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0.24999975), (0.5937504, 0.4999995), (0.5625004, 0.4999995), (0.5625004, 0.24999975), (0.5625004, 0.24999975), (0.5625004, 0.4999995), (0.5312505, 0.4999995), (0.5312505, 0.24999975), (0.5312505, 0.24999975), (0.5312505, 0.4999995), (0.5000005, 0.4999995), (0.5000005, 0.24999975), (0.5000005, 0.24999975), (0.5000005, 0.4999995), (0.46875054, 0.4999995), (0.46875054, 0.24999975), (0.46875054, 0.24999975), (0.46875054, 0.4999995), (0.43750057, 0.4999995), (0.43750057, 0.24999975), (0.43750057, 0.24999975), (0.43750057, 0.4999995), (0.4062506, 0.4999995), (0.4062506, 0.24999975), (0.4062506, 0.24999975), (0.4062506, 0.4999995), (0.37500063, 0.4999995), (0.37500063, 0.24999975), (0.37500063, 0.24999975), (0.37500063, 0.4999995), (0.34375066, 0.4999995), (0.34375066, 0.24999975), (0.34375066, 0.24999975), (0.34375066, 0.4999995), (0.3125007, 0.4999995), (0.3125007, 0.24999975), (0.3125007, 0.24999975), (0.3125007, 0.4999995), (0.28125072, 0.4999995), (0.28125072, 0.24999975), (0.28125072, 0.24999975), (0.28125072, 0.4999995), (0.25000075, 0.4999995), (0.25000075, 0.24999975), (0.25000075, 0.24999975), (0.25000075, 0.4999995), (0.21875077, 0.4999995), (0.21875077, 0.24999975), (0.21875077, 0.24999975), (0.21875077, 0.4999995), (0.18750082, 0.4999995), (0.18750082, 0.24999975), (0.18750082, 0.24999975), (0.18750082, 0.4999995), (0.15625085, 0.4999995), (0.15625085, 0.24999975), (0.15625085, 0.24999975), (0.15625085, 0.4999995), (0.12500088, 0.4999995), (0.12500088, 0.24999975), (0.12500088, 0.24999975), (0.12500088, 0.4999995), (0.09375091, 0.4999995), (0.09375091, 0.24999975), (0.09375091, 0.24999975), (0.09375091, 0.4999995), (0.06250094, 0.4999995), (0.06250094, 0.24999975), (0.06250094, 0.24999975), (0.06250094, 0.4999995), (0.03125097, 0.4999995), (0.03125097, 0.24999975), (0.03125097, 0.24999975), (0.03125097, 0.4999995), (0, 0.4999995), (0, 0.24999975), (1, 0.4999995), (1, 0.7499992), (0.96875006, 0.7499992), (0.96875006, 0.4999995), (0.96875006, 0.4999995), (0.96875006, 0.7499992), (0.93750006, 0.7499992), (0.93750006, 0.4999995), (0.93750006, 0.4999995), (0.93750006, 0.7499992), (0.9062501, 0.7499992), (0.9062501, 0.4999995), (0.9062501, 0.4999995), (0.9062501, 0.7499992), (0.8750001, 0.7499992), (0.8750001, 0.4999995), (0.8750001, 0.4999995), (0.8750001, 0.7499992), (0.8437502, 0.7499992), (0.8437502, 0.4999995), (0.8437502, 0.4999995), (0.8437502, 0.7499992), (0.8125002, 0.7499992), (0.8125002, 0.4999995), (0.8125002, 0.4999995), (0.8125002, 0.7499992), (0.78125024, 0.7499992), (0.78125024, 0.4999995), (0.78125024, 0.4999995), (0.78125024, 0.7499992), (0.75000024, 0.7499992), (0.75000024, 0.4999995), (0.75000024, 0.4999995), (0.75000024, 0.7499992), (0.7187503, 0.7499992), (0.7187503, 0.4999995), (0.7187503, 0.4999995), (0.7187503, 0.7499992), (0.6875003, 0.7499992), (0.6875003, 0.4999995), (0.6875003, 0.4999995), (0.6875003, 0.7499992), (0.65625036, 0.7499992), (0.65625036, 0.4999995), (0.65625036, 0.4999995), (0.65625036, 0.7499992), (0.62500036, 0.7499992), (0.62500036, 0.4999995), (0.62500036, 0.4999995), (0.62500036, 0.7499992), (0.5937504, 0.7499992), (0.5937504, 0.4999995), (0.5937504, 0.4999995), (0.5937504, 0.7499992), (0.5625004, 0.7499992), (0.5625004, 0.4999995), (0.5625004, 0.4999995), (0.5625004, 0.7499992), (0.5312505, 0.7499992), (0.5312505, 0.4999995), (0.5312505, 0.4999995), (0.5312505, 0.7499992), (0.5000005, 0.7499992), (0.5000005, 0.4999995), (0.5000005, 0.4999995), (0.5000005, 0.7499992), (0.46875054, 0.7499992), (0.46875054, 0.4999995), (0.46875054, 0.4999995), (0.46875054, 0.7499992), (0.43750057, 0.7499992), (0.43750057, 0.4999995), (0.43750057, 0.4999995), (0.43750057, 0.7499992), (0.4062506, 0.7499992), (0.4062506, 0.4999995), (0.4062506, 0.4999995), (0.4062506, 0.7499992), (0.37500063, 0.7499992), (0.37500063, 0.4999995), (0.37500063, 0.4999995), (0.37500063, 0.7499992), (0.34375066, 0.7499992), (0.34375066, 0.4999995), (0.34375066, 0.4999995), (0.34375066, 0.7499992), (0.3125007, 0.7499992), (0.3125007, 0.4999995), (0.3125007, 0.4999995), (0.3125007, 0.7499992), (0.28125072, 0.7499992), (0.28125072, 0.4999995), (0.28125072, 0.4999995), (0.28125072, 0.7499992), (0.25000075, 0.7499992), (0.25000075, 0.4999995), (0.25000075, 0.4999995), (0.25000075, 0.7499992), (0.21875077, 0.7499992), (0.21875077, 0.4999995), (0.21875077, 0.4999995), (0.21875077, 0.7499992), (0.18750082, 0.7499992), (0.18750082, 0.4999995), (0.18750082, 0.4999995), (0.18750082, 0.7499992), (0.15625085, 0.7499992), (0.15625085, 0.4999995), (0.15625085, 0.4999995), (0.15625085, 0.7499992), (0.12500088, 0.7499992), (0.12500088, 0.4999995), (0.12500088, 0.4999995), (0.12500088, 0.7499992), (0.09375091, 0.7499992), (0.09375091, 0.4999995), (0.09375091, 0.4999995), (0.09375091, 0.7499992), (0.06250094, 0.7499992), (0.06250094, 0.4999995), (0.06250094, 0.4999995), (0.06250094, 0.7499992), (0.03125097, 0.7499992), (0.03125097, 0.4999995), (0.03125097, 0.4999995), (0.03125097, 0.7499992), (0, 0.7499992), (0, 0.4999995), (1, 0.7499992), (1, 0.999999), (0.96875006, 0.999999), (0.96875006, 0.7499992), (0.96875006, 0.7499992), (0.96875006, 0.999999), (0.93750006, 0.999999), (0.93750006, 0.7499992), (0.93750006, 0.7499992), (0.93750006, 0.999999), (0.9062501, 0.999999), (0.9062501, 0.7499992), (0.9062501, 0.7499992), (0.9062501, 0.999999), (0.8750001, 0.999999), (0.8750001, 0.7499992), (0.8750001, 0.7499992), (0.8750001, 0.999999), (0.8437502, 0.999999), (0.8437502, 0.7499992), (0.8437502, 0.7499992), (0.8437502, 0.999999), (0.8125002, 0.999999), (0.8125002, 0.7499992), (0.8125002, 0.7499992), (0.8125002, 0.999999), (0.78125024, 0.999999), (0.78125024, 0.7499992), (0.78125024, 0.7499992), (0.78125024, 0.999999), (0.75000024, 0.999999), (0.75000024, 0.7499992), (0.75000024, 0.7499992), (0.75000024, 0.999999), (0.7187503, 0.999999), (0.7187503, 0.7499992), (0.7187503, 0.7499992), (0.7187503, 0.999999), (0.6875003, 0.999999), (0.6875003, 0.7499992), (0.6875003, 0.7499992), (0.6875003, 0.999999), (0.65625036, 0.999999), (0.65625036, 0.7499992), (0.65625036, 0.7499992), (0.65625036, 0.999999), (0.62500036, 0.999999), (0.62500036, 0.7499992), (0.62500036, 0.7499992), (0.62500036, 0.999999), (0.5937504, 0.999999), (0.5937504, 0.7499992), (0.5937504, 0.7499992), (0.5937504, 0.999999), (0.5625004, 0.999999), (0.5625004, 0.7499992), (0.5625004, 0.7499992), (0.5625004, 0.999999), (0.5312505, 0.999999), (0.5312505, 0.7499992), (0.5312505, 0.7499992), (0.5312505, 0.999999), (0.5000005, 0.999999), (0.5000005, 0.7499992), (0.5000005, 0.7499992), (0.5000005, 0.999999), (0.46875054, 0.999999), (0.46875054, 0.7499992), (0.46875054, 0.7499992), (0.46875054, 0.999999), (0.43750057, 0.999999), (0.43750057, 0.7499992), (0.43750057, 0.7499992), (0.43750057, 0.999999), (0.4062506, 0.999999), (0.4062506, 0.7499992), (0.4062506, 0.7499992), (0.4062506, 0.999999), (0.37500063, 0.999999), (0.37500063, 0.7499992), (0.37500063, 0.7499992), (0.37500063, 0.999999), (0.34375066, 0.999999), (0.34375066, 0.7499992), (0.34375066, 0.7499992), (0.34375066, 0.999999), (0.3125007, 0.999999), (0.3125007, 0.7499992), (0.3125007, 0.7499992), (0.3125007, 0.999999), (0.28125072, 0.999999), (0.28125072, 0.7499992), (0.28125072, 0.7499992), (0.28125072, 0.999999), (0.25000075, 0.999999), (0.25000075, 0.7499992), (0.25000075, 0.7499992), (0.25000075, 0.999999), (0.21875077, 0.999999), (0.21875077, 0.7499992), (0.21875077, 0.7499992), (0.21875077, 0.999999), (0.18750082, 0.999999), (0.18750082, 0.7499992), (0.18750082, 0.7499992), (0.18750082, 0.999999), (0.15625085, 0.999999), (0.15625085, 0.7499992), (0.15625085, 0.7499992), (0.15625085, 0.999999), (0.12500088, 0.999999), (0.12500088, 0.7499992), (0.12500088, 0.7499992), (0.12500088, 0.999999), (0.09375091, 0.999999), (0.09375091, 0.7499992), (0.09375091, 0.7499992), (0.09375091, 0.999999), (0.06250094, 0.999999), (0.06250094, 0.7499992), (0.06250094, 0.7499992), (0.06250094, 0.999999), (0.03125097, 0.999999), (0.03125097, 0.7499992), (0.03125097, 0.7499992), (0.03125097, 0.999999), (0, 0.999999), (0, 0.7499992), (0.5, 0.5), (1, 0.5), (0.9903927, 0.5975451), (0.5, 0.5), (0.9903927, 0.5975451), (0.9619398, 0.6913415), (0.5, 0.5), (0.9619398, 0.6913415), (0.91573495, 0.7777849), (0.5, 0.5), (0.91573495, 0.7777849), (0.85355365, 0.8535531), (0.5, 0.5), (0.85355365, 0.8535531), (0.77778554, 0.9157345), (0.5, 0.5), (0.77778554, 0.9157345), (0.69134223, 0.9619395), (0.5, 0.5), (0.69134223, 0.9619395), (0.59754586, 0.9903925), (0.5, 0.5), (0.59754586, 0.9903925), (0.5000008, 1), (0.5, 0.5), (0.5000008, 1), (0.40245572, 0.9903928), (0.5, 0.5), (0.40245572, 0.9903928), (0.3086592, 0.96194017), (0.5, 0.5), (0.3086592, 0.96194017), (0.22221579, 0.9157354), (0.5, 0.5), (0.22221579, 0.9157354), (0.14644744, 0.85355425), (0.5, 0.5), (0.14644744, 0.85355425), (0.0842659, 0.7777862), (0.5, 0.5), (0.0842659, 0.7777862), (0.03806076, 0.691343), (0.5, 0.5), (0.03806076, 0.691343), (0.009607648, 0.5975466), (0.5, 0.5), (0.009607648, 0.5975466), (2.4674152e-12, 0.50000155), (0.5, 0.5), (2.4674152e-12, 0.50000155), (0.009607034, 0.40245646), (0.5, 0.5), (0.009607034, 0.40245646), (0.03805956, 0.3086599), (0.5, 0.5), (0.03805956, 0.3086599), (0.08426416, 0.22221643), (0.5, 0.5), (0.08426416, 0.22221643), (0.14644521, 0.146448), (0.5, 0.5), (0.14644521, 0.146448), (0.22221316, 0.08426634), (0.5, 0.5), (0.22221316, 0.08426634), (0.30865628, 0.03806106), (0.5, 0.5), (0.30865628, 0.03806106), (0.40245262, 0.0096078), (0.5, 0.5), (0.40245262, 0.0096078), (0.49999765, 5.5516702e-12), (0.5, 0.5), (0.49999765, 5.5516702e-12), (0.59754276, 0.009606881), (0.5, 0.5), (0.59754276, 0.009606881), (0.6913394, 0.038059257), (0.5, 0.5), (0.6913394, 0.038059257), (0.7777829, 0.08426372), (0.5, 0.5), (0.7777829, 0.08426372), (0.85355145, 0.14644466), (0.5, 0.5), (0.85355145, 0.14644466), (0.9157332, 0.22221252), (0.5, 0.5), (0.9157332, 0.22221252), (0.9619386, 0.30865556), (0.5, 0.5), (0.9619386, 0.30865556), (0.990392, 0.40245184), (0.5, 0.5), (0.990392, 0.40245184), (1, 0.5)] (
interpolation = "faceVarying"
)
string semantic:Semantics_JAfl:params:semanticData = "something"
string semantic:Semantics_JAfl:params:semanticType = "class"
uniform token subdivisionScheme = "none"
double3 xformOp:rotateXYZ = (0, 0, 0)
double3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0, 0, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
}
def "brachiosaurus_01" (
prepend apiSchemas = ["SemanticsAPI:Semantics_zxNh"]
instanceable = true
delete references = [
@/home/jf/Pictures/Collected_jensenToy_demo_SSS/props/brachiosaurus_01.usd@,
@../../../Library/Assets/Appliances/Residential/Kitchen/Kitchenware/Flatware@,
@../../../Library/Assets/Appliances/Residential/Kitchen/Kitchenware/Flatware/Spoon_Small.usd@
]
prepend references = @../../../Library/Assets/Appliances/Residential/Kitchen/Refrigerators/fridge.usd@
)
{
string semantic:Semantics_zxNh:params:semanticData = "something"
string semantic:Semantics_zxNh:params:semanticType = "class"
float3 xformOp:rotateXYZ = (0, -0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (-110.995, 0, 181.582)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
}
def "cone" (
instanceable = false
prepend references = @@@omniverse://ov-content/Users/[email protected]/JIRA/cone.usd@@@
)
{
float3 xformOp:rotateXYZ = (0, -0, 0)
float3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (155.889, 0, -153.261)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
}
}
def DomeLight "DomeLight" (
prepend apiSchemas = ["ShapingAPI"]
)
{
float intensity = 1000
float shaping:cone:angle = 180
float shaping:cone:softness
float shaping:focus
color3f shaping:focusTint
asset shaping:ies:file
token texture:format = "latlong"
double3 xformOp:rotateXYZ = (270, 0, 0)
double3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0, 0, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
}
|
eliabntt/GRADE-RR/isaac_internals/kit/extscore/omni.syntheticdata/omni/syntheticdata/tests/data/golden/view_np_image.py | import os
import sys
import matplotlib.pyplot as plt
import numpy as np
image = np.load(sys.argv[1])["array"]
print(image.shape)
# np.savez_compressed(f"{os.path.splitext(sys.argv[1])[0]}.npz", array=image)
# image = (image - image.min()) / image.ptp()
plt.imshow(image)
plt.show()
|
eliabntt/GRADE-RR/isaac_internals/kit/extscore/omni.syntheticdata/omni/syntheticdata/tests/data/ds2_materials/DrivesimPBR_Translucent.mdl | /*****************************************************************************
* Copyright 1986-2020 NVIDIA Corporation. All rights reserved.
******************************************************************************
MDL MATERIALS ARE PROVIDED PURSUANT TO AN END USER LICENSE AGREEMENT,
WHICH WAS ACCEPTED IN ORDER TO GAIN ACCESS TO THIS FILE. IN PARTICULAR,
THE MDL MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO ANY WARRANTIES OF
MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT OF
COPYRIGHT, PATENT, TRADEMARK, OR OTHER RIGHT. IN NO EVENT SHALL NVIDIA
CORPORATION BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, INCLUDING
ANY GENERAL, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES,
WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF
THE USE OR INABILITY TO USE THE MDL MATERIALS OR FROM OTHER DEALINGS IN
THE MDL MATERIALS.
*/
mdl 1.4;
import ::df::*;
import ::state::*;
import ::math::*;
import ::base::*;
import ::tex::*;
import ::anno::*;
import ::nvidia::core_definitions::file_texture;
import ::nvidia::core_definitions::normalmap_texture;
float4 raw_file_texture(
uniform texture_2d texture
[[ anno::description("The input texture") ]],
base::texture_coordinate_info uvw = base::texture_coordinate_info()
[[ anno::description("Custom value for texture coordinate") ]],
uniform float2 crop_u = float2(0.0, 1.0)
[[ anno::description("Restricts the texture access to sub-domain of the texture in the u direction") ]],
uniform float2 crop_v = float2(0.0, 1.0)
[[ anno::description("Restricts the texture access to sub-domain of the texture in the v direction") ]],
uniform tex::wrap_mode wrap_u = tex::wrap_repeat
[[ anno::description("Wrapping mode in the u direction") ]],
uniform tex::wrap_mode wrap_v = tex::wrap_repeat
[[ anno::description("Wrapping mode in the v direction") ]]
)
[[
anno::description("General texturing function for 2D bitmap texture stored in a file"),
anno::noinline()
]]
{
return tex::lookup_float4(texture, float2(uvw.position.x, uvw.position.y), wrap_u, wrap_v, crop_u, crop_v);
}
export material DrivesimPBR_Translucent(
// -------------------- SPECULAR REFLECTION/TRANSMISSION ----------------------
uniform float ior_constant = 1.1f
[[
anno::display_name("Index of Refraction"),
anno::hard_range(0.0,5.),
anno::description("Index of Refraction of the material"),
anno::in_group("Specular")
]],
uniform float reflection_roughness_constant = 0.5f
[[
anno::display_name("Roughness Amount"),
anno::hard_range(0.0,1.),
anno::description("Higher roughness values lead to more blurry reflections"),
anno::in_group("Specular")
]],
uniform float reflection_roughness_texture_influence = 0.0f
[[
anno::display_name("Roughness Map Influence"),
anno::hard_range(0.0, 1.),
anno::description("Blends between the constant value and the lookup of the roughness texture"),
anno::in_group("Specular")
]],
uniform texture_2d reflectionroughness_texture = texture_2d()
[[
anno::display_name("Roughness Map"),
anno::in_group("Specular")
]],
// -------------------- VOLUME ----------------------
color transmittance_color = color(1.0, 1.0f, 1.0f)
[[
anno::display_name("Transmittance Color"),
anno::description("Expected transmittance after the specified transmittance distance through the volume."),
anno::in_group("Volume")
]],
float transmittance_measurement_distance = 1.0f
[[
anno::display_name("Transmittance Measurement Distance"),
anno::description("Distance to match the transmittance through the volume at."),
anno::in_group("Volume")
]],
// -------------------- EMISSIVE ----------------------
uniform bool enable_thin_walled = false
[[
anno::display_name("Enable Thin Walled"),
anno::description("Enables thin walled logic"),
anno::in_group("Geometry")
]],
// -------------------- EMISSIVE ----------------------
uniform bool enable_emission = false
[[
anno::display_name("Enable Emission"),
anno::description("Enables the emission of light from the material"),
anno::in_group("Emissive")
]],
color emissive_color = color(1.0, 0.1, 0.1)
[[
anno::enable_if("enable_emission == true"),
anno::display_name("Emissive Color"),
anno::description("The emission color"),
anno::in_group("Emissive")
]],
uniform texture_2d emissive_mask_texture = texture_2d()
[[
anno::enable_if("enable_emission == true"),
anno::display_name("Emissive Mask Map"),
anno::description("The texture masking the emissive color"),
anno::in_group("Emissive")
]],
uniform float emissive_intensity = 40.f
[[
anno::enable_if("enable_emission == true"),
anno::display_name("Emissive Intensity"),
anno::description("Intensity of the emission"),
anno::in_group("Emissive")
]],
uniform bool enable_emissive_flipbook = false
[[
anno::display_name("Enable Flipbook for emission"),
anno::description("Allows the use of animated emissive textures (e.g. video screens)"),
anno::in_group("Emissive")
]],
uniform int2 flipbook_dim = int2(1,1)
[[
anno::enable_if("enable_emissive_flipbook == true"),
anno::display_name("Flipbook Rows/Columns"),
anno::description("How many rows and columns are in the flipbook?"),
anno::in_group("Emissive")
]],
uniform int target_fps = 1
[[
anno::enable_if("enable_emissive_flipbook == true"),
anno::display_name("Flipbook Target FPS"),
anno::description("Playback speed in frames per second"),
anno::in_group("Emissive")
]],
// -------------------- NORMAL ----------------------
uniform float bump_factor = 1.f
[[
anno::display_name("Normal Map Strength"),
anno::description("Strength of normal map."),
anno::in_group("Normal")
]],
uniform texture_2d normalmap_texture = texture_2d()
[[
anno::display_name("Normal Map"),
anno::in_group("Normal")
]],
// -------------------- UV ADJUSTMENTS ----------------------
uniform bool project_uvw = false
[[
anno::display_name("Enable Project UVW Coordinates"),
anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"),
anno::in_group("UV")
]],
uniform bool world_or_object = false
[[
anno::enable_if("project_uvw == true"),
anno::display_name("Enable World Space"),
anno::description("When set to 'true' uses world space for projection, when 'false' object space is used"),
anno::in_group("UV")
]],
uniform float2 texture_translate = float2(0.0f)
[[
anno::display_name("Texture Translate"),
anno::description("Controls position of texture."),
anno::in_group("UV")
]],
uniform float2 texture_scale = float2(1.0f)
[[
anno::display_name("Texture Scale"),
anno::description("Larger number increases size of texture."),
anno::in_group("UV")
]],
uniform float2 texture_speed = float2(0.0f)
[[
anno::display_name("Texture Speed"),
anno::description("Scrolling texture animation speed in UVs per sec."),
anno::in_group("UV")
]]
)
[[
anno::display_name("Drivesim PBR Translucent"),
anno::description("Supports the translucent material model of the Drivesim Renderer"),
anno::version( 1, 0, 0),
anno::author("NVIDIA CORPORATION"),
anno::key_words(string[]("Drivesim", "PBR", "translucent", "omniverse", "generic"))
]]
= let {
base::texture_coordinate_system the_system = world_or_object ? base::texture_coordinate_world : base::texture_coordinate_object;
base::texture_coordinate_info uvw = project_uvw ?
base::coordinate_projection(
coordinate_system: the_system,
texture_space: 0,
projection_type: base::projection_cubic ) :
base::coordinate_source(
coordinate_system: base::texture_coordinate_uvw,
texture_space: 0
);
// Need to use a small value so the compiler doesnt optimize out this var...
float t = 0.00000001;//state::animation_time();
base::texture_coordinate_info transformed_uvw = base::transform_coordinate(
transform: base::rotation_translation_scale(
scaling: float3(texture_scale.x, texture_scale.y, 1.0),
rotation: float3(0.0, 0.0, 0.0 ),
translation: float3(texture_translate.x + t * texture_speed.x, texture_translate.y + t * texture_speed.y, 0.0)),
coordinate: uvw );
color volume_absorption_coefficient = -math::log(transmittance_color) / (transmittance_measurement_distance*0.01);
float roughness_lookup = tex::texture_isvalid(reflectionroughness_texture) ?
raw_file_texture(texture: reflectionroughness_texture, uvw: transformed_uvw).x :
reflection_roughness_constant;
float reflection_roughness = math::lerp(reflection_roughness_constant, roughness_lookup, reflection_roughness_texture_influence);
float roughness_squared = reflection_roughness * reflection_roughness;
bsdf final_bsdf = df::microfacet_ggx_smith_bsdf(
roughness_u: roughness_squared,
roughness_v: roughness_squared,
tint: color(1.0, 1.0, 1.0),
mode: df::scatter_reflect_transmit
);
int rows = flipbook_dim.x;
int columns = flipbook_dim.y;
int numFrames = rows * columns;
varying int frameIdx = int(state::animation_time() * target_fps) % numFrames;
varying float2 baseUV = float2(transformed_uvw.position.x, transformed_uvw.position.y);
varying float2 emissiveUV = enable_emissive_flipbook
? ((baseUV + float2(frameIdx % rows, frameIdx / rows)) / float2(rows, columns))
: baseUV;
color emissive_mask = tex::texture_isvalid(emissive_mask_texture)
? tex::lookup_color(emissive_mask_texture, emissiveUV, tex::wrap_repeat, tex::wrap_repeat)
: color(1.0);
// Normal calculations
float3 normal_lookup = tex::texture_isvalid(normalmap_texture) ?
base::tangent_space_normal_texture(
texture: normalmap_texture,
factor: bump_factor,
uvw: transformed_uvw
) : state::normal();
} in material(
thin_walled: enable_thin_walled,
surface: material_surface(
scattering: final_bsdf,
emission: material_emission (
df::diffuse_edf(),
intensity: enable_emission ? emissive_color * emissive_mask * color(emissive_intensity) : color(0)
)
),
ior: color(ior_constant),
volume: material_volume(
scattering: df::anisotropic_vdf(),
absorption_coefficient: volume_absorption_coefficient,
scattering_coefficient: color(0.0f, 0.0f, 0.0f)
),
geometry: material_geometry(
normal: normal_lookup
)
);
|
eliabntt/GRADE-RR/isaac_internals/kit/extscore/omni.syntheticdata/omni/syntheticdata/tests/data/ds2_materials/OmniUe4Base.mdl | mdl 1.3;
import ::df::*;
import ::state::*;
import ::math::*;
import ::tex::*;
import ::anno::*;
import ::base::*;
using .::DrivesimPBR_Model import *;
float3 tangent_space_normal(
float3 normal = float3(0.0,0.0,1.0),
float3 tangent_u = state::texture_tangent_u(0),
float3 tangent_v = state::texture_tangent_v(0)
)
[[
anno::description("Interprets the vector in tangent space"),
anno::noinline()
]]
{
return math::normalize(
tangent_u * normal.x +
tangent_v * normal.y +
state::normal() * (normal.z));
}
export material OmniUe4Base(
float3 base_color = float3(0.0, 0.0, 0.0),
float metallic = 0.0,
float roughness = 0.5,
float specular = 0.5,
float3 normal = float3(0.0, 0.0, 1.0),
uniform float clearcoat_weight = 0.0,
uniform float clearcoat_roughness = 0.0,
float3 clearcoat_normal = float3(0.0, 0.0, 1.0),
float3 emissive_color = float3(0.0, 0.0, 0.0),
float3 displacement = float3(0.0, 0.0, 0.0),
uniform float opacity = 1.0,
uniform bool is_tangent_space_normal = true,
uniform bool two_sided = false,
uniform bool is_unlit = false
)
[[
anno::author("NVIDIA CORPORATION"),
anno::key_words(string[]("omni", "UE4", "omniverse", "lit", "clearcoat", "generic"))
]]
= let {
uniform bool enable_clearcoat = clearcoat_weight > 0.0 ? true : false;
// bool enable_emission = (emissive_color.x > 0.0 || emissive_color.y > 0.0 || emissive_color.z > 0.0) ? true : false;
uniform bool enable_opacity = opacity < 1.0 ? true : false;
float3 final_normal = math::normalize(normal);
float3 the_normal = is_unlit ? state::normal() :
(is_tangent_space_normal ? tangent_space_normal(
normal: final_normal,
tangent_u: state::texture_tangent_u(0),
tangent_v: state::texture_tangent_v(0)
) : final_normal);
} in DrivesimPBR_Model(
diffuse_color: base_color,
roughness: roughness,
metallic: metallic,
specular: specular,
normal: the_normal,
enable_clearcoat: enable_clearcoat,
clearcoat_weight: clearcoat_weight,
clearcoat_reflection_roughness: clearcoat_roughness,
clearcoat_normal: clearcoat_normal,
enable_emission: false, // xxxnsubtil: no emission in road_base.mdl
enable_opacity: enable_opacity,
alpha: opacity
);
|
eliabntt/GRADE-RR/isaac_internals/kit/extscore/omni.syntheticdata/omni/syntheticdata/tests/data/ds2_materials/OmniUe4Function.mdl | /******************************************************************************
* Copyright 1986, 2019 NVIDIA ARC GmbH. All rights reserved. *
******************************************************************************
Permission is hereby granted by NVIDIA Corporation ("NVIDIA"), free of charge,
to any person obtaining a copy of the sample definition code that uses our
Material Definition Language (the "MDL Materials"), to reproduce and distribute
the MDL Materials, including without limitation the rights to use, copy, merge,
publish, distribute, and sell modified and unmodified copies of the MDL
Materials, and to permit persons to whom the MDL Materials is furnished to do
so, in all cases solely for use with NVIDIA’s Material Definition Language,
subject to the following further conditions:
1. The above copyright notices, this list of conditions, and the disclaimer
that follows shall be retained in all copies of one or more of the MDL
Materials, including in any software with which the MDL Materials are bundled,
redistributed, and/or sold, and included either as stand-alone text files,
human-readable headers or in the appropriate machine-readable metadata fields
within text or binary files as long as those fields can be easily viewed by the
user, as applicable.
2. The name of NVIDIA shall not be used to promote, endorse or advertise any
Modified Version without specific prior written permission, except a) to comply
with the notice requirements otherwise contained herein; or b) to acknowledge
the contribution(s) of NVIDIA.
THE MDL MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
OR IMPLIED, INCLUDING BUT NOT LIMITED TO ANY WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT OF COPYRIGHT, PATENT,
TRADEMARK, OR OTHER RIGHT. IN NO EVENT SHALL NVIDIA CORPORATION BE LIABLE FOR
ANY CLAIM, DAMAGES OR OTHER LIABILITY, INCLUDING ANY GENERAL, SPECIAL,
INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES, WHETHER IN AN ACTION OF
CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF THE USE OR INABILITY TO USE
THE MDL MATERIALS OR FROM OTHER DEALINGS IN THE MDL MATERIALS.
*/
//* 1.0.1 - using absolute import paths when importing standard modules
mdl 1.3;
import ::df::*;
import ::state::*;
import ::math::*;
import ::tex::*;
import ::anno::*;
export float3x3 matrix_inverse(float3x3 matrix)
[[
anno::description("Inverse the 3x3 matrix"),
anno::noinline()
]]
{
float determinant = (matrix[0][0] * matrix[1][1] * matrix[2][2] + matrix[1][0] * matrix[2][1] * matrix[0][2] + matrix[2][0] * matrix[0][1] * matrix[1][2]) - (matrix[0][2] * matrix[1][1] * matrix[2][0] + matrix[1][2] * matrix[2][1] * matrix[0][0] + matrix[2][2] * matrix[0][1] * matrix[1][0]);
float rdet = 1.0f / determinant;
float3x3 result;
result[0][0] = rdet * (matrix[1][1] * matrix[2][2] - matrix[1][2] * matrix[2][1]);
result[0][1] = -rdet * (matrix[0][1] * matrix[2][2] - matrix[0][2] * matrix[2][1]);
result[0][2] = rdet * (matrix[0][1] * matrix[1][2] - matrix[0][2] * matrix[1][1]);
result[1][0] = -rdet * (matrix[1][0] * matrix[2][2] - matrix[1][2] * matrix[2][0]);
result[1][1] = rdet * (matrix[0][0] * matrix[2][2] - matrix[0][2] * matrix[2][0]);
result[1][2] = -rdet * (matrix[0][0] * matrix[1][2] - matrix[0][2] * matrix[1][0]);
result[2][0] = rdet * (matrix[1][0] * matrix[2][1] - matrix[1][1] * matrix[2][0]);
result[2][1] = -rdet * (matrix[0][0] * matrix[2][1] - matrix[0][1] * matrix[2][0]);
result[2][2] = rdet * (matrix[0][0] * matrix[1][1] - matrix[0][1] * matrix[1][0]);
return result;
}
export float3 transform_vector_from_tangent_to_world(float3 vector)
[[
anno::description("Transform vector from tangent space to world space"),
anno::noinline()
]]
{
float3x3 tangent_to_world = float3x3(state::texture_tangent_u(0), state::texture_tangent_v(0), state::normal());
return tangent_to_world * vector;
}
export float3 transform_vector_from_world_to_tangent(float3 vector)
[[
anno::description("Transform vector from world space to tangent space"),
anno::noinline()
]]
{
float3x3 tangent_to_world = float3x3(state::texture_tangent_u(0), state::texture_tangent_v(0), state::normal());
// inverse tangent to world matrix
float3x3 world_to_tangent = matrix_inverse(tangent_to_world);
return world_to_tangent * vector;
}
export float4 unpack_normal_map(
float4 texture_sample = float4(0.0, 0.0, 1.0, 1.0)
)
[[
anno::description("Unpack a normal stored in a normal map"),
anno::noinline()
]]
{
float2 normal_xy = float2(texture_sample.x, texture_sample.y);
normal_xy = normal_xy * float2(2.0,2.0) - float2(1.0,1.0);
float normal_z = math::sqrt( math::saturate( 1.0 - math::dot( normal_xy, normal_xy ) ) );
return float4( normal_xy.x, normal_xy.y, normal_z, 1.0 );
}
// for get color value from normal.
export float4 pack_normal_map(
float4 texture_sample = float4(0.0, 0.0, 1.0, 1.0)
)
[[
anno::description("Pack to color from a normal")
]]
{
float2 return_xy = float2(texture_sample.x, texture_sample.y);
return_xy = (return_xy + float2(1.0,1.0)) / float2(2.0,2.0);
return float4( return_xy.x, return_xy.y, 0.0, 1.0 );
}
export float4 greyscale_texture_lookup(
float4 texture_sample = float4(0.0, 0.0, 0.0, 1.0)
)
[[
anno::description("Sampling a greyscale texture"),
anno::noinline()
]]
{
return float4(texture_sample.x, texture_sample.x, texture_sample.x, texture_sample.x);
}
export float3 pixel_normal_world_space()
[[
anno::description("Pixel normal in world space"),
anno::noinline()
]]
{
return state::transform_normal(state::coordinate_internal,state::coordinate_world,state::normal());
}
export float3 vertex_normal_world_space()
[[
anno::description("Vertex normal in world space"),
anno::noinline()
]]
{
return state::transform_normal(state::coordinate_internal,state::coordinate_world,state::normal());
}
export float3 landscape_normal_world_space()
[[
anno::description("Landscape normal in world space")
]]
{
float3 normalFromNormalmap = math::floor((::vertex_normal_world_space() * 0.5 + 0.5) * 255.0) / 255.0 * 2.0 - 1.0;
float2 normalXY = float2(normalFromNormalmap.x, normalFromNormalmap.y);
return float3(normalXY.x, normalXY.y, math::sqrt(math::saturate(1.0 - math::dot(normalXY, normalXY))));
}
// Different implementation specific between mdl and hlsl for smoothstep
export float smoothstep(float a, float b, float l)
{
if (a < b)
{
return math::smoothstep(a, b, l);
}
else if (a > b)
{
return 1.0 - math::smoothstep(b, a, l);
}
else
{
return l <= a ? 0.0 : 1.0;
}
}
export float2 smoothstep(float2 a, float2 b, float2 l)
{
return float2(smoothstep(a.x, b.x, l.x), smoothstep(a.y, b.y, l.y));
}
export float3 smoothstep(float3 a, float3 b, float3 l)
{
return float3(smoothstep(a.x, b.x, l.x), smoothstep(a.y, b.y, l.y), smoothstep(a.z, b.z, l.z));
}
export float4 smoothstep(float4 a, float4 b, float4 l)
{
return float4(smoothstep(a.x, b.x, l.x), smoothstep(a.y, b.y, l.y), smoothstep(a.z, b.z, l.z), smoothstep(a.w, b.w, l.w));
}
export float2 smoothstep(float2 a, float2 b, float l)
{
return float2(smoothstep(a.x, b.x, l), smoothstep(a.y, b.y, l));
}
export float3 smoothstep(float3 a, float3 b, float l)
{
return float3(smoothstep(a.x, b.x, l), smoothstep(a.y, b.y, l), smoothstep(a.z, b.z, l));
}
export float4 smoothstep(float4 a, float4 b, float l)
{
return float4(smoothstep(a.x, b.x, l), smoothstep(a.y, b.y, l), smoothstep(a.z, b.z, l), smoothstep(a.w, b.w, l));
}
//------------------ Random from UE4 -----------------------
float length2(float3 v)
{
return math::dot(v, v);
}
float3 GetPerlinNoiseGradientTextureAt(uniform texture_2d PerlinNoiseGradientTexture, float3 v)
{
const float2 ZShear = float2(17.0f, 89.0f);
float2 OffsetA = v.z * ZShear;
float2 TexA = (float2(v.x, v.y) + OffsetA + 0.5f) / 128.0f;
float4 PerlinNoise = tex::lookup_float4(PerlinNoiseGradientTexture,float2(TexA.x,1.0-TexA.y),tex::wrap_repeat,tex::wrap_repeat);
return float3(PerlinNoise.x, PerlinNoise.y, PerlinNoise.z) * 2.0 - 1.0;
}
float3 SkewSimplex(float3 In)
{
return In + math::dot(In, float3(1.0 / 3.0f) );
}
float3 UnSkewSimplex(float3 In)
{
return In - math::dot(In, float3(1.0 / 6.0f) );
}
// 3D random number generator inspired by PCGs (permuted congruential generator)
// Using a **simple** Feistel cipher in place of the usual xor shift permutation step
// @param v = 3D integer coordinate
// @return three elements w/ 16 random bits each (0-0xffff).
// ~8 ALU operations for result.x (7 mad, 1 >>)
// ~10 ALU operations for result.xy (8 mad, 2 >>)
// ~12 ALU operations for result.xyz (9 mad, 3 >>)
//TODO: uint3
int3 Rand3DPCG16(int3 p)
{
// taking a signed int then reinterpreting as unsigned gives good behavior for negatives
//TODO: uint3
int3 v = int3(p);
// Linear congruential step. These LCG constants are from Numerical Recipies
// For additional #'s, PCG would do multiple LCG steps and scramble each on output
// So v here is the RNG state
v = v * 1664525 + 1013904223;
// PCG uses xorshift for the final shuffle, but it is expensive (and cheap
// versions of xorshift have visible artifacts). Instead, use simple MAD Feistel steps
//
// Feistel ciphers divide the state into separate parts (usually by bits)
// then apply a series of permutation steps one part at a time. The permutations
// use a reversible operation (usually ^) to part being updated with the result of
// a permutation function on the other parts and the key.
//
// In this case, I'm using v.x, v.y and v.z as the parts, using + instead of ^ for
// the combination function, and just multiplying the other two parts (no key) for
// the permutation function.
//
// That gives a simple mad per round.
v.x += v.y*v.z;
v.y += v.z*v.x;
v.z += v.x*v.y;
v.x += v.y*v.z;
v.y += v.z*v.x;
v.z += v.x*v.y;
// only top 16 bits are well shuffled
return v >> 16;
}
// Wraps noise for tiling texture creation
// @param v = unwrapped texture parameter
// @param bTiling = true to tile, false to not tile
// @param RepeatSize = number of units before repeating
// @return either original or wrapped coord
float3 NoiseTileWrap(float3 v, bool bTiling, float RepeatSize)
{
return bTiling ? (math::frac(v / RepeatSize) * RepeatSize) : v;
}
// Evaluate polynomial to get smooth transitions for Perlin noise
// only needed by Perlin functions in this file
// scalar(per component): 2 add, 5 mul
float4 PerlinRamp(float4 t)
{
return t * t * t * (t * (t * 6 - 15) + 10);
}
// Blum-Blum-Shub-inspired pseudo random number generator
// http://www.umbc.edu/~olano/papers/mNoise.pdf
// real BBS uses ((s*s) mod M) with bignums and M as the product of two huge Blum primes
// instead, we use a single prime M just small enough not to overflow
// note that the above paper used 61, which fits in a half, but is unusably bad
// @param Integer valued floating point seed
// @return random number in range [0,1)
// ~8 ALU operations (5 *, 3 frac)
float RandBBSfloat(float seed)
{
float BBS_PRIME24 = 4093.0;
float s = math::frac(seed / BBS_PRIME24);
s = math::frac(s * s * BBS_PRIME24);
s = math::frac(s * s * BBS_PRIME24);
return s;
}
// Modified noise gradient term
// @param seed - random seed for integer lattice position
// @param offset - [-1,1] offset of evaluation point from lattice point
// @return gradient direction (xyz) and contribution (w) from this lattice point
float4 MGradient(int seed, float3 offset)
{
//TODO uint
int rand = Rand3DPCG16(int3(seed,0,0)).x;
int3 MGradientMask = int3(0x8000, 0x4000, 0x2000);
float3 MGradientScale = float3(1.0 / 0x4000, 1.0 / 0x2000, 1.0 / 0x1000);
float3 direction = float3(int3(rand, rand, rand) & MGradientMask) * MGradientScale - 1;
return float4(direction.x, direction.y, direction.z, math::dot(direction, offset));
}
// compute Perlin and related noise corner seed values
// @param v = 3D noise argument, use float3(x,y,0) for 2D or float3(x,0,0) for 1D
// @param bTiling = true to return seed values for a repeating noise pattern
// @param RepeatSize = integer units before tiling in each dimension
// @param seed000-seed111 = hash function seeds for the eight corners
// @return fractional part of v
struct SeedValue
{
float3 fv = float3(0);
float seed000 = 0;
float seed001 = 0;
float seed010 = 0;
float seed011 = 0;
float seed100 = 0;
float seed101 = 0;
float seed110 = 0;
float seed111 = 0;
};
SeedValue NoiseSeeds(float3 v, bool bTiling, float RepeatSize)
{
SeedValue seeds;
seeds.fv = math::frac(v);
float3 iv = math::floor(v);
const float3 primes = float3(19, 47, 101);
if (bTiling)
{ // can't algebraically combine with primes
seeds.seed000 = math::dot(primes, NoiseTileWrap(iv, true, RepeatSize));
seeds.seed100 = math::dot(primes, NoiseTileWrap(iv + float3(1, 0, 0), true, RepeatSize));
seeds.seed010 = math::dot(primes, NoiseTileWrap(iv + float3(0, 1, 0), true, RepeatSize));
seeds.seed110 = math::dot(primes, NoiseTileWrap(iv + float3(1, 1, 0), true, RepeatSize));
seeds.seed001 = math::dot(primes, NoiseTileWrap(iv + float3(0, 0, 1), true, RepeatSize));
seeds.seed101 = math::dot(primes, NoiseTileWrap(iv + float3(1, 0, 1), true, RepeatSize));
seeds.seed011 = math::dot(primes, NoiseTileWrap(iv + float3(0, 1, 1), true, RepeatSize));
seeds.seed111 = math::dot(primes, NoiseTileWrap(iv + float3(1, 1, 1), true, RepeatSize));
}
else
{ // get to combine offsets with multiplication by primes in this case
seeds.seed000 = math::dot(iv, primes);
seeds.seed100 = seeds.seed000 + primes.x;
seeds.seed010 = seeds.seed000 + primes.y;
seeds.seed110 = seeds.seed100 + primes.y;
seeds.seed001 = seeds.seed000 + primes.z;
seeds.seed101 = seeds.seed100 + primes.z;
seeds.seed011 = seeds.seed010 + primes.z;
seeds.seed111 = seeds.seed110 + primes.z;
}
return seeds;
}
struct SimplexWeights
{
float4 Result = float4(0);
float3 PosA = float3(0);
float3 PosB = float3(0);
float3 PosC = float3(0);
float3 PosD = float3(0);
};
// Computed weights and sample positions for simplex interpolation
// @return float4(a,b,c, d) Barycentric coordinate defined as Filtered = Tex(PosA) * a + Tex(PosB) * b + Tex(PosC) * c + Tex(PosD) * d
SimplexWeights ComputeSimplexWeights3D(float3 OrthogonalPos)
{
SimplexWeights weights;
float3 OrthogonalPosFloor = math::floor(OrthogonalPos);
weights.PosA = OrthogonalPosFloor;
weights.PosB = weights.PosA + float3(1, 1, 1);
OrthogonalPos -= OrthogonalPosFloor;
float Largest = math::max(OrthogonalPos.x, math::max(OrthogonalPos.y, OrthogonalPos.z));
float Smallest = math::min(OrthogonalPos.x, math::min(OrthogonalPos.y, OrthogonalPos.z));
weights.PosC = weights.PosA + float3(Largest == OrthogonalPos.x, Largest == OrthogonalPos.y, Largest == OrthogonalPos.z);
weights.PosD = weights.PosA + float3(Smallest != OrthogonalPos.x, Smallest != OrthogonalPos.y, Smallest != OrthogonalPos.z);
float RG = OrthogonalPos.x - OrthogonalPos.y;
float RB = OrthogonalPos.x - OrthogonalPos.z;
float GB = OrthogonalPos.y - OrthogonalPos.z;
weights.Result.z =
math::min(math::max(0, RG), math::max(0, RB)) // X
+ math::min(math::max(0, -RG), math::max(0, GB)) // Y
+ math::min(math::max(0, -RB), math::max(0, -GB)); // Z
weights.Result.w =
math::min(math::max(0, -RG), math::max(0, -RB)) // X
+ math::min(math::max(0, RG), math::max(0, -GB)) // Y
+ math::min(math::max(0, RB), math::max(0, GB)); // Z
weights.Result.y = Smallest;
weights.Result.x = 1.0f - weights.Result.y - weights.Result.z - weights.Result.w;
return weights;
}
// filtered 3D gradient simple noise (few texture lookups, high quality)
// @param v >0
// @return random number in the range -1 .. 1
float SimplexNoise3D_TEX(uniform texture_2d PerlinNoiseGradientTexture, float3 EvalPos)
{
float3 OrthogonalPos = SkewSimplex(EvalPos);
SimplexWeights Weights = ComputeSimplexWeights3D(OrthogonalPos);
// can be optimized to 1 or 2 texture lookups (4 or 8 channel encoded in 32 bit)
float3 A = GetPerlinNoiseGradientTextureAt(PerlinNoiseGradientTexture, Weights.PosA);
float3 B = GetPerlinNoiseGradientTextureAt(PerlinNoiseGradientTexture, Weights.PosB);
float3 C = GetPerlinNoiseGradientTextureAt(PerlinNoiseGradientTexture, Weights.PosC);
float3 D = GetPerlinNoiseGradientTextureAt(PerlinNoiseGradientTexture, Weights.PosD);
Weights.PosA = UnSkewSimplex(Weights.PosA);
Weights.PosB = UnSkewSimplex(Weights.PosB);
Weights.PosC = UnSkewSimplex(Weights.PosC);
Weights.PosD = UnSkewSimplex(Weights.PosD);
float DistanceWeight;
DistanceWeight = math::saturate(0.6f - length2(EvalPos - Weights.PosA)); DistanceWeight *= DistanceWeight; DistanceWeight *= DistanceWeight;
float a = math::dot(A, EvalPos - Weights.PosA) * DistanceWeight;
DistanceWeight = math::saturate(0.6f - length2(EvalPos - Weights.PosB)); DistanceWeight *= DistanceWeight; DistanceWeight *= DistanceWeight;
float b = math::dot(B, EvalPos - Weights.PosB) * DistanceWeight;
DistanceWeight = math::saturate(0.6f - length2(EvalPos - Weights.PosC)); DistanceWeight *= DistanceWeight; DistanceWeight *= DistanceWeight;
float c = math::dot(C, EvalPos - Weights.PosC) * DistanceWeight;
DistanceWeight = math::saturate(0.6f - length2(EvalPos - Weights.PosD)); DistanceWeight *= DistanceWeight; DistanceWeight *= DistanceWeight;
float d = math::dot(D, EvalPos - Weights.PosD) * DistanceWeight;
return 32 * (a + b + c + d);
}
// filtered 3D noise, can be optimized
// @param v = 3D noise argument, use float3(x,y,0) for 2D or float3(x,0,0) for 1D
// @param bTiling = repeat noise pattern
// @param RepeatSize = integer units before tiling in each dimension
// @return random number in the range -1 .. 1
float GradientNoise3D_TEX(uniform texture_2d PerlinNoiseGradientTexture, float3 v, bool bTiling, float RepeatSize)
{
bTiling = true;
float3 fv = math::frac(v);
float3 iv0 = NoiseTileWrap(math::floor(v), bTiling, RepeatSize);
float3 iv1 = NoiseTileWrap(iv0 + 1, bTiling, RepeatSize);
const int2 ZShear = int2(17, 89);
float2 OffsetA = iv0.z * ZShear;
float2 OffsetB = OffsetA + ZShear; // non-tiling, use relative offset
if (bTiling) // tiling, have to compute from wrapped coordinates
{
OffsetB = iv1.z * ZShear;
}
// Texture size scale factor
float ts = 1 / 128.0f;
// texture coordinates for iv0.xy, as offset for both z slices
float2 TexA0 = (float2(iv0.x, iv0.y) + OffsetA + 0.5f) * ts;
float2 TexB0 = (float2(iv0.x, iv0.y) + OffsetB + 0.5f) * ts;
// texture coordinates for iv1.xy, as offset for both z slices
float2 TexA1 = TexA0 + ts; // for non-tiling, can compute relative to existing coordinates
float2 TexB1 = TexB0 + ts;
if (bTiling) // for tiling, need to compute from wrapped coordinates
{
TexA1 = (float2(iv1.x, iv1.y) + OffsetA + 0.5f) * ts;
TexB1 = (float2(iv1.x, iv1.y) + OffsetB + 0.5f) * ts;
}
// can be optimized to 1 or 2 texture lookups (4 or 8 channel encoded in 8, 16 or 32 bit)
float4 PerlinNoise = tex::lookup_float4(PerlinNoiseGradientTexture,float2(TexA0.x,1.0-TexA0.y),tex::wrap_repeat,tex::wrap_repeat);
float3 PerlinNoiseColor = float3(PerlinNoise.x, PerlinNoise.y, PerlinNoise.z);
float3 A = PerlinNoiseColor * 2 - 1;
PerlinNoise = tex::lookup_float4(PerlinNoiseGradientTexture,float2(TexA1.x,1.0-TexA0.y),tex::wrap_repeat,tex::wrap_repeat);
PerlinNoiseColor = float3(PerlinNoise.x, PerlinNoise.y, PerlinNoise.z);
float3 B = PerlinNoiseColor * 2 - 1;
PerlinNoise = tex::lookup_float4(PerlinNoiseGradientTexture,float2(TexA0.x,1.0-TexA1.y),tex::wrap_repeat,tex::wrap_repeat);
PerlinNoiseColor = float3(PerlinNoise.x, PerlinNoise.y, PerlinNoise.z);
float3 C = PerlinNoiseColor * 2 - 1;
PerlinNoise = tex::lookup_float4(PerlinNoiseGradientTexture,float2(TexA1.x,1.0-TexA1.y),tex::wrap_repeat,tex::wrap_repeat);
PerlinNoiseColor = float3(PerlinNoise.x, PerlinNoise.y, PerlinNoise.z);
float3 D = PerlinNoiseColor * 2 - 1;
PerlinNoise = tex::lookup_float4(PerlinNoiseGradientTexture,float2(TexB0.x,1.0-TexB0.y),tex::wrap_repeat,tex::wrap_repeat);
PerlinNoiseColor = float3(PerlinNoise.x, PerlinNoise.y, PerlinNoise.z);
float3 E = PerlinNoiseColor * 2 - 1;
PerlinNoise = tex::lookup_float4(PerlinNoiseGradientTexture,float2(TexB1.x,1.0-TexB0.y),tex::wrap_repeat,tex::wrap_repeat);
PerlinNoiseColor = float3(PerlinNoise.x, PerlinNoise.y, PerlinNoise.z);
float3 F = PerlinNoiseColor * 2 - 1;
PerlinNoise = tex::lookup_float4(PerlinNoiseGradientTexture,float2(TexB0.x,1.0-TexB1.y),tex::wrap_repeat,tex::wrap_repeat);
PerlinNoiseColor = float3(PerlinNoise.x, PerlinNoise.y, PerlinNoise.z);
float3 G = PerlinNoiseColor * 2 - 1;
PerlinNoise = tex::lookup_float4(PerlinNoiseGradientTexture,float2(TexB1.x,1.0-TexB1.y),tex::wrap_repeat,tex::wrap_repeat);
PerlinNoiseColor = float3(PerlinNoise.x, PerlinNoise.y, PerlinNoise.z);
float3 H = PerlinNoiseColor * 2 - 1;
float a = math::dot(A, fv - float3(0, 0, 0));
float b = math::dot(B, fv - float3(1, 0, 0));
float c = math::dot(C, fv - float3(0, 1, 0));
float d = math::dot(D, fv - float3(1, 1, 0));
float e = math::dot(E, fv - float3(0, 0, 1));
float f = math::dot(F, fv - float3(1, 0, 1));
float g = math::dot(G, fv - float3(0, 1, 1));
float h = math::dot(H, fv - float3(1, 1, 1));
float4 Weights = PerlinRamp(math::frac(float4(fv.x, fv.y, fv.z, 0)));
float i = math::lerp(math::lerp(a, b, Weights.x), math::lerp(c, d, Weights.x), Weights.y);
float j = math::lerp(math::lerp(e, f, Weights.x), math::lerp(g, h, Weights.x), Weights.y);
return math::lerp(i, j, Weights.z);
}
// @return random number in the range -1 .. 1
// scalar: 6 frac, 31 mul/mad, 15 add,
float FastGradientPerlinNoise3D_TEX(uniform texture_3d PerlinNoise3DTexture, float3 xyz)
{
// needs to be the same value when creating the PerlinNoise3D texture
float Extent = 16;
// last texel replicated and needed for filtering
// scalar: 3 frac, 6 mul
xyz = math::frac(xyz / (Extent - 1)) * (Extent - 1);
// scalar: 3 frac
float3 uvw = math::frac(xyz);
// = floor(xyz);
// scalar: 3 add
float3 p0 = xyz - uvw;
// float3 f = math::pow(uvw, 2) * 3.0f - math::pow(uvw, 3) * 2.0f; // original perlin hermite (ok when used without bump mapping)
// scalar: 2*3 add 5*3 mul
float4 pr = PerlinRamp(float4(uvw.x, uvw.y, uvw.z, 0));
float3 f = float3(pr.x, pr.y, pr.z); // new, better with continues second derivative for bump mapping
// scalar: 3 add
float3 p = p0 + f;
// scalar: 3 mad
// TODO: need reverse???
float4 NoiseSample = tex::lookup_float4(PerlinNoise3DTexture, p / Extent + 0.5f / Extent); // +0.5f to get rid of bilinear offset
// reconstruct from 8bit (using mad with 2 constants and dot4 was same instruction count)
// scalar: 4 mad, 3 mul, 3 add
float3 n = float3(NoiseSample.x, NoiseSample.y, NoiseSample.z) * 255.0f / 127.0f - 1.0f;
float d = NoiseSample.w * 255.f - 127;
return math::dot(xyz, n) - d;
}
// Perlin-style "Modified Noise"
// http://www.umbc.edu/~olano/papers/index.html#mNoise
// @param v = 3D noise argument, use float3(x,y,0) for 2D or float3(x,0,0) for 1D
// @param bTiling = repeat noise pattern
// @param RepeatSize = integer units before tiling in each dimension
// @return random number in the range -1 .. 1
float GradientNoise3D_ALU(float3 v, bool bTiling, float RepeatSize)
{
SeedValue seeds = NoiseSeeds(v, bTiling, RepeatSize);
float rand000 = MGradient(int(seeds.seed000), seeds.fv - float3(0, 0, 0)).w;
float rand100 = MGradient(int(seeds.seed100), seeds.fv - float3(1, 0, 0)).w;
float rand010 = MGradient(int(seeds.seed010), seeds.fv - float3(0, 1, 0)).w;
float rand110 = MGradient(int(seeds.seed110), seeds.fv - float3(1, 1, 0)).w;
float rand001 = MGradient(int(seeds.seed001), seeds.fv - float3(0, 0, 1)).w;
float rand101 = MGradient(int(seeds.seed101), seeds.fv - float3(1, 0, 1)).w;
float rand011 = MGradient(int(seeds.seed011), seeds.fv - float3(0, 1, 1)).w;
float rand111 = MGradient(int(seeds.seed111), seeds.fv - float3(1, 1, 1)).w;
float4 Weights = PerlinRamp(float4(seeds.fv.x, seeds.fv.y, seeds.fv.z, 0));
float i = math::lerp(math::lerp(rand000, rand100, Weights.x), math::lerp(rand010, rand110, Weights.x), Weights.y);
float j = math::lerp(math::lerp(rand001, rand101, Weights.x), math::lerp(rand011, rand111, Weights.x), Weights.y);
return math::lerp(i, j, Weights.z);
}
// 3D value noise - used to be incorrectly called Perlin noise
// @param v = 3D noise argument, use float3(x,y,0) for 2D or float3(x,0,0) for 1D
// @param bTiling = repeat noise pattern
// @param RepeatSize = integer units before tiling in each dimension
// @return random number in the range -1 .. 1
float ValueNoise3D_ALU(float3 v, bool bTiling, float RepeatSize)
{
SeedValue seeds = NoiseSeeds(v, bTiling, RepeatSize);
float rand000 = RandBBSfloat(seeds.seed000) * 2 - 1;
float rand100 = RandBBSfloat(seeds.seed100) * 2 - 1;
float rand010 = RandBBSfloat(seeds.seed010) * 2 - 1;
float rand110 = RandBBSfloat(seeds.seed110) * 2 - 1;
float rand001 = RandBBSfloat(seeds.seed001) * 2 - 1;
float rand101 = RandBBSfloat(seeds.seed101) * 2 - 1;
float rand011 = RandBBSfloat(seeds.seed011) * 2 - 1;
float rand111 = RandBBSfloat(seeds.seed111) * 2 - 1;
float4 Weights = PerlinRamp(float4(seeds.fv.x, seeds.fv.y, seeds.fv.z, 0));
float i = math::lerp(math::lerp(rand000, rand100, Weights.x), math::lerp(rand010, rand110, Weights.x), Weights.y);
float j = math::lerp(math::lerp(rand001, rand101, Weights.x), math::lerp(rand011, rand111, Weights.x), Weights.y);
return math::lerp(i, j, Weights.z);
}
// 3D jitter offset within a voronoi noise cell
// @param pos - integer lattice corner
// @return random offsets vector
float3 VoronoiCornerSample(float3 pos, int Quality)
{
// random values in [-0.5, 0.5]
float3 noise = float3(Rand3DPCG16(int3(pos))) / 0xffff - 0.5;
// quality level 1 or 2: searches a 2x2x2 neighborhood with points distributed on a sphere
// scale factor to guarantee jittered points will be found within a 2x2x2 search
if (Quality <= 2)
{
return math::normalize(noise) * 0.2588;
}
// quality level 3: searches a 3x3x3 neighborhood with points distributed on a sphere
// scale factor to guarantee jittered points will be found within a 3x3x3 search
if (Quality == 3)
{
return math::normalize(noise) * 0.3090;
}
// quality level 4: jitter to anywhere in the cell, needs 4x4x4 search
return noise;
}
// compare previous best with a new candidate
// not producing point locations makes it easier for compiler to eliminate calculations when they're not needed
// @param minval = location and distance of best candidate seed point before the new one
// @param candidate = candidate seed point
// @param offset = 3D offset to new candidate seed point
// @param bDistanceOnly = if true, only set maxval.w with distance, otherwise maxval.w is distance and maxval.xyz is position
// @return position (if bDistanceOnly is false) and distance to closest seed point so far
float4 VoronoiCompare(float4 minval, float3 candidate, float3 offset, bool bDistanceOnly)
{
if (bDistanceOnly)
{
return float4(0, 0, 0, math::min(minval.w, math::dot(offset, offset)));
}
else
{
float newdist = math::dot(offset, offset);
return newdist > minval.w ? minval : float4(candidate.x, candidate.y, candidate.z, newdist);
}
}
// 220 instruction Worley noise
float4 VoronoiNoise3D_ALU(float3 v, int Quality, bool bTiling, float RepeatSize, bool bDistanceOnly)
{
float3 fv = math::frac(v), fv2 = math::frac(v + 0.5);
float3 iv = math::floor(v), iv2 = math::floor(v + 0.5);
// with initial minimum distance = infinity (or at least bigger than 4), first min is optimized away
float4 mindist = float4(0,0,0,100);
float3 p, offset;
// quality level 3: do a 3x3x3 search
if (Quality == 3)
{
int offset_x;
int offset_y;
int offset_z;
for (offset_x = -1; offset_x <= 1; ++offset_x)
{
for (offset_y = -1; offset_y <= 1; ++offset_y)
{
for (offset_z = -1; offset_z <= 1; ++offset_z)
{
offset = float3(offset_x, offset_y, offset_z);
p = offset + VoronoiCornerSample(NoiseTileWrap(iv2 + offset, bTiling, RepeatSize), Quality);
mindist = VoronoiCompare(mindist, iv2 + p, fv2 - p, bDistanceOnly);
}
}
}
}
// everybody else searches a base 2x2x2 neighborhood
else
{
int offset_x;
int offset_y;
int offset_z;
for (offset_x = 0; offset_x <= 1; ++offset_x)
{
for (offset_y = 0; offset_y <= 1; ++offset_y)
{
for (offset_z = 0; offset_z <= 1; ++offset_z)
{
offset = float3(offset_x, offset_y, offset_z);
p = offset + VoronoiCornerSample(NoiseTileWrap(iv + offset, bTiling, RepeatSize), Quality);
mindist = VoronoiCompare(mindist, iv + p, fv - p, bDistanceOnly);
// quality level 2, do extra set of points, offset by half a cell
if (Quality == 2)
{
// 467 is just an offset to a different area in the random number field to avoid similar neighbor artifacts
p = offset + VoronoiCornerSample(NoiseTileWrap(iv2 + offset, bTiling, RepeatSize) + 467, Quality);
mindist = VoronoiCompare(mindist, iv2 + p, fv2 - p, bDistanceOnly);
}
}
}
}
}
// quality level 4: add extra sets of four cells in each direction
if (Quality >= 4)
{
int offset_x;
int offset_y;
int offset_z;
for (offset_x = -1; offset_x <= 2; offset_x += 3)
{
for (offset_y = 0; offset_y <= 1; ++offset_y)
{
for (offset_z = 0; offset_z <= 1; ++offset_z)
{
offset = float3(offset_x, offset_y, offset_z);
// along x axis
p = offset + VoronoiCornerSample(NoiseTileWrap(iv + offset, bTiling, RepeatSize), Quality);
mindist = VoronoiCompare(mindist, iv + p, fv - p, bDistanceOnly);
// along y axis
p = float3(offset.y, offset.z, offset.x) + VoronoiCornerSample(NoiseTileWrap(iv + float3(offset.y, offset.z, offset.x), bTiling, RepeatSize), Quality);
mindist = VoronoiCompare(mindist, iv + p, fv - p, bDistanceOnly);
// along z axis
p = float3(offset.z, offset.x, offset.y) + VoronoiCornerSample(NoiseTileWrap(iv + float3(offset.z, offset.x, offset.y), bTiling, RepeatSize), Quality);
mindist = VoronoiCompare(mindist, iv + p, fv - p, bDistanceOnly);
}
}
}
}
// transform squared distance to real distance
return float4(mindist.x, mindist.y, mindist.z, math::sqrt(mindist.w));
}
// Coordinates for corners of a Simplex tetrahedron
// Based on McEwan et al., Efficient computation of noise in GLSL, JGT 2011
// @param v = 3D noise argument
// @return 4 corner locations
float4x3 SimplexCorners(float3 v)
{
// find base corner by skewing to tetrahedral space and back
float3 tet = math::floor(v + v.x/3 + v.y/3 + v.z/3);
float3 base = tet - tet.x/6 - tet.y/6 - tet.z/6;
float3 f = v - base;
// Find offsets to other corners (McEwan did this in tetrahedral space,
// but since skew is along x=y=z axis, this works in Euclidean space too.)
float3 g = math::step(float3(f.y,f.z,f.x), float3(f.x,f.y,f.z)), h = 1 - float3(g.z, g.x, g.y);
float3 a1 = math::min(g, h) - 1.0 / 6.0, a2 = math::max(g, h) - 1.0 / 3.0;
// four corners
return float4x3(base, base + a1, base + a2, base + 0.5);
}
// Improved smoothing function for simplex noise
// @param f = fractional distance to four tetrahedral corners
// @return weight for each corner
float4 SimplexSmooth(float4x3 f)
{
const float scale = 1024. / 375.; // scale factor to make noise -1..1
float4 d = float4(math::dot(f[0], f[0]), math::dot(f[1], f[1]), math::dot(f[2], f[2]), math::dot(f[3], f[3]));
float4 s = math::saturate(2 * d);
return (1 * scale + s*(-3 * scale + s*(3 * scale - s*scale)));
}
// Derivative of simplex noise smoothing function
// @param f = fractional distanc eto four tetrahedral corners
// @return derivative of smoothing function for each corner by x, y and z
float3x4 SimplexDSmooth(float4x3 f)
{
const float scale = 1024. / 375.; // scale factor to make noise -1..1
float4 d = float4(math::dot(f[0], f[0]), math::dot(f[1], f[1]), math::dot(f[2], f[2]), math::dot(f[3], f[3]));
float4 s = math::saturate(2 * d);
s = -12 * scale + s*(24 * scale - s * 12 * scale);
return float3x4(
s * float4(f[0][0], f[1][0], f[2][0], f[3][0]),
s * float4(f[0][1], f[1][1], f[2][1], f[3][1]),
s * float4(f[0][2], f[1][2], f[2][2], f[3][2]));
}
// Simplex noise and its Jacobian derivative
// @param v = 3D noise argument
// @param bTiling = whether to repeat noise pattern
// @param RepeatSize = integer units before tiling in each dimension, must be a multiple of 3
// @return float3x3 Jacobian in J[*].xyz, vector noise in J[*].w
// J[0].w, J[1].w, J[2].w is a Perlin-style simplex noise with vector output, e.g. (Nx, Ny, Nz)
// J[i].x is X derivative of the i'th component of the noise so J[2].x is dNz/dx
// You can use this to compute the noise, gradient, curl, or divergence:
// float3x4 J = JacobianSimplex_ALU(...);
// float3 VNoise = float3(J[0].w, J[1].w, J[2].w); // 3D noise
// float3 Grad = J[0].xyz; // gradient of J[0].w
// float3 Curl = float3(J[1][2]-J[2][1], J[2][0]-J[0][2], J[0][1]-J[1][2]);
// float Div = J[0][0]+J[1][1]+J[2][2];
// All of these are confirmed to compile out all unneeded terms.
// So Grad of X doesn't compute Y or Z components, and VNoise doesn't do any of the derivative computation.
float3x4 JacobianSimplex_ALU(float3 v, bool bTiling, float RepeatSize)
{
int3 MGradientMask = int3(0x8000, 0x4000, 0x2000);
float3 MGradientScale = float3(1. / 0x4000, 1. / 0x2000, 1. / 0x1000);
// corners of tetrahedron
float4x3 T = SimplexCorners(v);
// TODO: uint3
int3 rand = int3(0);
float4x3 gvec0 = float4x3(1.0);
float4x3 gvec1 = float4x3(1.0);
float4x3 gvec2 = float4x3(1.0);
float4x3 fv = float4x3(1.0);
float3x4 grad = float3x4(1.0);
// processing of tetrahedral vertices, unrolled
// to compute gradient at each corner
fv[0] = v - T[0];
rand = Rand3DPCG16(int3(math::floor(NoiseTileWrap(6 * T[0] + 0.5, bTiling, RepeatSize))));
gvec0[0] = float3(int3(rand.x,rand.x,rand.x) & MGradientMask) * MGradientScale - 1;
gvec1[0] = float3(int3(rand.y,rand.y,rand.y) & MGradientMask) * MGradientScale - 1;
gvec2[0] = float3(int3(rand.z,rand.z,rand.z) & MGradientMask) * MGradientScale - 1;
grad[0][0] = math::dot(gvec0[0], fv[0]);
grad[1][0] = math::dot(gvec1[0], fv[0]);
grad[2][0] = math::dot(gvec2[0], fv[0]);
fv[1] = v - T[1];
rand = Rand3DPCG16(int3(math::floor(NoiseTileWrap(6 * T[1] + 0.5, bTiling, RepeatSize))));
gvec0[1] = float3(int3(rand.x,rand.x,rand.x) & MGradientMask) * MGradientScale - 1;
gvec1[1] = float3(int3(rand.y,rand.y,rand.y) & MGradientMask) * MGradientScale - 1;
gvec1[1] = float3(int3(rand.z,rand.z,rand.z) & MGradientMask) * MGradientScale - 1;
grad[0][1] = math::dot(gvec0[1], fv[1]);
grad[1][1] = math::dot(gvec1[1], fv[1]);
grad[2][1] = math::dot(gvec2[1], fv[1]);
fv[2] = v - T[2];
rand = Rand3DPCG16(int3(math::floor(NoiseTileWrap(6 * T[2] + 0.5, bTiling, RepeatSize))));
gvec0[2] = float3(int3(rand.x,rand.x,rand.x) & MGradientMask) * MGradientScale - 1;
gvec1[2] = float3(int3(rand.y,rand.y,rand.y) & MGradientMask) * MGradientScale - 1;
gvec2[2] = float3(int3(rand.z,rand.z,rand.z) & MGradientMask) * MGradientScale - 1;
grad[0][2] = math::dot(gvec0[2], fv[2]);
grad[1][2] = math::dot(gvec1[2], fv[2]);
grad[2][2] = math::dot(gvec2[2], fv[2]);
fv[3] = v - T[3];
rand = Rand3DPCG16(int3(math::floor(NoiseTileWrap(6 * T[3] + 0.5, bTiling, RepeatSize))));
gvec0[3] = float3(int3(rand.x,rand.x,rand.x) & MGradientMask) * MGradientScale - 1;
gvec1[3] = float3(int3(rand.y,rand.y,rand.y) & MGradientMask) * MGradientScale - 1;
gvec2[3] = float3(int3(rand.z,rand.z,rand.z) & MGradientMask) * MGradientScale - 1;
grad[0][3] = math::dot(gvec0[3], fv[3]);
grad[1][3] = math::dot(gvec1[3], fv[3]);
grad[2][3] = math::dot(gvec2[3], fv[3]);
// blend gradients
float4 sv = SimplexSmooth(fv);
float3x4 ds = SimplexDSmooth(fv);
float3x4 jacobian = float3x4(1.0);
float3 vec0 = gvec0*sv + grad[0]*ds; // NOTE: mdl is column major, convert from UE4 (row major)
jacobian[0] = float4(vec0.x, vec0.y, vec0.z, math::dot(sv, grad[0]));
float3 vec1 = gvec1*sv + grad[1]*ds;
jacobian[1] = float4(vec1.x, vec1.y, vec1.z, math::dot(sv, grad[1]));
float3 vec2 = gvec2*sv + grad[2]*ds;
jacobian[2] = float4(vec2.x, vec2.y, vec2.z, math::dot(sv, grad[2]));
return jacobian;
}
// While RepeatSize is a float here, the expectation is that it would be largely integer values coming in from the UI. The downstream logic assumes
// floats for all called functions (NoiseTileWrap) and this prevents any float-to-int conversion errors from automatic type conversion.
float Noise3D_Multiplexer(uniform texture_2d PerlinNoiseGradientTexture, uniform texture_3d PerlinNoise3DTexture, int Function, float3 Position, int Quality, bool bTiling, float RepeatSize)
{
// verified, HLSL compiled out the switch if Function is a constant
switch(Function)
{
case 0:
return SimplexNoise3D_TEX(PerlinNoiseGradientTexture, Position);
case 1:
return GradientNoise3D_TEX(PerlinNoiseGradientTexture, Position, bTiling, RepeatSize);
case 2:
return FastGradientPerlinNoise3D_TEX(PerlinNoise3DTexture, Position);
case 3:
return GradientNoise3D_ALU(Position, bTiling, RepeatSize);
case 4:
return ValueNoise3D_ALU(Position, bTiling, RepeatSize);
case 5:
return VoronoiNoise3D_ALU(Position, Quality, bTiling, RepeatSize, true).w * 2.0 - 1.0;
}
return 0;
}
//----------------------------------------------------------
export float noise(uniform texture_2d PerlinNoiseGradientTexture, uniform texture_3d PerlinNoise3DTexture, float3 Position, float Scale, float Quality, float Function, float Turbulence, float Levels, float OutputMin, float OutputMax, float LevelScale, float FilterWidth, float Tiling, float RepeatSize)
[[
anno::description("Noise"),
anno::noinline()
]]
{
Position *= Scale;
FilterWidth *= Scale;
float Out = 0.0f;
float OutScale = 1.0f;
float InvLevelScale = 1.0f / LevelScale;
int iFunction(Function);
int iQuality(Quality);
int iLevels(Levels);
bool bTurbulence(Turbulence);
bool bTiling(Tiling);
for(int i = 0; i < iLevels; ++i)
{
// fade out noise level that are too high frequent (not done through dynamic branching as it usually requires gradient instructions)
OutScale *= math::saturate(1.0 - FilterWidth);
if(bTurbulence)
{
Out += math::abs(Noise3D_Multiplexer(PerlinNoiseGradientTexture, PerlinNoise3DTexture, iFunction, Position, iQuality, bTiling, RepeatSize)) * OutScale;
}
else
{
Out += Noise3D_Multiplexer(PerlinNoiseGradientTexture, PerlinNoise3DTexture, iFunction, Position, iQuality, bTiling, RepeatSize) * OutScale;
}
Position *= LevelScale;
RepeatSize *= LevelScale;
OutScale *= InvLevelScale;
FilterWidth *= LevelScale;
}
if(!bTurbulence)
{
// bring -1..1 to 0..1 range
Out = Out * 0.5f + 0.5f;
}
// Out is in 0..1 range
return math::lerp(OutputMin, OutputMax, Out);
}
// Material node for noise functions returning a vector value
// @param LevelScale usually 2 but higher values allow efficient use of few levels
// @return in user defined range (OutputMin..OutputMax)
export float4 vector4_noise(float3 Position, float Quality, float Function, float Tiling, float TileSize)
[[
anno::description("Vector Noise"),
anno::noinline()
]]
{
float4 result = float4(0,0,0,1);
float3 ret = float3(0);
int iQuality = int(Quality);
int iFunction = int(Function);
bool bTiling = Tiling > 0.0;
float3x4 Jacobian = JacobianSimplex_ALU(Position, bTiling, TileSize); // compiled out if not used
// verified, HLSL compiled out the switch if Function is a constant
switch (iFunction)
{
case 0: // Cellnoise
ret = float3(Rand3DPCG16(int3(math::floor(NoiseTileWrap(Position, bTiling, TileSize))))) / 0xffff;
result = float4(ret.x, ret.y, ret.z, 1);
break;
case 1: // Color noise
ret = float3(Jacobian[0].w, Jacobian[1].w, Jacobian[2].w);
result = float4(ret.x, ret.y, ret.z, 1);
break;
case 2: // Gradient
result = Jacobian[0];
break;
case 3: // Curl
ret = float3(Jacobian[2][1] - Jacobian[1][2], Jacobian[0][2] - Jacobian[2][0], Jacobian[1][0] - Jacobian[0][1]);
result = float4(ret.x, ret.y, ret.z, 1);
break;
case 4: // Voronoi
result = VoronoiNoise3D_ALU(Position, iQuality, bTiling, TileSize, false);
break;
}
return result;
}
export float3 vector3_noise(float3 Position, float Quality, float Function, float Tiling, float TileSize)
[[
anno::description("Vector Noise float3 version"),
anno::noinline()
]]
{
float4 noise = vector4_noise(Position, Quality, Function, Tiling, TileSize);
return float3(noise.x, noise.y, noise.z);
}
// workaround for ue4 fresnel (without supporting for camera vector) : replacing it with 0.0, means facing to the view
export float fresnel(float exponent [[anno::unused()]], float base_reflect_fraction [[anno::unused()]], float3 normal [[anno::unused()]])
[[
anno::description("Fresnel"),
anno::noinline()
]]
{
return 0.0;
}
export float fresnel_function(float3 normal_vector [[anno::unused()]], float3 camera_vector [[anno::unused()]],
bool invert_fresnel [[anno::unused()]], float power [[anno::unused()]],
bool use_cheap_contrast [[anno::unused()]], float cheap_contrast_dark [[anno::unused()]], float cheap_contrast_bright [[anno::unused()]],
bool clamp_fresnel_dot_product [[anno::unused()]])
[[
anno::description("Fresnel Function"),
anno::noinline()
]]
{
return 0.0;
}
export float3 camera_vector()
[[
anno::description("Camera Vector"),
anno::noinline()
]]
{
// assume camera postion is 0,0,0
return math::normalize(float3(0) - state::transform_point(state::coordinate_internal,state::coordinate_world,state::position()));
}
export float pixel_depth()
[[
anno::description("Pixel Depth"),
anno::noinline()
]]
{
return 256.0f;
}
export float scene_depth()
[[
anno::description("Scene Depth")
]]
{
return 65500.0f;
}
export float3 scene_color()
[[
anno::description("Scene Color")
]]
{
return float3(1.0f);
}
export float4 vertex_color()
[[
anno::description("Vertex Color"),
anno::noinline()
]]
{
return float4(1.0f);
}
export float4 vertex_color_from_coordinate(int VertexColorCoordinateIndex)
[[
anno::description("Vertex Color for float2 PrimVar"),
anno::noinline()
]]
{
// Kit only supports 4 uv sets, 2 uvs are available to vertex color. if vertex color index is invalid, output the constant WHITE color intead
return (VertexColorCoordinateIndex > 2) ? float4(1.0f) : float4(state::texture_coordinate(VertexColorCoordinateIndex).x, state::texture_coordinate(VertexColorCoordinateIndex).y, state::texture_coordinate(VertexColorCoordinateIndex+1).x, state::texture_coordinate(VertexColorCoordinateIndex+1).y);
}
export float3 camera_position()
[[
anno::description("Camera Position"),
anno::noinline()
]]
{
return float3(1000.0f, 0, 0);
}
export float3 rotate_about_axis(float4 NormalizedRotationAxisAndAngle, float3 PositionOnAxis, float3 Position)
[[
anno::description("Rotates Position about the given axis by the given angle")
]]
{
// Project Position onto the rotation axis and find the closest point on the axis to Position
float3 NormalizedRotationAxis = float3(NormalizedRotationAxisAndAngle.x,NormalizedRotationAxisAndAngle.y,NormalizedRotationAxisAndAngle.z);
float3 ClosestPointOnAxis = PositionOnAxis + NormalizedRotationAxis * math::dot(NormalizedRotationAxis, Position - PositionOnAxis);
// Construct orthogonal axes in the plane of the rotation
float3 UAxis = Position - ClosestPointOnAxis;
float3 VAxis = math::cross(NormalizedRotationAxis, UAxis);
float[2] SinCosAngle = math::sincos(NormalizedRotationAxisAndAngle.w);
// Rotate using the orthogonal axes
float3 R = UAxis * SinCosAngle[1] + VAxis * SinCosAngle[0];
// Reconstruct the rotated world space position
float3 RotatedPosition = ClosestPointOnAxis + R;
// Convert from position to a position offset
return RotatedPosition - Position;
}
export float2 rotate_scale_offset_texcoords(float2 InTexCoords, float4 InRotationScale, float2 InOffset)
[[
anno::description("Returns a float2 texture coordinate after 2x2 transform and offset applied")
]]
{
return float2(math::dot(InTexCoords, float2(InRotationScale.x, InRotationScale.y)), math::dot(InTexCoords, float2(InRotationScale.z, InRotationScale.w))) + InOffset;
}
export float3 reflection_custom_world_normal(float3 WorldNormal, bool bNormalizeInputNormal)
[[
anno::description("Reflection vector about the specified world space normal")
]]
{
if (bNormalizeInputNormal)
{
WorldNormal = math::normalize(WorldNormal);
}
return -camera_vector() + WorldNormal * math::dot(WorldNormal, camera_vector()) * 2.0;
}
export float3 reflection_vector()
[[
anno::description("Reflection Vector"),
anno::noinline()
]]
{
float3 normal = state::transform_normal(state::coordinate_internal,state::coordinate_world,state::normal());
return reflection_custom_world_normal(normal, false);
}
export float dither_temporalAA(float AlphaThreshold = 0.5f, float Random = 1.0f [[anno::unused()]])
[[
anno::description("Dither TemporalAA"),
anno::noinline()
]]
{
return AlphaThreshold;
}
|
eliabntt/GRADE-RR/isaac_internals/kit/extscore/omni.syntheticdata/omni/syntheticdata/tests/data/ds2_materials/DrivesimPBR.mdl | /*****************************************************************************
* Copyright 1986-2020 NVIDIA Corporation. All rights reserved.
******************************************************************************
MDL MATERIALS ARE PROVIDED PURSUANT TO AN END USER LICENSE AGREEMENT,
WHICH WAS ACCEPTED IN ORDER TO GAIN ACCESS TO THIS FILE. IN PARTICULAR,
THE MDL MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO ANY WARRANTIES OF
MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT OF
COPYRIGHT, PATENT, TRADEMARK, OR OTHER RIGHT. IN NO EVENT SHALL NVIDIA
CORPORATION BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, INCLUDING
ANY GENERAL, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES,
WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF
THE USE OR INABILITY TO USE THE MDL MATERIALS OR FROM OTHER DEALINGS IN
THE MDL MATERIALS.
*/
mdl 1.4;
import ::df::*;
import ::state::*;
import ::math::*;
import ::base::*;
import ::tex::*;
import ::anno::*;
import ::nvidia::core_definitions::file_texture;
import ::nvidia::core_definitions::normalmap_texture;
using .::DrivesimPBR_Model import *;
float4 raw_file_texture(
uniform texture_2d texture
[[ anno::description("The input texture") ]],
base::texture_coordinate_info uvw = base::texture_coordinate_info()
[[ anno::description("Custom value for texture coordinate") ]],
uniform float2 crop_u = float2(0.0, 1.0)
[[ anno::description("Restricts the texture access to sub-domain of the texture in the u direction") ]],
uniform float2 crop_v = float2(0.0, 1.0)
[[ anno::description("Restricts the texture access to sub-domain of the texture in the v direction") ]],
uniform tex::wrap_mode wrap_u = tex::wrap_repeat
[[ anno::description("Wrapping mode in the u direction") ]],
uniform tex::wrap_mode wrap_v = tex::wrap_repeat
[[ anno::description("Wrapping mode in the v direction") ]]
)
[[
anno::description("General texturing function for 2D bitmap texture stored in a file"),
anno::noinline()
]]
{
return tex::lookup_float4(texture, float2(uvw.position.x, uvw.position.y), wrap_u, wrap_v, crop_u, crop_v);
}
base::texture_return add_colors(
color color_1 = color(.5, .5, .5),
color color_2 = color(.5, .5, .5),
float weight = 1.0
) [[
anno::hidden(),
anno::unused()
]]
{
return base::blend_color_layers(
layers: base::color_layer[](
base::color_layer(
layer_color: color_2,
weight: weight,
mode: base::color_layer_add
)),
base: color_1
);
}
base::texture_return blend_colors(
color color_1 = color(1.0, 1.0, 1.0),
color color_2 = color(.5, .5, .5),
float weight = 1.0
) [[
anno::hidden(),
anno::unused()
]]
{
return base::blend_color_layers(
layers: base::color_layer[](
base::color_layer(
layer_color: color_2,
weight: weight,
mode: base::color_layer_blend
)),
base: color_1
);
}
export material DrivesimPBR(
// -------------------- DIFFUSE REFLECTION ----------------------
color diffuse_color_constant = color(0.2f)
[[
anno::display_name("Albedo Base Color"),
anno::description("The base albedo color to use if no texture is specified"),
anno::in_group("Diffuse")
]],
uniform texture_2d diffuse_texture = texture_2d()
[[
anno::display_name("Albedo Map"),
anno::description("The texture specifying the albedo value to use"),
anno::in_group("Diffuse")
]],
uniform color diffuse_tint = color(1.0f)
[[
anno::display_name("Albedo Tint"),
anno::description("This tints the albedo color or texture contant"),
anno::in_group("Diffuse")
]],
// -------------------- SPECULAR REFLECTION ----------------------
float reflection_roughness_constant = 0.5f
[[
anno::display_name("Roughness Amount"),
anno::hard_range(0.0,1.),
anno::description("Higher roughness values lead to more blurry reflections"),
anno::in_group("Specular")
]],
uniform float reflection_roughness_texture_influence = 0.0f
[[
anno::display_name("Roughness Map Influence"),
anno::hard_range(0.0, 1.),
anno::description("Blends between the constant value and the lookup of the roughness texture"),
anno::in_group("Specular")
]],
uniform texture_2d reflectionroughness_texture = texture_2d()
[[
anno::display_name("Roughness Map"),
anno::in_group("Specular")
]],
float anisotropy_constant = 0.0f
[[
anno::display_name("Anisotropy Amount"),
anno::hard_range(-1.,1.),
anno::description("0 for isotropic, extents of -1 to 1 for anisotropy"),
anno::in_group("Specular")
]],
uniform float anisotropy_texture_influence = 0.0f
[[
anno::display_name("Anisotropy Map Influence"),
anno::hard_range(0.0, 1.),
anno::description("Blends between the constant value and the lookup of the anisotropy texture"),
anno::in_group("Specular")
]],
uniform texture_2d anisotropy_texture = texture_2d()
[[
anno::display_name("Anisotropy Map"),
anno::in_group("Specular")
]],
float metallic_constant = 0.f
[[
anno::display_name("Metallic Amount"),
anno::hard_range(0.0,1.),
anno::description("Metallic Material"),
anno::in_group("Specular")
]],
uniform float metallic_texture_influence = 0.0f
[[
anno::display_name("Metallic Map Influence"),
anno::hard_range(0.0, 1.),
anno::description("Blends between the constant value and the lookup of the metallic texture"),
anno::in_group("Specular")
]],
uniform texture_2d metallic_texture = texture_2d()
[[
anno::display_name("Metallic Map"),
anno::in_group("Specular")
]],
float specular_constant = 1.f
[[
anno::display_name("Specular amount"),
anno::hard_range(0.0, 1.0),
anno::description("Scale of the specular component"),
anno::in_group("Specular")
]],
uniform texture_2d specular_texture = texture_2d()
[[
anno::display_name("Specular Map"),
anno::in_group("Specular")
]],
// -------------------- ORM ----------------------
uniform bool enable_ORM_texture = true
[[
anno::display_name("Enable ORM Texture"),
anno::description("When True the ORM texture will be used to extract the Occlusion, Roughness and Metallic Map"),
anno::in_group("Reflectivity")
]],
uniform texture_2d ORM_texture = texture_2d()
[[
anno::display_name("ORM Map"),
anno::description("Texture that hae Occlusion, Roughness and Metallic map stored in the respective r, g and b channels"),
anno::in_group("Reflectivity")
]],
// -------------------- Clearcoat ----------------------
uniform bool enable_clearcoat = false
[[
anno::display_name("Enable Clearcoat Layer"),
anno::description("Adds a clearcoat layer on top of the material when enabled"),
anno::in_group("Clearcoat")
]],
color clearcoat_tint = color(1.0f)
[[
anno::display_name("Clearcoat Tint"),
anno::description("Clearcoat is tinted and affects the underlying material"),
anno::in_group("Clearcoat")
]],
float clearcoat_transparency = 1.0f
[[
anno::display_name("Clearcoat Transparency"),
anno::description("Adjusts the transparency of the clearcoat. Can be turned into a fully opaque clearcoat "
"covering the underlying layer"),
anno::in_group("Clearcoat")
]],
float clearcoat_reflection_roughness = 0.0f
[[
anno::display_name("Clearcoat Roughness"),
anno::description("Higher roughness values lead to more blurry reflections"),
anno::hard_range(0.0f, 1.0f),
anno::in_group("Clearcoat")
]],
float clearcoat_weight = 1.0f
[[
anno::display_name("Clearcoat Weight"),
anno::description("Sets the weight for clearcoat layer"),
anno::hard_range(0.0f, 1.0f),
anno::in_group("Clearcoat")
]],
float clearcoat_flatten = 1.0f
[[
anno::display_name("Clearcoat Flatten"),
anno::description("Flattens the clearcoat to even out the underlying bump maps"),
anno::hard_range(0.0f, 1.0f),
anno::in_group("Clearcoat")
]],
float clearcoat_ior = 1.56f
[[
anno::display_name("Clearcoat IOR"),
anno::description("Sets the Index of refraction for the clearcoat layer"),
anno::soft_range(1.0f, 4.0f),
anno::in_group("Clearcoat")
]],
uniform float clearcoat_bump_factor = 1.f
[[
anno::display_name("Clearcoat Normal Map Strength"),
anno::description("Strength of normal map."),
anno::in_group("Clearcoat")
]],
float3 clearcoat_normal_input = float3(0.0, 0.0, 0.0),
uniform texture_2d clearcoat_normalmap_texture = texture_2d()
[[
anno::display_name("Clearcoat Normal Map"),
anno::description("Enables the usage of the normalmap texture"),
anno::in_group("Clearcoat")
]],
// -------------------- REFLECTIVITY ----------------------
uniform bool enable_retroreflection = false
[[
anno::display_name("Enable Retroreflection"),
anno::in_group("Reflectivity")
]],
uniform color retroreflection_tint = color(0)
[[
anno::display_name("Retro-reflection tint"),
anno::description("The tint of the retroreflection if no texture is used"),
anno::in_group("Reflectivity")
]],
uniform texture_2d retroreflection_texture = texture_2d()
[[
anno::display_name("Retro-reflection texture"),
anno::description("The tint of the retroreflection as a texture"),
anno::in_group("Reflectivity")
]],
uniform float normal_reflectivity = 0.5
[[
anno::display_name("Retro-reflection weight facing"),
anno::hard_range(0.0,1.),
anno::description("Reflectivity control for geometry facing the viewer"),
anno::in_group("Reflectivity")
]],
uniform float grazing_reflectivity = 1.0
[[
anno::display_name("Retro-reflection weight edge"),
anno::hard_range(0.0,1.),
anno::description("Reflectivity control for the reflectivity at geometry edges"),
anno::in_group("Reflectivity")
]],
// -------------------- AMBIENT OCCLUSION ----------------------
float ao_to_diffuse = 0.0
[[
anno::display_name("AO to Diffuse"),
anno::description("Controls the amount of ambient occlusion multiplied into the diffuse color channel"),
anno::in_group("AO")
]],
float ao_input = float(1.0),
uniform texture_2d ao_texture = texture_2d()
[[
anno::display_name("Ambient Occlusion Map"),
anno::description("The Ambient Occlusion texture for the material"),
anno::in_group("AO")
]],
// -------------------- EMISSIVE ----------------------
uniform bool enable_emission = false
[[
anno::display_name("Enable Emission"),
anno::description("Enables the emission of light from the material"),
anno::in_group("Emissive")
]],
uniform color emissive_color = color(1.0, 0.1, 0.1)
[[
anno::enable_if("enable_emission == true"),
anno::display_name("Emissive Color"),
anno::description("The emission color"),
anno::in_group("Emissive")
]],
color emissive_mask_input = color(1.0),
uniform texture_2d emissive_mask_texture = texture_2d()
[[
anno::enable_if("enable_emission == true"),
anno::display_name("Emissive Mask Map"),
anno::description("The texture masking the emissive color"),
anno::in_group("Emissive")
]],
uniform float emissive_intensity = 40.f
[[
anno::enable_if("enable_emission == true"),
anno::display_name("Emissive Intensity"),
anno::description("Intensity of the emission"),
anno::in_group("Emissive")
]],
uniform bool enable_emissive_flipbook = false
[[
anno::display_name("Enable Flipbook for emission"),
anno::description("Allows the use of animated emissive textures (e.g. video screens)"),
anno::in_group("Emissive")
]],
uniform int2 flipbook_dim = int2(1,1)
[[
anno::enable_if("enable_emissive_flipbook == true"),
anno::display_name("Flipbook Rows/Columns"),
anno::description("How many rows and columns are in the flipbook?"),
anno::in_group("Emissive")
]],
uniform int target_fps = 1
[[
anno::enable_if("enable_emissive_flipbook == true"),
anno::display_name("Flipbook Target FPS"),
anno::description("Playback speed in frames per second"),
anno::in_group("Emissive")
]],
// -------------------- ALPHA ----------------------
uniform bool enable_opacity = false
[[
anno::display_name("Enable Opacity"),
anno::description("Enables or disables alpha functionality"),
anno::in_group("Alpha")
]],
float alpha_constant = 1.0
[[
anno::enable_if("enable_opacity == true"),
anno::display_name("Opacity Fallback Constant"),
anno::hard_range(0.0, 1.0),
anno::description("The base alpha constant to use if no texture is specified"),
anno::in_group("Alpha")
]],
uniform texture_2d opacity_texture = texture_2d()
[[
anno::enable_if("enable_opacity == true"),
anno::display_name("Opacity Map"),
anno::description("The texture specifying the opacity value to use"),
anno::in_group("Alpha")
]],
uniform bool enable_opacity_cutout = false
[[
anno::enable_if("enable_opacity == true"),
anno::display_name("Enable Alpha Cutout"),
anno::description("Enables or disables alpha cutout functionality"),
anno::in_group("Alpha")
]],
uniform float alpha_cutout_cutoff = 1.f
[[
anno::enable_if("enable_opacity == true"),
anno::enable_if("enable_opacity_cutout == true"),
anno::hard_range(0.0, 1.0),
anno::display_name("Alpha Cutout Cutoff"),
anno::description("The cutoff value to to render as transparent up to and opaque past"),
anno::in_group("Alpha")
]],
// -------------------- NORMAL ----------------------
uniform float bump_factor = 1.f
[[
anno::display_name("Normal Map Strength"),
anno::description("Strength of normal map."),
anno::in_group("Normal")
]],
float3 normal_input = state::normal(),
uniform texture_2d normalmap_texture = texture_2d()
[[
anno::display_name("Normal Map"),
anno::in_group("Normal")
]],
// -------------------- UV ADJUSTMENTS ----------------------
uniform bool project_uvw = false
[[
anno::display_name("Enable Project UVW Coordinates"),
anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"),
anno::in_group("UV")
]],
uniform bool world_or_object = false
[[
anno::enable_if("project_uvw == true"),
anno::display_name("Enable World Space"),
anno::description("When set to 'true' uses world space for projection, when 'false' object space is used"),
anno::in_group("UV")
]],
uniform float2 texture_translate = float2(0.0f)
[[
anno::display_name("Texture Translate"),
anno::description("Controls position of texture."),
anno::in_group("UV")
]],
uniform float2 texture_scale = float2(1.0f)
[[
anno::display_name("Texture Scale"),
anno::description("Larger number increases size of texture."),
anno::in_group("UV")
]],
uniform float2 texture_speed = float2(0.0f)
[[
anno::display_name("Texture Speed"),
anno::description("Scrolling texture animation speed in UVs per sec."),
anno::in_group("UV")
]]
)
[[
anno::display_name("Drivesim PBR"),
anno::description("Supports the opaque alpha cutout material model of the Drivesim Renderer"),
anno::version( 1, 0, 0),
anno::author("NVIDIA CORPORATION"),
anno::key_words(string[]("Drivesim", "PBR", "opaque", "alpha", "cutout", "omniverse", "generic"))
]]
= let {
base::texture_coordinate_system the_system = world_or_object ? base::texture_coordinate_world : base::texture_coordinate_object;
base::texture_coordinate_info uvw = project_uvw ?
base::coordinate_projection(
coordinate_system: the_system,
texture_space: 0,
projection_type: base::projection_cubic ) :
base::coordinate_source(
coordinate_system: base::texture_coordinate_uvw,
texture_space: 0
);
// Need to use a small value so the compiler doesnt optimize out this var...
float t = 0.00000001;//state::animation_time();
base::texture_coordinate_info transformed_uvw = base::transform_coordinate(
transform: base::rotation_translation_scale(
scaling: float3(texture_scale.x, texture_scale.y, 1.0),
rotation: float3(0.0, 0.0, 0.0 ),
translation: float3(texture_translate.x + t * texture_speed.x, texture_translate.y + t * texture_speed.y, 0.0)),
coordinate: uvw );
// Diffuse Color Lookup and AO
float4 base_lookup = tex::texture_isvalid(diffuse_texture) ? raw_file_texture(texture: diffuse_texture, uvw: transformed_uvw) : float4(1, 1, 1, 1);
float opacityValue = tex::texture_isvalid(opacity_texture) ? raw_file_texture(texture: opacity_texture, uvw: transformed_uvw).w : alpha_constant;
// Normal calculations
float3 normal_lookup = tex::texture_isvalid(normalmap_texture) ?
base::tangent_space_normal_texture(
texture: normalmap_texture,
factor: bump_factor,
uvw: transformed_uvw
) : normal_input;
float3 clearcoat_normal = tex::texture_isvalid(clearcoat_normalmap_texture) ?
base::tangent_space_normal_texture(
texture: clearcoat_normalmap_texture,
factor: clearcoat_bump_factor,
uvw: uvw
) : clearcoat_normal_input;
float3 flattened_clearcoat_normal = ::math::lerp(normal_lookup, ::state::normal(), clearcoat_flatten);
float3 final_clearcoat_normal = tex::texture_isvalid(clearcoat_normalmap_texture) ? clearcoat_normal : flattened_clearcoat_normal;
float ao_lookup = tex::texture_isvalid(ao_texture) ?
raw_file_texture(texture: ao_texture, uvw: transformed_uvw).x :
ao_input;
color diffuse_color = tex::texture_isvalid(diffuse_texture) ? color(base_lookup.x, base_lookup.y, base_lookup.z) : diffuse_color_constant;
float3 ORM_lookup = tex::lookup_float3(
tex: ORM_texture,
coord: float2(transformed_uvw.position.x, transformed_uvw.position.y)
);
float roughness_lookup = tex::texture_isvalid(reflectionroughness_texture) ?
raw_file_texture(texture: reflectionroughness_texture, uvw: transformed_uvw).x :
reflection_roughness_constant;
float anisotropy_lookup = tex::texture_isvalid(anisotropy_texture) ?
(raw_file_texture(texture: anisotropy_texture, uvw: transformed_uvw).x * 2.0f - 1.0f) :
anisotropy_constant;
float metallic_lookup = tex::texture_isvalid(metallic_texture) ?
raw_file_texture(texture: metallic_texture, uvw: transformed_uvw).x :
metallic_constant;
float specular_lookup = tex::texture_isvalid(specular_texture) ?
raw_file_texture(texture: specular_texture, uvw: transformed_uvw).x :
specular_constant;
float roughness_selection = enable_ORM_texture ? ORM_lookup.y : roughness_lookup;
float metallic_selection = enable_ORM_texture ? ORM_lookup.z : metallic_lookup;
float ao = enable_ORM_texture ? ORM_lookup.x : ao_lookup;
float reflection_roughness = math::lerp(reflection_roughness_constant, roughness_selection, reflection_roughness_texture_influence);
float anisotropy = math::lerp(anisotropy_constant, anisotropy_lookup, anisotropy_texture_influence);
float metallic = math::lerp(metallic_constant, metallic_selection, metallic_texture_influence);
int rows = flipbook_dim.x;
int columns = flipbook_dim.y;
int numFrames = rows * columns;
varying int frameIdx = int(state::animation_time() * target_fps) % numFrames;
varying float2 baseUV = float2(transformed_uvw.position.x, transformed_uvw.position.y);
varying float2 emissiveUV = enable_emissive_flipbook
? ((baseUV + float2(frameIdx % rows, frameIdx / rows)) / float2(rows, columns))
: baseUV;
color emissive_mask = tex::texture_isvalid(emissive_mask_texture)
? tex::lookup_color(emissive_mask_texture, emissiveUV, tex::wrap_repeat, tex::wrap_repeat)
: emissive_mask_input;
color retroreflection_lookup = tex::texture_isvalid(retroreflection_texture)
? tex::lookup_color(retroreflection_texture, float2(transformed_uvw.position.x, transformed_uvw.position.y)) : retroreflection_tint;
} in DrivesimPBR_Model(
diffuse_color: diffuse_color,
diffuse_tint: diffuse_tint,
roughness: reflection_roughness,
anisotropy: anisotropy,
metallic: metallic,
specular: specular_lookup,
normal: normal_lookup,
enable_clearcoat: enable_clearcoat,
clearcoat_tint: clearcoat_tint,
clearcoat_transparency: clearcoat_transparency,
clearcoat_reflection_roughness: clearcoat_reflection_roughness,
clearcoat_weight: clearcoat_weight,
clearcoat_ior: clearcoat_ior,
clearcoat_normal: final_clearcoat_normal,
enable_retroreflection: enable_retroreflection,
retroreflection_tint: retroreflection_lookup,
normal_reflectivity: normal_reflectivity,
grazing_reflectivity: grazing_reflectivity,
ao_to_diffuse: ao_to_diffuse,
ao: ao,
enable_emission: enable_emission,
emissive_color: emissive_color,
emissive_mask: emissive_mask,
emissive_intensity: emissive_intensity,
enable_opacity: enable_opacity,
alpha: opacityValue,
enable_opacity_cutout: enable_opacity_cutout,
alpha_cutout_cutoff: alpha_cutout_cutoff
);
|
eliabntt/GRADE-RR/isaac_internals/kit/extscore/omni.syntheticdata/omni/syntheticdata/tests/data/ds2_materials/DrivesimPBR_Model.mdl | /*****************************************************************************
* Copyright 1986-2020 NVIDIA Corporation. All rights reserved.
******************************************************************************
MDL MATERIALS ARE PROVIDED PURSUANT TO AN END USER LICENSE AGREEMENT,
WHICH WAS ACCEPTED IN ORDER TO GAIN ACCESS TO THIS FILE. IN PARTICULAR,
THE MDL MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO ANY WARRANTIES OF
MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT OF
COPYRIGHT, PATENT, TRADEMARK, OR OTHER RIGHT. IN NO EVENT SHALL NVIDIA
CORPORATION BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, INCLUDING
ANY GENERAL, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES,
WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF
THE USE OR INABILITY TO USE THE MDL MATERIALS OR FROM OTHER DEALINGS IN
THE MDL MATERIALS.
*/
mdl 1.4;
import ::df::*;
import ::state::*;
import ::math::*;
import ::base::*;
import ::tex::*;
import ::anno::*;
import ::nvidia::baking::*;
base::texture_return multiply_colors(
color color_1 = color(1.0, 1.0, 1.0),
color color_2 = color(.5, .5, .5),
float weight = 1.0
) [[
anno::hidden()
]]
{
return base::blend_color_layers(
layers: base::color_layer[](
base::color_layer(
layer_color: color_2,
weight: weight,
mode: base::color_layer_multiply
)),
base: color_1
);
}
export material DrivesimPBR_Model(
color diffuse_color = color(0.2f) [[ nvidia::baking::bake_to_texture("diffuse_texture", "diffuse_color_constant", "RGBA8_UNORM") ]],
uniform color diffuse_tint = color(1.0f),
float roughness = 0.5f [[ nvidia::baking::bake_to_texture("reflectionroughness_texture", "reflection_roughness_constant", "R8_UNORM") ]],
float anisotropy = 0.0f [[ nvidia::baking::bake_to_texture("anisotropy_texture", "anisotropy_constant", "R8_SNORM") ]],
float metallic = 0.f [[ nvidia::baking::bake_to_texture("metallic_texture", "metallic_constant", "R8_UNORM") ]],
float specular = 1.f [[ nvidia::baking::bake_to_texture("specular_texture", "specular_constant", "R8_UNORM") ]],
float3 normal = float3(0.0, 0.0, 0.0) [[ nvidia::baking::bake_to_texture("normalmap_texture", "normal_input", "RGBA8_SNORM", transform: "UNORM_VECTOR") ]],
uniform bool enable_clearcoat = false,
color clearcoat_tint = color(1.0f),
float clearcoat_transparency = 1.0f,
float clearcoat_reflection_roughness = 0.0f,
float clearcoat_weight = 1.0f,
float clearcoat_ior = 1.56f,
float3 clearcoat_normal = float3(0.0, 0.0, 0.0) [[ nvidia::baking::bake_to_texture("clearcoat_normalmap_texture", "clearcoat_normal_input", "RGBA8_SNORM", transform: "UNORM_VECTOR") ]],
uniform bool enable_retroreflection = false,
color retroreflection_tint = color(0) [[ nvidia::baking::bake_to_texture("retroreflection_texture", "retroreflection_tint", "RGBA8_UNORM") ]],
uniform float normal_reflectivity = 0.5,
uniform float grazing_reflectivity = 1.0,
float ao_to_diffuse = 0.0,
float ao = 1.0f [[ nvidia::baking::bake_to_texture("ao_texture", "ao_input", "R8_UNORM") ]],
uniform bool enable_emission = false,
uniform color emissive_color = color(1.0, 0.1, 0.1),
color emissive_mask = color(1.0, 0.1, 0.1) [[ nvidia::baking::bake_to_texture("emissive_mask_texture", "emissive_mask_input", "R8_UNORM") ]],
uniform float emissive_intensity = 40.f,
uniform bool enable_opacity = false,
float alpha = 1.0,
uniform bool enable_opacity_cutout = false,
uniform float alpha_cutout_cutoff = 1.f
)
[[
nvidia::baking::target_material_model("DrivesimPBR", "..::DrivesimPBR")
]]
= let {
color base_color = multiply_colors(diffuse_color, diffuse_tint, 1.0).tint;
color ao_weighted_base_color = multiply_colors(base_color, color(ao), ao_to_diffuse).tint;
float squared_roughness = roughness * roughness;
float roughness_u = squared_roughness * (1 + anisotropy);
float roughness_v = squared_roughness * (1 - anisotropy);
bsdf diffuse_bsdf = df::weighted_layer(
weight: 1.0,
layer: df::diffuse_reflection_bsdf(
tint: ao_weighted_base_color,
roughness: 0.f ),
base: bsdf(),
normal: enable_clearcoat ? normal : state::normal()
);
bsdf ggx_smith_bsdf = df::microfacet_ggx_smith_bsdf(
roughness_u: roughness_u,
roughness_v: roughness_v,
tint: color(1.0, 1.0, 1.0),
mode: df::scatter_reflect
);
bsdf custom_curve_layer_bsdf = df::custom_curve_layer(
normal_reflectivity: 0.03,
grazing_reflectivity: 1.0,
exponent: 5.0,
weight: specular,
layer: ggx_smith_bsdf,
base: diffuse_bsdf,
normal: enable_clearcoat ? normal : state::normal()
);
//
// Begin RETROREFLECTION SUPPORT
//
color final_retroreflection_color = multiply_colors(retroreflection_tint, base_color, 1.0).tint;
bsdf backscattering_glossy_bsdf = df::backscattering_glossy_reflection_bsdf(
tint: final_retroreflection_color,
roughness_u: squared_roughness
);
/*bsdf retroreflection_bsdf = df::custom_curve_layer(
normal_reflectivity: 1.-normal_reflectivity,
grazing_reflectivity: 1.-grazing_reflectivity,
base: backscattering_glossy_bsdf,
layer: custom_curve_layer_bsdf,
normal: enable_clearcoat ? normal_lookup : state::normal()
);*/
bool use_retroreflection = enable_retroreflection && (retroreflection_tint != color(0));
// if normal_reflectivity and grazing_reflectivity are 1 and weight is 1, just the layer is used
bsdf opt_retroreflection_bsdf = df::custom_curve_layer(
normal_reflectivity: use_retroreflection ? 1.-normal_reflectivity : 1,
grazing_reflectivity: use_retroreflection ? 1.-grazing_reflectivity : 1,
base: backscattering_glossy_bsdf,
layer: custom_curve_layer_bsdf,
normal: enable_clearcoat ? normal : state::normal()
);
//
// End RETROREFLECTION SUPPORT
//
bsdf directional_factor_bsdf = df::directional_factor(
normal_tint: ao_weighted_base_color,
grazing_tint: color(1.0, 1.0, 1.0),
exponent: 5.0f,
base: ggx_smith_bsdf
);
// CLEARCOAT
bsdf omni_PBR_bsdf = df::weighted_layer(
weight: metallic,
layer: directional_factor_bsdf,
base: opt_retroreflection_bsdf, //use_retroreflection ? retroreflection_bsdf : custom_curve_layer_bsdf,
normal: enable_clearcoat ? normal : state::normal()
);
bsdf clearcoat_bsdf = df::microfacet_ggx_smith_bsdf(
roughness_u: clearcoat_reflection_roughness * clearcoat_reflection_roughness,
roughness_v: clearcoat_reflection_roughness * clearcoat_reflection_roughness,
tint: color(1.0f),
mode: df::scatter_reflect
);
// bsdf omni_PBR_coated_bsdf = df::custom_curve_layer(
// normal_reflectivity: clearcoat_reflectivity * 0.08,
// grazing_reflectivity: 1.0,
// weight: clearcoat_weight,
// layer: clearcoat_bsdf,
// base: omni_PBR_bsdf,
// normal: final_clearcoat_normal
// );
bsdf opt_opaque_clearcoat = df::weighted_layer(
weight: enable_clearcoat ? clearcoat_transparency : 1,
layer: ::df::tint(
tint: enable_clearcoat ? clearcoat_tint : color(1),
base: omni_PBR_bsdf),
base: ::df::diffuse_reflection_bsdf(
tint: clearcoat_tint)
);
bsdf opt_omni_PBR_coated_bsdf = df::fresnel_layer(
ior: clearcoat_ior,
weight: enable_clearcoat ? clearcoat_weight : 0,
layer: clearcoat_bsdf,
base: opt_opaque_clearcoat,
normal: clearcoat_normal
);
bsdf final_bsdf = opt_omni_PBR_coated_bsdf;
} in material(
thin_walled: false,
surface: material_surface(
scattering: final_bsdf,
emission: material_emission (
df::diffuse_edf(),
intensity: enable_emission ? emissive_color * emissive_mask * color(emissive_intensity) : color(0)
)
),
geometry: material_geometry(
normal: enable_clearcoat ? state::normal() : normal,
cutout_opacity: enable_opacity ? (enable_opacity_cutout ? (alpha < alpha_cutout_cutoff ? 0.0 : 1.0) : alpha) : 1.0
)
);
|
eliabntt/GRADE-RR/isaac_internals/kit/extscore/omni.syntheticdata/omni/syntheticdata/tests/data/ds2_materials/DrivesimPBR_Opacity.mdl | /*****************************************************************************
* Copyright 1986-2020 NVIDIA Corporation. All rights reserved.
******************************************************************************
MDL MATERIALS ARE PROVIDED PURSUANT TO AN END USER LICENSE AGREEMENT,
WHICH WAS ACCEPTED IN ORDER TO GAIN ACCESS TO THIS FILE. IN PARTICULAR,
THE MDL MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO ANY WARRANTIES OF
MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT OF
COPYRIGHT, PATENT, TRADEMARK, OR OTHER RIGHT. IN NO EVENT SHALL NVIDIA
CORPORATION BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, INCLUDING
ANY GENERAL, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES,
WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF
THE USE OR INABILITY TO USE THE MDL MATERIALS OR FROM OTHER DEALINGS IN
THE MDL MATERIALS.
*/
mdl 1.4;
import ::df::*;
import ::state::*;
import ::math::*;
import ::base::*;
import ::tex::*;
import ::anno::*;
import ::nvidia::core_definitions::file_texture;
import ::nvidia::core_definitions::normalmap_texture;
float4 raw_file_texture(
uniform texture_2d texture
[[ anno::description("The input texture") ]],
base::texture_coordinate_info uvw = base::texture_coordinate_info()
[[ anno::description("Custom value for texture coordinate") ]],
uniform float2 crop_u = float2(0.0, 1.0)
[[ anno::description("Restricts the texture access to sub-domain of the texture in the u direction") ]],
uniform float2 crop_v = float2(0.0, 1.0)
[[ anno::description("Restricts the texture access to sub-domain of the texture in the v direction") ]],
uniform tex::wrap_mode wrap_u = tex::wrap_repeat
[[ anno::description("Wrapping mode in the u direction") ]],
uniform tex::wrap_mode wrap_v = tex::wrap_repeat
[[ anno::description("Wrapping mode in the v direction") ]]
)
[[
anno::description("General texturing function for 2D bitmap texture stored in a file"),
anno::noinline()
]]
{
return tex::lookup_float4(texture, float2(uvw.position.x, uvw.position.y), wrap_u, wrap_v, crop_u, crop_v);
}
base::texture_return multiply_colors(
color color_1 = color(1.0, 1.0, 1.0),
color color_2 = color(.5, .5, .5),
float weight = 1.0
) [[
anno::hidden()
]]
{
return base::blend_color_layers(
layers: base::color_layer[](
base::color_layer(
layer_color: color_2,
weight: weight,
mode: base::color_layer_multiply
)),
base: color_1
);
}
base::texture_return add_colors(
color color_1 = color(.5, .5, .5),
color color_2 = color(.5, .5, .5),
float weight = 1.0
) [[
anno::hidden(),
anno::unused()
]]
{
return base::blend_color_layers(
layers: base::color_layer[](
base::color_layer(
layer_color: color_2,
weight: weight,
mode: base::color_layer_add
)),
base: color_1
);
}
base::texture_return blend_colors(
color color_1 = color(1.0, 1.0, 1.0),
color color_2 = color(.5, .5, .5),
float weight = 1.0
) [[
anno::hidden(),
anno::unused()
]]
{
return base::blend_color_layers(
layers: base::color_layer[](
base::color_layer(
layer_color: color_2,
weight: weight,
mode: base::color_layer_blend
)),
base: color_1
);
}
export material DrivesimPBR_Opacity(
// -------------------- DIFFUSE REFLECTION ----------------------
uniform color diffuse_color_constant = color(0.2f)
[[
anno::display_name("Albedo Base Color"),
anno::description("The base albedo color to use if no texture is specified"),
anno::in_group("Diffuse")
]],
uniform texture_2d diffuse_texture = texture_2d()
[[
anno::display_name("Albedo Map"),
anno::description("The texture specifying the albedo value to use"),
anno::in_group("Diffuse")
]],
uniform color diffuse_tint = color(1.0f)
[[
anno::display_name("Albedo Tint"),
anno::description("This tints the albedo color or texture contant"),
anno::in_group("Diffuse")
]],
// -------------------- SPECULAR REFLECTION ----------------------
uniform float reflection_roughness_constant = 0.5f
[[
anno::display_name("Roughness Amount"),
anno::hard_range(0.0,1.),
anno::description("Higher roughness values lead to more blurry reflections"),
anno::in_group("Specular")
]],
uniform float reflection_roughness_texture_influence = 0.0f
[[
anno::display_name("Roughness Map Influence"),
anno::hard_range(0.0, 1.),
anno::description("Blends between the constant value and the lookup of the roughness texture"),
anno::in_group("Specular")
]],
uniform texture_2d reflectionroughness_texture = texture_2d()
[[
anno::display_name("Roughness Map"),
anno::in_group("Specular")
]],
uniform float anisotropy_constant = 0.0f
[[
anno::display_name("Anisotropy Amount"),
anno::hard_range(-1.,1.),
anno::description("0 for isotropic, extents of -1 to 1 for anisotropy"),
anno::in_group("Specular")
]],
uniform float anisotropy_texture_influence = 0.0f
[[
anno::display_name("Anisotropy Map Influence"),
anno::hard_range(0.0, 1.),
anno::description("Blends between the constant value and the lookup of the anisotropy texture"),
anno::in_group("Specular")
]],
uniform texture_2d anisotropy_texture = texture_2d()
[[
anno::display_name("Anisotropy Map"),
anno::in_group("Specular")
]],
uniform float metallic_constant = 0.f
[[
anno::display_name("Metallic Amount"),
anno::hard_range(0.0,1.),
anno::description("Metallic Material"),
anno::in_group("Specular")
]],
uniform float metallic_texture_influence = 0.0f
[[
anno::display_name("Metallic Map Influence"),
anno::hard_range(0.0, 1.),
anno::description("Blends between the constant value and the lookup of the metallic texture"),
anno::in_group("Specular")
]],
uniform texture_2d metallic_texture = texture_2d()
[[
anno::display_name("Metallic Map"),
anno::in_group("Specular")
]],
// -------------------- ORM ----------------------
uniform bool enable_ORM_texture = true
[[
anno::display_name("Enable ORM Texture"),
anno::description("When True the ORM texture will be used to extract the Occlusion, Roughness and Metallic Map"),
anno::in_group("Reflectivity")
]],
uniform texture_2d ORM_texture = texture_2d()
[[
anno::display_name("ORM Map"),
anno::description("Texture that hae Occlusion, Roughness and Metallic map stored in the respective r, g and b channels"),
anno::in_group("Reflectivity")
]],
// -------------------- Clearcoat ----------------------
uniform bool enable_clearcoat = false
[[
anno::display_name("Enable Clearcoat Layer"),
anno::description("Adds a clearcoat layer on top of the material when enabled"),
anno::in_group("Clearcoat")
]],
color clearcoat_tint = color(1.0f)
[[
anno::display_name("Clearcoat Tint"),
anno::description("Clearcoat is tinted and affects the underlying material"),
anno::in_group("Clearcoat")
]],
float clearcoat_transparency = 1.0f
[[
anno::display_name("Clearcoat Transparency"),
anno::description("Adjusts the transparency of the clearcoat. Can be turned into a fully opaque clearcoat "
"covering the underlying layer"),
anno::in_group("Clearcoat")
]],
float clearcoat_reflection_roughness = 0.0f
[[
anno::display_name("Clearcoat Roughness"),
anno::description("Higher roughness values lead to more blurry reflections"),
anno::hard_range(0.0f, 1.0f),
anno::in_group("Clearcoat")
]],
float clearcoat_weight = 1.0f
[[
anno::display_name("Clearcoat Weight"),
anno::description("Sets the weight for clearcoat layer"),
anno::hard_range(0.0f, 1.0f),
anno::in_group("Clearcoat")
]],
float clearcoat_flatten = 1.0f
[[
anno::display_name("Clearcoat Flatten"),
anno::description("Flattens the clearcoat to even out the underlying bump maps"),
anno::hard_range(0.0f, 1.0f),
anno::in_group("Clearcoat")
]],
float clearcoat_ior = 1.56f
[[
anno::display_name("Clearcoat IOR"),
anno::description("Sets the Index of refraction for the clearcoat layer"),
anno::soft_range(1.0f, 4.0f),
anno::in_group("Clearcoat")
]],
uniform float clearcoat_bump_factor = 1.f
[[
anno::display_name("Clearcoat Normal Map Strength"),
anno::description("Strength of normal map."),
anno::in_group("Clearcoat")
]],
uniform texture_2d clearcoat_normalmap_texture = texture_2d()
[[
anno::display_name("Clearcoat Normal Map"),
anno::description("Enables the usage of the normalmap texture"),
anno::in_group("Clearcoat")
]],
// -------------------- REFLECTIVITY ----------------------
uniform bool enable_retroreflection = false
[[
anno::display_name("Enable Retroreflection"),
anno::in_group("Reflectivity")
]],
color retroreflection_color = color(.182,.800,.000)
[[
anno::display_name("Retro-reflection color"),
anno::description("The color of the retroreflection"),
anno::in_group("Reflectivity")
]],
uniform float normal_reflectivity = 0.5
[[
anno::display_name("Retro-reflection weight facing"),
anno::hard_range(0.0,1.),
anno::description("Reflectivity control for geometry facing the viewer"),
anno::in_group("Reflectivity")
]],
uniform float grazing_reflectivity = 1.0
[[
anno::display_name("Retro-reflection weight edge"),
anno::hard_range(0.0,1.),
anno::description("Reflectivity control for the reflectivity at geometry edges"),
anno::in_group("Reflectivity")
]],
// -------------------- AMBIENT OCCLUSION ----------------------
float ao_to_diffuse = 0.0
[[
anno::display_name("AO to Diffuse"),
anno::description("Controls the amount of ambient occlusion multiplied into the diffuse color channel"),
anno::in_group("AO")
]],
uniform texture_2d ao_texture = texture_2d()
[[
anno::display_name("Ambient Occlusion Map"),
anno::description("The Ambient Occlusion texture for the material"),
anno::in_group("AO")
]],
// -------------------- EMISSIVE ----------------------
uniform bool enable_emission = false
[[
anno::display_name("Enable Emission"),
anno::description("Enables the emission of light from the material"),
anno::in_group("Emissive")
]],
uniform color emissive_color = color(1.0, 0.1, 0.1)
[[
anno::enable_if("enable_emission == true"),
anno::display_name("Emissive Color"),
anno::description("The emission color"),
anno::in_group("Emissive")
]],
uniform texture_2d emissive_mask_texture = texture_2d()
[[
anno::enable_if("enable_emission == true"),
anno::display_name("Emissive Mask Map"),
anno::description("The texture masking the emissive color"),
anno::in_group("Emissive")
]],
uniform float emissive_intensity = 40.f
[[
anno::enable_if("enable_emission == true"),
anno::display_name("Emissive Intensity"),
anno::description("Intensity of the emission"),
anno::in_group("Emissive")
]],
uniform bool enable_emissive_flipbook = false
[[
anno::display_name("Enable Flipbook for emission"),
anno::description("Allows the use of animated emissive textures (e.g. video screens)"),
anno::in_group("Emissive")
]],
uniform int2 flipbook_dim = int2(1,1)
[[
anno::enable_if("enable_emissive_flipbook == true"),
anno::display_name("Flipbook Rows/Columns"),
anno::description("How many rows and columns are in the flipbook?"),
anno::in_group("Emissive")
]],
uniform int target_fps = 1
[[
anno::enable_if("enable_emissive_flipbook == true"),
anno::display_name("Flipbook Target FPS"),
anno::description("Playback speed in frames per second"),
anno::in_group("Emissive")
]],
// -------------------- ALPHA ----------------------
uniform bool enable_alpha = true
[[
anno::display_name("Enable Alpha"),
anno::description("Enables or disables alpha functionality"),
anno::in_group("Alpha")
]],
uniform float alpha_constant = 1.0
[[
anno::display_name("Alpha Fallback Constant"),
anno::description("The base alpha constant to use if no texture is specified"),
anno::in_group("Alpha")
]],
uniform texture_2d opacity_texture = texture_2d()
[[
anno::display_name("Opacity Map"),
anno::description("The texture specifying the opacity value to use"),
anno::in_group("Alpha")
]],
uniform bool enable_alpha_cutout = false
[[
anno::display_name("Enable Alpha Cutout"),
anno::description("Enables or disables alpha cutout functionality"),
anno::in_group("Alpha")
]],
uniform float alpha_cutout_cutoff = 1.f
[[
anno::enable_if("enable_alpha_cutout == true"),
anno::hard_range(0.0, 1.0),
anno::display_name("Alpha Cutout Cutoff"),
anno::description("The cutoff value to to render as transparent up to and opaque past"),
anno::in_group("Alpha")
]],
// -------------------- NORMAL ----------------------
uniform float bump_factor = 1.f
[[
anno::display_name("Normal Map Strength"),
anno::description("Strength of normal map."),
anno::in_group("Normal")
]],
uniform texture_2d normalmap_texture = texture_2d()
[[
anno::display_name("Normal Map"),
anno::in_group("Normal")
]],
// -------------------- UV ADJUSTMENTS ----------------------
uniform bool project_uvw = false
[[
anno::display_name("Enable Project UVW Coordinates"),
anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"),
anno::in_group("UV")
]],
uniform bool world_or_object = false
[[
anno::enable_if("project_uvw == true"),
anno::display_name("Enable World Space"),
anno::description("When set to 'true' uses world space for projection, when 'false' object space is used"),
anno::in_group("UV")
]],
uniform float2 texture_translate = float2(0.0f)
[[
anno::display_name("Texture Translate"),
anno::description("Controls position of texture."),
anno::in_group("UV")
]],
uniform float2 texture_scale = float2(1.0f)
[[
anno::display_name("Texture Scale"),
anno::description("Larger number increases size of texture."),
anno::in_group("UV")
]],
uniform float2 texture_speed = float2(0.0f)
[[
anno::display_name("Texture Speed"),
anno::description("Scrolling texture animation speed in UVs per sec."),
anno::in_group("UV")
]]
)
[[
anno::display_name("Drivesim PBR Opaque Alpha Cutout"),
anno::description("Supports the opaque alpha cutout material model of the Drivesim Renderer"),
anno::version( 1, 0, 0),
anno::author("NVIDIA CORPORATION"),
anno::key_words(string[]("Drivesim", "PBR", "opaque", "alpha", "cutout", "omniverse", "generic"))
]]
= let {
base::texture_coordinate_system the_system = world_or_object ? base::texture_coordinate_world : base::texture_coordinate_object;
base::texture_coordinate_info uvw = project_uvw ?
base::coordinate_projection(
coordinate_system: the_system,
texture_space: 0,
projection_type: base::projection_cubic ) :
base::coordinate_source(
coordinate_system: base::texture_coordinate_uvw,
texture_space: 0
);
// Need to use a small value so the compiler doesnt optimize out this var...
float t = 0.00000001;//state::animation_time();
base::texture_coordinate_info transformed_uvw = base::transform_coordinate(
transform: base::rotation_translation_scale(
scaling: float3(texture_scale.x, texture_scale.y, 1.0),
rotation: float3(0.0, 0.0, 0.0 ),
translation: float3(texture_translate.x + t * texture_speed.x, texture_translate.y + t * texture_speed.y, 0.0)),
coordinate: uvw );
// Diffuse Color Lookup and AO
float4 base_lookup = tex::texture_isvalid(diffuse_texture) ? raw_file_texture(texture: diffuse_texture, uvw: transformed_uvw) : float4(1, 1, 1, 1);
float opacityValue = tex::texture_isvalid(opacity_texture) ? raw_file_texture(texture: opacity_texture, uvw: transformed_uvw).x : alpha_constant;
// Normal calculations
float3 normal_lookup = tex::texture_isvalid(normalmap_texture) ?
base::tangent_space_normal_texture(
texture: normalmap_texture,
factor: bump_factor,
uvw: transformed_uvw
) : state::normal();
float3 clearcoat_normal = base::tangent_space_normal_texture(
texture: clearcoat_normalmap_texture,
factor: clearcoat_bump_factor,
uvw: uvw
);
float3 flattened_clearcoat_normal = ::math::lerp(normal_lookup, ::state::normal(), clearcoat_flatten);
float3 final_clearcoat_normal = tex::texture_isvalid(clearcoat_normalmap_texture) ? clearcoat_normal : flattened_clearcoat_normal;
float ao_lookup = tex::texture_isvalid(ao_texture) ?
raw_file_texture(texture: ao_texture, uvw: transformed_uvw).x :
1.0f
[[anno::unused("Currently unused in material, may be utilized in the future")]];
color diffuse_color = tex::texture_isvalid(diffuse_texture) ? color(base_lookup.x, base_lookup.y, base_lookup.z) : diffuse_color_constant;
color base_color = multiply_colors(diffuse_color, diffuse_tint, 1.0).tint;
float3 ORM_lookup = tex::lookup_float3(
tex: ORM_texture,
coord: float2(transformed_uvw.position.x, transformed_uvw.position.y)
);
float roughness_lookup = tex::texture_isvalid(reflectionroughness_texture) ?
raw_file_texture(texture: reflectionroughness_texture, uvw: transformed_uvw).x :
reflection_roughness_constant;
float anisotropy_lookup = tex::texture_isvalid(anisotropy_texture) ?
(raw_file_texture(texture: anisotropy_texture, uvw: transformed_uvw).x * 2.0f - 1.0f) :
anisotropy_constant;
float metallic_lookup = tex::texture_isvalid(metallic_texture) ?
raw_file_texture(texture: metallic_texture, uvw: transformed_uvw).x :
metallic_constant;
float roughness_selection = enable_ORM_texture ? ORM_lookup.y : roughness_lookup;
float metallic_selection = enable_ORM_texture ? ORM_lookup.z : metallic_lookup;
color ao_color = enable_ORM_texture ? color(ORM_lookup.x) : color(ao_lookup);
color ao_weighted_base_color = multiply_colors(base_color, ao_color, ao_to_diffuse).tint;
float reflection_roughness = math::lerp(reflection_roughness_constant, roughness_selection, reflection_roughness_texture_influence);
float anisotropy = math::lerp(anisotropy_constant, anisotropy_lookup, anisotropy_texture_influence);
float metallic = math::lerp(metallic_constant, metallic_selection, metallic_texture_influence);
float squared_roughness = reflection_roughness * reflection_roughness;
float roughness_u = squared_roughness * (1 + anisotropy);
float roughness_v = squared_roughness * (1 - anisotropy);
bsdf diffuse_bsdf = df::weighted_layer(
weight: 1.0,
layer: df::diffuse_reflection_bsdf(
tint: ao_weighted_base_color,
roughness: 0.f ),
base: bsdf(),
normal: enable_clearcoat ? normal_lookup : state::normal()
);
bsdf ggx_smith_bsdf = df::microfacet_ggx_smith_bsdf(
roughness_u: roughness_u,
roughness_v: roughness_v,
tint: color(1.0, 1.0, 1.0),
mode: df::scatter_reflect
);
bsdf custom_curve_layer_bsdf = df::custom_curve_layer(
normal_reflectivity: 0.03,
grazing_reflectivity: 1.0,
exponent: 5.0,
weight: float(1.0),
layer: ggx_smith_bsdf,
base: diffuse_bsdf,
normal: enable_clearcoat ? normal_lookup : state::normal()
);
//
// Begin RETROREFLECTION SUPPORT
//
bsdf backscattering_glossy_bsdf = df::backscattering_glossy_reflection_bsdf(
tint: retroreflection_color,
roughness_u: reflection_roughness * reflection_roughness
);
bsdf retroreflection_bsdf = df::custom_curve_layer(
normal_reflectivity: 1.-normal_reflectivity,
grazing_reflectivity: 1.-grazing_reflectivity,
base: backscattering_glossy_bsdf,
layer: diffuse_bsdf,
normal: enable_clearcoat ? normal_lookup : state::normal()
);
//
// End RETROREFLECTION SUPPORT
//
bsdf directional_factor_bsdf = df::directional_factor(
normal_tint: ao_weighted_base_color,
grazing_tint: color(1.0, 1.0, 1.0),
exponent: 5.0f,
base: ggx_smith_bsdf
);
// CLEARCOAT
bsdf omni_PBR_bsdf = df::weighted_layer(
weight: metallic,
layer: directional_factor_bsdf,
base: enable_retroreflection ? retroreflection_bsdf : custom_curve_layer_bsdf,
normal: enable_clearcoat ? normal_lookup : state::normal()
);
bsdf clearcoat_bsdf = df::microfacet_ggx_smith_bsdf(
roughness_u: clearcoat_reflection_roughness * clearcoat_reflection_roughness,
roughness_v: clearcoat_reflection_roughness * clearcoat_reflection_roughness,
tint: color(1.0f),
mode: df::scatter_reflect
);
// bsdf omni_PBR_coated_bsdf = df::custom_curve_layer(
// normal_reflectivity: clearcoat_reflectivity * 0.08,
// grazing_reflectivity: 1.0,
// weight: clearcoat_weight,
// layer: clearcoat_bsdf,
// base: omni_PBR_bsdf,
// normal: final_clearcoat_normal
// );
bsdf opaque_clearcoat = df::weighted_layer(
weight: clearcoat_transparency,
layer: ::df::tint(
tint: clearcoat_tint,
base: omni_PBR_bsdf),
base: ::df::diffuse_reflection_bsdf(
tint: clearcoat_tint)
);
bsdf omni_PBR_coated_bsdf = df::fresnel_layer(
ior: clearcoat_ior,
weight: clearcoat_weight,
layer: clearcoat_bsdf,
base: opaque_clearcoat,
normal: final_clearcoat_normal
);
bsdf final_bsdf = enable_clearcoat ? omni_PBR_coated_bsdf : omni_PBR_bsdf;
int rows = flipbook_dim.x;
int columns = flipbook_dim.y;
int numFrames = rows * columns;
varying int frameIdx = int(state::animation_time() * target_fps) % numFrames;
varying float2 baseUV = float2(transformed_uvw.position.x, transformed_uvw.position.y);
varying float2 emissiveUV = enable_emissive_flipbook
? ((baseUV + float2(frameIdx % rows, frameIdx / rows)) / float2(rows, columns))
: baseUV;
color emissive_mask = tex::texture_isvalid(emissive_mask_texture)
? tex::lookup_color(emissive_mask_texture, emissiveUV, tex::wrap_repeat, tex::wrap_repeat)
: color(1.0);
} in material(
thin_walled: false,
surface: material_surface(
scattering: final_bsdf,
emission: material_emission (
df::diffuse_edf(),
intensity: enable_emission ? emissive_color * emissive_mask * color(emissive_intensity) : color(0)
)
),
geometry: material_geometry(
normal: enable_clearcoat ? state::normal() : normal_lookup,
cutout_opacity: enable_alpha ? (enable_alpha_cutout ? (opacityValue < alpha_cutout_cutoff ? 0.0 : 1.0) : opacityValue) : 1.0
)
);
|
eliabntt/GRADE-RR/isaac_internals/kit/extscore/omni.syntheticdata/omni/syntheticdata/tests/data/ds2_materials/drivable_surfaces/general/tb.mdl | mdl 1.4;
import ::anno::*;
export const string TRANSFORM_NONE = "NONE";
export const string TRANSFORM_UNORM_VECTOR = "UNORM_VECTOR";
export const string FORMAT_RGBA8_UNORM = "RGBA8_UNORM";
export const string FORMAT_R8_UNORM = "R8_UNORM";
export const string FORMAT_RGBA16_SFLOAT = "RGBA16_SFLOAT";
export const string BLEND_MODE_OPACITY = "opacity_blend";
export const string BLEND_MODE_REPLACE = "replace";
export annotation target_material_model();
export annotation target_material_rendering(
string rendering_material_override = "" // if set, the baked material will be rendering using this material,
// otherwise the target itself is used
);
export annotation target_baked_argument(
// the name of the baked texture parameter in the rendering material
string baked_name,
// the name of the constant parameter in the rendering material in case baking was not necessary
string constant_name = "",
// texture format to bake to
string format = "",
// transformations, like encoding normals into [0,1] range
string transform = TRANSFORM_NONE,
// blending, e.g., based on alpha or replace
string blend_mode = BLEND_MODE_OPACITY
);
|
eliabntt/GRADE-RR/isaac_internals/kit/extscore/omni.syntheticdata/omni/syntheticdata/tests/data/ds2_materials/drivable_surfaces/general/RoadMaterial.mdl | mdl 1.3;
import ::math::*;
import ::state::*;
import ::tex::*;
import ::anno::*;
using ..::OmniUe4Function import *;
using ..::OmniUe4Base import *;
export annotation sampler_color();
export annotation sampler_normal();
export annotation sampler_grayscale();
export annotation sampler_alpha();
export annotation sampler_masks();
export annotation sampler_distancefield();
export annotation dither_masked_off();
export annotation world_space_normal();
export material RoadMaterial(
float WorldSpaceUVMult = 5000.0,
float Set1Tile = 2.5,
uniform texture_2d Set1SuperNormal = texture_2d("./RoadMaterial/set1supernormal.png",::tex::gamma_linear)
[[sampler_color()]],
float Set2Tile = 4.0,
uniform texture_2d Set2SuperNormal = texture_2d("./RoadMaterial/set1supernormal.png",::tex::gamma_linear)
[[sampler_color()]],
float Set1Set2BlendNoiseTile = 1.0,
uniform texture_2d Set1Set2BlendNoise = texture_2d("./RoadMaterial/T_Noise_D.png",::tex::gamma_srgb)
[[sampler_color()]],
float NormalConvert = 1.0,
float NormalAmount = 0.2,
float Puddle_NormalAmount = 0.0,
float Puddle_NoiseTile = 0.5,
uniform texture_2d PuddleNoise = texture_2d("./RoadMaterial/T_Noise01.png",::tex::gamma_srgb)
[[sampler_color()]],
float Puddle_NoiseBlend = 1.0,
uniform texture_2d Set1SuperAlbedo = texture_2d("./RoadMaterial/set1superalbedo.png",::tex::gamma_srgb)
[[sampler_color()]],
uniform texture_2d Set2SuperAlbedo = texture_2d("./RoadMaterial/set1superalbedo.png",::tex::gamma_srgb)
[[sampler_color()]],
float AlbedoMult = 2.0,
float Puddle_AlbedoMult = 1.0,
float SpecularPow_Order1 = 1.0,
float SpecularMult_Order2 = 1.0,
float Puddle_SpecularPow_Order1 = 2.0,
float Puddle_SpecularMult_Order2 = 0.32,
float RoughnessPow_Order1 = 1.5,
float RoughnessMult_Order2 = 1.0,
float RoughnessOffset_Order3 = -0.085716,
float Puddle_RoughnessPow_Order1 = 1.0,
float Puddle_RoughnessMult_Order2 = 1.0,
float Puddle_RoughnessOffset_Order3 = -1.0)
=
let {
float3 WorldPositionOffset_mdl = float3(0.0,0.0,0.0);
float3 Local0 = ((state::transform_point(state::coordinate_internal,state::coordinate_world,state::position())*state::meters_per_scene_unit()*100.0) / WorldSpaceUVMult);
float2 Local1 = (float2(Local0.x,Local0.y) * Set1Tile);
float4 Local2 = tex::lookup_float4(Set1SuperNormal,float2(Local1.x,1.0-Local1.y),tex::wrap_repeat,tex::wrap_repeat);
float2 Local3 = (float2(Local0.x,Local0.y) * Set2Tile);
float4 Local4 = tex::lookup_float4(Set2SuperNormal,float2(Local3.x,1.0-Local3.y),tex::wrap_repeat,tex::wrap_repeat);
float2 Local5 = (float2(Local0.x,Local0.y) * Set1Set2BlendNoiseTile);
float4 Local6 = tex::lookup_float4(Set1Set2BlendNoise,float2(Local5.x,1.0-Local5.y),tex::wrap_repeat,tex::wrap_repeat);
float3 Local7 = math::lerp(float3(Local2.x,Local2.y,Local2.z),float3(Local4.x,Local4.y,Local4.z),Local6.x);
float3 Local8 = (Local7 * 2.0);
float3 Local9 = (Local8 - 1.0);
float3 Local10 = math::lerp(Local7,Local9,NormalConvert);
float3 Local11 = math::lerp(float3(0.0,0.0,1.0),Local10,NormalAmount);
float3 Local12 = math::lerp(float3(0.0,0.0,1.0),Local10,Puddle_NormalAmount);
float2 Local13 = (float2(Local0.x,Local0.y) * Puddle_NoiseTile);
float4 Local14 = tex::lookup_float4(PuddleNoise,float2(Local13.x,1.0-Local13.y),tex::wrap_repeat,tex::wrap_repeat);
float Local15 = (Local14.x * Puddle_NoiseBlend);
float3 Local16 = math::lerp(Local11,Local12,Local15);
float3 Normal_mdl = Local16;
float4 Local17 = tex::lookup_float4(Set1SuperAlbedo,float2(Local1.x,1.0-Local1.y),tex::wrap_repeat,tex::wrap_repeat);
float4 Local18 = tex::lookup_float4(Set2SuperAlbedo,float2(Local3.x,1.0-Local3.y),tex::wrap_repeat,tex::wrap_repeat);
float3 Local19 = math::lerp(float3(float2(Local17.x,Local17.y).x,float2(Local17.x,Local17.y).y,Local17.z),float3(float2(Local18.x,Local18.y).x,float2(Local18.x,Local18.y).y,Local18.z),Local6.x);
float3 Local20 = (Local19 * AlbedoMult);
float3 Local21 = math::min(math::max(Local20,float3(0.0,0.0,0.0)),float3(1.0,1.0,1.0));
float3 Local22 = (Local19 * Puddle_AlbedoMult);
float3 Local23 = math::min(math::max(Local22,float3(0.0,0.0,0.0)),float3(1.0,1.0,1.0));
float3 Local24 = math::lerp(Local21,Local23,Local15);
float Local25 = math::lerp(Local17.w,Local18.w,Local6.x);
float Local26 = math::pow(Local25,SpecularPow_Order1);
float Local27 = (Local26 * SpecularMult_Order2);
float Local28 = math::pow(Local25,Puddle_SpecularPow_Order1);
float Local29 = (Local28 * Puddle_SpecularMult_Order2);
float Local30 = math::lerp(Local27,Local29,Local15);
float Local31 = math::lerp(Local2.w,Local4.w,Local6.x);
float Local32 = math::pow(Local31,RoughnessPow_Order1);
float Local33 = (Local32 * RoughnessMult_Order2);
float Local34 = (Local33 + RoughnessOffset_Order3);
float Local35 = math::pow(Local31,Puddle_RoughnessPow_Order1);
float Local36 = (Local35 * Puddle_RoughnessMult_Order2);
float Local37 = (Local36 + Puddle_RoughnessOffset_Order3);
float Local38 = math::lerp(Local34,Local37,Local15);
float3 EmissiveColor_mdl = float3(0.0,0.0,0.0);
float OpacityMask_mdl = 1.0;
float3 BaseColor_mdl = Local24;
float Metallic_mdl = 0.0;
float Specular_mdl = Local30;
float Roughness_mdl = Local38;
} in
::OmniUe4Base(
base_color: BaseColor_mdl,
metallic: Metallic_mdl,
roughness: Roughness_mdl,
specular: Specular_mdl,
normal: Normal_mdl,
opacity: OpacityMask_mdl,
emissive_color: EmissiveColor_mdl,
displacement: WorldPositionOffset_mdl,
two_sided: false);
|
eliabntt/GRADE-RR/isaac_internals/kit/extscore/omni.syntheticdata/omni/syntheticdata/tests/data/ds2_materials/drivable_surfaces/general/road/road_base_omniue4.mdl | mdl 1.3;
import ::math::*;
import ::state::*;
import ::tex::*;
import ::anno::*;
using ..::..::..::OmniUe4Function import *;
using ..::..::..::OmniUe4Base import *;
export annotation sampler_color();
export annotation sampler_normal();
export annotation sampler_grayscale();
export annotation sampler_alpha();
export annotation sampler_masks();
export annotation sampler_distancefield();
export annotation dither_masked_off();
export annotation world_space_normal();
export material road_base(
float WorldSpaceUVMult = 5000.0,
float Set1Tile = 2.5,
uniform texture_2d Set1SuperNormal = texture_2d("./road_base/set1supernormal.TGA",::tex::gamma_linear)
[[sampler_color()]],
float Set2Tile = 4.0,
uniform texture_2d Set2SuperNormal = texture_2d("./road_base/set1supernormal.TGA",::tex::gamma_linear)
[[sampler_color()]],
float Set1Set2BlendNoiseTile = 1.0,
uniform texture_2d Set1Set2BlendNoise = texture_2d("./road_base/t_noise_d.png",::tex::gamma_srgb)
[[sampler_color()]],
float NormalConvert = 1.0,
float NormalAmount = 0.2,
float Puddle_NormalAmount = 0.0,
float Puddle_NoiseTile = 0.5,
uniform texture_2d PuddleNoise = texture_2d("./road_base/t_noise01.png",::tex::gamma_srgb)
[[sampler_color()]],
float Puddle_NoiseBlend = 1.0,
uniform texture_2d Set1SuperAlbedo = texture_2d("./road_base/set1superalbedo.TGA",::tex::gamma_srgb)
[[sampler_color()]],
uniform texture_2d Set2SuperAlbedo = texture_2d("./road_base/set1superalbedo.TGA",::tex::gamma_srgb)
[[sampler_color()]],
float AlbedoMult = 2.0,
float Puddle_AlbedoMult = 1.0,
float SpecularPow_Order1 = 1.0,
float SpecularMult_Order2 = 1.0,
float Puddle_SpecularPow_Order1 = 2.0,
float Puddle_SpecularMult_Order2 = 0.32,
float RoughnessPow_Order1 = 1.5,
float RoughnessMult_Order2 = 1.0,
float RoughnessOffset_Order3 = -0.085716,
float Puddle_RoughnessPow_Order1 = 1.0,
float Puddle_RoughnessMult_Order2 = 1.0,
float Puddle_RoughnessOffset_Order3 = -1.0)
=
let {
float3 WorldPositionOffset_mdl = float3(0.0,0.0,0.0);
float3 Local0 = ((state::transform_point(state::coordinate_internal,state::coordinate_world,state::position())*state::meters_per_scene_unit()*100.0) / WorldSpaceUVMult);
float2 Local1 = (float2(Local0.x,Local0.y) * Set1Tile);
float4 Local2 = tex::lookup_float4(Set1SuperNormal,float2(Local1.x,1.0-Local1.y),tex::wrap_repeat,tex::wrap_repeat);
float2 Local3 = (float2(Local0.x,Local0.y) * Set2Tile);
float4 Local4 = tex::lookup_float4(Set2SuperNormal,float2(Local3.x,1.0-Local3.y),tex::wrap_repeat,tex::wrap_repeat);
float2 Local5 = (float2(Local0.x,Local0.y) * Set1Set2BlendNoiseTile);
float4 Local6 = tex::lookup_float4(Set1Set2BlendNoise,float2(Local5.x,1.0-Local5.y),tex::wrap_repeat,tex::wrap_repeat);
float3 Local7 = math::lerp(float3(Local2.x,Local2.y,Local2.z),float3(Local4.x,Local4.y,Local4.z),Local6.x);
float3 Local8 = (Local7 * 2.0);
float3 Local9 = (Local8 - 1.0);
float3 Local10 = math::lerp(Local7,Local9,NormalConvert);
float3 Local11 = math::lerp(float3(0.0,0.0,1.0),Local10,NormalAmount);
float3 Local12 = math::lerp(float3(0.0,0.0,1.0),Local10,Puddle_NormalAmount);
float2 Local13 = (float2(Local0.x,Local0.y) * Puddle_NoiseTile);
float4 Local14 = tex::lookup_float4(PuddleNoise,float2(Local13.x,1.0-Local13.y),tex::wrap_repeat,tex::wrap_repeat);
float Local15 = (Local14.x * Puddle_NoiseBlend);
float3 Local16 = math::lerp(Local11,Local12,Local15);
float3 Normal_mdl = Local16;
float4 Local17 = tex::lookup_float4(Set1SuperAlbedo,float2(Local1.x,1.0-Local1.y),tex::wrap_repeat,tex::wrap_repeat);
float4 Local18 = tex::lookup_float4(Set2SuperAlbedo,float2(Local3.x,1.0-Local3.y),tex::wrap_repeat,tex::wrap_repeat);
float3 Local19 = math::lerp(float3(float2(Local17.x,Local17.y).x,float2(Local17.x,Local17.y).y,Local17.z),float3(float2(Local18.x,Local18.y).x,float2(Local18.x,Local18.y).y,Local18.z),Local6.x);
float3 Local20 = (Local19 * AlbedoMult);
float3 Local21 = math::min(math::max(Local20,float3(0.0,0.0,0.0)),float3(1.0,1.0,1.0));
float3 Local22 = (Local19 * Puddle_AlbedoMult);
float3 Local23 = math::min(math::max(Local22,float3(0.0,0.0,0.0)),float3(1.0,1.0,1.0));
float3 Local24 = math::lerp(Local21,Local23,Local15);
float Local25 = math::lerp(Local17.w,Local18.w,Local6.x);
float Local26 = math::pow(Local25,SpecularPow_Order1);
float Local27 = (Local26 * SpecularMult_Order2);
float Local28 = math::pow(Local25,Puddle_SpecularPow_Order1);
float Local29 = (Local28 * Puddle_SpecularMult_Order2);
float Local30 = math::lerp(Local27,Local29,Local15);
float Local31 = math::lerp(Local2.w,Local4.w,Local6.x);
float Local32 = math::pow(Local31,RoughnessPow_Order1);
float Local33 = (Local32 * RoughnessMult_Order2);
float Local34 = (Local33 + RoughnessOffset_Order3);
float Local35 = math::pow(Local31,Puddle_RoughnessPow_Order1);
float Local36 = (Local35 * Puddle_RoughnessMult_Order2);
float Local37 = (Local36 + Puddle_RoughnessOffset_Order3);
float Local38 = math::lerp(Local34,Local37,Local15);
float3 EmissiveColor_mdl = float3(0.0,0.0,0.0);
float OpacityMask_mdl = 1.0;
float3 BaseColor_mdl = Local24;
float Metallic_mdl = 0.0;
float Specular_mdl = Local30;
float Roughness_mdl = Local38;
} in
::OmniUe4Base(
base_color: BaseColor_mdl,
metallic: Metallic_mdl,
roughness: Roughness_mdl,
specular: Specular_mdl,
normal: Normal_mdl,
opacity: OpacityMask_mdl,
emissive_color: EmissiveColor_mdl,
displacement: WorldPositionOffset_mdl,
two_sided: false);
|
eliabntt/GRADE-RR/isaac_internals/kit/extscore/omni.syntheticdata/omni/syntheticdata/tests/data/ds2_materials/drivable_surfaces/general/road/road_base.usda | #usda 1.0
(
customLayerData = {
dictionary cameraSettings = {
dictionary Front = {
double radius = 500
double3 target = (0, 0, 0)
}
dictionary Perspective = {
double3 position = (148.34604816491145, 148.34604816491355, 148.34604816490918)
double3 target = (-1.8474111129762605e-12, 2.2737367544323206e-13, -3.950617610826157e-12)
}
dictionary Right = {
double radius = 500
double3 target = (0, 0, 0)
}
dictionary Top = {
double radius = 500
double3 target = (0, 0, 0)
}
string boundCamera = "/OmniverseKit_Persp"
}
dictionary renderSettings = {
float "rtx:post:lensDistortion:cameraFocalLength" = 18.147562
}
}
defaultPrim = "road_base"
endTimeCode = 100
metersPerUnit = 0.009999999776482582
startTimeCode = 0
timeCodesPerSecond = 24
upAxis = "Y"
)
def Material "road_base"
{
token outputs:mdl:displacement.connect = </road_base/Shader.outputs:out>
token outputs:mdl:surface.connect = </road_base/Shader.outputs:out>
token outputs:mdl:volume.connect = </road_base/Shader.outputs:out>
def Shader "Shader"
{
uniform token info:implementationSource = "sourceAsset"
uniform asset info:mdl:sourceAsset = @./road_base.mdl@
uniform token info:mdl:sourceAsset:subIdentifier = "road_base"
float inputs:AlbedoMult = 1.75 (
customData = {
float default = 2
dictionary range = {
float max = 100000
float min = -100000
}
}
)
float inputs:Puddle_NoiseBlend = 0.2 (
customData = {
float default = 1
dictionary range = {
float max = 100000
float min = -100000
}
}
)
asset inputs:PuddleNoise = @omniverse://drivesim-dev/Library/ds2_materials/drivable_surfaces/general/road/road_base/t_noise01.png@ (
colorSpace = "sRGB"
customData = {
asset default = @/Z18E_3A/ZB8material_2Dflattening_2Dassets/ds2_materials/drivable_surfaces/general/road/road_base/t_noise01.png@
}
)
float inputs:RoughnessMult_Order2 = 0.5 (
customData = {
float default = 1
dictionary range = {
float max = 100000
float min = -100000
}
}
)
float inputs:RoughnessOffset_Order3 = 0 (
customData = {
float default = -0.085716
dictionary range = {
float max = 100000
float min = -100000
}
}
)
float inputs:RoughnessPow_Order1 = 0.5 (
customData = {
float default = 1.5
dictionary range = {
float max = 100000
float min = -100000
}
}
)
asset inputs:Set1Set2BlendNoise = @omniverse://drivesim-dev/Library/ds2_materials/drivable_surfaces/general/road/road_base/t_noise_d.png@ (
colorSpace = "sRGB"
customData = {
asset default = @/Z18E_3A/ZB8material_2Dflattening_2Dassets/ds2_materials/drivable_surfaces/general/road/road_base/t_noise_d.png@
}
)
float inputs:Set1Tile = 4 (
customData = {
float default = 2.5
dictionary range = {
float max = 100000
float min = -100000
}
}
)
float inputs:Set2Tile = 8 (
customData = {
float default = 4
dictionary range = {
float max = 100000
float min = -100000
}
}
)
float inputs:SpecularMult_Order2 = 0.2 (
customData = {
float default = 1
dictionary range = {
float max = 100000
float min = -100000
}
}
)
float inputs:SpecularPow_Order1 = 0.3 (
customData = {
float default = 1
dictionary range = {
float max = 100000
float min = -100000
}
}
)
token outputs:out
}
}
|
eliabntt/GRADE-RR/isaac_internals/kit/extscore/omni.syntheticdata/omni/syntheticdata/tests/data/ds2_materials/drivable_surfaces/general/road/road_base.mdl | mdl 1.3;
import ::math::*;
import ::state::*;
import ::tex::*;
import ::anno::*;
using ..::..::..::OmniUe4Function import *;
using ..::..::..::OmniUe4Base import *;
export annotation sampler_color();
export annotation sampler_normal();
export annotation sampler_grayscale();
export annotation sampler_alpha();
export annotation sampler_masks();
export annotation sampler_distancefield();
export annotation dither_masked_off();
export annotation world_space_normal();
export material road_base(
float WorldSpaceUVMult = 5000.0,
float Set1Tile = 2.5,
uniform texture_2d Set1SuperNormal = texture_2d("./road_base/set1supernormal.TGA",::tex::gamma_linear)
[[sampler_color()]],
float Set2Tile = 4.0,
uniform texture_2d Set2SuperNormal = texture_2d("./road_base/set1supernormal.TGA",::tex::gamma_linear)
[[sampler_color()]],
float Set1Set2BlendNoiseTile = 1.0,
uniform texture_2d Set1Set2BlendNoise = texture_2d("./road_base/t_noise_d.png",::tex::gamma_srgb)
[[sampler_color()]],
float NormalConvert = 1.0,
float NormalAmount = 0.2,
float Puddle_NormalAmount = 0.0,
float Puddle_NoiseTile = 0.5,
uniform texture_2d PuddleNoise = texture_2d("./road_base/t_noise01.png",::tex::gamma_srgb)
[[sampler_color()]],
float Puddle_NoiseBlend = 1.0,
uniform texture_2d Set1SuperAlbedo = texture_2d("./road_base/set1superalbedo.TGA",::tex::gamma_srgb)
[[sampler_color()]],
uniform texture_2d Set2SuperAlbedo = texture_2d("./road_base/set1superalbedo.TGA",::tex::gamma_srgb)
[[sampler_color()]],
float AlbedoMult = 2.0,
float Puddle_AlbedoMult = 1.0,
float SpecularPow_Order1 = 1.0,
float SpecularMult_Order2 = 1.0,
float Puddle_SpecularPow_Order1 = 2.0,
float Puddle_SpecularMult_Order2 = 0.32,
float RoughnessPow_Order1 = 1.5,
float RoughnessMult_Order2 = 1.0,
float RoughnessOffset_Order3 = -0.085716,
float Puddle_RoughnessPow_Order1 = 1.0,
float Puddle_RoughnessMult_Order2 = 1.0,
float Puddle_RoughnessOffset_Order3 = -1.0)
=
let {
float3 WorldPositionOffset_mdl = float3(0.0,0.0,0.0);
float3 Local0 = ((state::transform_point(state::coordinate_internal,state::coordinate_world,state::position())*state::meters_per_scene_unit()*100.0) / WorldSpaceUVMult);
float2 Local1 = (float2(Local0.x,Local0.y) * Set1Tile);
float4 Local2 = tex::lookup_float4(Set1SuperNormal,float2(Local1.x,1.0-Local1.y),tex::wrap_repeat,tex::wrap_repeat);
float2 Local3 = (float2(Local0.x,Local0.y) * Set2Tile);
float4 Local4 = tex::lookup_float4(Set2SuperNormal,float2(Local3.x,1.0-Local3.y),tex::wrap_repeat,tex::wrap_repeat);
float2 Local5 = (float2(Local0.x,Local0.y) * Set1Set2BlendNoiseTile);
float4 Local6 = tex::lookup_float4(Set1Set2BlendNoise,float2(Local5.x,1.0-Local5.y),tex::wrap_repeat,tex::wrap_repeat);
float3 Local7 = math::lerp(float3(Local2.x,Local2.y,Local2.z),float3(Local4.x,Local4.y,Local4.z),Local6.x);
float3 Local8 = (Local7 * 2.0);
float3 Local9 = (Local8 - 1.0);
float3 Local10 = math::lerp(Local7,Local9,NormalConvert);
float3 Local11 = math::lerp(float3(0.0,0.0,1.0),Local10,NormalAmount);
float3 Local12 = math::lerp(float3(0.0,0.0,1.0),Local10,Puddle_NormalAmount);
float2 Local13 = (float2(Local0.x,Local0.y) * Puddle_NoiseTile);
float4 Local14 = tex::lookup_float4(PuddleNoise,float2(Local13.x,1.0-Local13.y),tex::wrap_repeat,tex::wrap_repeat);
float Local15 = (Local14.x * Puddle_NoiseBlend);
float3 Local16 = math::lerp(Local11,Local12,Local15);
float3 Normal_mdl = Local16;
float4 Local17 = tex::lookup_float4(Set1SuperAlbedo,float2(Local1.x,1.0-Local1.y),tex::wrap_repeat,tex::wrap_repeat);
float4 Local18 = tex::lookup_float4(Set2SuperAlbedo,float2(Local3.x,1.0-Local3.y),tex::wrap_repeat,tex::wrap_repeat);
float3 Local19 = math::lerp(float3(float2(Local17.x,Local17.y).x,float2(Local17.x,Local17.y).y,Local17.z),float3(float2(Local18.x,Local18.y).x,float2(Local18.x,Local18.y).y,Local18.z),Local6.x);
float3 Local20 = (Local19 * AlbedoMult);
float3 Local21 = math::min(math::max(Local20,float3(0.0,0.0,0.0)),float3(1.0,1.0,1.0));
float3 Local22 = (Local19 * Puddle_AlbedoMult);
float3 Local23 = math::min(math::max(Local22,float3(0.0,0.0,0.0)),float3(1.0,1.0,1.0));
float3 Local24 = math::lerp(Local21,Local23,Local15);
float Local25 = math::lerp(Local17.w,Local18.w,Local6.x);
float Local26 = math::pow(Local25,SpecularPow_Order1);
float Local27 = (Local26 * SpecularMult_Order2);
float Local28 = math::pow(Local25,Puddle_SpecularPow_Order1);
float Local29 = (Local28 * Puddle_SpecularMult_Order2);
float Local30 = math::lerp(Local27,Local29,Local15);
float Local31 = math::lerp(Local2.w,Local4.w,Local6.x);
float Local32 = math::pow(Local31,RoughnessPow_Order1);
float Local33 = (Local32 * RoughnessMult_Order2);
float Local34 = (Local33 + RoughnessOffset_Order3);
float Local35 = math::pow(Local31,Puddle_RoughnessPow_Order1);
float Local36 = (Local35 * Puddle_RoughnessMult_Order2);
float Local37 = (Local36 + Puddle_RoughnessOffset_Order3);
float Local38 = math::lerp(Local34,Local37,Local15);
float3 EmissiveColor_mdl = float3(0.0,0.0,0.0);
float OpacityMask_mdl = 1.0;
float3 BaseColor_mdl = Local24;
float Metallic_mdl = 0.0;
float Specular_mdl = Local30;
float Roughness_mdl = Local38;
} in
::OmniUe4Base(
base_color: BaseColor_mdl,
metallic: Metallic_mdl,
roughness: Roughness_mdl,
specular: Specular_mdl,
normal: Normal_mdl,
opacity: OpacityMask_mdl,
emissive_color: EmissiveColor_mdl,
displacement: WorldPositionOffset_mdl,
two_sided: false);
|
eliabntt/GRADE-RR/isaac_internals/kit/extscore/omni.syntheticdata/omni/syntheticdata/tests/data/ds2_materials/drivable_surfaces/general/road/test.usda | #usda 1.0
(
customLayerData = {
dictionary cameraSettings = {
dictionary Front = {
double radius = 500
double3 target = (0, 0, 0)
}
dictionary Perspective = {
double3 position = (66.02389126296029, 66.02389126296092, 66.02389126296009)
double3 target = (-5.044853423896711e-13, 1.1368683772161603e-13, -6.181721801112872e-13)
}
dictionary Right = {
double radius = 500
double3 target = (0, 0, 0)
}
dictionary Top = {
double radius = 500
double3 target = (0, 0, 0)
}
string boundCamera = "/OmniverseKit_Persp"
}
dictionary renderSettings = {
token "rtx:materialflattener:planarProjectionPlaneAxes" = "xz"
float "rtx:post:lensDistortion:cameraFocalLength" = 18.147562
}
}
defaultPrim = "World"
endTimeCode = 100
metersPerUnit = 0.009999999776482582
startTimeCode = 0
timeCodesPerSecond = 24
upAxis = "Y"
)
def Xform "World"
{
def DistantLight "defaultLight" (
prepend apiSchemas = ["ShapingAPI"]
)
{
float angle = 1
float intensity = 3000
float shaping:cone:angle = 180
float shaping:cone:softness
float shaping:focus
color3f shaping:focusTint
asset shaping:ies:file
double3 xformOp:rotateXYZ = (315, 0, 0)
double3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0, 0, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
}
def Mesh "Plane"
{
int[] faceVertexCounts = [4]
int[] faceVertexIndices = [0, 2, 3, 1]
rel material:binding = </World/road_base> (
bindMaterialAs = "weakerThanDescendants"
)
normal3f[] normals = [(0, 1, 0), (0, 1, 0), (0, 1, 0), (0, 1, 0)] (
interpolation = "faceVarying"
)
point3f[] points = [(-50, 0, -50), (50, 0, -50), (-50, 0, 50), (50, 0, 50)]
string primvars:materialFlattener_targetMaterial = "simple_diffuse"
float2[] primvars:st = [(1, 0), (1, 1), (0, 1), (0, 0)] (
interpolation = "faceVarying"
)
uniform token subdivisionScheme = "none"
double3 xformOp:rotateXYZ = (0, 0, 0)
double3 xformOp:scale = (1, 1, 1)
double3 xformOp:translate = (0, 0, 0)
uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"]
}
def "road_base" (
prepend references = @road_base.usda@
)
{
}
}
|
eliabntt/GRADE-RR/isaac_internals/kit/extscore/omni.syntheticdata/omni/syntheticdata/tests/data/ds2_materials/drivable_surfaces/general/lanemarkings/retroreflective__base.mdl | /*****************************************************************************
* Copyright 1986-2020 NVIDIA Corporation. All rights reserved.
******************************************************************************
MDL MATERIALS ARE PROVIDED PURSUANT TO AN END USER LICENSE AGREEMENT,
WHICH WAS ACCEPTED IN ORDER TO GAIN ACCESS TO THIS FILE. IN PARTICULAR,
THE MDL MATERIALS ARE PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO ANY WARRANTIES OF
MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT OF
COPYRIGHT, PATENT, TRADEMARK, OR OTHER RIGHT. IN NO EVENT SHALL NVIDIA
CORPORATION BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, INCLUDING
ANY GENERAL, SPECIAL, INDIRECT, INCIDENTAL, OR CONSEQUENTIAL DAMAGES,
WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF
THE USE OR INABILITY TO USE THE MDL MATERIALS OR FROM OTHER DEALINGS IN
THE MDL MATERIALS.
*/
/*
//fixes: customIOR, AO mapping JIC, added bsdf dropdown
//fixes 10/12/2018 - converted metallic Bool into float for map.
//jjordan 10/18: disabled bsdf_type. imho makes material complicated without real benefit, but final call is for Daniela since she knows feedback
//jjordan 10/18: removed all ternaries on material structs and substituted with ternaries on bsdf. this works around https://moskito.nvidia-arc.com/show_bug.cgi?id=18719 but at the same time is shorter then original code
//danielaf 10/24/18: replacing ifm annotation with updated 1.4 anno for parameter ui grouping
//danielaf 10/24/18: removing all Booleans and using floats instead for dynamic material in RTX_OV
//ddanielaf 10/24/18: adding explicit texture input parameter and texture enable parameters for RTX_OV OMN-812 - unless tex::texture_isvalid implemented in RTX_OV
//danielaf 10/24/18: removed anisotropy,backscatter, thinfilms, custom_bsdf, abbe_number(things that don't seem to have any effect in RTX_OV ATM)
//danielaf 11/2/2018: omni flex trimmed way down
//danielaf 11/06/2018: switch enables to bool! :D
//switched back to 1.3, getting "mdl 1.4 not supported" from my iviewer version 2017 1.4 296300.6298
//switched to 1.2 - getting normalmap_texture parameter type error when switching to 1.4 - still troubleshooting
//azoellner 1/18/19 - promoting staging to the real material, removed "Staging" from all names
//azoellner 2/11/19 modified display name sand group names to match up with known Sol master
//rraab 28/2/19 Changed surface reflectance behavior to match the UE4 model
//rraab 11/4/19 Changed material name from SolPBR_Master to Advanced PBR,
// Adding keywords and removing
//tmosier 12/4/19 Cleaned up display names
//azoellner on behave of Ignacio - 8-9-2019 - added advancedPBR_Cutouts.mdl to improve class comiplation on Kit.
//azoellner 10/30/19 changing to omniPBR. adding use base texture bool, base color, and so its not required to use emmissive mask.
//rraab 2/3/20 Adding clearcloat layer feature to material (IOR based)
//azoellner 2/4/2020 set default clearcoat to false
//rraab 3/9/2020 Metallix material now bumps correctly. Used tint operation for 'directional_factor_bsdf'
which is delivers the same result but is simpler.
//azoellner 5/6/2020 Updated to import ::
//fpliu 5/27/2020 Rename OmniPBR_Opacity.mdl OmniPBR_ClearCoat_Opacity.mdl
//akanani 7/8/2020 Fixed the issue related to material.geometry.normal not being set correctly.
//fpliu 9/4/2020 Added mono_mode opacity
//fpliu 9/8/2020 Update softrange for clearcoat IOR
*/
mdl 1.4;
import ::df::*;
import ::state::*;
import ::math::*;
import ::base::*;
import ::tex::*;
import ::anno::*;
import ::nvidia::core_definitions::file_texture;
import ::nvidia::core_definitions::normalmap_texture;
uniform float4x4 rotation_translation_scale(
uniform float3 rotation = float3(0.)
[[ anno::description("Rotation applied to every UVW coordinate") ]],
uniform float3 translation = float3(0.)
[[ anno::description("Offset applied to every UVW coordinate") ]],
uniform float3 scaling = float3(1.)
[[ anno::description("Scale applied to every UVW coordinate") ]]
)
[[
anno::description("Construct transformation matrix from Euler rotation, translation and scale"),
anno::hidden()
]]
{
float4x4 scale =
float4x4(scaling.x , 0. , 0. , 0.,
0. , scaling.y , 0. , 0.,
0. , 0. , scaling.z , 0.,
translation.x, translation.y, translation.z, 1.);
float3 s = math::sin(rotation);
float3 c = math::cos(rotation);
float4x4 rotate =
float4x4( c.y*c.z , -c.x*s.z + s.x*s.y*c.z , s.x*s.z + c.x*s.y*c.z , 0.0,
c.y*s.z , c.x*c.z + s.x*s.y*s.z , -s.x*c.z + c.x*s.y*s.z , 0.0,
-s.y , s.x*c.y , c.x*c.y , 0.0,
0. , 0 , 0 , 1.);
return scale*rotate;
}
// Returns the normal n in tangent space, given n is in internal space.
float3 transform_internal_to_tangent(float3 n)
{
return
n.x* float3(state::texture_tangent_u(0).x,state::texture_tangent_v(0).x,state::normal().x)+
n.y* float3(state::texture_tangent_u(0).y,state::texture_tangent_v(0).y,state::normal().y)+
n.z* float3(state::texture_tangent_u(0).z,state::texture_tangent_v(0).z,state::normal().z);
}
// Returns the normal n in internal space, given n is in tangent space.
float3 transform_tangent_to_internal(float3 n)
{
return state::texture_tangent_u(0) * n.x +
state::texture_tangent_v(0) * n.y +
state::normal() * n.z ;
}
// Returns a normal by adding a detail normal to a global normal.
export float3 add_detail_normal(float3 nd = state::normal(), float3 n = state::normal())
{
// http://blog.selfshadow.com/publications/blending-in-detail/
float3 n_t = transform_internal_to_tangent(n);
float3 nd_t = transform_internal_to_tangent(nd);
n_t=n_t + float3(0.,0.,1.);
nd_t = nd_t * float3(-1.,-1.,1.);
n = n_t*math::dot(n_t, nd_t)/n_t.z - nd_t;
return math::normalize(transform_tangent_to_internal(n));
}
base::texture_return multiply_colors(
color color_1 = color(1.0, 1.0, 1.0),
color color_2 = color(.5, .5, .5),
float weight = 1.0
) [[
anno::hidden()
]]
{
return base::blend_color_layers(
layers: base::color_layer[](
base::color_layer(
layer_color: color_2,
weight: weight,
mode: base::color_layer_multiply
)),
base: color_1
);
}
base::texture_return add_colors(
color color_1 = color(.5, .5, .5),
color color_2 = color(.5, .5, .5),
float weight = 1.0
) [[
anno::hidden(),
anno::unused()
]]
{
return base::blend_color_layers(
layers: base::color_layer[](
base::color_layer(
layer_color: color_2,
weight: weight,
mode: base::color_layer_add
)),
base: color_1
);
}
base::texture_return blend_colors(
color color_1 = color(1.0, 1.0, 1.0),
color color_2 = color(.5, .5, .5),
float weight = 1.0
) [[
anno::hidden(),
anno::unused()
]]
{
return base::blend_color_layers(
layers: base::color_layer[](
base::color_layer(
layer_color: color_2,
weight: weight,
mode: base::color_layer_blend
)),
base: color_1
);
}
export material OmniPBR_RR_ClearCoat_Opacity(
color diffuse_color_constant = color(0.2f)
[[
anno::display_name("Base Color"),
anno::description("This is the base color"),
anno::in_group("Albedo")
]],
uniform texture_2d diffuse_texture = texture_2d()
[[
anno::display_name("Albedo Map"),
anno::in_group("Albedo")
]],
float albedo_desaturation = float(0.0)
[[
anno::display_name("Albedo Desaturation"),
anno::soft_range(float(0.0f), float(1.0f)),
anno::description("Desaturates the diffuse color"),
anno::in_group("Albedo")
]],
float albedo_add = float(0.0)
[[
anno::display_name("Albedo Add"),
anno::soft_range(float(-1.0f), float(1.0f)),
anno::description("Adds a constant value to the diffuse color "),
anno::in_group("Albedo")
]],
float albedo_brightness = float(1.0)
[[
anno::display_name("Albedo Brightness"),
anno::soft_range(float(0.0f), float(1.0f)),
anno::description("Multiplier for the diffuse color "),
anno::in_group("Albedo")
]],
color diffuse_tint = color(1.0f)
[[
anno::display_name("Color Tint"),
anno::description("When enabled, this color value is multiplied over the final albedo color"),
anno::in_group("Albedo")
]],
// -------------------- REFLECTIVITY ----------------------
uniform bool enable_retroreflection = true
[[
anno::display_name("Enable Retroreflection"),
anno::in_group("Reflectivity")
]],
color retroreflection_color = color(.182,.800,.000)
[[
anno::display_name("Retro-reflection color"),
anno::description("The color of the retroreflection"),
anno::in_group("Reflectivity")
]],
uniform float normal_reflectivity = 0.5
[[
anno::display_name("Retro-reflection weight facing"),
anno::hard_range(0.0,1.),
anno::description("Reflectivity control for geometry facing the viewer"),
anno::in_group("Reflectivity")
]],
uniform float grazing_reflectivity = 1.0
[[
anno::display_name("Retro-reflection weight edge"),
anno::hard_range(0.0,1.),
anno::description("Reflectivity control for the reflectivity at geometry edges"),
anno::in_group("Reflectivity")
]],
float reflection_roughness_constant = 0.685f
[[
anno::display_name("Roughness Amount"),
anno::hard_range(0.0,1.),
anno::description("Higher roughness values lead to more blurry reflections"),
anno::in_group("Reflectivity")
]],
float reflection_roughness_texture_influence = 0.0f
[[
anno::display_name("Roughness Map Influence"),
anno::hard_range(0.0, 1.),
anno::description("Blends between the constant value and the lookup of the roughness texture"),
anno::in_group("Reflectivity")
]],
uniform texture_2d reflectionroughness_texture = texture_2d()
[[
anno::display_name("Roughness Map"),
anno::in_group("Reflectivity")
]],
float metallic_constant = 0.f
[[
anno::display_name("Metallic Amount"),
anno::hard_range(0.0,1.),
anno::description("Metallic Material"),
anno::in_group("Reflectivity")
]],
float metallic_texture_influence = 0.0f
[[
anno::display_name("Metallic Map Influence"),
anno::hard_range(0.0, 1.),
anno::description("Blends between the constant value and the lookup of the metallic texture"),
anno::in_group("Reflectivity")
]],
uniform texture_2d metallic_texture = texture_2d()
[[
anno::display_name("Metallic Map"),
anno::in_group("Reflectivity")
]],
float specular_level = float(0.5)
[[
anno::display_name("Specular"),
anno::soft_range(float(0.0f), float(1.0f)),
anno::description("The specular level (intensity) of the material"),
anno::in_group("Reflectivity")
]],
// -------------------- ORM ----------------------
uniform bool enable_ORM_texture = false
[[
anno::display_name("Enable ORM Texture"),
anno::description("When True the ORM texture will be used to extract the Occlusion, Roughness and Metallic Map"),
anno::in_group("Reflectivity")
]],
uniform texture_2d ORM_texture = texture_2d()
[[
anno::display_name("ORM Map"),
anno::description("Texture that hae Occlusion, Roughness and Metallic map stored in the respective r, g and b channels"),
anno::in_group("Reflectivity")
]],
// -------------------- AO Group ----------------------
float ao_to_diffuse = 0.0
[[
anno::display_name("AO to Diffuse"),
anno::description("Controls the amount of ambient occlusion multiplied into the diffuse color channel"),
anno::in_group("AO")
]],
uniform texture_2d ao_texture = texture_2d()
[[
anno::display_name("Ambient Occlusion Map"),
anno::description("The Ambient Occlusion texture for the material"),
anno::in_group("AO")
]],
// -------------------- EMISSIVE ----------------------
uniform bool enable_emission = false
[[
anno::display_name("Enable Emission"),
anno::description("Enables the emission of light from the material"),
anno::in_group("Emissive")
]],
color emissive_color = color(1.0, 0.1, 0.1)
[[
anno::enable_if("enable_emission == true"),
anno::display_name("Emissive Color"),
anno::description("The emission color"),
anno::in_group("Emissive")
]],
uniform texture_2d emissive_mask_texture = texture_2d()
[[
anno::enable_if("enable_emission == true"),
anno::display_name("Emissive Mask map"),
anno::description("The texture masking the emissive color"),
anno::in_group("Emissive")
]],
uniform float emissive_intensity = 40.f
[[
anno::enable_if("enable_emission == true"),
anno::display_name("Emissive Intensity"),
anno::description("Intensity of the emission"),
anno::in_group("Emissive")
]],
// Opacity Map
uniform bool enable_opacity_texture = false
[[
anno::display_name("Enable Opacity"),
anno::description("Enables or disbales the usage of the opacity texture map"),
anno::in_group("Opacity")
]],
uniform float opacity_constant = 1.f
[[
anno::enable_if("enable_opacity_texture == true"),
anno::hard_range(0.0, 1.0),
anno::display_name("Opacity Amount"),
anno::description("Amount of Opacity"),
anno::in_group("Opacity")
]],
uniform texture_2d opacity_texture = texture_2d()
[[
anno::enable_if("enable_opacity_texture==true"),
anno::display_name("Opacity Map"),
anno::in_group("Opacity")
]],
uniform base::mono_mode opacity_mode = base::mono_average
[[
anno::display_name("Opacity Mono Source"),
anno::in_group("Opacity"),
anno::description("Determines how to lookup opacity from the supplied texture. mono_alpha, mono_average, mono_luminance, mono_maximum")
]],
// -------------------- Clearcoat ----------------------
uniform bool enable_clearcoat = false
[[
anno::display_name("Enable Clearcoat Layer"),
anno::description("Adds a clearcoat layer on top of the material when enabled"),
anno::enable_if("enable_opacity_texture==true"),
anno::in_group("Clearcoat")
]],
color clearcoat_tint = color(1.0f)
[[
anno::display_name("Clearcoat Tint"),
anno::description("Clearcoat is tinted and affects the underlying material"),
anno::in_group("Clearcoat")
]],
float clearcoat_transparency = 1.0f
[[
anno::display_name("Clearcoat Transparency"),
anno::description("Adjusts the transparency of the clearcoat. Can be turned into a fully opaque clearcoat "
"covering the underlying layer"),
anno::in_group("Clearcoat")
]],
float clearcoat_reflection_roughness = 0.0f
[[
anno::display_name("Clearcoat Roughness"),
anno::description("Higher roughness values lead to more blurry reflections"),
anno::hard_range(0.0f, 1.0f),
anno::in_group("Clearcoat")
]],
float clearcoat_weight = 1.0f
[[
anno::display_name("Clearcoat Weight"),
anno::description("Sets the weight for clearcoat layer"),
anno::hard_range(0.0f, 1.0f),
anno::in_group("Clearcoat")
]],
float clearcoat_flatten = 1.0f
[[
anno::display_name("Clearcoat Flatten"),
anno::description("Flattens the clearcoat to even out the underlying bump maps"),
anno::hard_range(0.0f, 1.0f),
anno::in_group("Clearcoat")
]],
float clearcoat_ior = 1.56f
[[
anno::display_name("Clearcoat IOR"),
anno::description("Sets the Index of refraction for the clearcoat layer"),
anno::soft_range(1.0f, 4.0f),
anno::in_group("Clearcoat")
]],
uniform float clearcoat_bump_factor = 1.f
[[
anno::display_name("Clearcoat Normal Map Strength"),
anno::description("Strength of normal map."),
anno::in_group("Clearcoat")
]],
uniform texture_2d clearcoat_normalmap_texture = texture_2d()
[[
anno::display_name("Clearcoat Normal Map"),
anno::description("Enables the usage of the normalmap texture"),
anno::in_group("Clearcoat")
]],
// -------------------- Normal ----------------------
/*
uniform bool enable_normalmap_texture = false
[[
anno::display_name("Enable Normal Texture"),
anno::description("Enables the usage of the normalmap texture"),
anno::in_group("Features")
]],
*/
uniform float bump_factor = 1.f
[[
anno::display_name("Normal Map Strength"),
anno::description("Strength of normal map."),
anno::in_group("Normal")
]],
uniform texture_2d normalmap_texture = texture_2d()
[[
anno::display_name("Normal Map"),
anno::description("Enables the usage of the normalmap texture"),
anno::in_group("Normal")
]],
/* uniform bool enable_detail_normalmap_texture = false
[[
anno::display_name("Enable Detail Normal Texture"),
anno::in_group("Features"),
anno::description("Enables the usage of the detail normalmap texture")
]],
*/
uniform float detail_bump_factor = .3f
[[
anno::display_name("Detail Normal Strength"),
anno::in_group("Normal"),
anno::description("Strength of the detail normal")
]],
uniform texture_2d detail_normalmap_texture = texture_2d()
[[
anno::display_name("Detail Normal Map"),
anno::in_group("Normal")
]],
// UV Projection Group
uniform bool project_uvw = false
[[
anno::display_name("Enable Project UVW Coordinates"),
anno::description("When enabled, UV coordinates will be generated by projecting them from a coordinate system"),
anno::in_group("UV")
]],
uniform bool world_or_object = false
[[
anno::enable_if("project_uvw == true"),
anno::display_name("Enable World Space"),
anno::description("When set to 'true' uses world space for projection, when 'false' object space is used"),
anno::in_group("UV")
]],
uniform int uv_space_index = 0
[[
anno::enable_if("project_uvw == true"),
anno::display_name("UV Space Index"),
anno::description("UV Space Index."),
anno::in_group("UV"),
anno::hard_range(0, 3)
]],
// Adjustments Group
uniform float2 texture_translate = float2(0.0f)
[[
anno::enable_if("project_uvw == true"),
anno::display_name("Texture Translate"),
anno::description("Controls position of texture."),
anno::in_group("UV")
]],
uniform float texture_rotate = 0.f
[[
anno::enable_if("project_uvw == true"),
anno::display_name("Texture Rotate"),
anno::description("Rotates angle of texture in degrees."),
anno::in_group("UV")
]],
uniform float2 texture_scale = float2(1.0f)
[[
anno::enable_if("project_uvw == true"),
anno::display_name("Texture Scale"),
anno::description("Larger number increases size of texture."),
anno::in_group("UV")
]],
uniform float2 detail_texture_translate = float2(0.0f)
[[
anno::enable_if("project_uvw == true"),
anno::display_name("Detail Texture Translate"),
anno::description("Controls the position of the detail texture."),
anno::in_group("UV")
]],
uniform float detail_texture_rotate = 0.f
[[
anno::enable_if("project_uvw == true"),
anno::display_name("Detail Texture Rotate"),
anno::description("Rotates angle of the detail texture in degrees."),
anno::in_group("UV")
]],
uniform float2 detail_texture_scale = float2(1.0f)
[[
anno::enable_if("project_uvw == true"),
anno::display_name("Detail Texture Scale"),
anno::description("Larger numbers increase the size of the detail texture"),
anno::in_group("UV")
]],
uniform float2 clearcoat_texture_translate = float2(0.0f)
[[
anno::display_name("Clearcoat Texture Translate"),
anno::description("Controls the position of the detail texture."),
anno::in_group("UV")
]],
uniform float clearcoat_texture_rotate = 0.f
[[
anno::display_name("Clearcoat Texture Rotate"),
anno::description("Rotates angle of the detail texture in degrees."),
anno::in_group("UV")
]],
uniform float2 clearcoat_texture_scale = float2(1.0f)
[[
anno::display_name("Clearcoat Texture Scale"),
anno::description("Larger numbers increase the size of the detail texture"),
anno::in_group("UV")
]]
)
[[
anno::display_name("OmniPBR ClearCoat Opacity"),
anno::description("OmniPBR with ClearCoat. Supports opacity and ORM textures."),
anno::version( 2, 1, 0),
anno::author("NVIDIA CORPORATION"),
anno::key_words(string[]("omni", "PBR", "opacity", "omniverse", "generic"))
]]
= let{
// UVW lookup and transformation
base::texture_coordinate_system the_system = world_or_object ? base::texture_coordinate_world : base::texture_coordinate_object;
base::texture_coordinate_info uvw = project_uvw ?
base::coordinate_projection(
coordinate_system: the_system,
texture_space: uv_space_index,
projection_type: base::projection_cubic ) :
base::coordinate_source(
coordinate_system: base::texture_coordinate_uvw,
texture_space: uv_space_index
);
base::texture_coordinate_info transformed_uvw = base::transform_coordinate(
transform: rotation_translation_scale(
scaling: float3(texture_scale.x, texture_scale.y, 1.0),
rotation: float3(0.0, 0.0, texture_rotate/180.*math::PI ),
translation: float3(texture_translate.x, texture_translate.y, 0.0)
),
coordinate: uvw
);
base::texture_coordinate_info detail_transformed_uvw = base::transform_coordinate(
transform: rotation_translation_scale(
scaling: float3(detail_texture_scale.x, detail_texture_scale.y, 1.0),
rotation: float3(0.0, 0.0, detail_texture_rotate/180.*math::PI ),
translation: float3(detail_texture_translate.x, detail_texture_translate.y, 0.0)
),
coordinate: uvw
);
base::texture_coordinate_info clearcoat_transformed_uvw = base::transform_coordinate(
transform: rotation_translation_scale(
scaling: float3(clearcoat_texture_scale.x, clearcoat_texture_scale.y, 1.0),
rotation: float3(0.0, 0.0, clearcoat_texture_rotate/180.*math::PI ),
translation: float3(clearcoat_texture_translate.x, clearcoat_texture_translate.y, 0.f)
),
coordinate: uvw
);
// Normal calculations
float3 the_normal = tex::texture_isvalid(normalmap_texture) ?
base::tangent_space_normal_texture(
texture: normalmap_texture,
factor: bump_factor,
uvw: transformed_uvw
): state::normal() ;
float3 detail_normal = tex::texture_isvalid(detail_normalmap_texture) ?
base::tangent_space_normal_texture(
texture: detail_normalmap_texture,
factor: detail_bump_factor,
uvw: detail_transformed_uvw
): state::normal() ;
float3 clearcoat_normal = base::tangent_space_normal_texture(
texture: clearcoat_normalmap_texture,
factor: clearcoat_bump_factor,
uvw: clearcoat_transformed_uvw
);
float3 diffuse_gloss_normal = tex::texture_isvalid(detail_normalmap_texture) ? add_detail_normal(detail_normal, the_normal) : the_normal;
float3 flattened_clearcoat_normal = ::math::lerp(diffuse_gloss_normal, ::state::normal(), clearcoat_flatten);
float3 final_clearcoat_normal = tex::texture_isvalid(clearcoat_normalmap_texture) ? add_detail_normal(flattened_clearcoat_normal, clearcoat_normal) : flattened_clearcoat_normal;
// -------------------- ORM Handling --------------------
float3 ORM_lookup = tex::lookup_float3(
tex: ORM_texture,
coord: float2(transformed_uvw.position.x, transformed_uvw.position.y)
);
base::texture_return roughness_lookup = base::file_texture(
texture: reflectionroughness_texture,
mono_source: base::mono_average,
uvw: transformed_uvw,
clip: false
);
float roughness_selection = enable_ORM_texture ? ORM_lookup.y : roughness_lookup.mono;
float reflection_roughness_1 = math::lerp(reflection_roughness_constant, roughness_selection, reflection_roughness_texture_influence);
// Diffuse Color Lookup and AO
base::texture_return base_lookup = base::file_texture(
texture: diffuse_texture,
color_offset: color(albedo_add),
color_scale: color(albedo_brightness),
mono_source: base::mono_luminance,
uvw: transformed_uvw,
clip: false
);
base::texture_return ao_lookup = base::file_texture(
texture: ao_texture,
color_offset: color(0.0, 0.0, 0.0),
color_scale: color(1.0, 1.0, 1.0),
mono_source: base::mono_average,
uvw: transformed_uvw,
clip: false
);
// checking whether the ORM texture or the AO texture is supposed to be used
color ao_color = enable_ORM_texture ? color(ORM_lookup.x) : ao_lookup.tint;
color desaturated_base = math::lerp(base_lookup.tint, color(base_lookup.mono), albedo_desaturation);
color diffuse_color = tex::texture_isvalid(diffuse_texture)? desaturated_base : diffuse_color_constant;
//color diffuse_color = desaturated_base ;
color tinted_diffuse_color = multiply_colors(diffuse_color, diffuse_tint, 1.0).tint ;
color base_color = multiply_colors(
color_1: tinted_diffuse_color,
color_2: ao_color,
weight: ao_to_diffuse
).tint;
base::texture_return metallic_lookup = base::file_texture(
texture: metallic_texture,
color_offset: color(0.0, 0.0, 0.0),
color_scale: color(1.0, 1.0, 1.0),
mono_source: base::mono_average,
uvw: transformed_uvw,
clip: false
);
// Choose between ORM or metallic map
float metallic_selection = enable_ORM_texture ? ORM_lookup.z : metallic_lookup.mono;
// blend between the constant metallic value and the map lookup
float metallic = math::lerp(metallic_constant, metallic_selection, metallic_texture_influence);
bsdf diffuse_bsdf = df::weighted_layer(
weight: 1.0,
layer: df::diffuse_reflection_bsdf(
tint: base_color,
roughness: 0.f ),
base: bsdf(),
normal: enable_clearcoat ? diffuse_gloss_normal : state::normal()
);
// The glossy reflection BSDF
bsdf ggx_smith_bsdf = df::microfacet_ggx_smith_bsdf(
roughness_u:reflection_roughness_1 * reflection_roughness_1,
roughness_v:reflection_roughness_1 * reflection_roughness_1,
tint: color(1.0, 1.0, 1.0),
mode: df::scatter_reflect
);
bsdf custom_curve_layer_bsdf = df::custom_curve_layer(
normal_reflectivity: 0.08,
grazing_reflectivity: 1.0,
exponent: 5.0,
weight: specular_level,
layer: ggx_smith_bsdf,
base: diffuse_bsdf,
normal: enable_clearcoat ? diffuse_gloss_normal : state::normal()
);
//
// Begin RETROREFLECTION SUPPORT
//
bsdf backscattering_glossy_bsdf = df::backscattering_glossy_reflection_bsdf(
tint: retroreflection_color,
roughness_u: reflection_roughness_1 * reflection_roughness_1
);
bsdf retroreflection_bsdf = df::custom_curve_layer(
normal_reflectivity: 1.-normal_reflectivity,
grazing_reflectivity: 1.-grazing_reflectivity,
base: backscattering_glossy_bsdf,
layer: diffuse_bsdf,
normal: enable_clearcoat ? diffuse_gloss_normal : state::normal()
);
//
// End RETROREFLECTION SUPPORT
//
// Replaced by tinting as this reproduces the UE4 behavior more faithfully
// bsdf directional_factor_bsdf = df::directional_factor(
// normal_tint: base_color,
// grazing_tint: base_color, //color(1.0, 1.0, 1.0),
// exponent: 3.0f,
// base: ggx_smith_bsdf
// );
bsdf directional_factor_bsdf = df::tint(base_color, ggx_smith_bsdf);
// CLEARCOAT
bsdf omni_PBR_bsdf = df::weighted_layer(
weight: metallic,
layer: directional_factor_bsdf,
base: enable_retroreflection ? retroreflection_bsdf : custom_curve_layer_bsdf,
normal: enable_clearcoat ? diffuse_gloss_normal : state::normal()
);
bsdf clearcoat_bsdf = df::microfacet_ggx_smith_bsdf(
roughness_u: clearcoat_reflection_roughness * clearcoat_reflection_roughness,
roughness_v: clearcoat_reflection_roughness * clearcoat_reflection_roughness,
tint: color(1.0f),
mode: df::scatter_reflect
);
// bsdf omni_PBR_coated_bsdf = df::custom_curve_layer(
// normal_reflectivity: clearcoat_reflectivity * 0.08,
// grazing_reflectivity: 1.0,
// weight: clearcoat_weight,
// layer: clearcoat_bsdf,
// base: omni_PBR_bsdf,
// normal: final_clearcoat_normal
// );
bsdf opaque_clearcoat = df::weighted_layer(
weight: clearcoat_transparency,
layer: ::df::tint(
tint: clearcoat_tint,
base: omni_PBR_bsdf),
base: ::df::diffuse_reflection_bsdf(
tint: clearcoat_tint)
);
bsdf omni_PBR_coated_bsdf = df::fresnel_layer(
ior: clearcoat_ior,
weight: clearcoat_weight,
layer: clearcoat_bsdf,
base: opaque_clearcoat,
normal: final_clearcoat_normal
);
bsdf final_bsdf = enable_clearcoat ? omni_PBR_coated_bsdf : omni_PBR_bsdf;
// Emission
/*color emissive_mask = base::file_texture(
texture: emissive_mask_texture,
color_offset: color(0.0, 0.0, 0.0),
color_scale: color(1.0, 1.0, 1.0),
mono_source: base::mono_average,
uvw: transformed_uvw,
clip: false
).tint;
*/
color emissive_mask = tex::texture_isvalid(emissive_mask_texture) ?
base::file_texture(
texture: emissive_mask_texture,
color_offset: color(0.0, 0.0, 0.0),
color_scale: color(1.0, 1.0, 1.0),
mono_source: base::mono_average,
uvw: transformed_uvw,
clip: false
).tint : color(1.0);
// Opacity Map
float opacity_value = enable_opacity_texture ? base::file_texture(
texture: opacity_texture,
mono_source: opacity_mode,
uvw: transformed_uvw
).mono : opacity_constant;
} in material(
surface: material_surface(
scattering: final_bsdf,
emission: material_emission (
df::diffuse_edf(),
intensity: enable_emission? emissive_color * emissive_mask * color(emissive_intensity) : color(0)
)
),
geometry: material_geometry(
normal: enable_clearcoat ? state::normal() : diffuse_gloss_normal,
cutout_opacity: opacity_value
)
);
|
eliabntt/GRADE-RR/isaac_internals/kit/extscore/omni.syntheticdata/omni/syntheticdata/tests/data/ds2_materials/drivable_surfaces/general/lanemarkings/lanemark_base.usda | #usda 1.0
(
customLayerData = {
dictionary audioSettings = {
double dopplerLimit = 2
double dopplerScale = 1
double nonSpatialTimeScale = 1
double spatialTimeScale = 1
double speedOfSound = 340
}
dictionary cameraSettings = {
dictionary Front = {
double3 position = (0, 0, 50000)
double radius = 500
double3 target = (0, 0, 0)
}
dictionary Perspective = {
double3 position = (-6935.239931790033, -19547.074794813692, 5089.919351828601)
double radius = 22297.085322303585
double3 target = (-6429.73102943551, -448.8277460206591, -6406.229319922064)
}
dictionary Right = {
double3 position = (-50000, 0, -1.1102230246251565e-11)
double radius = 500
double3 target = (0, 0, 0)
}
dictionary Top = {
double3 position = (-6.494670421766199e-12, 50000, 1.1102230246251565e-11)
double radius = 500
double3 target = (0, 0, 0)
}
string boundCamera = "/OmniverseKit_Persp"
}
dictionary renderSettings = {
float "rtx:post:lensDistortion:cameraFocalLength" = 18.147562
}
}
defaultPrim = "M_Road_Lane_Lines"
endTimeCode = 100
metersPerUnit = 0.009999999776482582
startTimeCode = 0
timeCodesPerSecond = 24
upAxis = "Y"
)
def Material "M_Road_Lane_Lines"
{
token outputs:mdl:displacement.connect = </M_Road_Lane_Lines/Shader.outputs:out>
token outputs:mdl:surface.connect = </M_Road_Lane_Lines/Shader.outputs:out>
token outputs:mdl:volume.connect = </M_Road_Lane_Lines/Shader.outputs:out>
def Shader "Shader"
{
uniform token info:implementationSource = "sourceAsset"
uniform asset info:mdl:sourceAsset = @..\..\..\..\..\Projects\DS2-Content\USA\NV_SJ_AirportLoop\USD\materials\M_Road_Cracks.mdl@
uniform token info:mdl:sourceAsset:subIdentifier = "M_Road_Cracks"
asset inputs:Albedo = @omniverse://drivesim-dev.ov.nvidia.com/Users/.derived/compressedTextures/Projects/DS2-Content/USA/NV_SJ_AirportLoop/USD/materials/M_Lane_Lines/ui0ndfjn_2K_Albedo.png.dds@ (
colorSpace = "sRGB"
customData = {
asset default = @omniverse://drivesim-dev/Projects/DS2-Content/USA/NV_SJ_AirportLoop/USD/materials/M_Road_Cracks/asphalt_crack_01_a_bc_ms.png@
}
)
asset inputs:Asphault_Variation_Noise_A = @omniverse://drivesim-dev.ov.nvidia.com/Users/.derived/compressedTextures/Projects/DS2-Content/USA/NV_SJ_AirportLoop/USD/materials/M_Road_Cracks/blend_noise_a.png.dds@ (
colorSpace = "raw"
customData = {
asset default = @omniverse://drivesim-dev/Projects/DS2-Content/USA/NV_SJ_AirportLoop/USD/materials/M_Road_Cracks/blend_noise_a.png@
}
)
asset inputs:Asphault_Variation_Noise_B = @omniverse://drivesim-dev.ov.nvidia.com/Users/.derived/compressedTextures/Projects/DS2-Content/USA/NV_SJ_AirportLoop/USD/materials/M_Road_Cracks/blend_noise_b.png.dds@ (
colorSpace = "raw"
customData = {
asset default = @omniverse://drivesim-dev/Projects/DS2-Content/USA/NV_SJ_AirportLoop/USD/materials/M_Road_Cracks/blend_noise_b.png@
}
)
float inputs:Crack_Normal_Intensity = 1.25 (
customData = {
float default = 1
dictionary range = {
float max = 100000
float min = -100000
}
}
)
asset inputs:Normal = @omniverse://drivesim-dev.ov.nvidia.com/Users/.derived/compressedTextures/Projects/DS2-Content/USA/NV_SJ_AirportLoop/USD/materials/M_Lane_Lines/ui0ndfjn_2K_Normal.png.dds@ (
colorSpace = "raw"
customData = {
asset default = @omniverse://drivesim-dev/Projects/DS2-Content/USA/NV_SJ_AirportLoop/USD/materials/M_Road_Cracks/asphalt_crack_01_a_n_ms.png@
}
)
asset inputs:Oil_Streaks_Overlay = @omniverse://drivesim-dev.ov.nvidia.com/Users/.derived/compressedTextures/Projects/DS2-Content/USA/NV_SJ_AirportLoop/USD/materials/M_Road_Cracks/oil_marks_.png.dds@ (
colorSpace = "raw"
customData = {
asset default = @omniverse://drivesim-dev/Projects/DS2-Content/USA/NV_SJ_AirportLoop/USD/materials/M_Road_Cracks/oil_marks_.png@
}
)
asset inputs:Opacity = @omniverse://drivesim-dev.ov.nvidia.com/Users/.derived/compressedTextures/Projects/DS2-Content/USA/NV_SJ_AirportLoop/USD/materials/M_Lane_Lines/ui0ndfjn_2K_Opacity.png.dds@ (
colorSpace = "raw"
customData = {
asset default = @omniverse://drivesim-dev/Projects/DS2-Content/USA/NV_SJ_AirportLoop/USD/materials/M_Road_Cracks/asphalt_crack_01_a_opacity.png@
}
)
float inputs:Opacity_Adjust = 0.425 (
customData = {
float default = 1
dictionary range = {
float max = 100000
float min = -100000
}
}
)
asset inputs:ORM = @omniverse://drivesim-dev.ov.nvidia.com/Users/.derived/compressedTextures/Projects/DS2-Content/USA/NV_SJ_AirportLoop/USD/materials/M_Lane_Lines/ui0ndfjn_2K_ORM.png.dds@ (
colorSpace = "raw"
customData = {
asset default = @omniverse://drivesim-dev/Projects/DS2-Content/USA/NV_SJ_AirportLoop/USD/materials/M_Road_Cracks/asphalt_crack_01_a_orm_ms.png@
}
)
asset inputs:Puddle_Blend = @omniverse://drivesim-dev.ov.nvidia.com/Users/.derived/compressedTextures/Projects/DS2-Content/USA/NV_SJ_AirportLoop/USD/materials/M_Road_Cracks/blend_noise_a.png.dds@ (
colorSpace = "raw"
customData = {
asset default = @omniverse://drivesim-dev/Projects/DS2-Content/USA/NV_SJ_AirportLoop/USD/materials/M_Road_Cracks/blend_noise_a.png@
}
)
float inputs:Road_Crack_WORLD_UV = 1 (
customData = {
float default = 0
dictionary range = {
float max = 100000
float min = -100000
}
}
)
token outputs:out
}
}
|
eliabntt/GRADE-RR/isaac_internals/kit/extscore/omni.syntheticdata/docs/CHANGELOG.md | # Changelog
The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
## [0.2.4] - 2022-09-22
### Changed
- Update icon to match Viewport 2.0 style
## [0.2.3] - 2021-08-16
### Fixed
- Call dict.discard instead of non extistant dict.remove.
## [0.2.2] - 2021-05-18
### Changed
- Add dependency on omni.kit.viewport.utility
## [0.2.1] - 2022-03-23
### Changed
- Support Legacy and Modern Viewport
## [0.1.8] - 2021-12-10
### Changed
- Deprecated Depth and DepthLinear sensors and added DistanceToImagePlane and DistanceToCamera
### Added
- Cross Correspondence Sensor
## [0.1.7] - 2021-10-16
### Changed
- Move synthetic data sensors to AOV outputs that can be specified in USD and used in OmniGraph nodes
## [0.1.6] - 2021-06-18
### Fixed
- Instance Segmentation is now always returned as uint32
- Fixed parsed segmentation mode
- Fixed Pinhole projection which incorrectly used the camera's local transform instead of its world transform
### Added
- Linear depth sensor mode
## [0.1.5] - 2021-03-11
### Added
- Motion Vector visualization and helper function
### Changed
- BBox3D corners axis order to be Y-Up for consistency with USD API
- All parsed data return uniqueId field, along with list of instanceIds
- `instanceId` field removed from parsed output to avoid confusion with renderer instanceId
- Add `get_instance` function to extension
- Improve returned data of `get_occlusion_quadrant` for consistency with other sensors
### Fixed
- Fix BBox3D parsed mode when dealing with nested transforms
- Fix BBox3D camera_frame mode, previously returned incorrect values
- Use seeded random generator for shuffling colours during visualization
## [0.1.4] - 2021-02-10
### Changed
- Moved to internal extension
- Minor bug fixes
## [0.1.3] - 2021-02-05
### Added
- Python 3.7 support
### Changed
- Bug fixes
## [0.1.2] - 2021-01-28
### Added
- Occlusion Quadrant Sensor
- Metadata Sensor
### Changed
- Metadata (SemanticSchemas of Type != 'class') added to sensor outputs
- UI changed to better suit multi-viewport scenarios
- Misc. sensor fixes and improvements
## [0.1.1] - 2021-01-25
- Linux support
## [0.1.0] - 2021-01-18
- Initial version
|
eliabntt/GRADE-RR/isaac_internals/kit/extscore/omni.syntheticdata/docs/README.md | # omni.syntheticdata
## Introduction
This extension provides low level OmniGraph nodes for preparing synthetic data AOVs and annotator outputs for the higher
level Omniverse Replicator extension. End user applications should use the Replicator APIs, rather than using this
extension directly.
The extension also includes support for older deprecated Omniverse Synthetic Data APIs. If you are currently using
these older APIs, we suggest reviewing the newer Replicator APIs and switching to these.
A preview visualization component is also included - this is accessible from the viewport synthetic data icon when
the extension is installed. |
eliabntt/GRADE-RR/isaac_internals/kit/extscore/omni.syntheticdata/docs/index.rst | omni.syntheticdata
//////////////////////////#
Introduction
************
This extension provides both C++ and python bindings that allow users to extract ground truth data from scenes loaded
and rendered in Omniverse Kit and use it for DL/RL training purposes. Data can be accessed either in host memory or
directly on device memory to provide high performance training. The scene data is provided by generating USD data
that can be rendered through the Kit renderer.
Core Concepts
*************
Sensor
======
Ground truth data is accessed through various sensors that are associated with a view in the renderer. The sensors
generally provide access to synthetic data and are either represented as images or buffers of attribute data. Attribute
data elements are usually associated with a particular instance in a scene, which is usually represented by a mesh
specified in the USD data. Sensors are objects that are managed by the user either through the API or the UI.
Synthetic Image Data
====================
Synthetic image data is represented by sensors as a 2D image. Examples of synthetic image data include RGB data,
depth data, and segmentation data. The data can be in any valid image format supported by the renderer.
Synthetic Attribute Data
========================
Synthetic attribute data is represented by sensors as raw structured data that can be accessed as an array.
The data structures used to store array elements depend on the type of sensor. Examples of synthetic attribute data
include bounding boxes. See the data structures defined below to see how various attribute data arrays define their
data.
Instance
========
An instance is a single segmentation unit in a scene that is usually represented as a mesh. An instance is usually
represented in sensor data as a unique unsigned integer ID. The renderer currently limits scenes to having 2^24
unique instances.
Semantic Class
==============
A semantic class is a classification given to a scene instance that can be used for training purposes. It is provided
as a unique string and is usually represented in sensor data as a unique unsigned integer ID. Semantic class strings
can be anything that will be used to identify scene instances, such as "car", "tree", "large", "broken", etc. The
renderer currently limits scenes to having 2^16 unique semantic classes. Semantic class data is specified inside the
USD scene data through the Semantic API schema.
Segmentation
============
Segmentation data is usually represented by sensors as synthetic image data and is used to segment image data
within a view. Examples include instance segmentation which will represent each pixel in the image data with an
instance ID and semantic segmentation which will represent each pixel in the image data with a semantic ID.
Accessing Data on Device Memory
===============================
Device Memory is usually GPU memory. Synthetic data can be accessed directly on device memory with python by using
PyTorch tensors.
Accessing Data on Host Memory
=============================
Device Memory is usually system memory. Synthetic data can be accessed directly on host memory with python through
numpy arrays.
Data Structures
***************
Below are the various data structures specified by the C++ API and accessed through python using pybind.
SensorType
==========
.. code::
enum class SensorType : uint32_t
{
// These sensors represent image data
eRgb = 0, ///< RGB data
eDepth, ///< depth data
eDepthLinear, ///< linear depth data (in meters)
eInstanceSegmentation, ///< instance segmentation data
eSemanticSegmentation, ///< semantic segmentation data
eNormal, ///< normal vector data
eMotionVector, ///< motion vector data
// These sensors represent instance attribute data
eBoundingBox2DTight, ///< tight 2D bounding box data, only contains non-occluded pixels
eBoundingBox2DLoose, ///< loose 2D bounding box data, also contains occluded pixels
eBoundingBox3D, ///< 3D view space bounding box data
eOcclusion, ///< occlusion data
eTruncation, ///< truncation data
};
SensorResourceType
==================
.. code::
enum class SensorResourceType
{
eTexture, ///< image data sensors
eBuffer ///< attribute data sensors
};
SensorInfo
==========
.. code::
struct SensorInfo
{
SensorType type; ///< sensor type
SensorResourceType resType; ///< sensor resource type
union
{
struct
{
uint32_t width; ///< sensor width of texture sensors
uint32_t height; ///< sensor height of texture sensors
uint32_t bpp; ///< bytes per pixel stored for texture sensors
uint32_t rowSize; ///< texture row stride in bytes
} tex;
struct
{
size_t size; ///< size in bytes of buffer sensors
} buff;
}; ///< sensor parameters
};
BoundingBox2DValues
===================
.. code::
struct BoundingBox2DValues
{
uint32_t instanceId; ///< instance ID
uint32_t semanticId; ///< semantic ID
int32_t x_min; ///< left extent
int32_t y_min; ///< top extent
int32_t x_max; ///< right extent
int32_t y_max; ///< bottom extent
};
BoundingBox3DValues
===================
.. code::
struct BoundingBox3DValues
{
uint32_t instanceId; ///< instance ID
uint32_t semanticId; ///< semantic ID
float x_min; ///< left extent
float y_min; ///< top extent
float z_min; ///< front extent
float x_max; ///< right extent
float y_max; ///< bottom extent
float z_max; ///< back extent
};
OcclusionValues
===============
.. code::
struct OcclusionValues
{
uint32_t instanceId; ///< instance ID
uint32_t semanticId; ///< semantic ID
float occlusionRatio; ///< ratio of instance that is occluded
};
TruncationValues
================
.. code::
struct TruncationValues
{
uint32_t instanceId; ///< instance ID
uint32_t semanticId; ///< semantic ID
float truncationRatio; ///< ratio of instance that is truncated
};
Python API Docs
****************
Pybind API
==========
.. code::
// Creates a sensor of specified type if none exist otherwise return the existing sensor.
//
// Args:
//
// arg0 (type): The sensor type to return
create_sensor(sensors::SensorType type)
.. code::
// Destroys the specified sensor.
//
// Args:
//
// arg0 (type): The sensor type to destroy
destroy_sensor(sensors::SensorType type)
.. code::
// Returns the width of the specified image sensor.
//
// Args:
//
// arg0 (type): The sensor to retrieve the width for
get_sensor_width(carb::sensors::SensorType type)
.. code::
// Returns the height of the specified image sensor.
//
// Args:
//
// arg0 (type): The sensor to retrieve the height for
get_sensor_height(carb::sensors::SensorType type)
.. code::
// Returns the bytes per pixel of the specified image sensor.
//
// Args:
//
// arg0 (type): The sensor to retrieve the bytes per pixel for
get_sensor_bpp(carb::sensors::SensorType type)
.. code::
// Returns the row size in bytes of the specified image sensor.
//
// Args:
//
// arg0 (type): The sensor to retrieve the row size for
get_sensor_row_size(carb::sensors::SensorType type)
.. code::
// Returns the size in bytes of the specified attribute sensor.
//
// Args:
//
// arg0 (type): The sensor to retrieve the size for
get_sensor_size(carb::sensors::SensorType type)
.. code::
// Returns a pointer to the sensor's data on device memory
//
// Args:
//
// arg0 (type): The sensor to retrieve the data for
get_sensor_device_data(carb::sensors::SensorType type)
.. code::
// Returns a pointer to the sensor's data on host memory
//
// Args:
//
// arg0 (type): The sensor to retrieve the host data for
get_sensor_host_data(carb::sensors::SensorType type)
.. code::
// Returns floating point tensor data of the image sensor on device memory
//
// Args:
//
// arg0 (type): The image sensor to retrieve the tensor data for
//
// arg1 (width): The width of the image sensor
//
// arg2 (height): The height of the image sensor
//
// arg3 (rowSize): The row size in bytes of the image sensor
get_sensor_device_float_2d_tensor(carb::sensors::SensorType type, size_t width, size_t height, size_t rowSize)
.. code::
// Returns 32-bit integer tensor data of the image sensor on device memory
//
// Args:
//
// arg0 (type): The image sensor to retrieve the tensor data for
//
// arg1 (width): The width of the image sensor
//
// arg2 (height): The height of the image sensor
//
// arg3 (rowSize): The row size in bytes of the image sensor
get_sensor_device_int32_2d_tensor(carb::sensors::SensorType type, size_t width, size_t height, size_t rowSize)
.. code::
// Returns 8-bit integer vector tensor data of the image sensor on device memory
//
// Args:
//
// arg0 (type): The image sensor to retrieve the tensor data for
//
// arg1 (width): The width of the image sensor
//
// arg2 (height): The height of the image sensor
//
// arg3 (rowSize): The row size in bytes of the image sensor
get_sensor_device_uint8_3d_tensor(carb::sensors::SensorType type, size_t width, size_t height, size_t rowSize)
.. code::
// Returns 32-bit integer numpy array data of the image sensor on host memory
//
// Args:
//
// arg0 (type): The image sensor to retrieve the numpy data for
//
// arg1 (width): The width of the image sensor
//
// arg2 (height): The height of the image sensor
//
// arg3 (rowSize): The row size in bytes of the image sensor
get_sensor_host_uint32_texture_array(carb::sensors::SensorType type, size_t width, size_t height, size_t rowSize)
.. code::
// Returns floating point numpy array data of the image sensor on host memory
//
// Args:
//
// arg0 (type): The image sensor to retrieve the numpy data for
//
// arg1 (width): The width of the image sensor
//
// arg2 (height): The height of the image sensor
//
// arg3 (rowSize): The row size in bytes of the image sensor
get_sensor_host_float_texture_array(carb::sensors::SensorType type, size_t width, size_t height, size_t rowSize)
.. code::
// Returns floating point numpy array data of the attribute sensor on host memory
//
// Args:
//
// arg0 (type): The attribute sensor to retrieve the numpy data for
//
// arg1 (size): The size of the attribute sensor in bytes
get_sensor_host_float_buffer_array(carb::sensors::SensorType type, size_t size)
.. code::
// Returns 32-bit unsigned integer numpy array data of the attribute sensor on host memory
//
// Args:
//
// arg0 (type): The attribute sensor to retrieve the numpy data for
//
// arg1 (size): The size of the attribute sensor in bytes
get_sensor_host_uint32_buffer_array(carb::sensors::SensorType type, size_t size)
.. code::
// Returns 32-bit signed integer numpy array data of the attribute sensor on host memory
//
// Args:
//
// arg0 (type): The attribute sensor to retrieve the numpy data for
//
// arg1 (size): The size of the attribute sensor in bytes
get_sensor_host_int32_buffer_array(carb::sensors::SensorType type, size_t size)
.. code::
// Returns a numpy array of BoundingBox2DValues data for the attribute sensor on host memory
//
// Args:
//
// arg0 (type): The attribute sensor to retrieve the numpy data for
//
// arg1 (size): The size of the attribute sensor in bytes
get_sensor_host_bounding_box_2d_buffer_array(carb::sensors::SensorType type, size_t size)
.. code::
// Returns a numpy array of BoundingBox3DValues data for the attribute sensor on host memory
//
// Args:
//
// arg0 (type): The attribute sensor to retrieve the numpy data for
//
// arg1 (size): The size of the attribute sensor in bytes
get_sensor_host_bounding_box_3d_buffer_array(carb::sensors::SensorType type, size_t size)
.. code::
// Returns a numpy array of OcclusionValues data for the attribute sensor on host memory
//
// Args:
//
// arg0 (type): The attribute sensor to retrieve the numpy data for
//
// arg1 (size): The size of the attribute sensor in bytes
get_sensor_host_occlusion_buffer_array(carb::sensors::SensorType type, size_t size)
.. code::
// Returns a numpy array of TruncationValues data for the attribute sensor on host memory (TODO)
//
// Args:
//
// arg0 (type): The attribute sensor to retrieve the numpy data for
//
// arg1 (size): The size of the attribute sensor in bytes
get_sensor_host_truncation_buffer_array(carb::sensors::SensorType type, size_t size)
.. code::
// Returns the instance ID of the specified mesh as represented by sensor data
//
// Args:
//
// arg0 (uri): The representation of the mesh in the USD scene
get_instance_segmentation_id(const char* uri)
.. code::
// Returns the semantic ID of the specified name and type as represented by sensor data
//
// Args:
//
// arg0 (type): The semantic type name
//
// arg1 (data): The semantic data name
get_semantic_segmentation_id_from_data(const char* type, const char* data)
.. code::
// Returns the semantic class name of the semantic ID represented by sensor data
//
// Args:
//
// arg0 (semanticId): The semantic ID
get_semantic_segmentation_data_from_id(uint16_t semanticId)
.. code::
// Specify which semantic classes to retrieve bounding boxes for
//
// Args:
//
// arg0 (semanticId): The semantic ID to retrieve bounding boxes for
set_bounding_box_semantic_segmentation_id(uint16_t semanticId)
.. code::
// Specify which semantic classes to retrieve bounding boxes for
//
// Args:
//
// arg0 (data): The semantic data class name to retrieve bounding boxes for
set_bounding_box_semantic_segmentation_data(std::string data)
|
zhehuazhou/ai-cps-robotics-benchmark/README.md | # Towards Building AI-CPS with NVIDIA Isaac Sim: An Industrial Benchmark and Case Study for Robotics Manipulation
This folder contains all revelant code for the paper "Towards Building AI-CPS with NVIDIA Isaac Sim: An Industrial Benchmark and Case Study for Robotics Manipulation".
## Benchmark of Robotics Manipulation
### Requirements:
1. Install Omniverse Isaac Sim: https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/install_basic.html
2. Add Isaac Sim to PYTHON_PATH (with default installation location of ISAAC SIM)
```
alias PYTHON_PATH=~/.local/share/ov/pkg/isaac_sim-*/python.sh
```
2. Install Omniverse Isaac GYM Envs: https://github.com/NVIDIA-Omniverse/OmniIsaacGymEnvs
3. Install SKRL, RTAMT, and Scipy in the Isaac Sim Python environment (the latter two are used for falsification): go to the Isaac folder, and run
```
./python.sh -m pip install skrl rtamt scipy
```
### Run the learning process:
To run SKRL with provided task environments (example):
```
cd Gym_Envs/
PYTHON_PATH skrl_train_PPO.py task=FrankaBallBalancing num_envs=16 headless=False
```
To launch Tensorboard:
```
PYTHON_PATH -m tensorboard.main --logdir runs/FrankaBallBalancing/summaries/
```
## Falsification Tool
To run the falsification test for pre-trained agent, run:
```
cd Falsification_Tool/
PYTHON_PATH manipulator_testing.py headless=False
```
## Performance Evaluation
The performance evaluation uses the same framework as the falsification tool, but with the optimizer set to "random":
```
cd Evaluation/
PYTHON_PATH manipulator_eval.py headless=False
```
|
zhehuazhou/ai-cps-robotics-benchmark/Evaluation/manipulator_eval.py | from eval_model.skrl_oige_model import skrl_oige_model
from eval_monitor.stl_dense_offline import stl_dense_offline_monitor
from eval_optimizer.optimizer import Optimizer
import os
if __name__ == "__main__":
# Config inputs
agent_type = "PPO" # TRPO, PPO
omniisaacgymenvs_path = os.path.realpath(
os.path.join(os.path.realpath(__file__), "../../Gym_Envs")
)
agent_path = (
omniisaacgymenvs_path
+ "/Final_Policy/BallBalancing/BallBalancing_skrl_"
+ agent_type
+ "/checkpoints/best_agent.pt"
)
# Task choice: PointReaching, PegInHole, DoorOpen,
# BallBalancing, BallPushing, BallCatching
# CubeStacking, ClothPlacing
task_name = "FrankaBallBalancing"
simulation_max_steps = 300
num_envs = 1
opt_types = ["random"]
global_budget = 1
local_budget = 100
# Load model under test (drl agent + oige env)
is_action_noise = True
test_model = skrl_oige_model(
agent_path=agent_path,
agent_type=agent_type,
task_name=task_name,
num_envs=num_envs,
timesteps=simulation_max_steps,
is_action_noise= is_action_noise
)
for opt_type in opt_types:
# Load STL monitor based on task
monitor = stl_dense_offline_monitor(task_name=task_name, agent_type=agent_type)
# global search
for i in range(global_budget):
# print("Global trial: " + str(i))
# Create optimizer
optimizer = Optimizer(
task_name,
test_model,
monitor,
opt_type=opt_type,
budget_size=local_budget,
)
# local search
results = optimizer.optimize()
print(results)
# close simulation environment
test_model.close_env()
|
zhehuazhou/ai-cps-robotics-benchmark/Evaluation/eval_monitor/stl_dense_offline.py | from rtamt import STLDenseTimeSpecification
from typing import Optional
import sys
class stl_dense_offline_monitor(object):
"""STL dense time offline monitor based rtamt
agent_path: the path to the agent parameters (checkpoint)
oige_path: path to the OIGE environment;
agent_type: type of DRL agent (PPO, DDPG, TRPO)
task_name: the name of the task
num_envs: the number of parallel running environments
"""
def __init__(
self,
task_name: Optional[str] = None,
agent_type: Optional[str] = None,
oige_path: Optional[str] = None,
):
if task_name is not None:
self.task_name = task_name
else:
self.task_name = "FrankaBallPushing"
self.agent_type = agent_type
self.generate_spec()
# generate specification based on task name
def generate_spec(self):
# Initialization
self.spec = STLDenseTimeSpecification()
self.spec.name = "STL Dense-time Offline Monitor"
###############################################
# Specification according to task
# Ball Pushing
if self.task_name is "FrankaBallPushing":
self.spec.declare_var("distance_ball_hole", "float")
self.spec.spec = "eventually[1:299](distance_ball_hole <= 0.3) "
# Ball Balancing
elif self.task_name is "FrankaBallBalancing":
self.spec.declare_var("distance_ball_tool", "float")
self.spec.spec = "always[50:200]( distance_ball_tool <= 0.25)"
# Ball Catching
elif self.task_name is "FrankaBallCatching":
self.spec.declare_var("distance_ball_tool", "float")
self.spec.spec = "always[50:299]( distance_ball_tool <= 0.1)"
# Cube Stacking
elif self.task_name is "FrankaCubeStacking":
self.spec.declare_var("distance_cube", "float")
self.spec.declare_var("z_cube_distance", "float")
self.spec.spec = (
"eventually[1:299]((distance_cube<= 0.024) and (z_cube_distance>0) )"
)
# Door Open
elif self.task_name is "FrankaDoorOpen":
self.spec.declare_var("yaw_door", "float")
self.spec.spec = "eventually[1:299]( yaw_door >= 20)"
# Peg In Hole
elif self.task_name is "FrankaPegInHole":
self.spec.declare_var("distance_tool_hole", "float")
self.spec.spec = "always[250:299]( distance_tool_hole <= 0.1)"
# Point Reaching
elif self.task_name is "FrankaPointReaching":
self.spec.declare_var("distance_finger_target", "float")
self.spec.spec = "always[50:299]( distance_finger_target <= 0.12)" # fixed
# Cloth Placing
elif self.task_name is "FrankaClothPlacing":
self.spec.declare_var("distance_cloth_target", "float")
self.spec.declare_var("cloth_height", "float")
self.spec.spec = "eventually[1:299]( (distance_cloth_target <= 0.25))" # and (cloth_height > 0.1) )"
else:
raise ValueError("Task name unknown for defining the specification")
################################################
# Load specification
try:
self.spec.parse()
except rtamt.STLParseException as err:
print("STL Parse Exception: {}".format(err))
sys.exit()
# Compute the robustness given trace
def compute_robustness(self, trace):
if self.task_name is "FrankaBallPushing":
# print(trace)
robustness = self.spec.evaluate(["distance_ball_hole", trace])
# print(robustness)
elif self.task_name is "FrankaBallBalancing":
robustness = self.spec.evaluate(["distance_ball_tool", trace])
elif self.task_name is "FrankaBallCatching":
robustness = self.spec.evaluate(["distance_ball_tool", trace])
elif self.task_name is "FrankaCubeStacking":
distance_cube = trace["distance_cube"]
z_cube_distance = trace["z_cube_distance"]
robustness = self.spec.evaluate(
["distance_cube", distance_cube], ["z_cube_distance", z_cube_distance]
)
elif self.task_name is "FrankaDoorOpen":
robustness = self.spec.evaluate(["yaw_door", trace])
elif self.task_name is "FrankaPegInHole":
robustness = self.spec.evaluate(["distance_tool_hole", trace])
elif self.task_name is "FrankaPointReaching":
robustness = self.spec.evaluate(["distance_finger_target", trace])
elif self.task_name is "FrankaClothPlacing":
distance_cloth_target = trace["distance_cloth_target"]
cloth_height = trace["cloth_height"]
# print("distance")
# print(distance_cloth_target)
# print(cloth_height)
robustness = self.spec.evaluate(
["distance_cloth_target", distance_cloth_target]#, ["cloth_height", cloth_height]
)
# print("rob: ")
# print(robustness)
else:
raise ValueError("Task name unknown for defining the specification")
return robustness
|
zhehuazhou/ai-cps-robotics-benchmark/Evaluation/eval_model/skrl_oige_model.py | import os
import torch
from typing import Optional
from .load_oige import load_oige_test_env
from .agent.PPO_agent import create_skrl_ppo_agent
from .agent.TRPO_agent import create_skrl_trpo_agent
from skrl.envs.torch import wrap_env
class skrl_oige_model(object):
"""Testing environment model based on SKRL and Omniverse Isaac Gym Environments (OIGE)
agent_path: the path to the agent parameters (checkpoint)
oige_path: path to the OIGE environment;
agent_type: type of DRL agent (PPO, DDPG, TRPO)
task_name: the name of the task
num_envs: the number of parallel running environments
"""
def __init__(
self,
agent_path: str,
oige_path: Optional[str] = None,
agent_type: Optional[str] = None,
task_name: Optional[str] = None,
timesteps: Optional[int] = 10000,
num_envs: Optional[int] = 1,
headless: Optional[bool] = False,
is_action_noise: Optional[bool] = False,
):
# setup
if oige_path is not None:
self.oige_path = oige_path
else:
self.oige_path = os.path.realpath(
os.path.join(os.path.realpath(__file__), "../../../Gym_Envs")
)
if agent_type is not None:
self.agent_type = agent_type
else:
self.agent_type = "PPO"
if task_name is not None:
self.task_name = task_name
else:
self.task_name = "FrankaBallPushing"
self.agent_path = agent_path
self.timesteps = timesteps
self.headless = headless
# Load OIGE env with skrl wrapper
self.num_envs = num_envs # for testing, we use only 1 env for now
env = load_oige_test_env(
task_name=self.task_name,
omniisaacgymenvs_path=self.oige_path,
num_envs=self.num_envs,
)
self.env = wrap_env(env)
self.env._env.set_as_test()
# if action noise is required
if is_action_noise is True:
self.env._env.set_action_noise()
# Load agent
if self.agent_type is "PPO":
self.agent = create_skrl_ppo_agent(self.env, self.agent_path)
elif self.agent_type is "TRPO":
self.agent = create_skrl_trpo_agent(self.env, self.agent_path)
else:
raise ValueError("Agent type unknown.")
# Initialize agent
# cfg_trainer = {"timesteps": self.timesteps, "headless": self.headless}
self.agent.init()
if self.num_envs == 1:
self.agent.set_running_mode("eval")
else:
raise ValueError("Currently only one environment (agent) is supported")
# close env
def close_env(self):
self.env.close()
# Compute the trace w.r.t a given initial condition
def compute_trace(self, initial_value):
# set initial configuration
self.env._env.set_initial_test_value(initial_value)
# reset env
states, infos = self.env.reset()
# initialize trace
trace = states
# simulation loop
for timestep in range(self.timesteps):
# compute actions
with torch.no_grad():
actions = self.agent.act(
states, timestep=timestep, timesteps=self.timesteps
)[0]
# step the environments
next_states, rewards, terminated, truncated, infos = self.env.step(actions)
# render scene
if not self.headless:
self.env.render()
# record trace
states.copy_(next_states)
trace = torch.vstack([trace, states])
# terminate simulation
with torch.no_grad():
if terminated.any() or truncated.any():
break
return trace
# Merge trace based on the task type
def merge_trace(self, trace):
if self.task_name is "FrankaBallPushing":
# Ball hole distance
ball_hole_distance = trace[:, 24:27].detach().cpu()
ball_hole_distance = torch.norm(ball_hole_distance, p=2, dim=-1)
ball_Z_pos = trace[:, 29].detach().cpu()
# create index
trace_length = list(ball_hole_distance.size())[0]
times = torch.linspace(1, trace_length, steps=trace_length)
# convert to list for computing robustness
indexed_trace = torch.vstack((times, ball_hole_distance))
indexed_trace = torch.transpose(indexed_trace, 0, 1).tolist()
elif self.task_name is "FrankaBallBalancing":
# Ball tool distance
ball_tool_distance = trace[:, 21:23].detach().cpu()
ball_tool_distance = torch.norm(ball_tool_distance, p=2, dim=-1)
# create index
trace_length = list(ball_tool_distance.size())[0]
times = torch.linspace(1, trace_length, steps=trace_length)
# convert to list for computing robustness
indexed_trace = torch.vstack((times, ball_tool_distance))
indexed_trace = torch.transpose(indexed_trace, 0, 1).tolist()
elif self.task_name is "FrankaBallCatching":
# Ball tool distance
ball_tool_distance = trace[:, 21:23].detach().cpu()
ball_tool_distance = torch.norm(ball_tool_distance, p=2, dim=-1)
# create index
trace_length = list(ball_tool_distance.size())[0]
times = torch.linspace(1, trace_length, steps=trace_length)
# convert to list for computing robustness
indexed_trace = torch.vstack((times, ball_tool_distance))
indexed_trace = torch.transpose(indexed_trace, 0, 1).tolist()
elif self.task_name is "FrankaCubeStacking":
# Cube distance
cube_distance = trace[:, 25:27].detach().cpu()
cube_distance = torch.norm(cube_distance, p=2, dim=-1)
# Cube height
cube_height_distance = trace[:, 27].detach().cpu()
# create index
trace_length = list(cube_distance.size())[0]
times = torch.linspace(1, trace_length, steps=trace_length)
# convert to list for computing robustness
indexed_cube_distance = torch.vstack((times, cube_distance))
indexed_cube_distance = torch.transpose(
indexed_cube_distance, 0, 1
).tolist()
indexed_cube_height_distance = torch.vstack((times, cube_height_distance))
indexed_cube_height_distance = torch.transpose(
indexed_cube_height_distance, 0, 1
).tolist()
indexed_trace = {
"distance_cube": indexed_cube_distance,
"z_cube_distance": indexed_cube_height_distance,
}
elif self.task_name is "FrankaDoorOpen":
# Ball tool distance
handle_rot = trace[:, 21:25].detach().cpu()
handle_yaw = torch.atan2(
2.0
* (
handle_rot[:, 0] * handle_rot[:, 3]
+ handle_rot[:, 1] * handle_rot[:, 2]
),
1.0
- 2.0
* (
handle_rot[:, 2] * handle_rot[:, 2]
+ handle_rot[:, 3] * handle_rot[:, 3]
),
)
handle_yaw = torch.rad2deg(handle_yaw)
# create index
trace_length = list(handle_yaw.size())[0]
times = torch.linspace(1, trace_length, steps=trace_length)
# convert to list for computing robustness
indexed_trace = torch.vstack((times, handle_yaw))
indexed_trace = torch.transpose(indexed_trace, 0, 1).tolist()
elif self.task_name is "FrankaPegInHole":
# Ball tool distance
tool_hole_distance = trace[:, 25:27].detach().cpu()
tool_hole_distance = torch.norm(tool_hole_distance, p=2, dim=-1)
# print(tool_hole_distance)
# create index
trace_length = list(tool_hole_distance.size())[0]
times = torch.linspace(1, trace_length, steps=trace_length)
# convert to list for computing robustness
indexed_trace = torch.vstack((times, tool_hole_distance))
indexed_trace = torch.transpose(indexed_trace, 0, 1).tolist()
elif self.task_name is "FrankaPointReaching":
# Ball tool distance
finger_target_distance = trace[:, 24:27].detach().cpu()
finger_target_distance = torch.norm(finger_target_distance, p=2, dim=-1)
# create index
trace_length = list(finger_target_distance.size())[0]
times = torch.linspace(1, trace_length, steps=trace_length)
# convert to list for computing robustness
indexed_trace = torch.vstack((times, finger_target_distance))
indexed_trace = torch.transpose(indexed_trace, 0, 1).tolist()
elif self.task_name is "FrankaClothPlacing":
# Cube distance
cloth_target_distance = trace[:, 21:24].detach().cpu()
cloth_target_distance = torch.norm(cloth_target_distance, p=2, dim=-1)
# Cube height
cloth_height = trace[:, 20].detach().cpu()
# create index
trace_length = list(cloth_target_distance.size())[0]
times = torch.linspace(1, trace_length, steps=trace_length)
# convert to list for computing robustness
indexed_distance_cloth_target = torch.vstack((times, cloth_target_distance))
indexed_distance_cloth_target = torch.transpose(
indexed_distance_cloth_target, 0, 1
).tolist()
indexed_cloth_height = torch.vstack((times, cloth_height))
indexed_cloth_height = torch.transpose(
indexed_cloth_height, 0, 1
).tolist()
indexed_trace = {
"distance_cloth_target": indexed_distance_cloth_target,
"cloth_height": indexed_cloth_height,
}
else:
raise ValueError("Task name unknown for merging the trace")
return indexed_trace
|
zhehuazhou/ai-cps-robotics-benchmark/Evaluation/eval_model/load_oige.py | """
This is a copy from SKRL's implementation of loading oige environment,
with modifications for generating testing oige environment
"""
import sys
import os
from contextlib import contextmanager
def _omegaconf_to_dict(config) -> dict:
"""Convert OmegaConf config to dict
:param config: The OmegaConf config
:type config: OmegaConf.Config
:return: The config as dict
:rtype: dict
"""
# return config.to_container(dict)
from omegaconf import DictConfig
d = {}
for k, v in config.items():
d[k] = _omegaconf_to_dict(v) if isinstance(v, DictConfig) else v
return d
def _print_cfg(d, indent=0) -> None:
"""Print the environment configuration
:param d: The dictionary to print
:type d: dict
:param indent: The indentation level (default: 0)
:type indent: int, optional
"""
for key, value in d.items():
if isinstance(value, dict):
_print_cfg(value, indent + 1)
else:
print(' | ' * indent + " |-- {}: {}".format(key, value))
def load_oige_test_env(task_name: str = "",
omniisaacgymenvs_path: str = "",
num_envs: int = 1,
show_cfg: bool = True,
timeout: int = 30):
"""Load an Omniverse Isaac Gym environment, this is a slight modification of SKRL's implementation
:param task_name: The name of the task (default: "").
If not specified, the task name is taken from the command line argument (``task=TASK_NAME``).
Command line argument has priority over function parameter if both are specified
:type task_name: str, optional
:param omniisaacgymenvs_path: The path to the ``omniisaacgymenvs`` directory (default: "").
If empty, the path will obtained from omniisaacgymenvs package metadata
:type omniisaacgymenvs_path: str, optional
:param show_cfg: Whether to print the configuration (default: True)
:type show_cfg: bool, optional
:param timeout: Seconds to wait for data when queue is empty in multi-threaded environment (default: 30)
:type timeout: int, optional
:raises ValueError: The task name has not been defined, neither by the function parameter nor by the command line arguments
:raises RuntimeError: The omniisaacgymenvs package is not installed or the path is wrong
:return: Omniverse Isaac Gym environment
:rtype: omni.isaac.gym.vec_env.vec_env_base.VecEnvBase or omni.isaac.gym.vec_env.vec_env_mt.VecEnvMT
"""
import torch
from hydra.types import RunMode
from hydra._internal.hydra import Hydra
from hydra._internal.utils import create_automatic_config_search_path, get_args_parser
from omegaconf import OmegaConf
from omni.isaac.gym.vec_env import VecEnvBase, TaskStopException
import omniisaacgymenvs
sys.argv.append("task={}".format(task_name))
sys.argv.append("num_envs={}".format(num_envs))
# get omniisaacgymenvs path from omniisaacgymenvs package metadata
if omniisaacgymenvs_path == "":
if not hasattr(omniisaacgymenvs, "__path__"):
raise RuntimeError("omniisaacgymenvs package is not installed")
omniisaacgymenvs_path = list(omniisaacgymenvs.__path__)[0]
config_path = os.path.join(omniisaacgymenvs_path, "cfg")
# set omegaconf resolvers
OmegaConf.register_new_resolver('eq', lambda x, y: x.lower() == y.lower())
OmegaConf.register_new_resolver('contains', lambda x, y: x.lower() in y.lower())
OmegaConf.register_new_resolver('if', lambda condition, a, b: a if condition else b)
OmegaConf.register_new_resolver('resolve_default', lambda default, arg: default if arg == '' else arg)
# get hydra config without use @hydra.main
config_file = "config"
args = get_args_parser().parse_args()
search_path = create_automatic_config_search_path(config_file, None, config_path)
hydra_object = Hydra.create_main_hydra2(task_name='load_omniisaacgymenv', config_search_path=search_path)
config = hydra_object.compose_config(config_file, args.overrides, run_mode=RunMode.RUN)
cfg = {}
cfg["task"] = _omegaconf_to_dict(config.task)
cfg["task_name"] = config.task_name
cfg["experiment"] = config.experiment
cfg["num_envs"] = config.num_envs
cfg["seed"] = config.seed
cfg["torch_deterministic"] = config.torch_deterministic
cfg["max_iterations"] = config.max_iterations
cfg["physics_engine"] = config.physics_engine
cfg["pipeline"] = config.pipeline
cfg["sim_device"] = config.sim_device
cfg["device_id"] = config.device_id
cfg["rl_device"] = config.rl_device
cfg["num_threads"] = config.num_threads
cfg["solver_type"] = config.solver_type
cfg["test"] = config.test
cfg["checkpoint"] = config.checkpoint
cfg["headless"] = config.headless
# print config
if show_cfg:
print("\nOmniverse Isaac Gym environment ({})".format(config.task.name))
_print_cfg(cfg)
# internal classes
class _OmniIsaacGymVecEnv(VecEnvBase):
def step(self, actions):
actions = torch.clamp(actions, -self._task.clip_actions, self._task.clip_actions).to(self._task.device).clone()
self._task.pre_physics_step(actions)
for _ in range(self._task.control_frequency_inv):
self._world.step(render=self._render)
self.sim_frame_count += 1
observations, rewards, dones, info = self._task.post_physics_step()
return {"obs": torch.clamp(observations, -self._task.clip_obs, self._task.clip_obs).to(self._task.rl_device).clone()}, \
rewards.to(self._task.rl_device).clone(), dones.to(self._task.rl_device).clone(), info.copy()
def set_as_test(self):
self._task.set_as_test()
def set_action_noise(self):
self._task.set_action_noise()
def set_initial_test_value(self, value):
self._task.set_initial_test_value(value)
def reset(self):
self._task.reset()
actions = torch.zeros((self.num_envs, self._task.num_actions), device=self._task.device)
return self.step(actions)[0]
# load environment
sys.path.append(omniisaacgymenvs_path)
from utils.task_util import initialize_task
env = _OmniIsaacGymVecEnv(headless=config.headless)
task = initialize_task(cfg, env, init_sim=True)
return env |
zhehuazhou/ai-cps-robotics-benchmark/Evaluation/eval_model/agent/TRPO_agent.py | """
Create PPO agent based on SKRL implementation
"""
import torch.nn as nn
import torch
from skrl.models.torch import Model, GaussianMixin, DeterministicMixin
from skrl.agents.torch.trpo import TRPO, TRPO_DEFAULT_CONFIG
from skrl.resources.preprocessors.torch import RunningStandardScaler
# Define the models (stochastic and deterministic models) for the agent using mixins.
# - Policy: takes as input the environment's observation/state and returns an action
# - Value: takes the state as input and provides a value to guide the policy
class Policy_2_Layers(GaussianMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False,
clip_log_std=True, min_log_std=-20, max_log_std=2):
Model.__init__(self, observation_space, action_space, device)
GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std)
self.net = nn.Sequential(nn.Linear(self.num_observations, 512),
nn.ELU(),
nn.Linear(512, 256),
nn.ELU(),
nn.Linear(256, self.num_actions))
self.log_std_parameter = nn.Parameter(torch.zeros(self.num_actions))
def compute(self, inputs, role):
return self.net(inputs["states"]), self.log_std_parameter, {}
class Policy_3_Layers(GaussianMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False,
clip_log_std=True, min_log_std=-20, max_log_std=2):
Model.__init__(self, observation_space, action_space, device)
GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std)
self.net = nn.Sequential(nn.Linear(self.num_observations, 512),
nn.ELU(),
nn.Linear(512, 256),
nn.ELU(),
nn.Linear(256, 128),
nn.ELU(),
nn.Linear(128, self.num_actions))
self.log_std_parameter = nn.Parameter(torch.zeros(self.num_actions))
def compute(self, inputs, role):
return self.net(inputs["states"]), self.log_std_parameter, {}
class Value_2_Layers(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False):
Model.__init__(self, observation_space, action_space, device)
DeterministicMixin.__init__(self, clip_actions)
self.net = nn.Sequential(nn.Linear(self.num_observations, 512),
nn.ELU(),
nn.Linear(512, 256),
nn.ELU(),
nn.Linear(256, 1))
def compute(self, inputs, role):
return self.net(inputs["states"]), {}
class Value_3_Layers(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False):
Model.__init__(self, observation_space, action_space, device)
DeterministicMixin.__init__(self, clip_actions)
self.net = nn.Sequential(nn.Linear(self.num_observations, 512),
nn.ELU(),
nn.Linear(512, 256),
nn.ELU(),
nn.Linear(256, 128),
nn.ELU(),
nn.Linear(128, 1))
def compute(self, inputs, role):
return self.net(inputs["states"]), {}
# Create SKRL PPO agent
def create_skrl_trpo_agent(env, agent_path):
device = env.device
models_trpo_2_layer = {}
models_trpo_2_layer["policy"] = Policy_2_Layers(env.observation_space, env.action_space, device)
models_trpo_2_layer["value"] = Value_2_Layers(env.observation_space, env.action_space, device)
models_trpo_3_layer = {}
models_trpo_3_layer["policy"] = Policy_3_Layers(env.observation_space, env.action_space, device)
models_trpo_3_layer["value"] = Value_3_Layers(env.observation_space, env.action_space, device)
# Configs
cfg_trpo = TRPO_DEFAULT_CONFIG.copy()
cfg_trpo["state_preprocessor"] = RunningStandardScaler
cfg_trpo["state_preprocessor_kwargs"] = {"size": env.observation_space, "device": device}
cfg_trpo["value_preprocessor"] = RunningStandardScaler
cfg_trpo["value_preprocessor_kwargs"] = {"size": 1, "device": device}
# no log to TensorBoard and write checkpoints
cfg_trpo["experiment"]["write_interval"] = 0
cfg_trpo["experiment"]["checkpoint_interval"] = 0
try:
# Initialize and load agent with 2 layers
agent = TRPO(models=models_trpo_2_layer,
memory=None,
cfg=cfg_trpo,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
agent.load(agent_path)
except:
# Initialize and load agent with 3 layers
agent = TRPO(models=models_trpo_3_layer,
memory=None,
cfg=cfg_trpo,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
agent.load(agent_path)
return agent
|
zhehuazhou/ai-cps-robotics-benchmark/Evaluation/eval_model/agent/PPO_agent.py | """
Create PPO agent based on SKRL implementation
"""
import torch.nn as nn
import torch
from skrl.models.torch import Model, GaussianMixin, DeterministicMixin
from skrl.agents.torch.ppo import PPO, PPO_DEFAULT_CONFIG
from skrl.resources.preprocessors.torch import RunningStandardScaler
# Define the shared model (stochastic and deterministic models) for the agent using mixins.
class Shared(GaussianMixin, DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False,
clip_log_std=True, min_log_std=-20, max_log_std=2, reduction="sum"):
Model.__init__(self, observation_space, action_space, device)
GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std, reduction)
DeterministicMixin.__init__(self, clip_actions)
self.net = nn.Sequential(nn.Linear(self.num_observations, 512),
nn.ELU(),
nn.Linear(512, 256),
nn.ELU(),
nn.Linear(256, 128),
nn.ELU())
self.mean_layer = nn.Linear(128, self.num_actions)
self.log_std_parameter = nn.Parameter(torch.zeros(self.num_actions))
self.value_layer = nn.Linear(128, 1)
def act(self, inputs, role):
if role == "policy":
return GaussianMixin.act(self, inputs, role)
elif role == "value":
return DeterministicMixin.act(self, inputs, role)
def compute(self, inputs, role):
if role == "policy":
return self.mean_layer(self.net(inputs["states"])), self.log_std_parameter, {}
elif role == "value":
return self.value_layer(self.net(inputs["states"])), {}
# Create SKRL PPO agent
def create_skrl_ppo_agent(env, agent_path):
device = env.device
models_ppo = {}
models_ppo["policy"] = Shared(env.observation_space, env.action_space, device)
models_ppo["value"] = models_ppo["policy"] # same instance: shared model
# Configs
cfg_ppo = PPO_DEFAULT_CONFIG.copy()
cfg_ppo["state_preprocessor"] = RunningStandardScaler
cfg_ppo["state_preprocessor_kwargs"] = {"size": env.observation_space, "device": device}
cfg_ppo["value_preprocessor"] = RunningStandardScaler
cfg_ppo["value_preprocessor_kwargs"] = {"size": 1, "device": device}
# logging to TensorBoard each 100 timesteps and ignore checkpoints
cfg_ppo["experiment"]["write_interval"] = 0
cfg_ppo["experiment"]["checkpoint_interval"] = 0
# Initialize and load agent
agent = PPO(models=models_ppo,
memory=None,
cfg=cfg_ppo,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
agent.load(agent_path)
return agent
|
zhehuazhou/ai-cps-robotics-benchmark/Evaluation/eval_optimizer/optimizer.py | from typing import Optional
import sys
import numpy as np
import torch
import time
from scipy.optimize import minimize
from scipy.optimize import dual_annealing
class Optimizer(object):
"""Optimizer class for testing
task_name: the task name of environment
test_model: the model under test
monitor: the monitor for the STL specification
"""
def __init__(
self,
task_name,
test_model,
monitor,
opt_type: Optional[str] = "random",
budget_size: Optional[int] = 1000,
):
self.task_name = task_name
self.test_model = test_model
self.monitor = monitor
self.opt_type = opt_type
self.budget_size = budget_size
self.fal_succ = False
self.start_time = time.time()
self.fal_time = 0
self.fal_sim = 0
self.worst_rob = 1000
# generate initial values based on the task type
def generate_initial(self):
if self.task_name is "FrankaBallPushing":
# ball inside an area x:[-0.1,0.1], y:[-0.1,0.1]
value_1 = np.random.rand(1) * (0.1 + 0.1) - 0.1
value_2 = np.random.rand(1) * (0.1 + 0.1) - 0.1
initial_value = np.hstack((value_1, value_2))
elif self.task_name is "FrankaBallBalancing":
# ball inside an area x:[-0.15,0.15], y:[-0.15,0.15]
value_1 = np.random.rand(1) * (0.15 + 0.15) - 0.15
value_2 = np.random.rand(1) * (0.15 + 0.15) - 0.15
initial_value = np.hstack((value_1, value_2))
elif self.task_name is "FrankaBallCatching":
# ball inside an area x:[-0.1,0.1], y:[-0.1,0.1]
# ball velociry: vx: [1.0,1.5], vy: [0.0,0.2]
value_1 = np.random.rand(1) * (0.05 + 0.05) - 0.05
value_2 = np.random.rand(1) * (0.05 + 0.05) - 0.05
value_3 = np.random.rand(1) * (1.0 - 1.0) + 1.0
value_4 = np.random.rand(1) * (0.0 + 0.0) + 0.0
initial_value = np.hstack((value_1, value_2, value_3, value_4))
elif self.task_name is "FrankaCubeStacking":
# target cube inside an area x:[-0.2,0.2], y:[-0.2,0.2]
value_1 = np.random.rand(1) * (0.2 + 0.2) - 0.2
value_2 = np.random.rand(1) * (0.2 + 0.2) - 0.2
initial_value = np.hstack((value_1, value_2))
elif self.task_name is "FrankaDoorOpen":
# target inside an area x:[-0.1,0.1], y:[-0.4,0.4]
value_1 = np.random.rand(1) * (0.005 + 0.005) - 0.005
value_2 = np.random.rand(1) * (0.025 + 0.025) - 0.025
initial_value = np.hstack((value_1, value_2))
elif self.task_name is "FrankaPegInHole":
# target inside an area x:[-0.2,0.2], y:[-0.2,0.2]
value_1 = np.random.rand(1) * (0.1 + 0.1) - 0.1
value_2 = np.random.rand(1) * (0.1 + 0.1) - 0.1
initial_value = np.hstack((value_1, value_2))
elif self.task_name is "FrankaPointReaching":
# target inside an area x:[-0.2,0.2], y:[-0.4,0.4], z:[-0.2,0.2]
value_1 = np.random.rand(1) * (0.2 + 0.2) - 0.2
value_2 = np.random.rand(1) * (0.4 + 0.4) - 0.4
value_3 = np.random.rand(1) * (0.2 + 0.2) - 0.2
initial_value = np.hstack((value_1, value_2, value_3))
elif self.task_name is "FrankaClothPlacing":
# target inside an area x:[-0.1,0.2], y:[-0.35,0.35]
value_1 = np.random.rand(1) * (0.2 + 0.1) - 0.1
value_2 = np.random.rand(1) * (0.35 + 0.35) - 0.35
initial_value = np.hstack((value_1, value_2))
else:
raise ValueError("Task name unknown for generating the initial values")
return initial_value
# Generate one function (input: initial values, output: robustness) for testing algorithms
def robustness_function(self, initial_value):
# print("Initial Value:", initial_value)
# Get trace
trace = self.test_model.compute_trace(initial_value)
indexed_trace = self.test_model.merge_trace(trace)
# compute robustness
rob_sequence = self.monitor.compute_robustness(indexed_trace)
rob_sequence = np.array(rob_sequence)
# RTAMT is for monitoring, so for eventually, the robustness computed from the current timepoint to the end
# workaround to compute the maximum
if (
self.task_name is "FrankaBallPushing"
or self.task_name is "FrankaCubeStacking"
or self.task_name is "FrankaDoorOpen"
or self.task_name is "FrankaPegInHole"
or self.task_name is "FrankaClothPlacing"
):
min_rob = np.max(rob_sequence[:, 1])
else:
min_rob = np.min(rob_sequence[:, 1])
# print("Min Robustness:", min_rob)
if min_rob < self.worst_rob:
self.worst_rob = min_rob
if min_rob < 0 and self.fal_succ == False:
self.fal_succ = True
self.fal_time = time.time() - self.start_time
elif self.fal_succ == False:
self.fal_sim += 1
return min_rob, rob_sequence, indexed_trace
# optimization based on the optimizer type
def optimize(self):
if self.opt_type is "random":
results = self.optimize_random()
return results
else:
raise ValueError("Optimizer type undefined!")
# Random optimization
def optimize_random(self):
success_count = 0 # num success trail/ num total trail
dangerous_rate = list() # num dangerous steps/ num total trail w.r.t each trail
completion_time = list() # the step that indicates the task is completed
# Random optimizer
for i in range(self.budget_size):
print("trail ",i)
# random initial value
initial_value = self.generate_initial()
# compute robustness and its sequence
min_rob, rob_sequence, indexed_trace = self.robustness_function(initial_value)
# compute dangerous_rate, completion_time w.r.t tasks
if self.task_name == "FrankaCubeStacking":
# info extraction
cube_dist = np.array(indexed_trace["distance_cube"])[:,1]
cube_z_dist = np.array(indexed_trace["z_cube_distance"])[:,1]
# dangerous rate:
cube_too_far = cube_dist >= 0.35
cube_fall_ground = cube_z_dist < 0.02
dangerous_rate.append(np.sum(np.logical_or(cube_too_far, cube_fall_ground))/len(cube_dist))
# completation step
if_complete = (np.logical_and(cube_dist<=0.024, cube_z_dist>0))
complete_Step = np.where(if_complete == True)[0]
if len(complete_Step) > 0:
completion_time.append(complete_Step[0])
elif self.task_name == "FrankaDoorOpen":
handle_yaw = np.array(indexed_trace)[:,1]
# dangerous rate:
dangerous_rate.append(np.sum(handle_yaw<0.1)/len(handle_yaw))
# completation step
if_complete = (handle_yaw>=20)
complete_Step = np.where(if_complete == True)[0]
if len(complete_Step) > 0:
completion_time.append(complete_Step[0])
elif self.task_name == "FrankaPegInHole":
tool_hole_distance = np.array(indexed_trace)[:,1]
# dangerous rate:
dangerous_rate.append(np.sum(tool_hole_distance>0.37)/len(tool_hole_distance))
# completation step
if_complete = (tool_hole_distance<=0.1)
complete_Step = np.where(if_complete == True)[0]
if len(complete_Step) > 0:
completion_time.append(complete_Step[0])
elif self.task_name == "FrankaBallCatching":
ball_tool_distance = np.array(indexed_trace)[:,1]
# dangerous rate:
dangerous_rate.append(np.sum(ball_tool_distance>0.2)/len(ball_tool_distance))
# completation step
if_complete = (ball_tool_distance<=0.1)
complete_interval = np.zeros(len(if_complete)-5)
# spec satisified holds within a 3-step interval
for i in range(0, int(len(if_complete)-5)):
complete_interval[i] = np.all(if_complete[i:i+5])
complete_Step = np.where(complete_interval == True)[0]
if len(complete_Step) > 0:
completion_time.append(complete_Step[0])
elif self.task_name == "FrankaBallBalancing":
ball_tool_distance = np.array(indexed_trace)[:,1]
# dangerous rate:
dangerous_rate.append(np.sum(ball_tool_distance>0.2)/len(ball_tool_distance))
# completation step
if_complete = (ball_tool_distance<=0.1)
complete_interval = np.zeros(len(if_complete)-5)
# spec satisified holds within a 3-step interval
for i in range(0, int(len(if_complete)-5)):
complete_interval[i] = np.all(if_complete[i:i+5])
complete_Step = np.where(complete_interval == True)[0]
if len(complete_Step) > 0:
completion_time.append(complete_Step[0])
elif self.task_name == "FrankaBallPushing":
ball_hole_distance = np.array(indexed_trace)[:,1]
# dangerous rate:
dangerous_rate.append(np.sum(ball_hole_distance>0.5)/len(ball_hole_distance))
# completation step
if_complete = (ball_hole_distance<=0.3)
complete_interval = np.zeros(len(if_complete)-5)
# spec satisified holds within a 3-step interval
for i in range(0, int(len(if_complete)-5)):
complete_interval[i] = np.all(if_complete[i:i+5])
complete_Step = np.where(complete_interval == True)[0]
if len(complete_Step) > 0:
completion_time.append(complete_Step[0])
elif self.task_name == "FrankaPointReaching":
finger_target_distance = np.array(indexed_trace)[:,1]
# dangerous rate:
dangerous_rate.append(np.sum(finger_target_distance>=0.6)/len(finger_target_distance))
# completation step
if_complete = (finger_target_distance<=0.12)
complete_Step = np.where(if_complete == True)[0]
if len(complete_Step) > 0:
completion_time.append(complete_Step[0])
elif self.task_name == "FrankaClothPlacing":
# info extraction
cloth_target_dist = np.array(indexed_trace["distance_cloth_target"])[:,1]
cloth_z_pos = np.array(indexed_trace["cloth_height"])[:,1]
# dangerous rate:
cloth_too_far = cloth_target_dist >= 0.3
cloth_fall_ground = cloth_z_pos < 0.1
dangerous_rate.append(np.sum(np.logical_or(cloth_too_far, cloth_fall_ground))/len(cloth_target_dist))
# completation step
if_complete = cloth_target_dist<=0.25
complete_Step = np.where(if_complete == True)[0]
if len(complete_Step) > 0:
completion_time.append(complete_Step[0])
# print(indexed_trace)
else:
print("Invalid Task")
break
# perform evaluation:
# success rate
if min_rob > 0:
success_count += 1
# dangerous behavior: change the STL specification and use rob_sequence?
# completion time: check first satisfication in index_trace?
# if i == 0:
# break
if len(dangerous_rate) == 0:
dangerous_rate = 0
results = {"success_count": success_count/self.budget_size,
"dangerous_rate": np.mean(dangerous_rate),
"completion_time": np.mean(completion_time)}
return results |
zhehuazhou/ai-cps-robotics-benchmark/Gym_Envs/skrl_train_SAC.py | import torch
import os
import torch.nn as nn
import torch.nn.functional as F
# Import the skrl components to build the RL system
from skrl.models.torch import Model, GaussianMixin, DeterministicMixin
from skrl.memories.torch import RandomMemory
from skrl.agents.torch.sac import SAC, SAC_DEFAULT_CONFIG
from skrl.resources.schedulers.torch import KLAdaptiveRL
from skrl.resources.noises.torch import OrnsteinUhlenbeckNoise
from skrl.resources.preprocessors.torch import RunningStandardScaler
from skrl.trainers.torch import SequentialTrainer
from skrl.envs.torch import wrap_env
from skrl.envs.torch import load_omniverse_isaacgym_env
from skrl.utils import set_seed
# set the seed for reproducibility
set_seed(42)
# Define the models (stochastic and deterministic models) for the SAC agent using the mixins.
# - StochasticActor (policy): takes as input the environment's observation/state and returns an action
# - Critic: takes the state and action as input and provides a value to guide the policy
class Policy(GaussianMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=True,
clip_log_std=True, min_log_std=-20, max_log_std=2, reduction="sum"):
Model.__init__(self, observation_space, action_space, device)
GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std, reduction)
self.net = nn.Sequential(nn.Linear(self.num_observations, 512),
nn.ELU(),
nn.Linear(512, 256),
nn.ELU(),
nn.Linear(256, self.num_actions),)
# nn.Tanh())
self.log_std_parameter = nn.Parameter(torch.zeros(self.num_actions))
def compute(self, inputs, role):
return self.net(inputs["states"]), self.log_std_parameter, {}
class Critic(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False):
Model.__init__(self, observation_space, action_space, device)
DeterministicMixin.__init__(self, clip_actions)
self.net = nn.Sequential(nn.Linear(self.num_observations + self.num_actions, 512),
nn.ELU(),
nn.Linear(512, 256),
nn.ELU(),
nn.Linear(256, 1))
def compute(self, inputs, role):
return self.net(torch.cat([inputs["states"], inputs["taken_actions"]], dim=1)), {}
# Load and wrap the Omniverse Isaac Gym environment]
omniisaacgymenvs_path = os.path.realpath( os.path.join(os.path.realpath(__file__), "..") )
env = load_omniverse_isaacgym_env(task_name="FrankaCatching", omniisaacgymenvs_path = omniisaacgymenvs_path)
env = wrap_env(env)
device = env.device
# Instantiate a RandomMemory as rollout buffer (any memory can be used for this)
memory = RandomMemory(memory_size=128, num_envs=env.num_envs, device=device, replacement=True)
# Instantiate the agent's models (function approximators).
# SAC requires 5 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/modules/skrl.agents.sac.html#spaces-and-models
models_sac = {}
models_sac["policy"] = Policy(env.observation_space, env.action_space, device)
models_sac["critic_1"] = Critic(env.observation_space, env.action_space, device)
models_sac["critic_2"] = Critic(env.observation_space, env.action_space, device)
models_sac["target_critic_1"] = Critic(env.observation_space, env.action_space, device)
models_sac["target_critic_2"] = Critic(env.observation_space, env.action_space, device)
# Initialize the models' parameters (weights and biases) using a Gaussian distribution
for model in models_sac.values():
model.init_parameters(method_name="normal_", mean=0.0, std=0.1)
# Configure and instantiate the agent.
# Only modify some of the default configuration, visit its documentation to see all the options
# https://skrl.readthedocs.io/en/latest/modules/skrl.agents.sac.html#configuration-and-hyperparameters
cfg_sac = SAC_DEFAULT_CONFIG.copy()
cfg_sac["gradient_steps"] = 1
cfg_sac["batch_size"] = 128
cfg_sac["random_timesteps"] = 10
cfg_sac["learning_starts"] = 0
cfg_sac["actor_learning_rate"]: 5e-4 # actor learning rate
cfg_sac["critic_learning_rate"]: 5e-3 # critic learning rate
cfg_sac["learn_entropy"] = True
cfg_sac["entropy_learning_rate"]: 1e-3 # entropy learning rate
cfg_sac["initial_entropy_value"]: 0.2 # initial entropy value
# logging to TensorBoard and write checkpoints each 1000 and 1000 timesteps respectively
cfg_sac["experiment"]["write_interval"] = 100
cfg_sac["experiment"]["checkpoint_interval"] = 1000
agent= SAC(models=models_sac,
memory=memory,
cfg=cfg_sac,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# Configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 320000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=agent)
# start training
trainer.train()
|
zhehuazhou/ai-cps-robotics-benchmark/Gym_Envs/skrl_train_TD3.py | import torch
import os
import torch.nn as nn
import torch.nn.functional as F
# Import the skrl components to build the RL system
from skrl.models.torch import Model, GaussianMixin, DeterministicMixin
from skrl.memories.torch import RandomMemory
from skrl.agents.torch.td3 import TD3, TD3_DEFAULT_CONFIG
from skrl.resources.schedulers.torch import KLAdaptiveRL
from skrl.resources.preprocessors.torch import RunningStandardScaler
from skrl.trainers.torch import SequentialTrainer
from skrl.envs.torch import wrap_env
from skrl.envs.torch import load_omniverse_isaacgym_env
from skrl.utils import set_seed
from skrl.resources.noises.torch import GaussianNoise
# set the seed for reproducibility
set_seed(42)
# Define the models (deterministic models) for the TD3 agent using mixins
# and programming with two approaches (torch functional and torch.nn.Sequential class).
# - Actor (policy): takes as input the environment's observation/state and returns an action
# - Critic: takes the state and action as input and provides a value to guide the policy
class DeterministicActor(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=True):
Model.__init__(self, observation_space, action_space, device)
DeterministicMixin.__init__(self, clip_actions)
self.net = nn.Sequential(nn.Linear(self.num_observations, 512),
nn.ELU(),
nn.Linear(512, 256),
nn.ELU(),
nn.Linear(256, self.num_actions),
nn.Tanh())
def compute(self, inputs, role):
# x = F.relu(self.linear_layer_1(inputs["states"]))
# x = F.relu(self.linear_layer_2(x))
return self.net(inputs["states"]), {}
class DeterministicCritic(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False):
Model.__init__(self, observation_space, action_space, device)
DeterministicMixin.__init__(self, clip_actions)
self.net = nn.Sequential(nn.Linear(self.num_observations + self.num_actions, 400),
nn.ReLU(),
nn.Linear(400, 300),
nn.ReLU(),
nn.Linear(300, 1))
def compute(self, inputs, role):
return self.net(torch.cat([inputs["states"], inputs["taken_actions"]], dim=1)), {}
# Load and wrap the Omniverse Isaac Gym environment]
omniisaacgymenvs_path = os.path.realpath( os.path.join(os.path.realpath(__file__), "..") )
env = load_omniverse_isaacgym_env(task_name="FrankaBallCatching", omniisaacgymenvs_path = omniisaacgymenvs_path)
env = wrap_env(env)
device = env.device
# Instantiate a RandomMemory as rollout buffer (any memory can be used for this)
memory = RandomMemory(memory_size=2500, num_envs=env.num_envs, device=device)
# Instantiate the agent's models (function approximators).
# TRPO requires 2 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/modules/skrl.agents.trpo.html#spaces-and-models
# Instantiate the agent's models (function approximators).
# TD3 requires 6 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/modules/skrl.agents.td3.html#spaces-and-models
models = {}
models["policy"] = DeterministicActor(env.observation_space, env.action_space, device)
models["target_policy"] = DeterministicActor(env.observation_space, env.action_space, device)
models["critic_1"] = DeterministicCritic(env.observation_space, env.action_space, device)
models["critic_2"] = DeterministicCritic(env.observation_space, env.action_space, device)
models["target_critic_1"] = DeterministicCritic(env.observation_space, env.action_space, device)
models["target_critic_2"] = DeterministicCritic(env.observation_space, env.action_space, device)
# Configure and instantiate the agent.
# Only modify some of the default configuration, visit its documentation to see all the options
# https://skrl.readthedocs.io/en/latest/modules/skrl.agents.trpo.html#configuration-and-hyperparameters
cfg_td3 = TD3_DEFAULT_CONFIG.copy()
cfg_td3["exploration"]["noise"] = GaussianNoise(0, 0.1, device=device)
cfg_td3["smooth_regularization_noise"] = GaussianNoise(0, 0.2, device=device)
cfg_td3["smooth_regularization_clip"] = 0.5
cfg_td3["batch_size"] = 16
cfg_td3["random_timesteps"] = 0
cfg_td3["learning_starts"] = 0
# logging to TensorBoard and write checkpoints each 16 and 80 timesteps respectively
cfg_td3["experiment"]["write_interval"] = 100
cfg_td3["experiment"]["checkpoint_interval"] = 1000
agent = TD3(models=models,
memory=memory,
cfg=cfg_td3,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# Configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 320000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=agent)
# start training
trainer.train()
|
zhehuazhou/ai-cps-robotics-benchmark/Gym_Envs/skrl_train_DDPG.py | import torch
import os
import torch.nn as nn
import torch.nn.functional as F
# Import the skrl components to build the RL system
from skrl.models.torch import Model, GaussianMixin, DeterministicMixin
from skrl.memories.torch import RandomMemory
from skrl.agents.torch.ddpg import DDPG, DDPG_DEFAULT_CONFIG
from skrl.resources.schedulers.torch import KLAdaptiveRL
from skrl.resources.noises.torch import OrnsteinUhlenbeckNoise
from skrl.resources.preprocessors.torch import RunningStandardScaler
from skrl.trainers.torch import SequentialTrainer
from skrl.envs.torch import wrap_env
from skrl.envs.torch import load_omniverse_isaacgym_env
from skrl.utils import set_seed
# set the seed for reproducibility
set_seed(42)
# Define the models (deterministic models) for the DDPG agent using mixins
# and programming with two approaches (torch functional and torch.nn.Sequential class).
# - Actor (policy): takes as input the environment's observation/state and returns an action
# - Critic: takes the state and action as input and provides a value to guide the policy
class DeterministicActor(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=True):
Model.__init__(self, observation_space, action_space, device)
DeterministicMixin.__init__(self, clip_actions)
self.net = nn.Sequential(nn.Linear(self.num_observations, 512),
nn.ELU(),
nn.Linear(512, 256),
nn.ELU(),
nn.Linear(256, self.num_actions),
nn.Tanh())
def compute(self, inputs, role):
# x = F.relu(self.linear_layer_1(inputs["states"]))
# x = F.relu(self.linear_layer_2(x))
return self.net(inputs["states"]), {}
class DeterministicCritic(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False):
Model.__init__(self, observation_space, action_space, device)
DeterministicMixin.__init__(self, clip_actions)
self.net = nn.Sequential(nn.Linear(self.num_observations + self.num_actions, 512),
nn.ELU(),
nn.Linear(512, 256),
nn.ELU(),
nn.Linear(256, 1))
def compute(self, inputs, role):
# x = F.relu(self.linear_layer_1(torch.cat([inputs["states"], inputs["taken_actions"]], dim=1)))
# x = F.relu(self.linear_layer_2(x))
# return torch.tanh(self.action_layer(x)), {}
return self.net(torch.cat([inputs["states"], inputs["taken_actions"]], dim=1)), {}
# Load and wrap the Omniverse Isaac Gym environment]
omniisaacgymenvs_path = os.path.realpath( os.path.join(os.path.realpath(__file__), "..") )
env = load_omniverse_isaacgym_env(task_name="FrankaCatching", omniisaacgymenvs_path = omniisaacgymenvs_path)
env = wrap_env(env)
device = env.device
# Instantiate a RandomMemory as rollout buffer (any memory can be used for this)
memory = RandomMemory(memory_size=16, num_envs=env.num_envs, device=device, replacement=False)
# Instantiate the agent's models (function approximators).
# DDPG requires 4 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/modules/skrl.agents.ddpg.html#spaces-and-models
models_ddpg = {}
models_ddpg["policy"] = DeterministicActor(env.observation_space, env.action_space, device)
models_ddpg["target_policy"] = DeterministicActor(env.observation_space, env.action_space, device)
models_ddpg["critic"] = DeterministicCritic(env.observation_space, env.action_space, device)
models_ddpg["target_critic"] = DeterministicCritic(env.observation_space, env.action_space, device)
# Initialize the models' parameters (weights and biases) using a Gaussian distribution
for model in models_ddpg.values():
model.init_parameters(method_name="normal_", mean=0.0, std=0.5)
# Configure and instantiate the agent.
# Only modify some of the default configuration, visit its documentation to see all the options
# https://skrl.readthedocs.io/en/latest/modules/skrl.agents.ddpg.html#configuration-and-hyperparameters
cfg_ddpg = DDPG_DEFAULT_CONFIG.copy()
# cfg_ddpg["exploration"]["noise"] = OrnsteinUhlenbeckNoise(theta=0.15, sigma=0.1, base_scale=1.0, device=device)
cfg_ddpg["gradient_steps"] = 1 # gradient steps
cfg_ddpg["batch_size"] = 32 # training batch size
cfg_ddpg["polyak"] = 0.005 # soft update hyperparameter (tau)
cfg_ddpg["discount_factor"] = 0.99 # discount factor (gamma)
cfg_ddpg["random_timesteps"] = 0 # random exploration steps
cfg_ddpg["learning_starts"] = 0 # learning starts after this many steps
cfg_ddpg["actor_learning_rate"] = 1e-3
cfg_ddpg["critic_learning_rate"] = 5e-3
# cfg_ddpg["rewards_shaper"] = lambda rewards, timestep, timesteps: rewards * 0.01 # rewards shaping function: Callable(reward, timestep, timesteps) -> reward
# logging to TensorBoard and write checkpoints each 1000 and 5000 timesteps respectively
cfg_ddpg["experiment"]["write_interval"] = 100
cfg_ddpg["experiment"]["checkpoint_interval"] = 1000
# cfg_ddpg["experiment"]["experiment_name"] = ""
agent = DDPG(models=models_ddpg,
memory=memory,
cfg=cfg_ddpg,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# Configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 320000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=agent)
# start training
trainer.train()
|
zhehuazhou/ai-cps-robotics-benchmark/Gym_Envs/skrl_train_PPO.py | import torch
import os
import torch.nn as nn
# Import the skrl components to build the RL system
from skrl.models.torch import Model, GaussianMixin, DeterministicMixin
from skrl.memories.torch import RandomMemory
from skrl.agents.torch.ppo import PPO, PPO_DEFAULT_CONFIG
from skrl.resources.schedulers.torch import KLAdaptiveRL
from skrl.resources.preprocessors.torch import RunningStandardScaler
from skrl.trainers.torch import SequentialTrainer
from skrl.envs.torch import wrap_env
from skrl.envs.torch import load_omniverse_isaacgym_env
from skrl.utils import set_seed
# set the seed for reproducibility
set_seed(42)
# Define the shared model (stochastic and deterministic models) for the agent using mixins.
class Shared(GaussianMixin, DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False,
clip_log_std=True, min_log_std=-20, max_log_std=2, reduction="sum"):
Model.__init__(self, observation_space, action_space, device)
GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std, reduction)
DeterministicMixin.__init__(self, clip_actions)
self.net = nn.Sequential(nn.Linear(self.num_observations, 512),
nn.ELU(),
nn.Linear(512, 256),
nn.ELU(),
nn.Linear(256, 128),
nn.ELU())
self.mean_layer = nn.Linear(128, self.num_actions)
self.log_std_parameter = nn.Parameter(torch.zeros(self.num_actions))
self.value_layer = nn.Linear(128, 1)
def act(self, inputs, role):
if role == "policy":
return GaussianMixin.act(self, inputs, role)
elif role == "value":
return DeterministicMixin.act(self, inputs, role)
def compute(self, inputs, role):
if role == "policy":
return self.mean_layer(self.net(inputs["states"])), self.log_std_parameter, {}
elif role == "value":
return self.value_layer(self.net(inputs["states"])), {}
# Load and wrap the Omniverse Isaac Gym environment]
omniisaacgymenvs_path = os.path.realpath( os.path.join(os.path.realpath(__file__), "..") )
env = load_omniverse_isaacgym_env(task_name="FrankaPegInHole", omniisaacgymenvs_path = omniisaacgymenvs_path)
env = wrap_env(env)
device = env.device
# Instantiate a RandomMemory as rollout buffer (any memory can be used for this)
memory = RandomMemory(memory_size=32, num_envs=env.num_envs, device=device)
# Instantiate the agent's models (function approximators).
# PPO requires 2 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/modules/skrl.agents.ppo.html#spaces-and-models
models_ppo = {}
models_ppo["policy"] = Shared(env.observation_space, env.action_space, device)
models_ppo["value"] = models_ppo["policy"] # same instance: shared model
# Configure and instantiate the agent.
# Only modify some of the default configuration, visit its documentation to see all the options
# https://skrl.readthedocs.io/en/latest/modules/skrl.agents.ppo.html#configuration-and-hyperparameters
cfg_ppo = PPO_DEFAULT_CONFIG.copy()
cfg_ppo["rollouts"] = 32 # memory_size
cfg_ppo["learning_epochs"] = 16
cfg_ppo["mini_batches"] = 8 # 16 * 8192 / 32768
cfg_ppo["discount_factor"] = 0.99
cfg_ppo["lambda"] = 0.95
cfg_ppo["learning_rate"] = 5e-4
cfg_ppo["learning_rate_scheduler"] = KLAdaptiveRL
cfg_ppo["learning_rate_scheduler_kwargs"] = {"kl_threshold": 0.02}
cfg_ppo["random_timesteps"] = 0
cfg_ppo["learning_starts"] = 0
cfg_ppo["grad_norm_clip"] = 1.0
cfg_ppo["ratio_clip"] = 0.2
cfg_ppo["value_clip"] = 0.2
cfg_ppo["clip_predicted_values"] = True
cfg_ppo["entropy_loss_scale"] = 0.0
cfg_ppo["value_loss_scale"] = 2.0
cfg_ppo["kl_threshold"] = 0
# cfg_ppo["rewards_shaper"] = lambda rewards, timestep, timesteps: rewards * 0.01
cfg_ppo["state_preprocessor"] = RunningStandardScaler
cfg_ppo["state_preprocessor_kwargs"] = {"size": env.observation_space, "device": device}
cfg_ppo["value_preprocessor"] = RunningStandardScaler
cfg_ppo["value_preprocessor_kwargs"] = {"size": 1, "device": device}
# logging to TensorBoard and write checkpoints each 800 and 8000 timesteps respectively
cfg_ppo["experiment"]["write_interval"] = 100
cfg_ppo["experiment"]["checkpoint_interval"] = 1000
agent = PPO(models=models_ppo,
memory=memory,
cfg=cfg_ppo,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# Configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 1000000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=agent)
# start training
trainer.train()
|
zhehuazhou/ai-cps-robotics-benchmark/Gym_Envs/skrl_train_TRPO.py | import torch
import os
import torch.nn as nn
# Import the skrl components to build the RL system
from skrl.models.torch import Model, GaussianMixin, DeterministicMixin
from skrl.memories.torch import RandomMemory
from skrl.agents.torch.trpo import TRPO, TRPO_DEFAULT_CONFIG
from skrl.resources.schedulers.torch import KLAdaptiveRL
from skrl.resources.preprocessors.torch import RunningStandardScaler
from skrl.trainers.torch import SequentialTrainer
from skrl.envs.torch import wrap_env
from skrl.envs.torch import load_omniverse_isaacgym_env
from skrl.utils import set_seed
# set the seed for reproducibility
set_seed(42)
# Define the models (stochastic and deterministic models) for the agent using mixins.
# - Policy: takes as input the environment's observation/state and returns an action
# - Value: takes the state as input and provides a value to guide the policy
class Policy(GaussianMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False,
clip_log_std=True, min_log_std=-20, max_log_std=2):
Model.__init__(self, observation_space, action_space, device)
GaussianMixin.__init__(self, clip_actions, clip_log_std, min_log_std, max_log_std)
# self.net = nn.Sequential(nn.Linear(self.num_observations, 512),
# nn.ELU(),
# nn.Linear(512, 256),
# nn.ELU(),
# nn.Linear(256, self.num_actions))
self.net = nn.Sequential(nn.Linear(self.num_observations, 512),
nn.ELU(),
nn.Linear(512, 256),
nn.ELU(),
nn.Linear(256, 128),
nn.ELU(),
nn.Linear(128, self.num_actions))
self.log_std_parameter = nn.Parameter(torch.zeros(self.num_actions))
def compute(self, inputs, role):
return self.net(inputs["states"]), self.log_std_parameter, {}
class Value(DeterministicMixin, Model):
def __init__(self, observation_space, action_space, device, clip_actions=False):
Model.__init__(self, observation_space, action_space, device)
DeterministicMixin.__init__(self, clip_actions)
# self.net = nn.Sequential(nn.Linear(self.num_observations, 512),
# nn.ELU(),
# nn.Linear(512, 256),
# nn.ELU(),
# nn.Linear(256, 1))
self.net = nn.Sequential(nn.Linear(self.num_observations, 512),
nn.ELU(),
nn.Linear(512, 256),
nn.ELU(),
nn.Linear(256, 128),
nn.ELU(),
nn.Linear(128, 1))
def compute(self, inputs, role):
return self.net(inputs["states"]), {}
# Load and wrap the Omniverse Isaac Gym environment]
omniisaacgymenvs_path = os.path.realpath( os.path.join(os.path.realpath(__file__), "..") )
env = load_omniverse_isaacgym_env(task_name="FrankaPegInHole", omniisaacgymenvs_path = omniisaacgymenvs_path)
env = wrap_env(env)
device = env.device
# Instantiate a RandomMemory as rollout buffer (any memory can be used for this)
memory = RandomMemory(memory_size=32, num_envs=env.num_envs, device=device)
# Instantiate the agent's models (function approximators).
# TRPO requires 2 models, visit its documentation for more details
# https://skrl.readthedocs.io/en/latest/modules/skrl.agents.trpo.html#spaces-and-models
models_trpo = {}
models_trpo["policy"] = Policy(env.observation_space, env.action_space, device)
models_trpo["value"] = Value(env.observation_space, env.action_space, device)
# Configure and instantiate the agent.
# Only modify some of the default configuration, visit its documentation to see all the options
# https://skrl.readthedocs.io/en/latest/modules/skrl.agents.trpo.html#configuration-and-hyperparameters
cfg_trpo = TRPO_DEFAULT_CONFIG.copy()
cfg_trpo["rollouts"] = 32 # memory_size
cfg_trpo["learning_epochs"] = 16
cfg_trpo["mini_batches"] = 8
cfg_trpo["discount_factor"] = 0.99
cfg_trpo["lambda"] = 0.95
cfg_trpo["learning_rate"] = 5e-4
cfg_trpo["grad_norm_clip"] = 1.0
cfg_trpo["value_loss_scale"] = 2.0
cfg_trpo["state_preprocessor"] = RunningStandardScaler
cfg_trpo["state_preprocessor_kwargs"] = {"size": env.observation_space, "device": device}
cfg_trpo["value_preprocessor"] = RunningStandardScaler
cfg_trpo["value_preprocessor_kwargs"] = {"size": 1, "device": device}
# logging to TensorBoard and write checkpoints each 16 and 80 timesteps respectively
cfg_trpo["experiment"]["write_interval"] = 100
cfg_trpo["experiment"]["checkpoint_interval"] = 1000
agent = TRPO(models=models_trpo,
memory=memory,
cfg=cfg_trpo,
observation_space=env.observation_space,
action_space=env.action_space,
device=device)
# Configure and instantiate the RL trainer
cfg_trainer = {"timesteps": 320000, "headless": True}
trainer = SequentialTrainer(cfg=cfg_trainer, env=env, agents=agent)
# start training
trainer.train()
|
zhehuazhou/ai-cps-robotics-benchmark/Gym_Envs/Models/Franka/Franka.py | # Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved.
#
# NVIDIA CORPORATION and its licensors retain all intellectual property
# and proprietary rights in and to this software, related documentation
# and any modifications thereto. Any use, reproduction, disclosure or
# distribution of this software and related documentation without an express
# license agreement from NVIDIA CORPORATION is strictly prohibited.
#
import os
from typing import Optional
import math
import numpy as np
import torch
from omni.isaac.core.robots.robot import Robot
from omni.isaac.core.utils.nucleus import get_assets_root_path
from omni.isaac.core.utils.stage import add_reference_to_stage
from omniisaacgymenvs.tasks.utils.usd_utils import set_drive
from omni.isaac.core.utils.prims import get_prim_at_path
from pxr import PhysxSchema
class Franka(Robot):
def __init__(
self,
prim_path: str,
name: Optional[str] = "franka",
usd_path: Optional[str] = None,
translation: Optional[torch.tensor] = None,
orientation: Optional[torch.tensor] = None,
use_modified_collision: Optional[bool] = False,
) -> None:
"""[summary]
"""
self._usd_path = usd_path
self._name = name
self._position = torch.tensor([1.0, 0.0, 0.0]) if translation is None else translation
self._orientation = torch.tensor([0.0, 0.0, 0.0, 1.0]) if orientation is None else orientation
if use_modified_collision is True:
print("Load modified franka model")
self._usd_path = os.path.realpath( os.path.join(os.path.realpath(__file__), "..") ) + "/franka_instanceable.usd"
elif self._usd_path is None:
assets_root_path = get_assets_root_path()
if assets_root_path is None:
carb.log_error("Could not find Isaac Sim assets folder")
self._usd_path = assets_root_path + "/Isaac/Robots/Franka/franka_instanceable.usd"
add_reference_to_stage(self._usd_path, prim_path)
super().__init__(
prim_path=prim_path,
name=name,
translation=self._position,
orientation=self._orientation,
articulation_controller=None,
)
dof_paths = [
"panda_link0/panda_joint1",
"panda_link1/panda_joint2",
"panda_link2/panda_joint3",
"panda_link3/panda_joint4",
"panda_link4/panda_joint5",
"panda_link5/panda_joint6",
"panda_link6/panda_joint7",
"panda_hand/panda_finger_joint1",
"panda_hand/panda_finger_joint2"
]
drive_type = ["angular"] * 7 + ["linear"] * 2
default_dof_pos = [math.degrees(x) for x in [0.0, -1.0, 0.0, -2.2, 0.0, 2.4, 0.8]] + [0.02, 0.02]
stiffness = [400*np.pi/180] * 7 + [10000] * 2
damping = [80*np.pi/180] * 7 + [100] * 2
max_force = [87, 87, 87, 87, 12, 12, 12, 200, 200]
max_velocity = [math.degrees(x) for x in [2.175, 2.175, 2.175, 2.175, 2.61, 2.61, 2.61]] + [0.2, 0.2]
for i, dof in enumerate(dof_paths):
set_drive(
prim_path=f"{self.prim_path}/{dof}",
drive_type=drive_type[i],
target_type="position",
target_value=default_dof_pos[i],
stiffness=stiffness[i],
damping=damping[i],
max_force=max_force[i]
)
PhysxSchema.PhysxJointAPI(get_prim_at_path(f"{self.prim_path}/{dof}")).CreateMaxJointVelocityAttr().Set(max_velocity[i])
|
zhehuazhou/ai-cps-robotics-benchmark/Gym_Envs/Models/Franka/Franka_view.py |
from typing import Optional
from omni.isaac.core.articulations import ArticulationView
from omni.isaac.core.prims import RigidPrimView
class FrankaView(ArticulationView):
def __init__(
self,
prim_paths_expr: str,
name: Optional[str] = "FrankaView",
) -> None:
"""[summary]
"""
super().__init__(
prim_paths_expr=prim_paths_expr,
name=name,
reset_xform_properties=False
)
self._hands = RigidPrimView(prim_paths_expr=prim_paths_expr + "/panda_link7", name="hands_view", reset_xform_properties=False)
self._lfingers = RigidPrimView(prim_paths_expr=prim_paths_expr + "/panda_leftfinger", name="lfingers_view", reset_xform_properties=False)
self._rfingers = RigidPrimView(prim_paths_expr=prim_paths_expr + "/panda_rightfinger", name="rfingers_view", reset_xform_properties=False)
def initialize(self, physics_sim_view):
super().initialize(physics_sim_view)
self._gripper_indices = [self.get_dof_index("panda_finger_joint1"), self.get_dof_index("panda_finger_joint2")]
@property
def gripper_indices(self):
return self._gripper_indices
|
zhehuazhou/ai-cps-robotics-benchmark/Gym_Envs/Models/ball_catching/tool.py | # Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved.
#
# NVIDIA CORPORATION and its licensors retain all intellectual property
# and proprietary rights in and to this software, related documentation
# and any modifications thereto. Any use, reproduction, disclosure or
# distribution of this software and related documentation without an express
# license agreement from NVIDIA CORPORATION is strictly prohibited.
#
from typing import Optional
from omni.isaac.core.robots.robot import Robot
from omni.isaac.core.utils.nucleus import get_assets_root_path
from omni.isaac.core.utils.stage import add_reference_to_stage
import numpy as np
import torch
import os
class Tool(Robot):
def __init__(
self,
prim_path: str,
name: Optional[str] = "tool",
usd_path: Optional[str] = None,
translation: Optional[torch.tensor] = None,
orientation: Optional[torch.tensor] = None,
) -> None:
"""[summary]
"""
self._name = name
self._usd_path = os.path.realpath( os.path.join(os.path.realpath(__file__), "..") ) + "/tool.usd"
add_reference_to_stage(self._usd_path, prim_path)
self._position = torch.tensor([-0.05, 0.0, 0.88]) if translation is None else translation
self._orientation = torch.tensor([1, 0.0, 0.0, 0.0]) if orientation is None else orientation
super().__init__(
prim_path=prim_path,
name=name,
translation=self._position,
orientation=self._orientation,
articulation_controller=None,
)
|
zhehuazhou/ai-cps-robotics-benchmark/Gym_Envs/Models/ball_balancing/tool.py | # Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved.
#
# NVIDIA CORPORATION and its licensors retain all intellectual property
# and proprietary rights in and to this software, related documentation
# and any modifications thereto. Any use, reproduction, disclosure or
# distribution of this software and related documentation without an express
# license agreement from NVIDIA CORPORATION is strictly prohibited.
#
from typing import Optional
from omni.isaac.core.robots.robot import Robot
from omni.isaac.core.utils.nucleus import get_assets_root_path
from omni.isaac.core.utils.stage import add_reference_to_stage
import numpy as np
import torch
import os
class Tool(Robot):
def __init__(
self,
prim_path: str,
name: Optional[str] = "tool",
usd_path: Optional[str] = None,
translation: Optional[torch.tensor] = None,
orientation: Optional[torch.tensor] = None,
) -> None:
"""[summary]
"""
self._name = name
self._usd_path = os.path.realpath( os.path.join(os.path.realpath(__file__), "..") ) + "/tool.usd"
add_reference_to_stage(self._usd_path, prim_path)
self._position = torch.tensor([0.008, 0.0, 1.0]) if translation is None else translation
self._orientation = torch.tensor([1, 0.0, 0.0, 0.0]) if orientation is None else orientation
super().__init__(
prim_path=prim_path,
name=name,
translation=self._position,
orientation=self._orientation,
articulation_controller=None,
)
|
zhehuazhou/ai-cps-robotics-benchmark/Gym_Envs/Models/door_open/door_view.py |
from typing import Optional
from omni.isaac.core.articulations import ArticulationView
from omni.isaac.core.prims import RigidPrimView
class DoorView(ArticulationView):
def __init__(
self,
prim_paths_expr: str,
name: Optional[str] = "DoorView",
) -> None:
"""[summary]
"""
super().__init__(
prim_paths_expr=prim_paths_expr,
name=name,
reset_xform_properties=False
)
self._handle = RigidPrimView(prim_paths_expr="/World/envs/.*/door/door/handle_point", name="handle_view", reset_xform_properties=False)
|
zhehuazhou/ai-cps-robotics-benchmark/Gym_Envs/Models/door_open/door.py | # Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved.
#
# NVIDIA CORPORATION and its licensors retain all intellectual property
# and proprietary rights in and to this software, related documentation
# and any modifications thereto. Any use, reproduction, disclosure or
# distribution of this software and related documentation without an express
# license agreement from NVIDIA CORPORATION is strictly prohibited.
#
from typing import Optional
from omni.isaac.core.robots.robot import Robot
from omni.isaac.core.utils.nucleus import get_assets_root_path
from omni.isaac.core.utils.stage import add_reference_to_stage
import numpy as np
import torch
import os
class Door(Robot):
def __init__(
self,
prim_path: str,
name: Optional[str] = "door",
usd_path: Optional[str] = None,
translation: Optional[torch.tensor] = None,
orientation: Optional[torch.tensor] = None,
) -> None:
"""[summary]
"""
self._name = name
self._usd_path = os.path.realpath( os.path.join(os.path.realpath(__file__), "..") ) + "/free_door_point_pull.usd"
add_reference_to_stage(self._usd_path, prim_path)
self._position = torch.tensor([-0.3, 0.0, 0.0]) if translation is None else translation
self._orientation = torch.tensor([1, 0.0, 0.0, 0.0]) if orientation is None else orientation
super().__init__(
prim_path=prim_path,
name=name,
translation=self._position,
orientation=self._orientation,
articulation_controller=None,
)
|
zhehuazhou/ai-cps-robotics-benchmark/Gym_Envs/Models/ball_pushing/table_view.py |
from typing import Optional
from omni.isaac.core.articulations import ArticulationView
from omni.isaac.core.prims import RigidPrimView
class DoorView(ArticulationView):
def __init__(
self,
prim_paths_expr: str,
name: Optional[str] = "TableView",
) -> None:
"""[summary]
"""
super().__init__(
prim_paths_expr=prim_paths_expr,
name=name,
reset_xform_properties=False
)
self._table = RigidPrimView(prim_paths_expr="/World/envs/.*/table/table", name="table_view", reset_xform_properties=False)
|
zhehuazhou/ai-cps-robotics-benchmark/Gym_Envs/Models/ball_pushing/table.py | # Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved.
#
# NVIDIA CORPORATION and its licensors retain all intellectual property
# and proprietary rights in and to this software, related documentation
# and any modifications thereto. Any use, reproduction, disclosure or
# distribution of this software and related documentation without an express
# license agreement from NVIDIA CORPORATION is strictly prohibited.
#
from typing import Optional
from omni.isaac.core.robots.robot import Robot
from omni.isaac.core.utils.nucleus import get_assets_root_path
from omni.isaac.core.utils.stage import add_reference_to_stage
import numpy as np
import torch
import os
class Table(Robot):
def __init__(
self,
prim_path: str,
name: Optional[str] = "table",
usd_path: Optional[str] = None,
translation: Optional[torch.tensor] = None,
orientation: Optional[torch.tensor] = None,
) -> None:
"""[summary]
"""
self._name = name
self._usd_path = os.path.realpath( os.path.join(os.path.realpath(__file__), "..") ) + "/table.usd"
add_reference_to_stage(self._usd_path, prim_path)
self._position = torch.tensor([0.0, 0.0, 0.0]) if translation is None else translation
self._orientation = torch.tensor([1, 0.0, 0.0, 0.0]) if orientation is None else orientation
super().__init__(
prim_path=prim_path,
name=name,
translation=self._position,
orientation=self._orientation,
articulation_controller=None,
)
|
zhehuazhou/ai-cps-robotics-benchmark/Gym_Envs/Models/peg_in_hole/table_view.py |
from typing import Optional
from omni.isaac.core.articulations import ArticulationView
from omni.isaac.core.prims import RigidPrimView
class TableView(ArticulationView):
def __init__(
self,
prim_paths_expr: str,
name: Optional[str] = "TableView",
) -> None:
"""[summary]
"""
super().__init__(
prim_paths_expr=prim_paths_expr,
name=name,
reset_xform_properties=False
)
self._location_ball = RigidPrimView(prim_paths_expr="/World/envs/.*/table/table/location_ball", name="location_ball_view", reset_xform_properties=False)
|
zhehuazhou/ai-cps-robotics-benchmark/Gym_Envs/Models/peg_in_hole/table.py | # Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved.
#
# NVIDIA CORPORATION and its licensors retain all intellectual property
# and proprietary rights in and to this software, related documentation
# and any modifications thereto. Any use, reproduction, disclosure or
# distribution of this software and related documentation without an express
# license agreement from NVIDIA CORPORATION is strictly prohibited.
#
from typing import Optional
from omni.isaac.core.robots.robot import Robot
from omni.isaac.core.utils.nucleus import get_assets_root_path
from omni.isaac.core.utils.stage import add_reference_to_stage
import numpy as np
import torch
import os
class Table(Robot):
def __init__(
self,
prim_path: str,
name: Optional[str] = "table",
usd_path: Optional[str] = None,
translation: Optional[torch.tensor] = None,
orientation: Optional[torch.tensor] = None,
) -> None:
"""[summary]
"""
self._name = name
self._usd_path = os.path.realpath( os.path.join(os.path.realpath(__file__), "..") ) + "/table.usd"
add_reference_to_stage(self._usd_path, prim_path)
self._position = torch.tensor([0.0, 0.0, 0.0]) if translation is None else translation
self._orientation = torch.tensor([1, 0.0, 0.0, 0.0]) if orientation is None else orientation
super().__init__(
prim_path=prim_path,
name=name,
translation=self._position,
orientation=self._orientation,
articulation_controller=None,
)
|
zhehuazhou/ai-cps-robotics-benchmark/Gym_Envs/Models/peg_in_hole/tool.py | # Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved.
#
# NVIDIA CORPORATION and its licensors retain all intellectual property
# and proprietary rights in and to this software, related documentation
# and any modifications thereto. Any use, reproduction, disclosure or
# distribution of this software and related documentation without an express
# license agreement from NVIDIA CORPORATION is strictly prohibited.
#
from typing import Optional
from omni.isaac.core.robots.robot import Robot
from omni.isaac.core.utils.nucleus import get_assets_root_path
from omni.isaac.core.utils.stage import add_reference_to_stage
import numpy as np
import torch
import os
class Tool(Robot):
def __init__(
self,
prim_path: str,
name: Optional[str] = "tool",
usd_path: Optional[str] = None,
translation: Optional[torch.tensor] = None,
orientation: Optional[torch.tensor] = None,
) -> None:
"""[summary]
"""
self._name = name
self._usd_path = os.path.realpath( os.path.join(os.path.realpath(__file__), "..") ) + "/tool.usd"
add_reference_to_stage(self._usd_path, prim_path)
self._position = torch.tensor([0.391, 0, 0.786]) if translation is None else translation
self._orientation = torch.tensor([0, 0.0, 0.0, 0.0]) if orientation is None else orientation
super().__init__(
prim_path=prim_path,
name=name,
translation=self._position,
orientation=self._orientation,
articulation_controller=None,
)
|
zhehuazhou/ai-cps-robotics-benchmark/Gym_Envs/Models/point_reaching/target_ball.py | # Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved.
#
# NVIDIA CORPORATION and its licensors retain all intellectual property
# and proprietary rights in and to this software, related documentation
# and any modifications thereto. Any use, reproduction, disclosure or
# distribution of this software and related documentation without an express
# license agreement from NVIDIA CORPORATION is strictly prohibited.
#
from typing import Optional
from omni.isaac.core.robots.robot import Robot
from omni.isaac.core.utils.nucleus import get_assets_root_path
from omni.isaac.core.utils.stage import add_reference_to_stage
import numpy as np
import torch
import os
class TargetBall(Robot):
def __init__(
self,
prim_path: str,
name: Optional[str] = "target_ball",
usd_path: Optional[str] = None,
translation: Optional[torch.tensor] = None,
orientation: Optional[torch.tensor] = None,
) -> None:
"""[summary]
"""
self._name = name
self._usd_path = os.path.realpath( os.path.join(os.path.realpath(__file__), "..") ) + "/target_ball.usd"
add_reference_to_stage(self._usd_path, prim_path)
self._position = torch.tensor([-0.2, 0.0, 0.6]) if translation is None else translation
self._orientation = torch.tensor([1, 0.0, 0.0, 0.0]) if orientation is None else orientation
super().__init__(
prim_path=prim_path,
name=name,
translation=self._position,
orientation=self._orientation,
articulation_controller=None,
)
|
zhehuazhou/ai-cps-robotics-benchmark/Gym_Envs/Models/cloth_placing/target_table.py | # Copyright (c) 2021, NVIDIA CORPORATION. All rights reserved.
#
# NVIDIA CORPORATION and its licensors retain all intellectual property
# and proprietary rights in and to this software, related documentation
# and any modifications thereto. Any use, reproduction, disclosure or
# distribution of this software and related documentation without an express
# license agreement from NVIDIA CORPORATION is strictly prohibited.
#
from typing import Optional
from omni.isaac.core.robots.robot import Robot
from omni.isaac.core.utils.nucleus import get_assets_root_path
from omni.isaac.core.utils.stage import add_reference_to_stage
import numpy as np
import torch
import os
class TargetTable(Robot):
def __init__(
self,
prim_path: str,
name: Optional[str] = "target_table",
usd_path: Optional[str] = None,
translation: Optional[torch.tensor] = None,
orientation: Optional[torch.tensor] = None,
) -> None:
"""[summary]
"""
self._name = name
self._usd_path = os.path.realpath( os.path.join(os.path.realpath(__file__), "..") ) + "/target_table.usd"
add_reference_to_stage(self._usd_path, prim_path)
self._position = torch.tensor([-0.25, 0.0, 0.0]) if translation is None else translation
self._orientation = torch.tensor([1, 0.0, 0.0, 0.0]) if orientation is None else orientation
super().__init__(
prim_path=prim_path,
name=name,
translation=self._position,
orientation=self._orientation,
articulation_controller=None,
)
|
zhehuazhou/ai-cps-robotics-benchmark/Gym_Envs/cfg/config.yaml |
# Task name - used to pick the class to load
task_name: ${task.name}
# experiment name. defaults to name of training config
experiment: ''
# if set to positive integer, overrides the default number of environments
num_envs: ''
# seed - set to -1 to choose random seed
seed: 0
# set to True for deterministic performance
torch_deterministic: False
# set the maximum number of learning iterations to train for. overrides default per-environment setting
max_iterations: ''
## Device config
physics_engine: 'physx'
# whether to use cpu or gpu pipeline
pipeline: 'gpu'
# whether to use cpu or gpu physx
sim_device: 'gpu'
# used for gpu simulation only - device id for running sim and task if pipeline=gpu
device_id: 0
# device to run RL
rl_device: 'cuda:0'
## PhysX arguments
num_threads: 4 # Number of worker threads per scene used by PhysX - for CPU PhysX only.
solver_type: 1 # 0: pgs, 1: tgs
# RLGames Arguments
# test - if set, run policy in inference mode (requires setting checkpoint to load)
test: False
# used to set checkpoint path
checkpoint: ''
# disables rendering
headless: False
# timeout for MT script
mt_timeout: 30
wandb_activate: False
wandb_group: ''
wandb_name: ${train.params.config.name}
wandb_entity: ''
wandb_project: 'omniisaacgymenvs'
# set default task and default training config based on task
defaults:
- task: FrankaBallPushing
- train: ${task}PPO
- hydra/job_logging: disabled
# set the directory where the output files get saved
hydra:
output_subdir: null
run:
dir: .
|
zhehuazhou/ai-cps-robotics-benchmark/Gym_Envs/cfg/task/FrankaDoorOpen.yaml | # used to create the object
name: FrankaDoorOpen
physics_engine: ${..physics_engine}
# if given, will override the device setting in gym.
env:
numEnvs: ${resolve_default:16,${...num_envs}}
envSpacing: 3.0
episodeLength: 300
enableDebugVis: False
clipObservations: 5.0
clipActions: 1.0
controlFrequencyInv: 2 # 60 Hz
startPositionNoise: 0.0
startRotationNoise: 0.0
aggregateMode: 3
actionScale: 7.5
dofVelocityScale: 0.1
distRewardScale: 2.0
rotRewardScale: 0.5
aroundHandleRewardScale: 10.0
openRewardScale: 7.5
fingerDistRewardScale: 100.0
actionPenaltyScale: 0.01
fingerCloseRewardScale: 10.0
sim:
dt: 0.0083 # 1/120 s
use_gpu_pipeline: ${eq:${...pipeline},"gpu"}
gravity: [0.0, 0.0, -9.81]
add_ground_plane: True
use_flatcache: True
enable_scene_query_support: False
disable_contact_processing: False
# set to True if you use camera sensors in the environment
enable_cameras: False
default_physics_material:
static_friction: 1.0
dynamic_friction: 1.0
restitution: 0.0
physx:
worker_thread_count: ${....num_threads}
solver_type: ${....solver_type}
use_gpu: ${eq:${....sim_device},"gpu"} # set to False to run on CPU
solver_position_iteration_count: 12
solver_velocity_iteration_count: 1
contact_offset: 0.005
rest_offset: 0.0
bounce_threshold_velocity: 0.2
friction_offset_threshold: 0.04
friction_correlation_distance: 0.025
enable_sleeping: True
enable_stabilization: True
max_depenetration_velocity: 1000.0
# GPU buffers
gpu_max_rigid_contact_count: 524288
gpu_max_rigid_patch_count: 33554432
gpu_found_lost_pairs_capacity: 524288
gpu_found_lost_aggregate_pairs_capacity: 262144
gpu_total_aggregate_pairs_capacity: 1048576
gpu_max_soft_body_contacts: 1048576
gpu_max_particle_contacts: 1048576
gpu_heap_capacity: 33554432
gpu_temp_buffer_capacity: 16777216
gpu_max_num_partitions: 8
franka:
# -1 to use default values
override_usd_defaults: False
enable_self_collisions: True
enable_gyroscopic_forces: True
# also in stage params
# per-actor
solver_position_iteration_count: 12
solver_velocity_iteration_count: 1
sleep_threshold: 0.005
stabilization_threshold: 0.001
# per-body
density: -1
max_depenetration_velocity: 1000.0
# per-shape
contact_offset: 0.005
rest_offset: 0.0
door:
# -1 to use default values
override_usd_defaults: False
enable_self_collisions: False
enable_gyroscopic_forces: True
# also in stage params
# per-actor
solver_position_iteration_count: 12
solver_velocity_iteration_count: 1
sleep_threshold: 0.0
stabilization_threshold: 0.001
# per-body
density: -1
max_depenetration_velocity: 1000.0
# per-shape
contact_offset: 0.005
rest_offset: 0.0
|
zhehuazhou/ai-cps-robotics-benchmark/Gym_Envs/cfg/task/FrankaBallCatching.yaml | # used to create the object
name: FrankaBallCatching
physics_engine: ${..physics_engine}
# if given, will override the device setting in gym.
env:
numEnvs: ${resolve_default:4,${...num_envs}}
envSpacing: 3.0
episodeLength: 300
enableDebugVis: False
clipObservations: 5.0
clipActions: 1.0
controlFrequencyInv: 2 # 60 Hz
startPositionNoise: 0.0
startRotationNoise: 0.0
aggregateMode: 3
actionScale: 7.5
dofVelocityScale: 0.1
distRewardScale: 2.0
rotRewardScale: 0.5
aroundHandleRewardScale: 10.0
openRewardScale: 7.5
fingerDistRewardScale: 100.0
actionPenaltyScale: 0.01
fingerCloseRewardScale: 10.0
sim:
dt: 0.0083 # 1/120 s
use_gpu_pipeline: ${eq:${...pipeline},"gpu"}
gravity: [0.0, 0.0, -9.81]
add_ground_plane: True
use_flatcache: True
enable_scene_query_support: False
disable_contact_processing: False
# set to True if you use camera sensors in the environment
enable_cameras: False
default_physics_material:
static_friction: 1.0
dynamic_friction: 1.0
restitution: 0.0
physx:
worker_thread_count: ${....num_threads}
solver_type: ${....solver_type}
use_gpu: ${eq:${....sim_device},"gpu"} # set to False to run on CPU
solver_position_iteration_count: 12
solver_velocity_iteration_count: 1
contact_offset: 0.005
rest_offset: 0.0
bounce_threshold_velocity: 0.2
friction_offset_threshold: 0.04
friction_correlation_distance: 0.025
enable_sleeping: True
enable_stabilization: True
max_depenetration_velocity: 1000.0
# GPU buffers
gpu_max_rigid_contact_count: 624288
gpu_max_rigid_patch_count: 33554432
gpu_found_lost_pairs_capacity: 524288
gpu_found_lost_aggregate_pairs_capacity: 262144
gpu_total_aggregate_pairs_capacity: 1048576
gpu_max_soft_body_contacts: 1048576
gpu_max_particle_contacts: 1048576
gpu_heap_capacity: 33554432
gpu_temp_buffer_capacity: 16777216
gpu_max_num_partitions: 8
franka:
# -1 to use default values
override_usd_defaults: False
enable_self_collisions: True
enable_gyroscopic_forces: True
# also in stage params
# per-actor
solver_position_iteration_count: 12
solver_velocity_iteration_count: 1
sleep_threshold: 0.005
stabilization_threshold: 0.001
# per-body
density: -1
max_depenetration_velocity: 1000.0
# per-shape
contact_offset: 0.005
rest_offset: 0.0
tool:
# -1 to use default values
override_usd_defaults: False
enable_self_collisions: False
enable_gyroscopic_forces: True
# also in stage params
# per-actor
solver_position_iteration_count: 12
solver_velocity_iteration_count: 1
sleep_threshold: 0.0
stabilization_threshold: 0.001
# per-body
density: -1
max_depenetration_velocity: 1000.0
# per-shape
contact_offset: 0.005
rest_offset: 0.0
|
zhehuazhou/ai-cps-robotics-benchmark/Gym_Envs/cfg/task/FrankaBallBalancing.yaml | # used to create the object
name: FrankaBallBalancing
physics_engine: ${..physics_engine}
# if given, will override the device setting in gym.
env:
numEnvs: ${resolve_default:2048,${...num_envs}}
envSpacing: 3.0
episodeLength: 300
enableDebugVis: False
clipObservations: 5.0
clipActions: 1.0
controlFrequencyInv: 2 # 60 Hz
startPositionNoise: 0.0
startRotationNoise: 0.0
aggregateMode: 3
actionScale: 7.5
dofVelocityScale: 0.1
distRewardScale: 2.0
rotRewardScale: 0.5
aroundHandleRewardScale: 10.0
openRewardScale: 7.5
fingerDistRewardScale: 100.0
actionPenaltyScale: 0.01
fingerCloseRewardScale: 10.0
ballRadius: 0.02
ballInitialPosition: [0.008, 0, 1.1]
ballInitialOrientation: [1, 0, 0, 0]
sim:
dt: 0.0083 # 1/120 s
use_gpu_pipeline: ${eq:${...pipeline},"gpu"}
gravity: [0.0, 0.0, -9.81]
add_ground_plane: True
use_flatcache: True
enable_scene_query_support: False
disable_contact_processing: False
# set to True if you use camera sensors in the environment
enable_cameras: False
default_physics_material:
static_friction: 1.0
dynamic_friction: 1.0
restitution: 0.0
physx:
worker_thread_count: ${....num_threads}
solver_type: ${....solver_type}
use_gpu: ${eq:${....sim_device},"gpu"} # set to False to run on CPU
solver_position_iteration_count: 12
solver_velocity_iteration_count: 1
contact_offset: 0.005
rest_offset: 0.0
bounce_threshold_velocity: 0.2
friction_offset_threshold: 0.04
friction_correlation_distance: 0.025
enable_sleeping: True
enable_stabilization: True
max_depenetration_velocity: 1000.0
# GPU buffers
gpu_max_rigid_contact_count: 524288
gpu_max_rigid_patch_count: 33554432
gpu_found_lost_pairs_capacity: 524288
gpu_found_lost_aggregate_pairs_capacity: 262144
gpu_total_aggregate_pairs_capacity: 1048576
gpu_max_soft_body_contacts: 1048576
gpu_max_particle_contacts: 1048576
gpu_heap_capacity: 33554432
gpu_temp_buffer_capacity: 16777216
gpu_max_num_partitions: 8
franka:
# -1 to use default values
override_usd_defaults: False
enable_self_collisions: True
enable_gyroscopic_forces: True
# also in stage params
# per-actor
solver_position_iteration_count: 12
solver_velocity_iteration_count: 1
sleep_threshold: 0.005
stabilization_threshold: 0.001
# per-body
density: -1
max_depenetration_velocity: 1000.0
# per-shape
contact_offset: 0.005
rest_offset: 0.0
tool:
# -1 to use default values
override_usd_defaults: False
enable_self_collisions: False
enable_gyroscopic_forces: True
# also in stage params
# per-actor
solver_position_iteration_count: 12
solver_velocity_iteration_count: 1
sleep_threshold: 0.0
stabilization_threshold: 0.001
# per-body
density: -1
max_depenetration_velocity: 1000.0
# per-shape
contact_offset: 0.005
rest_offset: 0.0
ball:
# -1 to use default values
override_usd_defaults: False
fixed_base: False
enable_self_collisions: False
enable_gyroscopic_forces: True
# also in stage params
# per-actor
solver_position_iteration_count: 12
solver_velocity_iteration_count: 1
sleep_threshold: 0.0
stabilization_threshold: 0.001
# per-body
density: -1
max_depenetration_velocity: 1000.0
# per-shape
contact_offset: 0.005
rest_offset: 0.0
|
zhehuazhou/ai-cps-robotics-benchmark/Gym_Envs/cfg/task/FrankaCubeStacking.yaml | # used to create the object
name: FrankaCubeStacking
physics_engine: ${..physics_engine}
# if given, will override the device setting in gym.
env:
numEnvs: ${resolve_default:4,${...num_envs}}
envSpacing: 3.0
episodeLength: 300
enableDebugVis: False
clipObservations: 5.0
clipActions: 1.0
controlFrequencyInv: 2 # 60 Hz
startPositionNoise: 0.0
startRotationNoise: 0.0
aggregateMode: 3
actionScale: 7.5
dofVelocityScale: 0.1
distRewardScale: 2.0
rotRewardScale: 0.5
aroundHandleRewardScale: 10.0
openRewardScale: 7.5
fingerDistRewardScale: 100.0
actionPenaltyScale: 0.01
fingerCloseRewardScale: 10.0
sim:
dt: 0.0083 # 1/120 s
use_gpu_pipeline: ${eq:${...pipeline},"gpu"}
gravity: [0.0, 0.0, -9.81]
add_ground_plane: True
use_flatcache: True
enable_scene_query_support: False
disable_contact_processing: False
# set to True if you use camera sensors in the environment
enable_cameras: False
default_physics_material:
static_friction: 1.0
dynamic_friction: 1.0
restitution: 0.0
physx:
worker_thread_count: ${....num_threads}
solver_type: ${....solver_type}
use_gpu: ${eq:${....sim_device},"gpu"} # set to False to run on CPU
solver_position_iteration_count: 12
solver_velocity_iteration_count: 1
contact_offset: 0.005
rest_offset: 0.0
bounce_threshold_velocity: 0.2
friction_offset_threshold: 0.04
friction_correlation_distance: 0.025
enable_sleeping: True
enable_stabilization: True
max_depenetration_velocity: 1000.0
# GPU buffers
gpu_max_rigid_contact_count: 524288
gpu_max_rigid_patch_count: 33554432
gpu_found_lost_pairs_capacity: 524288
gpu_found_lost_aggregate_pairs_capacity: 262144
gpu_total_aggregate_pairs_capacity: 1048576
gpu_max_soft_body_contacts: 1048576
gpu_max_particle_contacts: 1048576
gpu_heap_capacity: 33554432
gpu_temp_buffer_capacity: 16777216
gpu_max_num_partitions: 8
franka:
# -1 to use default values
override_usd_defaults: False
enable_self_collisions: True
enable_gyroscopic_forces: True
# also in stage params
# per-actor
solver_position_iteration_count: 12
solver_velocity_iteration_count: 1
sleep_threshold: 0.005
stabilization_threshold: 0.001
# per-body
density: -1
max_depenetration_velocity: 1000.0
# per-shape
contact_offset: 0.005
rest_offset: 0.0
|
zhehuazhou/ai-cps-robotics-benchmark/Gym_Envs/cfg/task/FrankaPegInHole.yaml | # used to create the object
name: FrankaPegInHole
physics_engine: ${..physics_engine}
# if given, will override the device setting in gym.
env:
numEnvs: ${resolve_default:16,${...num_envs}}
envSpacing: 3.0
episodeLength: 300
enableDebugVis: False
clipObservations: 5.0
clipActions: 1.0
controlFrequencyInv: 2 # 60 Hz
startPositionNoise: 0.0
startRotationNoise: 0.0
aggregateMode: 3
actionScale: 7.5
dofVelocityScale: 0.02
distRewardScale: 2.0
rotRewardScale: 0.5
aroundHandleRewardScale: 10.0
openRewardScale: 7.5
fingerDistRewardScale: 100.0
actionPenaltyScale: 0.01
fingerCloseRewardScale: 10.0
locationBallRadius: 0.0001
locationBallPosition: [0.0, 0.0, 0.0]
locationBallInitialOrientation: [1, 0, 0, 0]
sim:
dt: 0.0083 # 1/120 s
use_gpu_pipeline: ${eq:${...pipeline},"gpu"}
gravity: [0.0, 0.0, -9.81]
add_ground_plane: True
use_flatcache: True
enable_scene_query_support: False
disable_contact_processing: False
# set to True if you use camera sensors in the environment
enable_cameras: False
default_physics_material:
static_friction: 1.0
dynamic_friction: 1.0
restitution: 0.0
physx:
worker_thread_count: ${....num_threads}
solver_type: ${....solver_type}
use_gpu: ${eq:${....sim_device},"gpu"} # set to False to run on CPU
solver_position_iteration_count: 12
solver_velocity_iteration_count: 1
contact_offset: 0.005
rest_offset: 0.0
bounce_threshold_velocity: 0.2
friction_offset_threshold: 0.04
friction_correlation_distance: 0.025
enable_sleeping: True
enable_stabilization: True
max_depenetration_velocity: 1000.0
# GPU buffers
gpu_max_rigid_contact_count: 524288
gpu_max_rigid_patch_count: 33554432
gpu_found_lost_pairs_capacity: 524288
gpu_found_lost_aggregate_pairs_capacity: 262144
gpu_total_aggregate_pairs_capacity: 1048576
gpu_max_soft_body_contacts: 1048576
gpu_max_particle_contacts: 1048576
gpu_heap_capacity: 33554432
gpu_temp_buffer_capacity: 16777216
gpu_max_num_partitions: 8
franka:
# -1 to use default values
override_usd_defaults: False
enable_self_collisions: True
enable_gyroscopic_forces: True
# also in stage params
# per-actor
solver_position_iteration_count: 12
solver_velocity_iteration_count: 1
sleep_threshold: 0.005
stabilization_threshold: 0.001
# per-body
density: -1
max_depenetration_velocity: 1000.0
# per-shape
contact_offset: 0.005
rest_offset: 0.0
table:
# -1 to use default values
override_usd_defaults: False
enable_self_collisions: False
enable_gyroscopic_forces: True
# also in stage params
# per-actor
solver_position_iteration_count: 12
solver_velocity_iteration_count: 1
sleep_threshold: 0.0
stabilization_threshold: 0.001
# per-body
density: -1
max_depenetration_velocity: 1000.0
# per-shape
contact_offset: 0.005
rest_offset: 0.0
tool:
# -1 to use default values
override_usd_defaults: False
fixed_base: False
enable_self_collisions: False
enable_gyroscopic_forces: True
# also in stage params
# per-actor
solver_position_iteration_count: 12
solver_velocity_iteration_count: 1
sleep_threshold: 0.0
stabilization_threshold: 0.001
# per-body
density: -1
max_depenetration_velocity: 1000.0
# per-shape
contact_offset: 0.005
rest_offset: 0.0
|
zhehuazhou/ai-cps-robotics-benchmark/Gym_Envs/cfg/task/FrankaPointReaching.yaml | # used to create the object
name: FrankaPointReaching
physics_engine: ${..physics_engine}
# if given, will override the device setting in gym.
env:
numEnvs: ${resolve_default:4,${...num_envs}}
envSpacing: 3.0
episodeLength: 300
enableDebugVis: False
clipObservations: 5.0
clipActions: 1.0
controlFrequencyInv: 2 # 60 Hz
startPositionNoise: 0.0
startRotationNoise: 0.0
aggregateMode: 3
actionScale: 7.5
dofVelocityScale: 0.1
distRewardScale: 2.0
rotRewardScale: 0.5
aroundHandleRewardScale: 10.0
openRewardScale: 7.5
fingerDistRewardScale: 100.0
actionPenaltyScale: 0.01
fingerCloseRewardScale: 10.0
sim:
dt: 0.0083 # 1/120 s
use_gpu_pipeline: ${eq:${...pipeline},"gpu"}
gravity: [0.0, 0.0, -9.81]
add_ground_plane: True
use_flatcache: True
enable_scene_query_support: False
disable_contact_processing: False
# set to True if you use camera sensors in the environment
enable_cameras: False
default_physics_material:
static_friction: 1.0
dynamic_friction: 1.0
restitution: 0.0
physx:
worker_thread_count: ${....num_threads}
solver_type: ${....solver_type}
use_gpu: ${eq:${....sim_device},"gpu"} # set to False to run on CPU
solver_position_iteration_count: 12
solver_velocity_iteration_count: 1
contact_offset: 0.005
rest_offset: 0.0
bounce_threshold_velocity: 0.2
friction_offset_threshold: 0.04
friction_correlation_distance: 0.025
enable_sleeping: True
enable_stabilization: True
max_depenetration_velocity: 1000.0
# GPU buffers
gpu_max_rigid_contact_count: 524288
gpu_max_rigid_patch_count: 33554432
gpu_found_lost_pairs_capacity: 524288
gpu_found_lost_aggregate_pairs_capacity: 262144
gpu_total_aggregate_pairs_capacity: 1048576
gpu_max_soft_body_contacts: 1048576
gpu_max_particle_contacts: 1048576
gpu_heap_capacity: 33554432
gpu_temp_buffer_capacity: 16777216
gpu_max_num_partitions: 8
franka:
# -1 to use default values
override_usd_defaults: False
enable_self_collisions: True
enable_gyroscopic_forces: True
# also in stage params
# per-actor
solver_position_iteration_count: 12
solver_velocity_iteration_count: 1
sleep_threshold: 0.005
stabilization_threshold: 0.001
# per-body
density: -1
max_depenetration_velocity: 1000.0
# per-shape
contact_offset: 0.005
rest_offset: 0.0
target_ball:
# -1 to use default values
override_usd_defaults: False
enable_self_collisions: False
enable_gyroscopic_forces: True
# also in stage params
# per-actor
solver_position_iteration_count: 12
solver_velocity_iteration_count: 1
sleep_threshold: 0.0
stabilization_threshold: 0.001
# per-body
density: -1
max_depenetration_velocity: 1000.0
# per-shape
contact_offset: 0.005
rest_offset: 0.0
|
zhehuazhou/ai-cps-robotics-benchmark/Gym_Envs/cfg/task/FrankaClothPlacing.yaml | # used to create the object
name: FrankaClothPlacing
physics_engine: ${..physics_engine}
# if given, will override the device setting in gym.
env:
numEnvs: ${resolve_default:4,${...num_envs}}
envSpacing: 3.0
episodeLength: 300
enableDebugVis: False
clipObservations: 5.0
clipActions: 1.0
controlFrequencyInv: 2 # 60 Hz
startPositionNoise: 0.0
startRotationNoise: 0.0
aggregateMode: 3
actionScale: 7.5
dofVelocityScale: 0.1
distRewardScale: 2.0
rotRewardScale: 0.5
aroundHandleRewardScale: 10.0
openRewardScale: 7.5
fingerDistRewardScale: 100.0
actionPenaltyScale: 0.01
fingerCloseRewardScale: 10.0
sim:
dt: 0.0083 # 1/120 s
use_gpu_pipeline: ${eq:${...pipeline},"gpu"}
gravity: [0.0, 0.0, -9.81]
add_ground_plane: True
use_flatcache: True
enable_scene_query_support: False
disable_contact_processing: False
# set to True if you use camera sensors in the environment
enable_cameras: False
default_physics_material:
static_friction: 1.0
dynamic_friction: 1.0
restitution: 0.0
physx:
worker_thread_count: ${....num_threads}
solver_type: ${....solver_type}
use_gpu: ${eq:${....sim_device},"gpu"} # set to False to run on CPU
solver_position_iteration_count: 12
solver_velocity_iteration_count: 1
contact_offset: 0.005
rest_offset: 0.0
bounce_threshold_velocity: 0.2
friction_offset_threshold: 0.04
friction_correlation_distance: 0.025
enable_sleeping: True
enable_stabilization: True
max_depenetration_velocity: 1000.0
# GPU buffers
gpu_max_rigid_contact_count: 524288
gpu_max_rigid_patch_count: 33554432
gpu_found_lost_pairs_capacity: 524288
gpu_found_lost_aggregate_pairs_capacity: 262144
gpu_total_aggregate_pairs_capacity: 1048576
gpu_max_soft_body_contacts: 1048576
gpu_max_particle_contacts: 1048576
gpu_heap_capacity: 33554432
gpu_temp_buffer_capacity: 16777216
gpu_max_num_partitions: 8
franka:
# -1 to use default values
override_usd_defaults: False
enable_self_collisions: True
enable_gyroscopic_forces: True
# also in stage params
# per-actor
solver_position_iteration_count: 12
solver_velocity_iteration_count: 1
sleep_threshold: 0.005
stabilization_threshold: 0.001
# per-body
density: -1
max_depenetration_velocity: 1000.0
# per-shape
contact_offset: 0.005
rest_offset: 0.0
cloth_bin:
# -1 to use default values
override_usd_defaults: False
enable_self_collisions: False
enable_gyroscopic_forces: True
# also in stage params
# per-actor
solver_position_iteration_count: 12
solver_velocity_iteration_count: 1
sleep_threshold: 0.0
stabilization_threshold: 0.001
# per-body
density: -1
max_depenetration_velocity: 1000.0
# per-shape
contact_offset: 0.005
rest_offset: 0.0
|
zhehuazhou/ai-cps-robotics-benchmark/Gym_Envs/cfg/task/FrankaBallPushing.yaml | # used to create the object
name: FrankaBallPushing
physics_engine: ${..physics_engine}
# if given, will override the device setting in gym.
env:
numEnvs: ${resolve_default:16,${...num_envs}}
envSpacing: 3.0
episodeLength: 300
enableDebugVis: False
clipObservations: 5.0
clipActions: 1.0
controlFrequencyInv: 2 # 60 Hz
startPositionNoise: 0.0
startRotationNoise: 0.0
aggregateMode: 3
actionScale: 7.5
dofVelocityScale: 0.01
distRewardScale: 2.0
rotRewardScale: 0.5
aroundHandleRewardScale: 10.0
openRewardScale: 7.5
fingerDistRewardScale: 100.0
actionPenaltyScale: 0.01
fingerCloseRewardScale: 10.0
ballRadius: 0.04
ballInitialPosition: [0.1, 0, 0.45]
ballInitialOrientation: [1, 0, 0, 0]
tableInitialPosition: [0, 0, 0]
tableInitialOrientation: [0, 0, 0, 0]
sim:
dt: 0.0083 # 1/120 s
use_gpu_pipeline: ${eq:${...pipeline},"gpu"}
gravity: [0.0, 0.0, -9.81]
add_ground_plane: True
use_flatcache: True
enable_scene_query_support: False
disable_contact_processing: False
# set to True if you use camera sensors in the environment
enable_cameras: False
default_physics_material:
static_friction: 1.0
dynamic_friction: 1.0
restitution: 0.0
physx:
worker_thread_count: ${....num_threads}
solver_type: ${....solver_type}
use_gpu: ${eq:${....sim_device},"gpu"} # set to False to run on CPU
solver_position_iteration_count: 12
solver_velocity_iteration_count: 1
contact_offset: 0.005
rest_offset: 0.0
bounce_threshold_velocity: 0.2
friction_offset_threshold: 0.04
friction_correlation_distance: 0.025
enable_sleeping: True
enable_stabilization: True
max_depenetration_velocity: 1000.0
# GPU buffers
gpu_max_rigid_contact_count: 724288
gpu_max_rigid_patch_count: 33554432
gpu_found_lost_pairs_capacity: 524288
gpu_found_lost_aggregate_pairs_capacity: 262144
gpu_total_aggregate_pairs_capacity: 1048576
gpu_max_soft_body_contacts: 1048576
gpu_max_particle_contacts: 1048576
gpu_heap_capacity: 33554432
gpu_temp_buffer_capacity: 16777216
gpu_max_num_partitions: 8
franka:
# -1 to use default values
override_usd_defaults: False
enable_self_collisions: True
enable_gyroscopic_forces: True
# also in stage params
# per-actor
solver_position_iteration_count: 12
solver_velocity_iteration_count: 1
sleep_threshold: 0.005
stabilization_threshold: 0.001
# per-body
density: -1
max_depenetration_velocity: 1000.0
# per-shape
contact_offset: 0.005
rest_offset: 0.0
table:
# -1 to use default values
override_usd_defaults: False
enable_self_collisions: False
enable_gyroscopic_forces: True
# also in stage params
# per-actor
solver_position_iteration_count: 12
solver_velocity_iteration_count: 1
sleep_threshold: 0.0
stabilization_threshold: 0.001
# per-body
density: -1
max_depenetration_velocity: 1000.0
# per-shape
contact_offset: 0.005
rest_offset: 0.0
ball:
# -1 to use default values
override_usd_defaults: False
fixed_base: False
enable_self_collisions: False
enable_gyroscopic_forces: True
# also in stage params
# per-actor
solver_position_iteration_count: 12
solver_velocity_iteration_count: 1
sleep_threshold: 0.0
stabilization_threshold: 0.001
# per-body
density: -1
max_depenetration_velocity: 1000.0
# per-shape
contact_offset: 0.005
rest_offset: 0.0
|
zhehuazhou/ai-cps-robotics-benchmark/Gym_Envs/cfg/train/FrankaDoorOpenPPO.yaml | params:
seed: ${...seed}
algo:
name: a2c_continuous
model:
name: continuous_a2c_logstd
network:
name: actor_critic
separate: False
space:
continuous:
mu_activation: None
sigma_activation: None
mu_init:
name: default
sigma_init:
name: const_initializer
val: 0
fixed_sigma: True
mlp:
units: [256, 128, 64]
activation: elu
d2rl: False
initializer:
name: default
regularizer:
name: None
load_checkpoint: ${if:${...checkpoint},True,False} # flag which sets whether to load the checkpoint
load_path: ${...checkpoint} # path to the checkpoint to load
config:
name: ${resolve_default:FrankaDoorOpen,${....experiment}}
full_experiment_name: ${.name}
env_name: rlgpu
device: ${....rl_device}
device_name: ${....rl_device}
ppo: True
mixed_precision: True
normalize_input: True
normalize_value: True
num_actors: ${....task.env.numEnvs}
reward_shaper:
scale_value: 0.01
normalize_advantage: True
gamma: 0.99
tau: 0.95
learning_rate: 5e-4
lr_schedule: adaptive
kl_threshold: 0.008
score_to_win: 10000000
max_epochs: ${resolve_default:100000,${....max_iterations}}
save_best_after: 100
save_frequency: 200
print_stats: True
grad_norm: 1.0
entropy_coef: 0.0
truncate_grads: True
e_clip: 0.2
horizon_length: 256
minibatch_size: 16384
mini_epochs: 8
critic_coef: 4
clip_value: True
seq_len: 4
bounds_loss_coef: 0.0001
|
zhehuazhou/ai-cps-robotics-benchmark/Gym_Envs/cfg/train/FrankaCubeStackingPPO.yaml | params:
seed: ${...seed}
algo:
name: a2c_continuous
model:
name: continuous_a2c_logstd
network:
name: actor_critic
separate: False
space:
continuous:
mu_activation: None
sigma_activation: None
mu_init:
name: default
sigma_init:
name: const_initializer
val: 0
fixed_sigma: True
mlp:
units: [256, 128, 64]
activation: elu
d2rl: False
initializer:
name: default
regularizer:
name: None
load_checkpoint: ${if:${...checkpoint},True,False} # flag which sets whether to load the checkpoint
load_path: ${...checkpoint} # path to the checkpoint to load
config:
name: ${resolve_default:FrankaCubeStacking,${....experiment}}
full_experiment_name: ${.name}
env_name: rlgpu
device: ${....rl_device}
device_name: ${....rl_device}
ppo: True
mixed_precision: True
normalize_input: True
normalize_value: True
num_actors: ${....task.env.numEnvs}
reward_shaper:
scale_value: 0.01
normalize_advantage: True
gamma: 0.99
tau: 0.95
learning_rate: 5e-4
lr_schedule: adaptive
kl_threshold: 0.008
score_to_win: 10000000
max_epochs: ${resolve_default:100000,${....max_iterations}}
save_best_after: 50
save_frequency: 200
print_stats: True
grad_norm: 1.0
entropy_coef: 0.0
truncate_grads: True
e_clip: 0.2
horizon_length: 16
minibatch_size: 16384
mini_epochs: 8
critic_coef: 4
clip_value: True
seq_len: 4
bounds_loss_coef: 0.0001
|
zhehuazhou/ai-cps-robotics-benchmark/Gym_Envs/cfg/train/FrankaPegInHolePPO.yaml | params:
seed: ${...seed}
algo:
name: a2c_continuous
model:
name: continuous_a2c_logstd
network:
name: actor_critic
separate: False
space:
continuous:
mu_activation: None
sigma_activation: None
mu_init:
name: default
sigma_init:
name: const_initializer
val: 0
fixed_sigma: True
mlp:
units: [256, 128, 64]
activation: elu
d2rl: False
initializer:
name: default
regularizer:
name: None
load_checkpoint: ${if:${...checkpoint},True,False} # flag which sets whether to load the checkpoint
load_path: ${...checkpoint} # path to the checkpoint to load
config:
name: ${resolve_default:FrankaPegInHole,${....experiment}}
full_experiment_name: ${.name}
env_name: rlgpu
device: ${....rl_device}
device_name: ${....rl_device}
ppo: True
mixed_precision: True
normalize_input: True
normalize_value: True
num_actors: ${....task.env.numEnvs}
reward_shaper:
scale_value: 0.01
normalize_advantage: True
gamma: 0.95
tau: 0.95
learning_rate: 1e-4
lr_schedule: adaptive
kl_threshold: 0.008
score_to_win: 10000000
max_epochs: ${resolve_default:100000,${....max_iterations}}
save_best_after: 100
save_frequency: 200
print_stats: True
grad_norm: 1.0
entropy_coef: 0.0
truncate_grads: True
e_clip: 0.2
horizon_length: 32
minibatch_size: 16384
mini_epochs: 8
critic_coef: 4
clip_value: True
seq_len: 4
bounds_loss_coef: 0.0001
|
zhehuazhou/ai-cps-robotics-benchmark/Gym_Envs/cfg/train/FrankaClothPlacingPPO.yaml | params:
seed: ${...seed}
algo:
name: a2c_continuous
model:
name: continuous_a2c_logstd
network:
name: actor_critic
separate: False
space:
continuous:
mu_activation: None
sigma_activation: None
mu_init:
name: default
sigma_init:
name: const_initializer
val: 0
fixed_sigma: True
mlp:
units: [256, 128, 64]
activation: elu
d2rl: False
initializer:
name: default
regularizer:
name: None
load_checkpoint: ${if:${...checkpoint},True,False} # flag which sets whether to load the checkpoint
load_path: ${...checkpoint} # path to the checkpoint to load
config:
name: ${resolve_default:FrankaClothPlacing,${....experiment}}
full_experiment_name: ${.name}
env_name: rlgpu
device: ${....rl_device}
device_name: ${....rl_device}
ppo: True
mixed_precision: True
normalize_input: True
normalize_value: True
num_actors: ${....task.env.numEnvs}
reward_shaper:
scale_value: 0.01
normalize_advantage: True
gamma: 0.99
tau: 0.95
learning_rate: 5e-4
lr_schedule: adaptive
kl_threshold: 0.008
score_to_win: 10000000
max_epochs: ${resolve_default:100000,${....max_iterations}}
save_best_after: 50
save_frequency: 200
print_stats: True
grad_norm: 1.0
entropy_coef: 0.0
truncate_grads: True
e_clip: 0.2
horizon_length: 32
minibatch_size: 2048
mini_epochs: 8
critic_coef: 4
clip_value: True
seq_len: 4
bounds_loss_coef: 0.0001
|
zhehuazhou/ai-cps-robotics-benchmark/Gym_Envs/cfg/train/FrankaPointReachingPPO.yaml | params:
seed: ${...seed}
algo:
name: a2c_continuous
model:
name: continuous_a2c_logstd
network:
name: actor_critic
separate: False
space:
continuous:
mu_activation: None
sigma_activation: None
mu_init:
name: default
sigma_init:
name: const_initializer
val: 0
fixed_sigma: True
mlp:
units: [256, 128, 64]
activation: elu
d2rl: False
initializer:
name: default
regularizer:
name: None
load_checkpoint: ${if:${...checkpoint},True,False} # flag which sets whether to load the checkpoint
load_path: ${...checkpoint} # path to the checkpoint to load
config:
name: ${resolve_default:FrankaCubeStacking,${....experiment}}
full_experiment_name: ${.name}
env_name: rlgpu
device: ${....rl_device}
device_name: ${....rl_device}
ppo: True
mixed_precision: True
normalize_input: True
normalize_value: True
num_actors: ${....task.env.numEnvs}
reward_shaper:
scale_value: 0.01
normalize_advantage: True
gamma: 0.99
tau: 0.95
learning_rate: 5e-4
lr_schedule: adaptive
kl_threshold: 0.008
score_to_win: 10000000
max_epochs: ${resolve_default:100000,${....max_iterations}}
save_best_after: 50
save_frequency: 200
print_stats: True
grad_norm: 1.0
entropy_coef: 0.0
truncate_grads: True
e_clip: 0.2
horizon_length: 16
minibatch_size: 16384
mini_epochs: 8
critic_coef: 4
clip_value: True
seq_len: 4
bounds_loss_coef: 0.0001
|
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