diff --git a/.github/ISSUE_TEMPLATE/bug.md b/.github/ISSUE_TEMPLATE/bug.md new file mode 100644 index 0000000..1ea755a --- /dev/null +++ b/.github/ISSUE_TEMPLATE/bug.md @@ -0,0 +1,54 @@ +--- +name: Bug Report +about: Submit a bug report +title: "[Bug Report] Bug title" + +--- + +If you are submitting a bug report, please fill in the following details and use the tag [bug]. + +### Describe the bug + +A clear and concise description of what the bug is. + +### Steps to reproduce + +Please try to provide a minimal example to reproduce the bug. Error messages and stack traces are also helpful. + + + +### System Info + +Describe the characteristic of your environment: + + +- Commit: [e.g. 8f3b9ca] +- Isaac Sim Version: [e.g. 2022.2.0, this can be obtained by `cat ${ISAACSIM_PATH}/VERSION`] +- OS: [e.g. Ubuntu 20.04] +- GPU: [e.g. RTX 2060 Super] +- CUDA: [e.g. 11.4] +- GPU Driver: [e.g. 470.82.01, this can be seen by using `nvidia-smi` command.] + +### Additional context + +Add any other context about the problem here. + +### Checklist + +- [ ] I have checked that there is no similar issue in the repo (**required**) +- [ ] I have checked that the issue is not in running Isaac Sim itself and is related to the repo + +### Acceptance Criteria + +Add the criteria for which this task is considered **done**. If not known at issue creation time, you can add this once the issue is assigned. + +- [ ] Criteria 1 +- [ ] Criteria 2 diff --git a/.github/ISSUE_TEMPLATE/proposal.md b/.github/ISSUE_TEMPLATE/proposal.md new file mode 100644 index 0000000..9946d02 --- /dev/null +++ b/.github/ISSUE_TEMPLATE/proposal.md @@ -0,0 +1,37 @@ +--- +name: Proposal +about: Propose changes that are not bug fixes +title: "[Proposal] Proposal title" +--- + + +### Proposal + +A clear and concise description of the proposal. In a few sentences, describe the feature and its core capabilities. + +### Motivation + +Please outline the motivation for the proposal. Summarize the core use cases and user problems and needs you are trying to solve. + +Is your feature request related to a problem? e.g.,"I'm always frustrated when [...]". + +If this is related to another GitHub issue, please link here too. + +### Alternatives + +A clear and concise description of any alternative solutions or features you've considered, if any. + +### Additional context + +Add any other context or screenshots about the feature request here. + +### Checklist + +- [ ] I have checked that there is no similar issue in the repo (**required**) + +### Acceptance Criteria + +Add the criteria for which this task is considered **done**. If not known at issue creation time, you can add this once the issue is assigned. + +- [ ] Criteria 1 +- [ ] Criteria 2 diff --git a/.github/ISSUE_TEMPLATE/question.md b/.github/ISSUE_TEMPLATE/question.md new file mode 100644 index 0000000..58e3474 --- /dev/null +++ b/.github/ISSUE_TEMPLATE/question.md @@ -0,0 +1,13 @@ +--- +name: Question +about: Ask a question +title: "[Question] Question title" +--- + +### Question + +Basic questions that are not bugs or feature requests will be closed without reply, because GitHub issues are not an appropriate venue for these. + +Advanced/nontrivial questions, especially in areas where documentation is lacking, are very much welcome. + +For questions that are related to running and understanding Isaac Sim, please post them at the official [Isaac Sim forums](https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/isaac_sim_forums.html). diff --git a/.github/PULL_REQUEST_TEMPLATE.md b/.github/PULL_REQUEST_TEMPLATE.md new file mode 100644 index 0000000..4f3ffc0 --- /dev/null +++ b/.github/PULL_REQUEST_TEMPLATE.md @@ -0,0 +1,47 @@ +# Description + +Please include a summary of the change and which issue is fixed. Please also include relevant motivation and context. +List any dependencies that are required for this change. + +Fixes # (issue) + + + +## Type of change + + + +- Bug fix (non-breaking change which fixes an issue) +- New feature (non-breaking change which adds functionality) +- Breaking change (fix or feature that would cause existing functionality to not work as expected) +- This change requires a documentation update + +## Screenshots + +Please attach before and after screenshots of the change if applicable. + + + +## Checklist + +- [ ] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./formatter.sh` +- [ ] I have made corresponding changes to the documentation +- [ ] My changes generate no new warnings + + diff --git a/.github/workflows/pre-commit.yaml b/.github/workflows/pre-commit.yaml new file mode 100644 index 0000000..d34fcde --- /dev/null +++ b/.github/workflows/pre-commit.yaml @@ -0,0 +1,14 @@ +name: Run linters using pre-commit + +on: + pull_request: + push: + branches: [main] + +jobs: + pre-commit: + runs-on: ubuntu-latest + steps: + - uses: actions/checkout@v3 + - uses: actions/setup-python@v3 + - uses: pre-commit/action@v3.0.0 diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 41ff283..70707f5 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -5,7 +5,7 @@ repos: - id: black args: ["--line-length", "120"] - repo: https://github.com/pycqa/flake8 - rev: 6.0.0 + rev: 7.0.0 hooks: - id: flake8 additional_dependencies: [flake8-simplify, flake8-return] @@ -41,7 +41,7 @@ repos: rev: v2.2.4 hooks: - id: codespell - exclude: ^ros/joystick_drivers/ + exclude: ^(ros/joystick_drivers/|omniverse/extension/omni.isaac.matterport/data/mappings) additional_dependencies: - tomli - repo: https://github.com/Lucas-C/pre-commit-hooks diff --git a/README.md b/README.md index 5663a91..f0bab86 100644 --- a/README.md +++ b/README.md @@ -13,7 +13,7 @@ ViPlanner is a robust learning-based local path planner based on semantic and depth images. Fully trained in simulation, the planner can be applied in dynamic indoor as well outdoor environments. -We provide it as an extension for [NVIDIA Isaac-Sim](https://developer.nvidia.com/isaac-sim) within the [Orbit](https://isaac-orbit.github.io/) project (details [here](./omniverse/README.md)). +We provide it as an extension for [NVIDIA Isaac-Sim](https://developer.nvidia.com/isaac-sim) within the [IsaacLab](https://isaac-sim.github.io/IsaacLab/) project (details [here](./omniverse/README.md)). Furthermore, a ready to use [ROS Noetic](http://wiki.ros.org/noetic) package is available within this repo for direct integration on any robot (tested and developed on ANYmal C and D). **Keywords:** Visual Navigation, Local Planning, Imperative Learning @@ -74,13 +74,25 @@ Note that for an editable install for packages without setup.py, PEP660 has to b python3 -m pip install --upgrade setuptools ``` + +## Inference and Model Demo + +1. Real-World
+ + ROS-Node is provided to run the planner on the LeggedRobot ANYmal, for details please see [ROS-Node-README](ros/README.md). + +2. NVIDIA Isaac-Sim
+ + The planner can be executed within Nvidia Isaac Sim. It is implemented as part of the [IsaacLab Framework](https://isaac-sim.github.io/IsaacLab/) with an own extension. For details, please see [Omniverse Extension](./omniverse/README.md). This includes a **planner demo** in different environments with the trained model. + + ## Training Here an overview of the steps involved in training the policy. For more detailed instructions, please refer to [TRAINING.md](TRAINING.md). 0. Training Data Generation
-Training data is generated from the [Matterport 3D](https://github.com/niessner/Matterport), [Carla](https://carla.org/) and [NVIDIA Warehouse](https://docs.omniverse.nvidia.com/isaacsim/latest/tutorial_static_assets.html) using developed Isaac Sim Extension, that are open-sourced. Currently, the extensions are updated to the latest `Orbit` version and will be available soon, an intermediate solution is given [here](https://github.com/pascal-roth/orbit_envs). +Training data is generated from the [Matterport 3D](https://github.com/niessner/Matterport), [Carla](https://carla.org/) and [NVIDIA Warehouse](https://docs.omniverse.nvidia.com/isaacsim/latest/tutorial_static_assets.html) using developed Isaac Sim Extension, the extensions are part of a new internal project (``isaac-nav-suite``) and will be open sourced with that project. In the case that you require an earlier access, please contact us via mail. 1. Build Cost-Map
The first step in training the policy is to build a cost-map from the available depth and semantic data. A cost-map is a representation of the environment where each cell is assigned a cost value indicating its traversability. The cost-map guides the optimization, therefore, is required to be differentiable. Cost-maps are built using the [cost-builder](viplanner/cost_builder.py) with configs [here](viplanner/config/costmap_cfg.py), given a pointcloud of the environment with semantic information (either from simultion or real-world information). @@ -92,16 +104,6 @@ Once the cost-map is constructed, the next step is to train the policy. The poli Performance assessment can be performed on simulation and real-world data. The policy will be evaluated regarding multiple metrics such as distance to goal, average and maximum cost, path length. In order to let the policy be executed on anymal in simulation, please refer to [Omniverse Extension](./omniverse/README.md) -## Inference - -1. Real-World
- - ROS-Node is provided to run the planner on the LeggedRobot ANYmal, for details please see [ROS-Node-README](ros/README.md). - -2. NVIDIA Isaac-Sim
- - The planner can be executed within Nvidia Isaac Sim. It is implemented as part of the [Orbit Framework](https://isaac-orbit.github.io/) with an own extension. For details, please see [Omniverse Extension](./omniverse/README.md). - ### Model Download The latest model is available to download: [[checkpoint](https://drive.google.com/file/d/1PY7XBkyIGESjdh1cMSiJgwwaIT0WaxIc/view?usp=sharing)] [[config](https://drive.google.com/file/d/1r1yhNQAJnjpn9-xpAQWGaQedwma5zokr/view?usp=sharing)] @@ -121,7 +123,7 @@ The latest model is available to download: [[checkpoint](https://drive.google.co This code belongs to Robotic Systems Lab, ETH Zurich. All right reserved -**Authors: [Pascal Roth](https://github.com/pascal-roth), [Julian Nubert](https://juliannubert.com/), [Fan Yang](https://github.com/MichaelFYang), [Mayank Mittal](https://mayankm96.github.io/), and [Marco Hutter](https://rsl.ethz.ch/the-lab/people/person-detail.MTIxOTEx.TGlzdC8yNDQxLC0xNDI1MTk1NzM1.html)
+**Authors: [Pascal Roth](https://github.com/pascal-roth), [Julian Nubert](https://juliannubert.com/), [Fan Yang](https://github.com/MichaelFYang), [Mayank Mittal](https://mayankm96.github.io/), [Ziqi Fan](https://github.com/fan-ziqi), and [Marco Hutter](https://rsl.ethz.ch/the-lab/people/person-detail.MTIxOTEx.TGlzdC8yNDQxLC0xNDI1MTk1NzM1.html)
Maintainer: Pascal Roth, rothpa@ethz.ch** The ViPlanner package has been tested under ROS Noetic on Ubuntu 20.04. diff --git a/docs/example_carla.png b/docs/example_carla.png new file mode 100644 index 0000000..5cd6380 Binary files /dev/null and b/docs/example_carla.png differ diff --git a/docs/example_matterport.png b/docs/example_matterport.png new file mode 100644 index 0000000..8936e3b Binary files /dev/null and b/docs/example_matterport.png differ diff --git a/formatter.sh b/formatter.sh index 1d77400..dc18c41 100755 --- a/formatter.sh +++ b/formatter.sh @@ -10,7 +10,7 @@ if ! command -v pre-commit &>/dev/null; then echo "[INFO] Installing pre-commit..." pip install pre-commit fi -# always execute inside the Orbit directory +# always execute inside the IsaacLab directory echo "[INFO] Formatting the repository..." cd ${VIPLANNER_PATH} pre-commit run --all-files diff --git a/omniverse/README.md b/omniverse/README.md index d5770fb..09d29ad 100644 --- a/omniverse/README.md +++ b/omniverse/README.md @@ -1,52 +1,65 @@ +
+ Matterport Mesh + Unreal Engine / Carla Mesh +
+ # ViPlanner Omniverse Extension -The ViPlanner Omniverse Extension offers a sophisticated testing environment for ViPlanner. -Within NVIDIA Isaac Sim as a photorealistic simulator, this extension provides an assessment tool for ViPlanner's performance across diverse environments. -The extension is developed using the [Orbit Framework](https://isaac-orbit.github.io/) that evolved into [IsaacLab](https://isaac-sim.github.io/IsaacLab/). -**Remark** +[![IsaacSim](https://img.shields.io/badge/IsaacSim-4.2.0-silver.svg)](https://docs.omniverse.nvidia.com/isaacsim/latest/overview.html) +[![Python](https://img.shields.io/badge/python-3.10-blue.svg)](https://docs.python.org/3/whatsnew/3.10.html) +[![Linux platform](https://img.shields.io/badge/platform-linux--64-orange.svg)](https://releases.ubuntu.com/20.04/) +[![pre-commit](https://img.shields.io/badge/pre--commit-enabled-brightgreen?logo=pre-commit&logoColor=white)](https://pre-commit.com/) +[![License](https://img.shields.io/badge/license-BSD--3-yellow.svg)](https://opensource.org/licenses/BSD-3-Clause) + +The ViPlanner Omniverse Extension offers a testing environment for ViPlanner. +Within NVIDIA Isaac Sim as a photorealistic simulator and using [IsaacLab](https://isaac-sim.github.io/IsaacLab/), this extension provides an assessment tool for ViPlanner's performance across diverse environments. -The extension for `Matterport` and `Unreal Engine` meshes with semantic information is currently getting updated to the latest Orbit version and will be available soon. An intermediate solution is given [here](https://github.com/pascal-roth/orbit_envs). ## Installation -To install the ViPlanner extension for Isaac Sim version 2023.1.1, follow these steps: +To install the ViPlanner extension for Isaac Sim version **4.2.0**, follow these steps: -1. Install Isaac Sim using the [IsaacSim installation guide](https://docs.omniverse.nvidia.com/isaacsim/latest/installation/install_workstation.html). Make sure to install version 2023.1.1. -2. Clone the [IsaacLab](https://github.com/isaac-sim/IsaacLab) repo, checkout commit `477cd6b3f` to set the repo back to a previous version and link the viplanner extension. The specific commit is necessary as IsaacLab (prev. Orbit) is under active development and the extension is not compatible with the latest version. +1. Clone the [IsaacLab](https://github.com/isaac-sim/IsaacLab) repo. -``` -git clone git@github.com:isaac-sim/IsaacLab.git -cd IsaacLab -git checkout 477cd6b3f -cd source/extensions -ln -s {VIPLANNER_DIR}/omniverse/extension/omni.viplanner . -``` + ``` + git clone git@github.com:isaac-sim/IsaacLab.git + ``` -3. To use Matterport with semantic information within Isaac Sim, a new extension has been developed as part of this work. Currently, all parts are getting updated to the latest IsaacLab version. A solution that is sufficient for the demo script is available [here](https://github.com/pascal-roth/orbit_envs). Please also clone and link it into orbit. + and follow the installation steps given [here](https://isaac-sim.github.io/IsaacLab/main/source/setup/installation) + to install both IsaacLab and IsaacSim. -``` -git clone git@github.com:pascal-roth/orbit_envs.git -cd orbit/source/extension -ln -s {ORBIT_ENVS}/extensions/omni.isaac.matterport . -``` + **IMPORTANT**: The extension is tested with IsaacSim 4.2.0 and IsaacLab 1.2.0 (commit: 0bccd886c19a9891c0b6bdd37e13f338eacc0bba). + While it may work with newer versions, it is not guaranteed. If you encounter issues, please switch back to the previous versions. Any + PRs with updated versions are welcome. -4. Then run the orbit installer script and additionally install ViPlanner in the Isaac Sim virtual environment. +3. Link the ViPlanner and Matterport extension to the IsaacLab repo. -``` -./orbit.sh -i -e -./orbit.sh -p -m pip install -e {VIPLANNER_DIR} -``` + ``` + cd IsaacLab/source/extensions + ln -s /omniverse/extension/omni.viplanner . + ln -s /omniverse/extension/omni.isaac.matterport . + ``` + +4. Install ViPlanner and the extension into the virtual environment of IsaacLab. + + ``` + cd IsaacLab + ./isaaclab.sh -p -m pip install -e # this install the ViPlanner package + ./isaaclab.sh -i # this installs the additional extensions + ``` **Remark** It is necessary to comply with PEP660 for the install. This requires the following versions (as described [here](https://stackoverflow.com/questions/69711606/how-to-install-a-package-using-pip-in-editable-mode-with-pyproject-toml) in detail) - [pip >= 21.3](https://pip.pypa.io/en/stable/news/#v21-3) ``` - ./orbit.sh -p -m pip install --upgrade pip + cd IsaacLab + ./isaaclab.sh -p -m pip install --upgrade pip ``` - [setuptools >= 64.0.0](https://github.com/pypa/setuptools/blob/main/CHANGES.rst#v6400) ``` - ./orbit.sh -p -m pip install --upgrade setuptools + cd IsaacLab + ./isaaclab.sh -p -m pip install --upgrade setuptools ``` ## Usage @@ -60,28 +73,49 @@ To run the demo, download the model: [[checkpoint](https://drive.google.com/file [Config](./extension/omni.viplanner/omni/viplanner/config/matterport_cfg.py) To download Matterport datasets, please refer to the [Matterport3D](https://niessner.github.io/Matterport/) website. The dataset should be converted to USD format using Isaac Sim by executing the following steps: -1. Import the `.obj` file (located under `matterport_mesh`) into Isaac Sim by going to `File -> Import`. -2. Fix potential import setting such as Rotation and Scale. (`Property Panel -> Transform -> Rotate:unitsResolve = 0.0; Scale:unitsResolve = [1.0, 1.0, 1.0]`) -3. Export the scene as USD (`File -> Save as`). + +1. Run the `convert_mesh.py` script to convert the `.obj` file (located under `matterport_mesh`) to `USD`. With the recent update of the asset converter script, use the resulting `*_non_metric.usd` file. + + ``` + # run the converter + cd IsaacLab + ./isaaclab.sh -p source/standalone/tools/convert_mesh.py matterport_mesh/xxx.obj matterport_mesh/xxx.usd --make-instanceable --collision-approximation convexDecomposition + ``` + + **IMPORTANT** + + - The conversion will fail if the asset name starts with a number (e.g., `0c334eaabb844eaaad049cbbb2e0a4f2.obj`), because the USD API prohibits this naming as explained [here](https://openusd.org/release/api/group__group__tf___string.html#gaa129b294af3f68d01477d430b70d40c8). This issue is described in more detail [here](https://forums.developer.nvidia.com/t/cant-create-prims-if-name-starts-with-number/249617). + + - Typically, the file should be converted with correct scale and rotation. In the case that you run the demo and the environment is rotated or scaled incorrectly, fix the import setting such as Rotation and Scale. (`Property -> Transform -> Rotate:unitsResolve = 0.0; Scale:unitsResolve = [1.0, 1.0, 1.0]`) and then save the USD. + +2. Check that the converted mesh has colliders enabled. This can be done by starting IsaacSim (`./isaaclab.sh -s`), importing the converted usd mesh and visualizing the colliders (go to the "eye" symbol in the +top left corner, select `Show by Type -> Physics -> Colliders` and set the value to `All` ). The colliders should be visible as pink linkes. In the case that no colliders are presented, select the mesh in the stage, +go the `Property` section and click `Add -> Physics -> Colliders Preset`. Then save the asset. + +The demo uses the **2n8kARJN3HM** scene from the Matterport dataset. A preview is available [here](https://aspis.cmpt.sfu.ca/scene-toolkit/scans/matterport3d/houses). ``` -./orbit.sh -p {VIPLANNER_DIR}/omniverse/standalone/viplanner_demo.py --scene matterport --model_dir {MODEL_DIR} +cd IsaacLab +./isaaclab.sh -p /omniverse/standalone/viplanner_demo.py --scene matterport --model_dir ``` ### Carla -[Download USD Link](https://drive.google.com/file/d/1wZVKf2W0bSmP1Wm2w1XgftzSBx0UR1RK/view?usp=sharing) [Config](./extension/omni.viplanner/omni/viplanner/config/carla_cfg.py) - +[Download USD Link](https://drive.google.com/file/d/1wZVKf2W0bSmP1Wm2w1XgftzSBx0UR1RK/view?usp=sharing) | [Config](./extension/omni.viplanner/omni/viplanner/config/carla_cfg.py) ``` -./orbit.sh -p {VIPLANNER_DIR}/omniverse/standalone/viplanner_demo.py --scene carla --model_dir {MODEL_DIR} +cd IsaacLab +./isaaclab.sh -p /omniverse/standalone/viplanner_demo.py --scene carla --model_dir ``` ### NVIDIA Warehouse -[Download USD Link](https://drive.google.com/file/d/1QXxuak-1ZmgKkxhE0EGfDydApVr6LrsF/view?usp=sharing) [Config](./extension/omni.viplanner/omni/viplanner/config/warehouse_cfg.py) +No need to adjust the config, as the asset is directly included in the repo. + ``` -./orbit.sh -p {VIPLANNER_DIR}/omniverse/standalone/viplanner_demo.py --scene warehouse --model_dir {MODEL_DIR} +cd IsaacLab +./isaaclab.sh -p /omniverse/standalone/viplanner_demo.py --scene warehouse --model_dir ``` ## Data Collection and Evaluation -Script for data collection and evaluation are getting updated to the latest Orbit version and will be available soon. If you are interested in the current state, please contact us. +The data collection is currently included in a new internal project and will be released with this project in the future. +If you require the code, please contact us per mail. diff --git a/omniverse/extension/omni.isaac.matterport/README.md b/omniverse/extension/omni.isaac.matterport/README.md new file mode 100644 index 0000000..8c10584 --- /dev/null +++ b/omniverse/extension/omni.isaac.matterport/README.md @@ -0,0 +1,25 @@ +# Usage + +For the Matterport extension, a GUI interface is available. To use it, start the simulation: + +```bash +cd IsaacLab +./isaaclab.sh -s +``` + +To enable your extension, follow these steps: + +1. **Add the search path of your repository** to the extension manager: + - Navigate to the extension manager using `Window` -> `Extensions`. + - Click on the **Hamburger Icon** (☰), then go to `Settings`. + - In the `Extension Search Paths`, enter the absolute path to `isaaclab_envs/extensions` and `IsaacLab/source/extensions` + - Click on the **Hamburger Icon** (☰), then click `Refresh`. + +2. **Search and enable your extension**: + - Type `Matterport` in the search bar, and you should see the Matterport3D extension under the `Third Party` category. + - Toggle it to enable your extension. + +To use it as part of an IsaacLab workflow, please refer to the [ViPlanner Demo](https://github.com/leggedrobotics/viplanner/tree/main/omniverse). + +**IMPORTANT**: The current GUI demo can only be used to import meshes. There are issues for displaying the images of the added cameras. +We are working on a fix. diff --git a/omniverse/extension/omni.isaac.matterport/config/extension.toml b/omniverse/extension/omni.isaac.matterport/config/extension.toml new file mode 100644 index 0000000..41f508e --- /dev/null +++ b/omniverse/extension/omni.isaac.matterport/config/extension.toml @@ -0,0 +1,22 @@ +[package] +version = "0.0.1" +title = "Matterport extension" +description="Extension to include Matterport 3D Datasets into Isaac" +authors =["Pascal Roth"] +repository = "https://github.com/leggedrobotics/viplanner" +category = "robotics" +keywords = ["kit", "robotics"] +readme = "docs/README.md" + +[dependencies] +"omni.kit.uiapp" = {} +"omni.isaac.ui" = {} +"omni.isaac.core" = {} +"omni.isaac.lab" = {} + +# Main python module this extension provides. +[[python.module]] +name = "omni.isaac.matterport" + +[[python.module]] +name = "omni.isaac.matterport.scripts" diff --git a/omniverse/extension/omni.isaac.matterport/data/mappings/category_mapping.tsv b/omniverse/extension/omni.isaac.matterport/data/mappings/category_mapping.tsv new file mode 100644 index 0000000..177c75a --- /dev/null +++ b/omniverse/extension/omni.isaac.matterport/data/mappings/category_mapping.tsv @@ -0,0 +1,1660 @@ +index raw_category category count nyuId nyu40id eigen13id nyuClass nyu40class eigen13class ModelNet40 ModelNet10 ShapeNetCore55 synsetoffset wnsynsetid wnsynsetkey mpcat40index mpcat40 +1 wall wall 7667 21 1 12 wall wall Wall n04546855 wall.n.01 1 wall +2 door door 2544 28 8 12 door door Wall door n03221720 door.n.01 4 door +3 ceiling ceiling 2363 4 22 3 ceiling ceiling Ceiling n02990373 ceiling.n.01 17 ceiling +4 floor floor 2252 11 2 5 floor floor Floor n03365592 floor.n.01 2 floor +5 picture picture 2125 64 11 8 picture picture Picture n03931044 picture.n.01 6 picture +6 window window 2013 59 9 13 window window Window n04587648 window.n.01 9 window +7 chair chair 1947 5 5 4 chair chair Chair chair chair chair 03001627 n03001627 chair.n.01 3 chair +8 doorframe door frame 1935 28 8 12 door door Wall door n03221720 door.n.01 4 door +9 remove remove 1622 0 0 0 void void void 0 void +10 pillow pillow 1335 119 18 7 pillow pillow Objects pillow 03938244 n03938244 pillow.n.01 8 cushion +11 object object 1145 40 7 otherprop Objects n00002684 object.n.01 39 objects +12 light light 967 144 35 7 lamp lamp Objects lamp lamp 03636649 n03636649 lamp.n.02 28 lighting +13 cabinet cabinet 785 3 3 6 cabinet cabinet Furniture cabinet 02933112 n02933112 cabinet.n.01 7 cabinet +14 curtain curtain 692 89 16 13 curtain curtain Window curtain n03151077 curtain.n.01 12 curtain +15 table table 691 19 7 10 table table Table table table table 04379243 n04379243 table.n.02 5 table +16 plant plant 632 82 40 7 plant otherprop Objects plant n00017222 plant.n.02 14 plant +17 decoration decoration 532 40 7 otherprop Objects n03169390 decoration.n.01 39 objects +18 window frame window frame 526 59 9 13 window window Window n04589593 window_frame.n.01 9 window +19 lamp lamp 540 144 35 7 lamp lamp Objects lamp lamp 03636649 n03636649 lamp.n.02 28 lighting +20 mirror mirror 488 122 19 7 mirror mirror Objects n03773035 mirror.n.01 21 mirror +21 towel towel 437 135 27 7 towel towel Objects n04459362 towel.n.01 20 towel +22 sink sink 417 24 34 7 sink sink Objects sink n04223580 sink.n.01 15 sink +23 shelf shelf 417 42 15 6 shelves shelves Furniture n04190052 shelf.n.01 31 shelving +24 couch couch 290 83 6 9 sofa sofa Sofa sofa sofa sofa 04256520 n04256520 sofa.n.01 10 sofa +25 dining chair dining chair 277 5 5 4 chair chair Chair chair chair chair 03001627 n03001627 chair.n.01 3 chair +26 bed bed 270 157 4 1 bed bed Bed bed bed bed 02818832 n02818832 bed.n.01 11 bed +27 nightstand nightstand 275 158 32 6 night stand night stand Furniture night_stand night_stand n03015254 chest_of_drawers.n.01 13 chest_of_drawers +28 toilet toilet 268 124 33 7 toilet toilet Objects toilet 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otherprop Objects 40 misc +1544 couch chair sofa chair 1 5 5 4 chair chair Chair chair chair chair 03001627 n03001627 chair.n.01 3 chair +1545 tabletop trinket tabletop trinket 1 844 40 7 trinket otherprop Objects 40 misc +1546 ceilling ceiling 3 4 22 3 ceiling ceiling Ceiling n02990373 ceiling.n.01 17 ceiling +1547 flowerstand flower stand 1 50 39 6 stand otherfurniture Furniture 40 misc +1548 wall stand wall stand 1 295 38 7 wall stand otherstructure Objects 40 misc +1549 shower cabin shower cabin 1 40 7 otherprop Objects 40 misc +1550 shower-bath cabinet shower-bath cabinet 1 3 3 6 cabinet cabinet Furniture cabinet 02933112 n02933112 cabinet.n.01 7 cabinet +1551 teddy bear stuffed animal 1 177 40 7 stuffed animal otherprop Objects n04399382 teddy.n.01 39 objects +1552 foor lamp floor lamp 1 144 35 7 lamp lamp Objects lamp lamp 03636649 n03367059 floor_lamp.n.01 28 lighting +1553 water fountain water fountain 1 339 38 7 water fountain otherstructure Objects n03241335 drinking_fountain.n.01 40 misc +1554 elephant sculpture elephant sculpture 1 294 40 7 sculpture otherprop Objects 40 misc +1555 grate grate 1 40 7 otherprop Objects 40 misc +1556 chicken chicken 1 40 7 otherprop Objects n01791625 chicken.n.02 39 objects +1557 bathroom fan bathroom fan 1 74 40 7 fan otherprop Objects n03320046 fan.n.01 39 objects +1558 roomba roomba 1 40 7 otherprop Objects 40 misc +1559 planter pot 1 16 40 7 pot otherprop Objects n03991062 pot.n.04 39 objects +1560 controls control 1 40 7 otherprop Objects n03096960 control.n.09 39 objects +1561 nightstand / other room nightstand /otherroom 1 158 32 6 night stand night stand Furniture night_stand night_stand n03015254 chest_of_drawers.n.01 13 chest_of_drawers +1562 worktop worktop 1 40 7 otherprop Objects 40 misc +1563 steps wall steps wall 1 21 1 12 wall wall Wall 40 misc +1564 door fireplace wall door 1 28 8 12 door door Wall door n03221720 door.n.01 4 door +1565 floor / upstairs room floor /otherroom 1 11 2 5 floor floor Floor n03365592 floor.n.01 2 floor +1566 oven and stove oven and stove 1 242 38 7 stove otherstructure Objects stove 04330267 40 misc +1567 chest drawer chest drawer 1 174 39 6 drawer otherfurniture Furniture 40 misc +1568 door outside door /outside 1 28 8 12 door door Wall door n03221720 door.n.01 4 door +1569 fireplace \other room fireplace /otherroom 1 372 38 7 fireplace otherstructure Objects n03346455 fireplace.n.01 27 fireplace +1570 hammock hammock 1 157 4 1 bed bed Bed bed bed bed 02818832 n03482252 hammock.n.02 11 bed +1571 dartboard dartboard 1 408 38 7 board otherstructure Objects n03162940 dartboard.n.01 39 objects +1572 fireplace brush fireplace brush 1 40 7 otherprop Objects 40 misc +1573 drum drum 1 145 40 7 drum otherprop Objects n03249569 drum.n.01 39 objects +1574 rotunda ceiling ceiling 1 4 22 3 ceiling ceiling Ceiling n02990373 ceiling.n.01 17 ceiling +1575 ceiling light fixture connection ceiling light fixture connection 1 40 7 otherprop Objects 40 misc +1576 stair fencing banister 1 453 38 7 banister otherstructure Objects n02788148 bannister.n.02 30 railing +1577 piano stool piano stool 1 150 40 7 stool otherprop Objects stool n03801880 music_stool.n.01 19 stool +1578 swing door swing door 1 28 8 12 door door Wall door n04371979 swing_door.n.01 4 door +1579 bathtub utencils bathtub utensil 1 267 40 7 utensil otherprop Objects 40 misc +1580 access area access area 1 40 7 otherprop Objects 40 misc +1581 exercise mat roll exercise mat roll 1 40 7 otherprop Objects 40 misc +1582 ceiling duct ceiling duct 1 4 22 3 ceiling ceiling Ceiling n02990373 ceiling.n.01 17 ceiling +1583 motorbike motorbike 1 40 7 otherprop Objects motorcycle 03790512 n03769722 minibike.n.01 39 objects +1584 floor elevator floor elevator 1 40 7 otherprop Objects 40 misc +1585 kitchen countertop items kitchen countertop items 1 40 7 otherprop Objects 40 misc +1586 entertainment set entertainment set 1 40 7 otherprop Objects 40 misc +1587 shower curtain bar shower curtain bar 1 51 38 7 bar otherstructure Objects 40 misc +1588 bedroom entry walls wall 1 21 1 12 wall wall Wall n04546855 wall.n.01 1 wall +1589 oven vent oven vent 1 40 7 otherprop Objects 40 misc +1590 shower floor /otherroom shower floor /otherroom 1 11 2 5 floor floor Floor n04208936 shower.n.01 23 shower +1591 washing bowl sink 1 24 34 7 sink sink Objects sink n04223580 sink.n.01 15 sink +1592 desert plate desert plate 1 233 40 7 plate otherprop Objects 40 misc +1593 fuse panel fuse panel 1 40 7 otherprop Objects 40 misc +1594 barbers chair barbers chair 1 5 5 4 chair chair Chair chair chair chair 03001627 n03001627 chair.n.01 3 chair +1595 diploma diploma 1 40 7 otherprop Objects 40 misc +1596 wall behind stove wall 1 21 1 12 wall wall Wall n04546855 wall.n.01 1 wall +1597 window6 window 1 59 9 13 window window Window n04587648 window.n.01 9 window +1598 ceiling /otherroom ceiling /otherroom 1 4 22 3 ceiling ceiling Ceiling n02990373 ceiling.n.01 17 ceiling +1599 ventilation hood ventilation hood 1 40 7 otherprop Objects 40 misc +1600 dirt ground dirt ground 1 40 7 otherprop Objects 40 misc +1601 awning awning 1 40 7 otherprop Objects n02763901 awning.n.01 39 objects +1602 stiarcase step step 1 38 7 otherstructure Objects n04314914 step.n.04 16 stairs +1603 rack of weights rack of weights 1 40 7 otherprop Objects 40 misc +1604 shower tub shower tub 1 675 40 7 shower tube otherprop Objects bathtub bathtub tub 02808440 n02808440 bathtub.n.01 25 bathtub +1605 washing powder washing powder 1 40 7 otherprop Objects 40 misc +1606 toilet cleaner toilet cleaner 1 548 40 7 cleaner otherprop Objects 40 misc +1607 soap displensor shelf in shower soap dispenser shelf in shower 1 40 7 otherprop Objects 40 misc +1608 window or door window/door 1 40 7 otherprop Objects 40 misc +1609 storage boxes storage box 1 26 29 7 box box Objects 40 misc +1610 closet storage area closet storage area 1 40 7 otherprop Objects 40 misc +1611 stationary bike exercise bike 1 457 39 6 excercise equipment otherfurniture Furniture n03302671 exercise_bike.n.01 33 gym_equipment +1612 bedding bedding 1 40 7 otherprop Objects n02820210 bedclothes.n.01 39 objects +1613 stair handrail banister 1 453 38 7 banister otherstructure Objects n02788148 bannister.n.02 30 railing +1614 room divider partition 1 21 1 12 wall wall Wall n03894379 partition.n.01 40 misc +1615 window frames window frame 1 59 9 13 window window Window n04589593 window_frame.n.01 9 window +1616 wall electrics wall electronics 1 40 7 otherprop Objects 40 misc +1617 other step step 1 38 7 otherstructure Objects n04314914 step.n.04 16 stairs +1618 tabletop objects object 1 40 7 otherprop Objects n00002684 object.n.01 39 objects +1619 foosball game table foosball game table 1 19 7 10 table table Table table table table 04379243 n04379243 table.n.02 5 table +1620 wall showcase wall showcase 1 40 7 otherprop Objects 40 misc +1621 kitchen utencil kitchen utensil 1 267 40 7 utensil otherprop Objects n03621049 kitchen_utensil.n.01 39 objects +1622 towels in a basket towels in a basket 1 39 40 7 basket otherprop Objects basket 02801938 n02801938 basket.n.01 39 objects +1623 lamp stand lamp stand 1 50 39 6 stand otherfurniture Furniture 40 misc +1624 toy giraffe toy giraffe 1 40 7 otherprop Objects 40 misc +1625 big door frame door frame 1 28 8 12 door door Wall door n03221720 door.n.01 4 door +1626 unknown / probably shrubbery unknown/probably shrubbery 1 40 7 otherprop Objects 40 misc +1627 wooden wall paneling paneling 1 21 1 12 wall wall Wall n03882611 paneling.n.01 1 wall +1628 bedstead bedstead 1 157 4 1 bed bed Bed n02822579 bedstead.n.01 11 bed +1629 fire dish fire dish 1 40 7 otherprop Objects 40 misc +1630 tray with tea cups tray 1 179 40 7 tray otherprop Objects n04476259 tray.n.01 39 objects +1631 television table tv stand 1 291 39 6 tv stand otherfurniture Furniture tv_stand n03290653 entertainment_center.n.01 36 furniture +1632 tissues tissue 1 648 40 7 tissue otherprop Objects 40 misc +1633 sitting area sitting area 1 40 7 otherprop Objects 40 misc +1634 wall vent vent 1 25 38 7 air vent otherstructure Objects n04526241 vent.n.01 40 misc +1635 utensils utensil 1 267 40 7 utensil otherprop Objects n04516672 utensil.n.01 39 objects +1636 pip pip 1 286 40 7 fruit otherprop Objects n11685091 pip.n.03 39 objects +1637 fireplace wall fireplace wall 1 21 1 12 wall wall Wall 40 misc +1638 stonework stonework 1 40 7 otherprop Objects n04326799 stonework.n.01 40 misc +1639 bottom of stairs bottom of stairs 1 215 38 7 stairs otherstructure Objects stairs 40 misc +1640 star star 1 40 7 otherprop Objects n09444783 star.n.03 39 objects +1641 art / deer statue statue 1 294 40 7 sculpture otherprop Objects n04306847 statue.n.01 39 objects +1642 unknown objects object 1 40 7 otherprop Objects n00002684 object.n.01 39 objects +1643 wall side wall 1 21 1 12 wall wall Wall n04546855 wall.n.01 1 wall +1644 shower glass /shifted shower glass /shifted 1 612 38 7 glass otherstructure Objects 40 misc +1645 toilet stall partition partition 1 21 1 12 wall wall Wall n03894379 partition.n.01 40 misc +1646 ceiling design 1 40 7 otherprop Objects 40 misc +1647 conference table conference table 1 19 7 10 table table Table table table table 04379243 n03090000 conference_table.n.01 5 table +1648 edge edge 1 40 7 otherprop Objects 40 misc +1649 electrical box electrical box 1 26 29 7 box box Objects n03034244 circuit_breaker.n.01 39 objects +1650 entrance entrance 1 40 7 otherprop Objects n03290771 entrance.n.01 40 misc +1651 gap gap 2 40 7 otherprop Objects n09249034 col.n.01 39 objects +1652 garage door opener motor garage door opener motor 1 40 7 otherprop Objects 40 misc +1653 lamp base lamp 1 144 35 7 lamp lamp Objects lamp lamp 03636649 n03636649 lamp.n.02 28 lighting +1654 racks rack 2 50 39 6 stand otherfurniture Furniture n04038440 rack.n.05 31 shelving +1655 stringer stringer 1 40 7 otherprop Objects 40 misc +1656 supporting structure supporting structure 1 40 7 otherprop Objects n04361095 supporting_structure.n.01 40 misc +1657 typewriter typewriter 1 376 40 7 typewriter otherprop Objects printer 04004475 n04505036 typewriter.n.01 39 objects +1658 walls wall 4 21 1 12 wall wall Wall n04546855 wall.n.01 1 wall +1659 washbasin top washbasin 1 24 34 7 sink sink Objects sink n04553920 washbasin.n.01 15 sink diff --git a/omniverse/extension/omni.isaac.matterport/data/mappings/mpcat40.tsv b/omniverse/extension/omni.isaac.matterport/data/mappings/mpcat40.tsv new file mode 100644 index 0000000..58b90d6 --- /dev/null +++ b/omniverse/extension/omni.isaac.matterport/data/mappings/mpcat40.tsv @@ -0,0 +1,43 @@ +mpcat40index mpcat40 hex wnsynsetkey nyu40 skip labels +0 void #ffffff void remove,void +1 wall #aec7e8 wall.n.01,baseboard.n.01,paneling.n.01 wall wallpaper +2 floor #708090 floor.n.01,rug.n.01,mat.n.01,bath_mat.n.01,landing.n.01 floor,floor mat +3 chair #98df8a chair.n.01,beanbag.n.01 chair +4 door #c5b0d5 door.n.01,doorframe.n.01,doorway.n.01,doorknob.n.01,archway.n.01 door garage door +5 table #ff7f0e table.n.02,dressing.n.04 table,desk counter.n.01 +6 picture #d62728 picture.n.01,photograph.n.01,picture_frame.n.01 picture +7 cabinet #1f77b4 cabinet.n.01,cupboard.n.01 cabinet +8 cushion #bcbd22 cushion.n.03 pillow couch cushion +9 window #ff9896 window.n.01,windowsill.n.01,window_frame.n.01,windowpane.n.02,window_screen.n.01 window +10 sofa #2ca02c sofa.n.01 sofa +11 bed #e377c2 bed.n.01,bedpost.n.01,bedstead.n.01,headboard.n.01,footboard.n.01,bedspread.n.01,mattress.n.01,sheet.n.03 bed +12 curtain #de9ed6 curtain.n.01 curtain,shower curtain curtain rod,shower curtain rod,shower rod +13 chest_of_drawers #9467bd chest_of_drawers.n.01,drawer.n.01 dresser,night stand +14 plant #8ca252 plant.n.02 +15 sink #843c39 sink.n.01 sink +16 stairs #9edae5 step.n.04,stairway.n.01,stairwell.n.01 +17 ceiling #9c9ede ceiling.n.01,roof.n.01 ceiling +18 toilet #e7969c toilet.n.01,bidet.n.01 toilet +19 stool #637939 stool.n.01 +20 towel #8c564b towel.n.01 towel +21 mirror #dbdb8d mirror.n.01 mirror +22 tv_monitor #d6616b display.n.06 television +23 shower #cedb9c shower.n.01,showerhead.n.01 +24 column #e7ba52 column.n.07,post.n.04 +25 bathtub #393b79 bathtub.n.01 bathtub +26 counter #a55194 countertop.n.01,counter.n.01,kitchen_island.n.01 counter +27 fireplace #ad494a fireplace.n.01,mantel.n.01 +28 lighting #b5cf6b lamp.n.02,lampshade.n.01,light.n.02,chandelier.n.01,spotlight.n.02 lamp +29 beam #5254a3 beam.n.02 +30 railing #bd9e39 railing.n.01,bannister.n.02 +31 shelving #c49c94 bookshelf.n.01,shelf.n.01,rack.n.05 shelves +32 blinds #f7b6d2 window_blind.n.01 blinds +33 gym_equipment #6b6ecf sports_equipment.n.01,treadmill.n.01,exercise_bike.n.01 +34 seating #ffbb78 bench.n.01,seat.n.03 +35 board_panel #c7c7c7 panel.n.01 whiteboard board +36 furniture #8c6d31 furniture.n.01 otherfurniture +37 appliances #e7cb94 home_appliance.n.01,stove.n.02,dryer.n.01 refridgerator washing machine and dryer +38 clothes #ce6dbd clothing.n.01 clothes +39 objects #17becf physical_object.n.01,material.n.01 books,paper,box,bag,otherprop structure.n.01,way.n.06,vent.n.01,unknown.n.01,pool.n.01 +40 misc #7f7f7f person,otherstructure unknown.n.01 +41 unlabeled #000000 unknown.n.01 unknown diff --git a/omniverse/extension/omni.isaac.matterport/omni/isaac/matterport/config/__init__.py b/omniverse/extension/omni.isaac.matterport/omni/isaac/matterport/config/__init__.py new file mode 100644 index 0000000..cd34cfa --- /dev/null +++ b/omniverse/extension/omni.isaac.matterport/omni/isaac/matterport/config/__init__.py @@ -0,0 +1,10 @@ +# Copyright (c) 2023-2024, ETH Zurich (Robotics Systems Lab) +# Author: Pascal Roth +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + + +from .importer_cfg import AssetConverterContext, MatterportImporterCfg + +__all__ = ["MatterportImporterCfg", "AssetConverterContext"] diff --git a/omniverse/extension/omni.isaac.matterport/omni/isaac/matterport/config/importer_cfg.py b/omniverse/extension/omni.isaac.matterport/omni/isaac/matterport/config/importer_cfg.py new file mode 100644 index 0000000..8c7b8c6 --- /dev/null +++ b/omniverse/extension/omni.isaac.matterport/omni/isaac/matterport/config/importer_cfg.py @@ -0,0 +1,80 @@ +# Copyright (c) 2023-2024, ETH Zurich (Robotics Systems Lab) +# Author: Pascal Roth +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + + +from omni.isaac.core.utils import extensions +from omni.isaac.lab.terrains import TerrainImporterCfg +from omni.isaac.lab.utils import configclass +from omni.isaac.matterport.domains import MatterportImporter +from typing_extensions import Literal + +extensions.enable_extension("omni.kit.asset_converter") +from omni.kit.asset_converter.impl import AssetConverterContext + +# NOTE: hopefully will be soon changed to dataclass, then initialization can be improved +asset_converter_cfg: AssetConverterContext = AssetConverterContext() +asset_converter_cfg.ignore_materials = False +# Don't import/export materials +asset_converter_cfg.ignore_animations = False +# Don't import/export animations +asset_converter_cfg.ignore_camera = False +# Don't import/export cameras +asset_converter_cfg.ignore_light = False +# Don't import/export lights +asset_converter_cfg.single_mesh = False +# By default, instanced props will be export as single USD for reference. If +# this flag is true, it will export all props into the same USD without instancing. +asset_converter_cfg.smooth_normals = True +# Smoothing normals, which is only for assimp backend. +asset_converter_cfg.export_preview_surface = False +# Imports material as UsdPreviewSurface instead of MDL for USD export +asset_converter_cfg.use_meter_as_world_unit = True +# Sets world units to meters, this will also scale asset if it's centimeters model. +asset_converter_cfg.create_world_as_default_root_prim = True +# Creates /World as the root prim for Kit needs. +asset_converter_cfg.embed_textures = True +# Embedding textures into output. This is only enabled for FBX and glTF export. +asset_converter_cfg.convert_fbx_to_y_up = False +# Always use Y-up for fbx import. +asset_converter_cfg.convert_fbx_to_z_up = True +# Always use Z-up for fbx import. +asset_converter_cfg.keep_all_materials = False +# If it's to remove non-referenced materials. +asset_converter_cfg.merge_all_meshes = False +# Merges all meshes to single one if it can. +asset_converter_cfg.use_double_precision_to_usd_transform_op = False +# Uses double precision for all transform ops. +asset_converter_cfg.ignore_pivots = False +# Don't export pivots if assets support that. +asset_converter_cfg.disabling_instancing = False +# Don't export instancing assets with instanceable flag. +asset_converter_cfg.export_hidden_props = False +# By default, only visible props will be exported from USD exporter. +asset_converter_cfg.baking_scales = False +# Only for FBX. It's to bake scales into meshes. + + +@configclass +class MatterportImporterCfg(TerrainImporterCfg): + class_type: type = MatterportImporter + """The class name of the terrain importer.""" + + terrain_type: Literal["matterport"] = "matterport" + """The type of terrain to generate. Defaults to "matterport". + + """ + + prim_path: str = "/World/Matterport" + """The absolute path of the Matterport Environment prim. + + All sub-terrains are imported relative to this prim path. + """ + + obj_filepath: str = "" + + asset_converter: AssetConverterContext = asset_converter_cfg + + groundplane: bool = True diff --git a/omniverse/extension/omni.isaac.matterport/omni/isaac/matterport/domains/__init__.py b/omniverse/extension/omni.isaac.matterport/omni/isaac/matterport/domains/__init__.py new file mode 100644 index 0000000..b7f1221 --- /dev/null +++ b/omniverse/extension/omni.isaac.matterport/omni/isaac/matterport/domains/__init__.py @@ -0,0 +1,25 @@ +# Copyright (c) 2023-2024, ETH Zurich (Robotics Systems Lab) +# Author: Pascal Roth +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + + +import os + +DATA_DIR = os.path.abspath(os.path.join(os.path.dirname(__file__), "../../../../data")) + +from .matterport_importer import MatterportImporter +from .matterport_raycast_camera import MatterportRayCasterCamera +from .matterport_raycaster import MatterportRayCaster +from .raycaster_cfg import MatterportRayCasterCfg + +__all__ = [ + "MatterportRayCasterCamera", + "MatterportImporter", + "MatterportRayCaster", + "MatterportRayCasterCfg", + "DATA_DIR", +] + +# EoF diff --git a/omniverse/extension/omni.isaac.matterport/omni/isaac/matterport/domains/matterport_importer.py b/omniverse/extension/omni.isaac.matterport/omni/isaac/matterport/domains/matterport_importer.py new file mode 100644 index 0000000..15de5ee --- /dev/null +++ b/omniverse/extension/omni.isaac.matterport/omni/isaac/matterport/domains/matterport_importer.py @@ -0,0 +1,162 @@ +# Copyright (c) 2023-2024, ETH Zurich (Robotics Systems Lab) +# Author: Pascal Roth +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + + +from __future__ import annotations + +import builtins + +# python +import os +from typing import TYPE_CHECKING + +# omni +import carb +import omni.isaac.core.utils.prims as prim_utils +import omni.isaac.core.utils.stage as stage_utils + +# isaac-lab +import omni.isaac.lab.sim as sim_utils +from omni.isaac.core.simulation_context import SimulationContext +from omni.isaac.lab.terrains import TerrainImporter + +if TYPE_CHECKING: + from omni.isaac.matterport.config import MatterportImporterCfg + +# omniverse +from omni.isaac.core.utils import extensions + +extensions.enable_extension("omni.kit.asset_converter") +import omni.kit.asset_converter as converter + + +class MatterportConverter: + def __init__(self, input_obj: str, context: converter.impl.AssetConverterContext) -> None: + self._input_obj = input_obj + self._context = context + + # setup converter + self.task_manager = converter.extension.AssetImporterExtension() + return + + async def convert_asset_to_usd(self) -> None: + # get usd file path and create directory + base_path, _ = os.path.splitext(self._input_obj) + # set task + task = self.task_manager.create_converter_task( + self._input_obj, base_path + ".usd", asset_converter_context=self._context + ) + success = await task.wait_until_finished() + + # print error + if not success: + detailed_status_code = task.get_status() + detailed_status_error_string = task.get_error_message() + carb.log_error( + f"Failed to convert {self._input_obj} to {base_path + '.usd'} " + f"with status {detailed_status_code} and error {detailed_status_error_string}" + ) + return + + +class MatterportImporter(TerrainImporter): + """ + Default stairs environment for testing + """ + + cfg: MatterportImporterCfg + + def __init__(self, cfg: MatterportImporterCfg) -> None: + """ + :param + """ + # store inputs + self.cfg = cfg + self.device = SimulationContext.instance().device + + # create a dict of meshes + self.meshes = dict() + self.warp_meshes = dict() + self.env_origins = None + self.terrain_origins = None + + # import the world + if not self.cfg.terrain_type == "matterport": + raise ValueError( + "MatterportImporter can only import 'matterport' data. Given terrain type " + f"'{self.cfg.terrain_type}'is not supported." + ) + + if builtins.ISAAC_LAUNCHED_FROM_TERMINAL is False: + self.load_world() + else: + carb.log_info("[INFO]: Loading in extension mode requires calling 'load_world_async'") + + if isinstance(self.cfg.num_envs, int): + self.configure_env_origins() + + # set initial state of debug visualization + self.set_debug_vis(self.cfg.debug_vis) + + # Converter + self.converter: MatterportConverter = MatterportConverter(self.cfg.obj_filepath, self.cfg.asset_converter) + return + + async def load_world_async(self) -> None: + """Function called when clicking load button""" + # create world + await self.load_matterport() + # update stage for any remaining process. + await stage_utils.update_stage_async() + # Now we are ready! + carb.log_info("[INFO]: Setup complete...") + return + + def load_world(self) -> None: + """Function called when clicking load button""" + # create world + self.load_matterport_sync() + # update stage for any remaining process. + stage_utils.update_stage() + # Now we are ready! + carb.log_info("[INFO]: Setup complete...") + return + + async def load_matterport(self) -> None: + _, ext = os.path.splitext(self.cfg.obj_filepath) + # if obj mesh --> convert to usd + if ext == ".obj": + await self.converter.convert_asset_to_usd() + # add mesh to stage + self.load_matterport_sync() + + def load_matterport_sync(self) -> None: + base_path, _ = os.path.splitext(self.cfg.obj_filepath) + assert os.path.exists(base_path + ".usd"), ( + "Matterport load sync can only handle '.usd' files not obj files. " + "Please use the async function to convert the obj file to usd first (accessed over the extension in the GUI)" + ) + + self._xform_prim = prim_utils.create_prim( + prim_path=self.cfg.prim_path + "/Matterport", translation=(0.0, 0.0, 0.0), usd_path=base_path + ".usd" + ) + + # apply collider properties + collider_cfg = sim_utils.CollisionPropertiesCfg(collision_enabled=True) + sim_utils.define_collision_properties(self._xform_prim.GetPrimPath(), collider_cfg) + + # create physics material + physics_material_cfg: sim_utils.RigidBodyMaterialCfg = self.cfg.physics_material + # spawn the material + physics_material_cfg.func(f"{self.cfg.prim_path}/physicsMaterial", self.cfg.physics_material) + sim_utils.bind_physics_material(self._xform_prim.GetPrimPath(), f"{self.cfg.prim_path}/physicsMaterial") + + # add colliders and physics material + if self.cfg.groundplane: + ground_plane_cfg = sim_utils.GroundPlaneCfg(physics_material=self.cfg.physics_material) + ground_plane = ground_plane_cfg.func("/World/GroundPlane", ground_plane_cfg) + ground_plane.visible = False + return diff --git a/omniverse/extension/omni.isaac.matterport/omni/isaac/matterport/domains/matterport_raycast_camera.py b/omniverse/extension/omni.isaac.matterport/omni/isaac/matterport/domains/matterport_raycast_camera.py new file mode 100644 index 0000000..77f21e6 --- /dev/null +++ b/omniverse/extension/omni.isaac.matterport/omni/isaac/matterport/domains/matterport_raycast_camera.py @@ -0,0 +1,204 @@ +# Copyright (c) 2023-2024, ETH Zurich (Robotics Systems Lab) +# Author: Pascal Roth +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + + +from __future__ import annotations + +import os +from typing import ClassVar, Sequence + +import carb +import numpy as np +import omni.isaac.lab.utils.math as math_utils +import pandas as pd +import torch +import trimesh +import warp as wp +from omni.isaac.lab.sensors import RayCasterCamera, RayCasterCameraCfg +from omni.isaac.lab.utils.warp import raycast_mesh +from omni.isaac.matterport.domains import DATA_DIR +from tensordict import TensorDict + + +class MatterportRayCasterCamera(RayCasterCamera): + UNSUPPORTED_TYPES: ClassVar[dict] = { + "rgb", + "instance_id_segmentation", + "instance_segmentation", + "skeleton_data", + "motion_vectors", + "bounding_box_2d_tight", + "bounding_box_2d_loose", + "bounding_box_3d", + } + """Data types that are not supported by the ray-caster.""" + + face_id_category_mapping: ClassVar[dict] = {} + """Mapping from face id to semantic category id.""" + + def __init__(self, cfg: RayCasterCameraCfg): + # initialize base class + super().__init__(cfg) + + def _check_supported_data_types(self, cfg: RayCasterCameraCfg): + # check if there is any intersection in unsupported types + # reason: we cannot obtain this data from simplified warp-based ray caster + common_elements = set(cfg.data_types) & MatterportRayCasterCamera.UNSUPPORTED_TYPES + if common_elements: + raise ValueError( + f"RayCasterCamera class does not support the following sensor types: {common_elements}." + "\n\tThis is because these sensor types cannot be obtained in a fast way using ''warp''." + "\n\tHint: If you need to work with these sensor types, we recommend using the USD camera" + " interface from the omni.isaac.lab.sensors.camera module." + ) + + def _initialize_impl(self): + super()._initialize_impl() + + # load categort id to class mapping (name and id of mpcat40 redcued class set) + # More Information: https://github.com/niessner/Matterport/blob/master/data_organization.md#house_segmentations + mapping = pd.read_csv(DATA_DIR + "/mappings/category_mapping.tsv", sep="\t") + self.mapping_mpcat40 = torch.tensor(mapping["mpcat40index"].to_numpy(), device=self._device, dtype=torch.long) + self._color_mapping() + + def _color_mapping(self): + # load defined colors for mpcat40 + mapping_40 = pd.read_csv(DATA_DIR + "/mappings/mpcat40.tsv", sep="\t") + color = mapping_40["hex"].to_numpy() + self.color = torch.tensor( + [(int(color[i][1:3], 16), int(color[i][3:5], 16), int(color[i][5:7], 16)) for i in range(len(color))], + device=self._device, + dtype=torch.uint8, + ) + + def _initialize_warp_meshes(self): + # check if mesh is already loaded + for mesh_prim_path in self.cfg.mesh_prim_paths: + if ( + mesh_prim_path in MatterportRayCasterCamera.meshes + and mesh_prim_path in MatterportRayCasterCamera.face_id_category_mapping + ): + continue + + # find ply + if os.path.isabs(mesh_prim_path): + file_path = mesh_prim_path + assert os.path.isfile(mesh_prim_path), f"No .ply file found under absolute path: {mesh_prim_path}" + else: + file_path = os.path.join(DATA_DIR, mesh_prim_path) + assert os.path.isfile( + file_path + ), f"No .ply file found under relative path to extension data: {file_path}" + + # load ply + curr_trimesh = trimesh.load(file_path) + + if mesh_prim_path not in MatterportRayCasterCamera.meshes: + # Convert trimesh into wp mesh + mesh_wp = wp.Mesh( + points=wp.array(curr_trimesh.vertices.astype(np.float32), dtype=wp.vec3, device=self._device), + indices=wp.array(curr_trimesh.faces.astype(np.int32).flatten(), dtype=int, device=self._device), + ) + # save mesh + MatterportRayCasterCamera.meshes[mesh_prim_path] = mesh_wp + + if mesh_prim_path not in MatterportRayCasterCamera.face_id_category_mapping: + # create mapping from face id to semantic categroy id + # get raw face information + faces_raw = curr_trimesh.metadata["_ply_raw"]["face"]["data"] + carb.log_info(f"Raw face information of type {faces_raw.dtype}") + # get face categories + face_id_category_mapping = torch.tensor( + [single_face[3] for single_face in faces_raw], device=self._device + ) + # save mapping + MatterportRayCasterCamera.face_id_category_mapping[mesh_prim_path] = face_id_category_mapping + + def _update_buffers_impl(self, env_ids: Sequence[int]): + """Fills the buffers of the sensor data.""" + # increment frame count + self._frame[env_ids] += 1 + + # compute poses from current view + pos_w, quat_w = self._compute_camera_world_poses(env_ids) + # update the data + self._data.pos_w[env_ids] = pos_w + self._data.quat_w_world[env_ids] = quat_w + + # note: full orientation is considered + ray_starts_w = math_utils.quat_apply(quat_w.repeat(1, self.num_rays), self.ray_starts[env_ids]) + ray_starts_w += pos_w.unsqueeze(1) + ray_directions_w = math_utils.quat_apply(quat_w.repeat(1, self.num_rays), self.ray_directions[env_ids]) + # ray cast and store the hits + # TODO: Make ray-casting work for multiple meshes? + # necessary for regular dictionaries. + self.ray_hits_w, ray_depth, ray_normal, ray_face_ids = raycast_mesh( + ray_starts_w, + ray_directions_w, + mesh=RayCasterCamera.meshes[self.cfg.mesh_prim_paths[0]], + max_dist=self.cfg.max_distance, + return_distance=any( + [name in self.cfg.data_types for name in ["distance_to_image_plane", "distance_to_camera"]] + ), + return_normal="normals" in self.cfg.data_types, + return_face_id="semantic_segmentation" in self.cfg.data_types, + ) + # update output buffers + if "distance_to_image_plane" in self.cfg.data_types: + # note: data is in camera frame so we only take the first component (z-axis of camera frame) + distance_to_image_plane = ( + math_utils.quat_apply( + math_utils.quat_inv(quat_w).repeat(1, self.num_rays), + (ray_depth[:, :, None] * ray_directions_w), + ) + )[:, :, 0] + self._data.output["distance_to_image_plane"][env_ids] = distance_to_image_plane.view(-1, *self.image_shape) + if "distance_to_camera" in self.cfg.data_types: + self._data.output["distance_to_camera"][env_ids] = ray_depth.view(-1, *self.image_shape) + if "normals" in self.cfg.data_types: + self._data.output["normals"][env_ids] = ray_normal.view(-1, *self.image_shape, 3) + if "semantic_segmentation" in self._data.output.keys(): # noqa: SIM118 + # get the category index of the hit faces (category index from unreduced set = ~1600 classes) + face_id = MatterportRayCasterCamera.face_id_category_mapping[self.cfg.mesh_prim_paths[0]][ + ray_face_ids.flatten().type(torch.long) + ] + # map category index to reduced set + face_id_mpcat40 = self.mapping_mpcat40[face_id.type(torch.long) - 1] + # get the color of the face + face_color = self.color[face_id_mpcat40] + # reshape and transpose to get the correct orientation + self._data.output["semantic_segmentation"][env_ids] = face_color.view(-1, *self.image_shape, 3) + + def _create_buffers(self): + """Create the buffers to store data.""" + # prepare drift + self.drift = torch.zeros(self._view.count, 3, device=self.device) + # create the data object + # -- pose of the cameras + self._data.pos_w = torch.zeros((self._view.count, 3), device=self._device) + self._data.quat_w_world = torch.zeros((self._view.count, 4), device=self._device) + # -- intrinsic matrix + self._data.intrinsic_matrices = torch.zeros((self._view.count, 3, 3), device=self._device) + self._data.intrinsic_matrices[:, 2, 2] = 1.0 + self._data.image_shape = self.image_shape + # -- output data + # create the buffers to store the annotator data. + self._data.output = TensorDict({}, batch_size=self._view.count, device=self.device) + self._data.info = [{name: None for name in self.cfg.data_types}] * self._view.count + for name in self.cfg.data_types: + if name in ["distance_to_image_plane", "distance_to_camera"]: + shape = (self.cfg.pattern_cfg.height, self.cfg.pattern_cfg.width) + dtype = torch.float32 + elif name in ["normals"]: + shape = (self.cfg.pattern_cfg.height, self.cfg.pattern_cfg.width, 3) + dtype = torch.float32 + elif name in ["semantic_segmentation"]: + shape = (self.cfg.pattern_cfg.height, self.cfg.pattern_cfg.width, 3) + dtype = torch.uint8 + else: + raise ValueError(f"Unknown data type: {name}") + # store the data + self._data.output[name] = torch.zeros((self._view.count, *shape), dtype=dtype, device=self._device) diff --git a/omniverse/extension/omni.isaac.matterport/omni/isaac/matterport/domains/matterport_raycaster.py b/omniverse/extension/omni.isaac.matterport/omni/isaac/matterport/domains/matterport_raycaster.py new file mode 100644 index 0000000..a2c7705 --- /dev/null +++ b/omniverse/extension/omni.isaac.matterport/omni/isaac/matterport/domains/matterport_raycaster.py @@ -0,0 +1,76 @@ +# Copyright (c) 2023-2024, ETH Zurich (Robotics Systems Lab) +# Author: Pascal Roth +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + + +from __future__ import annotations + +import os +from typing import TYPE_CHECKING + +import numpy as np +import trimesh +import warp as wp +from omni.isaac.lab.sensors.ray_caster import RayCaster +from omni.isaac.matterport.domains import DATA_DIR + +if TYPE_CHECKING: + from .raycaster_cfg import MatterportRayCasterCfg + + +class MatterportRayCaster(RayCaster): + """A ray-casting sensor for matterport meshes. + + The ray-caster uses a set of rays to detect collisions with meshes in the scene. The rays are + defined in the sensor's local coordinate frame. The sensor can be configured to ray-cast against + a set of meshes with a given ray pattern. + + The meshes are parsed from the list of primitive paths provided in the configuration. These are then + converted to warp meshes and stored in the `warp_meshes` list. The ray-caster then ray-casts against + these warp meshes using the ray pattern provided in the configuration. + + .. note:: + Currently, only static meshes are supported. Extending the warp mesh to support dynamic meshes + is a work in progress. + """ + + cfg: MatterportRayCasterCfg + """The configuration parameters.""" + + def __init__(self, cfg: MatterportRayCasterCfg): + """Initializes the ray-caster object. + + Args: + cfg (MatterportRayCasterCfg): The configuration parameters. + """ + # initialize base class + super().__init__(cfg) + + def _initialize_warp_meshes(self): + # check if mesh is already loaded + for mesh_prim_path in self.cfg.mesh_prim_paths: + if mesh_prim_path in MatterportRayCaster.meshes: + continue + + # find ply + if os.path.isabs(mesh_prim_path): + file_path = mesh_prim_path + assert os.path.isfile(mesh_prim_path), f"No .ply file found under absolute path: {mesh_prim_path}" + else: + file_path = os.path.join(DATA_DIR, mesh_prim_path) + assert os.path.isfile( + file_path + ), f"No .ply file found under relative path to extension data: {file_path}" + + # load ply + curr_trimesh = trimesh.load(file_path) + + # Convert trimesh into wp mesh + mesh_wp = wp.Mesh( + points=wp.array(curr_trimesh.vertices.astype(np.float32), dtype=wp.vec3, device=self._device), + indices=wp.array(curr_trimesh.faces.astype(np.int32).flatten(), dtype=int, device=self._device), + ) + # save mesh + MatterportRayCaster.meshes[mesh_prim_path] = mesh_wp diff --git a/omniverse/extension/omni.isaac.matterport/omni/isaac/matterport/domains/raycaster_cfg.py b/omniverse/extension/omni.isaac.matterport/omni/isaac/matterport/domains/raycaster_cfg.py new file mode 100644 index 0000000..4eab33f --- /dev/null +++ b/omniverse/extension/omni.isaac.matterport/omni/isaac/matterport/domains/raycaster_cfg.py @@ -0,0 +1,19 @@ +# Copyright (c) 2023-2024, ETH Zurich (Robotics Systems Lab) +# Author: Pascal Roth +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + + +from omni.isaac.lab.sensors.ray_caster import RayCasterCfg +from omni.isaac.lab.utils import configclass + +from .matterport_raycaster import MatterportRayCaster + + +@configclass +class MatterportRayCasterCfg(RayCasterCfg): + """Configuration for the ray-cast sensor for Matterport Environments.""" + + class_type = MatterportRayCaster + """Name of the specific matterport ray caster class.""" diff --git a/omniverse/extension/omni.isaac.matterport/omni/isaac/matterport/scripts/__init__.py b/omniverse/extension/omni.isaac.matterport/omni/isaac/matterport/scripts/__init__.py new file mode 100644 index 0000000..9f8774f --- /dev/null +++ b/omniverse/extension/omni.isaac.matterport/omni/isaac/matterport/scripts/__init__.py @@ -0,0 +1,10 @@ +# Copyright (c) 2023-2024, ETH Zurich (Robotics Systems Lab) +# Author: Pascal Roth +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + + +from .matterport_ext import MatterPortExtension + +__all__ = ["MatterPortExtension"] diff --git a/omniverse/extension/omni.isaac.matterport/omni/isaac/matterport/scripts/ext_cfg.py b/omniverse/extension/omni.isaac.matterport/omni/isaac/matterport/scripts/ext_cfg.py new file mode 100644 index 0000000..79a71ef --- /dev/null +++ b/omniverse/extension/omni.isaac.matterport/omni/isaac/matterport/scripts/ext_cfg.py @@ -0,0 +1,51 @@ +# Copyright (c) 2023-2024, ETH Zurich (Robotics Systems Lab) +# Author: Pascal Roth +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + + +# python +from dataclasses import dataclass + +from omni.isaac.matterport.config.importer_cfg import MatterportImporterCfg + + +@dataclass +class MatterportExtConfig: + # config classes + importer: MatterportImporterCfg = MatterportImporterCfg() + # semantic and depth information (can be changed individually for each camera) + visualize: bool = False + visualize_prim: str = None + + # set value functions + def set_friction_dynamic(self, value: float): + self.importer.physics_material.dynamic_friction = value + + def set_friction_static(self, value: float): + self.importer.physics_material.static_friction = value + + def set_restitution(self, value: float): + self.importer.physics_material.restitution = value + + def set_friction_combine_mode(self, value: int): + self.importer.physics_material.friction_combine_mode = value + + def set_restitution_combine_mode(self, value: int): + self.importer.physics_material.restitution_combine_mode = value + + def set_improved_patch_friction(self, value: bool): + self.importer.physics_material.improve_patch_friction = value + + def set_obj_filepath(self, value: str): + self.importer.obj_filepath = value + + def set_prim_path(self, value: str): + self.importer.prim_path = value + + def set_visualize(self, value: bool): + self.visualize = value + + def set_visualization_prim(self, value: str): + self.visualize_prim = value diff --git a/omniverse/extension/omni.isaac.matterport/omni/isaac/matterport/scripts/matterport_domains.py b/omniverse/extension/omni.isaac.matterport/omni/isaac/matterport/scripts/matterport_domains.py new file mode 100644 index 0000000..ba056dc --- /dev/null +++ b/omniverse/extension/omni.isaac.matterport/omni/isaac/matterport/scripts/matterport_domains.py @@ -0,0 +1,186 @@ +# Copyright (c) 2023-2024, ETH Zurich (Robotics Systems Lab) +# Author: Pascal Roth +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + + +from typing import Dict + +import carb +import matplotlib as mpl +import matplotlib.pyplot as plt +import numpy as np +import omni +import torch +from omni.isaac.lab.sensors.camera import CameraData +from omni.isaac.lab.sensors.ray_caster import RayCasterCfg +from omni.isaac.lab.sim import SimulationContext +from omni.isaac.matterport.domains.matterport_raycast_camera import ( + MatterportRayCasterCamera, +) + +from .ext_cfg import MatterportExtConfig + +mpl.use("Qt5Agg") + + +class MatterportDomains: + """ + Load Matterport3D Semantics and make them available to Isaac Sim + """ + + def __init__(self, cfg: MatterportExtConfig): + """ + Initialize MatterportSemWarp + + Args: + path (str): path to Matterport3D Semantics + """ + self._cfg: MatterportExtConfig = cfg + + # setup camera list + self.cameras: Dict[str, MatterportRayCasterCamera] = {} + + # setup camera visualization + self.figures = {} + + # internal parameters + self.callback_set = False + self.vis_init = False + self.prev_position = torch.zeros(3) + self.prev_orientation = torch.zeros(4) + + # add callbacks for stage play/stop + physx_interface = omni.physx.acquire_physx_interface() + self._initialize_handle = physx_interface.get_simulation_event_stream_v2().create_subscription_to_pop_by_type( + int(omni.physx.bindings._physx.SimulationEvent.RESUMED), self._initialize_callback + ) + self._invalidate_initialize_handle = ( + physx_interface.get_simulation_event_stream_v2().create_subscription_to_pop_by_type( + int(omni.physx.bindings._physx.SimulationEvent.STOPPED), self._invalidate_initialize_callback + ) + ) + return + + ## + # Public Methods + ## + + def register_camera(self, cfg: RayCasterCfg): + """ + Register a camera to the MatterportSemWarp + """ + # append to camera list + self.cameras[cfg.prim_path] = MatterportRayCasterCamera(cfg) + + ## + # Callback Setup + ## + def _invalidate_initialize_callback(self, val): + if self.callback_set: + self._sim.remove_render_callback("matterport_update") + self.callback_set = False + + def _initialize_callback(self, val): + if self.callback_set: + return + + # check for camera + if len(self.cameras) == 0: + carb.log_warn("No cameras added! Add cameras first, then enable the callback!") + return + + # get SimulationContext + if SimulationContext.instance(): + self._sim: SimulationContext = SimulationContext.instance() + else: + carb.log_error("No Simulation Context found! Matterport Callback not attached!") + + # add callback + self._sim.add_render_callback("matterport_update", callback_fn=self._update) + self.callback_set = True + + ## + # Callback Function + ## + + def _update(self, dt: float): + for camera in self.cameras.values(): + camera.update(dt.payload["dt"]) + + if self._cfg.visualize: + vis_prim = self._cfg.visualize_prim if self._cfg.visualize_prim else list(self.cameras.keys())[0] + if torch.all(self.cameras[vis_prim].data.pos_w.cpu() == self.prev_position) and torch.all( + self.cameras[vis_prim].data.quat_w_world.cpu() == self.prev_orientation + ): + return + self._update_visualization(self.cameras[vis_prim].data) + self.prev_position = self.cameras[vis_prim].data.pos_w.clone().cpu() + self.prev_orientation = self.cameras[vis_prim].data.quat_w_world.clone().cpu() + + ## + # Private Methods (Helper Functions) + ## + + # Visualization helpers ### + + def _init_visualization(self, data: CameraData): + """Initializes the visualization plane.""" + # init depth figure + self.n_bins = 500 # Number of bins in the colormap + self.color_array = mpl.colormaps["gist_rainbow"](np.linspace(0, 1, self.n_bins)) # Colormap + + if "semantic_segmentation" in data.output.keys(): # noqa: SIM118 + # init semantics figure + fg_sem = plt.figure() + ax_sem = fg_sem.gca() + ax_sem.set_title("Semantic Segmentation") + img_sem = ax_sem.imshow(data.output["semantic_segmentation"][0].cpu().numpy()) + self.figures["semantics"] = {"fig": fg_sem, "axis": ax_sem, "img": img_sem} + + if "distance_to_image_plane" in data.output.keys(): # noqa: SIM118 + # init semantics figure + fg_depth = plt.figure() + ax_depth = fg_depth.gca() + ax_depth.set_title("Distance To Image Plane") + img_depth = ax_depth.imshow(self.convert_depth_to_color(data.output["distance_to_image_plane"][0])) + self.figures["depth"] = {"fig": fg_depth, "axis": ax_depth, "img": img_depth} + + if len(self.figures) > 0: + plt.ion() + # update flag + self.vis_init = True + + def _update_visualization(self, data: CameraData) -> None: + """ + Updates the visualization plane. + """ + if self.vis_init is False: + self._init_visualization(data) + else: + # SEMANTICS + if "semantic_segmentation" in data.output.keys(): # noqa: SIM118 + self.figures["semantics"]["img"].set_array(data.output["semantic_segmentation"][0].cpu().numpy()) + self.figures["semantics"]["fig"].canvas.draw() + self.figures["semantics"]["fig"].canvas.flush_events() + + # DEPTH + if "distance_to_image_plane" in data.output.keys(): # noqa: SIM118 + # cam_data.img_depth.set_array(cam_data.render_depth) + self.figures["depth"]["img"].set_array( + self.convert_depth_to_color(data.output["distance_to_image_plane"][0]) + ) + self.figures["depth"]["fig"].canvas.draw() + self.figures["depth"]["fig"].canvas.flush_events() + + plt.pause(1e-6) + + def convert_depth_to_color(self, depth_img): + depth_img = depth_img.cpu().numpy() + depth_img[~np.isfinite(depth_img)] = depth_img.max() + depth_img_flattend = np.clip(depth_img.flatten(), a_min=0, a_max=depth_img.max()) + depth_img_flattend = np.round(depth_img_flattend / depth_img.max() * (self.n_bins - 1)).astype(np.int32) + depth_colors = self.color_array[depth_img_flattend] + depth_colors = depth_colors.reshape(depth_img.shape[0], depth_img.shape[1], 4) + return depth_colors diff --git a/omniverse/extension/omni.isaac.matterport/omni/isaac/matterport/scripts/matterport_ext.py b/omniverse/extension/omni.isaac.matterport/omni/isaac/matterport/scripts/matterport_ext.py new file mode 100644 index 0000000..beb1d5a --- /dev/null +++ b/omniverse/extension/omni.isaac.matterport/omni/isaac/matterport/scripts/matterport_ext.py @@ -0,0 +1,472 @@ +# Copyright (c) 2023-2024, ETH Zurich (Robotics Systems Lab) +# Author: Pascal Roth +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + + +import asyncio +import gc + +# python +import os + +import carb + +# omni +import omni +import omni.client +import omni.ext +import omni.isaac.core.utils.prims as prim_utils +import omni.isaac.core.utils.stage as stage_utils + +# isaac-core +import omni.ui as ui +from omni.isaac.lab.sensors.ray_caster import RayCasterCameraCfg, patterns +from omni.isaac.lab.sim import SimulationCfg, SimulationContext +from omni.isaac.matterport.domains import MatterportImporter + +# omni-isaac-ui +from omni.isaac.ui.ui_utils import ( + btn_builder, + cb_builder, + dropdown_builder, + float_builder, + get_style, + int_builder, + setup_ui_headers, + str_builder, +) + +# omni-isaac-matterport +from .ext_cfg import MatterportExtConfig +from .matterport_domains import MatterportDomains + +EXTENSION_NAME = "Matterport Importer" + + +def is_mesh_file(path: str) -> bool: + _, ext = os.path.splitext(path.lower()) + return ext in [".obj", ".usd"] + + +def is_ply_file(path: str) -> bool: + _, ext = os.path.splitext(path.lower()) + return ext in [".ply"] + + +def on_filter_obj_item(item) -> bool: + if not item or item.is_folder: + return not (item.name == "Omniverse" or item.path.startswith("omniverse:")) + return is_mesh_file(item.path) + + +def on_filter_ply_item(item) -> bool: + if not item or item.is_folder: + return not (item.name == "Omniverse" or item.path.startswith("omniverse:")) + return is_ply_file(item.path) + + +class MatterPortExtension(omni.ext.IExt): + """Extension to load Matterport 3D Environments into Isaac Sim""" + + def on_startup(self, ext_id): + self._ext_id = ext_id + self._usd_context = omni.usd.get_context() + self._window = omni.ui.Window( + EXTENSION_NAME, width=400, height=500, visible=True, dockPreference=ui.DockPreference.LEFT_BOTTOM + ) + + # init config class and get path to extension + self._config = MatterportExtConfig() + self._extension_path = omni.kit.app.get_app().get_extension_manager().get_extension_path(ext_id) + + # set additional parameters + self._input_fields: dict = {} # dictionary to store values of buttion, float fields, etc. + self.domains: MatterportDomains = None # callback class for semantic rendering + self.ply_proposal: str = "" + # build ui + self.build_ui() + return + + ## + # UI Build functions + ## + + def build_ui(self, build_cam: bool = False, build_viz: bool = False): + with self._window.frame: + with ui.VStack(spacing=5, height=0): + self._build_info_ui() + + self._build_import_ui() + + if build_cam: + self._build_camera_ui() + + if build_viz: + self._build_viz_ui() + + async def dock_window(): + await omni.kit.app.get_app().next_update_async() + + def dock(space, name, location, pos=0.5): + window = omni.ui.Workspace.get_window(name) + if window and space: + window.dock_in(space, location, pos) + return window + + tgt = ui.Workspace.get_window("Viewport") + dock(tgt, EXTENSION_NAME, omni.ui.DockPosition.LEFT, 0.33) + await omni.kit.app.get_app().next_update_async() + + self._task = asyncio.ensure_future(dock_window()) + + def _build_info_ui(self): + title = EXTENSION_NAME + doc_link = "https://github.com/leggedrobotics/omni_isaac_orbit" + + overview = "This utility is used to import Matterport3D Environments into Isaac Sim. " + overview += "The environment and additional information are available at https://github.com/niessner/Matterport" + overview += "\n\nPress the 'Open in IDE' button to view the source code." + + setup_ui_headers(self._ext_id, __file__, title, doc_link, overview) + return + + def _build_import_ui(self): + frame = ui.CollapsableFrame( + title="Import Dataset", + height=0, + collapsed=False, + style=get_style(), + style_type_name_override="CollapsableFrame", + horizontal_scrollbar_policy=ui.ScrollBarPolicy.SCROLLBAR_AS_NEEDED, + vertical_scrollbar_policy=ui.ScrollBarPolicy.SCROLLBAR_ALWAYS_ON, + ) + with frame: + with ui.VStack(style=get_style(), spacing=5, height=0): + # PhysicsMaterial + self._input_fields["friction_dynamic"] = float_builder( + "Dynamic Friction", + default_val=self._config.importer.physics_material.dynamic_friction, + tooltip=f"Sets the dynamic friction of the physics material (default: {self._config.importer.physics_material.dynamic_friction})", + ) + self._input_fields["friction_dynamic"].add_value_changed_fn( + lambda m, config=self._config: config.set_friction_dynamic(m.get_value_as_float()) + ) + self._input_fields["friction_static"] = float_builder( + "Static Friction", + default_val=self._config.importer.physics_material.static_friction, + tooltip=f"Sets the static friction of the physics material (default: {self._config.importer.physics_material.static_friction})", + ) + self._input_fields["friction_static"].add_value_changed_fn( + lambda m, config=self._config: config.set_friction_static(m.get_value_as_float()) + ) + self._input_fields["restitution"] = float_builder( + "Restitution", + default_val=self._config.importer.physics_material.restitution, + tooltip=f"Sets the restitution of the physics material (default: {self._config.importer.physics_material.restitution})", + ) + self._input_fields["restitution"].add_value_changed_fn( + lambda m, config=self._config: config.set_restitution(m.get_value_as_float()) + ) + friction_restitution_options = ["average", "min", "multiply", "max"] + dropdown_builder( + "Friction Combine Mode", + items=friction_restitution_options, + default_val=friction_restitution_options.index( + self._config.importer.physics_material.friction_combine_mode + ), + on_clicked_fn=lambda mode_str, config=self._config: config.set_friction_combine_mode(mode_str), + tooltip=f"Sets the friction combine mode of the physics material (default: {self._config.importer.physics_material.friction_combine_mode})", + ) + dropdown_builder( + "Restitution Combine Mode", + items=friction_restitution_options, + default_val=friction_restitution_options.index( + self._config.importer.physics_material.restitution_combine_mode + ), + on_clicked_fn=lambda mode_str, config=self._config: config.set_restitution_combine_mode(mode_str), + tooltip=f"Sets the friction combine mode of the physics material (default: {self._config.importer.physics_material.restitution_combine_mode})", + ) + cb_builder( + label="Improved Patch Friction", + tooltip=f"Sets the improved patch friction of the physics material (default: {self._config.importer.physics_material.improve_patch_friction})", + on_clicked_fn=lambda m, config=self._config: config.set_improved_patch_friction(m), + default_val=self._config.importer.physics_material.improve_patch_friction, + ) + + # Set prim path for environment + self._input_fields["prim_path"] = str_builder( + "Prim Path of the Environment", + tooltip="Prim path of the environment", + default_val=self._config.importer.prim_path, + ) + self._input_fields["prim_path"].add_value_changed_fn( + lambda m, config=self._config: config.set_prim_path(m.get_value_as_string()) + ) + + # read import location + def check_file_type(model=None): + path = model.get_value_as_string() + if is_mesh_file(path): + self._input_fields["import_btn"].enabled = True + self._make_ply_proposal(path) + self._config.set_obj_filepath(path) + else: + self._input_fields["import_btn"].enabled = False + carb.log_warn(f"Invalid path to .obj file: {path}") + + kwargs = { + "label": "Input File", + "default_val": self._config.importer.obj_filepath, + "tooltip": "Click the Folder Icon to Set Filepath", + "use_folder_picker": True, + "item_filter_fn": on_filter_obj_item, + "bookmark_label": "Included Matterport3D meshs", + "bookmark_path": f"{self._extension_path}/data/mesh", + "folder_dialog_title": "Select .obj File", + "folder_button_title": "*.obj, *.usd", + } + self._input_fields["input_file"] = str_builder(**kwargs) + self._input_fields["input_file"].add_value_changed_fn(check_file_type) + + self._input_fields["import_btn"] = btn_builder( + "Import", text="Import", on_clicked_fn=self._start_loading + ) + self._input_fields["import_btn"].enabled = False + + return + + def _build_camera_ui(self): + frame = ui.CollapsableFrame( + title="Add Camera", + height=0, + collapsed=False, + style=get_style(), + style_type_name_override="CollapsableFrame", + horizontal_scrollbar_policy=ui.ScrollBarPolicy.SCROLLBAR_AS_NEEDED, + vertical_scrollbar_policy=ui.ScrollBarPolicy.SCROLLBAR_ALWAYS_ON, + ) + with frame: + with ui.VStack(style=get_style(), spacing=5, height=0): + # get import location and save directory + kwargs = { + "label": "Input ply File", + "default_val": self.ply_proposal, + "tooltip": "Click the Folder Icon to Set Filepath", + "use_folder_picker": True, + "item_filter_fn": on_filter_ply_item, + "bookmark_label": "Included Matterport3D Point-Cloud with semantic labels", + "bookmark_path": f"{self._extension_path}/data/mesh", + "folder_dialog_title": "Select .ply Point-Cloud File", + "folder_button_title": "Select .ply Point-Cloud", + } + self._input_fields["input_ply_file"] = str_builder(**kwargs) + + # data fields parameters + self._input_fields["camera_semantics"] = cb_builder( + label="Enable Semantics", + tooltip="Enable access to the semantics information of the mesh (default: True)", + default_val=True, + ) + self._input_fields["camera_depth"] = cb_builder( + label="Enable Distance to Camera Frame", + tooltip="Enable access to the depth information of the mesh - no additional compute effort (default: True)", + default_val=True, + ) + + # add camera sensor for which semantics and depth should be rendered + kwargs = { + "label": "Camera Prim Path", + "type": "stringfield", + "default_val": "", + "tooltip": "Enter Camera Prim Path", + "use_folder_picker": False, + } + self._input_fields["camera_prim"] = str_builder(**kwargs) + self._input_fields["camera_prim"].add_value_changed_fn(self.activate_load_camera) + + self._input_fields["cam_height"] = int_builder( + "Camera Height in Pixels", + default_val=480, + tooltip="Set the height of the camera image plane in pixels (default: 480)", + ) + + self._input_fields["cam_width"] = int_builder( + "Camera Width in Pixels", + default_val=640, + tooltip="Set the width of the camera image plane in pixels (default: 640)", + ) + + self._input_fields["load_camera"] = btn_builder( + "Add Camera", text="Add Camera", on_clicked_fn=self._register_camera + ) + self._input_fields["load_camera"].enabled = False + return + + def _build_viz_ui(self): + frame = ui.CollapsableFrame( + title="Visualization", + height=0, + collapsed=False, + style=get_style(), + style_type_name_override="CollapsableFrame", + horizontal_scrollbar_policy=ui.ScrollBarPolicy.SCROLLBAR_AS_NEEDED, + vertical_scrollbar_policy=ui.ScrollBarPolicy.SCROLLBAR_ALWAYS_ON, + ) + with frame: + with ui.VStack(style=get_style(), spacing=5, height=0): + cb_builder( + label="Visualization", + tooltip=f"Visualize Semantics and/or Depth (default: {self._config.visualize})", + on_clicked_fn=lambda m, config=self._config: config.set_visualize(m), + default_val=self._config.visualize, + ) + dropdown_builder( + "Shown Camera Prim", + items=list(self.domains.cameras.keys()), + default_val=0, + on_clicked_fn=lambda mode_str, config=self._config: config.set_visualization_prim(mode_str), + tooltip="Select the camera prim shown in the visualization window", + ) + + ## + # Shutdown Helpers + ## + + def on_shutdown(self): + if self._window: + self._window = None + gc.collect() + stage_utils.clear_stage() + + if self.domains is not None and self.domains.callback_set: + self.domains.set_domain_callback(True) + + ## + # Path Helpers + ## + def _make_ply_proposal(self, path: str) -> None: + """use default matterport datastructure to make proposal about point-cloud file + + - "env_id" + - matterport_mesh + - "id_nbr" + - "id_nbr".obj + - house_segmentations + - "env_id".ply + + """ + file_dir, file_name = os.path.split(path) + ply_dir = os.path.join(file_dir, "../..", "house_segmentations") + env_id = file_dir.split("/")[-3] + try: + ply_file = os.path.join(ply_dir, f"{env_id}.ply") + os.path.isfile(ply_file) + carb.log_verbose(f"Found ply file: {ply_file}") + self.ply_proposal = ply_file + except FileNotFoundError: + carb.log_verbose("No ply file found in default matterport datastructure") + + ## + # Load Mesh and Point-Cloud + ## + + async def load_matterport(self): + # simulation settings + # check if simulation context was created earlier or not. + if SimulationContext.instance(): + SimulationContext.clear_instance() + carb.log_warn("SimulationContext already loaded. Will clear now and init default SimulationContext") + + # create new simulation context + self.sim = SimulationContext(SimulationCfg()) + # initialize simulation + await self.sim.initialize_simulation_context_async() + # load matterport + self._matterport = MatterportImporter(self._config.importer) + await self._matterport.load_world_async() + + # reset the simulator + # note: this plays the simulator which allows setting up all the physics handles. + await self.sim.reset_async() + await self.sim.pause_async() + + def _start_loading(self): + path = self._config.importer.obj_filepath + if not path: + return + + # find obj, usd file + if os.path.isabs(path): + file_path = path + assert os.path.isfile(file_path), f"No .obj or .usd file found under absolute path: {file_path}" + else: + file_path = os.path.join(self._extension_path, "data", path) + assert os.path.isfile( + file_path + ), f"No .obj or .usd file found under relative path to extension data: {file_path}" + self._config.set_obj_filepath(file_path) # update config + carb.log_verbose("MatterPort 3D Mesh found, start loading...") + + asyncio.ensure_future(self.load_matterport()) + + carb.log_info("MatterPort 3D Mesh loaded") + self.build_ui(build_cam=True) + self._input_fields["import_btn"].enabled = False + + ## + # Register Cameras + ## + + def activate_load_camera(self, val): + self._input_fields["load_camera"].enabled = True + + def _register_camera(self): + ply_filepath = self._input_fields["input_ply_file"].get_value_as_string() + if not is_ply_file(ply_filepath): + carb.log_error("Given ply path is not valid! No camera created!") + + camera_path = self._input_fields["camera_prim"].get_value_as_string() + if not prim_utils.is_prim_path_valid(camera_path): # create prim if no prim found + prim_utils.create_prim(camera_path, "Xform") + + camera_semantics = self._input_fields["camera_semantics"].get_value_as_bool() + camera_depth = self._input_fields["camera_depth"].get_value_as_bool() + camera_width = self._input_fields["cam_width"].get_value_as_int() + camera_height = self._input_fields["cam_height"].get_value_as_int() + + # Setup camera sensor + data_types = [] + if camera_semantics: + data_types += ["semantic_segmentation"] + if camera_depth: + data_types += ["distance_to_image_plane"] + + camera_pattern_cfg = patterns.PinholeCameraPatternCfg( + focal_length=24.0, + horizontal_aperture=20.955, + height=camera_height, + width=camera_width, + ) + camera_cfg = RayCasterCameraCfg( + prim_path=camera_path, + mesh_prim_paths=[ply_filepath], + update_period=0, + offset=RayCasterCameraCfg.OffsetCfg(pos=(0.0, 0.0, 0.0), rot=(1.0, 0.0, 0.0, 0.0)), + debug_vis=True, + pattern_cfg=camera_pattern_cfg, + data_types=data_types, + ) + + if self.domains is None: + self.domains = MatterportDomains(self._config) + # register camera + self.domains.register_camera(camera_cfg) + + # initialize physics handles + self.sim.reset() + + # allow for tasks + self.build_ui(build_cam=True, build_viz=True) + return diff --git a/omniverse/extension/omni.isaac.matterport/setup.py b/omniverse/extension/omni.isaac.matterport/setup.py new file mode 100644 index 0000000..44c8a13 --- /dev/null +++ b/omniverse/extension/omni.isaac.matterport/setup.py @@ -0,0 +1,38 @@ +# Copyright (c) 2023-2024, ETH Zurich (Robotics Systems Lab) +# Author: Pascal Roth +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + + +"""Installation script for the 'omni.isaac.matterport' python package.""" + + +from setuptools import setup + +# Minimum dependencies required prior to installation +INSTALL_REQUIRES = [ + # generic + "trimesh", + "PyQt5", + "matplotlib>=3.5.0", + "pandas", +] + +# Installation operation +setup( + name="omni-isaac-matterport", + author="Pascal Roth", + author_email="rothpa@ethz.ch", + version="0.0.1", + description="Extension to include Matterport 3D Datasets into Isaac (taken from https://niessner.github.io/Matterport/).", + keywords=["robotics"], + include_package_data=True, + python_requires=">=3.7", + install_requires=INSTALL_REQUIRES, + packages=["omni.isaac.matterport"], + classifiers=["Natural Language :: English", "Programming Language :: Python :: 3.7"], + zip_safe=False, +) + +# EOF diff --git a/omniverse/extension/omni.viplanner/config/extension.toml b/omniverse/extension/omni.viplanner/config/extension.toml index 1d19661..ceb2845 100644 --- a/omniverse/extension/omni.viplanner/config/extension.toml +++ b/omniverse/extension/omni.viplanner/config/extension.toml @@ -12,7 +12,7 @@ readme = "docs/README.md" "omni.kit.uiapp" = {} "omni.isaac.ui" = {} "omni.isaac.core" = {} -"omni.isaac.orbit" = {} +"omni.isaac.lab" = {} # Main python module this extension provides. [[python.module]] diff --git a/omniverse/extension/omni.viplanner/data/warehouse/people_cfg.yml b/omniverse/extension/omni.viplanner/data/warehouse/people_cfg.yml index ee049f8..df3e9be 100644 --- a/omniverse/extension/omni.viplanner/data/warehouse/people_cfg.yml +++ b/omniverse/extension/omni.viplanner/data/warehouse/people_cfg.yml @@ -6,7 +6,7 @@ person_1: prim_name: "Person_1" - translation: [4.23985, -2.42198, 0.0] + translation: [4.23985, -1.42198, 0.0] target: [0, 0, 0] usd_path: People/Characters/male_adult_construction_01_new/male_adult_construction_01_new.usd diff --git a/omniverse/extension/omni.viplanner/data/warehouse/warehouse_new.usd b/omniverse/extension/omni.viplanner/data/warehouse/warehouse_new.usd new file mode 100644 index 0000000..8284e34 Binary files /dev/null and b/omniverse/extension/omni.viplanner/data/warehouse/warehouse_new.usd differ diff --git a/omniverse/extension/omni.viplanner/omni/viplanner/config/base_cfg.py b/omniverse/extension/omni.viplanner/omni/viplanner/config/base_cfg.py index 393da89..7be0804 100644 --- a/omniverse/extension/omni.viplanner/omni/viplanner/config/base_cfg.py +++ b/omniverse/extension/omni.viplanner/omni/viplanner/config/base_cfg.py @@ -7,14 +7,14 @@ import os import omni.viplanner.viplanner.mdp as mdp -from omni.isaac.orbit.envs import RLTaskEnvCfg -from omni.isaac.orbit.managers import ObservationGroupCfg as ObsGroup -from omni.isaac.orbit.managers import ObservationTermCfg as ObsTerm -from omni.isaac.orbit.managers import RandomizationTermCfg as RandTerm -from omni.isaac.orbit.managers import SceneEntityCfg -from omni.isaac.orbit.managers import TerminationTermCfg as DoneTerm -from omni.isaac.orbit.utils import configclass -from omni.isaac.orbit.utils.assets import ISAAC_ORBIT_NUCLEUS_DIR +from omni.isaac.lab.envs import ManagerBasedRLEnvCfg +from omni.isaac.lab.managers import EventTermCfg as EventTerm +from omni.isaac.lab.managers import ObservationGroupCfg as ObsGroup +from omni.isaac.lab.managers import ObservationTermCfg as ObsTerm +from omni.isaac.lab.managers import SceneEntityCfg +from omni.isaac.lab.managers import TerminationTermCfg as DoneTerm +from omni.isaac.lab.utils import configclass +from omni.isaac.lab.utils.assets import ISAACLAB_NUCLEUS_DIR ## # MDP settings @@ -36,7 +36,7 @@ class ActionsCfg: low_level_action=mdp.JointPositionActionCfg( asset_name="robot", joint_names=[".*"], scale=0.5, use_default_offset=True ), - low_level_policy_file=os.path.join(ISAAC_ORBIT_NUCLEUS_DIR, "Policies", "ANYmal-C", "policy.pt"), + low_level_policy_file=os.path.join(ISAACLAB_NUCLEUS_DIR, "Policies", "ANYmal-C", "HeightScan", "policy.pt"), ) @@ -111,13 +111,14 @@ class TerminationsCfg: func=mdp.illegal_contact, params={"sensor_cfg": SceneEntityCfg("contact_forces", body_names="base"), "threshold": 1.0}, ) + goal_reached = DoneTerm(func=mdp.at_goal, params={"distance_threshold": 0.3}) @configclass -class RandomizationCfg: - """Configuration for randomization.""" +class EventCfg: + """Configuration for events.""" - reset_base = RandTerm( + reset_base = EventTerm( func=mdp.reset_root_state_uniform, mode="reset", params={ @@ -134,7 +135,7 @@ class RandomizationCfg: }, ) - reset_robot_joints = RandTerm( + reset_robot_joints = EventTerm( func=mdp.reset_joints_by_scale, mode="reset", params={ @@ -153,6 +154,7 @@ class CommandsCfg: robot_attr="robot", lookAheadDistance=1.0, debug_vis=True, + maxSpeed=1.0, ) @@ -162,7 +164,7 @@ class CommandsCfg: @configclass -class ViPlannerBaseCfg(RLTaskEnvCfg): +class ViPlannerBaseCfg(ManagerBasedRLEnvCfg): """Configuration for the locomotion velocity-tracking environment.""" # Basic settings @@ -171,7 +173,7 @@ class ViPlannerBaseCfg(RLTaskEnvCfg): commands: CommandsCfg = CommandsCfg() # managers terminations: TerminationsCfg = TerminationsCfg() - randomization: RandomizationCfg = RandomizationCfg() + events: EventCfg = EventCfg() rewards: RewardsCfg = RewardsCfg() def __post_init__(self): diff --git a/omniverse/extension/omni.viplanner/omni/viplanner/config/carla_cfg.py b/omniverse/extension/omni.viplanner/omni/viplanner/config/carla_cfg.py index 0b878bf..bf32be5 100644 --- a/omniverse/extension/omni.viplanner/omni/viplanner/config/carla_cfg.py +++ b/omniverse/extension/omni.viplanner/omni/viplanner/config/carla_cfg.py @@ -6,18 +6,18 @@ import os -import omni.isaac.orbit.sim as sim_utils -from omni.isaac.orbit.assets import AssetBaseCfg -from omni.isaac.orbit.scene import InteractiveSceneCfg -from omni.isaac.orbit.sensors import CameraCfg, ContactSensorCfg, RayCasterCfg, patterns -from omni.isaac.orbit.utils import configclass +import omni.isaac.lab.sim as sim_utils +from omni.isaac.lab.assets import AssetBaseCfg +from omni.isaac.lab.scene import InteractiveSceneCfg +from omni.isaac.lab.sensors import CameraCfg, ContactSensorCfg, RayCasterCfg, patterns +from omni.isaac.lab.utils import configclass from omni.viplanner.utils import UnRealImporterCfg ## # Pre-defined configs ## # isort: off -from omni.isaac.orbit_assets.anymal import ANYMAL_C_CFG +from omni.isaac.lab_assets.anymal import ANYMAL_C_CFG from .base_cfg import ViPlannerBaseCfg from ..viplanner import DATA_DIR @@ -39,6 +39,7 @@ class TerrainSceneCfg(InteractiveSceneCfg): static_friction=1.0, dynamic_friction=1.0, ), + # NOTE: this path should be absolute to load the textures correctly usd_path="${USER_PATH_TO_USD}/carla.usd", groundplane=True, cw_config_file=os.path.join(DATA_DIR, "town01", "cw_multiply_cfg.yml"), @@ -91,6 +92,7 @@ class TerrainSceneCfg(InteractiveSceneCfg): width=1280, height=720, data_types=["semantic_segmentation"], + colorize_semantic_segmentation=False, ) @@ -113,5 +115,5 @@ def __post_init__(self): self.viewer.eye = (133, 127.5, 8.5) self.viewer.lookat = (125.5, 120, 1.0) # change ANYmal position - self.scene.robot.init_state.pos = (125.5, 118.5, 1.2) - self.scene.robot.init_state.rot = (0.0, 0.0, 0.0, 1.0) + self.scene.robot.init_state.pos = (125.5, 118.5, 0.8) + self.scene.robot.init_state.rot = (0.707, 0.0, 0.0, -0.707) diff --git a/omniverse/extension/omni.viplanner/omni/viplanner/config/matterport_cfg.py b/omniverse/extension/omni.viplanner/omni/viplanner/config/matterport_cfg.py index 9635d6e..d886263 100644 --- a/omniverse/extension/omni.viplanner/omni/viplanner/config/matterport_cfg.py +++ b/omniverse/extension/omni.viplanner/omni/viplanner/config/matterport_cfg.py @@ -4,17 +4,17 @@ # # SPDX-License-Identifier: BSD-3-Clause -import omni.isaac.orbit.sim as sim_utils +import omni.isaac.lab.sim as sim_utils import omni.viplanner.viplanner.mdp as mdp +from omni.isaac.lab.assets import AssetBaseCfg +from omni.isaac.lab.managers import ObservationGroupCfg as ObsGroup +from omni.isaac.lab.managers import ObservationTermCfg as ObsTerm +from omni.isaac.lab.managers import SceneEntityCfg +from omni.isaac.lab.scene import InteractiveSceneCfg +from omni.isaac.lab.sensors import ContactSensorCfg, patterns +from omni.isaac.lab.utils import configclass from omni.isaac.matterport.config import MatterportImporterCfg from omni.isaac.matterport.domains import MatterportRayCasterCfg -from omni.isaac.orbit.assets import AssetBaseCfg -from omni.isaac.orbit.managers import ObservationGroupCfg as ObsGroup -from omni.isaac.orbit.managers import ObservationTermCfg as ObsTerm -from omni.isaac.orbit.managers import SceneEntityCfg -from omni.isaac.orbit.scene import InteractiveSceneCfg -from omni.isaac.orbit.sensors import ContactSensorCfg, patterns -from omni.isaac.orbit.utils import configclass from omni.viplanner.utils import VIPlannerMatterportRayCasterCameraCfg from .base_cfg import ObservationsCfg, ViPlannerBaseCfg @@ -23,7 +23,7 @@ # Pre-defined configs ## # isort: off -from omni.isaac.orbit_assets.anymal import ANYMAL_C_CFG +from omni.isaac.lab_assets.anymal import ANYMAL_C_CFG ## # Scene definition @@ -44,12 +44,13 @@ class TerrainSceneCfg(InteractiveSceneCfg): static_friction=1.0, dynamic_friction=1.0, ), + # NOTE: this path should be absolute to load the textures correctly obj_filepath="${USER_PATH_TO_USD}/matterport.usd", groundplane=True, ) # robots robot = ANYMAL_C_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot") - robot.init_state.pos = (8.0, -0.5, 0.6) + robot.init_state.pos = (8.0, 0.0, 0.6) robot.init_state.rot = (0.6126, 0.0327, 0.0136, -0.7896) # sensors diff --git a/omniverse/extension/omni.viplanner/omni/viplanner/config/warehouse_cfg.py b/omniverse/extension/omni.viplanner/omni/viplanner/config/warehouse_cfg.py index aa43a8b..9c66088 100644 --- a/omniverse/extension/omni.viplanner/omni/viplanner/config/warehouse_cfg.py +++ b/omniverse/extension/omni.viplanner/omni/viplanner/config/warehouse_cfg.py @@ -6,11 +6,11 @@ import os -import omni.isaac.orbit.sim as sim_utils -from omni.isaac.orbit.assets import AssetBaseCfg -from omni.isaac.orbit.scene import InteractiveSceneCfg -from omni.isaac.orbit.sensors import CameraCfg, ContactSensorCfg, RayCasterCfg, patterns -from omni.isaac.orbit.utils import configclass +import omni.isaac.lab.sim as sim_utils +from omni.isaac.lab.assets import AssetBaseCfg +from omni.isaac.lab.scene import InteractiveSceneCfg +from omni.isaac.lab.sensors import CameraCfg, ContactSensorCfg, RayCasterCfg, patterns +from omni.isaac.lab.utils import configclass from omni.viplanner.utils import UnRealImporterCfg from ..viplanner import DATA_DIR @@ -20,7 +20,7 @@ # Pre-defined configs ## # isort: off -from omni.isaac.orbit_assets.anymal import ANYMAL_C_CFG +from omni.isaac.lab_assets.anymal import ANYMAL_C_CFG ## @@ -41,7 +41,7 @@ class TerrainSceneCfg(InteractiveSceneCfg): static_friction=1.0, dynamic_friction=1.0, ), - usd_path="${USER_PATH_TO_USD}/warehouse_new.usd", + usd_path=os.path.join(DATA_DIR, "warehouse", "warehouse_new.usd"), groundplane=True, sem_mesh_to_class_map=os.path.join(DATA_DIR, "warehouse", "keyword_mapping.yml"), people_config_file=os.path.join(DATA_DIR, "warehouse", "people_cfg.yml"), @@ -87,6 +87,7 @@ class TerrainSceneCfg(InteractiveSceneCfg): width=1280, height=720, data_types=["semantic_segmentation"], + colorize_semantic_segmentation=False, ) diff --git a/omniverse/extension/omni.viplanner/omni/viplanner/utils/unreal_importer.py b/omniverse/extension/omni.viplanner/omni/viplanner/utils/unreal_importer.py index 32c6a73..653477f 100644 --- a/omniverse/extension/omni.viplanner/omni/viplanner/utils/unreal_importer.py +++ b/omniverse/extension/omni.viplanner/omni/viplanner/utils/unreal_importer.py @@ -13,13 +13,13 @@ import numpy as np import omni import omni.isaac.core.utils.prims as prim_utils -import omni.isaac.orbit.sim as sim_utils +import omni.isaac.lab.sim as sim_utils import trimesh import yaml from omni.isaac.core.utils.semantics import add_update_semantics, remove_all_semantics -from omni.isaac.orbit.terrains import TerrainImporter -from omni.isaac.orbit.utils.assets import ISAAC_NUCLEUS_DIR -from omni.isaac.orbit.utils.warp import convert_to_warp_mesh +from omni.isaac.lab.terrains import TerrainImporter +from omni.isaac.lab.utils.assets import ISAAC_NUCLEUS_DIR +from omni.isaac.lab.utils.warp import convert_to_warp_mesh from pxr import Gf, Usd, UsdGeom if TYPE_CHECKING: diff --git a/omniverse/extension/omni.viplanner/omni/viplanner/utils/unreal_importer_cfg.py b/omniverse/extension/omni.viplanner/omni/viplanner/utils/unreal_importer_cfg.py index 1b16d3d..629ed61 100644 --- a/omniverse/extension/omni.viplanner/omni/viplanner/utils/unreal_importer_cfg.py +++ b/omniverse/extension/omni.viplanner/omni/viplanner/utils/unreal_importer_cfg.py @@ -4,8 +4,8 @@ # # SPDX-License-Identifier: BSD-3-Clause -from omni.isaac.orbit.terrains import TerrainImporterCfg -from omni.isaac.orbit.utils import configclass +from omni.isaac.lab.terrains import TerrainImporterCfg +from omni.isaac.lab.utils import configclass from .unreal_importer import UnRealImporter diff --git a/omniverse/extension/omni.viplanner/omni/viplanner/utils/viplanner_matterport_raycast_camera.py b/omniverse/extension/omni.viplanner/omni/viplanner/utils/viplanner_matterport_raycast_camera.py index d25a3fe..e4eebe8 100644 --- a/omniverse/extension/omni.viplanner/omni/viplanner/utils/viplanner_matterport_raycast_camera.py +++ b/omniverse/extension/omni.viplanner/omni/viplanner/utils/viplanner_matterport_raycast_camera.py @@ -6,9 +6,9 @@ import torch import yaml +from omni.isaac.lab.sensors.ray_caster import RayCasterCameraCfg +from omni.isaac.lab.utils.configclass import configclass from omni.isaac.matterport.domains import MatterportRayCasterCamera -from omni.isaac.orbit.sensors.ray_caster import RayCasterCameraCfg -from omni.isaac.orbit.utils.configclass import configclass from omni.viplanner.viplanner import DATA_DIR from viplanner.config.viplanner_sem_meta import VIPlannerSemMetaHandler diff --git a/omniverse/extension/omni.viplanner/omni/viplanner/viplanner/mdp/__init__.py b/omniverse/extension/omni.viplanner/omni/viplanner/viplanner/mdp/__init__.py index 92efc2c..88b6247 100644 --- a/omniverse/extension/omni.viplanner/omni/viplanner/viplanner/mdp/__init__.py +++ b/omniverse/extension/omni.viplanner/omni/viplanner/viplanner/mdp/__init__.py @@ -6,8 +6,9 @@ """This sub-module contains the functions that are specific to the viplanner environments.""" -from omni.isaac.orbit.envs.mdp import * # noqa: F401, F403 +from omni.isaac.lab.envs.mdp import * # noqa: F401, F403 from .actions import * # noqa: F401, F403 from .commands import * # noqa: F401, F403 from .observations import * # noqa: F401, F403 +from .terminations import * # noqa: F401, F403 diff --git a/omniverse/extension/omni.viplanner/omni/viplanner/viplanner/mdp/actions/navigation_actions.py b/omniverse/extension/omni.viplanner/omni/viplanner/viplanner/mdp/actions/navigation_actions.py index 47a17b0..34490e4 100644 --- a/omniverse/extension/omni.viplanner/omni/viplanner/viplanner/mdp/actions/navigation_actions.py +++ b/omniverse/extension/omni.viplanner/omni/viplanner/viplanner/mdp/actions/navigation_actions.py @@ -9,10 +9,10 @@ from dataclasses import MISSING import torch -from omni.isaac.orbit.envs import RLTaskEnv -from omni.isaac.orbit.managers.action_manager import ActionTerm, ActionTermCfg -from omni.isaac.orbit.utils import configclass -from omni.isaac.orbit.utils.assets import check_file_path, read_file +from omni.isaac.lab.envs import ManagerBasedRLEnv +from omni.isaac.lab.managers.action_manager import ActionTerm, ActionTermCfg +from omni.isaac.lab.utils import configclass +from omni.isaac.lab.utils.assets import check_file_path, read_file # -- Navigation Action @@ -20,9 +20,9 @@ class NavigationAction(ActionTerm): """Actions to navigate a robot by following some path.""" cfg: NavigationActionCfg - _env: RLTaskEnv + _env: ManagerBasedRLEnv - def __init__(self, cfg: NavigationActionCfg, env: RLTaskEnv): + def __init__(self, cfg: NavigationActionCfg, env: ManagerBasedRLEnv): super().__init__(cfg, env) # check if policy file exists diff --git a/omniverse/extension/omni.viplanner/omni/viplanner/viplanner/mdp/commands/path_follower_command_generator.py b/omniverse/extension/omni.viplanner/omni/viplanner/viplanner/mdp/commands/path_follower_command_generator.py index b503f62..d8aaea9 100644 --- a/omniverse/extension/omni.viplanner/omni/viplanner/viplanner/mdp/commands/path_follower_command_generator.py +++ b/omniverse/extension/omni.viplanner/omni/viplanner/viplanner/mdp/commands/path_follower_command_generator.py @@ -10,17 +10,17 @@ import math from typing import TYPE_CHECKING, Sequence -import omni.isaac.orbit.utils.math as math_utils +import omni.isaac.lab.utils.math as math_utils import torch -from omni.isaac.orbit.assets.articulation import Articulation -from omni.isaac.orbit.envs import RLTaskEnv -from omni.isaac.orbit.managers import CommandTerm -from omni.isaac.orbit.markers import VisualizationMarkers -from omni.isaac.orbit.markers.config import ( +from omni.isaac.lab.assets.articulation import Articulation +from omni.isaac.lab.envs import ManagerBasedRLEnv +from omni.isaac.lab.managers import CommandTerm +from omni.isaac.lab.markers import VisualizationMarkers +from omni.isaac.lab.markers.config import ( BLUE_ARROW_X_MARKER_CFG, GREEN_ARROW_X_MARKER_CFG, ) -from omni.isaac.orbit.sim import SimulationContext +from omni.isaac.lab.sim import SimulationContext if TYPE_CHECKING: from .path_follower_command_generator_cfg import PathFollowerCommandGeneratorCfg @@ -39,7 +39,7 @@ class PathFollowerCommandGenerator(CommandTerm): cfg: PathFollowerCommandGeneratorCfg """The configuration of the command generator.""" - def __init__(self, cfg: PathFollowerCommandGeneratorCfg, env: RLTaskEnv): + def __init__(self, cfg: PathFollowerCommandGeneratorCfg, env: ManagerBasedRLEnv): """Initialize the command generator. Args: @@ -111,7 +111,7 @@ def compute(self, dt: float): environments. """ # get paths - paths = self._env.action_manager._terms[0]._processed_navigation_velocity_actions.clone() + paths = self._env.action_manager._terms["paths"]._processed_navigation_velocity_actions.clone() # get number of pases of the paths num_envs, N, _ = paths.shape assert N > 0, "PathFollowerCommandGenerator: paths must have at least one poses." diff --git a/omniverse/extension/omni.viplanner/omni/viplanner/viplanner/mdp/commands/path_follower_command_generator_cfg.py b/omniverse/extension/omni.viplanner/omni/viplanner/viplanner/mdp/commands/path_follower_command_generator_cfg.py index dab1825..f346bee 100644 --- a/omniverse/extension/omni.viplanner/omni/viplanner/viplanner/mdp/commands/path_follower_command_generator_cfg.py +++ b/omniverse/extension/omni.viplanner/omni/viplanner/viplanner/mdp/commands/path_follower_command_generator_cfg.py @@ -9,8 +9,8 @@ import math from dataclasses import MISSING -from omni.isaac.orbit.managers import CommandTermCfg -from omni.isaac.orbit.utils.configclass import configclass +from omni.isaac.lab.managers import CommandTermCfg +from omni.isaac.lab.utils.configclass import configclass from typing_extensions import Literal from .path_follower_command_generator import PathFollowerCommandGenerator @@ -36,9 +36,9 @@ class PathFollowerCommandGeneratorCfg(CommandTermCfg): """Allow robot to use reverse gear.""" switch_time_threshold: float = 1.0 """Time threshold to switch between the forward and backward drive.""" - maxSpeed: float = 0.5 + maxSpeed: float = 0.75 """Maximum speed of the robot.""" - maxAccel: float = 2.5 / 100.0 # 2.5 / 100 + maxAccel: float = 2.5 / 100.0 """Maximum acceleration of the robot.""" joyYaw: float = 1.0 """TODO: add description""" diff --git a/omniverse/extension/omni.viplanner/omni/viplanner/viplanner/mdp/observations.py b/omniverse/extension/omni.viplanner/omni/viplanner/viplanner/mdp/observations.py index 2c21069..d933563 100644 --- a/omniverse/extension/omni.viplanner/omni/viplanner/viplanner/mdp/observations.py +++ b/omniverse/extension/omni.viplanner/omni/viplanner/viplanner/mdp/observations.py @@ -6,7 +6,7 @@ """This sub-module contains observation terms specific for viplanner. -The functions can be passed to the :class:`omni.isaac.orbit.managers.ObservationTermCfg` object to enable +The functions can be passed to the :class:`omni.isaac.lab.managers.ObservationTermCfg` object to enable the observation introduced by the function. """ @@ -15,22 +15,22 @@ from typing import TYPE_CHECKING import torch -from omni.isaac.orbit.managers import SceneEntityCfg -from omni.isaac.orbit.sensors.camera import CameraData +from omni.isaac.lab.managers import SceneEntityCfg +from omni.isaac.lab.sensors.camera import CameraData from viplanner.config import VIPlannerSemMetaHandler from .actions import NavigationAction if TYPE_CHECKING: - from omni.isaac.orbit.envs.base_env import BaseEnv + from omni.isaac.lab.envs.base_env import ManagerBasedEnv # initialize viplanner config VIPLANNER_SEM_META = VIPlannerSemMetaHandler() -def matterport_raycast_camera_data(env: BaseEnv, sensor_cfg: SceneEntityCfg, data_type: str) -> torch.Tensor: +def matterport_raycast_camera_data(env: ManagerBasedEnv, sensor_cfg: SceneEntityCfg, data_type: str) -> torch.Tensor: """Images generated by the raycast camera.""" # extract the used quantities (to enable type-hinting) sensor: CameraData = env.scene.sensors[sensor_cfg.name].data @@ -45,17 +45,17 @@ def matterport_raycast_camera_data(env: BaseEnv, sensor_cfg: SceneEntityCfg, dat return sensor.output[data_type].clone().permute(0, 3, 1, 2) -def isaac_camera_data(env: BaseEnv, sensor_cfg: SceneEntityCfg, data_type: str) -> torch.Tensor: +def isaac_camera_data(env: ManagerBasedEnv, sensor_cfg: SceneEntityCfg, data_type: str) -> torch.Tensor: """Images generated by the usd camera.""" # extract the used quantities (to enable type-hinting) sensor: CameraData = env.scene.sensors[sensor_cfg.name].data # return the data if data_type == "distance_to_image_plane": - output = sensor.output[data_type].clone().unsqueeze(1) + output = sensor.output[data_type].clone() output[torch.isnan(output)] = 0.0 output[torch.isinf(output)] = 0.0 - return output + return output.permute(0, 3, 1, 2) elif data_type == "semantic_segmentation": # retrieve data info = [sensor.info[env_id][data_type]["idToLabels"] for env_id in range(env.num_envs)] @@ -73,21 +73,26 @@ def isaac_camera_data(env: BaseEnv, sensor_cfg: SceneEntityCfg, data_type: str) ] # create recolored images - output = torch.zeros((*data.shape, 3), device=env.device, dtype=torch.uint8) + output = torch.zeros((*data.shape[:3], 3), device=env.device, dtype=torch.uint8) for env_id in range(env.num_envs): - mapping = torch.zeros((max(info[env_id].keys()) + 1, 3), dtype=torch.uint8, device=env.device) + # NOTE: the label_ids and the ids in the data might not be the same, label ids might not be continuous and + # might not start from 0 as well as some data ids might not be present in the label ids + unique_data_ids = torch.unique(data[env_id]).sort()[0] + mapping = torch.zeros( + (max(unique_data_ids.max() + 1, max(info[env_id].keys()) + 1), 3), dtype=torch.uint8, device=env.device + ) mapping[list(info[env_id].keys())] = torch.tensor( list(info[env_id].values()), dtype=torch.uint8, device=env.device ) - output[env_id] = mapping[data[env_id].long().reshape(-1)].reshape(data.shape[1:] + (3,)) + output[env_id] = mapping[data[env_id].long().squeeze(-1)] return output.permute(0, 3, 1, 2) else: return sensor.output[data_type].clone() -def cam_position(env: BaseEnv, sensor_cfg: SceneEntityCfg) -> torch.Tensor: +def cam_position(env: ManagerBasedEnv, sensor_cfg: SceneEntityCfg) -> torch.Tensor: """Position of the camera.""" # extract the used quantities (to enable type-hinting) sensor: CameraData = env.scene.sensors[sensor_cfg.name].data @@ -95,7 +100,7 @@ def cam_position(env: BaseEnv, sensor_cfg: SceneEntityCfg) -> torch.Tensor: return sensor.pos_w.clone() -def cam_orientation(env: BaseEnv, sensor_cfg: SceneEntityCfg) -> torch.Tensor: +def cam_orientation(env: ManagerBasedEnv, sensor_cfg: SceneEntityCfg) -> torch.Tensor: """Orientation of the camera.""" # extract the used quantities (to enable type-hinting) sensor: CameraData = env.scene.sensors[sensor_cfg.name].data @@ -103,9 +108,9 @@ def cam_orientation(env: BaseEnv, sensor_cfg: SceneEntityCfg) -> torch.Tensor: return sensor.quat_w_world.clone() -def low_level_actions(env: BaseEnv) -> torch.Tensor: +def low_level_actions(env: ManagerBasedEnv) -> torch.Tensor: """Low-level actions.""" # extract the used quantities (to enable type-hinting) - action_term: NavigationAction = env.action_manager._terms[0] + action_term: NavigationAction = env.action_manager._terms["paths"] return action_term.low_level_actions.clone() diff --git a/omniverse/extension/omni.viplanner/omni/viplanner/viplanner/mdp/terminations.py b/omniverse/extension/omni.viplanner/omni/viplanner/viplanner/mdp/terminations.py new file mode 100644 index 0000000..e0f1e0a --- /dev/null +++ b/omniverse/extension/omni.viplanner/omni/viplanner/viplanner/mdp/terminations.py @@ -0,0 +1,44 @@ +# Copyright (c) 2023-2024, ETH Zurich (Robotics Systems Lab) +# Author: Pascal Roth +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + +from __future__ import annotations + +from typing import TYPE_CHECKING + +import omni.isaac.core.utils.prims as prim_utils +import torch +from omni.isaac.lab.assets import Articulation +from omni.isaac.lab.managers import SceneEntityCfg + +if TYPE_CHECKING: + from omni.isaac.lab.envs import ManagerBasedRLEnv + + +def at_goal( + env: ManagerBasedRLEnv, + asset_cfg: SceneEntityCfg = SceneEntityCfg("robot"), + distance_threshold: float = 0.2, +) -> torch.Tensor: + """Terminate the planner when the goal is reached. + + Args: + env: The learning environment. + asset_cfg: The name of the robot asset. + distance_threshold: The distance threshold to the goal. + + Returns: + Boolean tensor indicating whether the goal is reached. + """ + # extract the used quantities (to enable type-hinting) + asset: Articulation = env.scene[asset_cfg.name] + + # extract goal position + goal_pos = prim_utils.get_prim_at_path("/World/goal").GetAttribute("xformOp:translate") + goals = torch.tensor(goal_pos.Get(), device=env.device).repeat(env.num_envs, 1) + + # Check conditions for termination + distance_goal = torch.norm(asset.data.root_pos_w[:, :2] - goals[:, :2], dim=1, p=2) + return distance_goal < distance_threshold diff --git a/omniverse/extension/omni.viplanner/omni/viplanner/viplanner/viplanner_algo.py b/omniverse/extension/omni.viplanner/omni/viplanner/viplanner/viplanner_algo.py index e77c996..5fe4859 100644 --- a/omniverse/extension/omni.viplanner/omni/viplanner/viplanner/viplanner_algo.py +++ b/omniverse/extension/omni.viplanner/omni/viplanner/viplanner/viplanner_algo.py @@ -4,21 +4,10 @@ # # SPDX-License-Identifier: BSD-3-Clause -# Copyright (c) 2022, NVIDIA CORPORATION & AFFILIATES, ETH Zurich, and University of Toronto -# All rights reserved. -# -# SPDX-License-Identifier: BSD-3-Clause - -""" -This script demonstrates how to use the rigid objects class. -""" - -"""Rest everything follows.""" - import os import carb -import omni.isaac.orbit.utils.math as math_utils +import omni.isaac.lab.utils.math as math_utils import torch import torchvision.transforms as transforms from omni.isaac.debug_draw import _debug_draw @@ -35,7 +24,7 @@ class VIPlannerAlgo: - def __init__(self, model_dir: str, fear_threshold: float = 0.5): + def __init__(self, model_dir: str, fear_threshold: float = 0.5, device: str = "cuda"): """Apply VIPlanner Algorithm Args: @@ -49,6 +38,7 @@ def __init__(self, model_dir: str, fear_threshold: float = 0.5): # params self.fear_threshold = fear_threshold + self.device = device # load model self.train_config: TrainCfg = None @@ -87,21 +77,21 @@ def load_model(self, model_dir: str): # get model and load weights try: - model_state_dict, _ = torch.load(os.path.join(model_dir, "model.pt")) + model_state_dict, _ = torch.load(os.path.join(model_dir, "model.pt"), weights_only=True) except ValueError: - model_state_dict = torch.load(os.path.join(model_dir, "model.pt")) + model_state_dict = torch.load(os.path.join(model_dir, "model.pt"), weights_only=True) self.net.load_state_dict(model_state_dict) # inference script = no grad for model self.net.eval() # move to GPU if available - if torch.cuda.is_available(): - self.net = self.net.cuda() - self.cuda_avail = True - else: + if self.device.lower() == "cpu": carb.log_warn("CUDA not available, VIPlanner will run on CPU") self.cuda_avail = False + else: + self.net = self.net.cuda() + self.cuda_avail = True return ### diff --git a/omniverse/standalone/viplanner_demo.py b/omniverse/standalone/viplanner_demo.py index 3a6293f..ce464cd 100644 --- a/omniverse/standalone/viplanner_demo.py +++ b/omniverse/standalone/viplanner_demo.py @@ -4,11 +4,6 @@ # # SPDX-License-Identifier: BSD-3-Clause -# Copyright (c) 2022, NVIDIA CORPORATION & AFFILIATES, ETH Zurich, and University of Toronto -# All rights reserved. -# -# SPDX-License-Identifier: BSD-3-Clause - """ This script demonstrates how to use the rigid objects class. """ @@ -17,28 +12,32 @@ import argparse -# omni-isaac-orbit -from omni.isaac.orbit.app import AppLauncher +# omni-isaac-lab +from omni.isaac.lab.app import AppLauncher # add argparse arguments parser = argparse.ArgumentParser(description="This script demonstrates how to use the camera sensor.") -parser.add_argument("--headless", action="store_true", default=False, help="Force display off at all times.") parser.add_argument("--conv_distance", default=0.2, type=float, help="Distance for a goal considered to be reached.") parser.add_argument( - "--scene", default="matterport", choices=["matterport", "carla", "warehouse"], type=str, help="Scene to load." + "--scene", default="warehouse", choices=["matterport", "carla", "warehouse"], type=str, help="Scene to load." ) parser.add_argument("--model_dir", default=None, type=str, help="Path to model directory.") + +# add applauncher arguments +AppLauncher.add_app_launcher_args(parser) + args_cli = parser.parse_args() +args_cli.enable_cameras = True # launch omniverse app -app_launcher = AppLauncher(headless=args_cli.headless) +app_launcher = AppLauncher(args_cli) simulation_app = app_launcher.app """Rest everything follows.""" import omni.isaac.core.utils.prims as prim_utils import torch from omni.isaac.core.objects import VisualCuboid -from omni.isaac.orbit.envs import RLTaskEnv +from omni.isaac.lab.envs import ManagerBasedRLEnv from omni.viplanner.config import ( ViPlannerCarlaCfg, ViPlannerMatterportCfg, @@ -53,23 +52,23 @@ def main(): - """Imports all legged robots supported in Orbit and applies zero actions.""" + """Imports all legged robots supported in IsaacLab and applies zero actions.""" # create environment cfg if args_cli.scene == "matterport": - env_cfg = ViPlannerMatterportCfg() - goal_pos = torch.tensor([7.0, -12.5, 1.0]) + env_cfg = ViPlannerMatterportCfg(seed=1234) + goal_pos = torch.tensor([8.0, -13.5, 1.0]) elif args_cli.scene == "carla": - env_cfg = ViPlannerCarlaCfg() + env_cfg = ViPlannerCarlaCfg(seed=1234) goal_pos = torch.tensor([137, 111.0, 1.0]) elif args_cli.scene == "warehouse": - env_cfg = ViPlannerWarehouseCfg() + env_cfg = ViPlannerWarehouseCfg(seed=1234) goal_pos = torch.tensor([3, -4.5, 1.0]) else: raise NotImplementedError(f"Scene {args_cli.scene} not yet supported!") # create environment - env = RLTaskEnv(env_cfg) + env = ManagerBasedRLEnv(env_cfg) # adjust the intrinsics of the camera depth_intrinsic = torch.tensor([[430.31607, 0.0, 428.28408], [0.0, 430.31607, 244.00695], [0.0, 0.0, 1.0]]) @@ -102,7 +101,7 @@ def main(): # env.sim.pause() # load viplanner - viplanner = VIPlannerAlgo(model_dir=args_cli.model_dir) + viplanner = VIPlannerAlgo(model_dir=args_cli.model_dir, device=env.device) goals = torch.tensor(goal_pos.Get(), device=env.device).repeat(env.num_envs, 1) diff --git a/ros/planner/rviz/default.rviz b/ros/planner/rviz/default.rviz index d5557d7..7c4941f 100644 --- a/ros/planner/rviz/default.rviz +++ b/ros/planner/rviz/default.rviz @@ -509,7 +509,7 @@ Visualization Manager: Value: true Views: Current: - Class: rviz/Orbit + Class: rviz/IsaacLab Distance: 23.335857391357422 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 diff --git a/ros/planner/rviz/legged_robot.rviz b/ros/planner/rviz/legged_robot.rviz index cb46b07..3c18b77 100644 --- a/ros/planner/rviz/legged_robot.rviz +++ b/ros/planner/rviz/legged_robot.rviz @@ -1706,7 +1706,7 @@ Visualization Manager: Value: true Views: Current: - Class: rviz/Orbit + Class: rviz/IsaacLab Distance: 19.056943893432617 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 @@ -1747,7 +1747,7 @@ Visualization Manager: Pitch: 0.8103983402252197 Target Frame: base Yaw: 2.7153992652893066 - - Class: rviz/Orbit + - Class: rviz/IsaacLab Distance: 14.963652610778809 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 @@ -1762,7 +1762,7 @@ Visualization Manager: Focal Shape Fixed Size: true Focal Shape Size: 0.05000000074505806 Invert Z Axis: false - Name: Orbit + Name: IsaacLab Near Clip Distance: 0.009999999776482582 Pitch: 0.9653983116149902 Target Frame: base