import omni import random import numpy as np from pxr import Usd, UsdGeom, Gf, Sdf, UsdShade from scipy.spatial.transform import Rotation # --- Asset and Scene Configuration --- CROP_ASSETS = { "soybean": ["_1", "_2", "_3", "_4", "_5", "_6", "_7", "_8", "_9"], "sorghum": ["_1", "_2", "_3", "_4", "_5", "_6", "_7", "_8", "_9"], "cotton": ["_1", "_2", "_3", "_4", "_5", "_6", "_7", "_8", "_9"], "corn": ["_1", "_2", "_3", "_4", "_5", "_6", "_61", "_62", "_7", "_71", "_72", "_8", "_81", "_9", "_91", "_92"], "cane": ["_1", "_2"] } CROP_AGES = { "y": ["_1", "_2"], "y-m": ["_3", "_4", "_5"], "m-l": ["_5", "_6", "_7"], "l": ["_8", "_9"] } ROW_SPACING = { "corn": 0.45, "soybean": 0.45, "sorghum": 0.45, "cotton": 0.9, "cane": 1.0 } WEED_ASSETS = [ "/World/weed/broadleaf_1", "/World/weed/broadleaf_2", "/World/weed/grass_1", "/World/weed/grass_2" ] OBSTACLE_ASSETS = [ "/World/obstacle/cones/c1", "/World/obstacle/cones/c2", "/World/obstacle/cones/c3", "/World/obstacle/cones/c4", "/World/obstacle/female_adult_police_01_new", "/World/obstacle/male_adult_construction_01_new", # "/World/ood/Tractor" ] # Weed VOLUME_MAPPING = { "none": 0, "some": 50, # Number of assets to spawn "lot": 500 } OBSTACLE_VOLUME_MAPPING = { "none": 0, "some": 5, "lot": 15 } TIME_OF_DAY_MAPPING = { "early": 85, "noon": 0, "late": -75 } # GROUND_MATERIALS = [ "/FlatGrid/Looks/Dirt", "/FlatGrid/Looks/Mulch_Brown", "/FlatGrid/Looks/Mulch_Dry" ] # --- Helper Functions --- def change_ground_material(stage): """Changes the ground material using the MaterialBindingAPI.""" ground_path = "/FlatGrid/Environment" ground_prim = stage.GetPrimAtPath(ground_path) if not ground_prim: print(f"Ground prim not found at {ground_path}.") return material_path = random.choice(GROUND_MATERIALS) material_prim = stage.GetPrimAtPath(material_path) if not material_prim: print(f"Material prim not found at {material_path}.") return # Ensure the target prim is actually a Material material = UsdShade.Material(material_prim) if not material: print(f"Prim at {material_path} is not a valid UsdShadeMaterial.") return # Apply the MaterialBindingAPI to the ground prim binding_api = UsdShade.MaterialBindingAPI.Apply(ground_prim) # Bind the material. # UsdShade.Tokens.strongerThanDescendants ensures this material # overrides any materials assigned to child prims. binding_api.Bind(material, bindingStrength=UsdShade.Tokens.strongerThanDescendants) print(f"Successfully bound {ground_path} to {material_path}") def set_time_of_day(stage, time_of_day): """Sets the absolute time of day by finding or creating the rotation op.""" sun_path = "/World/CumulusLight/AxisNorth/AxisLatitude/AxisSHA" sun_prim = stage.GetPrimAtPath(sun_path) if not sun_prim: print(f"Warning: Sun prim not found at {sun_path}.") return angle = TIME_OF_DAY_MAPPING.get(time_of_day, 180) xform = UsdGeom.Xformable(sun_prim) # 1. Look for an existing RotateX operation in the stack rotate_op = None for op in xform.GetOrderedXformOps(): if op.GetOpType() == UsdGeom.XformOp.TypeRotateX: rotate_op = op break # 2. If it exists, set the absolute value. If not, create it. if rotate_op: rotate_op.Set(float(angle)) else: # This adds the op to the stack and sets the initial absolute value xform.AddRotateXOp(precision=UsdGeom.XformOp.PrecisionFloat).Set(float(angle)) def set_robust_transform(prim, translation=None, rotation_euler=None, scale=None): """ Robustly updates or adds transform operations to a prim. Handles existing Ops, different precisions, and Quaternion vs Euler rotations. """ xform = UsdGeom.Xformable(prim) # We use this to track which ops we've updated to avoid duplicates found_ops = {"translate": None, "rotate": None, "scale": None} for op in xform.GetOrderedXformOps(): op_type = op.GetOpType() if op_type in [UsdGeom.XformOp.TypeTranslate]: found_ops["translate"] = op elif op_type in [UsdGeom.XformOp.TypeRotateXYZ, UsdGeom.XformOp.TypeOrient]: found_ops["rotate"] = op elif op_type in [UsdGeom.XformOp.TypeScale]: found_ops["scale"] = op # --- Handle Translation --- if translation is not None: if found_ops["translate"]: found_ops["translate"].Set(translation) else: xform.AddTranslateOp().Set(translation) # --- Handle Rotation (Euler Z to XYZ or Quat) --- if rotation_euler is not None: z_deg = rotation_euler[2] # Assuming we mostly care about Z for plants if found_ops["rotate"]: op = found_ops["rotate"] attr_type = op.GetAttr().GetTypeName() if attr_type in (Sdf.ValueTypeNames.Quatf, Sdf.ValueTypeNames.Quatd): # Convert Euler to Quat r = Rotation.from_euler('z', z_deg, degrees=True) q = r.as_quat() # x, y, z, w quat_val = Gf.Quatd(q[3], q[0], q[1], q[2]) if attr_type == Sdf.ValueTypeNames.Quatd else Gf.Quatf(q[3], q[0], q[1], q[2]) op.Set(quat_val) else: # Standard Euler (Vec3f or Vec3d) current_rot = op.Get() or Gf.Vec3f(0) op.Set(Gf.Vec3f(current_rot[0], current_rot[1], z_deg)) else: xform.AddRotateXYZOp().Set(Gf.Vec3f(0, 0, z_deg)) # --- Handle Scale --- if scale is not None: if found_ops["scale"]: found_ops["scale"].Set(scale) else: xform.AddScaleOp().Set(scale) def scatter_assets(stage, asset_paths, num_assets, area_min, area_max, root_path): if num_assets == 0: return stage.DefinePrim(root_path, "Xform") for i in range(num_assets): asset_path = random.choice(asset_paths) new_path = f"{root_path}/item_{i}" omni.usd.duplicate_prim(stage, asset_path, new_path) prim = stage.GetPrimAtPath(new_path) pos = Gf.Vec3f(random.uniform(area_min[0], area_max[0]), random.uniform(area_min[1], area_max[1]), 0) rot = Gf.Vec3f(0, 0, random.uniform(0, 360)) set_robust_transform(prim, translation=pos, rotation_euler=rot, scale=Gf.Vec3f(1.0)) def get_crop_paths (crop_type, crop_age): """Get valid prim paths for the selected crop type and age.""" base_path = f"/World/base/{crop_type}" age_suffixes = CROP_AGES.get(crop_age, []) available_suffixes = CROP_ASSETS.get(crop_type, []) valid_suffixes = [s for s in age_suffixes if s in available_suffixes] if not valid_suffixes: raise ValueError(f"No assets found for crop {crop_type} with age {crop_age}'.") return [f"{base_path}/{suffix}" for suffix in valid_suffixes] def generate_scene(config): stage = omni.usd.get_context().get_stage() # ... [Config parsing logic] ... # --- Field Generation --- root_crop_path = Sdf.Path(f"/root/{config['crop_type']}_{config['crop_age']}_field") if stage.GetPrimAtPath(root_crop_path): stage.RemovePrim(root_crop_path) stage.DefinePrim(root_crop_path, "Xform") curve_effect = np.sin(np.linspace(0, 6 * np.pi, config["num_plants_in_row"])) * 0.35 if config["curve"] else np.zeros(config["num_plants_in_row"]) print(f"Generating {config['num_rows']} rows with {config['num_plants_in_row']} plants each (Curve: {config['curve']})") for i in range(config["num_rows"]): for j in range(config["num_plants_in_row"]): if random.random() < 0.1: continue new_prim_path = f"{root_crop_path}/row_{i}_plant_{j}" omni.usd.duplicate_prim(stage, random.choice(get_crop_paths(config["crop_type"], config["crop_age"])), new_prim_path) prim = stage.GetPrimAtPath(new_prim_path) # Position logic offset = random.uniform(-0.02, 0.02) x_pos = i * ROW_SPACING.get(config["crop_type"], 0.45) + offset + curve_effect[j] y_pos = j * 0.1 + offset # Scale logic s = 1.0 + random.uniform(-0.05, 0.05) set_robust_transform( prim, translation=Gf.Vec3f(x_pos, y_pos, 0), rotation_euler=Gf.Vec3f(0, 0, random.uniform(0, 360)), scale=Gf.Vec3f(s, s, s) ) # Scatter Weeds/Obstacles field_w = config["num_rows"] * ROW_SPACING.get(config["crop_type"], 0.45) field_l = config["num_plants_in_row"] * 0.1 print(f"Scattering weeds and obstacles (Weeds: {config['weed_volume']}, Obstacles: {config['obstacle_volume']})") scatter_assets(stage, WEED_ASSETS, VOLUME_MAPPING[config["weed_volume"]], (0,0), (field_w, field_l), Sdf.Path("/root/Weeds")) print(f"Scattering obstacles (Volume: {config['obstacle_volume']})") scatter_assets(stage, OBSTACLE_ASSETS, OBSTACLE_VOLUME_MAPPING[config["obstacle_volume"]], (0,0), (field_w, field_l), Sdf.Path("/root/Obstacles")) # print(f"Setting time of day to {config['time_of_day']}") # set_time_of_day(stage, config["time_of_day"]) # print("Changing ground material") # change_ground_material(stage) print("Scene generation complete!") # --- USER CONFIGURATION --- # Modify the values in this dictionary to change the generated scene. CONFIG = { "crop_type": "cane", # Options: "soybean", "sorghum", "cotton", "corn" "crop_age": "y", # Options: "y", "y-m", "m-l", "l" "curve": False, # Options: True or False "num_plants_in_row": 250, # Number of plants in each row "num_rows": 20, # Number of rows in the field "weed_volume": "none", # Options: "none", "some", "lot" "obstacle_volume": "none", # Options: "none", "some", "lot" "time_of_day": "noon" # Options: "early", "noon", "late" } # --- END USER CONFIGURATION --- # Execute the scene generation generate_scene(CONFIG) # for crop_type in ["soybean", "sorghum", "cotton", "corn"]: # for crop_age in ["y", "y-m", "m-l", "l"]: # CONFIG = { # "crop_type": crop_type, # "crop_age": crop_age, # "curve": False, # "num_plants_in_row": 250, # "num_rows": 20, # "weed_volume": "some", # "obstacle_volume": "some", # "time_of_day": "noon" # } # generate_scene(CONFIG)