adding mujoco uds bridge
This commit is contained in:
Abhishek Joshi
Vendored
BIN
Binary file not shown.
+581
-356
@@ -1,407 +1,632 @@
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import os
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from enum import Enum
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import numpy as np
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import open3d as o3d
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from usd_utils import *
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from mujoco import mjtGeom
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from pxr import Gf, Sdf, Vt
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from typing import Optional, List
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from mujoco import _structs, _enums
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from pxr import Usd, UsdGeom, UsdShade, UsdLux
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import mujoco
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from mujoco.usd_utilities import *
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from pxr import Usd, UsdGeom, UsdLux, UsdShade, Vt, Gf, Sdf
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from scipy.spatial.transform import Rotation as R
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class USDMesh:
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# TODO: clean this up and remove the if statements
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def create_usd_geom_primitive(geom, stage, texture_file):
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geom_type = geom.type
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if geom_type==USDGeomType.Plane.value:
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return USDPlane(geom, stage, texture_file)
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elif geom_type==USDGeomType.Sphere.value:
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return USDSphere(geom, stage, texture_file)
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elif geom_type==USDGeomType.Capsule.value:
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return USDCapsule(geom, stage, texture_file)
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elif geom_type==USDGeomType.Cylinder.value:
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return USDCylinder(geom, stage, texture_file)
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elif geom_type==USDGeomType.Cube.value:
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return USDCube(geom, stage, texture_file)
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elif geom_type==USDGeomType.Cube.value:
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return USDCube(geom, stage, texture_file)
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else:
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return None
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class USDGeomType(Enum):
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def __init__(
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self,
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stage: Usd.Stage,
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model: _structs.MjModel,
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geom: _structs.MjvGeom,
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objid: int,
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dataid: int,
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rgba: List[int] = [1,1,1,1],
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texture_file: Optional[str] = None
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):
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""" Initializes a new USD mesh
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Args:
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model: an MjModel instance.
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dataid: id of the mesh
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texture_file: texture associated with the mesh
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"""
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Represents different types of geoms we can add to USD
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The values match those found by the enum presented here:
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https://mujoco.readthedocs.io/en/latest/APIreference/APItypes.html#mjtgeom
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"""
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Plane = 0
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# Hfield = 1
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Sphere = 2
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Capsule = 3
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# Ellipsoid = 4
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Cylinder = 5
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Cube = 6
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Mesh = 7
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class USDGeom(object):
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"""
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Parent class for created geoms
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"""
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def __init__(self,
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geom=None,
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stage=None,
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texture_file=None):
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self.geom = geom
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self.stage = stage
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self.model = model
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self.geom = geom
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self.objid = objid
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self.rgba = rgba
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self.dataid = dataid
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self.texture_file = texture_file
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self.type = None
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self.xform = None
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self.prim = None
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self.ref = None
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# xform operations, set when updating geoms
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self.translate_op = None
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self.rotate_op = None
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self.scale_op = None
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xform_path = f'/World/Mesh_Xform_{objid}'
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mesh_path= f'{xform_path}/Mesh_{objid}'
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self.usd_xform = UsdGeom.Xform.Define(stage, xform_path)
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self.usd_mesh = UsdGeom.Mesh.Define(stage, mesh_path)
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self.usd_prim = stage.GetPrimAtPath(mesh_path)
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def set_texture(self):
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if self.texture_file:
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mtl_path = Sdf.Path(f"/World/Looks/Material_{os.path.splitext(os.path.basename(self.texture_file))[0]}")
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# setting mesh structure properties
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mesh_vert, mesh_face, mesh_facenum = self._get_mesh_geometry()
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self.usd_mesh.GetPointsAttr().Set(mesh_vert)
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self.usd_mesh.GetFaceVertexCountsAttr().Set([3 for _ in range(mesh_facenum)])
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self.usd_mesh.GetFaceVertexIndicesAttr().Set(mesh_face)
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# setting mesh uv properties
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mesh_texcoord, mesh_facetexcoord = self._get_uv_geometry()
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self.texcoords = UsdGeom.PrimvarsAPI(self.usd_mesh).CreatePrimvar("UVMap",
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Sdf.ValueTypeNames.TexCoord2fArray,
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UsdGeom.Tokens.faceVarying)
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self.texcoords.Set(mesh_texcoord)
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self.texcoords.SetIndices(Vt.IntArray(mesh_facetexcoord.tolist()))
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self._attach_material()
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# defining ops required by update function
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self.transform_op = self.usd_xform.AddTransformOp()
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def get_facetexcoord_ranges(self, nmesh, arr):
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facetexcoords_ranges = [0]
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running_sum = 0
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for i in range(nmesh):
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running_sum += arr[i] * 3
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facetexcoords_ranges.append(running_sum)
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return facetexcoords_ranges
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def _get_uv_geometry(self):
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mesh_texcoord_adr_from = self.model.mesh_texcoordadr[self.dataid]
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mesh_texcoord_adr_to = self.model.mesh_texcoordadr[self.dataid+1] if self.dataid < self.model.nmesh - 1 else len(self.model.mesh_texcoord)
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mesh_texcoord = self.model.mesh_texcoord[mesh_texcoord_adr_from:mesh_texcoord_adr_to]
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mesh_facetexcoord_ranges = self.get_facetexcoord_ranges(self.model.nmesh, self.model.mesh_facenum)
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mesh_facetexcoord = self.model.mesh_facetexcoord.flatten()
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mesh_facetexcoord = mesh_facetexcoord[mesh_facetexcoord_ranges[self.dataid]:mesh_facetexcoord_ranges[self.dataid+1]]
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return mesh_texcoord, mesh_facetexcoord
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def _get_mesh_geometry(self):
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# get mesh geometry structure from reading the mjModel
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mesh_vert_adr_from = self.model.mesh_vertadr[self.dataid]
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mesh_vert_adr_to = self.model.mesh_vertadr[self.dataid+1] if self.dataid < self.model.nmesh - 1 else len(self.model.mesh_vert)
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mesh_vert = self.model.mesh_vert[mesh_vert_adr_from:mesh_vert_adr_to]
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mesh_face_adr_from = self.model.mesh_faceadr[self.dataid]
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mesh_face_adr_to = self.model.mesh_faceadr[self.dataid+1] if self.dataid < self.model.nmesh - 1 else len(self.model.mesh_face)
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mesh_face = self.model.mesh_face[mesh_face_adr_from:mesh_face_adr_to]
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mesh_facenum = self.model.mesh_facenum[self.dataid]
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return mesh_vert, mesh_face, mesh_facenum
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def _attach_material(self):
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mtl_path = Sdf.Path(f"/World/_materials/Material_{self.objid}")
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mtl = UsdShade.Material.Define(self.stage, mtl_path)
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shader = UsdShade.Shader.Define(self.stage, mtl_path.AppendPath("Shader"))
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shader.CreateIdAttr("UsdPreviewSurface")
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shader.CreateInput("diffuseColor", Sdf.ValueTypeNames.Color3f).Set((1.0, 0.0, 0.0))
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shader.CreateInput("roughness", Sdf.ValueTypeNames.Float).Set(0.5)
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shader.CreateInput("metallic", Sdf.ValueTypeNames.Float).Set(0.0)
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diffuse_tx = UsdShade.Shader.Define(self.stage, mtl_path.AppendPath("DiffuseColorTx"))
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diffuse_tx.CreateIdAttr('UsdUVTexture')
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if self.texture_file:
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bsdf_shader = UsdShade.Shader.Define(self.stage, mtl_path.AppendPath("Principled_BSDF"))
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image_shader = UsdShade.Shader.Define(self.stage, mtl_path.AppendPath("Image_Texture"))
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uvmap_shader = UsdShade.Shader.Define(self.stage, mtl_path.AppendPath("uvmap"))
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diffuse_tx.CreateInput('file', Sdf.ValueTypeNames.Asset).Set(self.texture_file)
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diffuse_tx.CreateOutput('rgb', Sdf.ValueTypeNames.Float3)
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shader.CreateInput("diffuseColor", Sdf.ValueTypeNames.Color3f).ConnectToSource(diffuse_tx.ConnectableAPI(), 'rgb')
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mtl.CreateSurfaceOutput().ConnectToSource(shader.ConnectableAPI(), "surface")
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# setting the bsdf shader attributes
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bsdf_shader.CreateIdAttr("UsdPreviewSurface")
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bsdf_shader.CreateInput("diffuseColor", Sdf.ValueTypeNames.Color3f).ConnectToSource(image_shader.ConnectableAPI(), "rgb")
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bsdf_shader.CreateInput("opacity", Sdf.ValueTypeNames.Float).Set(float(self.rgba[-1]))
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bsdf_shader.CreateInput("roughness", Sdf.ValueTypeNames.Float).Set(0.5)
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bsdf_shader.CreateInput("metallic", Sdf.ValueTypeNames.Float).Set(0.0)
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self.prim.GetPrim().ApplyAPI(UsdShade.MaterialBindingAPI)
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UsdShade.MaterialBindingAPI(self.prim).Bind(mtl)
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mtl.CreateSurfaceOutput().ConnectToSource(bsdf_shader.ConnectableAPI(), "surface")
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def update_geom(self, new_geom):
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self.update_pos(new_geom.pos)
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self.update_rotation(new_geom.mat)
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self.update_size(new_geom.size)
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self.update_color(new_geom.rgba)
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self.update_transparency(new_geom.rgba[3])
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self.usd_mesh.GetPrim().ApplyAPI(UsdShade.MaterialBindingAPI)
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UsdShade.MaterialBindingAPI(self.usd_mesh).Bind(mtl)
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def update_pos(self, new_pos):
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pos = tuple([float(x) for x in new_pos])
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if not self.translate_op:
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self.translate_op = self.xform.AddTranslateOp()
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self.translate_op.Set(pos)
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# setting the image texture attributes
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image_shader.CreateIdAttr("UsdUVTexture")
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image_shader.CreateInput("file", Sdf.ValueTypeNames.Asset).Set(self.texture_file)
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image_shader.CreateInput("sourceColorSpace", Sdf.ValueTypeNames.Token).Set("sRGB")
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image_shader.CreateInput("wrapS", Sdf.ValueTypeNames.Token).Set("repeat")
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image_shader.CreateInput("wrapT", Sdf.ValueTypeNames.Token).Set("repeat")
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image_shader.CreateInput("st", Sdf.ValueTypeNames.Float2).ConnectToSource(uvmap_shader.ConnectableAPI(), "result")
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image_shader.CreateOutput('rgb', Sdf.ValueTypeNames.Float3)
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def update_rotation(self, new_mat):
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r = R.from_matrix(new_mat)
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euler_rotation = r.as_euler('xyz', degrees=True)
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rotation = Gf.Vec3f(float(euler_rotation[0]), float(euler_rotation[1]), float(euler_rotation[2]))
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if not self.rotate_op:
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self.rotate_op = self.xform.AddRotateXYZOp()
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self.rotate_op.Set(rotation)
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# setting uvmap shader attributes
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uvmap_shader.CreateIdAttr("UsdPrimvarReader_float2")
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uvmap_shader.CreateInput("varname", Sdf.ValueTypeNames.Token).Set("UVMap")
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uvmap_shader.CreateOutput('results', Sdf.ValueTypeNames.Float2)
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else:
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bsdf_shader = UsdShade.Shader.Define(self.stage, mtl_path.AppendPath("Principled_BSDF"))
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# TODO: check to make sure scale and size are the same thing
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def update_size(self, new_size):
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size = tuple([float(x) for x in new_size])
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if not self.scale_op:
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self.scale_op = self.xform.AddScaleOp()
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self.scale_op.Set(value=size)
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# settings the bsdf shader attributes
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bsdf_shader.CreateIdAttr("UsdPreviewSurface")
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bsdf_shader.CreateInput("diffuseColor", Sdf.ValueTypeNames.Color3f).Set(tuple(self.rgba[:3]))
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bsdf_shader.CreateInput("opacity", Sdf.ValueTypeNames.Float).Set(float(self.rgba[-1]))
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bsdf_shader.CreateInput("roughness", Sdf.ValueTypeNames.Float).Set(0.5)
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bsdf_shader.CreateInput("metallic", Sdf.ValueTypeNames.Float).Set(0.0)
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def update_color(self, new_color):
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# new_color is the rgba (we extract first three)
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rgba = [(float(x) for x in new_color[:3])]
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self.prim.GetDisplayColorAttr().Set(rgba)
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mtl.CreateSurfaceOutput().ConnectToSource(bsdf_shader.ConnectableAPI(), "surface")
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def update_transparency(self, new_transparency):
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self.prim.GetDisplayOpacityAttr().Set([float(abs(new_transparency))])
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if new_transparency < 0:
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self.prim.MakeInvisible()
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self.usd_mesh.GetPrim().ApplyAPI(UsdShade.MaterialBindingAPI)
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UsdShade.MaterialBindingAPI(self.usd_mesh).Bind(mtl)
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def __str__(self):
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return f'type = {self.type} \ngeom = {self.geom}'
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def update(
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self,
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pos: np.array,
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mat: np.array,
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frame: int
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):
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transformation_mat = create_transform_matrix(rotation_matrix=mat, translation_vector=pos).T
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self.transform_op.Set(Gf.Matrix4d(transformation_mat.tolist()), frame)
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class USDPlane(USDGeom):
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"""
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Stores information regarding a plane geom in USD
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"""
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plane_count = 0
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class USDPrimitiveMesh:
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def __init__(self,
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geom=None,
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stage=None,
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texture_file=None):
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super().__init__(geom, stage, texture_file)
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self.type = 0
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USDPlane.plane_count += 1
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xform_path = f'/World/Plane_Xform_{USDPlane.plane_count}'
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plane_path = f'{xform_path}/Plane_{USDPlane.plane_count}'
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self.xform = UsdGeom.Xform.Define(stage, xform_path)
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self.prim = UsdGeom.Cube.Define(stage, plane_path) # temporary fix for planes
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self.ref = stage.GetPrimAtPath(plane_path)
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self.set_texture()
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def update_size(self, new_size):
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size = tuple([float(new_size[0]), float(new_size[1]), 0.005])
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if not self.scale_op:
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self.scale_op = self.xform.AddScaleOp()
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self.scale_op.Set(value=size)
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class USDSphere(USDGeom):
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"""
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Stores information regarding a sphere geom in USD
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"""
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sphere_count = 0
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def __init__(self,
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geom=None,
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stage=None,
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texture_file=None):
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super().__init__(geom, stage, texture_file)
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self.type = 2
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USDSphere.sphere_count += 1
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xform_path = f'/World/Sphere_Xform_{USDSphere.sphere_count}'
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sphere_path = f'{xform_path}/Sphere_{USDSphere.sphere_count}'
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self.xform = UsdGeom.Xform.Define(stage, xform_path)
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self.prim = UsdGeom.Sphere.Define(stage, sphere_path)
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self.ref = stage.GetPrimAtPath(sphere_path)
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self.set_texture()
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class USDCapsule(USDGeom):
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"""
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Stores information regarding a capsule geom in USD
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"""
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capsule_count = 0
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def __init__(self,
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geom=None,
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stage=None,
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texture_file=None):
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super().__init__(geom, stage, texture_file)
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self.type = 3
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USDCapsule.capsule_count += 1
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xform_path = f'/World/Capsule_Xform_{USDCapsule.capsule_count}'
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capsule_path = f'{xform_path}/Capsule_{USDCapsule.capsule_count}'
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self.xform = UsdGeom.Xform.Define(stage, xform_path)
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self.prim = UsdGeom.Capsule.Define(stage, capsule_path)
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self.ref = stage.GetPrimAtPath(capsule_path)
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self.set_texture()
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class USDCylinder(USDGeom):
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"""
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Stores information regarding a capsule geom in USD
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"""
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cylinder_count = 0
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def __init__(self,
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geom=None,
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stage=None,
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texture_file=None):
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super().__init__(geom, stage, texture_file)
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self.type = 5
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USDCylinder.cylinder_count += 1
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xform_path = f'/World/Cylinder_Xform_{USDCylinder.cylinder_count}'
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cylinder_path = f'{xform_path}/Cylinder_{USDCylinder.cylinder_count}'
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self.xform = UsdGeom.Xform.Define(stage, xform_path)
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self.prim = UsdGeom.Cylinder.Define(stage, cylinder_path)
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self.ref = stage.GetPrimAtPath(cylinder_path)
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self.set_texture()
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class USDCube(USDGeom):
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"""
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Stores information regarding a cube geom in USD
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"""
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cube_count = 0
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def __init__(self,
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geom=None,
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stage=None,
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texture_file=None):
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super().__init__(geom, stage, texture_file)
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self.type = 6
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USDCube.cube_count += 1
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xform_path = f'/World/Cube_Xform_{USDCube.cube_count}'
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cube_path = f'{xform_path}/Cube_{USDCube.cube_count}'
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self.xform = UsdGeom.Xform.Define(stage, xform_path)
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self.prim = UsdGeom.Cube.Define(stage, cube_path)
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self.ref = stage.GetPrimAtPath(cube_path)
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self.set_texture()
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class USDMesh(USDGeom):
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"""
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Stores information regarding a mesh geom in USD
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"""
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mesh_count = 0
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def __init__(self,
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mesh_idx,
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geom,
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stage,
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model,
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texture_file):
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super().__init__(geom, stage)
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assert mesh_idx != -1
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mesh_vert_adr_from = model.mesh_vertadr[mesh_idx]
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mesh_vert_adr_to = model.mesh_vertadr[mesh_idx+1] if mesh_idx < model.nmesh - 1 else len(model.mesh_vert)
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mesh_vert = model.mesh_vert[mesh_vert_adr_from:mesh_vert_adr_to]
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mesh_face_adr_from = model.mesh_faceadr[mesh_idx]
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mesh_face_adr_to = model.mesh_faceadr[mesh_idx+1] if mesh_idx < model.nmesh - 1 else len(model.mesh_face)
|
||||
mesh_face = model.mesh_face[mesh_face_adr_from:mesh_face_adr_to]
|
||||
|
||||
self.type = 7
|
||||
xform_path = f'/World/Mesh_Xform_{USDMesh.mesh_count}'
|
||||
mesh_path= f'{xform_path}/Mesh_{USDMesh.mesh_count}'
|
||||
self.xform = UsdGeom.Xform.Define(stage, xform_path)
|
||||
self.prim = UsdGeom.Mesh.Define(stage, mesh_path)
|
||||
self.ref = stage.GetPrimAtPath(mesh_path)
|
||||
|
||||
self.vertices = mesh_vert
|
||||
self.prim.GetPointsAttr().Set(self.vertices)
|
||||
|
||||
model.mesh_facenum[mesh_idx]
|
||||
self.prim.GetFaceVertexCountsAttr().Set([3 for _ in range(model.mesh_facenum[mesh_idx])])
|
||||
|
||||
self.faces = mesh_face
|
||||
self.prim.GetFaceVertexIndicesAttr().Set(self.faces)
|
||||
|
||||
stage: Usd.Stage,
|
||||
geom: _structs.MjvGeom,
|
||||
objid: int,
|
||||
rgba: List[int] = [1,1,1,1],
|
||||
texture_file: Optional[str] = None):
|
||||
self.stage = stage
|
||||
self.geom = geom
|
||||
self.objid = objid
|
||||
self.rgba = rgba
|
||||
self.texture_file = texture_file
|
||||
if texture_file:
|
||||
|
||||
mesh_texcoord_adr_from = model.mesh_texcoordadr[mesh_idx]
|
||||
mesh_texcoord_adr_to = model.mesh_texcoordadr[mesh_idx+1] if mesh_idx < model.nmesh - 1 else len(model.mesh_texcoord)
|
||||
mesh_texcoord = model.mesh_texcoord[mesh_texcoord_adr_from:mesh_texcoord_adr_to]
|
||||
self.prim_mesh = None
|
||||
|
||||
# texid = geom.texid
|
||||
# texcoords = model.mesh_texcoord[mesh_texcoord_ranges[texid]:mesh_texcoord_ranges[texid+1]]
|
||||
def _get_uv_geometry(self):
|
||||
|
||||
mesh_facetexcoord_ranges = get_facetexcoord_ranges(model.nmesh, model.mesh_facenum)
|
||||
assert self.prim_mesh
|
||||
|
||||
facetexcoords = model.mesh_facetexcoord.flatten()
|
||||
facetexcoords = facetexcoords[mesh_facetexcoord_ranges[mesh_idx]:mesh_facetexcoord_ranges[mesh_idx+1]]
|
||||
self.texcoords = UsdGeom.PrimvarsAPI(self.prim).CreatePrimvar("st",
|
||||
x_scale, y_scale = self.geom.texrepeat
|
||||
|
||||
mesh_texcoord = np.array(self.prim_mesh.triangle_uvs)
|
||||
mesh_facetexcoord = np.asarray(self.prim_mesh.triangles)
|
||||
|
||||
mesh_texcoord[:, 0] *= x_scale
|
||||
mesh_texcoord[:, 1] *= y_scale
|
||||
|
||||
return mesh_texcoord, mesh_facetexcoord.flatten()
|
||||
|
||||
def _get_mesh_geometry(self):
|
||||
|
||||
assert self.prim_mesh
|
||||
|
||||
# get mesh geometry from the open3d mesh model
|
||||
mesh_vert = np.asarray(self.prim_mesh.vertices)
|
||||
mesh_face = np.asarray(self.prim_mesh.triangles)
|
||||
|
||||
return mesh_vert, mesh_face, len(mesh_face)
|
||||
|
||||
def _attach_material(self):
|
||||
mtl_path = Sdf.Path(f"/World/_materials/Material_{self.objid}")
|
||||
mtl = UsdShade.Material.Define(self.stage, mtl_path)
|
||||
if self.texture_file:
|
||||
# remove all code in this if block
|
||||
bsdf_shader = UsdShade.Shader.Define(self.stage, mtl_path.AppendPath("Principled_BSDF"))
|
||||
image_shader = UsdShade.Shader.Define(self.stage, mtl_path.AppendPath("Image_Texture"))
|
||||
uvmap_shader = UsdShade.Shader.Define(self.stage, mtl_path.AppendPath("uvmap"))
|
||||
|
||||
# setting the bsdf shader attributes
|
||||
bsdf_shader.CreateIdAttr("UsdPreviewSurface")
|
||||
bsdf_shader.CreateInput("diffuseColor", Sdf.ValueTypeNames.Color3f).ConnectToSource(image_shader.ConnectableAPI(), "rgb")
|
||||
bsdf_shader.CreateInput("opacity", Sdf.ValueTypeNames.Float).Set(float(self.rgba[-1]))
|
||||
bsdf_shader.CreateInput("roughness", Sdf.ValueTypeNames.Float).Set(0.5)
|
||||
bsdf_shader.CreateInput("metallic", Sdf.ValueTypeNames.Float).Set(0.0)
|
||||
|
||||
mtl.CreateSurfaceOutput().ConnectToSource(bsdf_shader.ConnectableAPI(), "surface")
|
||||
|
||||
self.usd_mesh.GetPrim().ApplyAPI(UsdShade.MaterialBindingAPI)
|
||||
UsdShade.MaterialBindingAPI(self.usd_mesh).Bind(mtl)
|
||||
|
||||
# setting the image texture attributes
|
||||
image_shader.CreateIdAttr("UsdUVTexture")
|
||||
image_shader.CreateInput("file", Sdf.ValueTypeNames.Asset).Set(self.texture_file)
|
||||
image_shader.CreateInput("sourceColorSpace", Sdf.ValueTypeNames.Token).Set("sRGB")
|
||||
image_shader.CreateInput("wrapS", Sdf.ValueTypeNames.Token).Set("repeat")
|
||||
image_shader.CreateInput("wrapT", Sdf.ValueTypeNames.Token).Set("repeat")
|
||||
image_shader.CreateInput("st", Sdf.ValueTypeNames.Float2).ConnectToSource(uvmap_shader.ConnectableAPI(), "result")
|
||||
image_shader.CreateOutput('rgb', Sdf.ValueTypeNames.Float3)
|
||||
|
||||
# setting uvmap shader attributes
|
||||
uvmap_shader.CreateIdAttr("UsdPrimvarReader_float2")
|
||||
uvmap_shader.CreateInput("varname", Sdf.ValueTypeNames.Token).Set("UVMap")
|
||||
uvmap_shader.CreateOutput('results', Sdf.ValueTypeNames.Float2)
|
||||
else:
|
||||
bsdf_shader = UsdShade.Shader.Define(self.stage, mtl_path.AppendPath("Principled_BSDF"))
|
||||
|
||||
# settings the bsdf shader attributes
|
||||
bsdf_shader.CreateIdAttr("UsdPreviewSurface")
|
||||
bsdf_shader.CreateInput("diffuseColor", Sdf.ValueTypeNames.Color3f).Set(tuple(self.rgba[:3]))
|
||||
bsdf_shader.CreateInput("opacity", Sdf.ValueTypeNames.Float).Set(float(self.rgba[-1]))
|
||||
bsdf_shader.CreateInput("roughness", Sdf.ValueTypeNames.Float).Set(0.5)
|
||||
bsdf_shader.CreateInput("metallic", Sdf.ValueTypeNames.Float).Set(0.0)
|
||||
|
||||
mtl.CreateSurfaceOutput().ConnectToSource(bsdf_shader.ConnectableAPI(), "surface")
|
||||
|
||||
self.usd_mesh.GetPrim().ApplyAPI(UsdShade.MaterialBindingAPI)
|
||||
UsdShade.MaterialBindingAPI(self.usd_mesh).Bind(mtl)
|
||||
|
||||
def update(
|
||||
self,
|
||||
pos: np.array,
|
||||
mat: np.array,
|
||||
frame: int
|
||||
):
|
||||
transformation_mat = create_transform_matrix(rotation_matrix=mat, translation_vector=pos).T
|
||||
self.transform_op.Set(Gf.Matrix4d(transformation_mat.tolist()), frame)
|
||||
|
||||
class USDPrimitive:
|
||||
def __init__(self,
|
||||
stage: Usd.Stage,
|
||||
geom: _structs.MjvGeom,
|
||||
objid: int,
|
||||
rgba: List[int] = [1,1,1,1],
|
||||
texture_file: Optional[str] = None):
|
||||
self.stage = stage
|
||||
self.geom = geom
|
||||
self.objid = objid
|
||||
self.rgba = rgba
|
||||
self.texture_file = texture_file
|
||||
|
||||
def _attach_material(self):
|
||||
mtl_path = Sdf.Path(f"/World/_materials/Material_{self.objid}")
|
||||
mtl = UsdShade.Material.Define(self.stage, mtl_path)
|
||||
if self.texture_file:
|
||||
bsdf_shader = UsdShade.Shader.Define(self.stage, mtl_path.AppendPath("Principled_BSDF"))
|
||||
image_shader = UsdShade.Shader.Define(self.stage, mtl_path.AppendPath("Image_Texture"))
|
||||
uvmap_shader = UsdShade.Shader.Define(self.stage, mtl_path.AppendPath("uvmap"))
|
||||
|
||||
# settings the bsdf shader attributes
|
||||
bsdf_shader.CreateIdAttr("UsdPreviewSurface")
|
||||
bsdf_shader.CreateInput("diffuseColor", Sdf.ValueTypeNames.Color3f).ConnectToSource(image_shader.ConnectableAPI(), "rgb")
|
||||
bsdf_shader.CreateInput("opacity", Sdf.ValueTypeNames.Float).Set(float(self.rgba[-1]))
|
||||
bsdf_shader.CreateInput("roughness", Sdf.ValueTypeNames.Float).Set(0.5)
|
||||
bsdf_shader.CreateInput("metallic", Sdf.ValueTypeNames.Float).Set(0.0)
|
||||
|
||||
mtl.CreateSurfaceOutput().ConnectToSource(bsdf_shader.ConnectableAPI(), "surface")
|
||||
|
||||
self.usd_primitive_shape.GetPrim().ApplyAPI(UsdShade.MaterialBindingAPI)
|
||||
UsdShade.MaterialBindingAPI(self.usd_primitive_shape).Bind(mtl)
|
||||
|
||||
# setting the image texture attributes
|
||||
image_shader.CreateIdAttr("UsdUVTexture")
|
||||
image_shader.CreateInput("file", Sdf.ValueTypeNames.Asset).Set(self.texture_file)
|
||||
image_shader.CreateInput("sourceColorSpace", Sdf.ValueTypeNames.Token).Set("sRGB")
|
||||
image_shader.CreateInput("st", Sdf.ValueTypeNames.Float2).ConnectToSource(uvmap_shader.ConnectableAPI(), "result")
|
||||
image_shader.CreateOutput('rgb', Sdf.ValueTypeNames.Float3)
|
||||
|
||||
# setting uvmap shader attributes
|
||||
uvmap_shader.CreateIdAttr("UsdPrimvarReader_float2")
|
||||
uvmap_shader.CreateInput("varname", Sdf.ValueTypeNames.Token).Set("UVMap")
|
||||
uvmap_shader.CreateOutput('results', Sdf.ValueTypeNames.Float2)
|
||||
else:
|
||||
bsdf_shader = UsdShade.Shader.Define(self.stage, mtl_path.AppendPath("Principled_BSDF"))
|
||||
|
||||
# settings the bsdf shader attributes
|
||||
bsdf_shader.CreateIdAttr("UsdPreviewSurface")
|
||||
bsdf_shader.CreateInput("diffuseColor", Sdf.ValueTypeNames.Color3f).Set(tuple(self.rgba[:3]))
|
||||
bsdf_shader.CreateInput("opacity", Sdf.ValueTypeNames.Float).Set(float(self.rgba[-1]))
|
||||
bsdf_shader.CreateInput("roughness", Sdf.ValueTypeNames.Float).Set(0.5)
|
||||
bsdf_shader.CreateInput("metallic", Sdf.ValueTypeNames.Float).Set(0.0)
|
||||
|
||||
mtl.CreateSurfaceOutput().ConnectToSource(bsdf_shader.ConnectableAPI(), "surface")
|
||||
|
||||
self.usd_primitive_shape.GetPrim().ApplyAPI(UsdShade.MaterialBindingAPI)
|
||||
UsdShade.MaterialBindingAPI(self.usd_primitive_shape).Bind(mtl)
|
||||
|
||||
def update(
|
||||
self,
|
||||
pos: np.array,
|
||||
mat: np.array,
|
||||
frame: int
|
||||
):
|
||||
transformation_mat = create_transform_matrix(rotation_matrix=mat, translation_vector=pos).T
|
||||
self.transform_op.Set(Gf.Matrix4d(transformation_mat.tolist()), frame)
|
||||
|
||||
class USDCapsule(USDPrimitive):
|
||||
def __init__(self,
|
||||
stage: Usd.Stage,
|
||||
geom: _structs.MjvGeom,
|
||||
objid: int,
|
||||
rgba: List[int] = [1,1,1,1],
|
||||
texture_file: Optional[str] = None):
|
||||
|
||||
super().__init__(stage,
|
||||
geom,
|
||||
objid,
|
||||
rgba,
|
||||
texture_file)
|
||||
|
||||
xform_path = f'/World/Capsule_Xform_{objid}'
|
||||
capsule_path = f'{xform_path}/Capsule_{objid}'
|
||||
self.usd_xform = UsdGeom.Xform.Define(stage, xform_path)
|
||||
self.usd_primitive_shape = UsdGeom.Capsule.Define(stage, capsule_path)
|
||||
self.usd_prim = stage.GetPrimAtPath(capsule_path)
|
||||
|
||||
# defining ops required by update function
|
||||
self.transform_op = self.usd_xform.AddTransformOp()
|
||||
self.scale_op = self.usd_xform.AddScaleOp()
|
||||
|
||||
# setting attributes for the shape
|
||||
self._set_size_attributes()
|
||||
self._attach_material()
|
||||
|
||||
def _set_size_attributes(self):
|
||||
self.usd_primitive_shape.GetRadiusAttr().Set(float(self.geom.size[0]))
|
||||
self.usd_primitive_shape.GetHeightAttr().Set(float(self.geom.size[2]*2)) # mujoco gives the half length
|
||||
|
||||
class USDEllipsoid(USDPrimitive):
|
||||
def __init__(self,
|
||||
stage: Usd.Stage,
|
||||
geom: _structs.MjvGeom,
|
||||
objid: int,
|
||||
rgba: List[int] = [1,1,1,1],
|
||||
texture_file: Optional[str] = None):
|
||||
|
||||
super().__init__(stage,
|
||||
geom,
|
||||
objid,
|
||||
rgba,
|
||||
texture_file)
|
||||
|
||||
xform_path = f'/World/Ellipsoid_Xform_{objid}'
|
||||
ellipsoid_path = f'{xform_path}/Ellipsoid_{objid}'
|
||||
self.usd_xform = UsdGeom.Xform.Define(stage, xform_path)
|
||||
self.usd_primitive_shape = UsdGeom.Sphere.Define(stage, ellipsoid_path)
|
||||
self.usd_prim = stage.GetPrimAtPath(ellipsoid_path)
|
||||
|
||||
# defining ops required by update function
|
||||
self.transform_op = self.usd_xform.AddTransformOp()
|
||||
self.scale_op = self.usd_xform.AddScaleOp()
|
||||
|
||||
# setting attributes for the shape
|
||||
self._set_size_attributes()
|
||||
self._attach_material()
|
||||
|
||||
def _set_size_attributes(self):
|
||||
self.scale_op.Set(Gf.Vec3d(self.geom.size.tolist()))
|
||||
|
||||
class USDCubeMesh(USDPrimitiveMesh):
|
||||
def __init__(self,
|
||||
stage: Usd.Stage,
|
||||
geom: _structs.MjvGeom,
|
||||
objid: int,
|
||||
rgba: List[int] = [1,1,1,1],
|
||||
texture_file: Optional[str] = None):
|
||||
|
||||
super().__init__(stage,
|
||||
geom,
|
||||
objid,
|
||||
rgba,
|
||||
texture_file)
|
||||
|
||||
xform_path = f'/World/CubeMesh_Xform_{objid}'
|
||||
mesh_path= f'{xform_path}/CubeMesh_{objid}'
|
||||
self.usd_xform = UsdGeom.Xform.Define(stage, xform_path)
|
||||
self.usd_mesh = UsdGeom.Mesh.Define(stage, mesh_path)
|
||||
self.usd_prim = stage.GetPrimAtPath(mesh_path)
|
||||
|
||||
self.prim_mesh = o3d.geometry.TriangleMesh.create_box(width=self.geom.size[0]*2,
|
||||
height=self.geom.size[1]*2,
|
||||
depth=self.geom.size[2]*2,
|
||||
create_uv_map=True,
|
||||
map_texture_to_each_face=True)
|
||||
|
||||
self.prim_mesh.translate(-self.prim_mesh.get_center())
|
||||
|
||||
mesh_vert, mesh_face, mesh_facenum = self._get_mesh_geometry()
|
||||
self.usd_mesh.GetPointsAttr().Set(mesh_vert)
|
||||
self.usd_mesh.GetFaceVertexCountsAttr().Set([3 for _ in range(mesh_facenum)])
|
||||
self.usd_mesh.GetFaceVertexIndicesAttr().Set(mesh_face)
|
||||
|
||||
# setting mesh uv properties
|
||||
mesh_texcoord, mesh_facetexcoord = self._get_uv_geometry()
|
||||
self.texcoords = UsdGeom.PrimvarsAPI(self.usd_mesh).CreatePrimvar("UVMap",
|
||||
Sdf.ValueTypeNames.TexCoord2fArray,
|
||||
UsdGeom.Tokens.faceVarying)
|
||||
|
||||
self.texcoords.Set(mesh_texcoord)
|
||||
self.texcoords.SetIndices(Vt.IntArray(facetexcoords.tolist()));
|
||||
self.texcoords.SetIndices(Vt.IntArray([i for i in range(mesh_facenum*3)]))
|
||||
|
||||
mtl_path = Sdf.Path(f"/World/Looks/Material_{os.path.splitext(os.path.basename(texture_file))[0]}")
|
||||
mtl = UsdShade.Material.Define(stage, mtl_path)
|
||||
shader = UsdShade.Shader.Define(stage, mtl_path.AppendPath("Shader"))
|
||||
shader.CreateIdAttr("UsdPreviewSurface")
|
||||
shader.CreateInput("diffuseColor", Sdf.ValueTypeNames.Color3f).Set((1.0, 0.0, 0.0))
|
||||
shader.CreateInput("roughness", Sdf.ValueTypeNames.Float).Set(0.5)
|
||||
shader.CreateInput("metallic", Sdf.ValueTypeNames.Float).Set(0.0)
|
||||
# setting attributes for the shape
|
||||
self._attach_material()
|
||||
|
||||
diffuse_tx = UsdShade.Shader.Define(stage,mtl_path.AppendPath("DiffuseColorTx"))
|
||||
diffuse_tx.CreateIdAttr('UsdUVTexture')
|
||||
|
||||
diffuse_tx.CreateInput('file', Sdf.ValueTypeNames.Asset).Set(texture_file)
|
||||
diffuse_tx.CreateOutput('rgb', Sdf.ValueTypeNames.Float3)
|
||||
shader.CreateInput("diffuseColor", Sdf.ValueTypeNames.Color3f).ConnectToSource(diffuse_tx.ConnectableAPI(), 'rgb')
|
||||
mtl.CreateSurfaceOutput().ConnectToSource(shader.ConnectableAPI(), "surface")
|
||||
|
||||
self.prim.GetPrim().ApplyAPI(UsdShade.MaterialBindingAPI)
|
||||
UsdShade.MaterialBindingAPI(self.prim).Bind(mtl)
|
||||
|
||||
USDMesh.mesh_count += 1
|
||||
|
||||
def update_geom(self, new_geom):
|
||||
self.update_pos(new_geom.pos)
|
||||
self.update_rotation(new_geom.mat)
|
||||
if not self.texture_file:
|
||||
self.update_color(new_geom.rgba)
|
||||
self.update_transparency(new_geom.rgba[3])
|
||||
|
||||
class USDLight(object):
|
||||
"""
|
||||
Class for the created lights
|
||||
"""
|
||||
|
||||
light_count = 0
|
||||
# defining ops required by update function
|
||||
self.transform_op = self.usd_xform.AddTransformOp()
|
||||
|
||||
class USDSphereMesh(USDPrimitiveMesh):
|
||||
def __init__(self,
|
||||
stage):
|
||||
self.stage = stage
|
||||
USDLight.light_count += 1
|
||||
xform_path = f'/World/Light_Xform_{USDLight.light_count}'
|
||||
light_path = f'{xform_path}/Light_{USDLight.light_count}'
|
||||
self.xform = UsdGeom.Xform.Define(stage, xform_path)
|
||||
self.prim = UsdLux.SphereLight.Define(stage, light_path)
|
||||
self.ref = stage.GetPrimAtPath(light_path)
|
||||
stage: Usd.Stage,
|
||||
geom: _structs.MjvGeom,
|
||||
objid: int,
|
||||
rgba: List[int] = [1,1,1,1],
|
||||
texture_file: Optional[str] = None):
|
||||
|
||||
self.translate_op = None
|
||||
super().__init__(stage,
|
||||
geom,
|
||||
objid,
|
||||
rgba,
|
||||
texture_file)
|
||||
|
||||
def update_light(self, new_light):
|
||||
pos = tuple([float(x) for x in new_light.pos])
|
||||
if not self.translate_op:
|
||||
self.translate_op = self.xform.AddTranslateOp()
|
||||
self.translate_op.Set(pos)
|
||||
xform_path = f'/World/SphereMesh_Xform_{objid}'
|
||||
mesh_path= f'{xform_path}/SphereMesh_{objid}'
|
||||
self.usd_xform = UsdGeom.Xform.Define(stage, xform_path)
|
||||
self.usd_mesh = UsdGeom.Mesh.Define(stage, mesh_path)
|
||||
self.usd_prim = stage.GetPrimAtPath(mesh_path)
|
||||
|
||||
if pos == (0, 0, 0):
|
||||
self.prim.GetIntensityAttr().Set(0);
|
||||
else:
|
||||
self.prim.GetIntensityAttr().Set(20000);
|
||||
self.prim_mesh = o3d.geometry.TriangleMesh.create_sphere(radius=float(self.geom.size[0]),
|
||||
create_uv_map=True)
|
||||
|
||||
# TODO attributes:
|
||||
# - direction
|
||||
# - intensity
|
||||
# - exposure
|
||||
# - radius
|
||||
# - specular
|
||||
self.prim_mesh.translate(-self.prim_mesh.get_center())
|
||||
|
||||
class USDCamera(object):
|
||||
"""
|
||||
Class for created cameras
|
||||
"""
|
||||
mesh_vert, mesh_face, mesh_facenum = self._get_mesh_geometry()
|
||||
self.usd_mesh.GetPointsAttr().Set(mesh_vert)
|
||||
self.usd_mesh.GetFaceVertexCountsAttr().Set([3 for _ in range(mesh_facenum)])
|
||||
self.usd_mesh.GetFaceVertexIndicesAttr().Set(mesh_face)
|
||||
|
||||
camera_count = 0
|
||||
# setting mesh uv properties
|
||||
mesh_texcoord, mesh_facetexcoord = self._get_uv_geometry()
|
||||
self.texcoords = UsdGeom.PrimvarsAPI(self.usd_mesh).CreatePrimvar("UVMap",
|
||||
Sdf.ValueTypeNames.TexCoord2fArray,
|
||||
UsdGeom.Tokens.faceVarying)
|
||||
|
||||
self.texcoords.Set(mesh_texcoord)
|
||||
self.texcoords.SetIndices(Vt.IntArray([i for i in range(mesh_facenum*3)]))
|
||||
|
||||
# setting attributes for the shape
|
||||
self._attach_material()
|
||||
|
||||
# defining ops required by update function
|
||||
self.transform_op = self.usd_xform.AddTransformOp()
|
||||
|
||||
class USDCylinderMesh(USDPrimitiveMesh):
|
||||
def __init__(self,
|
||||
stage):
|
||||
stage: Usd.Stage,
|
||||
geom: _structs.MjvGeom,
|
||||
objid: int,
|
||||
rgba: List[int] = [1,1,1,1],
|
||||
texture_file: Optional[str] = None):
|
||||
|
||||
super().__init__(stage,
|
||||
geom,
|
||||
objid,
|
||||
rgba,
|
||||
texture_file)
|
||||
|
||||
xform_path = f'/World/CylinderMesh_Xform_{objid}'
|
||||
mesh_path= f'{xform_path}/CylinderMesh_{objid}'
|
||||
self.usd_xform = UsdGeom.Xform.Define(stage, xform_path)
|
||||
self.usd_mesh = UsdGeom.Mesh.Define(stage, mesh_path)
|
||||
self.usd_prim = stage.GetPrimAtPath(mesh_path)
|
||||
|
||||
self.prim_mesh = o3d.geometry.TriangleMesh.create_cylinder(radius=self.geom.size[0],
|
||||
height=self.geom.size[2]*2,
|
||||
create_uv_map=True)
|
||||
|
||||
self.prim_mesh.translate(-self.prim_mesh.get_center())
|
||||
|
||||
mesh_vert, mesh_face, mesh_facenum = self._get_mesh_geometry()
|
||||
self.usd_mesh.GetPointsAttr().Set(mesh_vert)
|
||||
self.usd_mesh.GetFaceVertexCountsAttr().Set([3 for _ in range(mesh_facenum)])
|
||||
self.usd_mesh.GetFaceVertexIndicesAttr().Set(mesh_face)
|
||||
|
||||
# setting mesh uv properties
|
||||
mesh_texcoord, mesh_facetexcoord = self._get_uv_geometry()
|
||||
self.texcoords = UsdGeom.PrimvarsAPI(self.usd_mesh).CreatePrimvar("UVMap",
|
||||
Sdf.ValueTypeNames.TexCoord2fArray,
|
||||
UsdGeom.Tokens.faceVarying)
|
||||
|
||||
self.texcoords.Set(mesh_texcoord)
|
||||
self.texcoords.SetIndices(Vt.IntArray([i for i in range(mesh_facenum*3)]))
|
||||
|
||||
# setting attributes for the shape
|
||||
self._attach_material()
|
||||
|
||||
# defining ops required by update function
|
||||
self.transform_op = self.usd_xform.AddTransformOp()
|
||||
|
||||
class USDPlaneMesh(USDPrimitiveMesh):
|
||||
def __init__(self,
|
||||
stage: Usd.Stage,
|
||||
geom: _structs.MjvGeom,
|
||||
objid: int,
|
||||
rgba: List[int] = [1,1,1,1],
|
||||
texture_file: Optional[str] = None):
|
||||
|
||||
super().__init__(stage,
|
||||
geom,
|
||||
objid,
|
||||
rgba,
|
||||
texture_file)
|
||||
|
||||
xform_path = f'/World/Plane_Xform_{objid}'
|
||||
plane_path = f'{xform_path}/PlaneMesh_{objid}'
|
||||
self.usd_xform = UsdGeom.Xform.Define(stage, xform_path)
|
||||
self.usd_mesh = UsdGeom.Mesh.Define(stage, plane_path)
|
||||
self.usd_prim = stage.GetPrimAtPath(plane_path)
|
||||
|
||||
self.prim_mesh = o3d.geometry.TriangleMesh.create_box(width=self.geom.size[0]*2 if self.geom.size[0] > 0 else 100,
|
||||
height=self.geom.size[1]*2 if self.geom.size[1] > 0 else 100,
|
||||
depth=0.001,
|
||||
create_uv_map=True,
|
||||
map_texture_to_each_face=True)
|
||||
|
||||
self.prim_mesh.translate(-self.prim_mesh.get_center())
|
||||
|
||||
mesh_vert, mesh_face, mesh_facenum = self._get_mesh_geometry()
|
||||
self.usd_mesh.GetPointsAttr().Set(mesh_vert)
|
||||
self.usd_mesh.GetFaceVertexCountsAttr().Set([3 for _ in range(mesh_facenum)])
|
||||
self.usd_mesh.GetFaceVertexIndicesAttr().Set(mesh_face)
|
||||
|
||||
# setting mesh uv properties
|
||||
mesh_texcoord, mesh_facetexcoord = self._get_uv_geometry()
|
||||
self.texcoords = UsdGeom.PrimvarsAPI(self.usd_mesh).CreatePrimvar("UVMap",
|
||||
Sdf.ValueTypeNames.TexCoord2fArray,
|
||||
UsdGeom.Tokens.faceVarying)
|
||||
|
||||
self.texcoords.Set(mesh_texcoord)
|
||||
self.texcoords.SetIndices(Vt.IntArray([i for i in range(mesh_facenum*3)]))
|
||||
|
||||
# setting attributes for the shape
|
||||
self._attach_material()
|
||||
|
||||
# defining ops required by update function
|
||||
self.transform_op = self.usd_xform.AddTransformOp()
|
||||
|
||||
class USDLight:
|
||||
def __init__(self,
|
||||
stage: Usd.Stage,
|
||||
objid: int,
|
||||
radius: Optional[float] = 0.7):
|
||||
self.stage = stage
|
||||
USDCamera.camera_count += 1
|
||||
camera_path = f'/World/Camera_{USDCamera.camera_count}'
|
||||
self.prim = UsdGeom.Camera.Define(stage, camera_path)
|
||||
self.ref = stage.GetPrimAtPath(camera_path)
|
||||
|
||||
def update_camera(self, new_pos, new_quat):
|
||||
# print("---- Updating camera in USD ----")
|
||||
xformAPI = UsdGeom.XformCommonAPI(self.prim)
|
||||
xform_path = f'/World/Light_Xform_{objid}'
|
||||
light_path = f'{xform_path}/Light_{objid}'
|
||||
self.usd_xform = UsdGeom.Xform.Define(stage, xform_path)
|
||||
self.usd_light = UsdLux.SphereLight.Define(stage, light_path)
|
||||
self.usd_prim = stage.GetPrimAtPath(light_path)
|
||||
|
||||
pos = tuple([float(x) for x in new_pos])
|
||||
|
||||
# convert a quat to euler rotation angles
|
||||
r = R.from_quat(new_quat)
|
||||
euler_rotation = r.as_euler('xyz', degrees=True)
|
||||
rotation = Gf.Vec3f(float(euler_rotation[2]), float(euler_rotation[1]), float(euler_rotation[0]))
|
||||
|
||||
# hardcoded values for Robosuite testing and prototype
|
||||
# TODO: use actual camera values
|
||||
xformAPI.SetTranslate(pos)
|
||||
xformAPI.SetRotate(rotation)
|
||||
# xformAPI.SetScale((1, 1, 1))
|
||||
|
||||
self.prim.CreateFocalLengthAttr().Set(24)
|
||||
self.prim.CreateFocusDistanceAttr().Set(400)
|
||||
# we assume in mujoco that all lights are point lights
|
||||
self.usd_light.GetRadiusAttr().Set(radius)
|
||||
self.usd_light.GetTreatAsPointAttr().Set(False)
|
||||
self.usd_light.GetNormalizeAttr().Set(True)
|
||||
|
||||
# defining ops required by update function
|
||||
self.translate_op = self.usd_xform.AddTranslateOp()
|
||||
|
||||
def update(self,
|
||||
pos: np.array,
|
||||
intensity: int,
|
||||
color: np.array,
|
||||
frame: int):
|
||||
self.translate_op.Set(Gf.Vec3d(pos.tolist()), frame)
|
||||
|
||||
if not np.any(pos):
|
||||
intensity = 0
|
||||
|
||||
self.usd_light.GetIntensityAttr().Set(intensity)
|
||||
self.usd_light.GetColorAttr().Set(Gf.Vec3d(color.tolist()))
|
||||
|
||||
class USDCamera:
|
||||
def __init__(self,
|
||||
stage: Usd.Stage,
|
||||
objid: int):
|
||||
self.stage = stage
|
||||
|
||||
xform_path = f'/World/Camera_Xform_{objid}'
|
||||
camera_path = f'{xform_path}/Camera_{objid}'
|
||||
self.usd_xform = UsdGeom.Xform.Define(stage, xform_path)
|
||||
self.usd_camera = UsdGeom.Camera.Define(stage, camera_path)
|
||||
self.usd_prim = stage.GetPrimAtPath(camera_path)
|
||||
|
||||
# defining ops required by update function
|
||||
self.transform_op = self.usd_xform.AddTransformOp()
|
||||
|
||||
self.usd_camera.CreateFocalLengthAttr().Set(18.14756) # default in omniverse
|
||||
self.usd_camera.CreateFocusDistanceAttr().Set(400)
|
||||
|
||||
self.usd_camera.GetClippingRangeAttr().Set(Gf.Vec2f(1e-4, 1e6))
|
||||
|
||||
def update(self,
|
||||
cam_pos: np.array,
|
||||
cam_mat: np.array,
|
||||
frame: int):
|
||||
|
||||
transformation_mat = create_transform_matrix(rotation_matrix=cam_mat, translation_vector=cam_pos).T
|
||||
self.transform_op.Set(Gf.Matrix4d(transformation_mat.tolist()), frame)
|
||||
|
||||
|
||||
|
||||
+282
-174
@@ -1,47 +1,87 @@
|
||||
import os
|
||||
import shutil
|
||||
from termcolor import colored
|
||||
import pprint
|
||||
import mujoco
|
||||
import mujoco.viewer as viewer
|
||||
from mujoco.usd_component import *
|
||||
from mujoco.usd_utilities import *
|
||||
from pxr import Usd, UsdGeom
|
||||
|
||||
from mujoco import _structs
|
||||
|
||||
from PIL import Image as im
|
||||
from usd_utils import *
|
||||
from PIL import ImageOps
|
||||
from mujoco import mjtGeom
|
||||
from PIL import Image as im
|
||||
from usd_component import *
|
||||
from pxr import Usd, UsdGeom
|
||||
from termcolor import colored
|
||||
from mujoco import mjv_averageCamera
|
||||
from typing import Optional, List, Union, Tuple
|
||||
from mujoco import _structs, _constants, _enums
|
||||
from scipy.spatial.transform import Rotation as R
|
||||
|
||||
class USDRenderer(object):
|
||||
class USDRenderer:
|
||||
|
||||
def __init__(
|
||||
self,
|
||||
model: _structs.MjModel,
|
||||
height: int = 480,
|
||||
width: int = 480,
|
||||
max_geom: int = 10000,
|
||||
output_directory_name: str = "mujoco_usdpkg",
|
||||
output_directory_root: str = "./",
|
||||
verbose: bool = True,
|
||||
light_intensity: int = 10000
|
||||
):
|
||||
""" Initializes a new USD Renderer
|
||||
Args:
|
||||
model: an MjModel instance.
|
||||
height: image height in pixels.
|
||||
width: image width in pixels.
|
||||
max_geom: Optional integer specifying the maximum number of geoms that can
|
||||
be rendered in the same scene. If None this will be chosen automatically
|
||||
based on the estimated maximum number of renderable geoms in the model.
|
||||
output_directory_name: name of root directory to store outputted frames and assets generated by the USD renderer.
|
||||
output_directory_root: path to root directory storing generated frames and assets by the USD renderer.
|
||||
verbose: decides whether to print updates.
|
||||
"""
|
||||
Renderer class that creates USD representations for mujoco scenes
|
||||
"""
|
||||
def __init__(self,
|
||||
model,
|
||||
height=480,
|
||||
width=480,
|
||||
root_dir_name="usdpkg",
|
||||
root_dir_path=None,
|
||||
verbose=True):
|
||||
|
||||
buffer_width = model.vis.global_.offwidth
|
||||
buffer_height = model.vis.global_.offheight
|
||||
|
||||
if width > buffer_width:
|
||||
raise ValueError(f"""
|
||||
Image width {width} > framebuffer width {buffer_width}. Either reduce the image
|
||||
width or specify a larger offscreen framebuffer in the model XML using the
|
||||
clause:
|
||||
<visual>
|
||||
<global offwidth="my_width"/>
|
||||
</visual>""".lstrip())
|
||||
|
||||
if height > buffer_height:
|
||||
raise ValueError(f"""
|
||||
Image height {height} > framebuffer height {buffer_height}. Either reduce the
|
||||
image height or specify a larger offscreen framebuffer in the model XML using
|
||||
the clause:
|
||||
<visual>
|
||||
<global offheight="my_height"/>
|
||||
</visual>""".lstrip())
|
||||
|
||||
self.model = model
|
||||
self.root_dir_name = root_dir_name
|
||||
self.root_dir_path = root_dir_path
|
||||
self.height = height
|
||||
self.width = width
|
||||
self.max_geom = max_geom
|
||||
self.output_directory_name = output_directory_name
|
||||
self.output_directory_root = output_directory_root
|
||||
self.verbose = verbose
|
||||
self.data = None
|
||||
self.renderer = mujoco.Renderer(model, height, width)
|
||||
self.reload_scene_info = True
|
||||
self.frame_count = 0
|
||||
self.light_intensity = light_intensity
|
||||
|
||||
self.create_output_directories()
|
||||
self.frame_count = 0 # maintains how many times we have saved the scene
|
||||
self.updates = 0
|
||||
|
||||
self.stage = Usd.Stage.CreateInMemory()
|
||||
# initializing rendering requirements
|
||||
self.renderer = mujoco.Renderer(model, height, width, max_geom)
|
||||
self._initialize_usd_stage()
|
||||
self._scene_option = _structs.MjvOption() # using default scene option
|
||||
|
||||
UsdGeom.SetStageUpAxis(self.stage, UsdGeom.Tokens.z)
|
||||
# initializing output_directories
|
||||
self._initialize_output_directories()
|
||||
|
||||
geom_groups = [0,1,0,0,0,0] # Setting default geom groups for now
|
||||
|
||||
self.scene_option = _structs.MjvOption()
|
||||
self.scene_option.geomgroup = geom_groups
|
||||
# loading required textures for the scene
|
||||
self._load_textures()
|
||||
|
||||
@property
|
||||
def usd(self):
|
||||
@@ -51,167 +91,235 @@ class USDRenderer(object):
|
||||
def scene(self):
|
||||
return self.renderer.scene
|
||||
|
||||
def create_output_directories(self):
|
||||
if not self.root_dir_path:
|
||||
self.root_dir_path = os.getcwd()
|
||||
def _initialize_usd_stage(self):
|
||||
self.stage = Usd.Stage.CreateInMemory()
|
||||
UsdGeom.SetStageUpAxis(self.stage, UsdGeom.Tokens.z)
|
||||
self.stage.SetStartTimeCode(0)
|
||||
# add as user imput
|
||||
self.stage.SetTimeCodesPerSecond(60.0)
|
||||
|
||||
self.output_dir = os.path.join(self.root_dir_path, self.root_dir_name)
|
||||
if not os.path.exists(self.output_dir):
|
||||
os.makedirs(self.output_dir)
|
||||
def _initialize_output_directories(self):
|
||||
self.output_directory_path = os.path.join(self.output_directory_root, self.output_directory_name)
|
||||
if not os.path.exists(self.output_directory_path):
|
||||
os.makedirs(self.output_directory_path)
|
||||
|
||||
self.scenes_dir = os.path.join(self.output_dir, "scenes")
|
||||
if not os.path.exists(self.scenes_dir):
|
||||
os.makedirs(self.scenes_dir)
|
||||
self.frames_directory = os.path.join(self.output_directory_path, "frames")
|
||||
if not os.path.exists(self.frames_directory):
|
||||
os.makedirs(self.frames_directory)
|
||||
|
||||
self.assets_dir = os.path.join(self.output_dir, "assets")
|
||||
if not os.path.exists(self.assets_dir):
|
||||
os.makedirs(self.assets_dir)
|
||||
self.assets_directory = os.path.join(self.output_directory_path, "assets")
|
||||
if not os.path.exists(self.assets_directory):
|
||||
os.makedirs(self.assets_directory)
|
||||
|
||||
if self.verbose:
|
||||
output_dir_msg = colored(f"Writing files to {self.output_dir}", "green")
|
||||
print(output_dir_msg)
|
||||
print(colored(f"Writing output frames and assets to {self.output_directory_path}", "green"))
|
||||
|
||||
def update_scene(
|
||||
self,
|
||||
data: _structs.MjData,
|
||||
camera: Union[int, str, _structs.MjvCamera] = -1,
|
||||
scene_option: Optional[_structs.MjvOption] = None,
|
||||
):
|
||||
""" Updates the scene with latest sim data
|
||||
Args:
|
||||
data: structure storing current simulation state
|
||||
scene_option: we use this to determine which geom groups to activate
|
||||
"""
|
||||
|
||||
def save_scene(self):
|
||||
output_file_path = os.path.join(self.scenes_dir, f'frame_{self.frame_count}_.usd')
|
||||
with open(output_file_path, "w") as f:
|
||||
f.write(self.usd)
|
||||
self.frame_count += 1
|
||||
|
||||
def update_geom_groups(self, geom_groups):
|
||||
self.scene_option.geomgroup = geom_groups
|
||||
self.reload_scene_info = True
|
||||
self.update_scene(self.data)
|
||||
scene_option = scene_option or self._scene_option
|
||||
|
||||
def update_scene(self, data):
|
||||
self.renderer.update_scene(data, scene_option=self.scene_option)
|
||||
self.data = data
|
||||
# update the mujoco renderer
|
||||
self.renderer.update_scene(data,
|
||||
scene_option=scene_option,
|
||||
camera=camera)
|
||||
|
||||
if self.reload_scene_info:
|
||||
# loads the initial geoms, lights, and camera information
|
||||
# from the scene
|
||||
self._load()
|
||||
self.reload_scene_info = False
|
||||
# TODO: update scene options
|
||||
if self.updates == 0:
|
||||
self._initialize_usd_stage()
|
||||
|
||||
self._update()
|
||||
self._load_geoms()
|
||||
self._load_lights()
|
||||
self._load_cameras()
|
||||
|
||||
def _load(self):
|
||||
"""
|
||||
Loads and initializes the necessary objects to render the scene
|
||||
"""
|
||||
|
||||
# Create and loads the texture files to the assets directory
|
||||
# TODO: remove code once added internally to mujoco
|
||||
data_adr = 0
|
||||
texture_files = []
|
||||
for texid in range(self.model.ntex):
|
||||
height = self.model.tex_height[texid]
|
||||
width = self.model.tex_width[texid]
|
||||
pixels = 3*height*width
|
||||
rgb = self.model.tex_rgb[data_adr:data_adr+pixels]
|
||||
img = rgb.reshape(height, width, 3)
|
||||
texture_file_name = f"texture_{texid}.png"
|
||||
file_path = os.path.join(self.assets_dir, texture_file_name)
|
||||
img = im.fromarray(img)
|
||||
img = ImageOps.flip(img)
|
||||
img.save(file_path)
|
||||
|
||||
relative_path = os.path.relpath(self.assets_dir, self.scenes_dir)
|
||||
img_path = os.path.join(relative_path, texture_file_name)
|
||||
|
||||
texture_files.append(img_path)
|
||||
data_adr += pixels
|
||||
|
||||
# initializes an array to store all the geoms in the scene
|
||||
# populates with "empty" USDGeom objects
|
||||
self.usd_geoms = []
|
||||
geoms = self.scene.geoms
|
||||
self.ngeom = self.scene.ngeom
|
||||
for i in range(self.ngeom):
|
||||
geom = geoms[i]
|
||||
if geom.texid == -1:
|
||||
texture_file = None
|
||||
else:
|
||||
texture_file = texture_files[geom.texid]
|
||||
|
||||
if geom.type == USDGeomType.Mesh.value:
|
||||
self.usd_geoms.append(USDMesh(self.model.geom_dataid[geom.objid],
|
||||
geom,
|
||||
self.stage,
|
||||
self.model,
|
||||
texture_file))
|
||||
else:
|
||||
self.usd_geoms.append(create_usd_geom_primitive(geom,
|
||||
self.stage,
|
||||
texture_file))
|
||||
|
||||
# initializes an array to store all the lights in the scene
|
||||
# populates with "empty" USDLight objects
|
||||
self.usd_lights = []
|
||||
lights = self.scene.lights
|
||||
self.nlight = self.scene.nlight
|
||||
for i in range(self.nlight):
|
||||
self.usd_lights.append(USDLight(self.stage))
|
||||
|
||||
# initializes an array to store all the cameras in the scene
|
||||
# populates with "empty" USDCamera objects
|
||||
self.usd_cameras = []
|
||||
ncam = self.model.ncam
|
||||
for i in range(ncam):
|
||||
self.usd_cameras.append(USDCamera(self.stage))
|
||||
|
||||
def _update(self):
|
||||
self._update_geoms()
|
||||
self._update_lights()
|
||||
self._update_cameras()
|
||||
|
||||
self.updates += 1
|
||||
|
||||
def _load_textures(self):
|
||||
# TODO: remove code once added internally to mujoco
|
||||
data_adr = 0
|
||||
self.texture_files = []
|
||||
for texture_id in range(self.model.ntex):
|
||||
texture_height = self.model.tex_height[texture_id]
|
||||
texture_width = self.model.tex_width[texture_id]
|
||||
pixels = 3*texture_height*texture_width
|
||||
img = im.fromarray(self.model.tex_rgb[data_adr:data_adr+pixels].reshape(texture_height, texture_width, 3))
|
||||
img = ImageOps.flip(img)
|
||||
|
||||
texture_file_name = f"texture_{texture_id}.png"
|
||||
|
||||
img.save(os.path.join(self.assets_directory, texture_file_name))
|
||||
|
||||
relative_path = os.path.relpath(self.assets_directory, self.frames_directory)
|
||||
# img_path = os.path.join(relative_path, texture_file_name) # relative path, TODO: switch back to this
|
||||
|
||||
# absolute path for cluster, TODO: remove!
|
||||
abs_path = os.path.join(os.path.abspath(self.assets_directory), texture_file_name)
|
||||
|
||||
self.texture_files.append(abs_path)
|
||||
|
||||
data_adr += pixels
|
||||
|
||||
if self.verbose:
|
||||
print(colored(f"Writing texture {texture_id}", "cyan"))
|
||||
|
||||
if self.verbose:
|
||||
print(colored(f"Completed writing {self.model.ntex} textures to {self.assets_directory}", "green"))
|
||||
|
||||
def _load_geoms(self):
|
||||
# stores a list of all the geoms in the scene
|
||||
self.usd_geoms = []
|
||||
|
||||
# initializing the geoms
|
||||
for i in range(self.scene.ngeom):
|
||||
geom = self.scene.geoms[i]
|
||||
|
||||
if geom.rgba[3] <= 0:
|
||||
self.usd_geoms.append(None)
|
||||
continue
|
||||
|
||||
# handles meshes in scene
|
||||
if geom.type == mjtGeom.mjGEOM_MESH:
|
||||
usd_geom = USDMesh(stage=self.stage,
|
||||
model=self.model,
|
||||
geom=geom,
|
||||
objid=i,
|
||||
dataid=self.model.geom_dataid[geom.objid],
|
||||
rgba=geom.rgba,
|
||||
texture_file=self.texture_files[geom.texid] if geom.texid != -1 else None)
|
||||
# handles primitives
|
||||
else:
|
||||
if geom.type == mjtGeom.mjGEOM_PLANE:
|
||||
usd_geom = USDPlaneMesh(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_SPHERE:
|
||||
usd_geom = USDSphereMesh(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_CAPSULE:
|
||||
usd_geom = USDCapsule(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_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):
|
||||
"""
|
||||
Updates the geoms to match the current scene
|
||||
"""
|
||||
geoms = self.scene.geoms
|
||||
for i in range(self.ngeom):
|
||||
if self.usd_geoms[i]: # TODO: remove this once all primitives are added
|
||||
self.usd_geoms[i].update_geom(geoms[i])
|
||||
# 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):
|
||||
"""
|
||||
Updates the lights to match the current scene
|
||||
"""
|
||||
lights = self.scene.lights
|
||||
nlight = self.scene.nlight
|
||||
for i in range(nlight):
|
||||
self.usd_lights[i].update_light(lights[i])
|
||||
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):
|
||||
"""
|
||||
Updates the camera to match the current scene
|
||||
"""
|
||||
ncam = self.model.ncam
|
||||
for i in range(ncam):
|
||||
self.usd_cameras[i].update_camera(self.model.cam_pos[i], self.model.cam_quat[i])
|
||||
camera = mjv_averageCamera(self.scene.camera[0], self.scene.camera[1])
|
||||
|
||||
def compress(self):
|
||||
"""
|
||||
Compresses the output directory to a zip file for easy transfer
|
||||
"""
|
||||
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:
|
||||
output_dir_msg = colored(f"Compressing files at {self.output_dir} and saving at {self.output_dir}", "green")
|
||||
print(output_dir_msg)
|
||||
shutil.make_archive(base_name=self.output_dir,
|
||||
format='zip',
|
||||
base_dir=self.root_dir_name)
|
||||
|
||||
def start_viewer(self):
|
||||
if self.data:
|
||||
viewer.launch(self.model)
|
||||
|
||||
def render(self):
|
||||
# should render the usd file given a particular renderer that
|
||||
# works with USD files
|
||||
# TODO: determine if this is valid functionality
|
||||
pass
|
||||
|
||||
# TODO: remove later, this is only for debugging purposes
|
||||
def print_geom_information(self):
|
||||
for i in range(self.ngeom):
|
||||
print(self.usd_geoms[i])
|
||||
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