usd_utils
BatchControlViewAPIImpl
A centralized view that allows for reading and writing to an ArticulationView that covers multiple controllable objects in the scene. This is used to avoid the overhead of reading from many views for each robot in each physics step, a source of significant overhead.
Source code in omnigibson/utils/usd_utils.py
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CollisionAPI
Class containing class methods to facilitate collision handling, e.g. collision groups
Source code in omnigibson/utils/usd_utils.py
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add_group_filter(col_group, filter_group)
classmethod
Adds a new group filter for group @col_group, filtering all collision with group @filter_group Args: col_group (str): Name of the collision group which will have a new filter group added filter_group (str): Name of the group that should be filtered
Source code in omnigibson/utils/usd_utils.py
add_to_collision_group(col_group, prim_path)
classmethod
Adds the prim and all nested prims specified by @prim_path to the global collision group @col_group. If @col_group does not exist, then it will either be created if @create_if_not_exist is True, otherwise will raise an Error. Args: col_group (str): Name of the collision group to assign the prim at @prim_path to prim_path (str): Prim (and all nested prims) to assign to this @col_group
Source code in omnigibson/utils/usd_utils.py
clear()
classmethod
Clears the internal state of this CollisionAPI
Source code in omnigibson/utils/usd_utils.py
create_collision_group(col_group, filter_self_collisions=False)
classmethod
Creates a new collision group with name @col_group
Parameters:
Name | Type | Description | Default |
---|---|---|---|
col_group |
str
|
Name of the collision group to create |
required |
filter_self_collisions |
bool
|
Whether to ignore self-collisions within the group. Default is False |
False
|
Source code in omnigibson/utils/usd_utils.py
ControllableObjectViewAPI
An interface that creates BatchControlViewAPIImpl instances for each robot type in the scene.
This is done to avoid the overhead of reading from many views for each robot in each physics step, providing major speed improvements in vector env use cases.
This class is a singleton, and should be used to access the BatchControlViewAPIImpl instances.
The pattern used to group the robots is based on the robot prim paths, which is assumed to be in the format /World/scene_*/controllable__robottype__robotname.
The patterns used by the subviews are generated by replacing the robot name with a wildcard, so that all robots of the same type are grouped together. If there are fixed base robots, they will be grouped separately from non-fixed base robots even within the same robot type, by virtue of their different articulation root paths.
Source code in omnigibson/utils/usd_utils.py
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FlatcacheAPI
Monolithic class for leveraging functionality meant to be used EXCLUSIVELY with flatcache.
Source code in omnigibson/utils/usd_utils.py
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reset()
classmethod
Resets the internal state of this FlatcacheAPI.This should only occur when the simulator is stopped
Source code in omnigibson/utils/usd_utils.py
reset_raw_object_transforms_in_usd(prim)
classmethod
Manually resets the per-link local raw transforms and per-joint raw states from entity prim @prim to be zero.
NOTE: This slightly abuses the dynamic control - usd integration, and should ONLY be used if flatcache is active, since the USD is not R/W at runtime and so we can write directly to child link poses on the USD without breaking the simulation!
Parameters:
Name | Type | Description | Default |
---|---|---|---|
prim |
EntityPrim
|
prim whose owned links and joints should have their local values reset to be zero |
required |
Source code in omnigibson/utils/usd_utils.py
sync_raw_object_transforms_in_usd(prim)
classmethod
Manually synchronizes the per-link local raw transforms per-joint raw states from entity prim @prim using dynamic control interface as the ground truth.
NOTE: This slightly abuses the dynamic control - usd integration, and should ONLY be used if flatcache is active, since the USD is not R/W at runtime and so we can write directly to child link poses on the USD without breaking the simulation!
Parameters:
Name | Type | Description | Default |
---|---|---|---|
prim |
EntityPrim
|
prim whose owned links and joints should have their raw local states updated to match the "true" values found from the dynamic control interface |
required |
Source code in omnigibson/utils/usd_utils.py
PoseAPI
This is a singleton class for getting world poses. Whenever we directly set the pose of a prim, we should call PoseAPI.invalidate(). After that, if we need to access the pose of a prim without stepping physics, this class will refresh the poses by syncing across USD-fabric-PhysX depending on the flatcache setting.
Source code in omnigibson/utils/usd_utils.py
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convert_world_pose_to_local(prim, position, orientation)
classmethod
Converts a world pose to a local pose under a prim's parent.
Source code in omnigibson/utils/usd_utils.py
get_world_pose(prim_path)
classmethod
Gets pose of the prim object with respect to the world frame Args: Prim_path: the path of the prim object Returns: 2-tuple: - torch.Tensor: (x,y,z) position in the world frame - torch.Tensor: (x,y,z,w) quaternion orientation in the world frame
Source code in omnigibson/utils/usd_utils.py
get_world_pose_with_scale(prim_path)
classmethod
This is used when information about the prim's global scale is needed, e.g. when converting points in the prim frame to the world frame.
Source code in omnigibson/utils/usd_utils.py
RigidContactAPIImpl
Class containing class methods to aggregate rigid body contacts across all rigid bodies in the simulator
Source code in omnigibson/utils/usd_utils.py
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clear()
get_all_impulses(scene_idx)
Grab all impulses at the current timestep
Returns:
Type | Description |
---|---|
n - array
|
(N, M, 3) impulse array defining current impulses between all N contact-sensor enabled rigid bodies in the simulator and M tracked rigid bodies |
Source code in omnigibson/utils/usd_utils.py
get_body_col_idx(prim_path)
Returns:
Type | Description |
---|---|
int
|
col idx assigned to the rigid body defined by @prim_path |
get_body_row_idx(prim_path)
Returns:
Type | Description |
---|---|
int
|
row idx assigned to the rigid body defined by @prim_path |
get_col_idx_prim_path(scene_idx, idx)
Returns:
Type | Description |
---|---|
str
|
@prim_path corresponding to the column idx @idx in the contact matrix |
get_contact_pairs(scene_idx, row_prim_paths=None, column_prim_paths=None)
Get pairs of prim paths that are in contact.
Source code in omnigibson/utils/usd_utils.py
get_impulses(prim_paths_a, prim_paths_b)
Grabs the matrix representing all impulse forces between rigid prims from @prim_paths_a and rigid prims from @prim_paths_b
Parameters:
Name | Type | Description | Default |
---|---|---|---|
prim_paths_a |
list of str
|
Rigid body prim path(s) with which to grab contact impulses against any of the rigid body prim path(s) defined by @prim_paths_b |
required |
prim_paths_b |
list of str
|
Rigid body prim path(s) with which to grab contact impulses against any of the rigid body prim path(s) defined by @prim_paths_a |
required |
Returns:
Type | Description |
---|---|
n - array
|
(N, M, 3) impulse array defining current impulses between N bodies from @prim_paths_a and M bodies from @prim_paths_b |
Source code in omnigibson/utils/usd_utils.py
get_row_idx_prim_path(scene_idx, idx)
Returns:
Type | Description |
---|---|
str
|
@prim_path corresponding to the row idx @idx in the contact matrix |
get_scene_idx(prim_path)
in_contact(prim_paths_a, prim_paths_b)
Check if any rigid prim from @prim_paths_a is in contact with any rigid prim from @prim_paths_b
Parameters:
Name | Type | Description | Default |
---|---|---|---|
prim_paths_a |
list of str
|
Rigid body prim path(s) with which to check contact against any of the rigid body prim path(s) defined by @prim_paths_b |
required |
prim_paths_b |
list of str
|
Rigid body prim path(s) with which to check contact against any of the rigid body prim path(s) defined by @prim_paths_a |
required |
Returns:
Type | Description |
---|---|
bool
|
Whether any body from @prim_paths_a is in contact with any body from @prim_paths_b |
Source code in omnigibson/utils/usd_utils.py
initialize_view()
Initializes the rigid contact view. Note: Can only be done when sim is playing!
Source code in omnigibson/utils/usd_utils.py
absolute_prim_path_to_scene_relative(scene, absolute_prim_path)
Converts an absolute prim path to a scene-relative prim path.
Parameters:
Name | Type | Description | Default |
---|---|---|---|
scene |
Scene
|
Scene object that the prim is in. None if it's global. |
required |
absolute_prim_path |
str
|
Absolute prim path in the stage |
required |
Returns:
Type | Description |
---|---|
str
|
Relative prim path in the scene |
Source code in omnigibson/utils/usd_utils.py
add_asset_to_stage(asset_path, prim_path)
Adds asset file (either USD or OBJ) at @asset_path at the location @prim_path
Parameters:
Name | Type | Description | Default |
---|---|---|---|
asset_path |
str
|
Absolute or relative path to the asset file to load |
required |
prim_path |
str
|
Where loaded asset should exist on the stage |
required |
Returns:
Type | Description |
---|---|
Prim
|
Loaded prim as a USD prim |
Source code in omnigibson/utils/usd_utils.py
array_to_vtarray(arr, element_type)
Converts array @arr into a Vt-typed array, where each individual element of type @element_type.
Parameters:
Name | Type | Description | Default |
---|---|---|---|
arr |
n - array
|
An array of values. Can be, e.g., a list, or numpy array |
required |
element_type |
type
|
Per-element type to convert the elements from @arr into. Valid options are keys of GF_TO_VT_MAPPING |
required |
Returns:
Type | Description |
---|---|
Array
|
Vt-typed array, of specified type corresponding to @element_type |
Source code in omnigibson/utils/usd_utils.py
check_extent_radius_ratio(geom_prim, com)
Checks if the min extent in world frame and the extent radius ratio in local frame of @geom_prim is within the acceptable range for PhysX GPU acceleration (not too thin, and not too oblong)
Ref: https://github.com/NVIDIA-Omniverse/PhysX/blob/561a0df858d7e48879cdf7eeb54cfe208f660f18/physx/source/geomutils/src/convex/GuConvexMeshData.h#L183-L190
Parameters:
Name | Type | Description | Default |
---|---|---|---|
geom_prim |
GeomPrim
|
Geom prim to check |
required |
com |
tensor
|
Center of mass of the mesh. Obtained from get_mesh_volume_and_com |
required |
Returns:
Type | Description |
---|---|
bool
|
True if the min extent (world) and the extent radius ratio (local frame) is acceptable, False otherwise |
Source code in omnigibson/utils/usd_utils.py
clear()
create_joint(prim_path, joint_type, body0=None, body1=None, enabled=True, exclude_from_articulation=False, joint_frame_in_parent_frame_pos=None, joint_frame_in_parent_frame_quat=None, joint_frame_in_child_frame_pos=None, joint_frame_in_child_frame_quat=None, break_force=None, break_torque=None)
Creates a joint between @body0 and @body1 of specified type @joint_type
Parameters:
Name | Type | Description | Default |
---|---|---|---|
prim_path |
str
|
absolute path to where the joint will be created |
required |
joint_type |
str or JointType
|
type of joint to create. Valid options are: "FixedJoint", "Joint", "PrismaticJoint", "RevoluteJoint", "SphericalJoint" (equivalently, one of JointType) |
required |
body0 |
str or None
|
absolute path to the first body's prim. At least @body0 or @body1 must be specified. |
None
|
body1 |
str or None
|
absolute path to the second body's prim. At least @body0 or @body1 must be specified. |
None
|
enabled |
bool
|
whether to enable this joint or not. |
True
|
exclude_from_articulation |
bool
|
whether to exclude this joint from the articulation or not. |
False
|
joint_frame_in_parent_frame_pos |
tensor or None
|
relative position of the joint frame to the parent frame (body0). |
None
|
joint_frame_in_parent_frame_quat |
tensor or None
|
relative orientation of the joint frame to the parent frame (body0). |
None
|
joint_frame_in_child_frame_pos |
tensor or None
|
relative position of the joint frame to the child frame (body1). |
None
|
joint_frame_in_child_frame_quat |
tensor or None
|
relative orientation of the joint frame to the child frame (body1). |
None
|
break_force |
float or None
|
break force for linear dofs, unit is Newton. |
None
|
break_torque |
float or None
|
break torque for angular dofs, unit is Newton-meter. |
None
|
Returns:
Type | Description |
---|---|
Prim
|
Created joint prim |
Source code in omnigibson/utils/usd_utils.py
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create_mesh_prim_with_default_xform(primitive_type, prim_path, u_patches=None, v_patches=None, stage=None)
Creates a mesh prim of the specified @primitive_type at the specified @prim_path
Parameters:
Name | Type | Description | Default |
---|---|---|---|
primitive_type |
str
|
Primitive mesh type, should be one of PRIMITIVE_MESH_TYPES to be valid |
required |
prim_path |
str
|
Destination prim path to store the mesh prim |
required |
u_patches |
int or None
|
If specified, should be an integer that represents how many segments to create in the u-direction. E.g. 10 means 10 segments (and therefore 11 vertices) will be created. |
None
|
v_patches |
int or None
|
If specified, should be an integer that represents how many segments to create in the v-direction. E.g. 10 means 10 segments (and therefore 11 vertices) will be created. Both u_patches and v_patches need to be specified for them to be effective. |
None
|
stage |
None or Stage
|
If specified, stage on which the primitive mesh should be generated. If None, will use og.sim.stage |
None
|
Source code in omnigibson/utils/usd_utils.py
create_primitive_mesh(prim_path, primitive_type, extents=1.0, u_patches=None, v_patches=None, stage=None)
Helper function that generates a UsdGeom.Mesh prim at specified @prim_path of type @primitive_type.
NOTE: Generated mesh prim will, by default, have extents equaling [1, 1, 1]
Parameters:
Name | Type | Description | Default |
---|---|---|---|
prim_path |
str
|
Where the loaded mesh should exist on the stage |
required |
primitive_type |
str
|
Type of primitive mesh to create. Should be one of: |
required |
extents |
float or 3 - array
|
Specifies the extents of the generated mesh. Default is 1.0, i.e.: generated mesh will be in be contained in a [1,1,1] sized bounding box |
1.0
|
u_patches |
int or None
|
If specified, should be an integer that represents how many segments to create in the u-direction. E.g. 10 means 10 segments (and therefore 11 vertices) will be created. |
None
|
v_patches |
int or None
|
If specified, should be an integer that represents how many segments to create in the v-direction. E.g. 10 means 10 segments (and therefore 11 vertices) will be created. Both u_patches and v_patches need to be specified for them to be effective. |
None
|
stage |
None or Stage
|
If specified, stage on which the primitive mesh should be generated. If None, will use og.sim.stage |
None
|
Returns:
Type | Description |
---|---|
Mesh
|
Generated primitive mesh as a prim on the active stage |
Source code in omnigibson/utils/usd_utils.py
delete_or_deactivate_prim(prim_path)
Attept to delete or deactivate the prim defined at @prim_path.
Parameters:
Name | Type | Description | Default |
---|---|---|---|
prim_path |
str
|
Path defining which prim should be deleted or deactivated |
required |
Returns:
Type | Description |
---|---|
bool
|
Whether the operation was successful or not |
Source code in omnigibson/utils/usd_utils.py
get_mesh_volume_and_com(mesh_prim, world_frame=False)
Computes the volume and center of mass for @mesh_prim
Parameters:
Name | Type | Description | Default |
---|---|---|---|
mesh_prim |
Prim
|
Mesh prim to compute volume and center of mass for |
required |
world_frame |
bool
|
Whether to return the volume and CoM in the world frame |
False
|
Returns:
Type | Description |
---|---|
Tuple[float, tensor]
|
Tuple containing the (volume, center_of_mass) in the mesh frame or the world frame |
Source code in omnigibson/utils/usd_utils.py
get_prim_nested_children(prim)
Grabs all nested prims starting from root @prim via depth-first-search
Parameters:
Name | Type | Description | Default |
---|---|---|---|
prim |
Prim
|
root prim from which to search for nested children prims |
required |
Returns:
Type | Description |
---|---|
list of Usd.Prim
|
nested prims |
Source code in omnigibson/utils/usd_utils.py
get_world_prim()
mesh_prim_mesh_to_trimesh_mesh(mesh_prim, include_normals=True, include_texcoord=True)
Generates trimesh mesh from @mesh_prim if mesh_type is "Mesh"
Parameters:
Name | Type | Description | Default |
---|---|---|---|
mesh_prim |
Prim
|
Mesh prim to convert into trimesh mesh |
required |
include_normals |
bool
|
Whether to include the normals in the resulting trimesh or not |
True
|
include_texcoord |
bool
|
Whether to include the corresponding 2D-texture coordinates in the resulting trimesh or not |
True
|
Returns:
Type | Description |
---|---|
Trimesh
|
Generated trimesh mesh |
Source code in omnigibson/utils/usd_utils.py
mesh_prim_shape_to_trimesh_mesh(mesh_prim)
Generates trimesh mesh from @mesh_prim if mesh_type is "Sphere", "Cube", "Cone" or "Cylinder"
Parameters:
Name | Type | Description | Default |
---|---|---|---|
mesh_prim |
Prim
|
Mesh prim to convert into trimesh mesh |
required |
Returns:
Type | Description |
---|---|
Trimesh
|
Generated trimesh mesh |
Source code in omnigibson/utils/usd_utils.py
mesh_prim_to_trimesh_mesh(mesh_prim, include_normals=True, include_texcoord=True, world_frame=False)
Generates trimesh mesh from @mesh_prim
Parameters:
Name | Type | Description | Default |
---|---|---|---|
mesh_prim |
Prim
|
Mesh prim to convert into trimesh mesh |
required |
include_normals |
bool
|
Whether to include the normals in the resulting trimesh or not |
True
|
include_texcoord |
bool
|
Whether to include the corresponding 2D-texture coordinates in the resulting trimesh or not |
True
|
world_frame |
bool
|
Whether to convert the mesh to the world frame or not |
False
|
Returns:
Type | Description |
---|---|
Trimesh
|
Generated trimesh mesh |
Source code in omnigibson/utils/usd_utils.py
sample_mesh_keypoints(mesh_prim, n_keypoints, n_keyfaces, seed=None)
Samples keypoints and keyfaces for mesh @mesh_prim
Parameters:
Name | Type | Description | Default |
---|---|---|---|
mesh_prim |
Prim
|
Mesh prim to be sampled from |
required |
n_keypoints |
int
|
number of (unique) keypoints to randomly sample from @mesh_prim |
required |
n_keyfaces |
int
|
number of (unique) keyfaces to randomly sample from @mesh_prim |
required |
seed |
None or int
|
If set, sets the random seed for deterministic results |
None
|
Returns:
Type | Description |
---|---|
2 - tuple
|
|
Source code in omnigibson/utils/usd_utils.py
scene_relative_prim_path_to_absolute(scene, relative_prim_path)
Converts a scene-relative prim path to an absolute prim path.
Parameters:
Name | Type | Description | Default |
---|---|---|---|
scene |
Scene or None
|
Scene object that the prim is in. None if it's global. |
required |
relative_prim_path |
str
|
Relative prim path in the scene |
required |
Returns:
Type | Description |
---|---|
str
|
Absolute prim path in the stage |