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299 | import numpy as np
import omni.timeline
import omni.ui as ui
from omni.isaac.ui.element_wrappers import CollapsableFrame, DropDown, FloatField, TextBlock
from omni.isaac.ui.ui_utils import get_style
from omni.isaac.ui.element_wrappers import Button
from omni.ui import FloatSlider
from pxr import Usd, UsdGeom, Sdf, Gf, UsdPhysics, UsdShade, PhysxSchema
import math
from omni.physx.scripts import physicsUtils
import omni.usd
class UIBuilder:
def __init__(self):
"""enableの状態だとIsaac SIMが起動した際に1度呼び出される
"""
# フレームは、複数のUI要素を含むことができるサブウィンドウです
self.frames = []
# UI要素は、omni.isaac.ui.element_wrappers の UIElementWrapper を使用して作成されます
self.wrapped_ui_elements = []
# タイムラインにアクセスして、プログラム上で停止/一時停止/再生を制御します
self._timeline = omni.timeline.get_timeline_interface()
# __on_init()を呼び出し
self._on_init()
def on_menu_callback(self):
"""ツールバーからUIが開かれたときに呼び出されるコールバック。
これは、build_ui()の直後に呼び出されます。
"""
print("on_menu_callback")
def on_timeline_event(self, event):
"""タイムラインイベント（再生、停止、一時停止）のコールバック
Args:
event (omni.timeline.TimelineEventType): イベントの種類
"""
#print("on_timeline_event")
pass
def on_physics_step(self, step):
"""物理ステップのコールバック。
物理ステップは、タイムラインが再生されているときにのみ発生します
Args:
step (float): 物理ステップのサイズ
"""
#print("on_physics_step")
pass
def on_stage_event(self, event):
"""ステージイベントのコールバック
Args:
event (omni.usd.StageEventType): イベントタイプ
"""
print(f"event type: {event.type}")
pass
def cleanup(self):
"""
ステージが閉じられたときや拡張機能がホットリロードされたときに呼び出されます。
必要なクリーンアップ処理を行い、アクティブなコールバック関数を削除します。
omni.isaac.ui.element_wrappersからインポートされたボタンは、
クリーンアップ関数を実装しているので、それを呼び出す必要があります。
"""
print("cleanup")
for ui_elem in self.wrapped_ui_elements:
ui_elem.cleanup()
def build_ui(self):
"""
カスタムUIツールを構築して、拡張機能を実行します。
この関数は、UIウィンドウが閉じて再度開かれるたびに呼び出されます。
"""
print("build_ui")
# ボタンUIの作成
object_map = CollapsableFrame("Object Controls", collapsed=False)
with object_map:
with ui.VStack(style=get_style(), spacing=5, height=0):
with ui.VStack():
grandplate_button = Button(
"Ground plane",
"SET",
on_click_fn=self._on_set_groudplane,
)
robot_button = Button(
"Object",
"SET",
on_click_fn=self._on_set_object,
)
# UIエレメントのリストに追加
self.wrapped_ui_elements.extend([grandplate_button, robot_button])
_left_reg_fields_frame = CollapsableFrame("Left Leg", collapsed=False)
with _left_reg_fields_frame:
with ui.VStack(style=get_style(), spacing=5, height=0):
left_hip_yaw_joint_slider = FloatSlider(min=-180,max=180,value=0)
left_hip_yaw_joint_slider.model.add_value_changed_fn(lambda model: self._on_float_field_value_changed_fn(model, 'left_hip_yaw_joint'))
left_hip_roll_joint_slider = FloatSlider(min=-180,max=180,value=0)
left_hip_roll_joint_slider.model.add_value_changed_fn(lambda model: self._on_float_field_value_changed_fn(model, 'left_hip_roll_joint'))
left_hip_pitch_joint_slider = FloatSlider(min=-180,max=180,value=0)
left_hip_pitch_joint_slider.model.add_value_changed_fn(lambda model: self._on_float_field_value_changed_fn(model, 'left_hip_pitch_joint'))
left_knee_joint_slider = FloatSlider(min=-180,max=180,value=0)
left_knee_joint_slider.model.add_value_changed_fn(lambda model: self._on_float_field_value_changed_fn(model, 'left_knee_joint'))
left_ankle_joint_slider = FloatSlider(min=-180,max=180,value=0)
left_ankle_joint_slider.model.add_value_changed_fn(lambda model: self._on_float_field_value_changed_fn(model, 'left_ankle_joint'))
self.wrapped_ui_elements.append([left_hip_yaw_joint_slider, left_hip_roll_joint_slider, left_hip_pitch_joint_slider, left_knee_joint_slider, left_ankle_joint_slider])
_right_leg_fields_frame = CollapsableFrame("Right Leg", collapsed=False)
with _right_leg_fields_frame:
with ui.VStack(style=get_style(), spacing=5, height=0):
right_hip_yaw_joint_slider = FloatSlider(min=-180,max=180,value=0)
right_hip_yaw_joint_slider.model.add_value_changed_fn(lambda model: self._on_float_field_value_changed_fn(model, 'right_hip_yaw_joint'))
right_hip_roll_joint_slider = FloatSlider(min=-180,max=180,value=0)
right_hip_roll_joint_slider.model.add_value_changed_fn(lambda model: self._on_float_field_value_changed_fn(model, 'right_hip_roll_joint'))
right_hip_pitch_joint_slider = FloatSlider(min=-180,max=180,value=0)
right_hip_pitch_joint_slider.model.add_value_changed_fn(lambda model: self._on_float_field_value_changed_fn(model, 'right_hip_pitch_joint'))
right_knee_joint_slider = FloatSlider(min=-180,max=180,value=0)
right_knee_joint_slider.model.add_value_changed_fn(lambda model: self._on_float_field_value_changed_fn(model, 'right_knee_joint'))
right_ankle_joint_slider = FloatSlider(min=-180,max=180,value=0)
right_ankle_joint_slider.model.add_value_changed_fn(lambda model: self._on_float_field_value_changed_fn(model, 'right_ankle_joint'))
self.wrapped_ui_elements.append([right_hip_yaw_joint_slider, right_hip_roll_joint_slider, right_hip_pitch_joint_slider, right_knee_joint_slider, right_ankle_joint_slider])
_body_fields_frame = CollapsableFrame("Body", collapsed=False)
with _body_fields_frame:
with ui.VStack(style=get_style(), spacing=5, height=0):
torso_joint_slider = FloatSlider(min=-180,max=180,value=0)
torso_joint_slider.model.add_value_changed_fn(lambda model: self._on_float_field_value_changed_fn(model, 'torso_joint'))
self.wrapped_ui_elements.append(torso_joint_slider)
_left_shoulder_fields_frame = CollapsableFrame("Left Shoulder", collapsed=False)
with _left_shoulder_fields_frame:
with ui.VStack(style=get_style(), spacing=5, height=0):
left_shoulder_roll_joint_slider = FloatSlider(min=-180,max=180,value=0)
left_shoulder_roll_joint_slider.model.add_value_changed_fn(lambda model: self._on_float_field_value_changed_fn(model, 'left_shoulder_roll_joint'))
left_shoulder_yaw_joint_slider = FloatSlider(min=-180,max=180,value=0)
left_shoulder_yaw_joint_slider.model.add_value_changed_fn(lambda model: self._on_float_field_value_changed_fn(model, 'left_shoulder_yaw_joint'))
left_elbow_joint_slider = FloatSlider(min=-180,max=180,value=0)
left_elbow_joint_slider.model.add_value_changed_fn(lambda model: self._on_float_field_value_changed_fn(model, 'left_elbow_joint'))
self.wrapped_ui_elements.append([left_shoulder_roll_joint_slider, left_shoulder_yaw_joint_slider, left_elbow_joint_slider])
_right_shoulder_fields_frame = CollapsableFrame("Right Shoulder", collapsed=False)
with _right_shoulder_fields_frame:
with ui.VStack(style=get_style(), spacing=5, height=0):
right_shoulder_roll_joint_slider = FloatSlider(min=-180,max=180,value=0)
right_shoulder_roll_joint_slider.model.add_value_changed_fn(lambda model: self._on_float_field_value_changed_fn(model, 'right_shoulder_roll_joint'))
right_shoulder_yaw_joint_slider = FloatSlider(min=-180,max=180,value=0)
right_shoulder_yaw_joint_slider.model.add_value_changed_fn(lambda model: self._on_float_field_value_changed_fn(model, 'right_shoulder_yaw_joint'))
right_elbow_joint_slider = FloatSlider(min=-180,max=180,value=0)
right_elbow_joint_slider.model.add_value_changed_fn(lambda model: self._on_float_field_value_changed_fn(model, 'right_elbow_joint'))
self.wrapped_ui_elements.append([right_shoulder_roll_joint_slider, right_shoulder_yaw_joint_slider, right_elbow_joint_slider])
def _on_float_field_value_changed_fn(self, model, joint):
value = model.as_float
print(f"Slider for {joint} value changed to: {value}")
joint_attr = getattr(self, joint)
self.set_drive_parameters(joint_attr, "position", value)
def _on_set_groudplane(self):
"""
ボタンが押されたら呼ばれる
"""
# シーンを読み込む
usd_file_path = "http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.1/Isaac/Environments/Grid/gridroom_curved.usd"
omni.usd.get_context().open_stage(usd_file_path)
print("USDシーンがロードされました")
def _on_set_object(self):
"""
USDシーンにRobotオブジェクトを追加し、位置、スケール、回転、剛体物理と衝突設定を行う
"""
# USDステージのコンテキストを取得
context = omni.usd.get_context()
stage = context.get_stage() # self.stageではなく、ここで直接取得する
# オブジェクトのパスを指定
prim_path = '/World/Robot'
# 現在の編集対象レイヤーを取得
edit_target = stage.GetEditTarget()
current_layer = edit_target.GetLayer()
# 新しいプリム（オブジェクト）を作成
prim_spec = Sdf.CreatePrimInLayer(current_layer, prim_path)
# RobotオブジェクトのUSDファイルをペイロードとしてロード
prim_spec.payloadList.Prepend(Sdf.Payload(
'omniverse://localhost/NVIDIA/Assets/Isaac/4.2/Isaac/Robots/Unitree/H1/h1.usd',
Sdf.Path.emptyPath))
# Robotオブジェクトを取得
robot_prim = stage.GetPrimAtPath(prim_path)
# オブジェクトが正しく取得できたか確認
if not robot_prim.IsValid():
print(f"Error: Could not load prim at {prim_path}")
return
# Robotの位置、スケール、回転を設定
xformable = UsdGeom.Xformable(robot_prim)
# 位置を設定（既存の translate op があるか確認）
if xformable.GetOrderedXformOps():
translate_ops = [op for op in xformable.GetOrderedXformOps() if op.GetOpName() == 'xformOp:translate']
if translate_ops:
translate_ops[0].Set(Gf.Vec3f(0.0, 0.0, 1.5))
else:
xformable.AddTranslateOp().Set(Gf.Vec3f(0.0, 0.0, 1.5))
else:
xformable.AddTranslateOp().Set(Gf.Vec3f(0.0, 0.0, 1.5))
self.left_hip_yaw_joint = UsdPhysics.DriveAPI.Get(stage.GetPrimAtPath("/World/Robot/pelvis/left_hip_yaw_joint"), "angular")
self.left_hip_roll_joint = UsdPhysics.DriveAPI.Get(stage.GetPrimAtPath("/World/Robot/left_hip_yaw_link/left_hip_roll_joint"), "angular")
self.left_hip_pitch_joint = UsdPhysics.DriveAPI.Get(stage.GetPrimAtPath("/World/Robot/left_hip_roll_link/left_hip_pitch_joint"), "angular")
self.left_knee_joint = UsdPhysics.DriveAPI.Get(stage.GetPrimAtPath("/World/Robot/left_hip_pitch_link/left_knee_joint"), "angular")
self.left_ankle_joint = UsdPhysics.DriveAPI.Get(stage.GetPrimAtPath("/World/Robot/left_knee_link/left_ankle_joint"), "angular")
self.right_hip_yaw_joint = UsdPhysics.DriveAPI.Get(stage.GetPrimAtPath("/World/Robot/pelvis/right_hip_yaw_joint"), "angular")
self.right_hip_roll_joint = UsdPhysics.DriveAPI.Get(stage.GetPrimAtPath("/World/Robot/right_hip_yaw_link/right_hip_roll_joint"), "angular")
self.right_hip_pitch_joint = UsdPhysics.DriveAPI.Get(stage.GetPrimAtPath("/World/Robot/right_hip_roll_link/right_hip_pitch_joint"), "angular")
self.right_knee_joint = UsdPhysics.DriveAPI.Get(stage.GetPrimAtPath("/World/Robot/right_hip_pitch_link/right_knee_joint"), "angular")
self.right_ankle_joint = UsdPhysics.DriveAPI.Get(stage.GetPrimAtPath("/World/Robot/right_knee_link/right_ankle_joint"), "angular")
self.torso_joint = UsdPhysics.DriveAPI.Get(stage.GetPrimAtPath("/World/Robot/pelvis/torso_joint"), "angular")
self.left_shoulder_roll_joint = UsdPhysics.DriveAPI.Get(stage.GetPrimAtPath("/World/Robot/left_shoulder_pitch_link/left_shoulder_roll_joint"), "angular")
self.left_shoulder_yaw_joint = UsdPhysics.DriveAPI.Get(stage.GetPrimAtPath("/World/Robot/left_shoulder_roll_link/left_shoulder_yaw_joint"), "angular")
self.left_elbow_joint = UsdPhysics.DriveAPI.Get(stage.GetPrimAtPath("/World/Robot/left_shoulder_yaw_link/left_elbow_joint"), "angular")
self.right_shoulder_roll_joint = UsdPhysics.DriveAPI.Get(stage.GetPrimAtPath("/World/Robot/right_shoulder_pitch_link/right_shoulder_roll_joint"), "angular")
self.right_shoulder_yaw_joint = UsdPhysics.DriveAPI.Get(stage.GetPrimAtPath("/World/Robot/right_shoulder_roll_link/right_shoulder_yaw_joint"), "angular")
self.right_elbow_joint = UsdPhysics.DriveAPI.Get(stage.GetPrimAtPath("/World/Robot/right_shoulder_yaw_link/right_elbow_joint"), "angular")
self.set_drive_parameters(self.left_hip_yaw_joint, "position", 0, math.radians(1e8), math.radians(1e7))
self.set_drive_parameters(self.left_hip_roll_joint, "position", 0, math.radians(1e8), math.radians(1e7))
self.set_drive_parameters(self.left_hip_pitch_joint, "position", 0, math.radians(1e8), math.radians(1e7))
self.set_drive_parameters(self.left_knee_joint, "position", 0, math.radians(1e8), math.radians(1e7))
self.set_drive_parameters(self.left_ankle_joint, "position", 0, math.radians(1e8), math.radians(1e7))
self.set_drive_parameters(self.right_hip_yaw_joint, "position", 0, math.radians(1e8), math.radians(1e7))
self.set_drive_parameters(self.right_hip_roll_joint, "position", 0, math.radians(1e8), math.radians(1e7))
self.set_drive_parameters(self.right_hip_pitch_joint, "position", 0, math.radians(1e8), math.radians(1e7))
self.set_drive_parameters(self.right_knee_joint, "position", 0, math.radians(1e8), math.radians(1e7))
self.set_drive_parameters(self.right_ankle_joint, "position", 0, math.radians(1e8), math.radians(1e7))
self.set_drive_parameters(self.torso_joint, "position", 0, math.radians(1e8), math.radians(1e7))
self.set_drive_parameters(self.left_shoulder_roll_joint, "position", 0, math.radians(1e8), math.radians(1e7))
self.set_drive_parameters(self.left_shoulder_yaw_joint, "position", 0, math.radians(1e8), math.radians(1e7))
self.set_drive_parameters(self.left_elbow_joint, "position", 0, math.radians(1e8), math.radians(1e7))
self.set_drive_parameters(self.right_shoulder_roll_joint, "position", 0, math.radians(1e8), math.radians(1e7))
self.set_drive_parameters(self.right_shoulder_yaw_joint, "position", 0, math.radians(1e8), math.radians(1e7))
self.set_drive_parameters(self.right_elbow_joint, "position", 0, math.radians(1e8), math.radians(1e7))
print(f"Robot {prim_path} added, configured, and drives set.")
def set_drive_parameters(self, drive, target_type, target_value, stiffness=None, damping=None, max_force=None):
"""Enable velocity drive for a given joint"""
if target_type == "position":
if not drive.GetTargetPositionAttr():
drive.CreateTargetPositionAttr(target_value)
else:
drive.GetTargetPositionAttr().Set(target_value)
elif target_type == "velocity":
if not drive.GetTargetVelocityAttr():
drive.CreateTargetVelocityAttr(target_value)
else:
drive.GetTargetVelocityAttr().Set(target_value)
if stiffness is not None:
if not drive.GetStiffnessAttr():
drive.CreateStiffnessAttr(stiffness)
else:
drive.GetStiffnessAttr().Set(stiffness)
if damping is not None:
if not drive.GetDampingAttr():
drive.CreateDampingAttr(damping)
else:
drive.GetDampingAttr().Set(damping)
if max_force is not None:
if not drive.GetMaxForceAttr():
drive.CreateMaxForceAttr(max_force)
else:
drive.GetMaxForceAttr().Set(max_force)
def _on_init(self):
print("_on_init")
|
