# Copyright (c) 2022-2024, The ORBIT Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
from __future__ import annotations
from typing import TYPE_CHECKING
import carb
import omni.isaac.core.utils.prims as prim_utils
import omni.isaac.core.utils.stage as stage_utils
import omni.kit.commands
from pxr import Gf, Sdf, Usd
from omni.isaac.orbit.sim import converters, schemas
from omni.isaac.orbit.sim.utils import bind_physics_material, bind_visual_material, clone
if TYPE_CHECKING:
from . import from_files_cfg
[docs]@clone
def spawn_from_usd(
prim_path: str,
cfg: from_files_cfg.UsdFileCfg,
translation: tuple[float, float, float] | None = None,
orientation: tuple[float, float, float, float] | None = None,
) -> Usd.Prim:
"""Spawn an asset from a USD file and override the settings with the given config.
In the case of a USD file, the asset is spawned at the default prim specified in the USD file.
If a default prim is not specified, then the asset is spawned at the root prim.
In case a prim already exists at the given prim path, then the function does not create a new prim
or throw an error that the prim already exists. Instead, it just takes the existing prim and overrides
the settings with the given config.
.. note::
This function is decorated with :func:`clone` that resolves prim path into list of paths
if the input prim path is a regex pattern. This is done to support spawning multiple assets
from a single and cloning the USD prim at the given path expression.
Args:
prim_path: The prim path or pattern to spawn the asset at. If the prim path is a regex pattern,
then the asset is spawned at all the matching prim paths.
cfg: The configuration instance.
translation: The translation to apply to the prim w.r.t. its parent prim. Defaults to None, in which
case the translation specified in the USD file is used.
orientation: The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None,
in which case the orientation specified in the USD file is used.
Returns:
The prim of the spawned asset.
Raises:
FileNotFoundError: If the USD file does not exist at the given path.
"""
# spawn asset from the given usd file
return _spawn_from_usd_file(prim_path, cfg.usd_path, cfg, translation, orientation)
[docs]@clone
def spawn_from_urdf(
prim_path: str,
cfg: from_files_cfg.UrdfFileCfg,
translation: tuple[float, float, float] | None = None,
orientation: tuple[float, float, float, float] | None = None,
) -> Usd.Prim:
"""Spawn an asset from a URDF file and override the settings with the given config.
It uses the :class:`UrdfConverter` class to create a USD file from URDF. This file is then imported
at the specified prim path.
In case a prim already exists at the given prim path, then the function does not create a new prim
or throw an error that the prim already exists. Instead, it just takes the existing prim and overrides
the settings with the given config.
.. note::
This function is decorated with :func:`clone` that resolves prim path into list of paths
if the input prim path is a regex pattern. This is done to support spawning multiple assets
from a single and cloning the USD prim at the given path expression.
Args:
prim_path: The prim path or pattern to spawn the asset at. If the prim path is a regex pattern,
then the asset is spawned at all the matching prim paths.
cfg: The configuration instance.
translation: The translation to apply to the prim w.r.t. its parent prim. Defaults to None, in which
case the translation specified in the generated USD file is used.
orientation: The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None,
in which case the orientation specified in the generated USD file is used.
Returns:
The prim of the spawned asset.
Raises:
FileNotFoundError: If the URDF file does not exist at the given path.
"""
# urdf loader to convert urdf to usd
urdf_loader = converters.UrdfConverter(cfg)
# spawn asset from the generated usd file
return _spawn_from_usd_file(prim_path, urdf_loader.usd_path, cfg, translation, orientation)
[docs]def spawn_ground_plane(
prim_path: str,
cfg: from_files_cfg.GroundPlaneCfg,
translation: tuple[float, float, float] | None = None,
orientation: tuple[float, float, float, float] | None = None,
) -> Usd.Prim:
"""Spawns a ground plane into the scene.
This function loads the USD file containing the grid plane asset from Isaac Sim. It may
not work with other assets for ground planes. In those cases, please use the `spawn_from_usd`
function.
Note:
This function takes keyword arguments to be compatible with other spawners. However, it does not
use any of the kwargs.
Args:
prim_path: The path to spawn the asset at.
cfg: The configuration instance.
translation: The translation to apply to the prim w.r.t. its parent prim. Defaults to None, in which
case the translation specified in the USD file is used.
orientation: The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None,
in which case the orientation specified in the USD file is used.
Returns:
The prim of the spawned asset.
Raises:
ValueError: If the prim path already exists.
"""
# Spawn Ground-plane
if not prim_utils.is_prim_path_valid(prim_path):
prim_utils.create_prim(prim_path, usd_path=cfg.usd_path, translation=translation, orientation=orientation)
else:
raise ValueError(f"A prim already exists at path: '{prim_path}'.")
# Create physics material
if cfg.physics_material is not None:
cfg.physics_material.func(f"{prim_path}/physicsMaterial", cfg.physics_material)
# Apply physics material to ground plane
collision_prim_path = prim_utils.get_prim_path(
prim_utils.get_first_matching_child_prim(
prim_path, predicate=lambda x: prim_utils.get_prim_type_name(x) == "Plane"
)
)
bind_physics_material(collision_prim_path, f"{prim_path}/physicsMaterial")
# Scale only the mesh
# Warning: This is specific to the default grid plane asset.
if prim_utils.is_prim_path_valid(f"{prim_path}/Enviroment"):
# compute scale from size
scale = (cfg.size[0] / 100.0, cfg.size[1] / 100.0, 1.0)
# apply scale to the mesh
omni.kit.commands.execute(
"ChangeProperty",
prop_path=Sdf.Path(f"{prim_path}/Enviroment.xformOp:scale"),
value=scale,
prev=None,
)
# Change the color of the plane
# Warning: This is specific to the default grid plane asset.
if cfg.color is not None:
prop_path = f"{prim_path}/Looks/theGrid/Shader.inputs:diffuse_tint"
# change the color
omni.kit.commands.execute(
"ChangePropertyCommand",
prop_path=Sdf.Path(prop_path),
value=Gf.Vec3f(*cfg.color),
prev=None,
type_to_create_if_not_exist=Sdf.ValueTypeNames.Color3f,
)
# Remove the light from the ground plane
# It isn't bright enough and messes up with the user's lighting settings
omni.kit.commands.execute("ToggleVisibilitySelectedPrims", selected_paths=[f"{prim_path}/SphereLight"])
# return the prim
return prim_utils.get_prim_at_path(prim_path)
"""
Helper functions.
"""
def _spawn_from_usd_file(
prim_path: str,
usd_path: str,
cfg: from_files_cfg.FileCfg,
translation: tuple[float, float, float] | None = None,
orientation: tuple[float, float, float, float] | None = None,
) -> Usd.Prim:
"""Spawn an asset from a USD file and override the settings with the given config.
In case a prim already exists at the given prim path, then the function does not create a new prim
or throw an error that the prim already exists. Instead, it just takes the existing prim and overrides
the settings with the given config.
Args:
prim_path: The prim path or pattern to spawn the asset at. If the prim path is a regex pattern,
then the asset is spawned at all the matching prim paths.
usd_path: The path to the USD file to spawn the asset from.
cfg: The configuration instance.
translation: The translation to apply to the prim w.r.t. its parent prim. Defaults to None, in which
case the translation specified in the generated USD file is used.
orientation: The orientation in (w, x, y, z) to apply to the prim w.r.t. its parent prim. Defaults to None,
in which case the orientation specified in the generated USD file is used.
Returns:
The prim of the spawned asset.
Raises:
FileNotFoundError: If the USD file does not exist at the given path.
"""
# check file path exists
stage: Usd.Stage = stage_utils.get_current_stage()
if not stage.ResolveIdentifierToEditTarget(usd_path):
raise FileNotFoundError(f"USD file not found at path: '{usd_path}'.")
# spawn asset if it doesn't exist.
if not prim_utils.is_prim_path_valid(prim_path):
# add prim as reference to stage
prim_utils.create_prim(
prim_path,
usd_path=usd_path,
translation=translation,
orientation=orientation,
scale=cfg.scale,
)
else:
carb.log_warn(f"A prim already exists at prim path: '{prim_path}'.")
# modify rigid body properties
if cfg.rigid_props is not None:
schemas.modify_rigid_body_properties(prim_path, cfg.rigid_props)
# modify collision properties
if cfg.collision_props is not None:
schemas.modify_collision_properties(prim_path, cfg.collision_props)
# modify mass properties
if cfg.mass_props is not None:
schemas.modify_mass_properties(prim_path, cfg.mass_props)
# modify articulation root properties
if cfg.articulation_props is not None:
schemas.modify_articulation_root_properties(prim_path, cfg.articulation_props)
# modify tendon properties
if cfg.fixed_tendons_props is not None:
schemas.modify_fixed_tendon_properties(prim_path, cfg.fixed_tendons_props)
# define drive API on the joints
# note: these are only for setting low-level simulation properties. all others should be set or are
# and overridden by the articulation/actuator properties.
if cfg.joint_drive_props is not None:
schemas.modify_joint_drive_properties(prim_path, cfg.joint_drive_props)
# apply visual material
if cfg.visual_material is not None:
if not cfg.visual_material_path.startswith("/"):
material_path = f"{prim_path}/{cfg.visual_material_path}"
else:
material_path = cfg.visual_material_path
# create material
cfg.visual_material.func(material_path, cfg.visual_material)
# apply material
bind_visual_material(prim_path, material_path)
# return the prim
return prim_utils.get_prim_at_path(prim_path)
