Abhishek Joshi
244 lines
7.6 KiB
Python
244 lines
7.6 KiB
Python
import os
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from enum import Enum
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import mujoco
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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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def create_usd_geom_primitive(geom, stage):
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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)
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elif geom_type==USDGeomType.Sphere.value:
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return USDSphere(geom, stage)
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elif geom_type==USDGeomType.Cube.value:
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return USDCube(geom, stage)
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class USDGeomType(Enum):
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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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Sphere = 2
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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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self.geom = geom
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self.stage = stage # TODO: remove, not being used
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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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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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def update_pos(self, new_pos):
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pos = tuple([float(x) for x in new_pos])
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self.xform.AddTranslateOp().Set(pos)
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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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self.xform.AddRotateXYZOp().Set(rotation)
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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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self.xform.AddScaleOp().Set(value=size)
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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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color = self.prim.GetDisplayColorAttr().Set(rgba)
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# TODO: create another method for transparency
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def update_transparency(self, new_transparency):
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pass
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def __str__(self):
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return f'type = {self.type} \ngeom = {self.geom}'
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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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def __init__(self,
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geom=None,
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stage=None):
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super().__init__(geom, stage)
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self.type = 0
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USDPlane.plane_count += 1
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xform_path = f'/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.Plane.Define(stage, plane_path)
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self.ref = stage.GetPrimAtPath(plane_path)
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def update_size(self, new_size):
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self.prim.GetAxisAttr().Set("Z")
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self.prim.GetWidthAttr().Set(float(new_size[0]))
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self.prim.GetLengthAttr().Set(float(new_size[1]))
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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,
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stage):
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super().__init__(geom, stage)
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self.type = 2
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USDSphere.sphere_count += 1
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xform_path = f'/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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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,
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stage):
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super().__init__(geom, stage)
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self.type = 6
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USDCube.cube_count += 1
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xform_path = f'/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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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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mesh_vertex_ranges,
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mesh_face_ranges,
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mesh_texcoord_ranges,
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mesh_facetexcoord_ranges,
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texture_file):
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super().__init__(geom, stage)
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self.type = 7
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USDMesh.mesh_count += 1
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xform_path = f'/Mesh_Xform_{USDMesh.mesh_count}'
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mesh_path= f'{xform_path}/Mesh_{USDMesh.mesh_count}'
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self.xform = UsdGeom.Xform.Define(stage, xform_path)
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self.prim = UsdGeom.Mesh.Define(stage, mesh_path)
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self.ref = stage.GetPrimAtPath(mesh_path)
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self.vertices = model.mesh_vert[mesh_vertex_ranges[mesh_idx]:mesh_vertex_ranges[mesh_idx+1]]
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self.prim.GetPointsAttr().Set(self.vertices)
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self.prim.GetFaceVertexCountsAttr().Set([3 for _ in range(model.mesh_facenum[mesh_idx])])
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self.faces = model.mesh_face[mesh_face_ranges[mesh_idx]:mesh_face_ranges[mesh_idx+1]]
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self.prim.GetFaceVertexIndicesAttr().Set(self.faces)
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texid = geom.texid
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texcoords = model.mesh_texcoord[mesh_texcoord_ranges[texid]:mesh_texcoord_ranges[texid+1]]
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facetexcoords = model.mesh_facetexcoord.flatten()
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facetexcoords = facetexcoords[mesh_facetexcoord_ranges[mesh_idx]:mesh_facetexcoord_ranges[mesh_idx+1]]
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self.texcoords = UsdGeom.PrimvarsAPI(self.prim).CreatePrimvar("st",
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Sdf.ValueTypeNames.TexCoord2fArray,
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UsdGeom.Tokens.faceVarying)
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self.texcoords.Set(texcoords)
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self.texcoords.SetIndices(Vt.IntArray(facetexcoords.tolist()));
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mtl_path = Sdf.Path(f"/World/Looks/Material_{os.path.splitext(os.path.basename(texture_file))[0]}")
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mtl = UsdShade.Material.Define(stage, mtl_path)
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shader = UsdShade.Shader.Define(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(stage,mtl_path.AppendPath("DiffuseColorTx"))
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diffuse_tx.CreateIdAttr('UsdUVTexture')
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# TODO: don't hardcode the image file
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diffuse_tx.CreateInput('file', Sdf.ValueTypeNames.Asset).Set(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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self.prim.GetPrim().ApplyAPI(UsdShade.MaterialBindingAPI)
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UsdShade.MaterialBindingAPI(self.prim).Bind(mtl)
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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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# TODO: remove this, temporary
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# self.xform.AddScaleOp().Set(value=(10.0, 10.0, 10.0))
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class USDLight(object):
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"""
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Class for the created lights
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"""
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light_count = 0
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def __init__(self,
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stage):
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self.stage = stage
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USDLight.light_count += 1
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xform_path = f'/Light_Xform_{USDLight.light_count}'
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light_path = f'{xform_path}/Light_{USDLight.light_count}'
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self.xform = UsdGeom.Xform.Define(stage, xform_path)
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self.prim = UsdLux.SphereLight.Define(stage, light_path)
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self.ref = stage.GetPrimAtPath(light_path)
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def update_light(self, new_light):
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pos = tuple([float(x) for x in new_light.pos])
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self.xform.AddTranslateOp().Set(pos)
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# TODO attributes:
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# - direction
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# - intensity
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# - exposure
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# - radius
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# - specular
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self.prim.GetIntensityAttr().Set(5000);
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