Abhishek Joshi
544 lines
19 KiB
Python
544 lines
19 KiB
Python
# Copyright 2024 DeepMind Technologies Limited
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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# ==============================================================================
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from typing import List, Optional, Tuple
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import mujoco
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# import mujoco.usd.utils as utils_component
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# import mujoco.usd.shapes as shapes_component
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import utils as utils_component
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import shapes as shapes_component
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import numpy as np
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# TODO: b/288149332 - Remove once USD Python Binding works well with pytype.
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# pytype: disable=module-attr
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from open3d import open3d as o3d
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from pxr import Gf
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from pxr import Sdf
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from pxr import Usd
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from pxr import UsdGeom
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from pxr import UsdLux
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from pxr import UsdShade
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from pxr import Vt
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class USDMesh:
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def __init__(
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self,
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stage: Usd.Stage,
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model: mujoco.MjModel,
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geom: mujoco.MjvGeom,
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obj_name: str,
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dataid: int,
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rgba: np.ndarray = np.array([1, 1, 1, 1]),
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texture_file: Optional[str] = None,
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):
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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.obj_name = obj_name
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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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xform_path = f"/World/Mesh_Xform_{obj_name}"
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mesh_path = f"{xform_path}/Mesh_{obj_name}"
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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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# 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(
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[3 for _ in range(mesh_facenum)]
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)
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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(
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"UVMap", Sdf.ValueTypeNames.TexCoord2fArray, UsdGeom.Tokens.faceVarying
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)
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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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self.last_visible_frame = -2 # not an arbitary value, forces difference greater than 1 for visibility on 0th frame
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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 = (
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self.model.mesh_texcoordadr[self.dataid + 1]
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if self.dataid < self.model.nmesh - 1
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else len(self.model.mesh_texcoord)
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)
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mesh_texcoord = self.model.mesh_texcoord[
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mesh_texcoord_adr_from:mesh_texcoord_adr_to
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]
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mesh_facetexcoord_ranges = self.get_facetexcoord_ranges(
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self.model.nmesh, self.model.mesh_facenum
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)
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mesh_facetexcoord = self.model.mesh_facetexcoord.flatten()
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mesh_facetexcoord = mesh_facetexcoord[
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mesh_facetexcoord_ranges[self.dataid] : mesh_facetexcoord_ranges[
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self.dataid + 1
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]
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]
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mesh_facetexcoord[mesh_facetexcoord == len(mesh_texcoord)] = 0
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return mesh_texcoord, mesh_facetexcoord
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def _get_mesh_geometry(self):
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mesh_vert_adr_from = self.model.mesh_vertadr[self.dataid]
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mesh_vert_adr_to = (
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self.model.mesh_vertadr[self.dataid + 1]
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if self.dataid < self.model.nmesh - 1
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else len(self.model.mesh_vert)
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)
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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 = (
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self.model.mesh_faceadr[self.dataid + 1]
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if self.dataid < self.model.nmesh - 1
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else len(self.model.mesh_face)
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)
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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.obj_name}")
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mtl = UsdShade.Material.Define(self.stage, mtl_path)
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if self.texture_file:
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bsdf_shader = UsdShade.Shader.Define(
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self.stage, mtl_path.AppendPath("Principled_BSDF")
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)
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image_shader = UsdShade.Shader.Define(
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self.stage, mtl_path.AppendPath("Image_Texture")
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)
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uvmap_shader = UsdShade.Shader.Define(
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self.stage, mtl_path.AppendPath("uvmap")
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)
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# setting the bsdf shader attributes
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bsdf_shader.CreateIdAttr("UsdPreviewSurface")
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bsdf_shader.CreateInput(
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"diffuseColor", Sdf.ValueTypeNames.Color3f
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).ConnectToSource(image_shader.ConnectableAPI(), "rgb")
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bsdf_shader.CreateInput("opacity", Sdf.ValueTypeNames.Float).Set(
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float(self.rgba[-1])
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)
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bsdf_shader.CreateInput("metallic", Sdf.ValueTypeNames.Float).Set(
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self.geom.shininess
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)
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bsdf_shader.CreateInput("roughness", Sdf.ValueTypeNames.Float).Set(
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1.0 - self.geom.shininess
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)
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mtl.CreateSurfaceOutput().ConnectToSource(
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bsdf_shader.ConnectableAPI(), "surface"
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)
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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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# 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(
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self.texture_file
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)
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image_shader.CreateInput(
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"sourceColorSpace", Sdf.ValueTypeNames.Token
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).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(
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uvmap_shader.ConnectableAPI(), "result"
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)
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image_shader.CreateOutput("rgb", Sdf.ValueTypeNames.Float3)
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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(
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self.stage, mtl_path.AppendPath("Principled_BSDF")
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)
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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(
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tuple(self.rgba[0:3])
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)
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bsdf_shader.CreateInput("opacity", Sdf.ValueTypeNames.Float).Set(
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float(self.rgba[-1])
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)
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bsdf_shader.CreateInput("metallic", Sdf.ValueTypeNames.Float).Set(
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self.geom.shininess
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)
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bsdf_shader.CreateInput("roughness", Sdf.ValueTypeNames.Float).Set(
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1.0 - self.geom.shininess
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)
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mtl.CreateSurfaceOutput().ConnectToSource(
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bsdf_shader.ConnectableAPI(), "surface"
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)
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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(self, pos: np.ndarray, mat: np.ndarray, visible: bool, frame: int):
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transformation_mat = utils_component.create_transform_matrix(
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rotation_matrix=mat, translation_vector=pos
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).T
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self.transform_op.Set(Gf.Matrix4d(transformation_mat.tolist()), frame)
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if visible and frame - self.last_visible_frame > 1:
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# non consecutive visible frames
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self.update_visibility(False, max(0, self.last_visible_frame))
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self.update_visibility(True, frame)
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if visible:
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self.last_visible_frame = frame
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def update_visibility(self, visible: bool, frame: int):
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visibility_setting = "inherited" if visible else "invisible"
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self.usd_prim.GetAttribute("visibility").Set(visibility_setting, frame)
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class USDPrimitiveMesh:
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def __init__(
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self,
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mesh_config: List[dict],
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stage: Usd.Stage,
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geom: mujoco.MjvGeom,
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obj_name: str,
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rgba: np.ndarray = np.array([1, 1, 1, 1]),
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texture_file: Optional[str] = None,
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):
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self.mesh_config = mesh_config
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self.stage = stage
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self.geom = geom
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self.obj_name = obj_name
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self.rgba = rgba
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self.texture_file = texture_file
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self.usd_prim = Usd.Prim()
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self.usd_mesh = UsdGeom.Mesh()
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self.prim_mesh = None
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self.transform_op = Gf.Matrix4d(1.)
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_, self.prim_mesh = shapes_component.mesh_generator(mesh_config)
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xform_path = f"/World/{self.obj_name}_Xform"
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mesh_path = f"{xform_path}/{obj_name}"
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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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self.prim_mesh.translate(-self.prim_mesh.get_center())
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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(
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[3 for _ in range(mesh_facenum)]
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)
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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(
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"UVMap", Sdf.ValueTypeNames.TexCoord2fArray, UsdGeom.Tokens.faceVarying
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)
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self.texcoords.Set(mesh_texcoord)
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self.texcoords.SetIndices(Vt.IntArray([i for i in range(mesh_facenum * 3)]))
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self._set_refinement_properties()
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# setting attributes for the shape
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self._attach_material()
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# defining ops required by update functions
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self.transform_op = self.usd_xform.AddTransformOp()
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self.scale_op = self.usd_xform.AddScaleOp()
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self.last_visible_frame = -2
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def _set_refinement_properties(self):
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self.usd_prim.GetAttribute("subdivisionScheme").Set("none")
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def _get_uv_geometry(self):
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assert self.prim_mesh
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x_scale, y_scale = self.geom.texrepeat
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mesh_texcoord = np.array(self.prim_mesh.triangle_uvs)
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mesh_facetexcoord = np.asarray(self.prim_mesh.triangles)
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x_multiplier, y_multiplier = 1, 1
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if self.geom.texuniform:
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if "box" in self.mesh_config:
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x_multiplier, y_multiplier = self.mesh_config["box"]["width"], self.mesh_config["box"]["height"]
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elif "sphere" in self.mesh_config:
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x_multiplier, y_multiplier = self.mesh_config["sphere"]["radius"], self.mesh_config["sphere"]["radius"]
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mesh_texcoord[:, 0] *= x_scale * x_multiplier
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mesh_texcoord[:, 1] *= y_scale * y_multiplier
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return mesh_texcoord, mesh_facetexcoord.flatten()
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def _get_mesh_geometry(self):
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assert self.prim_mesh
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# get mesh geometry from the open3d mesh model
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mesh_vert = np.asarray(self.prim_mesh.vertices)
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mesh_face = np.asarray(self.prim_mesh.triangles)
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return mesh_vert, mesh_face, len(mesh_face)
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def _attach_material(self):
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mtl_path = Sdf.Path(f"/World/_materials/Material_{self.obj_name}")
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mtl = UsdShade.Material.Define(self.stage, mtl_path)
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if self.texture_file:
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bsdf_shader = UsdShade.Shader.Define(
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self.stage, mtl_path.AppendPath("Principled_BSDF")
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)
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image_shader = UsdShade.Shader.Define(
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self.stage, mtl_path.AppendPath("Image_Texture")
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)
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uvmap_shader = UsdShade.Shader.Define(
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self.stage, mtl_path.AppendPath("uvmap")
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)
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# setting the bsdf shader attributes
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bsdf_shader.CreateIdAttr("UsdPreviewSurface")
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bsdf_shader.CreateInput(
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"diffuseColor", Sdf.ValueTypeNames.Color3f
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).ConnectToSource(image_shader.ConnectableAPI(), "rgb")
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bsdf_shader.CreateInput("opacity", Sdf.ValueTypeNames.Float).Set(
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float(self.rgba[-1])
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)
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bsdf_shader.CreateInput("metallic", Sdf.ValueTypeNames.Float).Set(
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self.geom.shininess
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)
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bsdf_shader.CreateInput("roughness", Sdf.ValueTypeNames.Float).Set(
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1.0 - self.geom.shininess
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)
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mtl.CreateSurfaceOutput().ConnectToSource(
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bsdf_shader.ConnectableAPI(), "surface"
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)
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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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# 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(
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self.texture_file
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)
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image_shader.CreateInput(
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"sourceColorSpace", Sdf.ValueTypeNames.Token
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).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(
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uvmap_shader.ConnectableAPI(), "result"
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)
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image_shader.CreateOutput("rgb", Sdf.ValueTypeNames.Float3)
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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(
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self.stage, mtl_path.AppendPath("Principled_BSDF")
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)
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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(
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tuple(self.rgba[:3])
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)
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bsdf_shader.CreateInput("opacity", Sdf.ValueTypeNames.Float).Set(
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float(self.rgba[-1])
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)
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bsdf_shader.CreateInput("metallic", Sdf.ValueTypeNames.Float).Set(
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self.geom.shininess
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)
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bsdf_shader.CreateInput("roughness", Sdf.ValueTypeNames.Float).Set(
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1.0 - self.geom.shininess
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)
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mtl.CreateSurfaceOutput().ConnectToSource(
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bsdf_shader.ConnectableAPI(), "surface"
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)
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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(self, pos: np.ndarray, mat: np.ndarray, visible: bool, frame: int):
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transformation_mat = utils_component.create_transform_matrix(
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rotation_matrix=mat, translation_vector=pos
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).T
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self.transform_op.Set(Gf.Matrix4d(transformation_mat.tolist()), frame)
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if visible and frame - self.last_visible_frame > 1:
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# non consecutive visible frames
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self.update_visibility(False, max(0, self.last_visible_frame))
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self.update_visibility(True, frame)
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if visible:
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self.last_visible_frame = frame
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def update_visibility(self, visible: bool, frame: int):
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visibility_setting = "inherited" if visible else "invisible"
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self.usd_prim.GetAttribute("visibility").Set(visibility_setting, frame)
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def update_scale(self, scale: np.ndarray, frame: int):
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self.scale_op.Set(Gf.Vec3f(scale.tolist()), frame)
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class USDTendon(USDPrimitiveMesh):
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def __init__(
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self,
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mesh_config: List[dict],
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stage: Usd.Stage,
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geom: mujoco.MjvGeom,
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obj_name: str,
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rgba: np.ndarray = np.array([1, 1, 1, 1]),
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texture_file: Optional[str] = None,
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):
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super().__init__(
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mesh_config=mesh_config,
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stage=stage,
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geom=geom,
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obj_name=obj_name,
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rgba=rgba,
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texture_file=texture_file
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)
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|
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|
def update(self, pos: np.ndarray, mat: np.ndarray, scale: np.ndarray, visible: bool, frame: int):
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|
super().update(pos, mat, visible, frame)
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|
super().update_scale(scale, frame)
|
|
|
|
class USDSphereLight:
|
|
|
|
def __init__(
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|
self, stage: Usd.Stage, obj_name: str, radius: Optional[float] = 0.3
|
|
):
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|
self.stage = stage
|
|
|
|
xform_path = f"/World/Light_Xform_{obj_name}"
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|
light_path = f"{xform_path}/Light_{obj_name}"
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|
self.usd_xform = UsdGeom.Xform.Define(stage, xform_path)
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|
self.usd_light = UsdLux.SphereLight.Define(stage, light_path)
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|
self.usd_prim = stage.GetPrimAtPath(light_path)
|
|
|
|
# we assume in mujoco that all lights are point lights
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|
self.usd_light.GetRadiusAttr().Set(radius)
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|
self.usd_light.GetTreatAsPointAttr().Set(False)
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|
self.usd_light.GetNormalizeAttr().Set(True)
|
|
|
|
# defining ops required by update function
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|
self.translate_op = self.usd_xform.AddTranslateOp()
|
|
|
|
def update(self, pos: np.ndarray, intensity: int, color: np.ndarray, 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 USDDomeLight:
|
|
|
|
def __init__(self, stage: Usd.Stage, obj_name: str):
|
|
self.stage = stage
|
|
|
|
xform_path = f"/World/Light_Xform_{obj_name}"
|
|
light_path = f"{xform_path}/Light_{obj_name}"
|
|
self.usd_xform = UsdGeom.Xform.Define(stage, xform_path)
|
|
self.usd_light = UsdLux.DomeLight.Define(stage, light_path)
|
|
self.usd_prim = stage.GetPrimAtPath(light_path)
|
|
|
|
# we assume in mujoco that all lights are point lights
|
|
self.usd_light.GetNormalizeAttr().Set(True)
|
|
|
|
def update(self, intensity: int, color: np.ndarray, frame: int):
|
|
self.usd_light.GetIntensityAttr().Set(intensity)
|
|
self.usd_light.GetExposureAttr().Set(0.0)
|
|
self.usd_light.GetColorAttr().Set(Gf.Vec3d(color.tolist()))
|
|
|
|
|
|
class USDCamera:
|
|
|
|
def __init__(self, stage: Usd.Stage, obj_name: str):
|
|
self.stage = stage
|
|
|
|
xform_path = f"/World/Camera_Xform_{obj_name}"
|
|
camera_path = f"{xform_path}/Camera_{obj_name}"
|
|
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.CreateFocalLengthAttr().Set(12)
|
|
self.usd_camera.CreateFocusDistanceAttr().Set(400)
|
|
|
|
self.usd_camera.GetHorizontalApertureAttr().Set(12)
|
|
|
|
self.usd_camera.GetClippingRangeAttr().Set(Gf.Vec2f(1e-4, 1e6))
|
|
|
|
def update(self, cam_pos: np.ndarray, cam_mat: np.ndarray, frame: int):
|
|
|
|
transformation_mat = utils_component.create_transform_matrix(
|
|
rotation_matrix=cam_mat, translation_vector=cam_pos
|
|
).T
|
|
self.transform_op.Set(Gf.Matrix4d(transformation_mat.tolist()), frame)
|