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153 | # Copyright (c) 2022-2024, The Isaac Lab Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
"""This script demonstrates different types of markers.
.. code-block:: bash
# Usage
./isaaclab.sh -p source/standalone/demos/markers.py
"""
"""Launch Isaac Sim Simulator first."""
import argparse
from omni.isaac.lab.app import AppLauncher
# add argparse arguments
parser = argparse.ArgumentParser(description="This script demonstrates different types of markers.")
# append AppLauncher cli args
AppLauncher.add_app_launcher_args(parser)
# parse the arguments
args_cli = parser.parse_args()
# launch omniverse app
app_launcher = AppLauncher(args_cli)
simulation_app = app_launcher.app
"""Rest everything follows."""
import torch
import omni.isaac.lab.sim as sim_utils
from omni.isaac.lab.markers import VisualizationMarkers, VisualizationMarkersCfg
from omni.isaac.lab.sim import SimulationContext
from omni.isaac.lab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR
from omni.isaac.lab.utils.math import quat_from_angle_axis
def define_markers() -> VisualizationMarkers:
"""Define markers with various different shapes."""
marker_cfg = VisualizationMarkersCfg(
prim_path="/Visuals/myMarkers",
markers={
"frame": sim_utils.UsdFileCfg(
usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/UIElements/frame_prim.usd",
scale=(0.5, 0.5, 0.5),
),
"arrow_x": sim_utils.UsdFileCfg(
usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/UIElements/arrow_x.usd",
scale=(1.0, 0.5, 0.5),
visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.0, 1.0, 1.0)),
),
"cube": sim_utils.CuboidCfg(
size=(1.0, 1.0, 1.0),
visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(1.0, 0.0, 0.0)),
),
"sphere": sim_utils.SphereCfg(
radius=0.5,
visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.0, 1.0, 0.0)),
),
"cylinder": sim_utils.CylinderCfg(
radius=0.5,
height=1.0,
visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.0, 0.0, 1.0)),
),
"cone": sim_utils.ConeCfg(
radius=0.5,
height=1.0,
visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(1.0, 1.0, 0.0)),
),
"mesh": sim_utils.UsdFileCfg(
usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/Blocks/DexCube/dex_cube_instanceable.usd",
scale=(10.0, 10.0, 10.0),
),
"mesh_recolored": sim_utils.UsdFileCfg(
usd_path=f"{ISAAC_NUCLEUS_DIR}/Props/Blocks/DexCube/dex_cube_instanceable.usd",
scale=(10.0, 10.0, 10.0),
visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(1.0, 0.25, 0.0)),
),
"robot_mesh": sim_utils.UsdFileCfg(
usd_path=f"{ISAACLAB_NUCLEUS_DIR}/Robots/ANYbotics/ANYmal-D/anymal_d.usd",
scale=(2.0, 2.0, 2.0),
visual_material=sim_utils.GlassMdlCfg(glass_color=(0.0, 0.1, 0.0)),
),
},
)
return VisualizationMarkers(marker_cfg)
def main():
"""Main function."""
# Load kit helper
sim = SimulationContext(sim_utils.SimulationCfg(dt=0.01))
# Set main camera
sim.set_camera_view([0.0, 18.0, 12.0], [0.0, 3.0, 0.0])
# Spawn things into stage
# Lights
cfg = sim_utils.DomeLightCfg(intensity=3000.0, color=(0.75, 0.75, 0.75))
cfg.func("/World/Light", cfg)
# create markers
my_visualizer = define_markers()
# define a grid of positions where the markers should be placed
num_markers_per_type = 5
grid_spacing = 2.0
# Calculate the half-width and half-height
half_width = (num_markers_per_type - 1) / 2.0
half_height = (my_visualizer.num_prototypes - 1) / 2.0
# Create the x and y ranges centered around the origin
x_range = torch.arange(-half_width * grid_spacing, (half_width + 1) * grid_spacing, grid_spacing)
y_range = torch.arange(-half_height * grid_spacing, (half_height + 1) * grid_spacing, grid_spacing)
# Create the grid
x_grid, y_grid = torch.meshgrid(x_range, y_range, indexing="ij")
x_grid = x_grid.reshape(-1)
y_grid = y_grid.reshape(-1)
z_grid = torch.zeros_like(x_grid)
# marker locations
marker_locations = torch.stack([x_grid, y_grid, z_grid], dim=1)
marker_indices = torch.arange(my_visualizer.num_prototypes).repeat(num_markers_per_type)
# Play the simulator
sim.reset()
# Now we are ready!
print("[INFO]: Setup complete...")
# Yaw angle
yaw = torch.zeros_like(marker_locations[:, 0])
# Simulate physics
while simulation_app.is_running():
# rotate the markers around the z-axis for visualization
marker_orientations = quat_from_angle_axis(yaw, torch.tensor([0.0, 0.0, 1.0]))
# visualize
my_visualizer.visualize(marker_locations, marker_orientations, marker_indices=marker_indices)
# roll corresponding indices to show how marker prototype can be changed
if yaw[0].item() % (0.5 * torch.pi) < 0.01:
marker_indices = torch.roll(marker_indices, 1)
# perform step
sim.step()
# increment yaw
yaw += 0.01
if __name__ == "__main__":
# run the main function
main()
# close sim app
simulation_app.close()
|
