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usd_object

USDObject

Bases: StatefulObject

USDObjects are instantiated from a USD file. They can be composed of one or more links and joints. They may or may not be passive.

Source code in omnigibson/objects/usd_object.py 
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class USDObject(StatefulObject):
    """
    USDObjects are instantiated from a USD file. They can be composed of one
    or more links and joints. They may or may not be passive.
    """

    def __init__(
        self,
        name,
        usd_path,
        encrypted=False,
        prim_path=None,
        category="object",
        uuid=None,
        scale=None,
        visible=True,
        fixed_base=False,
        visual_only=False,
        kinematic_only=None,
        self_collisions=False,
        prim_type=PrimType.RIGID,
        load_config=None,
        abilities=None,
        include_default_states=True,
        **kwargs,
    ):
        """
        Args:
            name (str): Name for the object. Names need to be unique per scene
            usd_path (str): global path to the USD file to load
            encrypted (bool): whether this file is encrypted (and should therefore be decrypted) or not
            prim_path (None or str): global path in the stage to this object. If not specified, will automatically be
                created at /World/<name>
            category (str): Category for the object. Defaults to "object".
            uuid (None or int): Unique unsigned-integer identifier to assign to this object (max 8-numbers).
                If None is specified, then it will be auto-generated
            scale (None or float or 3-array): if specified, sets either the uniform (float) or x,y,z (3-array) scale
                for this object. A single number corresponds to uniform scaling along the x,y,z axes, whereas a
                3-array specifies per-axis scaling.
            visible (bool): whether to render this object or not in the stage
            fixed_base (bool): whether to fix the base of this object or not
            visual_only (bool): Whether this object should be visual only (and not collide with any other objects)
            kinematic_only (None or bool): Whether this object should be kinematic only (and not get affected by any
                collisions). If None, then this value will be set to True if @fixed_base is True and some other criteria
                are satisfied (see object_base.py post_load function), else False.
            self_collisions (bool): Whether to enable self collisions for this object
            prim_type (PrimType): Which type of prim the object is, Valid options are: {PrimType.RIGID, PrimType.CLOTH}
            load_config (None or dict): If specified, should contain keyword-mapped values that are relevant for
                loading this prim at runtime.
            abilities (None or dict): If specified, manually adds specific object states to this object. It should be
                a dict in the form of {ability: {param: value}} containing object abilities and parameters to pass to
                the object state instance constructor.
            include_default_states (bool): whether to include the default object states from @get_default_states
            kwargs (dict): Additional keyword arguments that are used for other super() calls from subclasses, allowing
                for flexible compositions of various object subclasses (e.g.: Robot is USDObject + ControllableObject).
                Note that this base object does NOT pass kwargs down into the Prim-type super() classes, and we assume
                that kwargs are only shared between all SUBclasses (children), not SUPERclasses (parents).
        """
        self._usd_path = usd_path
        self._encrypted = encrypted
        super().__init__(
            prim_path=prim_path,
            name=name,
            category=category,
            uuid=uuid,
            scale=scale,
            visible=visible,
            fixed_base=fixed_base,
            visual_only=visual_only,
            kinematic_only=kinematic_only,
            self_collisions=self_collisions,
            prim_type=prim_type,
            include_default_states=include_default_states,
            load_config=load_config,
            abilities=abilities,
            **kwargs,
        )

    def _load(self):
        """
        Load the object into pybullet and set it to the correct pose
        """
        usd_path = self._usd_path
        if self._encrypted:
            # Create a temporary file to store the decrytped asset, load it, and then delete it
            encrypted_filename = self._usd_path.replace(".usd", ".encrypted.usd")
            usd_path = self._usd_path.replace(".usd", f".{self.uuid}.usd")
            decrypt_file(encrypted_filename, usd_path)

        prim = add_asset_to_stage(asset_path=usd_path, prim_path=self._prim_path)

        if self._encrypted:
            # On Windows, Isaac Sim won't let go of the file until the prim is removed, so we can't delete it.
            if os.name == "posix":
                os.remove(usd_path)

        return prim

    def _create_prim_with_same_kwargs(self, prim_path, name, load_config):
        # Add additional kwargs
        return self.__class__(
            prim_path=prim_path,
            usd_path=self._usd_path,
            name=name,
            category=self.category,
            scale=self.scale,
            visible=self.visible,
            fixed_base=self.fixed_base,
            visual_only=self._visual_only,
            prim_type=self._prim_type,
            load_config=load_config,
            abilities=self._abilities,
        )

    @property
    def usd_path(self):
        """
        Returns:
            str: absolute path to this model's USD file. By default, this is the loaded usd path
                passed in as an argument
        """
        return self._usd_path

usd_path property

Returns:

Name Type Description
str

absolute path to this model's USD file. By default, this is the loaded usd path passed in as an argument

__init__(name, usd_path, encrypted=False, prim_path=None, category='object', uuid=None, scale=None, visible=True, fixed_base=False, visual_only=False, kinematic_only=None, self_collisions=False, prim_type=PrimType.RIGID, load_config=None, abilities=None, include_default_states=True, **kwargs)

Parameters:

Name Type Description Default
name str

Name for the object. Names need to be unique per scene

 required
usd_path str

global path to the USD file to load

 required
encrypted bool

whether this file is encrypted (and should therefore be decrypted) or not

 False
prim_path None or str

global path in the stage to this object. If not specified, will automatically be created at /World/

 None
category str

Category for the object. Defaults to "object".

 'object'
uuid None or int

Unique unsigned-integer identifier to assign to this object (max 8-numbers). If None is specified, then it will be auto-generated

 None
scale None or float or 3 - array

if specified, sets either the uniform (float) or x,y,z (3-array) scale for this object. A single number corresponds to uniform scaling along the x,y,z axes, whereas a 3-array specifies per-axis scaling.

 None
visible bool

whether to render this object or not in the stage

 True
fixed_base bool

whether to fix the base of this object or not

 False
visual_only bool

Whether this object should be visual only (and not collide with any other objects)

 False
kinematic_only None or bool

Whether this object should be kinematic only (and not get affected by any collisions). If None, then this value will be set to True if @fixed_base is True and some other criteria are satisfied (see object_base.py post_load function), else False.

 None
self_collisions bool

Whether to enable self collisions for this object

 False
prim_type PrimType

Which type of prim the object is, Valid options are: {PrimType.RIGID, PrimType.CLOTH}

 RIGID
load_config None or dict

If specified, should contain keyword-mapped values that are relevant for loading this prim at runtime.

 None
abilities None or dict

If specified, manually adds specific object states to this object. It should be a dict in the form of {ability: {param: value}} containing object abilities and parameters to pass to the object state instance constructor.

 None
include_default_states bool

whether to include the default object states from @get_default_states

 True
kwargs dict

Additional keyword arguments that are used for other super() calls from subclasses, allowing for flexible compositions of various object subclasses (e.g.: Robot is USDObject + ControllableObject). Note that this base object does NOT pass kwargs down into the Prim-type super() classes, and we assume that kwargs are only shared between all SUBclasses (children), not SUPERclasses (parents).

 {}
Source code in omnigibson/objects/usd_object.py 
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def __init__(
    self,
    name,
    usd_path,
    encrypted=False,
    prim_path=None,
    category="object",
    uuid=None,
    scale=None,
    visible=True,
    fixed_base=False,
    visual_only=False,
    kinematic_only=None,
    self_collisions=False,
    prim_type=PrimType.RIGID,
    load_config=None,
    abilities=None,
    include_default_states=True,
    **kwargs,
):
    """
    Args:
        name (str): Name for the object. Names need to be unique per scene
        usd_path (str): global path to the USD file to load
        encrypted (bool): whether this file is encrypted (and should therefore be decrypted) or not
        prim_path (None or str): global path in the stage to this object. If not specified, will automatically be
            created at /World/<name>
        category (str): Category for the object. Defaults to "object".
        uuid (None or int): Unique unsigned-integer identifier to assign to this object (max 8-numbers).
            If None is specified, then it will be auto-generated
        scale (None or float or 3-array): if specified, sets either the uniform (float) or x,y,z (3-array) scale
            for this object. A single number corresponds to uniform scaling along the x,y,z axes, whereas a
            3-array specifies per-axis scaling.
        visible (bool): whether to render this object or not in the stage
        fixed_base (bool): whether to fix the base of this object or not
        visual_only (bool): Whether this object should be visual only (and not collide with any other objects)
        kinematic_only (None or bool): Whether this object should be kinematic only (and not get affected by any
            collisions). If None, then this value will be set to True if @fixed_base is True and some other criteria
            are satisfied (see object_base.py post_load function), else False.
        self_collisions (bool): Whether to enable self collisions for this object
        prim_type (PrimType): Which type of prim the object is, Valid options are: {PrimType.RIGID, PrimType.CLOTH}
        load_config (None or dict): If specified, should contain keyword-mapped values that are relevant for
            loading this prim at runtime.
        abilities (None or dict): If specified, manually adds specific object states to this object. It should be
            a dict in the form of {ability: {param: value}} containing object abilities and parameters to pass to
            the object state instance constructor.
        include_default_states (bool): whether to include the default object states from @get_default_states
        kwargs (dict): Additional keyword arguments that are used for other super() calls from subclasses, allowing
            for flexible compositions of various object subclasses (e.g.: Robot is USDObject + ControllableObject).
            Note that this base object does NOT pass kwargs down into the Prim-type super() classes, and we assume
            that kwargs are only shared between all SUBclasses (children), not SUPERclasses (parents).
    """
    self._usd_path = usd_path
    self._encrypted = encrypted
    super().__init__(
        prim_path=prim_path,
        name=name,
        category=category,
        uuid=uuid,
        scale=scale,
        visible=visible,
        fixed_base=fixed_base,
        visual_only=visual_only,
        kinematic_only=kinematic_only,
        self_collisions=self_collisions,
        prim_type=prim_type,
        include_default_states=include_default_states,
        load_config=load_config,
        abilities=abilities,
        **kwargs,
    )