From 3afda12fee5ade06f40ef6382c4f285cd1696f22 Mon Sep 17 00:00:00 2001 From: Lukasz Wawrzyniak Date: Fri, 2 May 2025 15:36:56 -0400 Subject: [PATCH 01/57] Add utility to replicate Isaac Lab environments with example --- .../examples/assets/cartpole_prototype.usda | 884 ++++++++++++++++++ newton/examples/example_isaaclab_cloner.py | 138 +++ newton/utils/isaaclab.py | 98 ++ 3 files changed, 1120 insertions(+) create mode 100644 newton/examples/assets/cartpole_prototype.usda create mode 100644 newton/examples/example_isaaclab_cloner.py create mode 100644 newton/utils/isaaclab.py diff --git a/newton/examples/assets/cartpole_prototype.usda b/newton/examples/assets/cartpole_prototype.usda new file mode 100644 index 0000000000..4aa950a24b --- /dev/null +++ b/newton/examples/assets/cartpole_prototype.usda @@ -0,0 +1,884 @@ +#usda 1.0 +( + customLayerData = { + dictionary omni_layer = { + dictionary locked = { + } + dictionary muteness = { + } + } + dictionary renderSettings = { + } + } + doc = """Generated from Composed Stage of root layer /work/src/newton/cartpole_prototype.usd +""" + endTimeCode = 100 + metersPerUnit = 1 + renderSettingsPrimPath = "/Render/OmniverseGlobalRenderSettings" + startTimeCode = 0 + timeCodesPerSecond = 60 + upAxis = "Z" +) + +over "Flattened_Prototype_1" +{ + def Cube "mesh_0" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + float3[] extent = [(-0.02, -0.03, -0.5), (0.02, 0.03, 0.5)] + rel material:binding = ( + bindMaterialAs = "weakerThanDescendants" + ) + double size = 1 + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (0.03999999910593033, 0.05999999865889549, 1) + double3 xformOp:translate = (0, 0, 0.4699999988079071) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Scope "Looks" + { + def Material "material" + { + token outputs:mdl:displacement.connect = + token outputs:mdl:surface.connect = + token outputs:mdl:volume.connect = + + def Shader "Shader" + { + uniform token info:implementationSource = "sourceAsset" + uniform asset info:mdl:sourceAsset = @OmniPBR.mdl@ + uniform token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.5232067, 0.52320147, 0.52320147) ( + customData = { + float3 default = (0.2, 0.2, 0.2) + } + displayGroup = "Albedo" + displayName = "Albedo Color" + doc = """This is the albedo base color + +""" + hidden = false + renderType = "color" + ) + color3f inputs:diffuse_tint = (0.12, 0.14, 0.29999998) ( + customData = { + float3 default = (1, 1, 1) + } + displayGroup = "Albedo" + displayName = "Color Tint" + doc = """When enabled, this color value is multiplied over the final albedo color + +""" + hidden = false + renderType = "color" + ) + token outputs:out ( + renderType = "material" + ) + } + } + } +} + +over "Flattened_Prototype_2" +{ + def Cube "mesh_0" ( + apiSchemas = ["PhysicsCollisionAPI"] + ) + { + float3[] extent = [(-0.015, -4, -0.015), (0.015, 4, 0.015)] + uniform token purpose = "guide" + double size = 1 + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (0.029999999329447746, 8, 0.029999999329447746) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } +} + +over "Flattened_Prototype_3" +{ + def Cube "mesh_0" ( + apiSchemas = ["PhysicsCollisionAPI"] + ) + { + float3[] extent = [(-0.02, -0.03, -0.5), (0.02, 0.03, 0.5)] + uniform token purpose = "guide" + double size = 1 + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (0.03999999910593033, 0.05999999865889549, 1) + double3 xformOp:translate = (0, 0, 0.4699999988079071) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } +} + +over "Flattened_Prototype_4" +{ + def Cube "mesh_0" ( + apiSchemas = ["PhysicsCollisionAPI"] + ) + { + float3[] extent = [(-0.1, -0.125, -0.1), (0.1, 0.125, 0.1)] + uniform token purpose = "guide" + double size = 1 + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (0.20000000298023224, 0.25, 0.20000000298023224) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } +} + +over "Flattened_Prototype_5" +{ + def Cube "mesh_0" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + float3[] extent = [(-0.015, -4, -0.015), (0.015, 4, 0.015)] + rel material:binding = ( + bindMaterialAs = "weakerThanDescendants" + ) + double size = 1 + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (0.029999999329447746, 8, 0.029999999329447746) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Scope "Looks" + { + def Material "material" + { + token outputs:mdl:displacement.connect = + token outputs:mdl:surface.connect = + token outputs:mdl:volume.connect = + + def Shader "Shader" + { + uniform token info:implementationSource = "sourceAsset" + uniform asset info:mdl:sourceAsset = @OmniPBR.mdl@ + uniform token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (1, 0.99999, 0.99999) ( + customData = { + float3 default = (0.2, 0.2, 0.2) + } + displayGroup = "Albedo" + displayName = "Albedo Color" + doc = """This is the albedo base color + +""" + hidden = false + renderType = "color" + ) + color3f inputs:diffuse_tint = (0.91999996, 0.59, 0.19999999) ( + customData = { + float3 default = (1, 1, 1) + } + displayGroup = "Albedo" + displayName = "Color Tint" + doc = """When enabled, this color value is multiplied over the final albedo color + +""" + hidden = false + renderType = "color" + ) + token outputs:out ( + renderType = "material" + ) + } + } + } +} + +over "Flattened_Prototype_6" +{ + def Cube "mesh_0" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + float3[] extent = [(-0.1, -0.125, -0.1), (0.1, 0.125, 0.1)] + rel material:binding = ( + bindMaterialAs = "weakerThanDescendants" + ) + double size = 1 + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (0.20000000298023224, 0.25, 0.20000000298023224) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Scope "Looks" + { + def Material "material" + { + token outputs:mdl:displacement.connect = + token outputs:mdl:surface.connect = + token outputs:mdl:volume.connect = + + def Shader "Shader" + { + uniform token info:implementationSource = "sourceAsset" + uniform asset info:mdl:sourceAsset = @OmniPBR.mdl@ + uniform token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.47679323, 0.47678846, 0.47678846) ( + customData = { + float3 default = (0.2, 0.2, 0.2) + } + displayGroup = "Albedo" + displayName = "Albedo Color" + doc = """This is the albedo base color + +""" + hidden = false + renderType = "color" + ) + color3f inputs:diffuse_tint = (0.35037118, 0.5060563, 0.6919831) ( + customData = { + float3 default = (1, 1, 1) + } + displayGroup = "Albedo" + displayName = "Color Tint" + doc = """When enabled, this color value is multiplied over the final albedo color + +""" + hidden = false + renderType = "color" + ) + token outputs:out ( + renderType = "material" + ) + } + } + } +} + +def PhysicsScene "physicsScene" ( + apiSchemas = ["PhysxSceneAPI", "MaterialBindingAPI"] +) +{ + rel material:binding:physics = ( + bindMaterialAs = "strongerThanDescendants" + ) + vector3f physics:gravityDirection = (0, 0, -1) + float physics:gravityMagnitude = 9.81 + float physxScene:bounceThreshold = 0.5 + uniform token physxScene:broadphaseType = "GPU" + bool physxScene:enableCCD = 0 + bool physxScene:enableEnhancedDeterminism = 0 + bool physxScene:enableGPUDynamics = 1 + bool physxScene:enableSceneQuerySupport = 0 + bool physxScene:enableStabilization = 1 + float physxScene:frictionCorrelationDistance = 0.025 + float physxScene:frictionOffsetThreshold = 0.04 + uint physxScene:gpuCollisionStackSize = 67108864 + uint physxScene:gpuFoundLostAggregatePairsCapacity = 33554432 + uint physxScene:gpuFoundLostPairsCapacity = 2097152 + uint physxScene:gpuHeapCapacity = 67108864 + uint physxScene:gpuMaxNumPartitions = 8 + uint physxScene:gpuMaxParticleContacts = 1048576 + uint physxScene:gpuMaxRigidContactCount = 8388608 + uint physxScene:gpuMaxRigidPatchCount = 163840 + uint physxScene:gpuMaxSoftBodyContacts = 1048576 + uint64 physxScene:gpuTempBufferCapacity = 16777216 + uint physxScene:gpuTotalAggregatePairsCapacity = 2097152 + uniform uint physxScene:maxPositionIterationCount = 255 + uniform uint physxScene:maxVelocityIterationCount = 255 + uniform uint physxScene:minPositionIterationCount = 1 + uniform uint physxScene:minVelocityIterationCount = 0 + uniform token physxScene:solverType = "TGS" + uint physxScene:timeStepsPerSecond = 120 + + def Material "defaultMaterial" ( + apiSchemas = ["PhysicsMaterialAPI", "PhysxMaterialAPI"] + ) + { + float physics:dynamicFriction = 0.5 + float physics:restitution = 0 + float physics:staticFriction = 0.5 + float physxMaterial:compliantContactDamping = 0 + float physxMaterial:compliantContactStiffness = 0 + uniform token physxMaterial:frictionCombineMode = "average" + uniform token physxMaterial:restitutionCombineMode = "average" + } +} + +def "World" +{ + def Scope "envs" + { + def Xform "env_0" + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "Robot" ( + apiSchemas = ["PhysicsArticulationRootAPI", "PhysxArticulationAPI"] + ) + { + bool physxArticulation:enabledSelfCollisions = 0 + float physxArticulation:sleepThreshold = 0.005 + int physxArticulation:solverPositionIterationCount = 4 + int physxArticulation:solverVelocityIterationCount = 0 + float physxArticulation:stabilizationThreshold = 0.001 + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 2) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "slider" ( + apiSchemas = ["PhysxRigidBodyAPI", "PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + bool physics:rigidBodyEnabled = 1 + bool physxRigidBody:enableGyroscopicForces = 1 + float physxRigidBody:maxAngularVelocity = 1000 + float physxRigidBody:maxDepenetrationVelocity = 100 + float physxRigidBody:maxLinearVelocity = 1000 + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def "visuals" ( + instanceable = true + add references = + ) + { + } + + def "collisions" ( + instanceable = true + add references = + ) + { + } + + def PhysicsPrismaticJoint "slider_to_cart" ( + apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:linear", "PhysicsDriveAPI:linear"] + ) + { + float drive:linear:physics:damping = 0 + float drive:linear:physics:maxForce = 1000 + float drive:linear:physics:stiffness = 0 + uniform token drive:linear:physics:type = "force" + uniform token physics:axis = "X" + rel physics:body0 = + rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0, 0, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.70710677, 0, 0, 0.70710677) + quatf physics:localRot1 = (0.70710677, 0, 0, 0.70710677) + float physics:lowerLimit = -4 + float physics:upperLimit = 4 + float physxJoint:jointFriction = 0 + float physxJoint:maxJointVelocity = 100 + } + } + + def PhysicsFixedJoint "root_joint" + { + rel physics:body1 = + } + + def Xform "cart" ( + apiSchemas = ["PhysxRigidBodyAPI", "PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + float physics:mass = 1 + bool physics:rigidBodyEnabled = 1 + bool physxRigidBody:enableGyroscopicForces = 1 + float physxRigidBody:maxAngularVelocity = 1000 + float physxRigidBody:maxDepenetrationVelocity = 100 + float physxRigidBody:maxLinearVelocity = 1000 + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def "visuals" ( + instanceable = true + add references = + ) + { + } + + def "collisions" ( + instanceable = true + add references = + ) + { + } + + def PhysicsRevoluteJoint "cart_to_pole" ( + apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 1000 + float drive:angular:physics:stiffness = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "X" + rel physics:body0 = + rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0.12, 0, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (1, 0, 0, 0) + quatf physics:localRot1 = (1, 0, 0, 0) + float physxJoint:jointFriction = 0 + float physxJoint:maxJointVelocity = 458.36624 + } + } + + def Xform "pole" ( + apiSchemas = ["PhysxRigidBodyAPI", "PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + point3f physics:centerOfMass = (0, 0, 0.47) + float physics:mass = 1 + bool physics:rigidBodyEnabled = 1 + bool physxRigidBody:enableGyroscopicForces = 1 + float physxRigidBody:maxAngularVelocity = 1000 + float physxRigidBody:maxDepenetrationVelocity = 100 + float physxRigidBody:maxLinearVelocity = 1000 + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.11999999731779099, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def "visuals" ( + instanceable = true + add references = + ) + { + } + + def "collisions" ( + instanceable = true + add references = + ) + { + } + } + } + } + } + + def Xform "ground" ( + kind = "component" + ) + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" ( + kind = "" + ) + { + def Material "theGrid" + { + token outputs:mdl:displacement.connect = + token outputs:mdl:surface.connect = + token outputs:mdl:volume.connect = + + def Shader "Shader" + { + uniform token info:implementationSource = "sourceAsset" + uniform asset info:mdl:sourceAsset = @OmniPBR.mdl@ + uniform token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + float inputs:albedo_add = 0 ( + customData = { + float default = 0 + dictionary soft_range = { + float max = 1 + float min = -1 + } + } + displayGroup = "Albedo" + displayName = "Albedo Add" + doc = "Adds a constant value to the diffuse color " + hidden = false + ) + color3f inputs:diffuse_color_constant = (0.2, 0.2, 0.2) ( + customData = { + float3 default = (0.2, 0.2, 0.2) + } + displayGroup = "Albedo" + displayName = "Albedo Color" + doc = "This is the albedo base color" + hidden = false + renderType = "color" + ) + asset inputs:diffuse_texture = @http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.5/Isaac/Environments/Grid/Materials/Textures/Wireframe_blue.png@ ( + colorSpace = "auto" + customData = { + asset default = @@ + } + displayGroup = "Albedo" + displayName = "Albedo Map" + hidden = false + renderType = "texture_2d" + ) + color3f inputs:diffuse_tint = (0, 0, 0) ( + customData = { + float3 default = (1, 1, 1) + } + displayGroup = "Albedo" + displayName = "Color Tint" + doc = "When enabled, this color value is multiplied over the final albedo color" + hidden = false + renderType = "color" + ) + color3f inputs:emissive_color = (1, 1, 1) ( + customData = { + float3 default = (1, 0.1, 0.1) + } + displayGroup = "Emissive" + displayName = "Emissive Color" + doc = "The emission color" + hidden = false + renderType = "color" + ) + asset inputs:emissive_color_texture = @http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.5/Isaac/Environments/Grid/Materials/Textures/WireframeBlur_basecolor.png@ ( + colorSpace = "auto" + customData = { + asset default = @@ + } + displayGroup = "Emissive" + displayName = "Emissive Color map" + doc = "The emissive color texture" + hidden = false + renderType = "texture_2d" + ) + float inputs:emissive_intensity = 1000 ( + customData = { + float default = 40 + } + displayGroup = "Emissive" + displayName = "Emissive Intensity" + doc = "Intensity of the emission" + hidden = false + ) + asset inputs:emissive_mask_texture = @http://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.5/Isaac/Environments/Grid/Materials/Textures/WireframeBlur_blue.png@ ( + colorSpace = "sRGB" + customData = { + asset default = @@ + } + displayGroup = "Emissive" + displayName = "Emissive Mask map" + doc = "The texture masking the emissive color" + hidden = false + renderType = "texture_2d" + ) + bool inputs:enable_emission = 1 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + displayName = "Enable Emission" + doc = "Enables the emission of light from the material" + hidden = false + ) + bool inputs:project_uvw = 1 ( + customData = { + bool default = 0 + } + displayGroup = "UV" + displayName = "Enable Project UVW Coordinates" + doc = "When enabled, UV coordinates will be generated by projecting them from a coordinate system" + hidden = false + ) + float inputs:specular_level = 0.5 ( + customData = { + float default = 0.5 + dictionary soft_range = { + float max = 1 + float min = 0 + } + } + displayGroup = "Reflectivity" + displayName = "Specular" + doc = "The specular level (intensity) of the material" + hidden = false + ) + bool inputs:world_or_object = 1 ( + customData = { + bool default = 0 + } + displayGroup = "UV" + displayName = "Enable World Space" + doc = "When enabled, uses world space for projection, otherwise object space is used" + hidden = false + ) + token outputs:out ( + renderType = "material" + ) + } + } + } + + def Xform "GroundPlane" + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Plane "CollisionPlane" ( + apiSchemas = ["MaterialBindingAPI", "PhysicsCollisionAPI"] + ) + { + uniform token axis = "Z" + rel material:binding:physics = ( + bindMaterialAs = "strongerThanDescendants" + ) + uniform token purpose = "guide" + float3 xformOp:scale = (0.01, 0.01, 0.01) + uniform token[] xformOpOrder = ["xformOp:scale"] + } + } + + def SphereLight "SphereLight" ( + apiSchemas = ["ShapingAPI"] + ) + { + float inputs:intensity = 100000 + float inputs:radius = 0.25 + float inputs:shaping:cone:angle = 180 + float intensity = 100000 + float radius = 0.25 + float shaping:cone:angle = 180 + float shaping:cone:softness + float shaping:focus + color3f shaping:focusTint + asset shaping:ies:file + token visibility = "invisible" + quatd xformOp:orient = (0.5000000000000001, 0.5, 0.49999999999999994, 0.5) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 2.5) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "Environment" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + rel material:binding = ( + bindMaterialAs = "weakerThanDescendants" + ) + token visibility = "inherited" + float3 xformOp:rotateZYX = (0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateZYX", "xformOp:scale"] + + def Mesh "Geometry" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + float3[] extent = [(-0.5, -0.5, 0), (0.5, 0.5, 0)] + int[] faceVertexCounts = [4] + int[] faceVertexIndices = [0, 1, 3, 2] + normal3f[] normals = [(0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1)] ( + interpolation = "faceVarying" + ) + point3f[] points = [(-0.5, -0.5, 0), (0.5, -0.5, 0), (-0.5, 0.5, 0), (0.5, 0.5, 0)] + texCoord2f[] primvars:st = [(0, 0), (1, 0), (1, 1), (0, 1)] ( + interpolation = "faceVarying" + ) + uniform token subdivisionScheme = "none" + token visibility = "inherited" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (100, 100, 1) + double3 xformOp:translate = (-0.425, 0.425, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + + def Material "physicsMaterial" ( + apiSchemas = ["PhysicsMaterialAPI", "PhysxMaterialAPI"] + ) + { + float physics:dynamicFriction = 0.5 + float physics:restitution = 0 + float physics:staticFriction = 0.5 + float physxMaterial:compliantContactDamping = 0 + float physxMaterial:compliantContactStiffness = 0 + uniform token physxMaterial:frictionCombineMode = "average" + uniform token physxMaterial:restitutionCombineMode = "average" + } + } + + def DomeLight "Light" + { + color3f inputs:color = (0.75, 0.75, 0.75) + float inputs:colorTemperature = 6500 + bool inputs:enableColorTemperature = 0 + float inputs:exposure = 0 + float inputs:intensity = 2000 + bool inputs:normalize = 0 + asset inputs:texture:file + token inputs:texture:format = "automatic" + bool visibleInPrimaryRay = 1 + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } +} + +def Camera "OmniverseKit_Persp" ( + customData = { + dictionary omni = { + dictionary kit = { + bool hide_in_stage_window = 1 + bool no_delete = 1 + } + } + } + hide_in_stage_window = true + kind = "component" + no_delete = true +) +{ + float2 clippingRange = (1, 10000000) + float focalLength = 18.147562 + float focusDistance = 400 + custom uniform vector3d omni:kit:centerOfInterest = (0, 0, -96.46236999354045) + float3 xformOp:rotateXYZ = (54.73561, -6.3611094e-15, 135) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (55.74297572387726, 55.69257572553425, 58.162574395058954) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"] +} + +def Camera "OmniverseKit_Front" ( + customData = { + dictionary omni = { + dictionary kit = { + bool hide_in_stage_window = 1 + bool no_delete = 1 + } + } + } + hide_in_stage_window = true + kind = "component" + no_delete = true +) +{ + float2 clippingRange = (1, 10000000) + float horizontalAperture = 5000 + custom uniform vector3d omni:kit:centerOfInterest = (0, 0, -500) + token projection = "orthographic" + float verticalAperture = 5000 + float3 xformOp:rotateXYZ = (90, -1.2722219e-14, 90) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (500, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"] +} + +def Camera "OmniverseKit_Top" ( + customData = { + dictionary omni = { + dictionary kit = { + bool hide_in_stage_window = 1 + bool no_delete = 1 + } + } + } + hide_in_stage_window = true + kind = "component" + no_delete = true +) +{ + float2 clippingRange = (1, 10000000) + float horizontalAperture = 5000 + custom uniform vector3d omni:kit:centerOfInterest = (0, 0, -500) + token projection = "orthographic" + float verticalAperture = 5000 + float3 xformOp:rotateXYZ = (-1.2722219e-14, -7.016709e-15, -90) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 500) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"] +} + +def Camera "OmniverseKit_Right" ( + customData = { + dictionary omni = { + dictionary kit = { + bool hide_in_stage_window = 1 + bool no_delete = 1 + } + } + } + hide_in_stage_window = true + kind = "component" + no_delete = true +) +{ + float2 clippingRange = (1, 10000000) + float horizontalAperture = 5000 + custom uniform vector3d omni:kit:centerOfInterest = (0, 0, -500) + token projection = "orthographic" + float verticalAperture = 5000 + float3 xformOp:rotateXYZ = (90, -1.41245e-30, 1.2722219e-14) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, -500, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"] +} + +def "Render" ( + hide_in_stage_window = true + no_delete = true +) +{ + def "OmniverseKit" + { + def "HydraTextures" ( + hide_in_stage_window = true + no_delete = true + ) + { + def RenderProduct "omni_kit_widget_viewport_ViewportTexture_0" ( + hide_in_stage_window = true + no_delete = true + ) + { + rel camera = + rel orderedVars = + custom bool overrideClipRange = 0 + uniform int2 resolution = (1280, 720) + custom uint64 viewPickingId = 706153192698425 + custom int viewportHandle = 0 + } + } + } + + def RenderSettings "OmniverseGlobalRenderSettings" ( + hide_in_stage_window = true + no_delete = true + ) + { + rel products = + } + + def "Vars" + { + def RenderVar "LdrColor" ( + hide_in_stage_window = true + no_delete = true + ) + { + uniform string sourceName = "LdrColor" + } + } +} + diff --git a/newton/examples/example_isaaclab_cloner.py b/newton/examples/example_isaaclab_cloner.py new file mode 100644 index 0000000000..c60a98f8e5 --- /dev/null +++ b/newton/examples/example_isaaclab_cloner.py @@ -0,0 +1,138 @@ +# SPDX-FileCopyrightText: Copyright (c) 2025 The Newton Developers +# SPDX-License-Identifier: Apache-2.0 +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +########################################################################### +# An example of using the environment replicator for Isaac Lab. +########################################################################### + +import numpy as np +import warp as wp + +import newton +import newton.core.articulation +import newton.examples +import newton.utils +import newton.utils.isaaclab + + +class Example: + def __init__(self, stage_path="example_cartpole.usd", num_envs=8): + self.num_envs = num_envs + + builder, stage_info = newton.utils.isaaclab.replicate_environment( + newton.examples.get_asset("cartpole_prototype.usda"), + "/World/envs/env_0", + "/World/envs/env_{}", + num_envs, + (2.0, 3.0, 0.0), + # USD importer args + collapse_fixed_joints=True, + ) + + # from pprint import pprint + # pprint(builder.body_key) + # pprint(builder.shape_key) + # pprint(builder.joint_key) + # pprint(builder.articulation_key) + # pprint(stage_info) + + up_axis = stage_info.get("up_axis") or "Z" + + # finalize model + self.model = builder.finalize() + self.model.ground = False + + # randomize pole angles + rng = np.random.default_rng() + pole_angles = np.pi / 16.0 - np.pi / 8.0 * rng.random(num_envs) + self.model.joint_q[1::2].assign(pole_angles) + # print(self.model.joint_q) + + self.sim_time = 0.0 + fps = 60 + self.frame_dt = 1.0 / fps + + self.sim_substeps = 10 + self.sim_dt = self.frame_dt / self.sim_substeps + + self.solver = newton.solvers.MuJoCoSolver(self.model) + + self.state_0 = self.model.state() + self.state_1 = self.model.state() + self.control = self.model.control() + + newton.core.articulation.eval_fk(self.model, self.model.joint_q, self.model.joint_qd, None, self.state_0) + + self.renderer = None + if stage_path: + self.renderer = newton.utils.SimRendererOpenGL( + path=stage_path, model=self.model, scaling=2.0, up_axis=up_axis + ) + + self.use_cuda_graph = wp.get_device().is_cuda + if self.use_cuda_graph: + with wp.ScopedCapture() as capture: + self.simulate() + self.graph = capture.graph + + def simulate(self): + for _ in range(self.sim_substeps): + self.state_0.clear_forces() + self.solver.step(self.model, self.state_0, self.state_1, self.control, None, self.sim_dt) + self.state_0, self.state_1 = self.state_1, self.state_0 + + def step(self): + with wp.ScopedTimer("step", active=False): + if self.use_cuda_graph: + wp.capture_launch(self.graph) + else: + self.simulate() + self.sim_time += self.frame_dt + + def render(self): + if self.renderer is None: + return + + with wp.ScopedTimer("render", active=False): + self.renderer.begin_frame(self.sim_time) + self.renderer.render(self.state_0) + self.renderer.end_frame() + + +if __name__ == "__main__": + import argparse + + parser = argparse.ArgumentParser(formatter_class=argparse.ArgumentDefaultsHelpFormatter) + parser.add_argument("--device", type=str, default=None, help="Override the default Warp device.") + parser.add_argument( + "--stage_path", + type=lambda x: None if x == "None" else str(x), + default="example_cartpole.usd", + help="Path to the output USD file.", + ) + parser.add_argument("--num_frames", type=int, default=12000, help="Total number of frames.") + parser.add_argument("--num_envs", type=int, default=16, help="Total number of simulated environments.") + + args = parser.parse_known_args()[0] + + with wp.ScopedDevice(args.device): + example = Example(stage_path=args.stage_path, num_envs=args.num_envs) + + for _ in range(args.num_frames): + example.step() + example.render() + + if example.renderer: + example.renderer.save() diff --git a/newton/utils/isaaclab.py b/newton/utils/isaaclab.py new file mode 100644 index 0000000000..34bc0ef95e --- /dev/null +++ b/newton/utils/isaaclab.py @@ -0,0 +1,98 @@ +# SPDX-FileCopyrightText: Copyright (c) 2025 The Newton Developers +# SPDX-License-Identifier: Apache-2.0 +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +import warp as wp + +import newton +from newton.examples import compute_env_offsets + + +def replicate_environment(source, prototype_path, path_pattern, num_envs, env_spacing, **usd_kwargs): + """ + Replicates a prototype USD environment in Newton. + + Args: + source (str | pxr.UsdStage): The file path to the USD file, or an existing USD stage instance. + prototype_path (str): The USD path where the prototype env is defined, e.g., "/World/envs/env_0". + path_pattern (str): The USD path pattern for replicated envs, e.g., "/World/envs/env_{}". + num_envs (int): Number of replicas to create. + env_spacing (tuple[float]): Environment spacing vector. + **usd_kwargs: Keyword arguments to pass to the USD importer (see `newton.utils.parse_usd()`). + + Returns: + (newton.ModelBuilder, dict): The resulting ModelBuilder containing all replicated environments and a dictionary with USD stage information. + """ + + # first, load everything except the prototype env + builder = newton.ModelBuilder() + stage_info = newton.utils.parse_usd( + source, + builder, + ignore_paths=[prototype_path], + **usd_kwargs, + ) + + # now, load just the prototype env + prototype_builder = newton.ModelBuilder() + newton.utils.parse_usd( + source, + prototype_builder, + root_path=prototype_path, + **usd_kwargs, + ) + + up_axis = stage_info.get("up_axis") or "Z" + + env_offsets = compute_env_offsets(num_envs, env_offset=env_spacing, up_axis=up_axis) + + # clone the prototype env with updated paths + for i in range(num_envs): + body_start = builder.body_count + shape_start = builder.shape_count + joint_start = builder.joint_count + articulation_start = builder.articulation_count + + builder.add_builder(prototype_builder, xform=wp.transform(env_offsets[i], wp.quat_identity())) + + if i > 0: + update_paths( + builder, + prototype_path, + path_pattern.format(i), + body_start=body_start, + shape_start=shape_start, + joint_start=joint_start, + articulation_start=articulation_start, + ) + + return builder, stage_info + + +def update_paths( + builder, old_root, new_root, body_start=None, shape_start=None, joint_start=None, articulation_start=None +): + old_len = len(old_root) + if body_start is not None: + for i in range(body_start, builder.body_count): + builder.body_key[i] = f"{new_root}{builder.body_key[i][old_len:]}" + if shape_start is not None: + for i in range(shape_start, builder.shape_count): + builder.shape_key[i] = f"{new_root}{builder.shape_key[i][old_len:]}" + if joint_start is not None: + for i in range(joint_start, builder.joint_count): + builder.joint_key[i] = f"{new_root}{builder.joint_key[i][old_len:]}" + if articulation_start is not None: + for i in range(articulation_start, builder.articulation_count): + builder.articulation_key[i] = f"{new_root}{builder.articulation_key[i][old_len:]}" From 6ea69621b1fcb331e261a6e0efbf4ff407f2e369 Mon Sep 17 00:00:00 2001 From: Lukasz Wawrzyniak Date: Fri, 2 May 2025 16:28:57 -0400 Subject: [PATCH 02/57] Updated Isaac Lab cartpole example --- newton/examples/example_isaaclab_cloner.py | 10 ++++++++-- 1 file changed, 8 insertions(+), 2 deletions(-) diff --git a/newton/examples/example_isaaclab_cloner.py b/newton/examples/example_isaaclab_cloner.py index c60a98f8e5..79fb9a00b3 100644 --- a/newton/examples/example_isaaclab_cloner.py +++ b/newton/examples/example_isaaclab_cloner.py @@ -78,7 +78,13 @@ def __init__(self, stage_path="example_cartpole.usd", num_envs=8): self.renderer = None if stage_path: self.renderer = newton.utils.SimRendererOpenGL( - path=stage_path, model=self.model, scaling=2.0, up_axis=up_axis + path=stage_path, + model=self.model, + scaling=1.0, + up_axis=up_axis, + screen_width=1280, + screen_height=720, + camera_pos=(0, 3, 10), ) self.use_cuda_graph = wp.get_device().is_cuda @@ -123,7 +129,7 @@ def render(self): help="Path to the output USD file.", ) parser.add_argument("--num_frames", type=int, default=12000, help="Total number of frames.") - parser.add_argument("--num_envs", type=int, default=16, help="Total number of simulated environments.") + parser.add_argument("--num_envs", type=int, default=256, help="Total number of simulated environments.") args = parser.parse_known_args()[0] From b1a42f3877db1de897010e3c9bfe719b3a794808 Mon Sep 17 00:00:00 2001 From: Lukasz Wawrzyniak Date: Tue, 6 May 2025 15:05:07 -0400 Subject: [PATCH 03/57] Draft of ArticulationView --- .../examples/example_isaaclab_articulation.py | 169 ++++++++++++++++++ newton/utils/selection.py | 134 ++++++++++++++ 2 files changed, 303 insertions(+) create mode 100644 newton/examples/example_isaaclab_articulation.py create mode 100644 newton/utils/selection.py diff --git a/newton/examples/example_isaaclab_articulation.py b/newton/examples/example_isaaclab_articulation.py new file mode 100644 index 0000000000..4515f16703 --- /dev/null +++ b/newton/examples/example_isaaclab_articulation.py @@ -0,0 +1,169 @@ +# SPDX-FileCopyrightText: Copyright (c) 2025 The Newton Developers +# SPDX-License-Identifier: Apache-2.0 +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +########################################################################### +# An example of using the ArticulationView. +########################################################################### + +import numpy as np +import torch +import warp as wp + +import newton +import newton.core.articulation +import newton.examples +import newton.utils +import newton.utils.isaaclab +from newton.utils.selection import ArticulationView + +np.set_printoptions(suppress=True) + + +class Example: + def __init__(self, stage_path="example_cartpole.usd", num_envs=8): + self.num_envs = num_envs + + builder, stage_info = newton.utils.isaaclab.replicate_environment( + newton.examples.get_asset("cartpole_prototype.usda"), + "/World/envs/env_0", + "/World/envs/env_{}", + num_envs, + (2.0, 3.0, 0.0), + # USD importer args + collapse_fixed_joints=True, + ) + + up_axis = stage_info.get("up_axis") or "Z" + + # finalize model + self.model = builder.finalize() + self.model.ground = False + + self.sim_time = 0.0 + fps = 60 + self.frame_dt = 1.0 / fps + + self.sim_substeps = 10 + self.sim_dt = self.frame_dt / self.sim_substeps + + self.solver = newton.solvers.MuJoCoSolver(self.model) + + self.state_0 = self.model.state() + self.state_1 = self.model.state() + self.control = self.model.control() + + # ======================= + # get cartpole view + # ======================= + self.cartpoles = ArticulationView(self.model, "/World/envs/*/Robot") + + # print(self.cartpoles.get_attribute("body_q", self.state_0)) + # print(self.cartpoles.get_attribute("body_qd", self.state_0)) + # print(self.cartpoles.get_attribute("joint_q", self.state_0)) + # print(self.cartpoles.get_attribute("joint_qd", self.state_0)) + # print(self.cartpoles.get_attribute("joint_act", self.control)) + + # ========================= + # randomize initial state + # ========================= + cart_positions = 2.0 - 4.0 * torch.rand(num_envs) + pole_angles = np.pi / 16.0 - np.pi / 8.0 * torch.rand(num_envs) + joint_states = torch.stack([cart_positions, pole_angles], dim=1) + self.cartpoles.set_attribute("joint_q", self.state_0, joint_states) + + newton.core.articulation.eval_fk( + self.model, self.state_0.joint_q, self.state_0.joint_qd, self.cartpoles.articulation_mask, self.state_0 + ) + + self.renderer = None + if stage_path: + self.renderer = newton.utils.SimRendererOpenGL( + path=stage_path, + model=self.model, + scaling=1.0, + up_axis=up_axis, + screen_width=1280, + screen_height=720, + camera_pos=(0, 3, 10), + ) + + self.use_cuda_graph = wp.get_device().is_cuda + if self.use_cuda_graph: + with wp.ScopedCapture() as capture: + self.simulate() + self.graph = capture.graph + + def simulate(self): + for _ in range(self.sim_substeps): + self.state_0.clear_forces() + self.solver.step(self.model, self.state_0, self.state_1, self.control, None, self.sim_dt) + self.state_0, self.state_1 = self.state_1, self.state_0 + + def step(self): + # ========================= + # get observations + # ========================= + joint_states = wp.to_torch(self.cartpoles.get_attribute("joint_q", self.state_0)) + + # ========================= + # apply controls + # ========================= + joint_forces = torch.zeros((self.num_envs, 2)) + joint_forces[:, 0] = torch.where(joint_states[:, 0] > 0, -100, 100) + self.cartpoles.set_attribute("joint_act", self.control, joint_forces) + + # simulate + with wp.ScopedTimer("step", active=False): + if self.use_cuda_graph: + wp.capture_launch(self.graph) + else: + self.simulate() + self.sim_time += self.frame_dt + + def render(self): + if self.renderer is None: + return + + with wp.ScopedTimer("render", active=False): + self.renderer.begin_frame(self.sim_time) + self.renderer.render(self.state_0) + self.renderer.end_frame() + + +if __name__ == "__main__": + import argparse + + parser = argparse.ArgumentParser(formatter_class=argparse.ArgumentDefaultsHelpFormatter) + parser.add_argument("--device", type=str, default=None, help="Override the default Warp device.") + parser.add_argument( + "--stage_path", + type=lambda x: None if x == "None" else str(x), + default="example_cartpole.usd", + help="Path to the output USD file.", + ) + parser.add_argument("--num_frames", type=int, default=12000, help="Total number of frames.") + parser.add_argument("--num_envs", type=int, default=16, help="Total number of simulated environments.") + + args = parser.parse_known_args()[0] + + with wp.ScopedDevice(args.device): + example = Example(stage_path=args.stage_path, num_envs=args.num_envs) + + for _ in range(args.num_frames): + example.step() + example.render() + + if example.renderer: + example.renderer.save() diff --git a/newton/utils/selection.py b/newton/utils/selection.py new file mode 100644 index 0000000000..fc4be5279f --- /dev/null +++ b/newton/utils/selection.py @@ -0,0 +1,134 @@ +# SPDX-FileCopyrightText: Copyright (c) 2025 The Newton Developers +# SPDX-License-Identifier: Apache-2.0 +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +from fnmatch import fnmatch + +import warp as wp +from warp.types import is_array + +from newton import Control, Model, State + + +@wp.kernel +def set_mask_kernel(indices: wp.array(dtype=int), mask: wp.array(dtype=bool)): + tid = wp.tid() + mask[indices[tid]] = True + + +class ArticulationView: + def __init__(self, model: Model, pattern: str): + articulation_ids = [] + for id, key in enumerate(model.articulation_key): + if fnmatch(key, pattern): + articulation_ids.append(id) + + count = len(articulation_ids) + if count == 0: + raise KeyError("No matching articulations") + + articulation_start = model.articulation_start.numpy() + joint_parent = model.joint_parent.numpy() + joint_child = model.joint_child.numpy() + joint_axis_start = model.joint_axis_start.numpy() + joint_axis_dim = model.joint_axis_dim.numpy() + joint_q_start = model.joint_q_start.numpy() + joint_qd_start = model.joint_qd_start.numpy() + + # FIXME: this assumes homogeneous envs with one selected articulation per env + + arti_0 = articulation_ids[0] + + # FIXME: is this always correct? + num_joints = articulation_start[arti_0 + 1] - articulation_start[arti_0] + print(f" num_joints: {num_joints}") + + links = {} + for joint_id in range(articulation_start[arti_0], articulation_start[arti_0 + 1]): + joint_name = model.joint_key[joint_id] + print(f" joint {joint_name}:") + print(f" bodies: {joint_parent[joint_id]} -> {joint_child[joint_id]}") + print(f" axis_start: {joint_axis_start[joint_id]}") + print(f" axis_dim: {joint_axis_dim[joint_id]}") + if joint_parent[joint_id] != -1: + links[int(joint_parent[joint_id])] = None + if joint_child[joint_id] != -1: + links[int(joint_child[joint_id])] = None + + links = sorted(links.keys()) + num_links = len(links) + print(f" num_links: {num_links}, {links}") + for body_id in links: + print(f" {model.body_key[body_id]}") + + self.attrib_shapes = {} + self.attrib_slices = {} + + joint_begin = articulation_start[arti_0] + joint_end = articulation_start[arti_0 + 1] + self.attrib_shapes["joint_q"] = (count, model.joint_q.size // count) + self.attrib_slices["joint_q"] = ( + slice(0, count), + slice(int(joint_q_start[joint_begin]), int(joint_q_start[joint_end])), + ) + self.attrib_shapes["joint_qd"] = (count, model.joint_qd.size // count) + self.attrib_slices["joint_qd"] = ( + slice(0, count), + slice(int(joint_qd_start[joint_begin]), int(joint_qd_start[joint_end])), + ) + + joint_axis_begin = joint_axis_start[joint_begin] + joint_axis_end = joint_axis_start[joint_end] + self.attrib_shapes["joint_act"] = (count, model.joint_act.size // count) + self.attrib_slices["joint_act"] = (slice(0, count), slice(int(joint_axis_begin), int(joint_axis_end))) + + body_begin = links[0] + body_end = links[-1] + 1 + self.attrib_shapes["body_q"] = (count, model.body_q.shape[0] // count) + self.attrib_slices["body_q"] = (slice(0, count), slice(body_begin, body_end)) + self.attrib_shapes["body_qd"] = (count, model.body_qd.shape[0] // count) + self.attrib_slices["body_qd"] = (slice(0, count), slice(body_begin, body_end)) + + # create articulation mask + self.articulation_mask = wp.zeros(model.articulation_count, dtype=bool) + indices = wp.array(articulation_ids, dtype=int) + wp.launch(set_mask_kernel, dim=indices.shape, inputs=[indices, self.articulation_mask]) + + def get_attribute(self, name: str, source: Model | State | Control, copy=False): + attrib = getattr(source, name) + attrib = attrib.reshape(self.attrib_shapes[name]) + attrib = attrib[*self.attrib_slices[name]] + if copy: + return wp.clone(attrib) + else: + return attrib + + def set_attribute(self, name: str, target: Model | State | Control, values): + attrib = getattr(target, name) + attrib = attrib.reshape(self.attrib_shapes[name]) + attrib = attrib[*self.attrib_slices[name]] + if not is_array(values): + values = wp.array(values, dtype=attrib.dtype, shape=attrib.shape) + wp.copy(attrib, values) + + # convenience wrappers to align with legacy tensor API + # TODO: do we want this? + + # def get_link_transforms(self, source, copy=False): + # return self.get_attribute("body_q", source, copy=copy) + + # def get_link_velocities(self, source, copy=False): + # return self.get_attribute("body_qd", source, copy=copy) + + # ... 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20.0 * torch.rand((self.num_envs, 8)) + self.ants.set_attribute("joint_act", self.control, joint_forces) + + with wp.ScopedTimer("step", active=False): + if self.use_cuda_graph: + wp.capture_launch(self.graph) + else: + self.simulate() + self.sim_time += self.frame_dt + + def render(self): + if self.renderer is None: + return + + with wp.ScopedTimer("render", active=False): + self.renderer.begin_frame(self.sim_time) + self.renderer.render(self.state_0) + self.renderer.end_frame() + + +if __name__ == "__main__": + import argparse + + parser = argparse.ArgumentParser(formatter_class=argparse.ArgumentDefaultsHelpFormatter) + parser.add_argument("--device", type=str, default=None, help="Override the default Warp device.") + parser.add_argument( + "--stage_path", + type=lambda x: None if x == "None" else str(x), + default="example_ant.usd", + help="Path to the output USD file.", + ) + parser.add_argument("--num_frames", type=int, default=1200, help="Total number of frames.") + parser.add_argument("--num_envs", type=int, default=16, help="Total number of simulated environments.") + + args = parser.parse_known_args()[0] + + with wp.ScopedDevice(args.device): + example = Example(stage_path=args.stage_path, num_envs=args.num_envs) + + for _ in range(args.num_frames): + # time.sleep(1) + example.step() + example.render() + + if example.renderer: + example.renderer.save() diff --git a/newton/utils/selection.py b/newton/utils/selection.py index fc4be5279f..bcb86ba671 100644 --- a/newton/utils/selection.py +++ b/newton/utils/selection.py @@ -28,7 +28,7 @@ def set_mask_kernel(indices: wp.array(dtype=int), mask: wp.array(dtype=bool)): class ArticulationView: - def __init__(self, model: Model, pattern: str): + def __init__(self, model: Model, pattern: str, include_root_joint=True): articulation_ids = [] for id, key in enumerate(model.articulation_key): if fnmatch(key, pattern): @@ -50,12 +50,15 @@ def __init__(self, model: Model, pattern: str): arti_0 = articulation_ids[0] + joint_begin = articulation_start[arti_0] + joint_end = articulation_start[arti_0 + 1] + # FIXME: is this always correct? - num_joints = articulation_start[arti_0 + 1] - articulation_start[arti_0] + num_joints = joint_end - joint_begin print(f" num_joints: {num_joints}") links = {} - for joint_id in range(articulation_start[arti_0], articulation_start[arti_0 + 1]): + for joint_id in range(joint_begin, joint_end): joint_name = model.joint_key[joint_id] print(f" joint {joint_name}:") print(f" bodies: {joint_parent[joint_id]} -> {joint_child[joint_id]}") @@ -75,8 +78,11 @@ def __init__(self, model: Model, pattern: str): self.attrib_shapes = {} self.attrib_slices = {} - joint_begin = articulation_start[arti_0] - joint_end = articulation_start[arti_0 + 1] + if not include_root_joint: + # check if a root joint is present and skip it + if joint_parent[joint_begin] == -1: + joint_begin += 1 + self.attrib_shapes["joint_q"] = (count, model.joint_q.size // count) self.attrib_slices["joint_q"] = ( slice(0, count), From 2db8e25e7d115c7e2ddffdd536d73c0b0f78c594 Mon Sep 17 00:00:00 2001 From: Lukasz Wawrzyniak Date: Thu, 8 May 2025 13:51:14 -0400 Subject: [PATCH 05/57] Added properties for counts and attribute shapes in ArticulationView --- newton/examples/example_isaaclab_ant.py | 15 ++++++++--- newton/utils/selection.py | 36 +++++++++++++++++++++++-- 2 files changed, 46 insertions(+), 5 deletions(-) diff --git a/newton/examples/example_isaaclab_ant.py b/newton/examples/example_isaaclab_ant.py index 3cca06bc14..9669b817fa 100644 --- a/newton/examples/example_isaaclab_ant.py +++ b/newton/examples/example_isaaclab_ant.py @@ -74,8 +74,16 @@ def __init__(self, stage_path="example_ant.usd", num_envs=8): # =========================================================== self.ants = newton.utils.selection.ArticulationView(self.model, "/ant/torso", include_root_joint=False) - print(self.ants.get_attribute("joint_q", self.state_0).shape) - print(self.ants.get_attribute("joint_act", self.control).shape) + print(f"articulation count: {self.ants.count}") + print(f"link_count: {self.ants.link_count}") + print(f"joint_count: {self.ants.joint_count}") + print(f"joint_axis_count: {self.ants.joint_axis_count}") + + print(f"joint_q shape: {self.ants.get_attribute_shape('joint_q')}") + print(f"joint_qd shape: {self.ants.get_attribute_shape('joint_qd')}") + print(f"joint_act shape: {self.ants.get_attribute_shape('joint_act')}") + print(f"body_q shape: {self.ants.get_attribute_shape('body_q')}") + print(f"body_qd shape: {self.ants.get_attribute_shape('body_qd')}") self.use_cuda_graph = wp.get_device().is_cuda if self.use_cuda_graph: @@ -93,7 +101,8 @@ def step(self): # ========================= # apply random controls # ========================= - joint_forces = 10.0 - 20.0 * torch.rand((self.num_envs, 8)) + act_shape = self.ants.get_attribute_shape("joint_act") + joint_forces = 10.0 - 20.0 * torch.rand(act_shape) self.ants.set_attribute("joint_act", self.control, joint_forces) with wp.ScopedTimer("step", active=False): diff --git a/newton/utils/selection.py b/newton/utils/selection.py index bcb86ba671..7b5cd8f245 100644 --- a/newton/utils/selection.py +++ b/newton/utils/selection.py @@ -107,9 +107,41 @@ def __init__(self, model: Model, pattern: str, include_root_joint=True): self.attrib_slices["body_qd"] = (slice(0, count), slice(body_begin, body_end)) # create articulation mask - self.articulation_mask = wp.zeros(model.articulation_count, dtype=bool) + self._articulation_mask = wp.zeros(model.articulation_count, dtype=bool) indices = wp.array(articulation_ids, dtype=int) - wp.launch(set_mask_kernel, dim=indices.shape, inputs=[indices, self.articulation_mask]) + wp.launch(set_mask_kernel, dim=indices.shape, inputs=[indices, self._articulation_mask]) + + # set some counting properties + self._count = count + self._link_count = len(links) + self._joint_count = joint_end - joint_begin + self._joint_axis_count = joint_axis_end - joint_axis_begin + + @property + def articulation_mask(self) -> wp.array(dtype=bool): + return self._articulation_mask + + @property + def count(self) -> int: + return self._count + + @property + def link_count(self) -> int: + return self._link_count + + @property + def joint_count(self) -> int: + return self._joint_count + + @property + def joint_axis_count(self) -> int: + return self._joint_axis_count + + def get_attribute_shape(self, name: str): + shape = [] + for s in self.attrib_slices[name]: + shape.append(s.stop - s.start) + return tuple(shape) def get_attribute(self, name: str, source: Model | State | Control, copy=False): attrib = getattr(source, name) From 58fab77bb8e958dd3df200ee1914ad68a9a77cdc Mon Sep 17 00:00:00 2001 From: Lukasz Wawrzyniak Date: Fri, 9 May 2025 15:45:57 -0400 Subject: [PATCH 06/57] Use correct up-axis in replicate_environment() --- newton/examples/assets/flattened_ant.usd | Bin 7832 -> 0 bytes newton/examples/example_isaaclab_ant.py | 33 +++++++++-------------- newton/utils/isaaclab.py | 28 ++++++++++--------- 3 files changed, 29 insertions(+), 32 deletions(-) delete mode 100644 newton/examples/assets/flattened_ant.usd diff --git a/newton/examples/assets/flattened_ant.usd b/newton/examples/assets/flattened_ant.usd deleted file mode 100644 index 5a6d0d478d758af557b8b15b3ec78f4db7656aa9..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 7832 zcmcgx3wT?_l|FMNS@K)5CEGGiEZccG;D@XPj1$M#@gsH~j%-Q6CK%^hy0%1QU2*S~ zW0Q2_BoGLXlCXp&bYaZ`rAzr*pzYFZOOl4i!q&L-TejQ%*afofZsL|Cavmy=MA|d5 zt{(x@e&6o)*#FF#nKNhRoH;Xh?v=f>qs--KY=C5l(|Zf1^8anBnx)`HGF8wd>S)oP z;F(#uCBYxMetY$TJI=5V$Mf&JmZ*kD<4i74-8!WbK5qa>W=G=XLQrGwO|*TL?x`jt zdnHCGo1L1ckqyTia)Hj#G9^S)_IdAx>G757g19}o@bB@8LP)~=>+Dhb-QF0t>%>(4 zo!2}GJzr&yJ>FIb+CNdZG6v0c=(`hNqkC#S3gbRh{5ZAzDXc%Ps1Q;xUliv7;;N8O zMJV!9O@-{DxRVPZ4J)pdPoE{fviwjzT_#B7C1px0ylS_DQYG$NW1N*kTbd=puRZOWutX7R1F`1P~+ z4YT--$S3x4+~7YpS3*~s(q;sW;&wy_!hvuiT!<}*TM(TH)zp>&=)%ISh^+|4&9@=n zjkq1rgV=`P5Y)|zXM2%%Bh-qCnOIQVjBJ9!)Vpz-BdByz8Ubbmrx#C|+MJ#=T;|eD z&pCoL4(HN5f{G_*gy#{Y7S5%41Zn8crFjIi=SpE|Mo`(KbTz+rC6yKFM?o)wZdgh_ z#2tw32znq4AOZ*h5k%aH5D^kWMuZS^JVqGKF*%oJw9XM! zj-VOg89^l^hOzN3gi_xB*3n}r|N6{p6v(f^yp}>~Z~1BObUX52Y6loOHVb%qj>Mr- z_A@F9Uyt{@q+WTP)?q$dC!SvD zcxv>&>qhq0i!`6r7-tjp#}&D2+rPRzvzFLCdgRDERIifH>Vk4lyUKCg<0o=nc7E0P ziTdM;+^o)D!+vS}oliv-omy1 zpC11j{o!ll@0xbpp^3Ou)@j}$=QMn2{5ovL_>0eDmgJvn{OS0=#=bAD|26FZ|2O`B zhw7#K?;8E#x}T4YtrlHo7 z$8W6D=McT?Qc|8G9P&MgZHR9oD7~M!I6SF5ASP>9m6d{<8{kFG!OOBQ&@Vx=C}o}k1r&FofoAb@0NXoJjk5b&&$x^>-Wmw6oSwzgaV$1bubA~v3VeXGNQz9 z@X0+l!R0g%u%^e)4f7%lgk(OzOA?5Dz{87!5LS!wPz??y*ZBE>)aa9BLEH^lHBVww zv*70Z8~H%L>;-oSTLw0^LAaoilR4mUjvl^`3;AWc=o^3mUdBOjmac$L2H7{jHwYfy z0AY=TcMAaz-eg0;`XL|M=jY^a!bhGSyC}$lJRIbEtU16GR?);plNB^sNs}9CauZFe zX>v0r71m08L(TjURE5@$X!0>lPSNB)Y4RJI{1#M`jI|nq-eJk-mK<)h8afs;lZzpU zvu*JD{2p`xtiyVdlX;J&PZS0$4Z;Ar0!t2=>*p;(pG6b|*%Dw5TD-Cxlxiv}_Aum8 zCJbe06S`6^3yOj#h`KQ9bG0~eG+ejY@|-i8qbTU9|{pAQ$AJHlA_p=ZGgUcOfaQ3&e?IZ>+d_@p3) zL4)8IL>TH5#DUGh8d>B5QW~hUpm?)rBcno)7iAxh5z-7g36bShTus~nA#@N#U zLvV-S3&>IqH1y%R>Ope=lJ!7}fYgI}Coq)^$pEqdm}($;sKS9S1Ct4)5L7=QkK=yx zdDaS^;a`vyoFrw!o}qg5l{@5rmAup}h;H72TSyQs0B;iV0XY@u5BWK93-1@)K6&^A z!I$tB4~po)I9LSg{ftKteYn8;7`{frt;XZv&oCa`A3V4v=F=nz27OY9^V9v>haSQ3 zkf24SKExdC;0Fai?&kGfgqYybp^d%)pN#ACJz#REMag3T>s9K116ME3xbhbO8IWVm zfO?VVwi`%FHf(VU;+-KQ=>2ym-Dnr2bu17>i07an+WG)D;UGWM67u^?bv7LTxQc1jb=W!CE7jq$2TzliQ0mSQC-(v8 zFC!L@a}e|rUaIY|7xndrFlegqq_Y7UB>IL{c&6rnZTk3;J$2EfmvDNp(^m(2cGC}1 z^o^XJ=k!|ueZ{9Q*z_X}eM!kc(6^d0#C-@#^qntG;U=27kTfhN;M9QA>9QNuU}p(x zcM>PP+!`|(LKqVhO(NP0SywJ3=`LiLev@_%*%}i2^|H5;(yrX_>nk^m=|0`aywb)% zQPPWA7)^=1(l+(?kIJiqr4yf0m4%?!LKx@C;v=n&ek#Iu&9yqnHs*n4h)IUZQpnKa zr<4@-eLWZ|(0+U|V8FJV{TLXK@Pe#@jx` zP9>n#*uho;m8h=^u@~`O6vrnjPP?xH>TwcR^uSsmJ;^{7x1!1t5K-=1h&K>tbzsTS zR?_M^EPAo~q4)?d#Ak9W-r+RbG;|Y&M=Gn=#eK3QM#%fOa5 z!lIUKh!G1|Uw==pW7yZb=A0mE+ z7)N}7ID@#y4ku%=-McZgaCt^?1Vd~H*w-%?)Z@_mmx1AOHL$2Y*?=>EbnIfr8Q+^5 zcfevj*bJ}|E1S?HeBZVMYO$Q`q+jLU)!L@F*!L@FmIBG&Lkr0V=c#CC2Xvf}JSWaTHQqu~9rGpDL2CL%YVnTXW9 zXMJ<^$+{DD%<($av4)>EFh6NNx;pj8tJ7YsP5=Aaj33oz{;*d6gIdEYwOKFMX1`Qx z{C=(JdyW?!%y*mhFF4eH*ZF)W^X*R6bDipEJI^2O{@ZTm>2B4iBjaxznNK8p;lK8y^-Qk{^(n`(@PuS$&_ZxmQlw zFKh3Sb$83j`^2=pV)`C2V?@l{9TW9`5fcsHh>2OdVq*5r*nW6*{V+{848=Z5td5dP z%4(gYXQhkhU9Q8fEd&gG>2T2H+S1kKa`A`rU{P0BG2G~Kb*X?X0fOK2mcrVmF4v

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Returns: (newton.ModelBuilder, dict): The resulting ModelBuilder containing all replicated environments and a dictionary with USD stage information. """ - # first, load everything except the prototype env - builder = newton.ModelBuilder() - stage_info = newton.utils.parse_usd( - source, - builder, - ignore_paths=[prototype_path], - **usd_kwargs, - ) + builder = newton.ModelBuilder(up_vector=up_vector) + + # # first, load everything except the prototype env (TODO: do we need this?) + # stage_info = newton.utils.parse_usd( + # source, + # builder, + # ignore_paths=[prototype_path], + # **usd_kwargs, + # ) - # now, load just the prototype env - prototype_builder = newton.ModelBuilder() - newton.utils.parse_usd( + # load just the prototype env + prototype_builder = newton.ModelBuilder(up_vector=up_vector) + stage_info = newton.utils.parse_usd( source, prototype_builder, root_path=prototype_path, From 0c5b452cd2d9d20642ac8aa6e06d133d33df13e8 Mon Sep 17 00:00:00 2001 From: Lukasz Wawrzyniak Date: Fri, 9 May 2025 16:07:06 -0400 Subject: [PATCH 07/57] Use up_axis instead of up_vector --- newton/utils/isaaclab.py | 19 +++++++++++++++---- 1 file changed, 15 insertions(+), 4 deletions(-) diff --git a/newton/utils/isaaclab.py b/newton/utils/isaaclab.py index 153ab224f9..9df68a4f8e 100644 --- a/newton/utils/isaaclab.py +++ b/newton/utils/isaaclab.py @@ -19,9 +19,7 @@ from newton.examples import compute_env_offsets -def replicate_environment( - source, prototype_path, path_pattern, num_envs, env_spacing, up_vector=(0.0, 0.0, 1.0), **usd_kwargs -): +def replicate_environment(source, prototype_path, path_pattern, num_envs, env_spacing, up_axis="Z", **usd_kwargs): """ Replicates a prototype USD environment in Newton. @@ -38,6 +36,16 @@ def replicate_environment( (newton.ModelBuilder, dict): The resulting ModelBuilder containing all replicated environments and a dictionary with USD stage information. """ + up_vectors = { + "X": (1.0, 0.0, 0.0), + "Y": (0.0, 1.0, 0.0), + "Z": (0.0, 0.0, 1.0), + } + + up_vector = up_vectors.get(up_axis.upper()) + if up_vector is None: + raise ValueError(f"up_axis should be 'X', 'Y', or 'Z', got {up_axis}") + builder = newton.ModelBuilder(up_vector=up_vector) # # first, load everything except the prototype env (TODO: do we need this?) @@ -57,7 +65,10 @@ def replicate_environment( **usd_kwargs, ) - up_axis = stage_info.get("up_axis") or "Z" + # up_axis sanity check + stage_up_axis = stage_info.get("up_axis") + if isinstance(stage_up_axis, str) and stage_up_axis.upper() != up_axis.upper(): + print(f"WARNING: up_axis '{up_axis}' does not match USD stage up_axis '{stage_up_axis}'") env_offsets = compute_env_offsets(num_envs, env_offset=env_spacing, up_axis=up_axis) From 4ea4e4ddaf8b8b62aad574851a2601f8531bd8d5 Mon Sep 17 00:00:00 2001 From: Lukasz Wawrzyniak Date: Fri, 9 May 2025 16:12:06 -0400 Subject: [PATCH 08/57] Added missing USD file --- 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16:20:59 -0400 Subject: [PATCH 09/57] Removed redundant cloner example, renamed carpole example --- ...lation.py => example_isaaclab_cartpole.py} | 0 newton/examples/example_isaaclab_cloner.py | 144 ------------------ 2 files changed, 144 deletions(-) rename newton/examples/{example_isaaclab_articulation.py => example_isaaclab_cartpole.py} (100%) delete mode 100644 newton/examples/example_isaaclab_cloner.py diff --git a/newton/examples/example_isaaclab_articulation.py b/newton/examples/example_isaaclab_cartpole.py similarity index 100% rename from newton/examples/example_isaaclab_articulation.py rename to newton/examples/example_isaaclab_cartpole.py diff --git a/newton/examples/example_isaaclab_cloner.py b/newton/examples/example_isaaclab_cloner.py deleted file mode 100644 index 79fb9a00b3..0000000000 --- a/newton/examples/example_isaaclab_cloner.py +++ /dev/null @@ -1,144 +0,0 @@ -# SPDX-FileCopyrightText: Copyright (c) 2025 The Newton Developers -# SPDX-License-Identifier: Apache-2.0 -# -# Licensed under the Apache License, Version 2.0 (the "License"); -# you may not use this file except in compliance with the License. -# You may obtain a copy of the License at -# -# http://www.apache.org/licenses/LICENSE-2.0 -# -# Unless required by applicable law or agreed to in writing, software -# distributed under the License is distributed on an "AS IS" BASIS, -# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. -# See the License for the specific language governing permissions and -# limitations under the License. - -########################################################################### -# An example of using the environment replicator for Isaac Lab. -########################################################################### - -import numpy as np -import warp as wp - -import newton -import newton.core.articulation -import newton.examples -import newton.utils -import newton.utils.isaaclab - - -class Example: - def __init__(self, stage_path="example_cartpole.usd", num_envs=8): - self.num_envs = num_envs - - builder, stage_info = newton.utils.isaaclab.replicate_environment( - newton.examples.get_asset("cartpole_prototype.usda"), - "/World/envs/env_0", - "/World/envs/env_{}", - num_envs, - (2.0, 3.0, 0.0), - # USD importer args - collapse_fixed_joints=True, - ) - - # from pprint import pprint - # pprint(builder.body_key) - # pprint(builder.shape_key) - # pprint(builder.joint_key) - # pprint(builder.articulation_key) - # pprint(stage_info) - - up_axis = stage_info.get("up_axis") or "Z" - - # finalize model - self.model = builder.finalize() - self.model.ground = False - - # randomize pole angles - rng = np.random.default_rng() - pole_angles = np.pi / 16.0 - np.pi / 8.0 * rng.random(num_envs) - self.model.joint_q[1::2].assign(pole_angles) - # print(self.model.joint_q) - - self.sim_time = 0.0 - fps = 60 - self.frame_dt = 1.0 / fps - - self.sim_substeps = 10 - self.sim_dt = self.frame_dt / self.sim_substeps - - self.solver = newton.solvers.MuJoCoSolver(self.model) - - self.state_0 = self.model.state() - self.state_1 = self.model.state() - self.control = self.model.control() - - newton.core.articulation.eval_fk(self.model, self.model.joint_q, self.model.joint_qd, None, self.state_0) - - self.renderer = None - if stage_path: - self.renderer = newton.utils.SimRendererOpenGL( - path=stage_path, - model=self.model, - scaling=1.0, - up_axis=up_axis, - screen_width=1280, - screen_height=720, - camera_pos=(0, 3, 10), - ) - - self.use_cuda_graph = wp.get_device().is_cuda - if self.use_cuda_graph: - with wp.ScopedCapture() as capture: - self.simulate() - self.graph = capture.graph - - def simulate(self): - for _ in range(self.sim_substeps): - self.state_0.clear_forces() - self.solver.step(self.model, self.state_0, self.state_1, self.control, None, self.sim_dt) - self.state_0, self.state_1 = self.state_1, self.state_0 - - def step(self): - with wp.ScopedTimer("step", active=False): - if self.use_cuda_graph: - wp.capture_launch(self.graph) - else: - self.simulate() - self.sim_time += self.frame_dt - - def render(self): - if self.renderer is None: - return - - with wp.ScopedTimer("render", active=False): - self.renderer.begin_frame(self.sim_time) - self.renderer.render(self.state_0) - self.renderer.end_frame() - - -if __name__ == "__main__": - import argparse - - parser = argparse.ArgumentParser(formatter_class=argparse.ArgumentDefaultsHelpFormatter) - parser.add_argument("--device", type=str, default=None, help="Override the default Warp device.") - parser.add_argument( - "--stage_path", - type=lambda x: None if x == "None" else str(x), - default="example_cartpole.usd", - help="Path to the output USD file.", - ) - parser.add_argument("--num_frames", type=int, default=12000, help="Total number of frames.") - parser.add_argument("--num_envs", type=int, default=256, help="Total number of simulated environments.") - - args = parser.parse_known_args()[0] - - with wp.ScopedDevice(args.device): - example = Example(stage_path=args.stage_path, num_envs=args.num_envs) - - for _ in range(args.num_frames): - example.step() - example.render() - - if example.renderer: - example.renderer.save() From 388e5b7a5595c37428eba43e354c34f9eaf06485 Mon Sep 17 00:00:00 2001 From: Lukasz Wawrzyniak Date: Fri, 9 May 2025 16:24:31 -0400 Subject: [PATCH 10/57] Example tweaks --- newton/examples/example_isaaclab_ant.py | 15 +++++++++++++++ newton/examples/example_isaaclab_cartpole.py | 13 ++++--------- 2 files changed, 19 insertions(+), 9 deletions(-) diff --git a/newton/examples/example_isaaclab_ant.py b/newton/examples/example_isaaclab_ant.py index 2abd2d611d..17c3394113 100644 --- a/newton/examples/example_isaaclab_ant.py +++ b/newton/examples/example_isaaclab_ant.py @@ -1,3 +1,18 @@ +# SPDX-FileCopyrightText: Copyright (c) 2025 The Newton Developers +# SPDX-License-Identifier: Apache-2.0 +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + import torch import warp as wp diff --git a/newton/examples/example_isaaclab_cartpole.py b/newton/examples/example_isaaclab_cartpole.py index 4515f16703..471303d777 100644 --- a/newton/examples/example_isaaclab_cartpole.py +++ b/newton/examples/example_isaaclab_cartpole.py @@ -13,11 +13,8 @@ # See the License for the specific language governing permissions and # limitations under the License. -########################################################################### -# An example of using the ArticulationView. -########################################################################### +import math -import numpy as np import torch import warp as wp @@ -25,17 +22,15 @@ import newton.core.articulation import newton.examples import newton.utils -import newton.utils.isaaclab +from newton.utils.isaaclab import replicate_environment from newton.utils.selection import ArticulationView -np.set_printoptions(suppress=True) - class Example: def __init__(self, stage_path="example_cartpole.usd", num_envs=8): self.num_envs = num_envs - builder, stage_info = newton.utils.isaaclab.replicate_environment( + builder, stage_info = replicate_environment( newton.examples.get_asset("cartpole_prototype.usda"), "/World/envs/env_0", "/World/envs/env_{}", @@ -79,7 +74,7 @@ def __init__(self, stage_path="example_cartpole.usd", num_envs=8): # randomize initial state # ========================= cart_positions = 2.0 - 4.0 * torch.rand(num_envs) - pole_angles = np.pi / 16.0 - np.pi / 8.0 * torch.rand(num_envs) + pole_angles = math.pi / 16.0 - math.pi / 8.0 * torch.rand(num_envs) joint_states = torch.stack([cart_positions, pole_angles], dim=1) self.cartpoles.set_attribute("joint_q", self.state_0, joint_states) From 1841df6433344e2d2e6d8f5493365cc63c2a534b Mon Sep 17 00:00:00 2001 From: Lukasz Wawrzyniak Date: Mon, 12 May 2025 17:06:27 -0400 Subject: [PATCH 11/57] Add API for articulation root transforms and velocities --- newton/examples/example_isaaclab_ant.py | 41 ++- newton/utils/isaaclab.py | 4 +- newton/utils/selection.py | 319 +++++++++++++++++++++++- 3 files changed, 351 insertions(+), 13 deletions(-) diff --git a/newton/examples/example_isaaclab_ant.py b/newton/examples/example_isaaclab_ant.py index 17c3394113..d84ab441a8 100644 --- a/newton/examples/example_isaaclab_ant.py +++ b/newton/examples/example_isaaclab_ant.py @@ -13,6 +13,8 @@ # See the License for the specific language governing permissions and # limitations under the License. +import math + import torch import warp as wp @@ -28,14 +30,13 @@ class Example: def __init__(self, stage_path="example_ant.usd", num_envs=8): self.num_envs = num_envs - builder, stage_info = replicate_environment( + builder, stage_info, env_offsets = replicate_environment( newton.examples.get_asset("ant_prototype.usd"), "/World/envs/env_0", "/World/envs/env_{}", num_envs, (5.0, 5.0, 0.0), # USD importer args - xform=wp.transform(wp.vec3(0, 0, 1.0), wp.quat_identity()), collapse_fixed_joints=False, ) @@ -75,12 +76,10 @@ def __init__(self, stage_path="example_ant.usd", num_envs=8): self.sim_substeps = 10 self.sim_dt = self.frame_dt / self.sim_substeps - newton.core.articulation.eval_fk(self.model, self.model.joint_q, self.model.joint_qd, None, self.state_0) - # =========================================================== # create articulation view, note the include_root_joint flag # =========================================================== - self.ants = ArticulationView(self.model, "/World/envs/*/Robot/torso", include_root_joint=False) + self.ants = ArticulationView(self.model, "/World/envs/*/Robot/torso", include_root_joint=False, env_offsets=env_offsets) print(f"articulation count: {self.ants.count}") print(f"link_count: {self.ants.link_count}") @@ -93,6 +92,27 @@ def __init__(self, stage_path="example_ant.usd", num_envs=8): print(f"body_q shape: {self.ants.get_attribute_shape('body_q')}") print(f"body_qd shape: {self.ants.get_attribute_shape('body_qd')}") + # =========================================================== + # set root transforms + # =========================================================== + root_transforms = torch.zeros((num_envs, 7), dtype=torch.float32) + root_transforms[:, 2] = 0.8 # height along z-axis + root_transforms[:, 6] = 1.0 # quaternion identity + self.ants.set_root_transforms(self.state_0, root_transforms) + + # =========================================================== + # set root velocities + # =========================================================== + root_velocities = torch.zeros((num_envs, 6), dtype=torch.float32) + root_velocities[:, 0] = 2 * math.pi # rotate about x-axis + root_velocities[:, 5] = 5.0 # move up z-axis + self.ants.set_root_velocities(self.state_0, root_velocities) + + # =========================================================== + # apply transforms to all links + # =========================================================== + self.ants.eval_fk(self.state_0) + self.use_cuda_graph = wp.get_device().is_cuda if self.use_cuda_graph: with wp.ScopedCapture() as capture: @@ -106,11 +126,16 @@ def simulate(self): self.state_0, self.state_1 = self.state_1, self.state_0 def step(self): + # if self.sim_time < 0.5: + # print(f"\n----- t = {self.sim_time} --------------------------------------") + # print(self.ants.get_root_transforms(self.state_0).numpy()[:, :3]) + # print(self.ants.get_root_velocities(self.state_0).numpy()[:, 3:]) + # ========================= # apply random controls # ========================= act_shape = self.ants.get_attribute_shape("joint_act") - joint_forces = 10.0 - 20.0 * torch.rand(act_shape) + joint_forces = 100.0 - 200.0 * torch.rand(act_shape) self.ants.set_attribute("joint_act", self.control, joint_forces) with wp.ScopedTimer("step", active=False): @@ -150,9 +175,11 @@ def render(self): example = Example(stage_path=args.stage_path, num_envs=args.num_envs) for _ in range(args.num_frames): - # time.sleep(1) example.step() example.render() + # import time + # time.sleep(0.2) + if example.renderer: example.renderer.save() diff --git a/newton/utils/isaaclab.py b/newton/utils/isaaclab.py index 9df68a4f8e..ffa2463c2a 100644 --- a/newton/utils/isaaclab.py +++ b/newton/utils/isaaclab.py @@ -33,7 +33,7 @@ def replicate_environment(source, prototype_path, path_pattern, num_envs, env_sp **usd_kwargs: Keyword arguments to pass to the USD importer (see `newton.utils.parse_usd()`). Returns: - (newton.ModelBuilder, dict): The resulting ModelBuilder containing all replicated environments and a dictionary with USD stage information. + (ModelBuilder, dict, np.array): The resulting ModelBuilder containing all replicated environments, a dictionary with USD stage information, and a NumPy array of env offsets. """ up_vectors = { @@ -92,7 +92,7 @@ def replicate_environment(source, prototype_path, path_pattern, num_envs, env_sp articulation_start=articulation_start, ) - return builder, stage_info + return builder, stage_info, env_offsets def update_paths( diff --git a/newton/utils/selection.py b/newton/utils/selection.py index 7b5cd8f245..e5db22e46d 100644 --- a/newton/utils/selection.py +++ b/newton/utils/selection.py @@ -19,6 +19,7 @@ from warp.types import is_array from newton import Control, Model, State +import newton.core.articulation @wp.kernel @@ -27,8 +28,168 @@ def set_mask_kernel(indices: wp.array(dtype=int), mask: wp.array(dtype=bool)): mask[indices[tid]] = True +@wp.kernel +def set_articulation_root_transforms_kernel( + root_poses: wp.array(dtype=wp.transform), + env_offsets: wp.array(dtype=wp.vec3), + joint_type: wp.array(dtype=int), + articulation_start: wp.array(dtype=int), + joint_q_start: wp.array(dtype=int), + # outputs + joint_q: wp.array(dtype=float), + joint_X_p: wp.array(dtype=wp.transform), +): + tid = wp.tid() + root_pose = root_poses[tid] + env_offset = env_offsets[tid] + joint_start = articulation_start[tid] + q_start = joint_q_start[joint_start] + + # apply env offset + root_pose = wp.transform( + wp.vec3(root_pose[0], root_pose[1], root_pose[2]) + env_offset, + wp.quat(root_pose[3], root_pose[4], root_pose[5], root_pose[6])) + + if joint_type[joint_start] == newton.JOINT_FREE: + for i in range(7): + joint_q[q_start + i] = root_pose[i] + elif joint_type[joint_start] == newton.JOINT_FIXED: + joint_X_p[joint_start] = root_pose + + +@wp.kernel +def get_articulation_root_transforms_kernel_v1( + joint_q: wp.array(dtype=float), + joint_X_p: wp.array(dtype=wp.transform), + env_offsets: wp.array(dtype=wp.vec3), + joint_type: wp.array(dtype=int), + articulation_start: wp.array(dtype=int), + joint_q_start: wp.array(dtype=int), + # outputs + root_poses: wp.array(dtype=wp.transform), +): + tid = wp.tid() + env_offset = env_offsets[tid] + joint_start = articulation_start[tid] + q_start = joint_q_start[joint_start] + + if joint_type[joint_start] == newton.JOINT_FREE: + root_pose = wp.transform( + wp.vec3(joint_q[q_start + 0], joint_q[q_start + 1], joint_q[q_start + 2]), + wp.quat(joint_q[q_start + 3], joint_q[q_start + 4], joint_q[q_start + 5], joint_q[q_start + 6]) + ) + elif joint_type[joint_start] == newton.JOINT_FIXED: + root_pose = joint_X_p[joint_start] + + # apply env offset + root_pose = wp.transform( + wp.vec3(root_pose[0], root_pose[1], root_pose[2]) - env_offset, + wp.quat(root_pose[3], root_pose[4], root_pose[5], root_pose[6])) + + root_poses[tid] = root_pose + + +@wp.kernel +def get_articulation_root_transforms_kernel_v2( + articulation_start: wp.array(dtype=int), + joint_parent: wp.array(dtype=int), + joint_child: wp.array(dtype=int), + body_q: wp.array(dtype=wp.transform), + env_offsets: wp.array(dtype=wp.vec3), + # outputs + root_xforms: wp.array(dtype=wp.transform), +): + tid = wp.tid() + joint_start = articulation_start[tid] + env_offset = env_offsets[tid] + + if joint_parent[joint_start] != -1: + root_body = joint_parent[joint_start] + else: + root_body = joint_child[joint_start] + + root_pose = body_q[root_body] + + # apply env offset + root_pose = wp.transform( + wp.vec3(root_pose[0], root_pose[1], root_pose[2]) - env_offset, + wp.quat(root_pose[3], root_pose[4], root_pose[5], root_pose[6])) + + root_xforms[tid] = root_pose + + +@wp.kernel +def set_articulation_root_velocities_kernel( + root_vels: wp.array(dtype=wp.spatial_vector), + joint_type: wp.array(dtype=int), + articulation_start: wp.array(dtype=int), + joint_qd_start: wp.array(dtype=int), + # outputs + joint_qd: wp.array(dtype=float), +): + tid = wp.tid() + root_vel = root_vels[tid] + joint_start = articulation_start[tid] + qd_start = joint_qd_start[joint_start] + + if joint_type[joint_start] == newton.JOINT_FREE: + for i in range(6): + joint_qd[qd_start + i] = root_vel[i] + + +@wp.kernel +def get_articulation_root_velocities_kernel_v1( + joint_qd: wp.array(dtype=float), + joint_type: wp.array(dtype=int), + articulation_start: wp.array(dtype=int), + joint_qd_start: wp.array(dtype=int), + # outputs + root_vels: wp.array(dtype=wp.spatial_vector), +): + tid = wp.tid() + joint_start = articulation_start[tid] + qd_start = joint_qd_start[joint_start] + + if joint_type[joint_start] == newton.JOINT_FREE: + root_vel = wp.spatial_vector( + joint_qd[qd_start + 0], + joint_qd[qd_start + 1], + joint_qd[qd_start + 2], + joint_qd[qd_start + 3], + joint_qd[qd_start + 4], + joint_qd[qd_start + 5], + ) + elif joint_type[joint_start] == newton.JOINT_FIXED: + root_vel = wp.spatial_vector(0.0, 0.0, 0.0, 0.0, 0.0, 0.0) + + root_vels[tid] = root_vel + + +@wp.kernel +def get_articulation_root_velocities_kernel_v2( + articulation_start: wp.array(dtype=int), + joint_parent: wp.array(dtype=int), + joint_child: wp.array(dtype=int), + body_qd: wp.array(dtype=wp.spatial_vector), + # outputs + root_vels: wp.array(dtype=wp.spatial_vector), +): + tid = wp.tid() + joint_start = articulation_start[tid] + + if joint_parent[joint_start] != -1: + root_body = joint_parent[joint_start] + else: + root_body = joint_child[joint_start] + + root_vels[tid] = body_qd[root_body] + + class ArticulationView: - def __init__(self, model: Model, pattern: str, include_root_joint=True): + def __init__(self, model: Model, pattern: str, include_root_joint=False, env_offsets=None): + self.model = model + self.device = model.device + articulation_ids = [] for id, key in enumerate(model.articulation_key): if fnmatch(key, pattern): @@ -106,10 +267,15 @@ def __init__(self, model: Model, pattern: str, include_root_joint=True): self.attrib_shapes["body_qd"] = (count, model.body_qd.shape[0] // count) self.attrib_slices["body_qd"] = (slice(0, count), slice(body_begin, body_end)) + self._articulation_indices = wp.array(articulation_ids, dtype=int, device=self.device) + # create articulation mask self._articulation_mask = wp.zeros(model.articulation_count, dtype=bool) - indices = wp.array(articulation_ids, dtype=int) - wp.launch(set_mask_kernel, dim=indices.shape, inputs=[indices, self._articulation_mask]) + indices = wp.array(articulation_ids, dtype=int, device=self.device) + wp.launch(set_mask_kernel, dim=indices.shape, inputs=[indices, self._articulation_mask], device=self.device) + + # env offsets + self.env_offsets = wp.array(env_offsets, dtype=wp.vec3, device=self.device) # set some counting properties self._count = count @@ -117,6 +283,9 @@ def __init__(self, model: Model, pattern: str, include_root_joint=True): self._joint_count = joint_end - joint_begin self._joint_axis_count = joint_axis_end - joint_axis_begin + self._root_transforms = None + self._root_velocities = None + @property def articulation_mask(self) -> wp.array(dtype=bool): return self._articulation_mask @@ -157,7 +326,7 @@ def set_attribute(self, name: str, target: Model | State | Control, values): attrib = attrib.reshape(self.attrib_shapes[name]) attrib = attrib[*self.attrib_slices[name]] if not is_array(values): - values = wp.array(values, dtype=attrib.dtype, shape=attrib.shape) + values = wp.array(values, dtype=attrib.dtype, shape=attrib.shape, device=self.device) wp.copy(attrib, values) # convenience wrappers to align with legacy tensor API @@ -170,3 +339,145 @@ def set_attribute(self, name: str, target: Model | State | Control, values): # return self.get_attribute("body_qd", source, copy=copy) # ... + + def get_root_transforms(self, source: Model | State): + if self._root_transforms is None: + self._root_transforms = wp.empty(self.count, dtype=wp.transform, device=self.device) + + if False: + wp.launch( + get_articulation_root_transforms_kernel_v1, + self.count, + inputs=[ + source.joint_q, + self.model.joint_X_p, # hmmm + self.env_offsets, + self.model.joint_type, + self.model.articulation_start, + self.model.joint_q_start, + ], + outputs=[ + self._root_transforms, + ], + device=self.device, + ) + else: + wp.launch( + get_articulation_root_transforms_kernel_v2, + self.count, + inputs=[ + self.model.articulation_start, + self.model.joint_parent, + self.model.joint_child, + source.body_q, + self.env_offsets, + ], + outputs=[ + self._root_transforms, + ], + device=self.device, + ) + + return self._root_transforms + + def set_root_transforms(self, target: Model | State, root_poses: wp.array): + """ + Sets the transforms of the root bodies in the articulations. + Call `eval_fk()` to apply changes to all links. + + Args: + target (Model | State): Where to set the root transforms (Model or State). + root_poses (array): The root transforms to set. + """ + + if not is_array(root_poses): + root_poses = wp.array(root_poses, dtype=wp.transform, device=self.device) + + assert len(root_poses) == self.count, "Root poses should be provided for each articulation" + + wp.launch( + set_articulation_root_transforms_kernel, + self.count, + inputs=[ + root_poses, + self.env_offsets, + self.model.joint_type, + self.model.articulation_start, + self.model.joint_q_start, + ], + outputs=[ + target.joint_q, + self.model.joint_X_p, # hmmm + ], + device=self.device, + ) + + def set_root_velocities(self, target: Model | State, root_vels: wp.array): + """ + Sets the velocities of the root bodies in the articulations. + Call `eval_fk()` to apply changes to all links. + + Args: + target (Model | State): Where to set the root velocities (Model or State). + root_vels (array): The root velocities to set. + """ + + if not is_array(root_vels): + root_vels = wp.array(root_vels, dtype=wp.spatial_vector, device=self.device) + + assert len(root_vels) == self.count, "Root velocities should be provided for each articulation" + + wp.launch( + set_articulation_root_velocities_kernel, + self.count, + inputs=[ + root_vels, + self.model.joint_type, + self.model.articulation_start, + self.model.joint_qd_start, + ], + outputs=[ + target.joint_qd, + ], + device=self.device, + ) + + def get_root_velocities(self, source: Model | State): + if self._root_velocities is None: + self._root_velocities = wp.empty(self.count, dtype=wp.spatial_vector, device=self.device) + + if False: + wp.launch( + get_articulation_root_velocities_kernel_v1, + self.count, + inputs=[ + source.joint_qd, + self.model.joint_type, + self.model.articulation_start, + self.model.joint_q_start, + ], + outputs=[ + self._root_velocities, + ], + device=self.device, + ) + else: + wp.launch( + get_articulation_root_velocities_kernel_v2, + self.count, + inputs=[ + self.model.articulation_start, + self.model.joint_parent, + self.model.joint_child, + source.body_qd, + ], + outputs=[ + self._root_velocities, + ], + device=self.device, + ) + + return self._root_velocities + + def eval_fk(self, target: Model | State): + newton.core.articulation.eval_fk(self.model, target.joint_q, target.joint_qd, self.articulation_mask, target) From 93a79d66f9c27f83a7397c7e5d7e060513d4f5f6 Mon Sep 17 00:00:00 2001 From: Lukasz Wawrzyniak Date: Mon, 12 May 2025 17:38:59 -0400 Subject: [PATCH 12/57] Implementation tweaks --- newton/examples/example_isaaclab_ant.py | 4 +- newton/utils/selection.py | 150 ++++++++++++++---------- 2 files changed, 88 insertions(+), 66 deletions(-) diff --git a/newton/examples/example_isaaclab_ant.py b/newton/examples/example_isaaclab_ant.py index d84ab441a8..c2a1330cba 100644 --- a/newton/examples/example_isaaclab_ant.py +++ b/newton/examples/example_isaaclab_ant.py @@ -62,7 +62,7 @@ def __init__(self, stage_path="example_ant.usd", num_envs=8): up_axis=up_axis, screen_width=1280, screen_height=720, - camera_pos=(0, 4, 20), + camera_pos=(0, 4, 30), ) self.state_0 = self.model.state() @@ -128,7 +128,7 @@ def simulate(self): def step(self): # if self.sim_time < 0.5: # print(f"\n----- t = {self.sim_time} --------------------------------------") - # print(self.ants.get_root_transforms(self.state_0).numpy()[:, :3]) + # # print(self.ants.get_root_transforms(self.state_0).numpy()[:, :3]) # print(self.ants.get_root_velocities(self.state_0).numpy()[:, 3:]) # ========================= diff --git a/newton/utils/selection.py b/newton/utils/selection.py index e5db22e46d..36a312bcb7 100644 --- a/newton/utils/selection.py +++ b/newton/utils/selection.py @@ -30,20 +30,22 @@ def set_mask_kernel(indices: wp.array(dtype=int), mask: wp.array(dtype=bool)): @wp.kernel def set_articulation_root_transforms_kernel( - root_poses: wp.array(dtype=wp.transform), - env_offsets: wp.array(dtype=wp.vec3), - joint_type: wp.array(dtype=int), + articulation_indices: wp.array(dtype=int), articulation_start: wp.array(dtype=int), + joint_type: wp.array(dtype=int), joint_q_start: wp.array(dtype=int), + root_transforms: wp.array(dtype=wp.transform), + env_offsets: wp.array(dtype=wp.vec3), # outputs joint_q: wp.array(dtype=float), joint_X_p: wp.array(dtype=wp.transform), ): tid = wp.tid() - root_pose = root_poses[tid] - env_offset = env_offsets[tid] - joint_start = articulation_start[tid] + root_pose = root_transforms[tid] + articulation = articulation_indices[tid] + joint_start = articulation_start[articulation] q_start = joint_q_start[joint_start] + env_offset = env_offsets[tid] # apply env offset root_pose = wp.transform( @@ -59,19 +61,21 @@ def set_articulation_root_transforms_kernel( @wp.kernel def get_articulation_root_transforms_kernel_v1( + articulation_indices: wp.array(dtype=int), + articulation_start: wp.array(dtype=int), + joint_type: wp.array(dtype=int), joint_q: wp.array(dtype=float), + joint_q_start: wp.array(dtype=int), joint_X_p: wp.array(dtype=wp.transform), env_offsets: wp.array(dtype=wp.vec3), - joint_type: wp.array(dtype=int), - articulation_start: wp.array(dtype=int), - joint_q_start: wp.array(dtype=int), # outputs - root_poses: wp.array(dtype=wp.transform), + root_transforms: wp.array(dtype=wp.transform), ): tid = wp.tid() - env_offset = env_offsets[tid] - joint_start = articulation_start[tid] + articulation = articulation_indices[tid] + joint_start = articulation_start[articulation] q_start = joint_q_start[joint_start] + env_offset = env_offsets[tid] if joint_type[joint_start] == newton.JOINT_FREE: root_pose = wp.transform( @@ -86,11 +90,12 @@ def get_articulation_root_transforms_kernel_v1( wp.vec3(root_pose[0], root_pose[1], root_pose[2]) - env_offset, wp.quat(root_pose[3], root_pose[4], root_pose[5], root_pose[6])) - root_poses[tid] = root_pose + root_transforms[tid] = root_pose @wp.kernel def get_articulation_root_transforms_kernel_v2( + articulation_indices: wp.array(dtype=int), articulation_start: wp.array(dtype=int), joint_parent: wp.array(dtype=int), joint_child: wp.array(dtype=int), @@ -100,7 +105,8 @@ def get_articulation_root_transforms_kernel_v2( root_xforms: wp.array(dtype=wp.transform), ): tid = wp.tid() - joint_start = articulation_start[tid] + articulation = articulation_indices[tid] + joint_start = articulation_start[articulation] env_offset = env_offsets[tid] if joint_parent[joint_start] != -1: @@ -120,17 +126,19 @@ def get_articulation_root_transforms_kernel_v2( @wp.kernel def set_articulation_root_velocities_kernel( - root_vels: wp.array(dtype=wp.spatial_vector), - joint_type: wp.array(dtype=int), + articulation_indices: wp.array(dtype=int), articulation_start: wp.array(dtype=int), + joint_type: wp.array(dtype=int), joint_qd_start: wp.array(dtype=int), + root_vels: wp.array(dtype=wp.spatial_vector), # outputs joint_qd: wp.array(dtype=float), ): tid = wp.tid() - root_vel = root_vels[tid] - joint_start = articulation_start[tid] + articulation = articulation_indices[tid] + joint_start = articulation_start[articulation] qd_start = joint_qd_start[joint_start] + root_vel = root_vels[tid] if joint_type[joint_start] == newton.JOINT_FREE: for i in range(6): @@ -139,15 +147,17 @@ def set_articulation_root_velocities_kernel( @wp.kernel def get_articulation_root_velocities_kernel_v1( + articulation_indices: wp.array(dtype=int), + articulation_start: wp.array(dtype=int), joint_qd: wp.array(dtype=float), joint_type: wp.array(dtype=int), - articulation_start: wp.array(dtype=int), joint_qd_start: wp.array(dtype=int), # outputs root_vels: wp.array(dtype=wp.spatial_vector), ): tid = wp.tid() - joint_start = articulation_start[tid] + articulation = articulation_indices[tid] + joint_start = articulation_start[articulation] qd_start = joint_qd_start[joint_start] if joint_type[joint_start] == newton.JOINT_FREE: @@ -167,6 +177,7 @@ def get_articulation_root_velocities_kernel_v1( @wp.kernel def get_articulation_root_velocities_kernel_v2( + articulation_indices: wp.array(dtype=int), articulation_start: wp.array(dtype=int), joint_parent: wp.array(dtype=int), joint_child: wp.array(dtype=int), @@ -175,7 +186,8 @@ def get_articulation_root_velocities_kernel_v2( root_vels: wp.array(dtype=wp.spatial_vector), ): tid = wp.tid() - joint_start = articulation_start[tid] + articulation = articulation_indices[tid] + joint_start = articulation_start[articulation] if joint_parent[joint_start] != -1: root_body = joint_parent[joint_start] @@ -267,7 +279,7 @@ def __init__(self, model: Model, pattern: str, include_root_joint=False, env_off self.attrib_shapes["body_qd"] = (count, model.body_qd.shape[0] // count) self.attrib_slices["body_qd"] = (slice(0, count), slice(body_begin, body_end)) - self._articulation_indices = wp.array(articulation_ids, dtype=int, device=self.device) + self.articulation_indices = wp.array(articulation_ids, dtype=int, device=self.device) # create articulation mask self._articulation_mask = wp.zeros(model.articulation_count, dtype=bool) @@ -345,16 +357,18 @@ def get_root_transforms(self, source: Model | State): self._root_transforms = wp.empty(self.count, dtype=wp.transform, device=self.device) if False: + # get transforms from root joints wp.launch( get_articulation_root_transforms_kernel_v1, self.count, inputs=[ + self.articulation_indices, + self.model.articulation_start, + self.model.joint_type, source.joint_q, + self.model.joint_q_start, self.model.joint_X_p, # hmmm self.env_offsets, - self.model.joint_type, - self.model.articulation_start, - self.model.joint_q_start, ], outputs=[ self._root_transforms, @@ -362,10 +376,12 @@ def get_root_transforms(self, source: Model | State): device=self.device, ) else: + # get transforms from root bodies wp.launch( get_articulation_root_transforms_kernel_v2, self.count, inputs=[ + self.articulation_indices, self.model.articulation_start, self.model.joint_parent, self.model.joint_child, @@ -380,30 +396,31 @@ def get_root_transforms(self, source: Model | State): return self._root_transforms - def set_root_transforms(self, target: Model | State, root_poses: wp.array): + def set_root_transforms(self, target: Model | State, root_transforms: wp.array): """ Sets the transforms of the root bodies in the articulations. Call `eval_fk()` to apply changes to all links. Args: target (Model | State): Where to set the root transforms (Model or State). - root_poses (array): The root transforms to set. + root_transforms (array): The root transforms to set. """ - if not is_array(root_poses): - root_poses = wp.array(root_poses, dtype=wp.transform, device=self.device) + if not is_array(root_transforms): + root_transforms = wp.array(root_transforms, dtype=wp.transform, device=self.device) - assert len(root_poses) == self.count, "Root poses should be provided for each articulation" + assert len(root_transforms) == self.count, "Root poses should be provided for each articulation" wp.launch( set_articulation_root_transforms_kernel, self.count, inputs=[ - root_poses, - self.env_offsets, - self.model.joint_type, + self.articulation_indices, self.model.articulation_start, + self.model.joint_type, self.model.joint_q_start, + root_transforms, + self.env_offsets, ], outputs=[ target.joint_q, @@ -412,48 +429,20 @@ def set_root_transforms(self, target: Model | State, root_poses: wp.array): device=self.device, ) - def set_root_velocities(self, target: Model | State, root_vels: wp.array): - """ - Sets the velocities of the root bodies in the articulations. - Call `eval_fk()` to apply changes to all links. - - Args: - target (Model | State): Where to set the root velocities (Model or State). - root_vels (array): The root velocities to set. - """ - - if not is_array(root_vels): - root_vels = wp.array(root_vels, dtype=wp.spatial_vector, device=self.device) - - assert len(root_vels) == self.count, "Root velocities should be provided for each articulation" - - wp.launch( - set_articulation_root_velocities_kernel, - self.count, - inputs=[ - root_vels, - self.model.joint_type, - self.model.articulation_start, - self.model.joint_qd_start, - ], - outputs=[ - target.joint_qd, - ], - device=self.device, - ) - def get_root_velocities(self, source: Model | State): if self._root_velocities is None: self._root_velocities = wp.empty(self.count, dtype=wp.spatial_vector, device=self.device) if False: + # get velocities from root joints wp.launch( get_articulation_root_velocities_kernel_v1, self.count, inputs=[ + self.articulation_indices, + self.model.articulation_start, source.joint_qd, self.model.joint_type, - self.model.articulation_start, self.model.joint_q_start, ], outputs=[ @@ -462,10 +451,12 @@ def get_root_velocities(self, source: Model | State): device=self.device, ) else: + # get velocities from root bodies wp.launch( get_articulation_root_velocities_kernel_v2, self.count, inputs=[ + self.articulation_indices, self.model.articulation_start, self.model.joint_parent, self.model.joint_child, @@ -479,5 +470,36 @@ def get_root_velocities(self, source: Model | State): return self._root_velocities + def set_root_velocities(self, target: Model | State, root_vels: wp.array): + """ + Sets the velocities of the root bodies in the articulations. + Call `eval_fk()` to apply changes to all links. + + Args: + target (Model | State): Where to set the root velocities (Model or State). + root_vels (array): The root velocities to set. + """ + + if not is_array(root_vels): + root_vels = wp.array(root_vels, dtype=wp.spatial_vector, device=self.device) + + assert len(root_vels) == self.count, "Root velocities should be provided for each articulation" + + wp.launch( + set_articulation_root_velocities_kernel, + self.count, + inputs=[ + self.articulation_indices, + self.model.articulation_start, + self.model.joint_type, + self.model.joint_qd_start, + root_vels, + ], + outputs=[ + target.joint_qd, + ], + device=self.device, + ) + def eval_fk(self, target: Model | State): newton.core.articulation.eval_fk(self.model, target.joint_q, target.joint_qd, self.articulation_mask, target) From 82cefa9d670f95eb009b26dc2e3834baf7b9091e Mon Sep 17 00:00:00 2001 From: Lukasz Wawrzyniak Date: Mon, 12 May 2025 17:56:42 -0400 Subject: [PATCH 13/57] Code formatting --- newton/examples/example_isaaclab_ant.py | 4 +++- newton/utils/selection.py | 13 ++++++++----- 2 files changed, 11 insertions(+), 6 deletions(-) diff --git a/newton/examples/example_isaaclab_ant.py b/newton/examples/example_isaaclab_ant.py index c2a1330cba..bd958d96d2 100644 --- a/newton/examples/example_isaaclab_ant.py +++ b/newton/examples/example_isaaclab_ant.py @@ -79,7 +79,9 @@ def __init__(self, stage_path="example_ant.usd", num_envs=8): # =========================================================== # create articulation view, note the include_root_joint flag # =========================================================== - self.ants = ArticulationView(self.model, "/World/envs/*/Robot/torso", include_root_joint=False, env_offsets=env_offsets) + self.ants = ArticulationView( + self.model, "/World/envs/*/Robot/torso", include_root_joint=False, env_offsets=env_offsets + ) print(f"articulation count: {self.ants.count}") print(f"link_count: {self.ants.link_count}") diff --git a/newton/utils/selection.py b/newton/utils/selection.py index 36a312bcb7..524624a156 100644 --- a/newton/utils/selection.py +++ b/newton/utils/selection.py @@ -18,8 +18,8 @@ import warp as wp from warp.types import is_array -from newton import Control, Model, State import newton.core.articulation +from newton import Control, Model, State @wp.kernel @@ -50,7 +50,8 @@ def set_articulation_root_transforms_kernel( # apply env offset root_pose = wp.transform( wp.vec3(root_pose[0], root_pose[1], root_pose[2]) + env_offset, - wp.quat(root_pose[3], root_pose[4], root_pose[5], root_pose[6])) + wp.quat(root_pose[3], root_pose[4], root_pose[5], root_pose[6]), + ) if joint_type[joint_start] == newton.JOINT_FREE: for i in range(7): @@ -80,7 +81,7 @@ def get_articulation_root_transforms_kernel_v1( if joint_type[joint_start] == newton.JOINT_FREE: root_pose = wp.transform( wp.vec3(joint_q[q_start + 0], joint_q[q_start + 1], joint_q[q_start + 2]), - wp.quat(joint_q[q_start + 3], joint_q[q_start + 4], joint_q[q_start + 5], joint_q[q_start + 6]) + wp.quat(joint_q[q_start + 3], joint_q[q_start + 4], joint_q[q_start + 5], joint_q[q_start + 6]), ) elif joint_type[joint_start] == newton.JOINT_FIXED: root_pose = joint_X_p[joint_start] @@ -88,7 +89,8 @@ def get_articulation_root_transforms_kernel_v1( # apply env offset root_pose = wp.transform( wp.vec3(root_pose[0], root_pose[1], root_pose[2]) - env_offset, - wp.quat(root_pose[3], root_pose[4], root_pose[5], root_pose[6])) + wp.quat(root_pose[3], root_pose[4], root_pose[5], root_pose[6]), + ) root_transforms[tid] = root_pose @@ -119,7 +121,8 @@ def get_articulation_root_transforms_kernel_v2( # apply env offset root_pose = wp.transform( wp.vec3(root_pose[0], root_pose[1], root_pose[2]) - env_offset, - wp.quat(root_pose[3], root_pose[4], root_pose[5], root_pose[6])) + wp.quat(root_pose[3], root_pose[4], root_pose[5], root_pose[6]), + ) root_xforms[tid] = root_pose From 0a298f2383b02ca58bb257f5d9c4c803429424fc Mon Sep 17 00:00:00 2001 From: Lukasz Wawrzyniak Date: Mon, 12 May 2025 19:24:45 -0400 Subject: [PATCH 14/57] Changed include_root_joint to include_free_joint in ArticulationView --- newton/examples/example_isaaclab_ant.py | 4 ++-- newton/utils/selection.py | 10 +++++----- 2 files changed, 7 insertions(+), 7 deletions(-) diff --git a/newton/examples/example_isaaclab_ant.py b/newton/examples/example_isaaclab_ant.py index bd958d96d2..c71fce2034 100644 --- a/newton/examples/example_isaaclab_ant.py +++ b/newton/examples/example_isaaclab_ant.py @@ -77,10 +77,10 @@ def __init__(self, stage_path="example_ant.usd", num_envs=8): self.sim_dt = self.frame_dt / self.sim_substeps # =========================================================== - # create articulation view, note the include_root_joint flag + # create articulation view # =========================================================== self.ants = ArticulationView( - self.model, "/World/envs/*/Robot/torso", include_root_joint=False, env_offsets=env_offsets + self.model, "/World/envs/*/Robot/torso", env_offsets=env_offsets ) print(f"articulation count: {self.ants.count}") diff --git a/newton/utils/selection.py b/newton/utils/selection.py index 524624a156..ff9488f304 100644 --- a/newton/utils/selection.py +++ b/newton/utils/selection.py @@ -201,7 +201,7 @@ def get_articulation_root_velocities_kernel_v2( class ArticulationView: - def __init__(self, model: Model, pattern: str, include_root_joint=False, env_offsets=None): + def __init__(self, model: Model, pattern: str, include_free_joint=False, env_offsets=None): self.model = model self.device = model.device @@ -215,6 +215,7 @@ def __init__(self, model: Model, pattern: str, include_root_joint=False, env_off raise KeyError("No matching articulations") articulation_start = model.articulation_start.numpy() + joint_type = model.joint_type.numpy() joint_parent = model.joint_parent.numpy() joint_child = model.joint_child.numpy() joint_axis_start = model.joint_axis_start.numpy() @@ -254,10 +255,9 @@ def __init__(self, model: Model, pattern: str, include_root_joint=False, env_off self.attrib_shapes = {} self.attrib_slices = {} - if not include_root_joint: - # check if a root joint is present and skip it - if joint_parent[joint_begin] == -1: - joint_begin += 1 + # if the root joint is a free joint, skip it + if joint_type[joint_begin] == newton.JOINT_FREE and not include_free_joint: + joint_begin += 1 self.attrib_shapes["joint_q"] = (count, model.joint_q.size // count) self.attrib_slices["joint_q"] = ( From 12ca4e3855eec6f3cd31a8c3f270b6f63565faa5 Mon Sep 17 00:00:00 2001 From: Lukasz Wawrzyniak Date: Mon, 12 May 2025 19:29:34 -0400 Subject: [PATCH 15/57] Updated cartpole example to use env_offsets --- newton/examples/example_isaaclab_cartpole.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/newton/examples/example_isaaclab_cartpole.py b/newton/examples/example_isaaclab_cartpole.py index 471303d777..594ed2f6af 100644 --- a/newton/examples/example_isaaclab_cartpole.py +++ b/newton/examples/example_isaaclab_cartpole.py @@ -30,7 +30,7 @@ class Example: def __init__(self, stage_path="example_cartpole.usd", num_envs=8): self.num_envs = num_envs - builder, stage_info = replicate_environment( + builder, stage_info, env_offsets = replicate_environment( newton.examples.get_asset("cartpole_prototype.usda"), "/World/envs/env_0", "/World/envs/env_{}", @@ -62,7 +62,7 @@ def __init__(self, stage_path="example_cartpole.usd", num_envs=8): # ======================= # get cartpole view # ======================= - self.cartpoles = ArticulationView(self.model, "/World/envs/*/Robot") + self.cartpoles = ArticulationView(self.model, "/World/envs/*/Robot", env_offsets=env_offsets) # print(self.cartpoles.get_attribute("body_q", self.state_0)) # print(self.cartpoles.get_attribute("body_qd", self.state_0)) From b7c2f4cd27f5ccf51b62319f399bc6ba3614a10d Mon Sep 17 00:00:00 2001 From: Lukasz Wawrzyniak Date: Mon, 12 May 2025 19:34:47 -0400 Subject: [PATCH 16/57] Restore loading global data from prototype env --- newton/utils/isaaclab.py | 24 ++++++++++++------------ 1 file changed, 12 insertions(+), 12 deletions(-) diff --git a/newton/utils/isaaclab.py b/newton/utils/isaaclab.py index ffa2463c2a..77165c37b1 100644 --- a/newton/utils/isaaclab.py +++ b/newton/utils/isaaclab.py @@ -48,20 +48,11 @@ def replicate_environment(source, prototype_path, path_pattern, num_envs, env_sp builder = newton.ModelBuilder(up_vector=up_vector) - # # first, load everything except the prototype env (TODO: do we need this?) - # stage_info = newton.utils.parse_usd( - # source, - # builder, - # ignore_paths=[prototype_path], - # **usd_kwargs, - # ) - - # load just the prototype env - prototype_builder = newton.ModelBuilder(up_vector=up_vector) + # first, load everything except the prototype env stage_info = newton.utils.parse_usd( source, - prototype_builder, - root_path=prototype_path, + builder, + ignore_paths=[prototype_path], **usd_kwargs, ) @@ -70,6 +61,15 @@ def replicate_environment(source, prototype_path, path_pattern, num_envs, env_sp if isinstance(stage_up_axis, str) and stage_up_axis.upper() != up_axis.upper(): print(f"WARNING: up_axis '{up_axis}' does not match USD stage up_axis '{stage_up_axis}'") + # load just the prototype env + prototype_builder = newton.ModelBuilder(up_vector=up_vector) + newton.utils.parse_usd( + source, + prototype_builder, + root_path=prototype_path, + **usd_kwargs, + ) + env_offsets = compute_env_offsets(num_envs, env_offset=env_spacing, up_axis=up_axis) # clone the prototype env with updated paths From f53e8adb408f0be11b2ffafaa52a7973fa6db02c Mon Sep 17 00:00:00 2001 From: Lukasz Wawrzyniak Date: Mon, 12 May 2025 19:35:08 -0400 Subject: [PATCH 17/57] Code formatting --- newton/examples/example_isaaclab_ant.py | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/newton/examples/example_isaaclab_ant.py b/newton/examples/example_isaaclab_ant.py index c71fce2034..4ae8b7e3d6 100644 --- a/newton/examples/example_isaaclab_ant.py +++ b/newton/examples/example_isaaclab_ant.py @@ -79,9 +79,7 @@ def __init__(self, stage_path="example_ant.usd", num_envs=8): # =========================================================== # create articulation view # =========================================================== - self.ants = ArticulationView( - self.model, "/World/envs/*/Robot/torso", env_offsets=env_offsets - ) + self.ants = ArticulationView(self.model, "/World/envs/*/Robot/torso", env_offsets=env_offsets) print(f"articulation count: {self.ants.count}") print(f"link_count: {self.ants.link_count}") From b899cce6cb1af6fd8f71e408fa3768912b9615c2 Mon Sep 17 00:00:00 2001 From: Lukasz Wawrzyniak Date: Mon, 12 May 2025 19:48:21 -0400 Subject: [PATCH 18/57] Periodic ant reset --- newton/examples/example_isaaclab_ant.py | 49 ++++++++++++++----------- 1 file changed, 28 insertions(+), 21 deletions(-) diff --git a/newton/examples/example_isaaclab_ant.py b/newton/examples/example_isaaclab_ant.py index 4ae8b7e3d6..31a869216e 100644 --- a/newton/examples/example_isaaclab_ant.py +++ b/newton/examples/example_isaaclab_ant.py @@ -76,6 +76,8 @@ def __init__(self, stage_path="example_ant.usd", num_envs=8): self.sim_substeps = 10 self.sim_dt = self.frame_dt / self.sim_substeps + self.next_pop = 0.0 + # =========================================================== # create articulation view # =========================================================== @@ -92,27 +94,6 @@ def __init__(self, stage_path="example_ant.usd", num_envs=8): print(f"body_q shape: {self.ants.get_attribute_shape('body_q')}") print(f"body_qd shape: {self.ants.get_attribute_shape('body_qd')}") - # =========================================================== - # set root transforms - # =========================================================== - root_transforms = torch.zeros((num_envs, 7), dtype=torch.float32) - root_transforms[:, 2] = 0.8 # height along z-axis - root_transforms[:, 6] = 1.0 # quaternion identity - self.ants.set_root_transforms(self.state_0, root_transforms) - - # =========================================================== - # set root velocities - # =========================================================== - root_velocities = torch.zeros((num_envs, 6), dtype=torch.float32) - root_velocities[:, 0] = 2 * math.pi # rotate about x-axis - root_velocities[:, 5] = 5.0 # move up z-axis - self.ants.set_root_velocities(self.state_0, root_velocities) - - # =========================================================== - # apply transforms to all links - # =========================================================== - self.ants.eval_fk(self.state_0) - self.use_cuda_graph = wp.get_device().is_cuda if self.use_cuda_graph: with wp.ScopedCapture() as capture: @@ -131,6 +112,10 @@ def step(self): # # print(self.ants.get_root_transforms(self.state_0).numpy()[:, :3]) # print(self.ants.get_root_velocities(self.state_0).numpy()[:, 3:]) + if self.sim_time >= self.next_pop: + self.reset() + self.next_pop = self.sim_time + 3.0 + # ========================= # apply random controls # ========================= @@ -145,6 +130,28 @@ def step(self): self.simulate() self.sim_time += self.frame_dt + def reset(self): + # =========================================================== + # set root transforms + # =========================================================== + root_transforms = torch.zeros((self.num_envs, 7), dtype=torch.float32) + root_transforms[:, 2] = 0.8 # height along z-axis + root_transforms[:, 6] = 1.0 # quaternion identity + self.ants.set_root_transforms(self.state_0, root_transforms) + + # =========================================================== + # set root velocities + # =========================================================== + root_velocities = torch.zeros((self.num_envs, 6), dtype=torch.float32) + root_velocities[:, 0] = 2 * math.pi # rotate about x-axis + root_velocities[:, 5] = 5.0 # move up z-axis + self.ants.set_root_velocities(self.state_0, root_velocities) + + # =========================================================== + # update transforms of all links + # =========================================================== + self.ants.eval_fk(self.state_0) + def render(self): if self.renderer is None: return From a2f0ea3a98d271b8fa7700cdbe05449a3f85b3e6 Mon Sep 17 00:00:00 2001 From: Lukasz Wawrzyniak Date: Tue, 13 May 2025 10:00:16 -0400 Subject: [PATCH 19/57] Set default env_offsets to zero --- newton/examples/example_isaaclab_ant.py | 10 +++++----- newton/examples/example_isaaclab_cartpole.py | 2 +- newton/utils/selection.py | 5 ++++- 3 files changed, 10 insertions(+), 7 deletions(-) diff --git a/newton/examples/example_isaaclab_ant.py b/newton/examples/example_isaaclab_ant.py index 31a869216e..51d89276c2 100644 --- a/newton/examples/example_isaaclab_ant.py +++ b/newton/examples/example_isaaclab_ant.py @@ -81,7 +81,7 @@ def __init__(self, stage_path="example_ant.usd", num_envs=8): # =========================================================== # create articulation view # =========================================================== - self.ants = ArticulationView(self.model, "/World/envs/*/Robot/torso", env_offsets=env_offsets) + self.ants = ArticulationView(self.model, "/World/envs/*/Robot/torso") print(f"articulation count: {self.ants.count}") print(f"link_count: {self.ants.link_count}") @@ -94,6 +94,9 @@ def __init__(self, stage_path="example_ant.usd", num_envs=8): print(f"body_q shape: {self.ants.get_attribute_shape('body_q')}") print(f"body_qd shape: {self.ants.get_attribute_shape('body_qd')}") + self.default_root_transforms = wp.to_torch(self.ants.get_root_transforms(self.model)).clone() + self.default_root_transforms[:, 2] = 0.8 + self.use_cuda_graph = wp.get_device().is_cuda if self.use_cuda_graph: with wp.ScopedCapture() as capture: @@ -134,10 +137,7 @@ def reset(self): # =========================================================== # set root transforms # =========================================================== - root_transforms = torch.zeros((self.num_envs, 7), dtype=torch.float32) - root_transforms[:, 2] = 0.8 # height along z-axis - root_transforms[:, 6] = 1.0 # quaternion identity - self.ants.set_root_transforms(self.state_0, root_transforms) + self.ants.set_root_transforms(self.state_0, self.default_root_transforms) # =========================================================== # set root velocities diff --git a/newton/examples/example_isaaclab_cartpole.py b/newton/examples/example_isaaclab_cartpole.py index 594ed2f6af..a89ecdf5b7 100644 --- a/newton/examples/example_isaaclab_cartpole.py +++ b/newton/examples/example_isaaclab_cartpole.py @@ -62,7 +62,7 @@ def __init__(self, stage_path="example_cartpole.usd", num_envs=8): # ======================= # get cartpole view # ======================= - self.cartpoles = ArticulationView(self.model, "/World/envs/*/Robot", env_offsets=env_offsets) + self.cartpoles = ArticulationView(self.model, "/World/envs/*/Robot") # print(self.cartpoles.get_attribute("body_q", self.state_0)) # print(self.cartpoles.get_attribute("body_qd", self.state_0)) diff --git a/newton/utils/selection.py b/newton/utils/selection.py index ff9488f304..3172c5a458 100644 --- a/newton/utils/selection.py +++ b/newton/utils/selection.py @@ -290,7 +290,10 @@ def __init__(self, model: Model, pattern: str, include_free_joint=False, env_off wp.launch(set_mask_kernel, dim=indices.shape, inputs=[indices, self._articulation_mask], device=self.device) # env offsets - self.env_offsets = wp.array(env_offsets, dtype=wp.vec3, device=self.device) + if env_offsets is None: + self.env_offsets = wp.zeros(count, dtype=wp.vec3, device=self.device) + else: + self.env_offsets = wp.array(env_offsets, shape=count, dtype=wp.vec3, device=self.device) # set some counting properties self._count = count From 671a58ff97a5851f8b7f6fbddd0f87197d88e03b Mon Sep 17 00:00:00 2001 From: Lukasz Wawrzyniak Date: Tue, 13 May 2025 10:50:56 -0400 Subject: [PATCH 20/57] Fixed a bug with computing the end of articulation joint axes --- newton/utils/selection.py | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/newton/utils/selection.py b/newton/utils/selection.py index 3172c5a458..1b4d5a3911 100644 --- a/newton/utils/selection.py +++ b/newton/utils/selection.py @@ -229,6 +229,7 @@ def __init__(self, model: Model, pattern: str, include_free_joint=False, env_off joint_begin = articulation_start[arti_0] joint_end = articulation_start[arti_0 + 1] + joint_last = joint_end - 1 # FIXME: is this always correct? num_joints = joint_end - joint_begin @@ -271,7 +272,8 @@ def __init__(self, model: Model, pattern: str, include_free_joint=False, env_off ) joint_axis_begin = joint_axis_start[joint_begin] - joint_axis_end = joint_axis_start[joint_end] + # joint_axis_end = joint_axis_start[joint_end] + joint_axis_end = joint_axis_start[joint_last] + joint_axis_dim[joint_last][0] + joint_axis_dim[joint_last][1] self.attrib_shapes["joint_act"] = (count, model.joint_act.size // count) self.attrib_slices["joint_act"] = (slice(0, count), slice(int(joint_axis_begin), int(joint_axis_end))) From 17ed45a9b1dea5d051ef87eeb153ca1b79cee27c Mon Sep 17 00:00:00 2001 From: Lukasz Wawrzyniak Date: Tue, 13 May 2025 14:24:45 -0400 Subject: [PATCH 21/57] Exposed joint limits in ArticulationView --- newton/examples/example_isaaclab_ant.py | 36 ++++++++++++++++++------- newton/utils/selection.py | 5 ++++ 2 files changed, 31 insertions(+), 10 deletions(-) diff --git a/newton/examples/example_isaaclab_ant.py b/newton/examples/example_isaaclab_ant.py index 51d89276c2..e6716df5eb 100644 --- a/newton/examples/example_isaaclab_ant.py +++ b/newton/examples/example_isaaclab_ant.py @@ -13,7 +13,7 @@ # See the License for the specific language governing permissions and # limitations under the License. -import math +# import math import torch import warp as wp @@ -37,7 +37,7 @@ def __init__(self, stage_path="example_ant.usd", num_envs=8): num_envs, (5.0, 5.0, 0.0), # USD importer args - collapse_fixed_joints=False, + collapse_fixed_joints=True, ) up_axis = stage_info.get("up_axis") or "Z" @@ -50,8 +50,14 @@ def __init__(self, stage_path="example_ant.usd", num_envs=8): # pprint(self.model.articulation_key) # pprint(self.model.body_key) # pprint(self.model.joint_key) + # pprint(self.model.shape_key) + # print("Shape | Path") + # for i, key in enumerate(self.model.shape_key): + # print(f"{i:5d} | {key}") + # pprint(builder.shape_collision_group_map) self.solver = newton.solvers.MuJoCoSolver(self.model) + # self.solver = newton.solvers.XPBDSolver(self.model) self.renderer = None if stage_path: @@ -97,6 +103,12 @@ def __init__(self, stage_path="example_ant.usd", num_envs=8): self.default_root_transforms = wp.to_torch(self.ants.get_root_transforms(self.model)).clone() self.default_root_transforms[:, 2] = 0.8 + joint_limit_lower = wp.to_torch(self.ants.get_attribute("joint_limit_lower", self.model)) + joint_limit_upper = wp.to_torch(self.ants.get_attribute("joint_limit_upper", self.model)) + self.default_dof_positions = 0.5 * (joint_limit_lower + joint_limit_upper) + # print(joint_limit_lower) + # print(joint_limit_upper) + self.use_cuda_graph = wp.get_device().is_cuda if self.use_cuda_graph: with wp.ScopedCapture() as capture: @@ -106,6 +118,11 @@ def __init__(self, stage_path="example_ant.usd", num_envs=8): def simulate(self): for _ in range(self.sim_substeps): self.state_0.clear_forces() + + # explicit collisions needed without MuJoCo solver + if not isinstance(self.solver, newton.solvers.MuJoCoSolver): + newton.collision.collide(self.model, self.state_0) + self.solver.step(self.model, self.state_0, self.state_1, self.control, None, self.sim_dt) self.state_0, self.state_1 = self.state_1, self.state_0 @@ -135,22 +152,21 @@ def step(self): def reset(self): # =========================================================== - # set root transforms + # set transforms # =========================================================== self.ants.set_root_transforms(self.state_0, self.default_root_transforms) + self.ants.set_attribute("joint_q", self.state_0, self.default_dof_positions) + self.ants.eval_fk(self.state_0) # =========================================================== - # set root velocities + # set velocities # =========================================================== root_velocities = torch.zeros((self.num_envs, 6), dtype=torch.float32) - root_velocities[:, 0] = 2 * math.pi # rotate about x-axis + # root_velocities[:, 0] = 2 * math.pi # rotate about x-axis root_velocities[:, 5] = 5.0 # move up z-axis + dof_velocities = torch.zeros((self.num_envs, 8), dtype=torch.float32) self.ants.set_root_velocities(self.state_0, root_velocities) - - # =========================================================== - # update transforms of all links - # =========================================================== - self.ants.eval_fk(self.state_0) + self.ants.set_attribute("joint_qd", self.state_0, dof_velocities) def render(self): if self.renderer is None: diff --git a/newton/utils/selection.py b/newton/utils/selection.py index 1b4d5a3911..877665517b 100644 --- a/newton/utils/selection.py +++ b/newton/utils/selection.py @@ -277,6 +277,11 @@ def __init__(self, model: Model, pattern: str, include_free_joint=False, env_off self.attrib_shapes["joint_act"] = (count, model.joint_act.size // count) self.attrib_slices["joint_act"] = (slice(0, count), slice(int(joint_axis_begin), int(joint_axis_end))) + self.attrib_shapes["joint_limit_lower"] = (count, model.joint_act.size // count) + self.attrib_slices["joint_limit_lower"] = (slice(0, count), slice(int(joint_axis_begin), int(joint_axis_end))) + self.attrib_shapes["joint_limit_upper"] = (count, model.joint_act.size // count) + self.attrib_slices["joint_limit_upper"] = (slice(0, count), slice(int(joint_axis_begin), int(joint_axis_end))) + body_begin = links[0] body_end = links[-1] + 1 self.attrib_shapes["body_q"] = (count, model.body_q.shape[0] // count) From 687f55e264c4b6586a67644feacfb90b0869b6fe Mon Sep 17 00:00:00 2001 From: Lukasz Wawrzyniak Date: Tue, 13 May 2025 16:09:12 -0400 Subject: [PATCH 22/57] Cleanup --- newton/examples/example_isaaclab_ant.py | 18 --- newton/utils/selection.py | 171 +++++------------------- 2 files changed, 33 insertions(+), 156 deletions(-) diff --git a/newton/examples/example_isaaclab_ant.py b/newton/examples/example_isaaclab_ant.py index e6716df5eb..9eb2cf0fa4 100644 --- a/newton/examples/example_isaaclab_ant.py +++ b/newton/examples/example_isaaclab_ant.py @@ -46,18 +46,7 @@ def __init__(self, stage_path="example_ant.usd", num_envs=8): self.model = builder.finalize() self.model.ground = True - # from pprint import pprint - # pprint(self.model.articulation_key) - # pprint(self.model.body_key) - # pprint(self.model.joint_key) - # pprint(self.model.shape_key) - # print("Shape | Path") - # for i, key in enumerate(self.model.shape_key): - # print(f"{i:5d} | {key}") - # pprint(builder.shape_collision_group_map) - self.solver = newton.solvers.MuJoCoSolver(self.model) - # self.solver = newton.solvers.XPBDSolver(self.model) self.renderer = None if stage_path: @@ -106,8 +95,6 @@ def __init__(self, stage_path="example_ant.usd", num_envs=8): joint_limit_lower = wp.to_torch(self.ants.get_attribute("joint_limit_lower", self.model)) joint_limit_upper = wp.to_torch(self.ants.get_attribute("joint_limit_upper", self.model)) self.default_dof_positions = 0.5 * (joint_limit_lower + joint_limit_upper) - # print(joint_limit_lower) - # print(joint_limit_upper) self.use_cuda_graph = wp.get_device().is_cuda if self.use_cuda_graph: @@ -127,11 +114,6 @@ def simulate(self): self.state_0, self.state_1 = self.state_1, self.state_0 def step(self): - # if self.sim_time < 0.5: - # print(f"\n----- t = {self.sim_time} --------------------------------------") - # # print(self.ants.get_root_transforms(self.state_0).numpy()[:, :3]) - # print(self.ants.get_root_velocities(self.state_0).numpy()[:, 3:]) - if self.sim_time >= self.next_pop: self.reset() self.next_pop = self.sim_time + 3.0 diff --git a/newton/utils/selection.py b/newton/utils/selection.py index 877665517b..7276cdbe92 100644 --- a/newton/utils/selection.py +++ b/newton/utils/selection.py @@ -61,42 +61,7 @@ def set_articulation_root_transforms_kernel( @wp.kernel -def get_articulation_root_transforms_kernel_v1( - articulation_indices: wp.array(dtype=int), - articulation_start: wp.array(dtype=int), - joint_type: wp.array(dtype=int), - joint_q: wp.array(dtype=float), - joint_q_start: wp.array(dtype=int), - joint_X_p: wp.array(dtype=wp.transform), - env_offsets: wp.array(dtype=wp.vec3), - # outputs - root_transforms: wp.array(dtype=wp.transform), -): - tid = wp.tid() - articulation = articulation_indices[tid] - joint_start = articulation_start[articulation] - q_start = joint_q_start[joint_start] - env_offset = env_offsets[tid] - - if joint_type[joint_start] == newton.JOINT_FREE: - root_pose = wp.transform( - wp.vec3(joint_q[q_start + 0], joint_q[q_start + 1], joint_q[q_start + 2]), - wp.quat(joint_q[q_start + 3], joint_q[q_start + 4], joint_q[q_start + 5], joint_q[q_start + 6]), - ) - elif joint_type[joint_start] == newton.JOINT_FIXED: - root_pose = joint_X_p[joint_start] - - # apply env offset - root_pose = wp.transform( - wp.vec3(root_pose[0], root_pose[1], root_pose[2]) - env_offset, - wp.quat(root_pose[3], root_pose[4], root_pose[5], root_pose[6]), - ) - - root_transforms[tid] = root_pose - - -@wp.kernel -def get_articulation_root_transforms_kernel_v2( +def get_articulation_root_transforms_kernel( articulation_indices: wp.array(dtype=int), articulation_start: wp.array(dtype=int), joint_parent: wp.array(dtype=int), @@ -149,37 +114,7 @@ def set_articulation_root_velocities_kernel( @wp.kernel -def get_articulation_root_velocities_kernel_v1( - articulation_indices: wp.array(dtype=int), - articulation_start: wp.array(dtype=int), - joint_qd: wp.array(dtype=float), - joint_type: wp.array(dtype=int), - joint_qd_start: wp.array(dtype=int), - # outputs - root_vels: wp.array(dtype=wp.spatial_vector), -): - tid = wp.tid() - articulation = articulation_indices[tid] - joint_start = articulation_start[articulation] - qd_start = joint_qd_start[joint_start] - - if joint_type[joint_start] == newton.JOINT_FREE: - root_vel = wp.spatial_vector( - joint_qd[qd_start + 0], - joint_qd[qd_start + 1], - joint_qd[qd_start + 2], - joint_qd[qd_start + 3], - joint_qd[qd_start + 4], - joint_qd[qd_start + 5], - ) - elif joint_type[joint_start] == newton.JOINT_FIXED: - root_vel = wp.spatial_vector(0.0, 0.0, 0.0, 0.0, 0.0, 0.0) - - root_vels[tid] = root_vel - - -@wp.kernel -def get_articulation_root_velocities_kernel_v2( +def get_articulation_root_velocities_kernel( articulation_indices: wp.array(dtype=int), articulation_start: wp.array(dtype=int), joint_parent: wp.array(dtype=int), @@ -369,43 +304,22 @@ def get_root_transforms(self, source: Model | State): if self._root_transforms is None: self._root_transforms = wp.empty(self.count, dtype=wp.transform, device=self.device) - if False: - # get transforms from root joints - wp.launch( - get_articulation_root_transforms_kernel_v1, - self.count, - inputs=[ - self.articulation_indices, - self.model.articulation_start, - self.model.joint_type, - source.joint_q, - self.model.joint_q_start, - self.model.joint_X_p, # hmmm - self.env_offsets, - ], - outputs=[ - self._root_transforms, - ], - device=self.device, - ) - else: - # get transforms from root bodies - wp.launch( - get_articulation_root_transforms_kernel_v2, - self.count, - inputs=[ - self.articulation_indices, - self.model.articulation_start, - self.model.joint_parent, - self.model.joint_child, - source.body_q, - self.env_offsets, - ], - outputs=[ - self._root_transforms, - ], - device=self.device, - ) + wp.launch( + get_articulation_root_transforms_kernel, + self.count, + inputs=[ + self.articulation_indices, + self.model.articulation_start, + self.model.joint_parent, + self.model.joint_child, + source.body_q, + self.env_offsets, + ], + outputs=[ + self._root_transforms, + ], + device=self.device, + ) return self._root_transforms @@ -446,40 +360,21 @@ def get_root_velocities(self, source: Model | State): if self._root_velocities is None: self._root_velocities = wp.empty(self.count, dtype=wp.spatial_vector, device=self.device) - if False: - # get velocities from root joints - wp.launch( - get_articulation_root_velocities_kernel_v1, - self.count, - inputs=[ - self.articulation_indices, - self.model.articulation_start, - source.joint_qd, - self.model.joint_type, - self.model.joint_q_start, - ], - outputs=[ - self._root_velocities, - ], - device=self.device, - ) - else: - # get velocities from root bodies - wp.launch( - get_articulation_root_velocities_kernel_v2, - self.count, - inputs=[ - self.articulation_indices, - self.model.articulation_start, - self.model.joint_parent, - self.model.joint_child, - source.body_qd, - ], - outputs=[ - self._root_velocities, - ], - device=self.device, - ) + wp.launch( + get_articulation_root_velocities_kernel, + self.count, + inputs=[ + self.articulation_indices, + self.model.articulation_start, + self.model.joint_parent, + self.model.joint_child, + source.body_qd, + ], + outputs=[ + self._root_velocities, + ], + device=self.device, + ) return self._root_velocities From 148b79536641db5cd41d3f1822eb2d78d8ecb09a Mon Sep 17 00:00:00 2001 From: Lukasz Wawrzyniak Date: Tue, 13 May 2025 16:59:37 -0400 Subject: [PATCH 23/57] Demonstrate two ways of setting articulation states --- newton/examples/example_isaaclab_ant.py | 66 ++++++++++++++++--------- newton/utils/selection.py | 1 + 2 files changed, 43 insertions(+), 24 deletions(-) diff --git a/newton/examples/example_isaaclab_ant.py b/newton/examples/example_isaaclab_ant.py index 9eb2cf0fa4..c910274345 100644 --- a/newton/examples/example_isaaclab_ant.py +++ b/newton/examples/example_isaaclab_ant.py @@ -13,7 +13,7 @@ # See the License for the specific language governing permissions and # limitations under the License. -# import math +import math import torch import warp as wp @@ -76,7 +76,7 @@ def __init__(self, stage_path="example_ant.usd", num_envs=8): # =========================================================== # create articulation view # =========================================================== - self.ants = ArticulationView(self.model, "/World/envs/*/Robot/torso") + self.ants = ArticulationView(self.model, "/World/envs/*/Robot/torso", include_free_joint=True) print(f"articulation count: {self.ants.count}") print(f"link_count: {self.ants.link_count}") @@ -89,12 +89,32 @@ def __init__(self, stage_path="example_ant.usd", num_envs=8): print(f"body_q shape: {self.ants.get_attribute_shape('body_q')}") print(f"body_qd shape: {self.ants.get_attribute_shape('body_qd')}") - self.default_root_transforms = wp.to_torch(self.ants.get_root_transforms(self.model)).clone() - self.default_root_transforms[:, 2] = 0.8 - - joint_limit_lower = wp.to_torch(self.ants.get_attribute("joint_limit_lower", self.model)) - joint_limit_upper = wp.to_torch(self.ants.get_attribute("joint_limit_upper", self.model)) - self.default_dof_positions = 0.5 * (joint_limit_lower + joint_limit_upper) + # set all dofs to the middle of their range by default + dof_limit_lower = wp.to_torch(self.ants.get_attribute("joint_limit_lower", self.model)) + dof_limit_upper = wp.to_torch(self.ants.get_attribute("joint_limit_upper", self.model)) + default_dof_transforms = 0.5 * (dof_limit_lower + dof_limit_upper) + + if self.ants.include_free_joint: + # combined root and dof transforms + self.default_transforms = wp.to_torch(self.ants.get_attribute("joint_q", self.model)).clone() + self.default_transforms[:, 2] = 0.8 # z-coordinate of articulation root + self.default_transforms[:, 7:] = default_dof_transforms + # combined root and dof velocities + self.default_velocities = wp.to_torch(self.ants.get_attribute("joint_qd", self.model)).clone() + self.default_velocities[:, 2] = 0.5 * math.pi # rotate about z-axis + self.default_velocities[:, 5] = 5.0 # move up z-axis + else: + # root transforms + self.default_root_transforms = wp.to_torch(self.ants.get_root_transforms(self.model)).clone() + self.default_root_transforms[:, 2] = 0.8 + # dof transforms + self.default_dof_transforms = default_dof_transforms + # root velocities + self.default_root_velocities = torch.zeros((self.num_envs, 6), dtype=torch.float32) + self.default_root_velocities[:, 2] = 0.5 * math.pi # rotate about z-axis + self.default_root_velocities[:, 5] = 5.0 # move up z-axis + # dof velocities + self.default_dof_velocities = torch.zeros((self.num_envs, 8), dtype=torch.float32) self.use_cuda_graph = wp.get_device().is_cuda if self.use_cuda_graph: @@ -133,22 +153,20 @@ def step(self): self.sim_time += self.frame_dt def reset(self): - # =========================================================== - # set transforms - # =========================================================== - self.ants.set_root_transforms(self.state_0, self.default_root_transforms) - self.ants.set_attribute("joint_q", self.state_0, self.default_dof_positions) - self.ants.eval_fk(self.state_0) - - # =========================================================== - # set velocities - # =========================================================== - root_velocities = torch.zeros((self.num_envs, 6), dtype=torch.float32) - # root_velocities[:, 0] = 2 * math.pi # rotate about x-axis - root_velocities[:, 5] = 5.0 # move up z-axis - dof_velocities = torch.zeros((self.num_envs, 8), dtype=torch.float32) - self.ants.set_root_velocities(self.state_0, root_velocities) - self.ants.set_attribute("joint_qd", self.state_0, dof_velocities) + if self.ants.include_free_joint: + # set root and dof transforms together + self.ants.set_attribute("joint_q", self.state_0, self.default_transforms) + self.ants.eval_fk(self.state_0) + # set root and dof velocities together + self.ants.set_attribute("joint_qd", self.state_0, self.default_velocities) + else: + # set root and dof transforms separately + self.ants.set_root_transforms(self.state_0, self.default_root_transforms) + self.ants.set_attribute("joint_q", self.state_0, self.default_dof_transforms) + self.ants.eval_fk(self.state_0) + # set root and dof velocities separately + self.ants.set_root_velocities(self.state_0, self.default_root_velocities) + self.ants.set_attribute("joint_qd", self.state_0, self.default_dof_velocities) def render(self): if self.renderer is None: diff --git a/newton/utils/selection.py b/newton/utils/selection.py index 7276cdbe92..44860ffa92 100644 --- a/newton/utils/selection.py +++ b/newton/utils/selection.py @@ -139,6 +139,7 @@ class ArticulationView: def __init__(self, model: Model, pattern: str, include_free_joint=False, env_offsets=None): self.model = model self.device = model.device + self.include_free_joint = include_free_joint articulation_ids = [] for id, key in enumerate(model.articulation_key): From 5eee5e7b9bd5004d65f375cf58ca02e5f07fd005 Mon Sep 17 00:00:00 2001 From: Lukasz Wawrzyniak Date: Tue, 13 May 2025 17:10:08 -0400 Subject: [PATCH 24/57] Example tweaks --- newton/examples/example_isaaclab_ant.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/newton/examples/example_isaaclab_ant.py b/newton/examples/example_isaaclab_ant.py index c910274345..074535fd42 100644 --- a/newton/examples/example_isaaclab_ant.py +++ b/newton/examples/example_isaaclab_ant.py @@ -76,7 +76,7 @@ def __init__(self, stage_path="example_ant.usd", num_envs=8): # =========================================================== # create articulation view # =========================================================== - self.ants = ArticulationView(self.model, "/World/envs/*/Robot/torso", include_free_joint=True) + self.ants = ArticulationView(self.model, "/World/envs/*/Robot/torso", include_free_joint=False) print(f"articulation count: {self.ants.count}") print(f"link_count: {self.ants.link_count}") @@ -110,11 +110,11 @@ def __init__(self, stage_path="example_ant.usd", num_envs=8): # dof transforms self.default_dof_transforms = default_dof_transforms # root velocities - self.default_root_velocities = torch.zeros((self.num_envs, 6), dtype=torch.float32) + self.default_root_velocities = wp.to_torch(self.ants.get_root_velocities(self.model)).clone() self.default_root_velocities[:, 2] = 0.5 * math.pi # rotate about z-axis self.default_root_velocities[:, 5] = 5.0 # move up z-axis # dof velocities - self.default_dof_velocities = torch.zeros((self.num_envs, 8), dtype=torch.float32) + self.default_dof_velocities = wp.to_torch(self.ants.get_attribute("joint_qd", self.model)).clone() self.use_cuda_graph = wp.get_device().is_cuda if self.use_cuda_graph: From 5111130d642c8fd702257d035999e07e48399065 Mon Sep 17 00:00:00 2001 From: Lukasz Wawrzyniak Date: Tue, 13 May 2025 17:24:14 -0400 Subject: [PATCH 25/57] Updated docstrings --- newton/utils/selection.py | 29 +++++++++++++++++++++++------ 1 file changed, 23 insertions(+), 6 deletions(-) diff --git a/newton/utils/selection.py b/newton/utils/selection.py index 44860ffa92..071d00c73a 100644 --- a/newton/utils/selection.py +++ b/newton/utils/selection.py @@ -302,6 +302,15 @@ def set_attribute(self, name: str, target: Model | State | Control, values): # ... def get_root_transforms(self, source: Model | State): + """ + Get the root transforms of the articulations. + + Args: + source (Model | State): Where to get the root transforms (Model or State). + + Returns: + array: The root transforms (dtype=wp.transform). + """ if self._root_transforms is None: self._root_transforms = wp.empty(self.count, dtype=wp.transform, device=self.device) @@ -326,12 +335,12 @@ def get_root_transforms(self, source: Model | State): def set_root_transforms(self, target: Model | State, root_transforms: wp.array): """ - Sets the transforms of the root bodies in the articulations. - Call `eval_fk()` to apply changes to all links. + Set the root transforms of the articulations. + Call `eval_fk()` to apply changes to all articulation links. Args: target (Model | State): Where to set the root transforms (Model or State). - root_transforms (array): The root transforms to set. + root_transforms (array): The root transforms to set (dtype=wp.transform). """ if not is_array(root_transforms): @@ -358,6 +367,15 @@ def set_root_transforms(self, target: Model | State, root_transforms: wp.array): ) def get_root_velocities(self, source: Model | State): + """ + Get the root velocities of the articulations. + + Args: + source (Model | State): Where to get the root velocities (Model or State). + + Returns: + array: The root velocities (dtype=wp.spatial_vector). + """ if self._root_velocities is None: self._root_velocities = wp.empty(self.count, dtype=wp.spatial_vector, device=self.device) @@ -381,12 +399,11 @@ def get_root_velocities(self, source: Model | State): def set_root_velocities(self, target: Model | State, root_vels: wp.array): """ - Sets the velocities of the root bodies in the articulations. - Call `eval_fk()` to apply changes to all links. + Set the root velocities of the articulations. Args: target (Model | State): Where to set the root velocities (Model or State). - root_vels (array): The root velocities to set. + root_vels (array): The root velocities to set (dtype=wp.spatial_vector). """ if not is_array(root_vels): From 61432ad5740155bee9ed8d31cec10ca7867a5861 Mon Sep 17 00:00:00 2001 From: Lukasz Wawrzyniak Date: Tue, 13 May 2025 17:31:28 -0400 Subject: [PATCH 26/57] Use eval_fk() consistently --- newton/examples/example_isaaclab_ant.py | 1 - newton/examples/example_isaaclab_cartpole.py | 6 +----- 2 files changed, 1 insertion(+), 6 deletions(-) diff --git a/newton/examples/example_isaaclab_ant.py b/newton/examples/example_isaaclab_ant.py index 074535fd42..b3d4b3cee0 100644 --- a/newton/examples/example_isaaclab_ant.py +++ b/newton/examples/example_isaaclab_ant.py @@ -19,7 +19,6 @@ import warp as wp import newton -import newton.core.articulation import newton.examples import newton.utils from newton.utils.isaaclab import replicate_environment diff --git a/newton/examples/example_isaaclab_cartpole.py b/newton/examples/example_isaaclab_cartpole.py index a89ecdf5b7..e3d5d93df7 100644 --- a/newton/examples/example_isaaclab_cartpole.py +++ b/newton/examples/example_isaaclab_cartpole.py @@ -19,7 +19,6 @@ import warp as wp import newton -import newton.core.articulation import newton.examples import newton.utils from newton.utils.isaaclab import replicate_environment @@ -77,10 +76,7 @@ def __init__(self, stage_path="example_cartpole.usd", num_envs=8): pole_angles = math.pi / 16.0 - math.pi / 8.0 * torch.rand(num_envs) joint_states = torch.stack([cart_positions, pole_angles], dim=1) self.cartpoles.set_attribute("joint_q", self.state_0, joint_states) - - newton.core.articulation.eval_fk( - self.model, self.state_0.joint_q, self.state_0.joint_qd, self.cartpoles.articulation_mask, self.state_0 - ) + self.cartpoles.eval_fk(self.state_0) self.renderer = None if stage_path: From 5f9a6a63e2ac2294e6e3338d8755cb4323bcc0b2 Mon Sep 17 00:00:00 2001 From: Lukasz Wawrzyniak Date: Wed, 14 May 2025 12:57:24 -0400 Subject: [PATCH 27/57] Updated usage of eval_fk() --- newton/examples/assets/ants_ground.usd | Bin 0 -> 12711 bytes 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self.ants.set_attribute("joint_q", self.state_0, self.default_dof_transforms) - self.ants.eval_fk(self.state_0) # set root and dof velocities separately self.ants.set_root_velocities(self.state_0, self.default_root_velocities) self.ants.set_attribute("joint_qd", self.state_0, self.default_dof_velocities) + if not isinstance(self.solver, newton.solvers.MuJoCoSolver): + self.ants.eval_fk(self.state_0) + def render(self): if self.renderer is None: return diff --git a/newton/examples/example_isaaclab_cartpole.py b/newton/examples/example_isaaclab_cartpole.py index e3d5d93df7..dcea19cc53 100644 --- a/newton/examples/example_isaaclab_cartpole.py +++ b/newton/examples/example_isaaclab_cartpole.py @@ -76,7 +76,9 @@ def __init__(self, stage_path="example_cartpole.usd", num_envs=8): pole_angles = math.pi / 16.0 - math.pi / 8.0 * torch.rand(num_envs) joint_states = torch.stack([cart_positions, pole_angles], dim=1) self.cartpoles.set_attribute("joint_q", self.state_0, joint_states) - self.cartpoles.eval_fk(self.state_0) + + if not isinstance(self.solver, newton.solvers.MuJoCoSolver): + self.cartpoles.eval_fk(self.state_0) self.renderer = None if stage_path: From 5064ded089af03026d129e1431404e9c27c05c82 Mon Sep 17 00:00:00 2001 From: Lukasz Wawrzyniak Date: Wed, 14 May 2025 15:17:43 -0400 Subject: [PATCH 28/57] Allow passing indices to setters for selective updates --- newton/examples/example_isaaclab_ant.py | 34 ++++++++----- newton/utils/selection.py | 66 ++++++++++++++++++++----- 2 files changed, 76 insertions(+), 24 deletions(-) diff --git a/newton/examples/example_isaaclab_ant.py b/newton/examples/example_isaaclab_ant.py index 0b3b75c903..7a88389af8 100644 --- a/newton/examples/example_isaaclab_ant.py +++ b/newton/examples/example_isaaclab_ant.py @@ -70,7 +70,7 @@ def __init__(self, stage_path="example_ant.usd", num_envs=8): self.sim_substeps = 10 self.sim_dt = self.frame_dt / self.sim_substeps - self.next_pop = 0.0 + self.next_reset = 0.0 # =========================================================== # create articulation view @@ -115,6 +115,15 @@ def __init__(self, stage_path="example_ant.usd", num_envs=8): # dof velocities self.default_dof_velocities = wp.to_torch(self.ants.get_attribute("joint_qd", self.model)).clone() + # create disjoint index groups to alternate between + all_indices = torch.arange(num_envs, dtype=torch.int32) + self.indices_0 = all_indices[::2] + self.indices_1 = all_indices[1::2] + + # reset all + self.reset() + self.next_reset = self.sim_time + 2.0 + self.use_cuda_graph = wp.get_device().is_cuda if self.use_cuda_graph: with wp.ScopedCapture() as capture: @@ -133,9 +142,10 @@ def simulate(self): self.state_0, self.state_1 = self.state_1, self.state_0 def step(self): - if self.sim_time >= self.next_pop: - self.reset() - self.next_pop = self.sim_time + 3.0 + if self.sim_time >= self.next_reset: + self.reset(self.indices_0) + self.next_reset = self.sim_time + 2.0 + self.indices_0, self.indices_1 = self.indices_1, self.indices_0 # ========================= # apply random controls @@ -151,22 +161,22 @@ def step(self): self.simulate() self.sim_time += self.frame_dt - def reset(self): + def reset(self, indices=None): if self.ants.include_free_joint: # set root and dof transforms together - self.ants.set_attribute("joint_q", self.state_0, self.default_transforms) + self.ants.set_attribute("joint_q", self.state_0, self.default_transforms, indices=indices) # set root and dof velocities together - self.ants.set_attribute("joint_qd", self.state_0, self.default_velocities) + self.ants.set_attribute("joint_qd", self.state_0, self.default_velocities, indices=indices) else: # set root and dof transforms separately - self.ants.set_root_transforms(self.state_0, self.default_root_transforms) - self.ants.set_attribute("joint_q", self.state_0, self.default_dof_transforms) + self.ants.set_root_transforms(self.state_0, self.default_root_transforms, indices=indices) + self.ants.set_attribute("joint_q", self.state_0, self.default_dof_transforms, indices=indices) # set root and dof velocities separately - self.ants.set_root_velocities(self.state_0, self.default_root_velocities) - self.ants.set_attribute("joint_qd", self.state_0, self.default_dof_velocities) + self.ants.set_root_velocities(self.state_0, self.default_root_velocities, indices=indices) + self.ants.set_attribute("joint_qd", self.state_0, self.default_dof_velocities, indices=indices) if not isinstance(self.solver, newton.solvers.MuJoCoSolver): - self.ants.eval_fk(self.state_0) + self.ants.eval_fk(self.state_0, indices=indices) def render(self): if self.renderer is None: diff --git a/newton/utils/selection.py b/newton/utils/selection.py index 071d00c73a..d6af2740c0 100644 --- a/newton/utils/selection.py +++ b/newton/utils/selection.py @@ -15,6 +15,7 @@ from fnmatch import fnmatch +import numpy as np import warp as wp from warp.types import is_array @@ -28,6 +29,12 @@ def set_mask_kernel(indices: wp.array(dtype=int), mask: wp.array(dtype=bool)): mask[indices[tid]] = True +@wp.kernel +def set_mask_indexed_kernel(indices: wp.array(dtype=int), indices_indices: wp.array(dtype=int), mask: wp.array(dtype=bool)): + tid = wp.tid() + mask[indices[indices_indices[tid]]] = True + + @wp.kernel def set_articulation_root_transforms_kernel( articulation_indices: wp.array(dtype=int), @@ -36,16 +43,18 @@ def set_articulation_root_transforms_kernel( joint_q_start: wp.array(dtype=int), root_transforms: wp.array(dtype=wp.transform), env_offsets: wp.array(dtype=wp.vec3), + env_indices: wp.array(dtype=int), # outputs joint_q: wp.array(dtype=float), joint_X_p: wp.array(dtype=wp.transform), ): tid = wp.tid() - root_pose = root_transforms[tid] - articulation = articulation_indices[tid] + idx = env_indices[tid] + root_pose = root_transforms[idx] + articulation = articulation_indices[idx] joint_start = articulation_start[articulation] q_start = joint_q_start[joint_start] - env_offset = env_offsets[tid] + env_offset = env_offsets[idx] # apply env offset root_pose = wp.transform( @@ -99,14 +108,16 @@ def set_articulation_root_velocities_kernel( joint_type: wp.array(dtype=int), joint_qd_start: wp.array(dtype=int), root_vels: wp.array(dtype=wp.spatial_vector), + env_indices: wp.array(dtype=int), # outputs joint_qd: wp.array(dtype=float), ): tid = wp.tid() - articulation = articulation_indices[tid] + idx = env_indices[tid] + articulation = articulation_indices[idx] joint_start = articulation_start[articulation] qd_start = joint_qd_start[joint_start] - root_vel = root_vels[tid] + root_vel = root_vels[idx] if joint_type[joint_start] == newton.JOINT_FREE: for i in range(6): @@ -238,6 +249,8 @@ def __init__(self, model: Model, pattern: str, include_free_joint=False, env_off else: self.env_offsets = wp.array(env_offsets, shape=count, dtype=wp.vec3, device=self.device) + self.all_indices = wp.array(np.arange(count, dtype=np.int32), device=self.device) + # set some counting properties self._count = count self._link_count = len(links) @@ -282,12 +295,17 @@ def get_attribute(self, name: str, source: Model | State | Control, copy=False): else: return attrib - def set_attribute(self, name: str, target: Model | State | Control, values): + def set_attribute(self, name: str, target: Model | State | Control, values, indices=None): attrib = getattr(target, name) attrib = attrib.reshape(self.attrib_shapes[name]) attrib = attrib[*self.attrib_slices[name]] if not is_array(values): values = wp.array(values, dtype=attrib.dtype, shape=attrib.shape, device=self.device) + if indices is not None: + if not is_array(indices): + indices = wp.array(indices, dtype=int, device=self.device) + attrib = wp.indexedarray(attrib, [indices]) + values = wp.indexedarray(values, [indices]) wp.copy(attrib, values) # convenience wrappers to align with legacy tensor API @@ -333,7 +351,7 @@ def get_root_transforms(self, source: Model | State): return self._root_transforms - def set_root_transforms(self, target: Model | State, root_transforms: wp.array): + def set_root_transforms(self, target: Model | State, root_transforms: wp.array, indices=None): """ Set the root transforms of the articulations. Call `eval_fk()` to apply changes to all articulation links. @@ -348,9 +366,15 @@ def set_root_transforms(self, target: Model | State, root_transforms: wp.array): assert len(root_transforms) == self.count, "Root poses should be provided for each articulation" + if indices is not None: + if not is_array(indices): + indices = wp.array(indices, dtype=int, device=self.device) + else: + indices = self.all_indices + wp.launch( set_articulation_root_transforms_kernel, - self.count, + indices.size, inputs=[ self.articulation_indices, self.model.articulation_start, @@ -358,6 +382,7 @@ def set_root_transforms(self, target: Model | State, root_transforms: wp.array): self.model.joint_q_start, root_transforms, self.env_offsets, + indices, ], outputs=[ target.joint_q, @@ -397,7 +422,7 @@ def get_root_velocities(self, source: Model | State): return self._root_velocities - def set_root_velocities(self, target: Model | State, root_vels: wp.array): + def set_root_velocities(self, target: Model | State, root_vels: wp.array, indices=None): """ Set the root velocities of the articulations. @@ -411,15 +436,22 @@ def set_root_velocities(self, target: Model | State, root_vels: wp.array): assert len(root_vels) == self.count, "Root velocities should be provided for each articulation" + if indices is not None: + if not is_array(indices): + indices = wp.array(indices, dtype=int, device=self.device) + else: + indices = self.all_indices + wp.launch( set_articulation_root_velocities_kernel, - self.count, + indices.size, inputs=[ self.articulation_indices, self.model.articulation_start, self.model.joint_type, self.model.joint_qd_start, root_vels, + indices, ], outputs=[ target.joint_qd, @@ -427,5 +459,15 @@ def set_root_velocities(self, target: Model | State, root_vels: wp.array): device=self.device, ) - def eval_fk(self, target: Model | State): - newton.core.articulation.eval_fk(self.model, target.joint_q, target.joint_qd, self.articulation_mask, target) + def eval_fk(self, target: Model | State, indices=None): + if indices is not None: + # create a custom mask for builtin eval_fk() + # TODO: something more efficient? + if not is_array(indices): + indices = wp.array(indices, dtype=int, device=self.device) + mask = wp.zeros(self.model.articulation_count, dtype=bool, device=self.device) + wp.launch(set_mask_indexed_kernel, dim=indices.size, inputs=[self.articulation_indices, indices, mask]) + else: + mask = self.articulation_mask + + newton.core.articulation.eval_fk(self.model, target.joint_q, target.joint_qd, mask, target) From 228e545ae291a219dfb25f27b16c363a279f254c Mon Sep 17 00:00:00 2001 From: Lukasz Wawrzyniak Date: Wed, 14 May 2025 15:23:22 -0400 Subject: [PATCH 29/57] Fix silly things --- newton/examples/example_isaaclab_ant.py | 2 +- newton/utils/selection.py | 9 ++------- 2 files changed, 3 insertions(+), 8 deletions(-) diff --git a/newton/examples/example_isaaclab_ant.py b/newton/examples/example_isaaclab_ant.py index 7a88389af8..9f39566802 100644 --- a/newton/examples/example_isaaclab_ant.py +++ b/newton/examples/example_isaaclab_ant.py @@ -75,7 +75,7 @@ def __init__(self, stage_path="example_ant.usd", num_envs=8): # =========================================================== # create articulation view # =========================================================== - self.ants = ArticulationView(self.model, "/World/envs/*/Robot/torso", include_free_joint=False) + self.ants = ArticulationView(self.model, "/World/envs/*/Robot/torso", include_free_joint=True) print(f"articulation count: {self.ants.count}") print(f"link_count: {self.ants.link_count}") diff --git a/newton/utils/selection.py b/newton/utils/selection.py index d6af2740c0..ba1b8e434a 100644 --- a/newton/utils/selection.py +++ b/newton/utils/selection.py @@ -239,9 +239,8 @@ def __init__(self, model: Model, pattern: str, include_free_joint=False, env_off self.articulation_indices = wp.array(articulation_ids, dtype=int, device=self.device) # create articulation mask - self._articulation_mask = wp.zeros(model.articulation_count, dtype=bool) - indices = wp.array(articulation_ids, dtype=int, device=self.device) - wp.launch(set_mask_kernel, dim=indices.shape, inputs=[indices, self._articulation_mask], device=self.device) + self.articulation_mask = wp.zeros(model.articulation_count, dtype=bool) + wp.launch(set_mask_kernel, dim=count, inputs=[self.articulation_indices, self.articulation_mask], device=self.device) # env offsets if env_offsets is None: @@ -260,10 +259,6 @@ def __init__(self, model: Model, pattern: str, include_free_joint=False, env_off self._root_transforms = None self._root_velocities = None - @property - def articulation_mask(self) -> wp.array(dtype=bool): - return self._articulation_mask - @property def count(self) -> int: return self._count From 53de9cf14b8f4cc24e38f072eb95bb860cfcfc55 Mon Sep 17 00:00:00 2001 From: Lukasz Wawrzyniak Date: Wed, 14 May 2025 15:24:51 -0400 Subject: [PATCH 30/57] Code formatting --- newton/utils/selection.py | 8 ++++++-- 1 file changed, 6 insertions(+), 2 deletions(-) diff --git a/newton/utils/selection.py b/newton/utils/selection.py index ba1b8e434a..62788317ca 100644 --- a/newton/utils/selection.py +++ b/newton/utils/selection.py @@ -30,7 +30,9 @@ def set_mask_kernel(indices: wp.array(dtype=int), mask: wp.array(dtype=bool)): @wp.kernel -def set_mask_indexed_kernel(indices: wp.array(dtype=int), indices_indices: wp.array(dtype=int), mask: wp.array(dtype=bool)): +def set_mask_indexed_kernel( + indices: wp.array(dtype=int), indices_indices: wp.array(dtype=int), mask: wp.array(dtype=bool) +): tid = wp.tid() mask[indices[indices_indices[tid]]] = True @@ -240,7 +242,9 @@ def __init__(self, model: Model, pattern: str, include_free_joint=False, env_off # create articulation mask self.articulation_mask = wp.zeros(model.articulation_count, dtype=bool) - wp.launch(set_mask_kernel, dim=count, inputs=[self.articulation_indices, self.articulation_mask], device=self.device) + wp.launch( + set_mask_kernel, dim=count, inputs=[self.articulation_indices, self.articulation_mask], device=self.device + ) # env offsets if env_offsets is None: From 2eecfb9329bb39dd51dddc2867857792247bac74 Mon Sep 17 00:00:00 2001 From: Lukasz Wawrzyniak Date: Fri, 16 May 2025 12:32:39 -0400 Subject: [PATCH 31/57] Update to latest --- newton/examples/example_isaaclab_ant.py | 10 +++++----- newton/examples/example_isaaclab_cartpole.py | 8 ++++---- newton/utils/isaaclab.py | 14 +++----------- newton/utils/selection.py | 8 ++++---- 4 files changed, 16 insertions(+), 24 deletions(-) diff --git a/newton/examples/example_isaaclab_ant.py b/newton/examples/example_isaaclab_ant.py index 9f39566802..3057d0b918 100644 --- a/newton/examples/example_isaaclab_ant.py +++ b/newton/examples/example_isaaclab_ant.py @@ -39,7 +39,7 @@ def __init__(self, stage_path="example_ant.usd", num_envs=8): collapse_fixed_joints=True, ) - up_axis = stage_info.get("up_axis") or "Z" + up_axis = stage_info.get("up_axis") or newton.Axis.Z # finalize model self.model = builder.finalize() @@ -53,7 +53,7 @@ def __init__(self, stage_path="example_ant.usd", num_envs=8): path=stage_path, model=self.model, scaling=2.0, - up_axis=up_axis, + up_axis=str(up_axis), screen_width=1280, screen_height=720, camera_pos=(0, 4, 30), @@ -84,7 +84,7 @@ def __init__(self, stage_path="example_ant.usd", num_envs=8): print(f"joint_q shape: {self.ants.get_attribute_shape('joint_q')}") print(f"joint_qd shape: {self.ants.get_attribute_shape('joint_qd')}") - print(f"joint_act shape: {self.ants.get_attribute_shape('joint_act')}") + print(f"joint_target shape: {self.ants.get_attribute_shape('joint_target')}") print(f"body_q shape: {self.ants.get_attribute_shape('body_q')}") print(f"body_qd shape: {self.ants.get_attribute_shape('body_qd')}") @@ -150,9 +150,9 @@ def step(self): # ========================= # apply random controls # ========================= - act_shape = self.ants.get_attribute_shape("joint_act") + act_shape = self.ants.get_attribute_shape("joint_target") joint_forces = 100.0 - 200.0 * torch.rand(act_shape) - self.ants.set_attribute("joint_act", self.control, joint_forces) + self.ants.set_attribute("joint_target", self.control, joint_forces) with wp.ScopedTimer("step", active=False): if self.use_cuda_graph: diff --git a/newton/examples/example_isaaclab_cartpole.py b/newton/examples/example_isaaclab_cartpole.py index dcea19cc53..fe3c49becf 100644 --- a/newton/examples/example_isaaclab_cartpole.py +++ b/newton/examples/example_isaaclab_cartpole.py @@ -39,7 +39,7 @@ def __init__(self, stage_path="example_cartpole.usd", num_envs=8): collapse_fixed_joints=True, ) - up_axis = stage_info.get("up_axis") or "Z" + up_axis = stage_info.get("up_axis") or newton.Axis.Z # finalize model self.model = builder.finalize() @@ -67,7 +67,7 @@ def __init__(self, stage_path="example_cartpole.usd", num_envs=8): # print(self.cartpoles.get_attribute("body_qd", self.state_0)) # print(self.cartpoles.get_attribute("joint_q", self.state_0)) # print(self.cartpoles.get_attribute("joint_qd", self.state_0)) - # print(self.cartpoles.get_attribute("joint_act", self.control)) + # print(self.cartpoles.get_attribute("joint_target", self.control)) # ========================= # randomize initial state @@ -86,7 +86,7 @@ def __init__(self, stage_path="example_cartpole.usd", num_envs=8): path=stage_path, model=self.model, scaling=1.0, - up_axis=up_axis, + up_axis=str(up_axis), screen_width=1280, screen_height=720, camera_pos=(0, 3, 10), @@ -115,7 +115,7 @@ def step(self): # ========================= joint_forces = torch.zeros((self.num_envs, 2)) joint_forces[:, 0] = torch.where(joint_states[:, 0] > 0, -100, 100) - self.cartpoles.set_attribute("joint_act", self.control, joint_forces) + self.cartpoles.set_attribute("joint_target", self.control, joint_forces) # simulate with wp.ScopedTimer("step", active=False): diff --git a/newton/utils/isaaclab.py b/newton/utils/isaaclab.py index 77165c37b1..a48842284d 100644 --- a/newton/utils/isaaclab.py +++ b/newton/utils/isaaclab.py @@ -36,17 +36,9 @@ def replicate_environment(source, prototype_path, path_pattern, num_envs, env_sp (ModelBuilder, dict, np.array): The resulting ModelBuilder containing all replicated environments, a dictionary with USD stage information, and a NumPy array of env offsets. """ - up_vectors = { - "X": (1.0, 0.0, 0.0), - "Y": (0.0, 1.0, 0.0), - "Z": (0.0, 0.0, 1.0), - } + up_axis_id = newton.Axis.from_string(up_axis) - up_vector = up_vectors.get(up_axis.upper()) - if up_vector is None: - raise ValueError(f"up_axis should be 'X', 'Y', or 'Z', got {up_axis}") - - builder = newton.ModelBuilder(up_vector=up_vector) + builder = newton.ModelBuilder(up_axis=up_axis_id) # first, load everything except the prototype env stage_info = newton.utils.parse_usd( @@ -62,7 +54,7 @@ def replicate_environment(source, prototype_path, path_pattern, num_envs, env_sp print(f"WARNING: up_axis '{up_axis}' does not match USD stage up_axis '{stage_up_axis}'") # load just the prototype env - prototype_builder = newton.ModelBuilder(up_vector=up_vector) + prototype_builder = newton.ModelBuilder(up_axis=up_axis_id) newton.utils.parse_usd( source, prototype_builder, diff --git a/newton/utils/selection.py b/newton/utils/selection.py index 62788317ca..e813e15431 100644 --- a/newton/utils/selection.py +++ b/newton/utils/selection.py @@ -223,12 +223,12 @@ def __init__(self, model: Model, pattern: str, include_free_joint=False, env_off joint_axis_begin = joint_axis_start[joint_begin] # joint_axis_end = joint_axis_start[joint_end] joint_axis_end = joint_axis_start[joint_last] + joint_axis_dim[joint_last][0] + joint_axis_dim[joint_last][1] - self.attrib_shapes["joint_act"] = (count, model.joint_act.size // count) - self.attrib_slices["joint_act"] = (slice(0, count), slice(int(joint_axis_begin), int(joint_axis_end))) + self.attrib_shapes["joint_target"] = (count, model.joint_target.size // count) + self.attrib_slices["joint_target"] = (slice(0, count), slice(int(joint_axis_begin), int(joint_axis_end))) - self.attrib_shapes["joint_limit_lower"] = (count, model.joint_act.size // count) + self.attrib_shapes["joint_limit_lower"] = (count, model.joint_limit_lower.size // count) self.attrib_slices["joint_limit_lower"] = (slice(0, count), slice(int(joint_axis_begin), int(joint_axis_end))) - self.attrib_shapes["joint_limit_upper"] = (count, model.joint_act.size // count) + self.attrib_shapes["joint_limit_upper"] = (count, model.joint_limit_upper.size // count) self.attrib_slices["joint_limit_upper"] = (slice(0, count), slice(int(joint_axis_begin), int(joint_axis_end))) body_begin = links[0] From 6b0de1716fae3e3bf414a1b3f2f69d99cb2bc6dd Mon Sep 17 00:00:00 2001 From: Lukasz Wawrzyniak Date: Fri, 16 May 2025 13:13:40 -0400 Subject: [PATCH 32/57] Use DFS joint ordering --- newton/examples/example_isaaclab_ant.py | 1 + newton/examples/example_isaaclab_cartpole.py | 1 + 2 files changed, 2 insertions(+) diff --git a/newton/examples/example_isaaclab_ant.py b/newton/examples/example_isaaclab_ant.py index 3057d0b918..e1bc1eed9f 100644 --- a/newton/examples/example_isaaclab_ant.py +++ b/newton/examples/example_isaaclab_ant.py @@ -37,6 +37,7 @@ def __init__(self, stage_path="example_ant.usd", num_envs=8): (5.0, 5.0, 0.0), # USD importer args collapse_fixed_joints=True, + joint_ordering="dfs", ) up_axis = stage_info.get("up_axis") or newton.Axis.Z diff --git a/newton/examples/example_isaaclab_cartpole.py b/newton/examples/example_isaaclab_cartpole.py index fe3c49becf..e10c5e478d 100644 --- a/newton/examples/example_isaaclab_cartpole.py +++ b/newton/examples/example_isaaclab_cartpole.py @@ -37,6 +37,7 @@ def __init__(self, stage_path="example_cartpole.usd", num_envs=8): (2.0, 3.0, 0.0), # USD importer args collapse_fixed_joints=True, + joint_ordering="dfs", ) up_axis = stage_info.get("up_axis") or newton.Axis.Z From a5c828f8bdeec25dbb565bc66d8addc1437fce52 Mon Sep 17 00:00:00 2001 From: Lukasz Wawrzyniak Date: Fri, 16 May 2025 13:15:08 -0400 Subject: [PATCH 33/57] Simplify up axis code --- newton/utils/isaaclab.py | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/newton/utils/isaaclab.py b/newton/utils/isaaclab.py index a48842284d..db0eaa6254 100644 --- a/newton/utils/isaaclab.py +++ b/newton/utils/isaaclab.py @@ -36,9 +36,7 @@ def replicate_environment(source, prototype_path, path_pattern, num_envs, env_sp (ModelBuilder, dict, np.array): The resulting ModelBuilder containing all replicated environments, a dictionary with USD stage information, and a NumPy array of env offsets. """ - up_axis_id = newton.Axis.from_string(up_axis) - - builder = newton.ModelBuilder(up_axis=up_axis_id) + builder = newton.ModelBuilder(up_axis=up_axis) # first, load everything except the prototype env stage_info = newton.utils.parse_usd( @@ -54,7 +52,7 @@ def replicate_environment(source, prototype_path, path_pattern, num_envs, env_sp print(f"WARNING: up_axis '{up_axis}' does not match USD stage up_axis '{stage_up_axis}'") # load just the prototype env - prototype_builder = newton.ModelBuilder(up_axis=up_axis_id) + prototype_builder = newton.ModelBuilder(up_axis=up_axis) newton.utils.parse_usd( source, prototype_builder, From 98dfe8bc40d93ef41a6a3a1862afdb95d4a09243 Mon Sep 17 00:00:00 2001 From: Lukasz Wawrzyniak Date: Fri, 16 May 2025 14:10:51 -0400 Subject: [PATCH 34/57] Use ant prototype env with ground plane --- newton/examples/assets/ant_prototype.usd | Bin 9101 -> 0 bytes newton/examples/assets/ant_prototype.usda | 1552 +++++++++++++++++++++ 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b/newton/examples/assets/ant_prototype.usda new file mode 100644 index 0000000000..bec7c33909 --- /dev/null +++ b/newton/examples/assets/ant_prototype.usda @@ -0,0 +1,1552 @@ +#usda 1.0 +( + customLayerData = { + dictionary cameraSettings = { + dictionary Front = { + double3 position = (50000.913137040225, -1.1102433003404901e-11, 0) + double radius = 500 + } + dictionary Perspective = { + double3 position = (5, 4.9999999999999964, 5.000000000000003) + double3 target = (0.06346260919888191, -0.1401416183386308, 0.07968062669460174) + } + dictionary Right = { + double3 position = (0, -50000.91313708642, -1.1102433003415162e-11) + double radius = 500 + } + dictionary Top = { + double3 position = (0, 0, 50000.25) + double radius = 500 + } + string boundCamera = "/OmniverseKit_Persp" + } + dictionary omni_layer = { + string authoring_layer = "./ants_ground.usd" + dictionary locked = { + } + dictionary muteness = { + } + } + dictionary renderSettings = { + double "rtx:post:lensDistortion:cameraFocalLength" = 18.14756202697754 + } + } + doc = """Generated from Composed Stage of root layer https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.5/Isaac/Robots/Ant/ant_instanceable.usd + + +Generated from Composed Stage of root layer /home/horde/Desktop/flattened_ant.usd +""" + endTimeCode = 0 + metersPerUnit = 1 + startTimeCode = -1 + timeCodesPerSecond = 60 + upAxis = "Z" +) + +over "Flattened_Prototype_19" +{ + def Capsule "right_leg_geom" + { + uniform token axis = "X" + float3[] extent = [(-0.22142136, -0.08, -0.08), (0.22142136, 0.08, 0.08)] + double height = 0.2828427255153656 + color3f[] primvars:displayColor = [(0.97, 0.38, 0.06)] + double radius = 0.07999999821186066 + matrix4d xformOp:transform = ( (-0.7071066765757053, 0.7071067480216797, 0, 0), (-0.7071067480216797, -0.7071066765757053, 0, 0), (0, 0, 1, 0), (-0.10000000149011612, 0.10000000149011612, 0, 1) ) + uniform token[] xformOpOrder = ["xformOp:transform"] + } +} + +over "Flattened_Prototype_20" +{ + def Capsule "back_leg_geom" + { + uniform token axis = "X" + float3[] extent = [(-0.22142136, -0.08, -0.08), (0.22142136, 0.08, 0.08)] + double height = 0.2828427255153656 + color3f[] primvars:displayColor = [(0.97, 0.38, 0.06)] + double radius = 0.07999999821186066 + matrix4d xformOp:transform = ( (-0.7071066765757053, -0.7071067480216797, 0, 0), (0.7071067480216797, -0.7071066765757053, 0, 0), (0, 0, 1, 0), (-0.10000000149011612, -0.10000000149011612, 0, 1) ) + uniform token[] xformOpOrder = ["xformOp:transform"] + } +} + +over "Flattened_Prototype_21" +{ + def Capsule "fourth_ankle_geom" + { + uniform token axis = "X" + float3[] extent = [(-0.36284274, -0.08, -0.08), (0.36284274, 0.08, 0.08)] + double height = 0.5656854510307312 + color3f[] primvars:displayColor = [(0.97, 0.38, 0.06)] + double radius = 0.07999999821186066 + matrix4d xformOp:transform = ( (0.7071067450934194, -0.7071068030891894, 0, 0), (0.7071068030891894, 0.7071067450934194, 0, 0), (0, 0, 1, 0), (0.20000000298023224, -0.20000000298023224, 0, 1) ) + uniform token[] xformOpOrder = ["xformOp:transform"] + } +} + +over "Flattened_Prototype_22" +{ + def Capsule "rightback_leg_geom" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token axis = "X" + float3[] extent = [(-0.22142136, -0.08, -0.08), (0.22142136, 0.08, 0.08)] + double height = 0.2828427255153656 + uniform token physics:approximation = "convexHull" + float physxCollision:contactOffset = 0.02 + float physxCollision:restOffset = 0 + color3f[] primvars:displayColor = [(0.97, 0.38, 0.06)] + uniform token purpose = "guide" + double radius = 0.07999999821186066 + matrix4d xformOp:transform = ( (0.7071067450934194, -0.7071068030891894, 0, 0), (0.7071068030891894, 0.7071067450934194, 0, 0), (0, 0, 1, 0), (0.10000000149011612, -0.10000000149011612, 0, 1) ) + uniform token[] xformOpOrder = ["xformOp:transform"] + } +} + +over "Flattened_Prototype_23" +{ + def Sphere "torso_geom" + { + float3[] extent = [(-0.25, -0.25, -0.25), (0.25, 0.25, 0.25)] + color3f[] primvars:displayColor = [(0.97, 0.38, 0.06)] + double radius = 0.25 + matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) ) + uniform token[] xformOpOrder = ["xformOp:transform"] + } + + def Capsule "aux_1_geom" + { + uniform token axis = "X" + float3[] extent = [(-0.22142136, -0.08, -0.08), (0.22142136, 0.08, 0.08)] + double height = 0.2828427255153656 + color3f[] primvars:displayColor = [(0.97, 0.38, 0.06)] + double radius = 0.07999999821186066 + matrix4d xformOp:transform = ( (0.7071067450934194, 0.7071068030891894, 0, 0), (-0.7071068030891894, 0.7071067450934194, 0, 0), (0, 0, 1, 0), (0.10000000149011612, 0.10000000149011612, 0, 1) ) + uniform token[] xformOpOrder = ["xformOp:transform"] + } + + def Capsule "aux_2_geom" + { + uniform token axis = "X" + float3[] extent = [(-0.22142136, -0.08, -0.08), (0.22142136, 0.08, 0.08)] + double height = 0.2828427255153656 + color3f[] primvars:displayColor = [(0.97, 0.38, 0.06)] + double radius = 0.07999999821186066 + matrix4d xformOp:transform = ( (-0.7071066765757053, 0.7071067480216797, 0, 0), (-0.7071067480216797, -0.7071066765757053, 0, 0), (0, 0, 1, 0), (-0.10000000149011612, 0.10000000149011612, 0, 1) ) + uniform token[] xformOpOrder = ["xformOp:transform"] + } + + def Capsule "aux_3_geom" + { + uniform token axis = "X" + float3[] extent = [(-0.22142136, -0.08, -0.08), (0.22142136, 0.08, 0.08)] + double height = 0.2828427255153656 + color3f[] primvars:displayColor = [(0.97, 0.38, 0.06)] + double radius = 0.07999999821186066 + matrix4d xformOp:transform = ( (-0.7071066765757053, -0.7071067480216797, 0, 0), (0.7071067480216797, -0.7071066765757053, 0, 0), (0, 0, 1, 0), (-0.10000000149011612, -0.10000000149011612, 0, 1) ) + uniform token[] xformOpOrder = ["xformOp:transform"] + } + + def Capsule "aux_4_geom" + { + uniform token axis = "X" + float3[] extent = [(-0.22142136, -0.08, -0.08), (0.22142136, 0.08, 0.08)] + double height = 0.2828427255153656 + color3f[] primvars:displayColor = [(0.97, 0.38, 0.06)] + double radius = 0.07999999821186066 + matrix4d xformOp:transform = ( (0.7071067450934194, -0.7071068030891894, 0, 0), (0.7071068030891894, 0.7071067450934194, 0, 0), (0, 0, 1, 0), (0.10000000149011612, -0.10000000149011612, 0, 1) ) + uniform token[] xformOpOrder = ["xformOp:transform"] + } +} + +over "Flattened_Prototype_24" +{ + def Capsule "left_leg_geom" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token axis = "X" + float3[] extent = [(-0.22142136, -0.08, -0.08), (0.22142136, 0.08, 0.08)] + double height = 0.2828427255153656 + uniform token physics:approximation = "convexHull" + float physxCollision:contactOffset = 0.02 + float physxCollision:restOffset = 0 + color3f[] primvars:displayColor = [(0.97, 0.38, 0.06)] + uniform token purpose = "guide" + double radius = 0.07999999821186066 + matrix4d xformOp:transform = ( (0.7071067450934194, 0.7071068030891894, 0, 0), (-0.7071068030891894, 0.7071067450934194, 0, 0), (0, 0, 1, 0), (0.10000000149011612, 0.10000000149011612, 0, 1) ) + uniform token[] xformOpOrder = ["xformOp:transform"] + } +} + +over "Flattened_Prototype_25" +{ + def Capsule "back_leg_geom" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token axis = "X" + float3[] extent = [(-0.22142136, -0.08, -0.08), (0.22142136, 0.08, 0.08)] + double height = 0.2828427255153656 + uniform token physics:approximation = "convexHull" + float physxCollision:contactOffset = 0.02 + float physxCollision:restOffset = 0 + color3f[] primvars:displayColor = [(0.97, 0.38, 0.06)] + uniform token purpose = "guide" + double radius = 0.07999999821186066 + matrix4d xformOp:transform = ( (-0.7071066765757053, -0.7071067480216797, 0, 0), (0.7071067480216797, -0.7071066765757053, 0, 0), (0, 0, 1, 0), (-0.10000000149011612, -0.10000000149011612, 0, 1) ) + uniform token[] xformOpOrder = ["xformOp:transform"] + } +} + +over "Flattened_Prototype_26" +{ + def Capsule "rightback_leg_geom" + { + uniform token axis = "X" + float3[] extent = [(-0.22142136, -0.08, -0.08), (0.22142136, 0.08, 0.08)] + double height = 0.2828427255153656 + color3f[] primvars:displayColor = [(0.97, 0.38, 0.06)] + double radius = 0.07999999821186066 + matrix4d xformOp:transform = ( (0.7071067450934194, -0.7071068030891894, 0, 0), (0.7071068030891894, 0.7071067450934194, 0, 0), (0, 0, 1, 0), (0.10000000149011612, -0.10000000149011612, 0, 1) ) + uniform token[] xformOpOrder = ["xformOp:transform"] + } +} + +over "Flattened_Prototype_27" +{ + def Sphere "torso_geom" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + float3[] extent = [(-0.25, -0.25, -0.25), (0.25, 0.25, 0.25)] + uniform token physics:approximation = "boundingSphere" + float physxCollision:contactOffset = 0.02 + float physxCollision:restOffset = 0 + color3f[] primvars:displayColor = [(0.97, 0.38, 0.06)] + uniform token purpose = "guide" + double radius = 0.25 + matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) ) + uniform token[] xformOpOrder = ["xformOp:transform"] + } + + def Capsule "aux_1_geom" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token axis = "X" + float3[] extent = [(-0.22142136, -0.08, -0.08), (0.22142136, 0.08, 0.08)] + double height = 0.2828427255153656 + uniform token physics:approximation = "convexHull" + float physxCollision:contactOffset = 0.02 + float physxCollision:restOffset = 0 + color3f[] primvars:displayColor = [(0.97, 0.38, 0.06)] + uniform token purpose = "guide" + double radius = 0.07999999821186066 + matrix4d xformOp:transform = ( (0.7071067450934194, 0.7071068030891894, 0, 0), (-0.7071068030891894, 0.7071067450934194, 0, 0), (0, 0, 1, 0), (0.10000000149011612, 0.10000000149011612, 0, 1) ) + uniform token[] xformOpOrder = ["xformOp:transform"] + } + + def Capsule "aux_2_geom" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token axis = "X" + float3[] extent = [(-0.22142136, -0.08, -0.08), (0.22142136, 0.08, 0.08)] + double height = 0.2828427255153656 + uniform token physics:approximation = "convexHull" + float physxCollision:contactOffset = 0.02 + float physxCollision:restOffset = 0 + color3f[] primvars:displayColor = [(0.97, 0.38, 0.06)] + uniform token purpose = "guide" + double radius = 0.07999999821186066 + matrix4d xformOp:transform = ( (-0.7071066765757053, 0.7071067480216797, 0, 0), (-0.7071067480216797, -0.7071066765757053, 0, 0), (0, 0, 1, 0), (-0.10000000149011612, 0.10000000149011612, 0, 1) ) + uniform token[] xformOpOrder = ["xformOp:transform"] + } + + def Capsule "aux_3_geom" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token axis = "X" + float3[] extent = [(-0.22142136, -0.08, -0.08), (0.22142136, 0.08, 0.08)] + double height = 0.2828427255153656 + uniform token physics:approximation = "convexHull" + float physxCollision:contactOffset = 0.02 + float physxCollision:restOffset = 0 + color3f[] primvars:displayColor = [(0.97, 0.38, 0.06)] + uniform token purpose = "guide" + double radius = 0.07999999821186066 + matrix4d xformOp:transform = ( (-0.7071066765757053, -0.7071067480216797, 0, 0), (0.7071067480216797, -0.7071066765757053, 0, 0), (0, 0, 1, 0), (-0.10000000149011612, -0.10000000149011612, 0, 1) ) + uniform token[] xformOpOrder = ["xformOp:transform"] + } + + def Capsule "aux_4_geom" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token axis = "X" + float3[] extent = [(-0.22142136, -0.08, -0.08), (0.22142136, 0.08, 0.08)] + double height = 0.2828427255153656 + uniform token physics:approximation = "convexHull" + float physxCollision:contactOffset = 0.02 + float physxCollision:restOffset = 0 + color3f[] primvars:displayColor = [(0.97, 0.38, 0.06)] + uniform token purpose = "guide" + double radius = 0.07999999821186066 + matrix4d xformOp:transform = ( (0.7071067450934194, -0.7071068030891894, 0, 0), (0.7071068030891894, 0.7071067450934194, 0, 0), (0, 0, 1, 0), (0.10000000149011612, -0.10000000149011612, 0, 1) ) + uniform token[] xformOpOrder = ["xformOp:transform"] + } +} + +over "Flattened_Prototype_28" +{ + def Capsule "third_ankle_geom" + { + uniform token axis = "X" + float3[] extent = [(-0.36284274, -0.08, -0.08), (0.36284274, 0.08, 0.08)] + double height = 0.5656854510307312 + color3f[] primvars:displayColor = [(0.97, 0.38, 0.06)] + double radius = 0.07999999821186066 + matrix4d xformOp:transform = ( (-0.7071066765757053, -0.7071067480216797, 0, 0), (0.7071067480216797, -0.7071066765757053, 0, 0), (0, 0, 1, 0), (-0.20000000298023224, -0.20000000298023224, 0, 1) ) + uniform token[] xformOpOrder = ["xformOp:transform"] + } +} + +over "Flattened_Prototype_29" +{ + def Capsule "fourth_ankle_geom" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token axis = "X" + float3[] extent = [(-0.36284274, -0.08, -0.08), (0.36284274, 0.08, 0.08)] + double height = 0.5656854510307312 + uniform token physics:approximation = "convexHull" + float physxCollision:contactOffset = 0.02 + float physxCollision:restOffset = 0 + color3f[] primvars:displayColor = [(0.97, 0.38, 0.06)] + uniform token purpose = "guide" + double radius = 0.07999999821186066 + matrix4d xformOp:transform = ( (0.7071067450934194, -0.7071068030891894, 0, 0), (0.7071068030891894, 0.7071067450934194, 0, 0), (0, 0, 1, 0), (0.20000000298023224, -0.20000000298023224, 0, 1) ) + uniform token[] xformOpOrder = ["xformOp:transform"] + } +} + +over "Flattened_Prototype_30" +{ + def Capsule "right_ankle_geom" + { + uniform token axis = "X" + float3[] extent = [(-0.36284274, -0.08, -0.08), (0.36284274, 0.08, 0.08)] + double height = 0.5656854510307312 + color3f[] primvars:displayColor = [(0.97, 0.38, 0.06)] + double radius = 0.07999999821186066 + matrix4d xformOp:transform = ( (-0.7071066765757053, 0.7071067480216797, 0, 0), (-0.7071067480216797, -0.7071066765757053, 0, 0), (0, 0, 1, 0), (-0.20000000298023224, 0.20000000298023224, 0, 1) ) + uniform token[] xformOpOrder = ["xformOp:transform"] + } +} + +over "Flattened_Prototype_31" +{ + def Capsule "left_ankle_geom" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token axis = "X" + float3[] extent = [(-0.36284274, -0.08, -0.08), (0.36284274, 0.08, 0.08)] + double height = 0.5656854510307312 + uniform token physics:approximation = "convexHull" + float physxCollision:contactOffset = 0.02 + float physxCollision:restOffset = 0 + color3f[] primvars:displayColor = [(0.97, 0.38, 0.06)] + uniform token purpose = "guide" + double radius = 0.07999999821186066 + matrix4d xformOp:transform = ( (0.7071067450934194, 0.7071068030891894, 0, 0), (-0.7071068030891894, 0.7071067450934194, 0, 0), (0, 0, 1, 0), (0.20000000298023224, 0.20000000298023224, 0, 1) ) + uniform token[] xformOpOrder = ["xformOp:transform"] + } +} + +over "Flattened_Prototype_32" +{ + def Capsule "left_leg_geom" + { + uniform token axis = "X" + float3[] extent = [(-0.22142136, -0.08, -0.08), (0.22142136, 0.08, 0.08)] + double height = 0.2828427255153656 + color3f[] primvars:displayColor = [(0.97, 0.38, 0.06)] + double radius = 0.07999999821186066 + matrix4d xformOp:transform = ( (0.7071067450934194, 0.7071068030891894, 0, 0), (-0.7071068030891894, 0.7071067450934194, 0, 0), (0, 0, 1, 0), (0.10000000149011612, 0.10000000149011612, 0, 1) ) + uniform token[] xformOpOrder = ["xformOp:transform"] + } +} + +over "Flattened_Prototype_33" +{ + def Capsule "third_ankle_geom" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token axis = "X" + float3[] extent = [(-0.36284274, -0.08, -0.08), (0.36284274, 0.08, 0.08)] + double height = 0.5656854510307312 + uniform token physics:approximation = "convexHull" + float physxCollision:contactOffset = 0.02 + float physxCollision:restOffset = 0 + color3f[] primvars:displayColor = [(0.97, 0.38, 0.06)] + uniform token purpose = "guide" + double radius = 0.07999999821186066 + matrix4d xformOp:transform = ( (-0.7071066765757053, -0.7071067480216797, 0, 0), (0.7071067480216797, -0.7071066765757053, 0, 0), (0, 0, 1, 0), (-0.20000000298023224, -0.20000000298023224, 0, 1) ) + uniform token[] xformOpOrder = ["xformOp:transform"] + } +} + +over "Flattened_Prototype_34" +{ + def Capsule "left_ankle_geom" + { + uniform token axis = "X" + float3[] extent = [(-0.36284274, -0.08, -0.08), (0.36284274, 0.08, 0.08)] + double height = 0.5656854510307312 + color3f[] primvars:displayColor = [(0.97, 0.38, 0.06)] + double radius = 0.07999999821186066 + matrix4d xformOp:transform = ( (0.7071067450934194, 0.7071068030891894, 0, 0), (-0.7071068030891894, 0.7071067450934194, 0, 0), (0, 0, 1, 0), (0.20000000298023224, 0.20000000298023224, 0, 1) ) + uniform token[] xformOpOrder = ["xformOp:transform"] + } +} + +over "Flattened_Prototype_35" +{ + def Capsule "right_leg_geom" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token axis = "X" + float3[] extent = [(-0.22142136, -0.08, -0.08), (0.22142136, 0.08, 0.08)] + double height = 0.2828427255153656 + uniform token physics:approximation = "convexHull" + float physxCollision:contactOffset = 0.02 + float physxCollision:restOffset = 0 + color3f[] primvars:displayColor = [(0.97, 0.38, 0.06)] + uniform token purpose = "guide" + double radius = 0.07999999821186066 + matrix4d xformOp:transform = ( (-0.7071066765757053, 0.7071067480216797, 0, 0), (-0.7071067480216797, -0.7071066765757053, 0, 0), (0, 0, 1, 0), (-0.10000000149011612, 0.10000000149011612, 0, 1) ) + uniform token[] xformOpOrder = ["xformOp:transform"] + } +} + +over "Flattened_Prototype_36" +{ + def Capsule "right_ankle_geom" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token axis = "X" + float3[] extent = [(-0.36284274, -0.08, -0.08), (0.36284274, 0.08, 0.08)] + double height = 0.5656854510307312 + uniform token physics:approximation = "convexHull" + float physxCollision:contactOffset = 0.02 + float physxCollision:restOffset = 0 + color3f[] primvars:displayColor = [(0.97, 0.38, 0.06)] + uniform token purpose = "guide" + double radius = 0.07999999821186066 + matrix4d xformOp:transform = ( (-0.7071066765757053, 0.7071067480216797, 0, 0), (-0.7071067480216797, -0.7071066765757053, 0, 0), (0, 0, 1, 0), (-0.20000000298023224, 0.20000000298023224, 0, 1) ) + uniform token[] xformOpOrder = ["xformOp:transform"] + } +} + +over "Flattened_Prototype_1" +{ + def Capsule "left_ankle_geom" + { + uniform token axis = "X" + float3[] extent = [(-0.36284274, -0.08, -0.08), (0.36284274, 0.08, 0.08)] + double height = 0.5656854510307312 + color3f[] primvars:displayColor = [(0.97, 0.38, 0.06)] + double radius = 0.07999999821186066 + matrix4d xformOp:transform = ( (0.7071067450934194, 0.7071068030891894, 0, 0), (-0.7071068030891894, 0.7071067450934194, 0, 0), (0, 0, 1, 0), (0.20000000298023224, 0.20000000298023224, 0, 1) ) + uniform token[] xformOpOrder = ["xformOp:transform"] + } +} + +over "Flattened_Prototype_2" +{ + def Capsule "left_leg_geom" + { + uniform token axis = "X" + float3[] extent = [(-0.22142136, -0.08, -0.08), (0.22142136, 0.08, 0.08)] + double height = 0.2828427255153656 + color3f[] primvars:displayColor = [(0.97, 0.38, 0.06)] + double radius = 0.07999999821186066 + matrix4d xformOp:transform = ( (0.7071067450934194, 0.7071068030891894, 0, 0), (-0.7071068030891894, 0.7071067450934194, 0, 0), (0, 0, 1, 0), (0.10000000149011612, 0.10000000149011612, 0, 1) ) + uniform token[] xformOpOrder = ["xformOp:transform"] + } +} + +over "Flattened_Prototype_3" +{ + def Capsule "right_leg_geom" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token axis = "X" + float3[] extent = [(-0.22142136, -0.08, -0.08), (0.22142136, 0.08, 0.08)] + double height = 0.2828427255153656 + uniform token physics:approximation = "convexHull" + float physxCollision:contactOffset = 0.02 + float physxCollision:restOffset = 0 + color3f[] primvars:displayColor = [(0.97, 0.38, 0.06)] + uniform token purpose = "guide" + double radius = 0.07999999821186066 + matrix4d xformOp:transform = ( (-0.7071066765757053, 0.7071067480216797, 0, 0), (-0.7071067480216797, -0.7071066765757053, 0, 0), (0, 0, 1, 0), (-0.10000000149011612, 0.10000000149011612, 0, 1) ) + uniform token[] xformOpOrder = ["xformOp:transform"] + } +} + +over "Flattened_Prototype_4" +{ + def Capsule "back_leg_geom" + { + uniform token axis = "X" + float3[] extent = [(-0.22142136, -0.08, -0.08), (0.22142136, 0.08, 0.08)] + double height = 0.2828427255153656 + color3f[] primvars:displayColor = [(0.97, 0.38, 0.06)] + double radius = 0.07999999821186066 + matrix4d xformOp:transform = ( (-0.7071066765757053, -0.7071067480216797, 0, 0), (0.7071067480216797, -0.7071066765757053, 0, 0), (0, 0, 1, 0), (-0.10000000149011612, -0.10000000149011612, 0, 1) ) + uniform token[] xformOpOrder = ["xformOp:transform"] + } +} + +over "Flattened_Prototype_5" +{ + def Sphere "torso_geom" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + float3[] extent = [(-0.25, -0.25, -0.25), (0.25, 0.25, 0.25)] + uniform token physics:approximation = "boundingSphere" + float physxCollision:contactOffset = 0.02 + float physxCollision:restOffset = 0 + color3f[] primvars:displayColor = [(0.97, 0.38, 0.06)] + uniform token purpose = "guide" + double radius = 0.25 + matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) ) + uniform token[] xformOpOrder = ["xformOp:transform"] + } + + def Capsule "aux_1_geom" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token axis = "X" + float3[] extent = [(-0.22142136, -0.08, -0.08), (0.22142136, 0.08, 0.08)] + double height = 0.2828427255153656 + uniform token physics:approximation = "convexHull" + float physxCollision:contactOffset = 0.02 + float physxCollision:restOffset = 0 + color3f[] primvars:displayColor = [(0.97, 0.38, 0.06)] + uniform token purpose = "guide" + double radius = 0.07999999821186066 + matrix4d xformOp:transform = ( (0.7071067450934194, 0.7071068030891894, 0, 0), (-0.7071068030891894, 0.7071067450934194, 0, 0), (0, 0, 1, 0), (0.10000000149011612, 0.10000000149011612, 0, 1) ) + uniform token[] xformOpOrder = ["xformOp:transform"] + } + + def Capsule "aux_2_geom" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token axis = "X" + float3[] extent = [(-0.22142136, -0.08, -0.08), (0.22142136, 0.08, 0.08)] + double height = 0.2828427255153656 + uniform token physics:approximation = "convexHull" + float physxCollision:contactOffset = 0.02 + float physxCollision:restOffset = 0 + color3f[] primvars:displayColor = [(0.97, 0.38, 0.06)] + uniform token purpose = "guide" + double radius = 0.07999999821186066 + matrix4d xformOp:transform = ( (-0.7071066765757053, 0.7071067480216797, 0, 0), (-0.7071067480216797, -0.7071066765757053, 0, 0), (0, 0, 1, 0), (-0.10000000149011612, 0.10000000149011612, 0, 1) ) + uniform token[] xformOpOrder = ["xformOp:transform"] + } + + def Capsule "aux_3_geom" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token axis = "X" + float3[] extent = [(-0.22142136, -0.08, -0.08), (0.22142136, 0.08, 0.08)] + double height = 0.2828427255153656 + uniform token physics:approximation = "convexHull" + float physxCollision:contactOffset = 0.02 + float physxCollision:restOffset = 0 + color3f[] primvars:displayColor = [(0.97, 0.38, 0.06)] + uniform token purpose = "guide" + double radius = 0.07999999821186066 + matrix4d xformOp:transform = ( (-0.7071066765757053, -0.7071067480216797, 0, 0), (0.7071067480216797, -0.7071066765757053, 0, 0), (0, 0, 1, 0), (-0.10000000149011612, -0.10000000149011612, 0, 1) ) + uniform token[] xformOpOrder = ["xformOp:transform"] + } + + def Capsule "aux_4_geom" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token axis = "X" + float3[] extent = [(-0.22142136, -0.08, -0.08), (0.22142136, 0.08, 0.08)] + double height = 0.2828427255153656 + uniform token physics:approximation = "convexHull" + float physxCollision:contactOffset = 0.02 + float physxCollision:restOffset = 0 + color3f[] primvars:displayColor = [(0.97, 0.38, 0.06)] + uniform token purpose = "guide" + double radius = 0.07999999821186066 + matrix4d xformOp:transform = ( (0.7071067450934194, -0.7071068030891894, 0, 0), (0.7071068030891894, 0.7071067450934194, 0, 0), (0, 0, 1, 0), (0.10000000149011612, -0.10000000149011612, 0, 1) ) + uniform token[] xformOpOrder = ["xformOp:transform"] + } +} + +over "Flattened_Prototype_6" +{ + def Capsule "left_leg_geom" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token axis = "X" + float3[] extent = [(-0.22142136, -0.08, -0.08), (0.22142136, 0.08, 0.08)] + double height = 0.2828427255153656 + uniform token physics:approximation = "convexHull" + float physxCollision:contactOffset = 0.02 + float physxCollision:restOffset = 0 + color3f[] primvars:displayColor = [(0.97, 0.38, 0.06)] + uniform token purpose = "guide" + double radius = 0.07999999821186066 + matrix4d xformOp:transform = ( (0.7071067450934194, 0.7071068030891894, 0, 0), (-0.7071068030891894, 0.7071067450934194, 0, 0), (0, 0, 1, 0), (0.10000000149011612, 0.10000000149011612, 0, 1) ) + uniform token[] xformOpOrder = ["xformOp:transform"] + } +} + +over "Flattened_Prototype_7" +{ + def Capsule "back_leg_geom" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token axis = "X" + float3[] extent = [(-0.22142136, -0.08, -0.08), (0.22142136, 0.08, 0.08)] + double height = 0.2828427255153656 + uniform token physics:approximation = "convexHull" + float physxCollision:contactOffset = 0.02 + float physxCollision:restOffset = 0 + color3f[] primvars:displayColor = [(0.97, 0.38, 0.06)] + uniform token purpose = "guide" + double radius = 0.07999999821186066 + matrix4d xformOp:transform = ( (-0.7071066765757053, -0.7071067480216797, 0, 0), (0.7071067480216797, -0.7071066765757053, 0, 0), (0, 0, 1, 0), (-0.10000000149011612, -0.10000000149011612, 0, 1) ) + uniform token[] xformOpOrder = ["xformOp:transform"] + } +} + +over "Flattened_Prototype_8" +{ + def Capsule "third_ankle_geom" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token axis = "X" + float3[] extent = [(-0.36284274, -0.08, -0.08), (0.36284274, 0.08, 0.08)] + double height = 0.5656854510307312 + uniform token physics:approximation = "convexHull" + float physxCollision:contactOffset = 0.02 + float physxCollision:restOffset = 0 + color3f[] primvars:displayColor = [(0.97, 0.38, 0.06)] + uniform token purpose = "guide" + double radius = 0.07999999821186066 + matrix4d xformOp:transform = ( (-0.7071066765757053, -0.7071067480216797, 0, 0), (0.7071067480216797, -0.7071066765757053, 0, 0), (0, 0, 1, 0), (-0.20000000298023224, -0.20000000298023224, 0, 1) ) + uniform token[] xformOpOrder = ["xformOp:transform"] + } +} + +over "Flattened_Prototype_9" +{ + def Capsule "fourth_ankle_geom" + { + uniform token axis = "X" + float3[] extent = [(-0.36284274, -0.08, -0.08), (0.36284274, 0.08, 0.08)] + double height = 0.5656854510307312 + color3f[] primvars:displayColor = [(0.97, 0.38, 0.06)] + double radius = 0.07999999821186066 + matrix4d xformOp:transform = ( (0.7071067450934194, -0.7071068030891894, 0, 0), (0.7071068030891894, 0.7071067450934194, 0, 0), (0, 0, 1, 0), (0.20000000298023224, -0.20000000298023224, 0, 1) ) + uniform token[] xformOpOrder = ["xformOp:transform"] + } +} + +over "Flattened_Prototype_10" +{ + def Capsule "right_ankle_geom" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token axis = "X" + float3[] extent = [(-0.36284274, -0.08, -0.08), (0.36284274, 0.08, 0.08)] + double height = 0.5656854510307312 + uniform token physics:approximation = "convexHull" + float physxCollision:contactOffset = 0.02 + float physxCollision:restOffset = 0 + color3f[] primvars:displayColor = [(0.97, 0.38, 0.06)] + uniform token purpose = "guide" + double radius = 0.07999999821186066 + matrix4d xformOp:transform = ( (-0.7071066765757053, 0.7071067480216797, 0, 0), (-0.7071067480216797, -0.7071066765757053, 0, 0), (0, 0, 1, 0), (-0.20000000298023224, 0.20000000298023224, 0, 1) ) + uniform token[] xformOpOrder = ["xformOp:transform"] + } +} + +over "Flattened_Prototype_11" +{ + def Sphere "torso_geom" + { + float3[] extent = [(-0.25, -0.25, -0.25), (0.25, 0.25, 0.25)] + color3f[] primvars:displayColor = [(0.97, 0.38, 0.06)] + double radius = 0.25 + matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) ) + uniform token[] xformOpOrder = ["xformOp:transform"] + } + + def Capsule "aux_1_geom" + { + uniform token axis = "X" + float3[] extent = [(-0.22142136, -0.08, -0.08), (0.22142136, 0.08, 0.08)] + double height = 0.2828427255153656 + color3f[] primvars:displayColor = [(0.97, 0.38, 0.06)] + double radius = 0.07999999821186066 + matrix4d xformOp:transform = ( (0.7071067450934194, 0.7071068030891894, 0, 0), (-0.7071068030891894, 0.7071067450934194, 0, 0), (0, 0, 1, 0), (0.10000000149011612, 0.10000000149011612, 0, 1) ) + uniform token[] xformOpOrder = ["xformOp:transform"] + } + + def Capsule "aux_2_geom" + { + uniform token axis = "X" + float3[] extent = [(-0.22142136, -0.08, -0.08), (0.22142136, 0.08, 0.08)] + double height = 0.2828427255153656 + color3f[] primvars:displayColor = [(0.97, 0.38, 0.06)] + double radius = 0.07999999821186066 + matrix4d xformOp:transform = ( (-0.7071066765757053, 0.7071067480216797, 0, 0), (-0.7071067480216797, -0.7071066765757053, 0, 0), (0, 0, 1, 0), (-0.10000000149011612, 0.10000000149011612, 0, 1) ) + uniform token[] xformOpOrder = ["xformOp:transform"] + } + + def Capsule "aux_3_geom" + { + uniform token axis = "X" + float3[] extent = [(-0.22142136, -0.08, -0.08), (0.22142136, 0.08, 0.08)] + double height = 0.2828427255153656 + color3f[] primvars:displayColor = [(0.97, 0.38, 0.06)] + double radius = 0.07999999821186066 + matrix4d xformOp:transform = ( (-0.7071066765757053, -0.7071067480216797, 0, 0), (0.7071067480216797, -0.7071066765757053, 0, 0), (0, 0, 1, 0), (-0.10000000149011612, -0.10000000149011612, 0, 1) ) + uniform token[] xformOpOrder = ["xformOp:transform"] + } + + def Capsule "aux_4_geom" + { + uniform token axis = "X" + float3[] extent = [(-0.22142136, -0.08, -0.08), (0.22142136, 0.08, 0.08)] + double height = 0.2828427255153656 + color3f[] primvars:displayColor = [(0.97, 0.38, 0.06)] + double radius = 0.07999999821186066 + matrix4d xformOp:transform = ( (0.7071067450934194, -0.7071068030891894, 0, 0), (0.7071068030891894, 0.7071067450934194, 0, 0), (0, 0, 1, 0), (0.10000000149011612, -0.10000000149011612, 0, 1) ) + uniform token[] xformOpOrder = ["xformOp:transform"] + } +} + +over "Flattened_Prototype_12" +{ + def Capsule "left_ankle_geom" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token axis = "X" + float3[] extent = [(-0.36284274, -0.08, -0.08), (0.36284274, 0.08, 0.08)] + double height = 0.5656854510307312 + uniform token physics:approximation = "convexHull" + float physxCollision:contactOffset = 0.02 + float physxCollision:restOffset = 0 + color3f[] primvars:displayColor = [(0.97, 0.38, 0.06)] + uniform token purpose = "guide" + double radius = 0.07999999821186066 + matrix4d xformOp:transform = ( (0.7071067450934194, 0.7071068030891894, 0, 0), (-0.7071068030891894, 0.7071067450934194, 0, 0), (0, 0, 1, 0), (0.20000000298023224, 0.20000000298023224, 0, 1) ) + uniform token[] xformOpOrder = ["xformOp:transform"] + } +} + +over "Flattened_Prototype_13" +{ + def Capsule "rightback_leg_geom" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token axis = "X" + float3[] extent = [(-0.22142136, -0.08, -0.08), (0.22142136, 0.08, 0.08)] + double height = 0.2828427255153656 + uniform token physics:approximation = "convexHull" + float physxCollision:contactOffset = 0.02 + float physxCollision:restOffset = 0 + color3f[] primvars:displayColor = [(0.97, 0.38, 0.06)] + uniform token purpose = "guide" + double radius = 0.07999999821186066 + matrix4d xformOp:transform = ( (0.7071067450934194, -0.7071068030891894, 0, 0), (0.7071068030891894, 0.7071067450934194, 0, 0), (0, 0, 1, 0), (0.10000000149011612, -0.10000000149011612, 0, 1) ) + uniform token[] xformOpOrder = ["xformOp:transform"] + } +} + +over "Flattened_Prototype_14" +{ + def Capsule "right_ankle_geom" + { + uniform token axis = "X" + float3[] extent = [(-0.36284274, -0.08, -0.08), (0.36284274, 0.08, 0.08)] + double height = 0.5656854510307312 + color3f[] primvars:displayColor = [(0.97, 0.38, 0.06)] + double radius = 0.07999999821186066 + matrix4d xformOp:transform = ( (-0.7071066765757053, 0.7071067480216797, 0, 0), (-0.7071067480216797, -0.7071066765757053, 0, 0), (0, 0, 1, 0), (-0.20000000298023224, 0.20000000298023224, 0, 1) ) + uniform token[] xformOpOrder = ["xformOp:transform"] + } +} + +over "Flattened_Prototype_15" +{ + def Capsule "fourth_ankle_geom" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + uniform token axis = "X" + float3[] extent = [(-0.36284274, -0.08, -0.08), (0.36284274, 0.08, 0.08)] + double height = 0.5656854510307312 + uniform token physics:approximation = "convexHull" + float physxCollision:contactOffset = 0.02 + float physxCollision:restOffset = 0 + color3f[] primvars:displayColor = [(0.97, 0.38, 0.06)] + uniform token purpose = "guide" + double radius = 0.07999999821186066 + matrix4d xformOp:transform = ( (0.7071067450934194, -0.7071068030891894, 0, 0), (0.7071068030891894, 0.7071067450934194, 0, 0), (0, 0, 1, 0), (0.20000000298023224, -0.20000000298023224, 0, 1) ) + uniform token[] xformOpOrder = ["xformOp:transform"] + } +} + +over "Flattened_Prototype_16" +{ + def Capsule "right_leg_geom" + { + uniform token axis = "X" + float3[] extent = [(-0.22142136, -0.08, -0.08), (0.22142136, 0.08, 0.08)] + double height = 0.2828427255153656 + color3f[] primvars:displayColor = [(0.97, 0.38, 0.06)] + double radius = 0.07999999821186066 + matrix4d xformOp:transform = ( (-0.7071066765757053, 0.7071067480216797, 0, 0), (-0.7071067480216797, -0.7071066765757053, 0, 0), (0, 0, 1, 0), (-0.10000000149011612, 0.10000000149011612, 0, 1) ) + uniform token[] xformOpOrder = ["xformOp:transform"] + } +} + +over "Flattened_Prototype_17" +{ + def Capsule "rightback_leg_geom" + { + uniform token axis = "X" + float3[] extent = [(-0.22142136, -0.08, -0.08), (0.22142136, 0.08, 0.08)] + double height = 0.2828427255153656 + color3f[] primvars:displayColor = [(0.97, 0.38, 0.06)] + double radius = 0.07999999821186066 + matrix4d xformOp:transform = ( (0.7071067450934194, -0.7071068030891894, 0, 0), (0.7071068030891894, 0.7071067450934194, 0, 0), (0, 0, 1, 0), (0.10000000149011612, -0.10000000149011612, 0, 1) ) + uniform token[] xformOpOrder = ["xformOp:transform"] + } +} + +over "Flattened_Prototype_18" +{ + def Capsule "third_ankle_geom" + { + uniform token axis = "X" + float3[] extent = [(-0.36284274, -0.08, -0.08), (0.36284274, 0.08, 0.08)] + double height = 0.5656854510307312 + color3f[] primvars:displayColor = [(0.97, 0.38, 0.06)] + double radius = 0.07999999821186066 + matrix4d xformOp:transform = ( (-0.7071066765757053, -0.7071067480216797, 0, 0), (0.7071067480216797, -0.7071066765757053, 0, 0), (0, 0, 1, 0), (-0.20000000298023224, -0.20000000298023224, 0, 1) ) + uniform token[] xformOpOrder = ["xformOp:transform"] + } +} + +over "Render" ( + hide_in_stage_window = true +) +{ +} + +def Xform "World" +{ + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "envs" + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "env_0" + { + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Xform "Robot" ( + apiSchemas = None + ) + { + float3 xformOp:rotateXYZ = (0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 1) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateXYZ", "xformOp:scale"] + + def Xform "torso" ( + apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsArticulationRootAPI", "PhysxArticulationAPI"] + ) + { + vector3f physics:angularVelocity = (0, 0, 0) + float physics:density = 5 + vector3f physics:velocity = (0, 0, 0) + + def "collisions" ( + instanceable = true + add references = + ) + { + } + + def "visuals" ( + instanceable = true + add references = + ) + { + } + } + + def Xform "front_left_leg" ( + apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + vector3f physics:angularVelocity = (0, 0, 0) + float physics:density = 5 + vector3f physics:velocity = (0, 0, 0) + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + float3 xformOp:translate = (0.19999999, 0.2, 7.450581e-9) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def "collisions" ( + instanceable = true + add references = + ) + { + } + + def "visuals" ( + instanceable = true + add references = + ) + { + } + } + + def "joints" + { + def PhysicsRevoluteJoint "front_left_leg" ( + apiSchemas = ["PhysxLimitAPI:angular", "PhysxJointAPI"] + ) + { + uniform token physics:axis = "X" + rel physics:body0 = + rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0.2, 0.2, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.7071068, 0, -0.7071068, 0) + quatf physics:localRot1 = (0.7071068, 0, -0.7071068, 0) + float physics:lowerLimit = -40 + float physics:upperLimit = 40 + float physxJoint:armature = 0.01 + float physxLimit:angular:damping = 0.1 ( + allowedTokens = [] + ) + } + + def PhysicsRevoluteJoint "front_left_foot" ( + apiSchemas = ["PhysxLimitAPI:angular", "PhysxJointAPI"] + ) + { + uniform token physics:axis = "X" + rel physics:body0 = + rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0.2, 0.2, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.38268334, 0, 0, 0.9238796) + quatf physics:localRot1 = (0.38268334, 0, 0, 0.9238796) + float physics:lowerLimit = 30 + float physics:upperLimit = 100 + float physxJoint:armature = 0.01 + float physxLimit:angular:damping = 0.1 ( + allowedTokens = [] + ) + } + + def PhysicsRevoluteJoint "front_right_leg" ( + apiSchemas = ["PhysxLimitAPI:angular", "PhysxJointAPI"] + ) + { + uniform token physics:axis = "X" + rel physics:body0 = + rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (-0.2, 0.2, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.7071068, 0, -0.7071068, 0) + quatf physics:localRot1 = (0.7071068, 0, -0.7071068, 0) + float physics:lowerLimit = -40 + float physics:upperLimit = 40 + float physxJoint:armature = 0.01 + float physxLimit:angular:damping = 0.1 ( + allowedTokens = [] + ) + } + + def PhysicsRevoluteJoint "front_right_foot" ( + apiSchemas = ["PhysxLimitAPI:angular", "PhysxJointAPI"] + ) + { + uniform token physics:axis = "X" + rel physics:body0 = + rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (-0.2, 0.2, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.92387956, 0, 0, 0.38268346) + quatf physics:localRot1 = (0.92387956, 0, 0, 0.38268346) + float physics:lowerLimit = -100 + float physics:upperLimit = -30 + float physxJoint:armature = 0.01 + float physxLimit:angular:damping = 0.1 ( + allowedTokens = [] + ) + } + + def PhysicsRevoluteJoint "left_back_leg" ( + apiSchemas = ["PhysxLimitAPI:angular", "PhysxJointAPI"] + ) + { + uniform token physics:axis = "X" + rel physics:body0 = + rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (-0.2, -0.2, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.7071068, 0, -0.7071068, 0) + quatf physics:localRot1 = (0.7071068, 0, -0.7071068, 0) + float physics:lowerLimit = -40 + float physics:upperLimit = 40 + float physxJoint:armature = 0.01 + float physxLimit:angular:damping = 0.1 ( + allowedTokens = [] + ) + } + + def PhysicsRevoluteJoint "left_back_foot" ( + apiSchemas = ["PhysxLimitAPI:angular", "PhysxJointAPI"] + ) + { + uniform token physics:axis = "X" + rel physics:body0 = + rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (-0.2, -0.2, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.38268334, 0, 0, 0.9238796) + quatf physics:localRot1 = (0.38268334, 0, 0, 0.9238796) + float physics:lowerLimit = -100 + float physics:upperLimit = -30 + float physxJoint:armature = 0.01 + float physxLimit:angular:damping = 0.1 ( + allowedTokens = [] + ) + } + + def PhysicsRevoluteJoint "right_back_leg" ( + apiSchemas = ["PhysxLimitAPI:angular", "PhysxJointAPI"] + ) + { + uniform token physics:axis = "X" + rel physics:body0 = + rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0.2, -0.2, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.7071068, 0, -0.7071068, 0) + quatf physics:localRot1 = (0.7071068, 0, -0.7071068, 0) + float physics:lowerLimit = -40 + float physics:upperLimit = 40 + float physxJoint:armature = 0.01 + float physxLimit:angular:damping = 0.1 ( + allowedTokens = [] + ) + } + + def PhysicsRevoluteJoint "right_back_foot" ( + apiSchemas = ["PhysxLimitAPI:angular", "PhysxJointAPI"] + ) + { + uniform token physics:axis = "X" + rel physics:body0 = + rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0.2, -0.2, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (0.92387956, 0, 0, 0.38268346) + quatf physics:localRot1 = (0.92387956, 0, 0, 0.38268346) + float physics:lowerLimit = 30 + float physics:upperLimit = 100 + float physxJoint:armature = 0.01 + float physxLimit:angular:damping = 0.1 ( + allowedTokens = [] + ) + } + } + + def Xform "front_left_foot" ( + apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysxArticulationForceSensorAPI"] + ) + { + vector3f physics:angularVelocity = (0, 0, 0) + float physics:density = 5 + vector3f physics:velocity = (0, 0, 0) + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + float3 xformOp:translate = (0.39999995, 0.39999998, 4.4703484e-8) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def "collisions" ( + instanceable = true + add references = + ) + { + } + + def "visuals" ( + instanceable = true + add references = + ) + { + } + } + + def Xform "front_right_leg" ( + apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + vector3f physics:angularVelocity = (0, 0, 0) + float physics:density = 5 + vector3f physics:velocity = (0, 0, 0) + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + float3 xformOp:translate = (-0.20000002, 0.20000002, 1.4901161e-8) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def "collisions" ( + instanceable = true + add references = + ) + { + } + + def "visuals" ( + instanceable = true + add references = + ) + { + } + } + + def Xform "front_right_foot" ( + apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysxArticulationForceSensorAPI"] + ) + { + vector3f physics:angularVelocity = (0, 0, 0) + float physics:density = 5 + vector3f physics:velocity = (0, 0, 0) + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + float3 xformOp:translate = (-0.39999998, 0.39999998, -4.4703484e-8) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def "collisions" ( + instanceable = true + add references = + ) + { + } + + def "visuals" ( + instanceable = true + add references = + ) + { + } + } + + def Xform "left_back_leg" ( + apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + vector3f physics:angularVelocity = (0, 0, 0) + float physics:density = 5 + vector3f physics:velocity = (0, 0, 0) + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + float3 xformOp:translate = (-0.20000002, -0.20000002, 1.4901161e-8) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def "collisions" ( + instanceable = true + add references = + ) + { + } + + def "visuals" ( + instanceable = true + add references = + ) + { + } + } + + def Xform "left_back_foot" ( + apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysxArticulationForceSensorAPI"] + ) + { + vector3f physics:angularVelocity = (0, 0, 0) + float physics:density = 5 + vector3f physics:velocity = (0, 0, 0) + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + float3 xformOp:translate = (-0.39999998, -0.39999998, -4.4703484e-8) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def "collisions" ( + instanceable = true + add references = + ) + { + } + + def "visuals" ( + instanceable = true + add references = + ) + { + } + } + + def Xform "right_back_leg" ( + apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + vector3f physics:angularVelocity = (0, 0, 0) + float physics:density = 5 + vector3f physics:velocity = (0, 0, 0) + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + float3 xformOp:translate = (0.19999999, -0.2, 7.450581e-9) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def "collisions" ( + instanceable = true + add references = + ) + { + } + + def "visuals" ( + instanceable = true + add references = + ) + { + } + } + + def Xform "right_back_foot" ( + apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysxArticulationForceSensorAPI"] + ) + { + vector3f physics:angularVelocity = (0, 0, 0) + float physics:density = 5 + vector3f physics:velocity = (0, 0, 0) + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + float3 xformOp:translate = (0.39999995, -0.39999998, 4.4703484e-8) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def "collisions" ( + instanceable = true + add references = + ) + { + } + + def "visuals" ( + instanceable = true + add references = + ) + { + } + } + } + } + } + + def Xform "ground" ( + kind = "component" + ) + { + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate"] + + def Scope "Looks" ( + kind = "" + ) + { + def Material "theGrid" + { + token outputs:mdl:displacement.connect = + token outputs:mdl:surface.connect = + token outputs:mdl:volume.connect = + + def Shader "Shader" + { + uniform token info:implementationSource = "sourceAsset" + uniform asset info:mdl:sourceAsset = @OmniPBR.mdl@ + uniform token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + float inputs:albedo_add = 0 ( + customData = { + float default = 0 + dictionary soft_range = { + float max = 1 + float min = -1 + } + } + displayGroup = "Albedo" + displayName = "Albedo Add" + doc = "Adds a constant value to the diffuse color " + hidden = false + ) + color3f inputs:diffuse_color_constant = (0.2, 0.2, 0.2) ( + customData = { + float3 default = (0.2, 0.2, 0.2) + } + displayGroup = "Albedo" + displayName = "Albedo Color" + doc = "This is the albedo base color" + hidden = false + renderType = "color" + ) + asset inputs:diffuse_texture = @https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.5/Isaac/Environments/Grid/Materials/Textures/Wireframe_blue.png@ ( + colorSpace = "auto" + customData = { + asset default = @@ + } + displayGroup = "Albedo" + displayName = "Albedo Map" + hidden = false + renderType = "texture_2d" + ) + color3f inputs:diffuse_tint = (1, 1, 1) ( + customData = { + float3 default = (1, 1, 1) + } + displayGroup = "Albedo" + displayName = "Color Tint" + doc = "When enabled, this color value is multiplied over the final albedo color" + hidden = false + renderType = "color" + ) + color3f inputs:emissive_color = (1, 1, 1) ( + customData = { + float3 default = (1, 0.1, 0.1) + } + displayGroup = "Emissive" + displayName = "Emissive Color" + doc = "The emission color" + hidden = false + renderType = "color" + ) + asset inputs:emissive_color_texture = @https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.5/Isaac/Environments/Grid/Materials/Textures/WireframeBlur_basecolor.png@ ( + colorSpace = "auto" + customData = { + asset default = @@ + } + displayGroup = "Emissive" + displayName = "Emissive Color map" + doc = "The emissive color texture" + hidden = false + renderType = "texture_2d" + ) + float inputs:emissive_intensity = 1000 ( + customData = { + float default = 40 + } + displayGroup = "Emissive" + displayName = "Emissive Intensity" + doc = "Intensity of the emission" + hidden = false + ) + asset inputs:emissive_mask_texture = @https://omniverse-content-production.s3-us-west-2.amazonaws.com/Assets/Isaac/4.5/Isaac/Environments/Grid/Materials/Textures/WireframeBlur_blue.png@ ( + colorSpace = "sRGB" + customData = { + asset default = @@ + } + displayGroup = "Emissive" + displayName = "Emissive Mask map" + doc = "The texture masking the emissive color" + hidden = false + renderType = "texture_2d" + ) + bool inputs:enable_emission = 1 ( + customData = { + bool default = 0 + } + displayGroup = "Emissive" + displayName = "Enable Emission" + doc = "Enables the emission of light from the material" + hidden = false + ) + bool inputs:project_uvw = 1 ( + customData = { + bool default = 0 + } + displayGroup = "UV" + displayName = "Enable Project UVW Coordinates" + doc = "When enabled, UV coordinates will be generated by projecting them from a coordinate system" + hidden = false + ) + float inputs:specular_level = 0.5 ( + customData = { + float default = 0.5 + dictionary soft_range = { + float max = 1 + float min = 0 + } + } + displayGroup = "Reflectivity" + displayName = "Specular" + doc = "The specular level (intensity) of the material" + hidden = false + ) + bool inputs:world_or_object = 1 ( + customData = { + bool default = 0 + } + displayGroup = "UV" + displayName = "Enable World Space" + doc = "When enabled, uses world space for projection, otherwise object space is used" + hidden = false + ) + token outputs:out ( + renderType = "material" + ) + } + } + } + + def Xform "GroundPlane" + { + quatf xformOp:orient = (1, 0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Plane "CollisionPlane" ( + apiSchemas = ["PhysicsCollisionAPI"] + ) + { + uniform token axis = "Z" + uniform token purpose = "guide" + float3 xformOp:scale = (0.01, 0.01, 0.01) + uniform token[] xformOpOrder = ["xformOp:scale"] + } + } + + def SphereLight "SphereLight" ( + apiSchemas = ["ShapingAPI"] + ) + { + float inputs:intensity = 100000 + float inputs:radius = 0.25 + float inputs:shaping:cone:angle = 180 + float intensity = 100000 + float radius = 0.25 + float shaping:cone:angle = 180 + float shaping:cone:softness + float shaping:focus + color3f shaping:focusTint + asset shaping:ies:file + token visibility = "inherited" + quatd xformOp:orient = (0.5000000000000001, 0.5, 0.49999999999999994, 0.5) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 2.5) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def Xform "Environment" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + rel material:binding = ( + bindMaterialAs = "weakerThanDescendants" + ) + token visibility = "inherited" + float3 xformOp:rotateZYX = (0, 0, 0) + float3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:rotateZYX", "xformOp:scale"] + + def Mesh "Geometry" ( + apiSchemas = ["MaterialBindingAPI"] + ) + { + float3[] extent = [(-0.5, -0.5, 0), (0.5, 0.5, 0)] + int[] faceVertexCounts = [4] + int[] faceVertexIndices = [0, 1, 3, 2] + normal3f[] normals = [(0, 0, 1), (0, 0, 1), (0, 0, 1), (0, 0, 1)] ( + interpolation = "faceVarying" + ) + point3f[] points = [(-0.5, -0.5, 0), (0.5, -0.5, 0), (-0.5, 0.5, 0), (0.5, 0.5, 0)] + texCoord2f[] primvars:st = [(0, 0), (1, 0), (1, 1), (0, 1)] ( + interpolation = "faceVarying" + ) + uniform token subdivisionScheme = "none" + token visibility = "inherited" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (100, 100, 1) + double3 xformOp:translate = (-0.425, 0.425, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + } + } +} + diff --git a/newton/examples/example_isaaclab_ant.py b/newton/examples/example_isaaclab_ant.py index e1bc1eed9f..5c71d136fd 100644 --- a/newton/examples/example_isaaclab_ant.py +++ b/newton/examples/example_isaaclab_ant.py @@ -30,7 +30,7 @@ def __init__(self, stage_path="example_ant.usd", num_envs=8): self.num_envs = num_envs builder, stage_info, env_offsets = replicate_environment( - newton.examples.get_asset("ant_prototype.usd"), + newton.examples.get_asset("ant_prototype.usda"), "/World/envs/env_0", "/World/envs/env_{}", num_envs, From f4fe573bbf3f75b7bedba7f4922ced25a4098ca8 Mon Sep 17 00:00:00 2001 From: Lukasz Wawrzyniak Date: Fri, 16 May 2025 16:02:57 -0400 Subject: [PATCH 35/57] Use ground plane from USD in ant example --- newton/examples/example_isaaclab_ant.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/newton/examples/example_isaaclab_ant.py b/newton/examples/example_isaaclab_ant.py index 5c71d136fd..d91a31c944 100644 --- a/newton/examples/example_isaaclab_ant.py +++ b/newton/examples/example_isaaclab_ant.py @@ -44,7 +44,7 @@ def __init__(self, stage_path="example_ant.usd", num_envs=8): # finalize model self.model = builder.finalize() - self.model.ground = True + self.model.ground = False self.solver = newton.solvers.MuJoCoSolver(self.model) From a952a611cf1cef99016087a0c1fca4e1a42c2e1a Mon Sep 17 00:00:00 2001 From: Lukasz Wawrzyniak Date: Fri, 16 May 2025 18:51:20 -0400 Subject: [PATCH 36/57] Support for more builtin attributes --- newton/utils/selection.py | 199 +++++++++++++++++++++++++------------- 1 file changed, 132 insertions(+), 67 deletions(-) diff --git a/newton/utils/selection.py b/newton/utils/selection.py index e813e15431..0d2955dc07 100644 --- a/newton/utils/selection.py +++ b/newton/utils/selection.py @@ -23,6 +23,70 @@ from newton import Control, Model, State +class AttributeRegistry: + def __init__(self): + # builtin attributes grouped by indexing mode + builtin_attribs = { + "joint": { + "joint_type", + "joint_parent", + "joint_child", + "joint_ancestor", + "joint_X_p", + "joint_X_c", + "joint_axis_start", + "joint_axis_dim", + "joint_enabled", + "joint_twist_lower", + "joint_twist_upper", + }, + "joint_coord": { + "joint_q", + }, + "joint_dof": { + "joint_qd", + "joint_f", + "joint_armature", + }, + "joint_axis": { + "joint_target", + "joint_axis", + "joint_target_ke", + "joint_target_kd", + "joint_axis_mode", + "joint_limit_lower", + "joint_limit_upper", + "joint_limit_ke", + "joint_limit_kd", + }, + "body": { + "body_q", + "body_qd", + "body_com", + "body_inertia", + "body_inv_inertia", + "body_mass", + "body_inv_mass", + "body_f", + }, + } + + # map attribute names to indexing groups + self._indexing_map: dict[str: str] = {} + for group, names in builtin_attribs.items(): + for name in names: + self.register_attribute(name, group) + + def register_attribute(self, name: str, group: str): + self._indexing_map[name] = group + + def get_indexing_group(self, attribute_name: str): + return self._indexing_map[attribute_name] + + +attribute_registry = AttributeRegistry() + + @wp.kernel def set_mask_kernel(indices: wp.array(dtype=int), mask: wp.array(dtype=bool)): tid = wp.tid() @@ -163,6 +227,7 @@ def __init__(self, model: Model, pattern: str, include_free_joint=False, env_off if count == 0: raise KeyError("No matching articulations") + # FIXME: avoid this readback? articulation_start = model.articulation_start.numpy() joint_type = model.joint_type.numpy() joint_parent = model.joint_parent.numpy() @@ -172,25 +237,18 @@ def __init__(self, model: Model, pattern: str, include_free_joint=False, env_off joint_q_start = model.joint_q_start.numpy() joint_qd_start = model.joint_qd_start.numpy() - # FIXME: this assumes homogeneous envs with one selected articulation per env + # FIXME: + # - this assumes homogeneous envs with one selected articulation per env + # - we're going to have problems if there are any bodies or joints in the "global" env arti_0 = articulation_ids[0] joint_begin = articulation_start[arti_0] - joint_end = articulation_start[arti_0 + 1] + joint_end = articulation_start[arti_0 + 1] # FIXME: is this always correct? joint_last = joint_end - 1 - # FIXME: is this always correct? - num_joints = joint_end - joint_begin - print(f" num_joints: {num_joints}") - links = {} for joint_id in range(joint_begin, joint_end): - joint_name = model.joint_key[joint_id] - print(f" joint {joint_name}:") - print(f" bodies: {joint_parent[joint_id]} -> {joint_child[joint_id]}") - print(f" axis_start: {joint_axis_start[joint_id]}") - print(f" axis_dim: {joint_axis_dim[joint_id]}") if joint_parent[joint_id] != -1: links[int(joint_parent[joint_id])] = None if joint_child[joint_id] != -1: @@ -198,45 +256,32 @@ def __init__(self, model: Model, pattern: str, include_free_joint=False, env_off links = sorted(links.keys()) num_links = len(links) - print(f" num_links: {num_links}, {links}") - for body_id in links: - print(f" {model.body_key[body_id]}") - self.attrib_shapes = {} - self.attrib_slices = {} + # print stuff for debugging + if True: + print(f"num_joints: {joint_end - joint_begin}") + for joint_id in range(joint_begin, joint_end): + joint_name = model.joint_key[joint_id] + print(f" joint {joint_name}:") + print(f" bodies: {joint_parent[joint_id]} -> {joint_child[joint_id]}") + print(f" axis_start: {joint_axis_start[joint_id]}") + print(f" axis_dim: {joint_axis_dim[joint_id]}") + print(f"num_links: {num_links}, {links}") + for body_id in links: + print(f" {model.body_key[body_id]}") # if the root joint is a free joint, skip it if joint_type[joint_begin] == newton.JOINT_FREE and not include_free_joint: joint_begin += 1 - self.attrib_shapes["joint_q"] = (count, model.joint_q.size // count) - self.attrib_slices["joint_q"] = ( - slice(0, count), - slice(int(joint_q_start[joint_begin]), int(joint_q_start[joint_end])), - ) - self.attrib_shapes["joint_qd"] = (count, model.joint_qd.size // count) - self.attrib_slices["joint_qd"] = ( - slice(0, count), - slice(int(joint_qd_start[joint_begin]), int(joint_qd_start[joint_end])), - ) - + joint_coord_begin = joint_q_start[joint_begin] + joint_coord_end = joint_q_start[joint_end] + joint_dof_begin = joint_qd_start[joint_begin] + joint_dof_end = joint_qd_start[joint_end] joint_axis_begin = joint_axis_start[joint_begin] - # joint_axis_end = joint_axis_start[joint_end] joint_axis_end = joint_axis_start[joint_last] + joint_axis_dim[joint_last][0] + joint_axis_dim[joint_last][1] - self.attrib_shapes["joint_target"] = (count, model.joint_target.size // count) - self.attrib_slices["joint_target"] = (slice(0, count), slice(int(joint_axis_begin), int(joint_axis_end))) - - self.attrib_shapes["joint_limit_lower"] = (count, model.joint_limit_lower.size // count) - self.attrib_slices["joint_limit_lower"] = (slice(0, count), slice(int(joint_axis_begin), int(joint_axis_end))) - self.attrib_shapes["joint_limit_upper"] = (count, model.joint_limit_upper.size // count) - self.attrib_slices["joint_limit_upper"] = (slice(0, count), slice(int(joint_axis_begin), int(joint_axis_end))) - body_begin = links[0] body_end = links[-1] + 1 - self.attrib_shapes["body_q"] = (count, model.body_q.shape[0] // count) - self.attrib_slices["body_q"] = (slice(0, count), slice(body_begin, body_end)) - self.attrib_shapes["body_qd"] = (count, model.body_qd.shape[0] // count) - self.attrib_slices["body_qd"] = (slice(0, count), slice(body_begin, body_end)) self.articulation_indices = wp.array(articulation_ids, dtype=int, device=self.device) @@ -255,49 +300,69 @@ def __init__(self, model: Model, pattern: str, include_free_joint=False, env_off self.all_indices = wp.array(np.arange(count, dtype=np.int32), device=self.device) # set some counting properties - self._count = count - self._link_count = len(links) - self._joint_count = joint_end - joint_begin - self._joint_axis_count = joint_axis_end - joint_axis_begin + self.count = count + self.link_count = len(links) + self.joint_count = joint_end - joint_begin + self.joint_coord_count = joint_coord_end - joint_coord_begin + self.joint_dof_count = joint_dof_end - joint_dof_begin + self.joint_axis_count = joint_axis_end - joint_axis_begin + + # slices by indexing group + self._slices = { + "joint": slice(int(joint_begin), int(joint_end)), + "joint_coord": slice(int(joint_coord_begin), int(joint_coord_end)), + "joint_dof": slice(int(joint_dof_begin), int(joint_dof_end)), + "joint_axis": slice(int(joint_axis_begin), int(joint_axis_end)), + "body": slice(int(body_begin), int(body_end)), + } + + self._attrib_cache = {} self._root_transforms = None self._root_velocities = None - @property - def count(self) -> int: - return self._count + def _get_cached_attribute(self, name: str, source: Model | State | Control): + # cache the reshaped attribute array to avoid repeated overhead + key = (source, name) + attrib = self._attrib_cache.get(key) + if attrib is None: + # get the attribute array + attrib = getattr(source, name) + assert isinstance(attrib, wp.array) + + # reshape with batch dim at front + assert attrib.shape[0] % self.count == 0 + batched_shape = (self.count, attrib.shape[0] // self.count, *attrib.shape[1:]) + + # get attribute slice + attrib_group = attribute_registry.get_indexing_group(name) + attrib_slice = self._slices[attrib_group] - @property - def link_count(self) -> int: - return self._link_count + # create strided array + attrib = attrib.reshape(batched_shape) + attrib = attrib[:, attrib_slice] - @property - def joint_count(self) -> int: - return self._joint_count + self._attrib_cache[key] = attrib - @property - def joint_axis_count(self) -> int: - return self._joint_axis_count + return attrib - def get_attribute_shape(self, name: str): - shape = [] - for s in self.attrib_slices[name]: - shape.append(s.stop - s.start) - return tuple(shape) + def get_attribute_shape(self, name: str, source: Model | State | Control | None = None): + if source is None: + # most attributes are defined in the Model, with some exceptions + if not hasattr(self.model, name): + raise KeyError(f"Attribute '{name}' not found in Model, please specify source (e.g., State or Control instance)") + source = self.model + return self._get_cached_attribute(name, source).shape def get_attribute(self, name: str, source: Model | State | Control, copy=False): - attrib = getattr(source, name) - attrib = attrib.reshape(self.attrib_shapes[name]) - attrib = attrib[*self.attrib_slices[name]] + attrib = self._get_cached_attribute(name, source) if copy: return wp.clone(attrib) else: return attrib def set_attribute(self, name: str, target: Model | State | Control, values, indices=None): - attrib = getattr(target, name) - attrib = attrib.reshape(self.attrib_shapes[name]) - attrib = attrib[*self.attrib_slices[name]] + attrib = self._get_cached_attribute(name, target) if not is_array(values): values = wp.array(values, dtype=attrib.dtype, shape=attrib.shape, device=self.device) if indices is not None: From e33b26833d02c7fc51865a5d975848617f70744b Mon Sep 17 00:00:00 2001 From: Lukasz Wawrzyniak Date: Fri, 16 May 2025 19:05:24 -0400 Subject: [PATCH 37/57] Refactored indexing mode --- newton/utils/selection.py | 113 ++++++++++++++++++-------------------- 1 file changed, 53 insertions(+), 60 deletions(-) diff --git a/newton/utils/selection.py b/newton/utils/selection.py index 0d2955dc07..27c24ae78a 100644 --- a/newton/utils/selection.py +++ b/newton/utils/selection.py @@ -25,63 +25,56 @@ class AttributeRegistry: def __init__(self): - # builtin attributes grouped by indexing mode - builtin_attribs = { - "joint": { - "joint_type", - "joint_parent", - "joint_child", - "joint_ancestor", - "joint_X_p", - "joint_X_c", - "joint_axis_start", - "joint_axis_dim", - "joint_enabled", - "joint_twist_lower", - "joint_twist_upper", - }, - "joint_coord": { - "joint_q", - }, - "joint_dof": { - "joint_qd", - "joint_f", - "joint_armature", - }, - "joint_axis": { - "joint_target", - "joint_axis", - "joint_target_ke", - "joint_target_kd", - "joint_axis_mode", - "joint_limit_lower", - "joint_limit_upper", - "joint_limit_ke", - "joint_limit_kd", - }, - "body": { - "body_q", - "body_qd", - "body_com", - "body_inertia", - "body_inv_inertia", - "body_mass", - "body_inv_mass", - "body_f", - }, - } - - # map attribute names to indexing groups - self._indexing_map: dict[str: str] = {} - for group, names in builtin_attribs.items(): - for name in names: - self.register_attribute(name, group) - - def register_attribute(self, name: str, group: str): - self._indexing_map[name] = group - - def get_indexing_group(self, attribute_name: str): - return self._indexing_map[attribute_name] + # look up indexing mode for known attributes + self._indexing_mode: dict[str: str] = {} + + # addressable by joint id + self.register_attribute("joint_type", "joint") + self.register_attribute("joint_parent", "joint") + self.register_attribute("joint_child", "joint") + self.register_attribute("joint_ancestor", "joint") + self.register_attribute("joint_X_p", "joint") + self.register_attribute("joint_X_c", "joint") + self.register_attribute("joint_axis_start", "joint") + self.register_attribute("joint_axis_dim", "joint") + self.register_attribute("joint_enabled", "joint") + self.register_attribute("joint_twist_lower", "joint") + self.register_attribute("joint_twist_upper", "joint") + + # addressable by joint coord offset + self.register_attribute("joint_q", "joint_coord") + + # addressable by joint dof offset + self.register_attribute("joint_qd", "joint_dof") + self.register_attribute("joint_f", "joint_dof") + self.register_attribute("joint_armature", "joint_dof") + + # addressable by joint axis offset + self.register_attribute("joint_target", "joint_axis") + self.register_attribute("joint_axis", "joint_axis") + self.register_attribute("joint_target_ke", "joint_axis") + self.register_attribute("joint_target_kd", "joint_axis") + self.register_attribute("joint_axis_mode", "joint_axis") + self.register_attribute("joint_limit_lower", "joint_axis") + self.register_attribute("joint_limit_upper", "joint_axis") + self.register_attribute("joint_limit_ke", "joint_axis") + self.register_attribute("joint_limit_kd", "joint_axis") + + # addressable by body id + self.register_attribute("body_q", "body") + self.register_attribute("body_qd", "body") + self.register_attribute("body_com", "body") + self.register_attribute("body_inertia", "body") + self.register_attribute("body_inv_inertia", "body") + self.register_attribute("body_mass", "body") + self.register_attribute("body_inv_mass", "body") + self.register_attribute("body_f", "body") + + def register_attribute(self, name: str, mode: str): + self._indexing_mode[name] = mode + + def get_indexing_mode(self, attribute_name: str): + return self._indexing_mode[attribute_name] attribute_registry = AttributeRegistry() @@ -307,7 +300,7 @@ def __init__(self, model: Model, pattern: str, include_free_joint=False, env_off self.joint_dof_count = joint_dof_end - joint_dof_begin self.joint_axis_count = joint_axis_end - joint_axis_begin - # slices by indexing group + # slices by indexing mode self._slices = { "joint": slice(int(joint_begin), int(joint_end)), "joint_coord": slice(int(joint_coord_begin), int(joint_coord_end)), @@ -335,8 +328,8 @@ def _get_cached_attribute(self, name: str, source: Model | State | Control): batched_shape = (self.count, attrib.shape[0] // self.count, *attrib.shape[1:]) # get attribute slice - attrib_group = attribute_registry.get_indexing_group(name) - attrib_slice = self._slices[attrib_group] + indexing_mode = attribute_registry.get_indexing_mode(name) + attrib_slice = self._slices[indexing_mode] # create strided array attrib = attrib.reshape(batched_shape) From 7d8a3c347f1557c40d2ea2131c761a25873c5351 Mon Sep 17 00:00:00 2001 From: Lukasz Wawrzyniak Date: Fri, 16 May 2025 19:06:03 -0400 Subject: [PATCH 38/57] Code formatting --- newton/utils/selection.py | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/newton/utils/selection.py b/newton/utils/selection.py index 27c24ae78a..215334e97d 100644 --- a/newton/utils/selection.py +++ b/newton/utils/selection.py @@ -26,7 +26,7 @@ class AttributeRegistry: def __init__(self): # look up indexing mode for known attributes - self._indexing_mode: dict[str: str] = {} + self._indexing_mode: dict[str:str] = {} # addressable by joint id self.register_attribute("joint_type", "joint") @@ -343,7 +343,9 @@ def get_attribute_shape(self, name: str, source: Model | State | Control | None if source is None: # most attributes are defined in the Model, with some exceptions if not hasattr(self.model, name): - raise KeyError(f"Attribute '{name}' not found in Model, please specify source (e.g., State or Control instance)") + raise KeyError( + f"Attribute '{name}' not found in Model, please specify source (e.g., State or Control instance)" + ) source = self.model return self._get_cached_attribute(name, source).shape From ecbab9b26f6e488fd92e25c11137e71dcdeec5c3 Mon Sep 17 00:00:00 2001 From: Lukasz Wawrzyniak Date: Fri, 16 May 2025 19:18:19 -0400 Subject: [PATCH 39/57] Renamed examples --- .../{example_isaaclab_ant.py => example_selection_ant.py} | 3 +++ ...mple_isaaclab_cartpole.py => example_selection_cartpole.py} | 0 2 files changed, 3 insertions(+) rename newton/examples/{example_isaaclab_ant.py => example_selection_ant.py} (98%) rename newton/examples/{example_isaaclab_cartpole.py => example_selection_cartpole.py} (100%) diff --git a/newton/examples/example_isaaclab_ant.py b/newton/examples/example_selection_ant.py similarity index 98% rename from newton/examples/example_isaaclab_ant.py rename to newton/examples/example_selection_ant.py index d91a31c944..fedc5cfe88 100644 --- a/newton/examples/example_isaaclab_ant.py +++ b/newton/examples/example_selection_ant.py @@ -163,6 +163,9 @@ def step(self): self.sim_time += self.frame_dt def reset(self, indices=None): + # ============================== + # set transforms and velocities + # ============================== if self.ants.include_free_joint: # set root and dof transforms together self.ants.set_attribute("joint_q", self.state_0, self.default_transforms, indices=indices) diff --git a/newton/examples/example_isaaclab_cartpole.py b/newton/examples/example_selection_cartpole.py similarity index 100% rename from newton/examples/example_isaaclab_cartpole.py rename to newton/examples/example_selection_cartpole.py From 355622a355a91f374265ff056e763c7a12ed6cb9 Mon Sep 17 00:00:00 2001 From: Lukasz Wawrzyniak Date: Fri, 16 May 2025 21:03:00 -0400 Subject: [PATCH 40/57] Clean up example assets --- newton/examples/assets/ant_prototype.usda | 2 +- newton/examples/assets/ants_ground.usd | Bin 12711 -> 0 bytes 2 files changed, 1 insertion(+), 1 deletion(-) delete mode 100644 newton/examples/assets/ants_ground.usd diff --git a/newton/examples/assets/ant_prototype.usda b/newton/examples/assets/ant_prototype.usda index bec7c33909..67f95defad 100644 --- a/newton/examples/assets/ant_prototype.usda +++ b/newton/examples/assets/ant_prototype.usda @@ -21,7 +21,7 @@ string boundCamera = "/OmniverseKit_Persp" } dictionary omni_layer = { - string authoring_layer = "./ants_ground.usd" + string authoring_layer = "./ant_prototype.usda" dictionary locked = { } dictionary muteness = { diff --git a/newton/examples/assets/ants_ground.usd b/newton/examples/assets/ants_ground.usd deleted file mode 100644 index 2dff8996fcb725711b06f0a82e3191be471ebfae..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 12711 zcmch734B|{wfC8OuWT(|BujQ2XYsY2#U_h)Vw}a-TXu+SOLh`4j%;1WH<2Ypk`sqg za0216^eYL4yg*q}%38Y6vJ}daG%PJ2p@lwP3x$@gfusqG4k|at(ubZKDW+Rv#5m%zjqyS{T}xzA`eONPl8|}q%1vH-n z9_oO4U?H#wkbuR&5+KgM473<`yyeJT3~HyehAzN+y&eX+yihK z9^ji~>_++7&iN)E*RT$BBfuMR&EuW^7_@E{Pce+aY{;NfB5C%_}XPl2BS zKL>sRJPQ00_!aON@Hp@U@FehS;3?p&VoxK(w>2Jq13Uvf3p@vKg`WrZ0DFPo0{eh( z8a0Z~ZROX!{PgqYzx?<)4$upb&gT$fTzDQn+kUnl^w;XKsL}6PEC3xtygkHloj7=? z8o^mhamC}-<_z3|+_JoVTn4vfeE$K-bBYZyf7bI5=Su^9j;{}W85R53GU#Dc24at= z?6W#>`3``G*Y+=85Qk#nC7EOR;_~@G;CM=W#z*VO7%$BnQx}&H`&7NQfB$@r-QOag 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zE~P0^oZIC`n`@~~6eTH4+t=&jE?ip((gh?`Q*pvcyd}LaewI3rHjrRC7ELgnK53`o zfdsVMmk=E|9Zg6(XgX~=ok>MWsO6@8^x%X8lOatyl{7E|MvVnbHD<-Y=ii*IOeQn* zALqoJ%o*{D)?lLkW#Si!U&JnO!0cMFtp1XwSmRh!7kdE!w`I7j$~>&{hEQuc7gaX!%q!}ay9ILpwK;qr?|&P2{?*W!2`uUUpYnupaR3N|_G RYe(1LKYO^olJD0D{{=?FL|6a- From 91a4dbaaa1944beadadb6bf6329b7596ea6ee7cb Mon Sep 17 00:00:00 2001 From: Lukasz Wawrzyniak Date: Wed, 21 May 2025 10:56:33 -0400 Subject: [PATCH 41/57] Switch from joint_target to joint_f for control --- newton/examples/example_selection_ant.py | 9 ++++++--- 1 file changed, 6 insertions(+), 3 deletions(-) diff --git a/newton/examples/example_selection_ant.py b/newton/examples/example_selection_ant.py index fedc5cfe88..4ffc698771 100644 --- a/newton/examples/example_selection_ant.py +++ b/newton/examples/example_selection_ant.py @@ -85,6 +85,7 @@ def __init__(self, stage_path="example_ant.usd", num_envs=8): print(f"joint_q shape: {self.ants.get_attribute_shape('joint_q')}") print(f"joint_qd shape: {self.ants.get_attribute_shape('joint_qd')}") + print(f"joint_f shape: {self.ants.get_attribute_shape('joint_f')}") print(f"joint_target shape: {self.ants.get_attribute_shape('joint_target')}") print(f"body_q shape: {self.ants.get_attribute_shape('body_q')}") print(f"body_qd shape: {self.ants.get_attribute_shape('body_qd')}") @@ -151,9 +152,11 @@ def step(self): # ========================= # apply random controls # ========================= - act_shape = self.ants.get_attribute_shape("joint_target") - joint_forces = 100.0 - 200.0 * torch.rand(act_shape) - self.ants.set_attribute("joint_target", self.control, joint_forces) + joint_forces = 300.0 - 600.0 * torch.rand((self.num_envs, 8)) + if self.ants.include_free_joint: + # include the leading root joint (pad with zeros) + joint_forces = torch.cat([torch.zeros((self.num_envs, 6)), joint_forces], axis=1) + self.ants.set_attribute("joint_f", self.control, joint_forces) with wp.ScopedTimer("step", active=False): if self.use_cuda_graph: From d85b95791d7e6078bed08726621438b9b7ec706c Mon Sep 17 00:00:00 2001 From: Lukasz Wawrzyniak Date: Mon, 26 May 2025 10:34:43 -0400 Subject: [PATCH 42/57] Remove ArticulationView.get_attribute_shape() --- newton/examples/example_selection_ant.py | 12 ++++++------ newton/utils/selection.py | 10 ---------- 2 files changed, 6 insertions(+), 16 deletions(-) diff --git a/newton/examples/example_selection_ant.py b/newton/examples/example_selection_ant.py index 4ffc698771..68203c28b7 100644 --- a/newton/examples/example_selection_ant.py +++ b/newton/examples/example_selection_ant.py @@ -83,12 +83,12 @@ def __init__(self, stage_path="example_ant.usd", num_envs=8): print(f"joint_count: {self.ants.joint_count}") print(f"joint_axis_count: {self.ants.joint_axis_count}") - print(f"joint_q shape: {self.ants.get_attribute_shape('joint_q')}") - print(f"joint_qd shape: {self.ants.get_attribute_shape('joint_qd')}") - print(f"joint_f shape: {self.ants.get_attribute_shape('joint_f')}") - print(f"joint_target shape: {self.ants.get_attribute_shape('joint_target')}") - print(f"body_q shape: {self.ants.get_attribute_shape('body_q')}") - print(f"body_qd shape: {self.ants.get_attribute_shape('body_qd')}") + print(f"joint_q shape: {self.ants.get_attribute('joint_q', self.model).shape}") + print(f"joint_qd shape: {self.ants.get_attribute('joint_qd', self.model).shape}") + print(f"joint_f shape: {self.ants.get_attribute('joint_f', self.model).shape}") + print(f"joint_target shape: {self.ants.get_attribute('joint_target', self.model).shape}") + print(f"body_q shape: {self.ants.get_attribute('body_q', self.model).shape}") + print(f"body_qd shape: {self.ants.get_attribute('body_qd', self.model).shape}") # set all dofs to the middle of their range by default dof_limit_lower = wp.to_torch(self.ants.get_attribute("joint_limit_lower", self.model)) diff --git a/newton/utils/selection.py b/newton/utils/selection.py index 215334e97d..40dc968262 100644 --- a/newton/utils/selection.py +++ b/newton/utils/selection.py @@ -339,16 +339,6 @@ def _get_cached_attribute(self, name: str, source: Model | State | Control): return attrib - def get_attribute_shape(self, name: str, source: Model | State | Control | None = None): - if source is None: - # most attributes are defined in the Model, with some exceptions - if not hasattr(self.model, name): - raise KeyError( - f"Attribute '{name}' not found in Model, please specify source (e.g., State or Control instance)" - ) - source = self.model - return self._get_cached_attribute(name, source).shape - def get_attribute(self, name: str, source: Model | State | Control, copy=False): attrib = self._get_cached_attribute(name, source) if copy: From 740dde02aa0b4b7b19452dff13093d7ae0b7c918 Mon Sep 17 00:00:00 2001 From: Lukasz Wawrzyniak Date: Mon, 26 May 2025 11:07:35 -0400 Subject: [PATCH 43/57] Removed env_offsets from ArticulationView --- newton/utils/selection.py | 26 +------------------------- 1 file changed, 1 insertion(+), 25 deletions(-) diff --git a/newton/utils/selection.py b/newton/utils/selection.py index 40dc968262..7b618dd44b 100644 --- a/newton/utils/selection.py +++ b/newton/utils/selection.py @@ -101,7 +101,6 @@ def set_articulation_root_transforms_kernel( joint_type: wp.array(dtype=int), joint_q_start: wp.array(dtype=int), root_transforms: wp.array(dtype=wp.transform), - env_offsets: wp.array(dtype=wp.vec3), env_indices: wp.array(dtype=int), # outputs joint_q: wp.array(dtype=float), @@ -113,13 +112,6 @@ def set_articulation_root_transforms_kernel( articulation = articulation_indices[idx] joint_start = articulation_start[articulation] q_start = joint_q_start[joint_start] - env_offset = env_offsets[idx] - - # apply env offset - root_pose = wp.transform( - wp.vec3(root_pose[0], root_pose[1], root_pose[2]) + env_offset, - wp.quat(root_pose[3], root_pose[4], root_pose[5], root_pose[6]), - ) if joint_type[joint_start] == newton.JOINT_FREE: for i in range(7): @@ -135,14 +127,12 @@ def get_articulation_root_transforms_kernel( joint_parent: wp.array(dtype=int), joint_child: wp.array(dtype=int), body_q: wp.array(dtype=wp.transform), - env_offsets: wp.array(dtype=wp.vec3), # outputs root_xforms: wp.array(dtype=wp.transform), ): tid = wp.tid() articulation = articulation_indices[tid] joint_start = articulation_start[articulation] - env_offset = env_offsets[tid] if joint_parent[joint_start] != -1: root_body = joint_parent[joint_start] @@ -151,12 +141,6 @@ def get_articulation_root_transforms_kernel( root_pose = body_q[root_body] - # apply env offset - root_pose = wp.transform( - wp.vec3(root_pose[0], root_pose[1], root_pose[2]) - env_offset, - wp.quat(root_pose[3], root_pose[4], root_pose[5], root_pose[6]), - ) - root_xforms[tid] = root_pose @@ -206,7 +190,7 @@ def get_articulation_root_velocities_kernel( class ArticulationView: - def __init__(self, model: Model, pattern: str, include_free_joint=False, env_offsets=None): + def __init__(self, model: Model, pattern: str, include_free_joint=False): self.model = model self.device = model.device self.include_free_joint = include_free_joint @@ -284,12 +268,6 @@ def __init__(self, model: Model, pattern: str, include_free_joint=False, env_off set_mask_kernel, dim=count, inputs=[self.articulation_indices, self.articulation_mask], device=self.device ) - # env offsets - if env_offsets is None: - self.env_offsets = wp.zeros(count, dtype=wp.vec3, device=self.device) - else: - self.env_offsets = wp.array(env_offsets, shape=count, dtype=wp.vec3, device=self.device) - self.all_indices = wp.array(np.arange(count, dtype=np.int32), device=self.device) # set some counting properties @@ -390,7 +368,6 @@ def get_root_transforms(self, source: Model | State): self.model.joint_parent, self.model.joint_child, source.body_q, - self.env_offsets, ], outputs=[ self._root_transforms, @@ -430,7 +407,6 @@ def set_root_transforms(self, target: Model | State, root_transforms: wp.array, self.model.joint_type, self.model.joint_q_start, root_transforms, - self.env_offsets, indices, ], outputs=[ From 01ea53178c5417098ef7e326eaa04c12b9aee56f Mon Sep 17 00:00:00 2001 From: Lukasz Wawrzyniak Date: Mon, 26 May 2025 12:15:03 -0400 Subject: [PATCH 44/57] Add verbose flag to ArticulationView constructor --- newton/utils/selection.py | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/newton/utils/selection.py b/newton/utils/selection.py index 7b618dd44b..17d085094d 100644 --- a/newton/utils/selection.py +++ b/newton/utils/selection.py @@ -190,11 +190,14 @@ def get_articulation_root_velocities_kernel( class ArticulationView: - def __init__(self, model: Model, pattern: str, include_free_joint=False): + def __init__(self, model: Model, pattern: str, include_free_joint: bool = False, verbose: bool = None): self.model = model self.device = model.device self.include_free_joint = include_free_joint + if verbose is None: + verbose = wp.config.verbose + articulation_ids = [] for id, key in enumerate(model.articulation_key): if fnmatch(key, pattern): @@ -235,7 +238,7 @@ def __init__(self, model: Model, pattern: str, include_free_joint=False): num_links = len(links) # print stuff for debugging - if True: + if verbose: print(f"num_joints: {joint_end - joint_begin}") for joint_id in range(joint_begin, joint_end): joint_name = model.joint_key[joint_id] From 0d2ba8a87b36598b9c046f233efbebd5f1fd1b9c Mon Sep 17 00:00:00 2001 From: Lukasz Wawrzyniak Date: Mon, 26 May 2025 12:38:22 -0400 Subject: [PATCH 45/57] Get rid of copy arg in get_attribute(), use lru_cache for caching strided attribute arrays --- newton/utils/selection.py | 42 +++++++++++++++------------------------ 1 file changed, 16 insertions(+), 26 deletions(-) diff --git a/newton/utils/selection.py b/newton/utils/selection.py index 17d085094d..712b9ede25 100644 --- a/newton/utils/selection.py +++ b/newton/utils/selection.py @@ -14,6 +14,7 @@ # limitations under the License. from fnmatch import fnmatch +import functools import numpy as np import warp as wp @@ -290,42 +291,31 @@ def __init__(self, model: Model, pattern: str, include_free_joint: bool = False, "body": slice(int(body_begin), int(body_end)), } - self._attrib_cache = {} - self._root_transforms = None self._root_velocities = None + @functools.lru_cache(maxsize=None) def _get_cached_attribute(self, name: str, source: Model | State | Control): - # cache the reshaped attribute array to avoid repeated overhead - key = (source, name) - attrib = self._attrib_cache.get(key) - if attrib is None: - # get the attribute array - attrib = getattr(source, name) - assert isinstance(attrib, wp.array) - - # reshape with batch dim at front - assert attrib.shape[0] % self.count == 0 - batched_shape = (self.count, attrib.shape[0] // self.count, *attrib.shape[1:]) + # get the attribute array + attrib = getattr(source, name) + assert isinstance(attrib, wp.array) - # get attribute slice - indexing_mode = attribute_registry.get_indexing_mode(name) - attrib_slice = self._slices[indexing_mode] + # reshape with batch dim at front + assert attrib.shape[0] % self.count == 0 + batched_shape = (self.count, attrib.shape[0] // self.count, *attrib.shape[1:]) - # create strided array - attrib = attrib.reshape(batched_shape) - attrib = attrib[:, attrib_slice] + # get attribute slice + indexing_mode = attribute_registry.get_indexing_mode(name) + attrib_slice = self._slices[indexing_mode] - self._attrib_cache[key] = attrib + # create strided array + attrib = attrib.reshape(batched_shape) + attrib = attrib[:, attrib_slice] return attrib - def get_attribute(self, name: str, source: Model | State | Control, copy=False): - attrib = self._get_cached_attribute(name, source) - if copy: - return wp.clone(attrib) - else: - return attrib + def get_attribute(self, name: str, source: Model | State | Control): + return self._get_cached_attribute(name, source) def set_attribute(self, name: str, target: Model | State | Control, values, indices=None): attrib = self._get_cached_attribute(name, target) From 02f5da89df2e91228ad430cdd599ca71754dcdac Mon Sep 17 00:00:00 2001 From: Lukasz Wawrzyniak Date: Mon, 26 May 2025 12:48:48 -0400 Subject: [PATCH 46/57] Use joint_f instead of joint_target in cartpole example --- newton/examples/example_selection_cartpole.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/newton/examples/example_selection_cartpole.py b/newton/examples/example_selection_cartpole.py index e10c5e478d..70a12c56bd 100644 --- a/newton/examples/example_selection_cartpole.py +++ b/newton/examples/example_selection_cartpole.py @@ -68,7 +68,7 @@ def __init__(self, stage_path="example_cartpole.usd", num_envs=8): # print(self.cartpoles.get_attribute("body_qd", self.state_0)) # print(self.cartpoles.get_attribute("joint_q", self.state_0)) # print(self.cartpoles.get_attribute("joint_qd", self.state_0)) - # print(self.cartpoles.get_attribute("joint_target", self.control)) + # print(self.cartpoles.get_attribute("joint_f", self.control)) # ========================= # randomize initial state @@ -116,7 +116,7 @@ def step(self): # ========================= joint_forces = torch.zeros((self.num_envs, 2)) joint_forces[:, 0] = torch.where(joint_states[:, 0] > 0, -100, 100) - self.cartpoles.set_attribute("joint_target", self.control, joint_forces) + self.cartpoles.set_attribute("joint_f", self.control, joint_forces) # simulate with wp.ScopedTimer("step", active=False): From e9aeb667b4de5306057d814238f1167301fca496 Mon Sep 17 00:00:00 2001 From: Lukasz Wawrzyniak Date: Mon, 26 May 2025 12:54:10 -0400 Subject: [PATCH 47/57] Formatting --- newton/utils/selection.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/newton/utils/selection.py b/newton/utils/selection.py index 712b9ede25..33226351f1 100644 --- a/newton/utils/selection.py +++ b/newton/utils/selection.py @@ -13,8 +13,8 @@ # See the License for the specific language governing permissions and # limitations under the License. -from fnmatch import fnmatch import functools +from fnmatch import fnmatch import numpy as np import warp as wp @@ -191,7 +191,7 @@ def get_articulation_root_velocities_kernel( class ArticulationView: - def __init__(self, model: Model, pattern: str, include_free_joint: bool = False, verbose: bool = None): + def __init__(self, model: Model, pattern: str, include_free_joint: bool = False, verbose: bool | None = None): self.model = model self.device = model.device self.include_free_joint = include_free_joint @@ -294,7 +294,7 @@ def __init__(self, model: Model, pattern: str, include_free_joint: bool = False, self._root_transforms = None self._root_velocities = None - @functools.lru_cache(maxsize=None) + @functools.lru_cache(maxsize=None) # noqa def _get_cached_attribute(self, name: str, source: Model | State | Control): # get the attribute array attrib = getattr(source, name) From 67a89f6cb618657234376b7d2e9739c726931dd6 Mon Sep 17 00:00:00 2001 From: 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z0?F~RlZ0O8B788zt9{ICB>wp>mH#)@ul!%{+=KfgH0vQ`cx6ZVmSGiMi14Ce8K c2gY}#$77l2uE?C9+dcoa!jAO2Iv2_R2b+Qg4FCWD literal 0 HcmV?d00001 diff --git a/newton/examples/example_selection_humanoid.py b/newton/examples/example_selection_humanoid.py new file mode 100644 index 0000000000..ebdd23abe0 --- /dev/null +++ b/newton/examples/example_selection_humanoid.py @@ -0,0 +1,228 @@ +# SPDX-FileCopyrightText: Copyright (c) 2025 The Newton Developers +# SPDX-License-Identifier: Apache-2.0 +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. + +import math + +import torch +import warp as wp + +import newton +import newton.examples +import newton.utils +from newton.utils.isaaclab import replicate_environment +from newton.utils.selection import ArticulationView + + +class Example: + def __init__(self, stage_path=None, num_envs=8): + self.num_envs = num_envs + + builder, stage_info, env_offsets = replicate_environment( + newton.examples.get_asset("humanoid_prototype.usd"), + "/World/envs/env_0", + "/World/envs/env_{}", + num_envs, + (5.0, 5.0, 0.0), + # USD importer args + collapse_fixed_joints=True, + joint_ordering="dfs", + ) + + up_axis = stage_info.get("up_axis") or newton.Axis.Z + + # finalize model + self.model = builder.finalize() + self.model.ground = False + + self.solver = newton.solvers.MuJoCoSolver(self.model) + + self.renderer = None + if stage_path: + self.renderer = newton.utils.SimRendererOpenGL( + path=stage_path, + model=self.model, + scaling=2.0, + up_axis=str(up_axis), + screen_width=1280, + screen_height=720, + camera_pos=(0, 4, 30), + ) + + self.state_0 = self.model.state() + self.state_1 = self.model.state() + self.control = self.model.control() + + self.sim_time = 0.0 + fps = 60 + self.frame_dt = 1.0 / fps + + self.sim_substeps = 10 + self.sim_dt = self.frame_dt / self.sim_substeps + + self.next_reset = 0.0 + + # =========================================================== + # create articulation view + # =========================================================== + self.humanoids = ArticulationView(self.model, "/World/envs/*/Robot/torso", include_free_joint=False) + + print(f"articulation count: {self.humanoids.count}") + print(f"link_count: {self.humanoids.link_count}") + print(f"joint_count: {self.humanoids.joint_count}") + print(f"joint_axis_count: {self.humanoids.joint_axis_count}") + print(f"joint_coord_count: {self.humanoids.joint_coord_count}") + print(f"joint_dof_count: {self.humanoids.joint_dof_count}") + + # print(f"joint_q shape: {self.humanoids.get_attribute_shape('joint_q')}") + # print(f"joint_qd shape: {self.humanoids.get_attribute_shape('joint_qd')}") + # print(f"joint_f shape: {self.humanoids.get_attribute_shape('joint_f')}") + # print(f"joint_target shape: {self.humanoids.get_attribute_shape('joint_target')}") + # print(f"body_q shape: {self.humanoids.get_attribute_shape('body_q')}") + # print(f"body_qd shape: {self.humanoids.get_attribute_shape('body_qd')}") + + # set all dofs to the middle of their range by default + # dof_limit_lower = wp.to_torch(self.humanoids.get_attribute("joint_limit_lower", self.model)) + # dof_limit_upper = wp.to_torch(self.humanoids.get_attribute("joint_limit_upper", self.model)) + # default_dof_transforms = 0.5 * (dof_limit_lower + dof_limit_upper) + + if self.humanoids.include_free_joint: + # combined root and dof transforms + self.default_transforms = wp.to_torch(self.humanoids.get_attribute("joint_q", self.model)).clone() + self.default_transforms[:, 2] = 1.5 # z-coordinate of articulation root + # self.default_transforms[:, 7:] = default_dof_transforms + # combined root and dof velocities + self.default_velocities = wp.to_torch(self.humanoids.get_attribute("joint_qd", self.model)).clone() + # self.default_velocities[:, 2] = 1.0 * math.pi # rotate about z-axis + # self.default_velocities[:, 5] = 5.0 # move up z-axis + else: + # root transforms + self.default_root_transforms = wp.to_torch(self.humanoids.get_root_transforms(self.model)).clone() + self.default_root_transforms[:, 2] = 1.5 + # dof transforms + # self.default_dof_transforms = default_dof_transforms + self.default_dof_transforms = wp.to_torch(self.humanoids.get_attribute("joint_q", self.model)).clone() + # root velocities + self.default_root_velocities = wp.to_torch(self.humanoids.get_root_velocities(self.model)).clone() + # self.default_root_velocities[:, 2] = 1.0 * math.pi # rotate about z-axis + # self.default_root_velocities[:, 5] = 5.0 # move up z-axis + # dof velocities + self.default_dof_velocities = wp.to_torch(self.humanoids.get_attribute("joint_qd", self.model)).clone() + + # create disjoint index groups to alternate between + all_indices = torch.arange(num_envs, dtype=torch.int32) + self.indices_0 = all_indices[::2] + self.indices_1 = all_indices[1::2] + + # reset all + self.reset() + self.next_reset = self.sim_time + 2.0 + + self.use_cuda_graph = wp.get_device().is_cuda + if self.use_cuda_graph: + with wp.ScopedCapture() as capture: + self.simulate() + self.graph = capture.graph + + def simulate(self): + for _ in range(self.sim_substeps): + self.state_0.clear_forces() + + # explicit collisions needed without MuJoCo solver + if not isinstance(self.solver, newton.solvers.MuJoCoSolver): + newton.collision.collide(self.model, self.state_0) + + self.solver.step(self.model, self.state_0, self.state_1, self.control, None, self.sim_dt) + self.state_0, self.state_1 = self.state_1, self.state_0 + + def step(self): + if self.sim_time >= self.next_reset: + self.reset(self.indices_0) + self.next_reset = self.sim_time + 2.0 + self.indices_0, self.indices_1 = self.indices_1, self.indices_0 + + # ========================= + # apply random controls + # ========================= + joint_forces = 20.0 - 40.0 * torch.rand((self.num_envs, self.humanoids.joint_dof_count)) + if self.humanoids.include_free_joint: + # include the leading root joint (pad with zeros) + joint_forces = torch.cat([torch.zeros((self.num_envs, 6)), joint_forces], axis=1) + self.humanoids.set_attribute("joint_f", self.control, joint_forces) + + with wp.ScopedTimer("step", active=False): + if self.use_cuda_graph: + wp.capture_launch(self.graph) + else: + self.simulate() + self.sim_time += self.frame_dt + + def reset(self, indices=None): + # ============================== + # set transforms and velocities + # ============================== + if self.humanoids.include_free_joint: + # set root and dof transforms together + self.humanoids.set_attribute("joint_q", self.state_0, self.default_transforms, indices=indices) + # set root and dof velocities together + self.humanoids.set_attribute("joint_qd", self.state_0, self.default_velocities, indices=indices) + else: + # set root and dof transforms separately + self.humanoids.set_root_transforms(self.state_0, self.default_root_transforms, indices=indices) + self.humanoids.set_attribute("joint_q", self.state_0, self.default_dof_transforms, indices=indices) + # set root and dof velocities separately + self.humanoids.set_root_velocities(self.state_0, self.default_root_velocities, indices=indices) + self.humanoids.set_attribute("joint_qd", self.state_0, self.default_dof_velocities, indices=indices) + + if not isinstance(self.solver, newton.solvers.MuJoCoSolver): + self.humanoids.eval_fk(self.state_0, indices=indices) + + def render(self): + if self.renderer is None: + return + + with wp.ScopedTimer("render", active=False): + self.renderer.begin_frame(self.sim_time) + self.renderer.render(self.state_0) + self.renderer.end_frame() + + +if __name__ == "__main__": + import argparse + + parser = argparse.ArgumentParser(formatter_class=argparse.ArgumentDefaultsHelpFormatter) + parser.add_argument("--device", type=str, default=None, help="Override the default Warp device.") + parser.add_argument( + "--stage_path", + type=lambda x: None if x == "None" else str(x), + default="example_selection_humanoid.usd", + help="Path to the output USD file.", + ) + parser.add_argument("--num_frames", type=int, default=1200, help="Total number of frames.") + parser.add_argument("--num_envs", type=int, default=16, help="Total number of simulated environments.") + + args = parser.parse_known_args()[0] + + with wp.ScopedDevice(args.device): + example = Example(stage_path=args.stage_path, num_envs=args.num_envs) + + for _ in range(args.num_frames): + example.step() + example.render() + + # import time + # time.sleep(0.5) + + if example.renderer: + example.renderer.save() From 37d64d0952f9898dd0342238a7784340a618b2df Mon Sep 17 00:00:00 2001 From: Lukasz Wawrzyniak Date: Fri, 23 May 2025 15:03:51 -0400 Subject: [PATCH 49/57] Renaming things --- .../{ant_prototype.usda => envs/ant_env.usda} | 0 .../cartpole_env.usda} | 0 .../humanoid_env.usd} | Bin newton/examples/example_selection_ant.py | 6 +++--- newton/examples/example_selection_cartpole.py | 6 +++--- newton/examples/example_selection_humanoid.py | 2 +- 6 files changed, 7 insertions(+), 7 deletions(-) rename newton/examples/assets/{ant_prototype.usda => envs/ant_env.usda} (100%) rename newton/examples/assets/{cartpole_prototype.usda => envs/cartpole_env.usda} (100%) rename newton/examples/assets/{humanoid_prototype.usd => envs/humanoid_env.usd} (100%) diff --git a/newton/examples/assets/ant_prototype.usda b/newton/examples/assets/envs/ant_env.usda similarity index 100% rename from newton/examples/assets/ant_prototype.usda rename to newton/examples/assets/envs/ant_env.usda diff --git a/newton/examples/assets/cartpole_prototype.usda b/newton/examples/assets/envs/cartpole_env.usda similarity index 100% rename from newton/examples/assets/cartpole_prototype.usda rename to newton/examples/assets/envs/cartpole_env.usda diff --git a/newton/examples/assets/humanoid_prototype.usd b/newton/examples/assets/envs/humanoid_env.usd similarity index 100% rename from newton/examples/assets/humanoid_prototype.usd rename to newton/examples/assets/envs/humanoid_env.usd diff --git a/newton/examples/example_selection_ant.py b/newton/examples/example_selection_ant.py index 68203c28b7..b7ca5dd72e 100644 --- a/newton/examples/example_selection_ant.py +++ b/newton/examples/example_selection_ant.py @@ -26,11 +26,11 @@ class Example: - def __init__(self, stage_path="example_ant.usd", num_envs=8): + def __init__(self, stage_path=None, num_envs=8): self.num_envs = num_envs builder, stage_info, env_offsets = replicate_environment( - newton.examples.get_asset("ant_prototype.usda"), + newton.examples.get_asset("envs/ant_env.usda"), "/World/envs/env_0", "/World/envs/env_{}", num_envs, @@ -203,7 +203,7 @@ def render(self): parser.add_argument( "--stage_path", type=lambda x: None if x == "None" else str(x), - default="example_ant.usd", + default="example_selection_ant.usd", help="Path to the output USD file.", ) parser.add_argument("--num_frames", type=int, default=1200, help="Total number of frames.") diff --git a/newton/examples/example_selection_cartpole.py b/newton/examples/example_selection_cartpole.py index 70a12c56bd..d5cec79f80 100644 --- a/newton/examples/example_selection_cartpole.py +++ b/newton/examples/example_selection_cartpole.py @@ -26,11 +26,11 @@ class Example: - def __init__(self, stage_path="example_cartpole.usd", num_envs=8): + def __init__(self, stage_path=None, num_envs=8): self.num_envs = num_envs builder, stage_info, env_offsets = replicate_environment( - newton.examples.get_asset("cartpole_prototype.usda"), + newton.examples.get_asset("envs/cartpole_env.usda"), "/World/envs/env_0", "/World/envs/env_{}", num_envs, @@ -144,7 +144,7 @@ def render(self): parser.add_argument( "--stage_path", type=lambda x: None if x == "None" else str(x), - default="example_cartpole.usd", + default="example_selection_cartpole.usd", help="Path to the output USD file.", ) parser.add_argument("--num_frames", type=int, default=12000, help="Total number of frames.") diff --git a/newton/examples/example_selection_humanoid.py b/newton/examples/example_selection_humanoid.py index ebdd23abe0..be1b970f2e 100644 --- a/newton/examples/example_selection_humanoid.py +++ b/newton/examples/example_selection_humanoid.py @@ -30,7 +30,7 @@ def __init__(self, stage_path=None, num_envs=8): self.num_envs = num_envs builder, stage_info, env_offsets = replicate_environment( - newton.examples.get_asset("humanoid_prototype.usd"), + newton.examples.get_asset("envs/humanoid_env.usd"), "/World/envs/env_0", "/World/envs/env_{}", num_envs, From 952dc0cab2d97a1f2d9beda566c58a1336f0ca02 Mon Sep 17 00:00:00 2001 From: Lukasz Wawrzyniak Date: Mon, 26 May 2025 14:34:07 -0400 Subject: [PATCH 50/57] Ruff ruff --- newton/examples/example_selection_humanoid.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/newton/examples/example_selection_humanoid.py b/newton/examples/example_selection_humanoid.py index be1b970f2e..4812402e9b 100644 --- a/newton/examples/example_selection_humanoid.py +++ b/newton/examples/example_selection_humanoid.py @@ -13,7 +13,7 @@ # See the License for the specific language governing permissions and # limitations under the License. -import math +# import math import torch import warp as wp From f9eaaefabf5e5cd6161d5caed242148c6e1f7560 Mon Sep 17 00:00:00 2001 From: Lukasz Wawrzyniak Date: Mon, 26 May 2025 15:15:44 -0400 Subject: [PATCH 51/57] Updated replicate_environment() --- newton/examples/example_selection_ant.py | 2 +- newton/examples/example_selection_cartpole.py | 2 +- newton/examples/example_selection_humanoid.py | 2 +- newton/utils/isaaclab.py | 18 ++++++++++++++---- 4 files changed, 17 insertions(+), 7 deletions(-) diff --git a/newton/examples/example_selection_ant.py b/newton/examples/example_selection_ant.py index b7ca5dd72e..3d79d0e630 100644 --- a/newton/examples/example_selection_ant.py +++ b/newton/examples/example_selection_ant.py @@ -29,7 +29,7 @@ class Example: def __init__(self, stage_path=None, num_envs=8): self.num_envs = num_envs - builder, stage_info, env_offsets = replicate_environment( + builder, stage_info = replicate_environment( newton.examples.get_asset("envs/ant_env.usda"), "/World/envs/env_0", "/World/envs/env_{}", diff --git a/newton/examples/example_selection_cartpole.py b/newton/examples/example_selection_cartpole.py index d5cec79f80..ed1a86fd33 100644 --- a/newton/examples/example_selection_cartpole.py +++ b/newton/examples/example_selection_cartpole.py @@ -29,7 +29,7 @@ class Example: def __init__(self, stage_path=None, num_envs=8): self.num_envs = num_envs - builder, stage_info, env_offsets = replicate_environment( + builder, stage_info = replicate_environment( newton.examples.get_asset("envs/cartpole_env.usda"), "/World/envs/env_0", "/World/envs/env_{}", diff --git a/newton/examples/example_selection_humanoid.py b/newton/examples/example_selection_humanoid.py index 4812402e9b..d84efae1f7 100644 --- a/newton/examples/example_selection_humanoid.py +++ b/newton/examples/example_selection_humanoid.py @@ -29,7 +29,7 @@ class Example: def __init__(self, stage_path=None, num_envs=8): self.num_envs = num_envs - builder, stage_info, env_offsets = replicate_environment( + builder, stage_info = replicate_environment( newton.examples.get_asset("envs/humanoid_env.usd"), "/World/envs/env_0", "/World/envs/env_{}", diff --git a/newton/utils/isaaclab.py b/newton/utils/isaaclab.py index db0eaa6254..037b779f1e 100644 --- a/newton/utils/isaaclab.py +++ b/newton/utils/isaaclab.py @@ -13,13 +13,23 @@ # See the License for the specific language governing permissions and # limitations under the License. +from typing import Any + import warp as wp import newton from newton.examples import compute_env_offsets -def replicate_environment(source, prototype_path, path_pattern, num_envs, env_spacing, up_axis="Z", **usd_kwargs): +def replicate_environment( + source, + prototype_path: str, + path_pattern: str, + num_envs: int, + env_spacing: tuple[float], + up_axis: newton.AxisType = "Z", + **usd_kwargs, +) -> tuple[newton.ModelBuilder, dict[str:Any]]: """ Replicates a prototype USD environment in Newton. @@ -29,11 +39,11 @@ def replicate_environment(source, prototype_path, path_pattern, num_envs, env_sp path_pattern (str): The USD path pattern for replicated envs, e.g., "/World/envs/env_{}". num_envs (int): Number of replicas to create. env_spacing (tuple[float]): Environment spacing vector. - up_vector (tuple[float]): The desired up-vector (should match the USD stage). + up_axis (AxisType): The desired up-vector (should match the USD stage). **usd_kwargs: Keyword arguments to pass to the USD importer (see `newton.utils.parse_usd()`). Returns: - (ModelBuilder, dict, np.array): The resulting ModelBuilder containing all replicated environments, a dictionary with USD stage information, and a NumPy array of env offsets. + (ModelBuilder, dict): The resulting ModelBuilder containing all replicated environments and a dictionary with USD stage information. """ builder = newton.ModelBuilder(up_axis=up_axis) @@ -82,7 +92,7 @@ def replicate_environment(source, prototype_path, path_pattern, num_envs, env_sp articulation_start=articulation_start, ) - return builder, stage_info, env_offsets + return builder, stage_info def update_paths( From 85aff6d8168d39a15692cc3130c0c97a3d265db9 Mon Sep 17 00:00:00 2001 From: Lukasz Wawrzyniak Date: Tue, 27 May 2025 08:29:55 -0400 Subject: [PATCH 52/57] Update eval_fk() signature --- newton/utils/selection.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/newton/utils/selection.py b/newton/utils/selection.py index 33226351f1..fa404cb4c1 100644 --- a/newton/utils/selection.py +++ b/newton/utils/selection.py @@ -488,4 +488,4 @@ def eval_fk(self, target: Model | State, indices=None): else: mask = self.articulation_mask - newton.core.articulation.eval_fk(self.model, target.joint_q, target.joint_qd, mask, target) + newton.core.articulation.eval_fk(self.model, target.joint_q, target.joint_qd, 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self.sim_time + 2.0 + self.indices_0, self.indices_1 = self.indices_1, self.indices_0 + + # # ========================= + # # apply random controls + # # ========================= + # joint_forces = 20.0 - 40.0 * torch.rand((self.num_envs, self.anymals.joint_dof_count)) + # if self.anymals.include_free_joint: + # # include the leading root joint (pad with zeros) + # joint_forces = torch.cat([torch.zeros((self.num_envs, 6)), joint_forces], axis=1) + # self.anymals.set_attribute("joint_f", self.control, joint_forces) + + with wp.ScopedTimer("step", active=False): + if self.use_cuda_graph: + wp.capture_launch(self.graph) + else: + self.simulate() + self.sim_time += self.frame_dt + + def reset(self, indices=None): + # ============================== + # set transforms and velocities + # ============================== + if self.anymals.include_free_joint: + # set root and dof transforms together + self.anymals.set_attribute("joint_q", self.state_0, self.default_transforms, indices=indices) + # set root and dof velocities together + self.anymals.set_attribute("joint_qd", self.state_0, self.default_velocities, indices=indices) + else: + # set root and dof transforms separately + self.anymals.set_root_transforms(self.state_0, self.default_root_transforms, indices=indices) + self.anymals.set_attribute("joint_q", self.state_0, self.default_dof_transforms, indices=indices) + # set root and dof velocities separately + self.anymals.set_root_velocities(self.state_0, self.default_root_velocities, indices=indices) + self.anymals.set_attribute("joint_qd", self.state_0, self.default_dof_velocities, indices=indices) + + if not isinstance(self.solver, newton.solvers.MuJoCoSolver): + self.anymals.eval_fk(self.state_0, indices=indices) + + def render(self): + if self.renderer is None: + return + + with wp.ScopedTimer("render", active=False): + self.renderer.begin_frame(self.sim_time) + self.renderer.render(self.state_0) + self.renderer.end_frame() + + +if __name__ == "__main__": + import argparse + + parser = argparse.ArgumentParser(formatter_class=argparse.ArgumentDefaultsHelpFormatter) + parser.add_argument("--device", type=str, default=None, help="Override the default Warp device.") + parser.add_argument( + "--stage_path", + type=lambda x: None if x == "None" else str(x), + default="example_selection_humanoid.usd", + help="Path to the output USD file.", + ) + parser.add_argument("--num_frames", type=int, default=1200, help="Total number of frames.") + parser.add_argument("--num_envs", type=int, default=16, help="Total number of simulated environments.") + + args = parser.parse_known_args()[0] + + with wp.ScopedDevice(args.device): + example = Example(stage_path=args.stage_path, num_envs=args.num_envs) + + for _ in range(args.num_frames): + example.step() + example.render() + + # import time + # time.sleep(0.5) + + if example.renderer: + example.renderer.save() From 855f8ef16b1212ff836c97c0069810632c435f72 Mon Sep 17 00:00:00 2001 From: Lukasz Wawrzyniak Date: Wed, 28 May 2025 12:57:06 -0400 Subject: [PATCH 54/57] Fixed articulation mask device --- newton/utils/selection.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/newton/utils/selection.py b/newton/utils/selection.py index fa404cb4c1..998ce9e552 100644 --- a/newton/utils/selection.py +++ b/newton/utils/selection.py @@ -267,7 +267,7 @@ def __init__(self, model: Model, pattern: str, include_free_joint: bool = False, self.articulation_indices = wp.array(articulation_ids, dtype=int, device=self.device) # create articulation mask - self.articulation_mask = wp.zeros(model.articulation_count, dtype=bool) + self.articulation_mask = wp.zeros(model.articulation_count, dtype=bool, device=self.device) wp.launch( set_mask_kernel, dim=count, inputs=[self.articulation_indices, self.articulation_mask], device=self.device ) From 8d25c26b67370374df0dc4a455a0a607b4769716 Mon Sep 17 00:00:00 2001 From: Lukasz Wawrzyniak Date: Fri, 23 May 2025 13:58:16 -0400 Subject: [PATCH 55/57] Parsing names from keys --- newton/utils/selection.py | 42 ++++++++++++++++++++++++++++++++++++++- 1 file changed, 41 insertions(+), 1 deletion(-) diff --git a/newton/utils/selection.py b/newton/utils/selection.py index 998ce9e552..947d9fbed9 100644 --- a/newton/utils/selection.py +++ b/newton/utils/selection.py @@ -236,7 +236,6 @@ def __init__(self, model: Model, pattern: str, include_free_joint: bool = False, links[int(joint_child[joint_id])] = None links = sorted(links.keys()) - num_links = len(links) # print stuff for debugging if verbose: @@ -247,6 +246,7 @@ def __init__(self, model: Model, pattern: str, include_free_joint: bool = False, print(f" bodies: {joint_parent[joint_id]} -> {joint_child[joint_id]}") print(f" axis_start: {joint_axis_start[joint_id]}") print(f" axis_dim: {joint_axis_dim[joint_id]}") + num_links = len(links) print(f"num_links: {num_links}, {links}") for body_id in links: print(f" {model.body_key[body_id]}") @@ -282,6 +282,46 @@ def __init__(self, model: Model, pattern: str, include_free_joint: bool = False, self.joint_dof_count = joint_dof_end - joint_dof_begin self.joint_axis_count = joint_axis_end - joint_axis_begin + self.joint_names = [] + self.joint_coord_names = [] + self.joint_dof_names = [] + self.joint_axis_names = [] + self.body_names = [] + + def get_name_from_key(key): + return key.split("/")[-1] + + for joint_id in range(joint_begin, joint_end): + joint_name = get_name_from_key(model.joint_key[joint_id]) + self.joint_names.append(joint_name) + num_coords = joint_q_start[joint_id + 1] - joint_q_start[joint_id] + if num_coords == 1: + self.joint_coord_names.append(joint_name) + elif num_coords > 1: + for coord in range(num_coords): + self.joint_coord_names.append(f"{joint_name}:{coord}") + num_dofs = joint_qd_start[joint_id + 1] - joint_qd_start[joint_id] + if num_dofs == 1: + self.joint_dof_names.append(joint_name) + elif num_dofs > 1: + for dof in range(num_dofs): + self.joint_dof_names.append(f"{joint_name}:{dof}") + num_axes = joint_axis_dim[joint_id][0] + joint_axis_dim[joint_id][1] + if num_axes == 1: + self.joint_axis_names.append(joint_name) + elif num_axes > 1: + for axis in range(num_axes): + self.joint_axis_names.append(f"{joint_name}:{axis}") + + for body_id in range(body_begin, body_end): + self.body_names.append(get_name_from_key(model.body_key[body_id])) + + print(self.joint_names) + print(self.joint_coord_names) + print(self.joint_dof_names) + print(self.joint_axis_names) + print(self.body_names) + # slices by indexing mode self._slices = { "joint": slice(int(joint_begin), int(joint_end)), From 95563d69460f8fa164ce85631024b25372257693 Mon Sep 17 00:00:00 2001 From: Lukasz Wawrzyniak Date: Fri, 30 May 2025 09:23:45 -0400 Subject: [PATCH 56/57] Tweak debug output --- newton/utils/selection.py | 11 ++++++++--- 1 file changed, 8 insertions(+), 3 deletions(-) diff --git a/newton/utils/selection.py b/newton/utils/selection.py index 947d9fbed9..0156ece085 100644 --- a/newton/utils/selection.py +++ b/newton/utils/selection.py @@ -316,11 +316,16 @@ def get_name_from_key(key): for body_id in range(body_begin, body_end): self.body_names.append(get_name_from_key(model.body_key[body_id])) + print("Link names:") + print(self.body_names) + print("Joint names:") print(self.joint_names) - print(self.joint_coord_names) - print(self.joint_dof_names) + print("Joint axis names:") print(self.joint_axis_names) - print(self.body_names) + # print("Joint coord names:") + # print(self.joint_coord_names) + # print("Joint dof names:") + # print(self.joint_dof_names) # slices by indexing mode self._slices = { From f57e716412fc0ea5adb72945643a9a999324af31 Mon Sep 17 00:00:00 2001 From: Lukasz Wawrzyniak Date: Thu, 12 Jun 2025 09:13:34 -0400 Subject: [PATCH 57/57] Update to latest --- newton/examples/example_selection_ant.py | 1 - newton/examples/example_selection_anymal.py | 6 +++--- newton/examples/example_selection_cartpole.py | 1 - newton/examples/example_selection_humanoid.py | 1 - newton/utils/selection.py | 4 ++-- 5 files changed, 5 insertions(+), 8 deletions(-) diff --git a/newton/examples/example_selection_ant.py b/newton/examples/example_selection_ant.py index 3d79d0e630..96c60dc6bd 100644 --- a/newton/examples/example_selection_ant.py +++ b/newton/examples/example_selection_ant.py @@ -44,7 +44,6 @@ def __init__(self, stage_path=None, num_envs=8): # finalize model self.model = builder.finalize() - self.model.ground = False self.solver = newton.solvers.MuJoCoSolver(self.model) diff --git a/newton/examples/example_selection_anymal.py b/newton/examples/example_selection_anymal.py index a8fe47116b..6dbf21d573 100644 --- a/newton/examples/example_selection_anymal.py +++ b/newton/examples/example_selection_anymal.py @@ -42,12 +42,12 @@ def __init__(self, stage_path=None, num_envs=8): up_axis = stage_info.get("up_axis") or newton.Axis.Z + # !!! asset has no ground plane + builder.add_ground_plane() + # finalize model self.model = builder.finalize() - # !!! asset has no ground plane - self.model.ground = True - self.solver = newton.solvers.MuJoCoSolver(self.model) self.renderer = None diff --git a/newton/examples/example_selection_cartpole.py b/newton/examples/example_selection_cartpole.py index ed1a86fd33..5bc7c128b3 100644 --- a/newton/examples/example_selection_cartpole.py +++ b/newton/examples/example_selection_cartpole.py @@ -44,7 +44,6 @@ def __init__(self, stage_path=None, num_envs=8): # finalize model self.model = builder.finalize() - self.model.ground = False self.sim_time = 0.0 fps = 60 diff --git a/newton/examples/example_selection_humanoid.py b/newton/examples/example_selection_humanoid.py index d84efae1f7..a4a7085622 100644 --- a/newton/examples/example_selection_humanoid.py +++ b/newton/examples/example_selection_humanoid.py @@ -44,7 +44,6 @@ def __init__(self, stage_path=None, num_envs=8): # finalize model self.model = builder.finalize() - self.model.ground = False self.solver = newton.solvers.MuJoCoSolver(self.model) diff --git a/newton/utils/selection.py b/newton/utils/selection.py index 0156ece085..0c9915d510 100644 --- a/newton/utils/selection.py +++ b/newton/utils/selection.py @@ -20,7 +20,7 @@ import warp as wp from warp.types import is_array -import newton.core.articulation +import newton.sim from newton import Control, Model, State @@ -533,4 +533,4 @@ def eval_fk(self, target: Model | State, indices=None): else: mask = self.articulation_mask - newton.core.articulation.eval_fk(self.model, target.joint_q, target.joint_qd, target, mask=mask) + newton.sim.eval_fk(self.model, target.joint_q, target.joint_qd, target, mask=mask)

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