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# NVIDIA CORPORATION and its licensors retain all intellectual property
# and proprietary rights in and to this software, related documentation
# and any modifications thereto. Any use, reproduction, disclosure or
# distribution of this software and related documentation without an express
# license agreement from NVIDIA CORPORATION is strictly prohibited.
import warp as wp
import warp.sim
import warp.render
from collections import defaultdict
import numpy as np
from warp.render.utils import solidify_mesh, tab10_color_map
# TODO allow NaNs in Warp kernels
NAN = wp.constant(-1.0e8)
@wp.kernel
def compute_contact_points(
body_q: wp.array(dtype=wp.transform),
shape_body: wp.array(dtype=int),
contact_shape0: wp.array(dtype=int),
contact_shape1: wp.array(dtype=int),
contact_point0: wp.array(dtype=wp.vec3),
contact_point1: wp.array(dtype=wp.vec3),
# outputs
contact_pos0: wp.array(dtype=wp.vec3),
contact_pos1: wp.array(dtype=wp.vec3),
):
tid = wp.tid()
shape_a = contact_shape0[tid]
shape_b = contact_shape1[tid]
if shape_a == shape_b:
contact_pos0[tid] = wp.vec3(NAN, NAN, NAN)
contact_pos1[tid] = wp.vec3(NAN, NAN, NAN)
return
body_a = shape_body[shape_a]
body_b = shape_body[shape_b]
X_wb_a = wp.transform_identity()
X_wb_b = wp.transform_identity()
if body_a >= 0:
X_wb_a = body_q[body_a]
if body_b >= 0:
X_wb_b = body_q[body_b]
contact_pos0[tid] = wp.transform_point(X_wb_a, contact_point0[tid])
contact_pos1[tid] = wp.transform_point(X_wb_b, contact_point1[tid])
def CreateSimRenderer(renderer):
class SimRenderer(renderer):
use_unique_colors = True
def __init__(
self,
model: warp.sim.Model,
path,
scaling=1.0,
fps=60,
up_axis="Y",
show_rigid_contact_points=False,
contact_points_radius=1e-3,
show_joints=False,
**render_kwargs,
):
# create USD stage
super().__init__(path, scaling=scaling, fps=fps, up_axis=up_axis, **render_kwargs)
self.scaling = scaling
self.cam_axis = "XYZ".index(up_axis.upper())
self.show_rigid_contact_points = show_rigid_contact_points
self.show_joints = show_joints
self.contact_points_radius = contact_points_radius
self.populate(model)
def populate(self, model: warp.sim.Model):
self.skip_rendering = False
self.model = model
self.num_envs = model.num_envs
self.body_names = []
if self.show_rigid_contact_points and model.rigid_contact_max:
self.contact_points0 = wp.array(
np.zeros((model.rigid_contact_max, 3)), dtype=wp.vec3, device=model.device
)
self.contact_points1 = wp.array(
np.zeros((model.rigid_contact_max, 3)), dtype=wp.vec3, device=model.device
)
self.contact_points0_colors = [(1.0, 0.5, 0.0)] * model.rigid_contact_max
self.contact_points1_colors = [(0.0, 0.5, 1.0)] * model.rigid_contact_max
self.body_env = [] # mapping from body index to its environment index
env_id = 0
self.bodies_per_env = model.body_count // self.num_envs
# create rigid body nodes
for b in range(model.body_count):
body_name = f"body_{b}_{self.model.body_name[b].replace(' ', '_')}"
self.body_names.append(body_name)
self.register_body(body_name)
if b > 0 and b % self.bodies_per_env == 0:
env_id += 1
self.body_env.append(env_id)
# create rigid shape children
if self.model.shape_count:
# mapping from hash of geometry to shape ID
self.geo_shape = {}
self.instance_count = 0
self.body_name = {} # mapping from body name to its body ID
self.body_shapes = defaultdict(list) # mapping from body index to its shape IDs
shape_body = model.shape_body.numpy()
shape_geo_src = model.shape_geo_src
shape_geo_type = model.shape_geo.type.numpy()
shape_geo_scale = model.shape_geo.scale.numpy()
shape_geo_thickness = model.shape_geo.thickness.numpy()
shape_geo_is_solid = model.shape_geo.is_solid.numpy()
shape_transform = model.shape_transform.numpy()
p = np.zeros(3, dtype=np.float32)
q = np.array([0.0, 0.0, 0.0, 1.0], dtype=np.float32)
scale = np.ones(3)
color = np.ones(3)
# loop over shapes excluding the ground plane
for s in range(model.shape_count - 1):
geo_type = shape_geo_type[s]
geo_scale = [float(v) for v in shape_geo_scale[s]]
geo_thickness = float(shape_geo_thickness[s])
geo_is_solid = bool(shape_geo_is_solid[s])
geo_src = shape_geo_src[s]
if self.use_unique_colors:
color = self._get_new_color()
name = f"shape_{s}"
# shape transform in body frame
body = int(shape_body[s])
if body >= 0 and body < len(self.body_names):
body = self.body_names[body]
else:
body = None
# shape transform in body frame
X_bs = wp.transform_expand(shape_transform[s])
# check whether we can instance an already created shape with the same geometry
geo_hash = hash((int(geo_type), geo_src, *geo_scale, geo_thickness, geo_is_solid))
if geo_hash in self.geo_shape:
shape = self.geo_shape[geo_hash]
else:
if geo_type == warp.sim.GEO_PLANE:
if s == model.shape_count - 1 and not model.ground:
continue # hide ground plane
# plane mesh
width = geo_scale[0] if geo_scale[0] > 0.0 else 100.0
length = geo_scale[1] if geo_scale[1] > 0.0 else 100.0
shape = self.render_plane(
name, p, q, width, length, color, parent_body=body, is_template=True
)
elif geo_type == warp.sim.GEO_SPHERE:
shape = self.render_sphere(name, p, q, geo_scale[0], parent_body=body, is_template=True)
elif geo_type == warp.sim.GEO_CAPSULE:
shape = self.render_capsule(
name, p, q, geo_scale[0], geo_scale[1], parent_body=body, is_template=True
)
elif geo_type == warp.sim.GEO_CYLINDER:
shape = self.render_cylinder(
name, p, q, geo_scale[0], geo_scale[1], parent_body=body, is_template=True
)
elif geo_type == warp.sim.GEO_CONE:
shape = self.render_cone(
name, p, q, geo_scale[0], geo_scale[1], parent_body=body, is_template=True
)
elif geo_type == warp.sim.GEO_BOX:
shape = self.render_box(name, p, q, geo_scale, parent_body=body, is_template=True)
elif geo_type == warp.sim.GEO_MESH:
if not geo_is_solid:
faces, vertices = solidify_mesh(geo_src.indices, geo_src.vertices, geo_thickness)
else:
faces, vertices = geo_src.indices, geo_src.vertices
shape = self.render_mesh(
name,
vertices,
faces,
pos=p,
rot=q,
scale=geo_scale,
colors=[color],
parent_body=body,
is_template=True,
)
elif geo_type == warp.sim.GEO_SDF:
continue
self.geo_shape[geo_hash] = shape
self.add_shape_instance(name, shape, body, X_bs.p, X_bs.q, scale)
self.instance_count += 1
if self.show_joints and model.joint_count:
joint_type = model.joint_type.numpy()
joint_axis = model.joint_axis.numpy()
joint_axis_start = model.joint_axis_start.numpy()
joint_axis_dim = model.joint_axis_dim.numpy()
joint_parent = model.joint_parent.numpy()
joint_child = model.joint_child.numpy()
joint_tf = model.joint_X_p.numpy()
shape_collision_radius = model.shape_collision_radius.numpy()
y_axis = wp.vec3(0., 1., 0.)
color = (1., 0., 1.)
shape = self.render_arrow(
"joint_arrow", None, None,
base_radius=0.01, base_height=0.4,
cap_radius=0.02, cap_height=0.1,
parent_body=None, is_template=True,
color=color
)
for i, t in enumerate(joint_type):
if t not in {
warp.sim.JOINT_REVOLUTE,
# warp.sim.JOINT_PRISMATIC,
warp.sim.JOINT_UNIVERSAL,
warp.sim.JOINT_COMPOUND,
warp.sim.JOINT_D6,
}:
continue
tf = joint_tf[i]
body = int(joint_parent[i])
# if body == -1:
# continue
num_linear_axes = int(joint_axis_dim[i][0])
num_angular_axes = int(joint_axis_dim[i][1])
# find a good scale for the arrow based on the average radius
# of the shapes attached to the joint child body
scale = np.ones(3)
child = int(joint_child[i])
if child >= 0:
radii = []
for s in model.body_shapes[child]:
radii.append(shape_collision_radius[s])
if len(radii) > 0:
scale *= np.mean(radii) * 2.0
for a in range(num_linear_axes, num_linear_axes + num_angular_axes):
index = joint_axis_start[i] + a
axis = joint_axis[index]
if np.linalg.norm(axis) < 1e-6:
continue
p = wp.vec3(tf[:3])
q = wp.quat(tf[3:])
# compute rotation between axis and y
axis = axis / np.linalg.norm(axis)
q = q * wp.quat_between_vectors(wp.vec3(axis), y_axis)
name = f"joint_{i}_{a}"
self.add_shape_instance(name, shape, body, p, q, scale, color1=color, color2=color)
self.instance_count += 1
if model.ground:
self.render_ground()
if hasattr(self, "complete_setup"):
self.complete_setup()
def _get_new_color(self):
return tab10_color_map(self.instance_count)
def render(self, state: warp.sim.State):
if self.skip_rendering:
return
if self.model.particle_count:
particle_q = state.particle_q.numpy()
# render particles
self.render_points("particles", particle_q, radius=self.model.particle_radius.numpy())
# render tris
if self.model.tri_count:
self.render_mesh("surface", particle_q, self.model.tri_indices.numpy().flatten())
# render springs
if self.model.spring_count:
self.render_line_list("springs", particle_q, self.model.spring_indices.numpy().flatten(), [], 0.05)
# render muscles
if self.model.muscle_count:
body_q = state.body_q.numpy()
muscle_start = self.model.muscle_start.numpy()
muscle_links = self.model.muscle_bodies.numpy()
muscle_points = self.model.muscle_points.numpy()
muscle_activation = self.model.muscle_activation.numpy()
# for s in self.skeletons:
# # for mesh, link in s.mesh_map.items():
# # if link != -1:
# # X_sc = wp.transform_expand(self.state.body_X_sc[link].tolist())
# # #self.renderer.add_mesh(mesh, "../assets/snu/OBJ/" + mesh + ".usd", X_sc, 1.0, self.render_time)
# # self.renderer.add_mesh(mesh, "../assets/snu/OBJ/" + mesh + ".usd", X_sc, 1.0, self.render_time)
for m in range(self.model.muscle_count):
start = int(muscle_start[m])
end = int(muscle_start[m + 1])
points = []
for w in range(start, end):
link = muscle_links[w]
point = muscle_points[w]
X_sc = wp.transform_expand(body_q[link][0])
points.append(wp.transform_point(X_sc, point).tolist())
self.render_line_strip(
name=f"muscle_{m}", vertices=points, radius=0.0075, color=(muscle_activation[m], 0.2, 0.5)
)
# update bodies
if self.model.body_count:
self.update_body_transforms(state.body_q)
if self.show_rigid_contact_points and self.model.rigid_contact_max:
wp.launch(
kernel=compute_contact_points,
dim=self.model.rigid_contact_max,
inputs=[
state.body_q,
self.model.shape_body,
self.model.rigid_contact_shape0,
self.model.rigid_contact_shape1,
self.model.rigid_contact_point0,
self.model.rigid_contact_point1,
],
outputs=[
self.contact_points0,
self.contact_points1,
],
device=self.model.device,
)
self.render_points(
"contact_points0",
self.contact_points0.numpy(),
radius=self.contact_points_radius * self.scaling,
colors=self.contact_points0_colors,
)
self.render_points(
"contact_points1",
self.contact_points1.numpy(),
radius=self.contact_points_radius * self.scaling,
colors=self.contact_points1_colors,
)
return SimRenderer
SimRendererUsd = CreateSimRenderer(wp.render.UsdRenderer)
SimRendererOpenGL = CreateSimRenderer(wp.render.OpenGLRenderer)
SimRenderer = SimRendererUsd
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