finish gallery

demos/IsaacSim/gallery/gallery.py

@@ -46,10 +46,9 @@
 from omni.isaac.lab_assets import (
     FRANKA_PANDA_CFG,
     G1_MINIMAL_CFG,
+    H1_CFG,
     H1_MINIMAL_CFG,
     KINOVA_GEN3_N7_CFG,
-    KINOVA_JACO2_N6S300_CFG,
-    KINOVA_JACO2_N7S300_CFG,
     SAWYER_CFG,
     UR10_CFG,
 )
@@ -64,52 +63,97 @@
 from simpub.sim.isaacsim_publisher import IsaacSimPublisher
 
 
-def design_scene() -> tuple[dict, list[list[float]]]:
+def design_scene():
     scene_entities = {}
-    origins = []
 
     scene_asset_cfg = AssetBaseCfg(
         prim_path="/World/scene",
         init_state=AssetBaseCfg.InitialStateCfg(pos=[0.0, 0.0, 0.0], rot=[1.0, 0.0, 0.0, 0.0]),
         spawn=UsdFileCfg(
-            usd_path=f"{Path(__file__).parent.as_posix()}/simple_room.usd",
+            usd_path=f"{Path(__file__).parent.as_posix()}/gallery.usd",
         ),
     )
     scene_asset_cfg.spawn.func(scene_asset_cfg.prim_path, scene_asset_cfg.spawn)
 
-    anymal_c_cfg = ANYMAL_C_CFG
-    anymal_c_cfg.prim_path = "/World/scene/anymal_c"
-    anymal_c_cfg.spawn = None
-    scene_entities["anymal_c"] = Articulation(cfg=anymal_c_cfg)
-    origins.append([0, 0, 0])
+    anymal_b_cfg = ANYMAL_B_CFG
+    anymal_b_cfg.prim_path = "/World/scene/anymal_b"
+    anymal_b_cfg.spawn = None
+    scene_entities["anymal_b"] = Articulation(cfg=anymal_b_cfg)
+
+    anymal_d_cfg = ANYMAL_D_CFG
+    anymal_d_cfg.prim_path = "/World/scene/anymal_d"
+    anymal_d_cfg.spawn = None
+    scene_entities["anymal_d"] = Articulation(cfg=anymal_d_cfg)
+
+    go2_cfg = UNITREE_GO2_CFG
+    go2_cfg.prim_path = "/World/scene/go2"
+    go2_cfg.spawn = None
+    scene_entities["go2"] = Articulation(cfg=go2_cfg)
+
+    a1_cfg = UNITREE_A1_CFG
+    a1_cfg.prim_path = "/World/scene/a1"
+    a1_cfg.spawn = None
+    scene_entities["a1"] = Articulation(cfg=a1_cfg)
+
+    franka_cfg = FRANKA_PANDA_CFG
+    franka_cfg.prim_path = "/World/scene/franka_panda"
+    franka_cfg.spawn = None
+    scene_entities["franka"] = Articulation(cfg=franka_cfg)
+
+    ur10_cfg = UR10_CFG
+    ur10_cfg.prim_path = "/World/scene/ur10"
+    ur10_cfg.spawn = None
+    scene_entities["ur10"] = Articulation(cfg=ur10_cfg)
+
+    gen3n7_cfg = KINOVA_GEN3_N7_CFG
+    gen3n7_cfg.prim_path = "/World/scene/gen3n7"
+    gen3n7_cfg.spawn = None
+    scene_entities["gen3n7"] = Articulation(cfg=gen3n7_cfg)
+
+    sawyer_cfg = SAWYER_CFG
+    sawyer_cfg.prim_path = "/World/scene/sawyer"
+    sawyer_cfg.spawn = None
+    scene_entities["sawyer"] = Articulation(cfg=sawyer_cfg)
+
+    h1_cfg = H1_CFG
+    h1_cfg.prim_path = "/World/scene/h1"
+    h1_cfg.spawn = None
+    scene_entities["h1"] = Articulation(cfg=h1_cfg)
 
     # return the scene information
-    return scene_entities, origins
+    return scene_entities
 
 
 def run_simulator(
     sim: sim_utils.SimulationContext,
     entities: dict[str, Articulation],
-    origins: torch.Tensor,
 ):
     """Runs the simulation loop."""
     # Define simulation stepping
     sim_dt = sim.get_physics_dt()
     sim_time = 0.0
     count = 0
+
+    for robot in entities.values():
+        robot.data.default_root_state = robot.data.root_state_w.clone()
+
+    elbow_indices, _ = entities["h1"].find_joints(".*_elbow")
+    default_joint_pos = entities["h1"].data.default_joint_pos.clone()
+    default_joint_pos[0, elbow_indices] = -0.2
+    entities["h1"].data.default_joint_pos = default_joint_pos
+
     # Simulate physics
     while simulation_app.is_running():
         # reset
-        if count % 200 == 0:
+        if count % 2000 == 0:
             # reset counters
             sim_time = 0.0
             count = 0
             # reset robots
-            for index, robot in enumerate(entities.values()):
-                # # root state
-                # root_state = robot.data.default_root_state.clone()
-                # root_state[:, :3] += origins[index]
-                # robot.write_root_state_to_sim(root_state)
+            for robot in entities.values():
+                # root state
+                root_state = robot.data.default_root_state.clone()
+                robot.write_root_state_to_sim(root_state)
                 # joint state
                 joint_pos, joint_vel = (
                     robot.data.default_joint_pos.clone(),
@@ -145,22 +189,26 @@ def main():
     # Set main camera
     sim.set_camera_view(eye=[2.5, 2.5, 2.5], target=[0.0, 0.0, 0.0])
     # design scene
-    scene_entities, scene_origins = design_scene()
-    scene_origins = torch.tensor(scene_origins, device=sim.device)
+    scene_entities = design_scene()
     # Play the simulator
     sim.reset()
 
     _ = IsaacSimPublisher(
         host="127.0.0.1",
         stage=sim.stage,
-        ignored_prim_paths=["/World/defaultGroundPlane"],
+        ignored_prim_paths=[
+            "/World/scene/GroundPlane",
+            "/World/scene/Cube_04",
+            "/World/scene/Cube_05",
+            "/World/scene/Cube_06",
+        ],
         texture_cache_dir=f"{Path(__file__).parent.as_posix()}/.textures",
     )
 
     # Now we are ready!
     print("[INFO]: Setup complete...")
     # Run the simulator
-    run_simulator(sim, scene_entities, scene_origins)
+    run_simulator(sim, scene_entities)
 
 
 if __name__ == "__main__":

simpub/parser/isaacsim.py

@@ -383,10 +383,14 @@ def parse_prim_material(
             texture_path = None
             if diffuse_texture.Get() is not None:
                 texture_path = str(diffuse_texture.Get().resolvedPath)
+                if not texture_path:
+                    texture_path = str(diffuse_texture.Get().path)
             else:
                 diffuse_texture = mat_shader.GetInput("AlbedoTexture")
                 if diffuse_texture.Get() is not None:
                     texture_path = str(diffuse_texture.Get().resolvedPath)
+                    if not texture_path:
+                        texture_path = str(diffuse_texture.Get().path)
 
         with self.timer.start("parse_prim_material_3"):
             diffuse_color = [1.0, 1.0, 1.0]
@@ -416,7 +420,7 @@ def parse_prim_material(
                         image = Image.open(texture_path)
 
                     # this is not needed for local textures. but anyway...
-                    if image is not None:
+                    if image is not None and self.texture_cache_dir is not None:
                         ext = os.path.splitext(texture_path)[1]
                         texture_file_name = f"{str(uuid.uuid4())}{ext}"
                         texture_file_path = os.path.join(self.texture_cache_dir, texture_file_name)