File size: 5,647 Bytes
406662d | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 | # Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
"""This script demonstrates different types of markers.
.. code-block:: bash
# Usage
./isaaclab.sh -p scripts/demos/markers.py
"""
"""Launch Isaac Sim Simulator first."""
import argparse
from isaaclab.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 isaaclab.sim as sim_utils
from isaaclab.markers import VisualizationMarkers, VisualizationMarkersCfg
from isaaclab.sim import SimulationContext
from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR, ISAACLAB_NUCLEUS_DIR
from isaaclab.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-C/anymal_c.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_cfg = sim_utils.SimulationCfg(dt=0.01, device=args_cli.device)
sim = SimulationContext(sim_cfg)
# 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()
|