def test_metersPerUnit(self):
stage = Usd.Stage.CreateInMemory()
self.assertTrue(stage)
self.assertEqual(UsdGeom.GetStageMetersPerUnit(stage),
UsdGeom.LinearUnits.centimeters)
self.assertFalse(UsdGeom.StageHasAuthoredMetersPerUnit(stage))
self.assertTrue(
UsdGeom.SetStageMetersPerUnit(stage, UsdGeom.LinearUnits.feet))
self.assertTrue(UsdGeom.StageHasAuthoredMetersPerUnit(stage))
# test that common alternate representations that are not
# numerically identical compare equal using LinearUnitsAre
authored = UsdGeom.GetStageMetersPerUnit(stage)
fromInches = 12 * UsdGeom.LinearUnits.inches
self.assertNotEqual(authored, fromInches)
self.assertTrue(UsdGeom.LinearUnitsAre(authored, fromInches))
# similar test for feet to yards
self.assertTrue(
UsdGeom.SetStageMetersPerUnit(stage, UsdGeom.LinearUnits.yards))
authored = UsdGeom.GetStageMetersPerUnit(stage)
fromFeet = 3 * UsdGeom.LinearUnits.feet
self.assertNotEqual(authored, fromFeet)
self.assertTrue(UsdGeom.LinearUnitsAre(authored, fromFeet))
def on_startup(self):
"""Initialize extension and UI elements
"""
self._editor = omni.kit.editor.get_editor_interface()
self._usd_context = omni.usd.get_context()
self._stage = self._usd_context.get_stage()
self._window = ui.Window(EXTENSION_NAME,
width=800,
height=400,
visible=False)
self._window.deferred_dock_in("Content")
self._menu_entry = omni.kit.ui.get_editor_menu().add_item(
f"Isaac Robotics/Samples/{EXTENSION_NAME}", self._menu_callback)
self._create_ui()
self._mp = _motion_planning.acquire_motion_planning_interface()
self._dc = _dynamic_control.acquire_dynamic_control_interface()
self._physxIFace = _physx.acquire_physx_interface()
self._ar = _dynamic_control.INVALID_HANDLE
self._settings = omni.kit.settings.get_settings_interface()
self._settings.set("/persistent/physics/updateToUsd", False)
self._settings.set("/persistent/physics/useFastCache", True)
self._settings.set("/persistent/physics/numThreads", 8)
self._termination_criteria = FrameTerminationCriteria(
orig_thresh=0.001)
self._first_step = True
self._robot = None
## unit conversions: RMP is in meters, kit is by default in cm
self._meters_per_unit = UsdGeom.GetStageMetersPerUnit(self._stage)
self._units_per_meter = 1.0 / UsdGeom.GetStageMetersPerUnit(
self._stage)
def setup_physics(stage):
# Specify gravity
metersPerUnit = UsdGeom.GetStageMetersPerUnit(stage)
gravityScale = 9.81 / metersPerUnit
gravity = Gf.Vec3f(0.0, 0.0, -gravityScale)
scene = PhysicsSchema.PhysicsScene.Define(stage, "/physics/scene")
scene.CreateGravityAttr().Set(gravity)
PhysxSchema.PhysxSceneAPI.Apply(stage.GetPrimAtPath("/physics/scene"))
physxSceneAPI = PhysxSchema.PhysxSceneAPI.Get(stage, "/physics/scene")
physxSceneAPI.CreatePhysxSceneEnableCCDAttr(True)
physxSceneAPI.CreatePhysxSceneEnableStabilizationAttr(True)
physxSceneAPI.CreatePhysxSceneEnableGPUDynamicsAttr(False)
physxSceneAPI.CreatePhysxSceneBroadphaseTypeAttr("MBP")
physxSceneAPI.CreatePhysxSceneSolverTypeAttr("TGS")
def on_startup(self):
"""Initialize extension and UI elements
"""
self._editor = omni.kit.editor.get_editor_interface()
self._usd_context = omni.usd.get_context()
self._stage = self._usd_context.get_stage()
self._window = omni.kit.ui.Window(
EXTENSION_NAME,
300,
200,
menu_path="Isaac Robotics/Samples/" + EXTENSION_NAME,
open=False,
dock=omni.kit.ui.DockPreference.LEFT_BOTTOM,
)
self._window.set_update_fn(self._on_update_ui)
self._mp = _motion_planning.acquire_motion_planning_interface()
self._dc = _dynamic_control.acquire_dynamic_control_interface()
self._physxIFace = _physx.acquire_physx_interface()
self._create_robot_btn = self._window.layout.add_child(
omni.kit.ui.Button("Load Robot"))
self._create_robot_btn.set_clicked_fn(self._on_environment_setup)
self._created = False # is the robot loaded
self._target_following_btn = self._window.layout.add_child(
omni.kit.ui.Button("Target Following"))
self._target_following_btn.set_clicked_fn(self._on_target_following)
self._target_following_btn.enabled = False
self._following = False # is the task running
self._target = None
self._reset_pose_btn = self._window.layout.add_child(
omni.kit.ui.Button("Reset Robot Pose"))
self._reset_pose_btn.set_clicked_fn(self._on_reset_pose)
self._reset_pose_btn.enabled = False
self._reset_pose_btn.tooltip = omni.kit.ui.Label(
"Reset robot to default position")
self._add_object_btn = self._window.layout.add_child(
omni.kit.ui.Button("Add Object"))
self._add_object_btn.set_clicked_fn(self._on_add_object)
self._add_object_btn.enabled = False
self._add_object_btn.tooltip = omni.kit.ui.Label(
"Drop randomly selected object in scene")
self._gripper_btn = self._window.layout.add_child(
omni.kit.ui.Button("Toggle Gripper"))
self._gripper_btn.set_clicked_fn(self._on_toggle_gripper)
self._gripper_btn.enabled = False
self._gripper_open = False
self._ar = _dynamic_control.INVALID_HANDLE
self._reset_btn = self._window.layout.add_child(
omni.kit.ui.Button("Reset Scene"))
self._reset_btn.set_clicked_fn(self._on_reset)
self._reset_btn.enabled = False
self._reset_btn.tooltip = omni.kit.ui.Label(
"Reset robot and target to default positions")
self._settings = omni.kit.settings.get_settings_interface()
self._settings.set("/persistent/physics/updateToUsd", False)
self._settings.set("/persistent/physics/useFastCache", True)
self._settings.set("/persistent/physics/numThreads", 8)
self._sub_stage_event = self._usd_context.get_stage_event_stream(
).create_subscription_to_pop(self._on_stage_event)
self._termination_criteria = FrameTerminationCriteria(
orig_thresh=0.001)
self._first_step = True
self._robot = None
## unit conversions: RMP is in meters, kit is by default in cm
self._meters_per_unit = UsdGeom.GetStageMetersPerUnit(self._stage)
self._units_per_meter = 1.0 / UsdGeom.GetStageMetersPerUnit(
self._stage)
def on_startup(self):
self._editor = omni.kit.editor.get_editor_interface()
self._usd_context = omni.usd.get_context()
self._stage = self._usd_context.get_stage()
self._window = omni.kit.ui.Window(
EXTENSION_NAME,
300,
200,
menu_path="Isaac Robotics/Samples/" + EXTENSION_NAME,
open=False,
dock=omni.kit.ui.DockPreference.LEFT_BOTTOM,
)
self._window.set_update_fn(self._on_update_ui)
self._first_step = True
self._is_playing = False
self._mp = _motion_planning.acquire_motion_planning_interface()
self._dc = _dynamic_control.acquire_dynamic_control_interface()
self._physxIFace = _physx.acquire_physx_interface()
self._create_franka_btn = self._window.layout.add_child(
omni.kit.ui.Button("Create Scenario"))
self._create_franka_btn.set_clicked_fn(self._on_environment_setup)
self._perform_task_btn = self._window.layout.add_child(
omni.kit.ui.Button("Perform Task"))
self._perform_task_btn.set_clicked_fn(self._on_perform_task)
self._perform_task_btn.enabled = False
self._angle_floatfield = self._window.layout.add_child(
omni.kit.ui.DragDouble(text=" Grasp Angle"))
self._angle_floatfield.set_on_changed_fn(self._on_angle_changed)
self._angle_floatfield.min = -180
self._angle_floatfield.max = 180
self._angle_floatfield.width = 100
self._angle_floatfield.enabled = False
self._stop_task_btn = self._window.layout.add_child(
omni.kit.ui.Button("Reset Task"))
self._stop_task_btn.set_clicked_fn(self._on_stop_tasks)
self._stop_task_btn.enabled = False
self._pause_task_btn = self._window.layout.add_child(
omni.kit.ui.Button("Pause Task"))
self._pause_task_btn.set_clicked_fn(self._on_pause_tasks)
self._pause_task_btn.enabled = False
self._add_object_btn = self._window.layout.add_child(
omni.kit.ui.Button("Add Object"))
self._add_object_btn.set_clicked_fn(self._on_add_bin)
self._add_object_btn.enabled = False
self._add_object_btn.tooltip = omni.kit.ui.Label(
"Drop randomly selected object in scene")
self._open_gripper_btn = self._window.layout.add_child(
omni.kit.ui.Button("Toggle Gripper"))
self._open_gripper_btn.set_clicked_fn(self._on_open_gripper)
self._open_gripper_btn.enabled = False
self._settings = omni.kit.settings.get_settings_interface()
self._settings.set("/persistent/physics/updateToUsd", False)
self._settings.set("/persistent/physics/useFastCache", True)
self._settings.set("/persistent/physics/numThreads", 8)
self._appwindow = omni.appwindow.get_default_app_window()
self._input = carb.input.acquire_input_interface()
self._keyboard = self._appwindow.get_keyboard()
self._sub_keyboard = self._input.subscribe_to_keyboard_events(
self._keyboard, self._sub_keyboard_event)
self._sub_stage_event = self._usd_context.get_stage_event_stream(
).create_subscription_to_pop(self._on_stage_event)
self._scenario = Scenario(self._editor, self._dc, self._mp)
## unit conversions: RMP is in meters, kit is by default in cm
self._meters_per_unit = UsdGeom.GetStageMetersPerUnit(self._stage)
self._units_per_meter = 1.0 / UsdGeom.GetStageMetersPerUnit(
self._stage)
