222 lines
6.5 KiB
Python
222 lines
6.5 KiB
Python
#
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# Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
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#
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# NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
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# property and proprietary rights in and to this material, related
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# documentation and any modifications thereto. Any use, reproduction,
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# disclosure or distribution of this material and related documentation
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# without an express license agreement from NVIDIA CORPORATION or
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# its affiliates is strictly prohibited.
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#
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try:
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# Third Party
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import isaacsim
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except ImportError:
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pass
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# Third Party
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import torch
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a = torch.zeros(4, device="cuda:0")
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# Standard Library
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# Standard Library
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import argparse
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# Third Party
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from omni.isaac.kit import SimulationApp
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parser = argparse.ArgumentParser()
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parser.add_argument(
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"--nvblox", action="store_true", help="When True, enables headless mode", default=False
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)
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parser.add_argument(
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"--headless_mode",
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type=str,
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default=None,
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help="To run headless, use one of [native, websocket], webrtc might not work.",
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)
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args = parser.parse_args()
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simulation_app = SimulationApp(
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{
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"headless": args.headless_mode is not None,
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"width": "1920",
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"height": "1080",
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}
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)
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# Third Party
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import carb
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import numpy as np
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from helper import add_extensions
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from omni.isaac.core import World
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try:
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from omni.isaac.core.materials import OmniPBR
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except ImportError:
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from isaacsim.core.api.materials import OmniPBR
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from omni.isaac.core.objects import sphere
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# CuRobo
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# from curobo.wrap.reacher.ik_solver import IKSolver, IKSolverConfig
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from curobo.geom.sdf.world import CollisionCheckerType
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from curobo.geom.types import WorldConfig
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from curobo.types.base import TensorDeviceType
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from curobo.types.math import Pose
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########### OV #################
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from curobo.util.logger import setup_curobo_logger
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from curobo.util.usd_helper import UsdHelper
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from curobo.util_file import get_world_configs_path, join_path, load_yaml
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from curobo.wrap.model.robot_world import RobotWorld, RobotWorldConfig
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def draw_line(start, gradient):
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# Third Party
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try:
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from omni.isaac.debug_draw import _debug_draw
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except ImportError:
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from isaacsim.util.debug_draw import _debug_draw
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draw = _debug_draw.acquire_debug_draw_interface()
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# if draw.get_num_points() > 0:
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draw.clear_lines()
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start_list = [start]
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end_list = [start + gradient]
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colors = [(1, 0, 0, 0.8)]
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sizes = [10.0]
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draw.draw_lines(start_list, end_list, colors, sizes)
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def main():
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usd_help = UsdHelper()
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act_distance = 0.4
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ignore_list = ["/World/target", "/World/defaultGroundPlane"]
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# assuming obstacles are in objects_path:
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my_world = World(stage_units_in_meters=1.0)
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my_world.scene.add_default_ground_plane()
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stage = my_world.stage
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usd_help.load_stage(stage)
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xform = stage.DefinePrim("/World", "Xform")
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stage.SetDefaultPrim(xform)
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stage.DefinePrim("/curobo", "Xform")
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# my_world.stage.SetDefaultPrim(my_world.stage.GetPrimAtPath("/World"))
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stage = my_world.stage
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radius = 0.1
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pose = Pose.from_list([0, 0, 0, 1, 0, 0, 0])
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target_material = OmniPBR("/World/looks/t", color=np.array([0, 1, 0]))
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target = sphere.VisualSphere(
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"/World/target",
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position=np.array([0.5, 0, 1.0]) + pose.position[0].cpu().numpy(),
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orientation=np.array([1, 0, 0, 0]),
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radius=radius,
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visual_material=target_material,
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)
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setup_curobo_logger("warn")
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# warmup curobo instance
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tensor_args = TensorDeviceType()
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robot_file = "franka.yml"
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world_file = ["collision_thin_walls.yml", "collision_test.yml"][-1]
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collision_checker_type = CollisionCheckerType.MESH
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world_cfg = WorldConfig.from_dict(load_yaml(join_path(get_world_configs_path(), world_file)))
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world_cfg.objects[0].pose[2] += 0.2
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vis_world_cfg = world_cfg
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if args.nvblox:
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world_file = "collision_nvblox.yml"
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collision_checker_type = CollisionCheckerType.BLOX
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world_cfg = WorldConfig.from_dict(
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load_yaml(join_path(get_world_configs_path(), world_file))
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)
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world_cfg.objects[0].pose[2] += 0.4
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ignore_list.append(world_cfg.objects[0].name)
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vis_world_cfg = world_cfg.get_mesh_world()
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# world_cfg = vis_world_cfg
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usd_help.add_world_to_stage(vis_world_cfg, base_frame="/World")
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config = RobotWorldConfig.load_from_config(
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robot_file,
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world_cfg,
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collision_activation_distance=act_distance,
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collision_checker_type=collision_checker_type,
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)
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model = RobotWorld(config)
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i = 0
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x_sph = torch.zeros((1, 1, 1, 4), device=tensor_args.device, dtype=tensor_args.dtype)
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x_sph[..., 3] = radius
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add_extensions(simulation_app, args.headless_mode)
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while simulation_app.is_running():
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my_world.step(render=True)
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if not my_world.is_playing():
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if i % 100 == 0:
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print("**** Click Play to start simulation *****")
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i += 1
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continue
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step_index = my_world.current_time_step_index
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if step_index == 0:
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my_world.reset()
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if step_index < 20:
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continue
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if step_index % 1000 == 0.0:
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obstacles = usd_help.get_obstacles_from_stage(
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# only_paths=[obstacles_path],
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reference_prim_path="/World",
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ignore_substring=ignore_list,
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).get_collision_check_world()
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model.update_world(obstacles)
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print("Updated World")
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sp_buffer = []
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sph_position, _ = target.get_local_pose()
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x_sph[..., :3] = tensor_args.to_device(sph_position).view(1, 1, 1, 3)
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d, d_vec = model.get_collision_vector(x_sph)
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d = d.view(-1).cpu()
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p = d.item()
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p = max(1, p * 5)
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if d.item() != 0.0:
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draw_line(sph_position, d_vec[..., :3].view(3).cpu().numpy())
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print(d, d_vec)
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else:
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# Third Party
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try:
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from omni.isaac.debug_draw import _debug_draw
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except ImportError:
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from isaacsim.util.debug_draw import _debug_draw
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draw = _debug_draw.acquire_debug_draw_interface()
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# if draw.get_num_points() > 0:
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draw.clear_lines()
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if d.item() == 0.0:
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target_material.set_color(np.ravel([0, 1, 0]))
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elif d.item() <= model.contact_distance:
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target_material.set_color(np.array([0, 0, p]))
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elif d.item() >= model.contact_distance:
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target_material.set_color(np.array([p, 0, 0]))
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if __name__ == "__main__":
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main()
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