def __init__(self, omni_kit, z_height=0):
self.omni_kit = omni_kit
# 링크 확인
result, nucleus_server = find_nucleus_server()
if result is False:
carb.log_error(
"Could not find nucleus server with /Isaac folder. Please specify the correct nucleus server in experiences/isaac-sim-python.json"
)
return
# 변수 설정
self.tile_size = [25.0, 25.0]
# 1=UP, 2 = DOWN, 3 = LEFT, 4= RIGHT
self.direction_map = {1: 180, 2: 0, 3: -90, 4: 90}
self.prims = [] # list of spawned tiles
self.height = z_height # height of the ground tiles
self.tiles = None
self.state = None
# because the ground plane is what the robot drives on, we only do this once. We can then re-generate the road as often as we need without impacting physics
self.setup_physics()
self.road_map = None
self.road_path_helper = None
self.omni_kit.create_prim("/World/Floor", "Xform")
# cube 생성
stage = omni.usd.get_context().get_stage()
cubeGeom = UsdGeom.Cube.Define(stage, "/World/Floor/thefloor")
cubeGeom.CreateSizeAttr(300)
offset = Gf.Vec3f(75, 75, -150.1)
cubeGeom.AddTranslateOp().Set(offset)
# 환경 load
# In manual mode, user can control when scene randomization occur whereas in non-manual mode scene randomization is controlled via the duration parameter in various DR components.
self.dr = DomainRandomization()
self.dr.toggle_manual_mode()
self.omni_kit.update(1 / 60.0)
print("waiting for materials to load...")
while self.omni_kit.is_loading():
self.omni_kit.update(1 / 60.0)
# Create a sphere room so the world is not black
lights = []
for i in range(5):
prim_path = "/World/Lights/light_" + str(i)
self.omni_kit.create_prim(
prim_path,
"SphereLight",
translation=(0, 0, 200),
rotation=(0, 0, 0),
attributes={"radius": 10, "intensity": 1000.0, "color": (1.0, 1.0, 1.0)},
)
lights.append(prim_path)
self.dr.create_light_comp(light_paths=lights)
self.dr.create_movement_comp(prim_paths=lights, min_range=(0, 0, 30), max_range=(150, 150, 30))
async def _on_create_robot(self, task):
""" load robot from USD
"""
done, pending = await asyncio.wait({task})
if task not in done:
return
self._stage = self._usd_context.get_stage()
self._create_robot_btn.enabled = False
self._editor.stop()
set_up_z_axis(self._stage)
add_ground_plane(self._stage, "/groundPlane", "Z", 1000.0,
Gf.Vec3f(0.0), Gf.Vec3f(1.0))
setup_physics(self._stage)
result, nucleus_server = find_nucleus_server()
if result is False:
carb.log_error("Could not find nucleus server with /Isaac folder")
return
asset_path = nucleus_server + "/Isaac"
robot_usd = asset_path + "/Robots/Franka/franka.usd"
robot_path = "/scene/robot"
create_prim_from_usd(self._stage, robot_path, robot_usd,
Gf.Vec3d(0, 0, 0))
self.objects = [
asset_path + "/Props/Flip_Stack/large_corner_bracket_physics.usd",
asset_path + "/Props/Flip_Stack/screw_95_physics.usd",
asset_path + "/Props/Flip_Stack/screw_99_physics.usd",
asset_path + "/Props/Flip_Stack/small_corner_bracket_physics.usd",
asset_path + "/Props/Flip_Stack/t_connector_physics.usd",
]
self.current_obj = 0
self._physxIFace.release_physics_objects()
self._physxIFace.force_load_physics_from_usd()
self._editor_event_subscription = self._editor.subscribe_to_update_events(
self._on_editor_step)
self._physxIFace.release_physics_objects()
self._physxIFace.force_load_physics_from_usd()
self._reset_btn.enabled = True
self._editor.set_camera_position("/OmniverseKit_Persp", 142, -127, 56,
True)
self._editor.set_camera_target("/OmniverseKit_Persp", -180, 234, -27,
True)
light_prim = UsdLux.DistantLight.Define(
self._stage, Sdf.Path("/World/defaultLight"))
light_prim.CreateIntensityAttr(500)
self._first_step = True
self._following = False
self._robot = None
self._created = True
def __init__(self, omni_kit):
self.omni_kit = omni_kit
result, nucleus_server = find_nucleus_server()
if result is False:
carb.log_error("Could not find nucleus server with /Isaac folder")
return
self.usd_path = nucleus_server + "/Isaac/Robots/STR/STR_V4_Physics_Caster.usd"
self.robot_prim = None
self.dc = _dynamic_control.acquire_dynamic_control_interface()
self.ar = None
def generate_warehouse(self, shape):
stage = self.omni_kit.get_stage()
result, nucleus_server = find_nucleus_server()
if result is False:
carb.log_error("Could not find nucleus server with /Isaac folder")
return
path = nucleus_server + "/Isaac/Environments/Simple_Warehouse/warehouse.usd"
prefix = "/World/Env/Track"
prim_path = omni.kit.utils.get_stage_next_free_path(stage, prefix, False)
track_prim = stage.DefinePrim(prim_path, "Xform")
track_prim.GetReferences().AddReference(path)
def create_franka(self, *args):
result, nucleus_server = find_nucleus_server()
if result is False:
carb.log_error("Could not find nucleus server with /Isaac folder")
return
self.asset_path = nucleus_server + "/Isaac"
# USD paths loaded by scenarios
self.franka_table_usd = self.asset_path + "/Samples/Leonardo/Stage/franka_block_stacking.usd"
self.franka_ghost_usd = self.asset_path + "/Samples/Leonardo/Robots/franka_ghost.usd"
self.background_usd = self.asset_path + "/Environments/Grid/gridroom_curved.usd"
self.rubiks_cube_usd = self.asset_path + "/Props/Rubiks_Cube/rubiks_cube.usd"
self.red_cube_usd = self.asset_path + "/Props/Blocks/red_block.usd"
self.yellow_cube_usd = self.asset_path + "/Props/Blocks/yellow_block.usd"
self.green_cube_usd = self.asset_path + "/Props/Blocks/green_block.usd"
self.blue_cube_usd = self.asset_path + "/Props/Blocks/blue_block.usd"
self._created = True
self._stage = omni.usd.get_context().get_stage()
set_up_z_axis(self._stage)
self.stop_tasks()
pass