adding mujoco uds bridge
This commit is contained in:
Abhishek Joshi
Vendored
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+293
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@@ -1,217 +1,325 @@
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import os
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import os
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import shutil
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import pprint
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from termcolor import colored
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import mujoco
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import mujoco
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import mujoco.viewer as viewer
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from usd_utils import *
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from mujoco.usd_component import *
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from mujoco.usd_utilities import *
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from pxr import Usd, UsdGeom
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from mujoco import _structs
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from PIL import Image as im
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from PIL import ImageOps
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from PIL import ImageOps
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from mujoco import mjtGeom
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from PIL import Image as im
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from usd_component import *
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from pxr import Usd, UsdGeom
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from termcolor import colored
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from mujoco import mjv_averageCamera
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from typing import Optional, List, Union, Tuple
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from mujoco import _structs, _constants, _enums
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from scipy.spatial.transform import Rotation as R
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class USDRenderer(object):
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class USDRenderer:
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"""
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Renderer class that creates USD representations for mujoco scenes
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"""
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def __init__(self,
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model,
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height=480,
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width=480,
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root_dir_name="usdpkg",
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root_dir_path=None,
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verbose=True):
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self.model = model
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self.root_dir_name = root_dir_name
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self.root_dir_path = root_dir_path
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self.verbose = verbose
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self.data = None
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self.renderer = mujoco.Renderer(model, height, width)
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self.reload_scene_info = True
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self.frame_count = 0
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self.create_output_directories()
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def __init__(
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self,
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self.stage = Usd.Stage.CreateInMemory()
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model: _structs.MjModel,
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height: int = 480,
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width: int = 480,
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max_geom: int = 10000,
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output_directory_name: str = "mujoco_usdpkg",
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output_directory_root: str = "./",
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verbose: bool = True,
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light_intensity: int = 10000
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):
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""" Initializes a new USD Renderer
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Args:
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model: an MjModel instance.
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height: image height in pixels.
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width: image width in pixels.
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max_geom: Optional integer specifying the maximum number of geoms that can
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be rendered in the same scene. If None this will be chosen automatically
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based on the estimated maximum number of renderable geoms in the model.
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output_directory_name: name of root directory to store outputted frames and assets generated by the USD renderer.
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output_directory_root: path to root directory storing generated frames and assets by the USD renderer.
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verbose: decides whether to print updates.
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"""
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UsdGeom.SetStageUpAxis(self.stage, UsdGeom.Tokens.z)
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buffer_width = model.vis.global_.offwidth
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buffer_height = model.vis.global_.offheight
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geom_groups = [0,1,0,0,0,0] # Setting default geom groups for now
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if width > buffer_width:
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raise ValueError(f"""
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Image width {width} > framebuffer width {buffer_width}. Either reduce the image
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width or specify a larger offscreen framebuffer in the model XML using the
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clause:
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<visual>
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<global offwidth="my_width"/>
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</visual>""".lstrip())
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self.scene_option = _structs.MjvOption()
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if height > buffer_height:
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self.scene_option.geomgroup = geom_groups
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raise ValueError(f"""
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Image height {height} > framebuffer height {buffer_height}. Either reduce the
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image height or specify a larger offscreen framebuffer in the model XML using
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the clause:
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<visual>
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<global offheight="my_height"/>
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</visual>""".lstrip())
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@property
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self.model = model
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def usd(self):
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self.height = height
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return self.stage.GetRootLayer().ExportToString()
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self.width = width
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self.max_geom = max_geom
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@property
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self.output_directory_name = output_directory_name
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def scene(self):
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self.output_directory_root = output_directory_root
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return self.renderer.scene
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self.verbose = verbose
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self.light_intensity = light_intensity
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def create_output_directories(self):
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if not self.root_dir_path:
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self.root_dir_path = os.getcwd()
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self.output_dir = os.path.join(self.root_dir_path, self.root_dir_name)
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self.frame_count = 0 # maintains how many times we have saved the scene
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if not os.path.exists(self.output_dir):
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self.updates = 0
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os.makedirs(self.output_dir)
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self.scenes_dir = os.path.join(self.output_dir, "scenes")
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# initializing rendering requirements
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if not os.path.exists(self.scenes_dir):
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self.renderer = mujoco.Renderer(model, height, width, max_geom)
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os.makedirs(self.scenes_dir)
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self._initialize_usd_stage()
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self._scene_option = _structs.MjvOption() # using default scene option
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# initializing output_directories
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self._initialize_output_directories()
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# loading required textures for the scene
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self._load_textures()
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@property
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def usd(self):
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return self.stage.GetRootLayer().ExportToString()
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self.assets_dir = os.path.join(self.output_dir, "assets")
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@property
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if not os.path.exists(self.assets_dir):
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def scene(self):
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os.makedirs(self.assets_dir)
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return self.renderer.scene
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if self.verbose:
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def _initialize_usd_stage(self):
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output_dir_msg = colored(f"Writing files to {self.output_dir}", "green")
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self.stage = Usd.Stage.CreateInMemory()
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print(output_dir_msg)
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UsdGeom.SetStageUpAxis(self.stage, UsdGeom.Tokens.z)
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self.stage.SetStartTimeCode(0)
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# add as user imput
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self.stage.SetTimeCodesPerSecond(60.0)
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def save_scene(self):
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def _initialize_output_directories(self):
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output_file_path = os.path.join(self.scenes_dir, f'frame_{self.frame_count}_.usd')
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self.output_directory_path = os.path.join(self.output_directory_root, self.output_directory_name)
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with open(output_file_path, "w") as f:
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if not os.path.exists(self.output_directory_path):
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f.write(self.usd)
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os.makedirs(self.output_directory_path)
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self.frame_count += 1
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def update_geom_groups(self, geom_groups):
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self.frames_directory = os.path.join(self.output_directory_path, "frames")
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self.scene_option.geomgroup = geom_groups
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if not os.path.exists(self.frames_directory):
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self.reload_scene_info = True
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os.makedirs(self.frames_directory)
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self.update_scene(self.data)
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self.assets_directory = os.path.join(self.output_directory_path, "assets")
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if not os.path.exists(self.assets_directory):
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os.makedirs(self.assets_directory)
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def update_scene(self, data):
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if self.verbose:
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self.renderer.update_scene(data, scene_option=self.scene_option)
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print(colored(f"Writing output frames and assets to {self.output_directory_path}", "green"))
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self.data = data
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if self.reload_scene_info:
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def update_scene(
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# loads the initial geoms, lights, and camera information
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self,
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# from the scene
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data: _structs.MjData,
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self._load()
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camera: Union[int, str, _structs.MjvCamera] = -1,
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self.reload_scene_info = False
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scene_option: Optional[_structs.MjvOption] = None,
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):
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self._update()
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""" Updates the scene with latest sim data
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Args:
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data: structure storing current simulation state
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scene_option: we use this to determine which geom groups to activate
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"""
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def _load(self):
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self.frame_count += 1
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"""
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Loads and initializes the necessary objects to render the scene
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"""
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# Create and loads the texture files to the assets directory
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scene_option = scene_option or self._scene_option
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# TODO: remove code once added internally to mujoco
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data_adr = 0
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texture_files = []
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for texid in range(self.model.ntex):
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height = self.model.tex_height[texid]
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width = self.model.tex_width[texid]
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pixels = 3*height*width
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rgb = self.model.tex_rgb[data_adr:data_adr+pixels]
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img = rgb.reshape(height, width, 3)
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texture_file_name = f"texture_{texid}.png"
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file_path = os.path.join(self.assets_dir, texture_file_name)
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img = im.fromarray(img)
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img = ImageOps.flip(img)
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img.save(file_path)
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relative_path = os.path.relpath(self.assets_dir, self.scenes_dir)
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# update the mujoco renderer
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img_path = os.path.join(relative_path, texture_file_name)
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self.renderer.update_scene(data,
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scene_option=scene_option,
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camera=camera)
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texture_files.append(img_path)
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# TODO: update scene options
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data_adr += pixels
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if self.updates == 0:
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self._initialize_usd_stage()
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# initializes an array to store all the geoms in the scene
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self._load_geoms()
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# populates with "empty" USDGeom objects
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self._load_lights()
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self.usd_geoms = []
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self._load_cameras()
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geoms = self.scene.geoms
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self.ngeom = self.scene.ngeom
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for i in range(self.ngeom):
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geom = geoms[i]
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if geom.texid == -1:
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texture_file = None
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else:
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texture_file = texture_files[geom.texid]
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if geom.type == USDGeomType.Mesh.value:
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self._update_geoms()
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self.usd_geoms.append(USDMesh(self.model.geom_dataid[geom.objid],
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self._update_lights()
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geom,
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self._update_cameras()
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self.stage,
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self.model,
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texture_file))
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else:
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self.usd_geoms.append(create_usd_geom_primitive(geom,
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self.stage,
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texture_file))
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# initializes an array to store all the lights in the scene
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self.updates += 1
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# populates with "empty" USDLight objects
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self.usd_lights = []
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lights = self.scene.lights
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self.nlight = self.scene.nlight
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for i in range(self.nlight):
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self.usd_lights.append(USDLight(self.stage))
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# initializes an array to store all the cameras in the scene
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def _load_textures(self):
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# populates with "empty" USDCamera objects
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# TODO: remove code once added internally to mujoco
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self.usd_cameras = []
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data_adr = 0
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ncam = self.model.ncam
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self.texture_files = []
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for i in range(ncam):
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for texture_id in range(self.model.ntex):
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self.usd_cameras.append(USDCamera(self.stage))
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texture_height = self.model.tex_height[texture_id]
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texture_width = self.model.tex_width[texture_id]
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pixels = 3*texture_height*texture_width
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img = im.fromarray(self.model.tex_rgb[data_adr:data_adr+pixels].reshape(texture_height, texture_width, 3))
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img = ImageOps.flip(img)
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def _update(self):
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texture_file_name = f"texture_{texture_id}.png"
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self._update_geoms()
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self._update_lights()
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self._update_cameras()
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def _update_geoms(self):
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img.save(os.path.join(self.assets_directory, texture_file_name))
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"""
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Updates the geoms to match the current scene
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"""
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geoms = self.scene.geoms
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for i in range(self.ngeom):
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if self.usd_geoms[i]: # TODO: remove this once all primitives are added
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self.usd_geoms[i].update_geom(geoms[i])
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def _update_lights(self):
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relative_path = os.path.relpath(self.assets_directory, self.frames_directory)
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"""
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# img_path = os.path.join(relative_path, texture_file_name) # relative path, TODO: switch back to this
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Updates the lights to match the current scene
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"""
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lights = self.scene.lights
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nlight = self.scene.nlight
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for i in range(nlight):
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self.usd_lights[i].update_light(lights[i])
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def _update_cameras(self):
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"""
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Updates the camera to match the current scene
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"""
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ncam = self.model.ncam
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for i in range(ncam):
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self.usd_cameras[i].update_camera(self.model.cam_pos[i], self.model.cam_quat[i])
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def compress(self):
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# absolute path for cluster, TODO: remove!
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"""
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abs_path = os.path.join(os.path.abspath(self.assets_directory), texture_file_name)
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Compresses the output directory to a zip file for easy transfer
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"""
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if self.verbose:
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output_dir_msg = colored(f"Compressing files at {self.output_dir} and saving at {self.output_dir}", "green")
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print(output_dir_msg)
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shutil.make_archive(base_name=self.output_dir,
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format='zip',
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base_dir=self.root_dir_name)
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def start_viewer(self):
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self.texture_files.append(abs_path)
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if self.data:
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viewer.launch(self.model)
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def render(self):
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data_adr += pixels
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# should render the usd file given a particular renderer that
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# works with USD files
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# TODO: determine if this is valid functionality
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pass
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# TODO: remove later, this is only for debugging purposes
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if self.verbose:
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def print_geom_information(self):
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print(colored(f"Writing texture {texture_id}", "cyan"))
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for i in range(self.ngeom):
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print(self.usd_geoms[i])
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if self.verbose:
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print(colored(f"Completed writing {self.model.ntex} textures to {self.assets_directory}", "green"))
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def _load_geoms(self):
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# stores a list of all the geoms in the scene
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self.usd_geoms = []
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# initializing the geoms
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for i in range(self.scene.ngeom):
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geom = self.scene.geoms[i]
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if geom.rgba[3] <= 0:
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self.usd_geoms.append(None)
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continue
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# handles meshes in scene
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if geom.type == mjtGeom.mjGEOM_MESH:
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usd_geom = USDMesh(stage=self.stage,
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model=self.model,
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geom=geom,
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objid=i,
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dataid=self.model.geom_dataid[geom.objid],
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rgba=geom.rgba,
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texture_file=self.texture_files[geom.texid] if geom.texid != -1 else None)
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# handles primitives
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else:
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if geom.type == mjtGeom.mjGEOM_PLANE:
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usd_geom = USDPlaneMesh(stage=self.stage,
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geom=geom,
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objid=i,
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rgba=geom.rgba,
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texture_file=self.texture_files[geom.texid] if geom.texid != -1 else None)
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elif geom.type == mjtGeom.mjGEOM_SPHERE:
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usd_geom = USDSphereMesh(stage=self.stage,
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geom=geom,
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objid=i,
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rgba=geom.rgba,
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texture_file=self.texture_files[geom.texid] if geom.texid != -1 else None)
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elif geom.type == mjtGeom.mjGEOM_CAPSULE:
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usd_geom = USDCapsule(stage=self.stage,
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geom=geom,
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objid=i,
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||||||
|
rgba=geom.rgba,
|
||||||
|
texture_file=self.texture_files[geom.texid] if geom.texid != -1 else None)
|
||||||
|
elif geom.type == mjtGeom.mjGEOM_ELLIPSOID:
|
||||||
|
usd_geom = USDEllipsoid(stage=self.stage,
|
||||||
|
geom=geom,
|
||||||
|
objid=i,
|
||||||
|
rgba=geom.rgba,
|
||||||
|
texture_file=self.texture_files[geom.texid] if geom.texid != -1 else None)
|
||||||
|
elif geom.type == mjtGeom.mjGEOM_CYLINDER:
|
||||||
|
usd_geom = USDCylinderMesh(stage=self.stage,
|
||||||
|
geom=geom,
|
||||||
|
objid=i,
|
||||||
|
rgba=geom.rgba,
|
||||||
|
texture_file=self.texture_files[geom.texid] if geom.texid != -1 else None)
|
||||||
|
elif geom.type == mjtGeom.mjGEOM_BOX:
|
||||||
|
usd_geom = USDCubeMesh(stage=self.stage,
|
||||||
|
geom=geom,
|
||||||
|
objid=i,
|
||||||
|
rgba=geom.rgba,
|
||||||
|
texture_file=self.texture_files[geom.texid] if geom.texid != -1 else None)
|
||||||
|
else:
|
||||||
|
usd_geom = None
|
||||||
|
self.usd_geoms.append(usd_geom)
|
||||||
|
|
||||||
|
def _update_geoms(self):
|
||||||
|
# iterate through all geoms in the scene and makes update
|
||||||
|
for i in range(self.scene.ngeom):
|
||||||
|
geom = self.scene.geoms[i]
|
||||||
|
if self.usd_geoms[i]:
|
||||||
|
self.usd_geoms[i].update(pos=geom.pos,
|
||||||
|
mat=geom.mat,
|
||||||
|
frame=self.updates)
|
||||||
|
|
||||||
|
def _load_lights(self):
|
||||||
|
# initializes an usd light object for every light in the scene
|
||||||
|
self.usd_lights = []
|
||||||
|
for i in range(self.scene.nlight):
|
||||||
|
light = self.scene.lights[i]
|
||||||
|
self.usd_lights.append(USDLight(stage=self.stage,
|
||||||
|
objid=i))
|
||||||
|
|
||||||
|
def _update_lights(self):
|
||||||
|
for i in range(self.scene.nlight):
|
||||||
|
light = self.scene.lights[i]
|
||||||
|
self.usd_lights[i].update(pos=light.pos,
|
||||||
|
intensity=self.light_intensity,
|
||||||
|
color=light.diffuse,
|
||||||
|
frame=self.updates)
|
||||||
|
|
||||||
|
def _load_cameras(self):
|
||||||
|
self.camera = USDCamera(stage=self.stage,
|
||||||
|
objid=0)
|
||||||
|
|
||||||
|
def _update_cameras(self):
|
||||||
|
camera = mjv_averageCamera(self.scene.camera[0], self.scene.camera[1])
|
||||||
|
|
||||||
|
forward = camera.forward
|
||||||
|
up = camera.up
|
||||||
|
right = np.cross(forward, up)
|
||||||
|
|
||||||
|
R = np.eye(3)
|
||||||
|
R[:, 0] = right
|
||||||
|
R[:, 1] = up
|
||||||
|
R[:, 2] = -forward
|
||||||
|
|
||||||
|
self.camera.update(cam_pos=camera.pos,
|
||||||
|
cam_mat=R,
|
||||||
|
frame=self.updates)
|
||||||
|
|
||||||
|
def add_light(self,
|
||||||
|
pos: List[float],
|
||||||
|
intensity:int,
|
||||||
|
radius: Optional[float] = 1.0,
|
||||||
|
color: Optional[np.array] = np.array([0.3, 0.3, 0.3]),
|
||||||
|
objid: Optional[int]=1):
|
||||||
|
new_light = USDLight(stage=self.stage,
|
||||||
|
objid=objid,
|
||||||
|
radius=radius)
|
||||||
|
|
||||||
|
new_light.update(pos=pos,
|
||||||
|
intensity=intensity,
|
||||||
|
color=color,
|
||||||
|
frame=0)
|
||||||
|
|
||||||
|
def add_camera(self,
|
||||||
|
pos:List[float],
|
||||||
|
rotation_xyz:List[float],
|
||||||
|
objid: Optional[int]=1):
|
||||||
|
# TODO: change this!
|
||||||
|
new_camera = USDCamera(stage=self.stage,
|
||||||
|
objid=objid)
|
||||||
|
|
||||||
|
r = R.from_euler('xyz', rotation_xyz, degrees=True)
|
||||||
|
new_camera.update(cam_pos=pos,
|
||||||
|
cam_mat=r.as_matrix(),
|
||||||
|
frame=0)
|
||||||
|
|
||||||
|
def save_scene(self):
|
||||||
|
self.stage.SetEndTimeCode(self.frame_count)
|
||||||
|
# with open(f'./{self.output_directory_name}/frames/frame_{self.frame_count}_.usd', "w") as f:
|
||||||
|
# f.write(self.usd)
|
||||||
|
self.stage.Export(f'./{self.output_directory_name}/frames/frame_{self.frame_count}_.usd')
|
||||||
|
if self.verbose:
|
||||||
|
print(colored(f"Writing frame_{self.frame_count}", "green"))#
|
||||||
@@ -1,16 +0,0 @@
|
|||||||
|
|
||||||
def get_mesh_ranges(nmesh, arr):
|
|
||||||
mesh_ranges = [0]
|
|
||||||
running_sum = 0
|
|
||||||
for i in range(nmesh):
|
|
||||||
running_sum += arr[i]
|
|
||||||
mesh_ranges.append(running_sum)
|
|
||||||
return mesh_ranges
|
|
||||||
|
|
||||||
def get_facetexcoord_ranges(nmesh, arr):
|
|
||||||
facetexcoords_ranges = [0]
|
|
||||||
running_sum = 0
|
|
||||||
for i in range(nmesh):
|
|
||||||
running_sum += arr[i] * 3
|
|
||||||
facetexcoords_ranges.append(running_sum)
|
|
||||||
return facetexcoords_ranges
|
|
||||||
@@ -0,0 +1,12 @@
|
|||||||
|
import numpy as np
|
||||||
|
|
||||||
|
def create_transform_matrix(rotation_matrix, translation_vector):
|
||||||
|
# Ensure rotation_matrix and translation_vector are NumPy arrays
|
||||||
|
rotation_matrix = np.array(rotation_matrix)
|
||||||
|
translation_vector = np.array(translation_vector)
|
||||||
|
|
||||||
|
transform_matrix = np.eye(4)
|
||||||
|
transform_matrix[:3, :3] = rotation_matrix
|
||||||
|
transform_matrix[:3, 3] = translation_vector
|
||||||
|
|
||||||
|
return transform_matrix
|
||||||
Reference in New Issue
Block a user