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deprecated_utils

A set of utility functions slated to be deprecated once Omniverse bugs are fixed

Core

Bases: OmniCore

Subclass that overrides a specific function within Omni's Core class to fix a bug

Source code in omnigibson/utils/deprecated_utils.py 
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class Core(OmniCore):
    """
    Subclass that overrides a specific function within Omni's Core class to fix a bug
    """
    def __init__(self, popup_callback: Callable[[str], None], particle_system_name: str):
        self._popup_callback = popup_callback
        self.utils = Utils()    # TODO: THIS IS THE ONLY LINE THAT WE CHANGE! ONCE FIXED, REMOVE THIS
        self.context = ou.get_context()
        self.stage = self.context.get_stage()
        self.selection = self.context.get_selection()
        self.particle_system_name = particle_system_name
        self.sub_stage_update = self.context.get_stage_event_stream().create_subscription_to_pop(self.on_stage_update)
        self.on_stage_update()

    def get_compute_graph(self, selected_paths, create_new_graph=True, created_paths=None):
        """
        Returns the first ComputeGraph found in selected_paths.
        If no graph is found and create_new_graph is true, a new graph will be created and its
        path appended to created_paths (if provided).
        """
        graph = None
        graph_paths = [path for path in selected_paths
                       if self.stage.GetPrimAtPath(path).GetTypeName() == "ComputeGraph"]

        if len(graph_paths) > 0:
            graph = ogc.get_graph_by_path(graph_paths[0])
            if len(graph_paths) > 1:
                carb.log_warn(f"Multiple ComputeGraph prims selected. Only the first will be used: {graph.get_path_to_graph()}")
        elif create_new_graph:
            # If no graph was found in the selected prims, we'll make a new graph.
            graph_path = Sdf.Path(f"/OmniGraph/{self.particle_system_name}").MakeAbsolutePath(Sdf.Path.absoluteRootPath)
            graph_path = ou.get_stage_next_free_path(self.stage, graph_path, True)

            # prim = self.stage.GetDefaultPrim()
            # path = str(prim.GetPath()) if prim else ""
            self.stage.DefinePrim("/OmniGraph", "Scope")

            container_graphs = ogc.get_global_container_graphs()
            # FIXME: container_graphs[0] should be the simulation orchestration graph, but this may change in the future.
            container_graph = container_graphs[0]
            result, wrapper_node = ogc.cmds.CreateGraphAsNode(
                graph=container_graph,
                node_name=Sdf.Path(graph_path).name,
                graph_path=graph_path,
                evaluator_name="push",
                is_global_graph=True,
                backed_by_usd=True,
                fc_backing_type=ogc.GraphBackingType.GRAPH_BACKING_TYPE_FLATCACHE_SHARED,
                pipeline_stage=ogc.GraphPipelineStage.GRAPH_PIPELINE_STAGE_SIMULATION
            )
            graph = wrapper_node.get_wrapped_graph()

            if created_paths is not None:
                created_paths.append(graph.get_path_to_graph())

            carb.log_info(f"No ComputeGraph selected. A new graph has been created at {graph.get_path_to_graph()}")

        return graph

get_compute_graph(selected_paths, create_new_graph=True, created_paths=None)

Returns the first ComputeGraph found in selected_paths. If no graph is found and create_new_graph is true, a new graph will be created and its path appended to created_paths (if provided).

Source code in omnigibson/utils/deprecated_utils.py 
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def get_compute_graph(self, selected_paths, create_new_graph=True, created_paths=None):
    """
    Returns the first ComputeGraph found in selected_paths.
    If no graph is found and create_new_graph is true, a new graph will be created and its
    path appended to created_paths (if provided).
    """
    graph = None
    graph_paths = [path for path in selected_paths
                   if self.stage.GetPrimAtPath(path).GetTypeName() == "ComputeGraph"]

    if len(graph_paths) > 0:
        graph = ogc.get_graph_by_path(graph_paths[0])
        if len(graph_paths) > 1:
            carb.log_warn(f"Multiple ComputeGraph prims selected. Only the first will be used: {graph.get_path_to_graph()}")
    elif create_new_graph:
        # If no graph was found in the selected prims, we'll make a new graph.
        graph_path = Sdf.Path(f"/OmniGraph/{self.particle_system_name}").MakeAbsolutePath(Sdf.Path.absoluteRootPath)
        graph_path = ou.get_stage_next_free_path(self.stage, graph_path, True)

        # prim = self.stage.GetDefaultPrim()
        # path = str(prim.GetPath()) if prim else ""
        self.stage.DefinePrim("/OmniGraph", "Scope")

        container_graphs = ogc.get_global_container_graphs()
        # FIXME: container_graphs[0] should be the simulation orchestration graph, but this may change in the future.
        container_graph = container_graphs[0]
        result, wrapper_node = ogc.cmds.CreateGraphAsNode(
            graph=container_graph,
            node_name=Sdf.Path(graph_path).name,
            graph_path=graph_path,
            evaluator_name="push",
            is_global_graph=True,
            backed_by_usd=True,
            fc_backing_type=ogc.GraphBackingType.GRAPH_BACKING_TYPE_FLATCACHE_SHARED,
            pipeline_stage=ogc.GraphPipelineStage.GRAPH_PIPELINE_STAGE_SIMULATION
        )
        graph = wrapper_node.get_wrapped_graph()

        if created_paths is not None:
            created_paths.append(graph.get_path_to_graph())

        carb.log_info(f"No ComputeGraph selected. A new graph has been created at {graph.get_path_to_graph()}")

    return graph

Utils

Bases: OmniUtils

Subclass that overrides a specific function within Omni's Utils class to fix a bug

Source code in omnigibson/utils/deprecated_utils.py 
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class Utils(OmniUtils):
    """
    Subclass that overrides a specific function within Omni's Utils class to fix a bug
    """
    def create_material(self, name):
        # TODO: THIS IS THE ONLY LINE WE CHANGE! "/" SHOULD BE ""
        material_path = ""
        default_prim = self.stage.GetDefaultPrim()
        if default_prim:
            material_path = default_prim.GetPath().pathString

        if not self.stage.GetPrimAtPath(material_path + "/Looks"):
            self.stage.DefinePrim(material_path + "/Looks", "Scope")
        material_path += "/Looks/" + name
        material_path = ou.get_stage_next_free_path(
            self.stage, material_path, False
        )
        material = UsdShade.Material.Define(self.stage, material_path)

        shader_path = material_path + "/Shader"
        shader = UsdShade.Shader.Define(self.stage, shader_path)

        # Update Neuraylib MDL search paths
        import omni.particle.system.core as core
        core.update_mdl_search_paths()

        shader.SetSourceAsset(name + ".mdl", "mdl")
        shader.SetSourceAssetSubIdentifier(name, "mdl")
        shader.GetImplementationSourceAttr().Set(UsdShade.Tokens.sourceAsset)
        shader.CreateOutput("out", Sdf.ValueTypeNames.Token)
        material.CreateSurfaceOutput().ConnectToSource(shader, "out")

        return [material_path]