From c9bcd3b4544fcd482b82afc5748ff1611581ee2c Mon Sep 17 00:00:00 2001 From: Pascal Roth <57946385+pascal-roth@users.noreply.github.com> Date: Thu, 25 Jul 2024 16:00:21 +0200 Subject: [PATCH 001/121] Adds multi-mesh raycaster from Orbit (#4) Add the efficient multi-mesh raycasting function implemented in Orbit. Moreover, this PR fixes the test of it. The new raycaster allows to raycast against multiple objects, which can be located at different positions in each environment. The positions can be tracked over time if enabled in the config. - New feature (non-breaking change which adds functionality) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [ ] My changes generate no new warnings - [x] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Co-authored-by: zrene --- docs/source/api/lab/isaaclab.utils.rst | 1 + .../isaaclab/sensors/ray_caster/ray_caster.py | 271 +++++++++++++----- .../sensors/ray_caster/ray_caster_camera.py | 47 +-- .../ray_caster/ray_caster_camera_cfg.py | 4 + .../sensors/ray_caster/ray_caster_cfg.py | 26 +- source/isaaclab/isaaclab/sensors/utils.py | 47 +++ source/isaaclab/isaaclab/sim/utils.py | 15 + source/isaaclab/isaaclab/utils/__init__.py | 1 + source/isaaclab/isaaclab/utils/mesh.py | 116 ++++++++ .../isaaclab/isaaclab/utils/warp/__init__.py | 2 +- .../isaaclab/isaaclab/utils/warp/kernels.py | 180 +++++++++--- source/isaaclab/isaaclab/utils/warp/ops.py | 243 ++++++++++++---- .../isaaclab/test/sensors/check_ray_caster.py | 37 ++- .../isaaclab/test/sensors/test_ray_caster.py | 219 ++++++++++++++ 14 files changed, 1025 insertions(+), 184 deletions(-) create mode 100644 source/isaaclab/isaaclab/sensors/utils.py create mode 100644 source/isaaclab/isaaclab/utils/mesh.py create mode 100644 source/isaaclab/test/sensors/test_ray_caster.py diff --git a/docs/source/api/lab/isaaclab.utils.rst b/docs/source/api/lab/isaaclab.utils.rst index 9ef89739f79..8a179490556 100644 --- a/docs/source/api/lab/isaaclab.utils.rst +++ b/docs/source/api/lab/isaaclab.utils.rst @@ -20,6 +20,7 @@ timer types warp + mesh .. Rubric:: Functions diff --git a/source/isaaclab/isaaclab/sensors/ray_caster/ray_caster.py b/source/isaaclab/isaaclab/sensors/ray_caster/ray_caster.py index 8e2f6541fe9..c35599d7a6e 100644 --- a/source/isaaclab/isaaclab/sensors/ray_caster/ray_caster.py +++ b/source/isaaclab/isaaclab/sensors/ray_caster/ray_caster.py @@ -23,9 +23,11 @@ from isaaclab.markers import VisualizationMarkers from isaaclab.terrains.trimesh.utils import make_plane from isaaclab.utils.math import convert_quat, quat_apply, quat_apply_yaw -from isaaclab.utils.warp import convert_to_warp_mesh, raycast_mesh +from isaaclab.utils.mesh import PRIMITIVE_MESH_TYPES, create_mesh_from_geom_shape, create_trimesh_from_geom_mesh +from isaaclab.utils.warp import convert_to_warp_mesh, raycast_dynamic_meshes from ..sensor_base import SensorBase +from ..utils import compute_world_poses from .ray_caster_data import RayCasterData if TYPE_CHECKING: @@ -40,17 +42,36 @@ class RayCaster(SensorBase): a set of meshes with a given ray pattern. The meshes are parsed from the list of primitive paths provided in the configuration. These are then - converted to warp meshes and stored in the `warp_meshes` list. The ray-caster then ray-casts against + converted to warp meshes and stored in the :attr:`warp_meshes` list. The ray-caster then ray-casts against these warp meshes using the ray pattern provided in the configuration. - - .. note:: - Currently, only static meshes are supported. Extending the warp mesh to support dynamic meshes - is a work in progress. """ cfg: RayCasterCfg """The configuration parameters.""" + meshes: ClassVar[dict[str, list[list[wp.Mesh]]]] = {} + """The warp meshes available for raycasting. Stored as a dictionary. + + For each target_prim_cfg in the ray_caster_cfg.mesh_prim_paths, the dictionary stores the warp meshes + for each environment instance. The list has shape (num_envs, num_meshes_per_env). + Note that wp.Mesh are references to the warp mesh objects, so they are not duplicated for each environment if + not necessary. + + The keys correspond to the prim path for the meshes, and values are the corresponding warp Mesh objects. + + .. note:: + We store a global dictionary of all warp meshes to prevent re-loading the mesh for different ray-cast sensor instances. + """ + + mesh_views: ClassVar[dict[str, object]] = {} + """The views of the meshes available for raycasting. + + The keys correspond to the prim path for the meshes, and values are the corresponding views of the prims. + + .. note:: + We store a global dictionary of all views to prevent re-loading for different ray-cast sensor instances. + """ + def __init__(self, cfg: RayCasterCfg): """Initializes the ray-caster object. @@ -71,16 +92,28 @@ def __init__(self, cfg: RayCasterCfg): super().__init__(cfg) # Create empty variables for storing output data self._data = RayCasterData() - # the warp meshes used for raycasting. - self.meshes: dict[str, wp.Mesh] = {} + self._raycast_targets_cfg: list[RayCasterCfg.RaycastTargetCfg] = [] + + self._num_meshes_per_env: dict[str, int] = {} + """Keeps track of the number of meshes per env for each ray_cast target. + Since we allow regex indexing (e.g. env_*/object_*) they can differ + """ + + for target in self.cfg.mesh_prim_paths: + # Legacy support for string targets. Treat them as global targets. + if isinstance(target, str): + self._raycast_targets_cfg.append(cfg.RaycastTargetCfg(target_prim_expr=target, is_global=True)) + else: + self._raycast_targets_cfg.append(target) def __str__(self) -> str: """Returns: A string containing information about the instance.""" + return ( f"Ray-caster @ '{self.cfg.prim_path}': \n" f"\tview type : {self._view.__class__}\n" f"\tupdate period (s) : {self.cfg.update_period}\n" - f"\tnumber of meshes : {len(self.meshes)}\n" + f"\tnumber of meshes : {self._num_envs} x {sum(self._num_meshes_per_env.values())} \n" f"\tnumber of sensors : {self._view.count}\n" f"\tnumber of rays/sensor: {self.num_rays}\n" f"\ttotal number of rays : {self.num_rays * self._view.count}" @@ -137,6 +170,7 @@ def _initialize_impl(self): # otherwise we need to use the xform view class which is slower found_supported_prim_class = False prim = sim_utils.find_first_matching_prim(self.cfg.prim_path) + if prim is None: raise RuntimeError(f"Failed to find a prim at path expression: {self.cfg.prim_path}") # create view based on the type of prim @@ -160,54 +194,124 @@ def _initialize_impl(self): self._initialize_rays_impl() def _initialize_warp_meshes(self): - # check number of mesh prims provided - if len(self.cfg.mesh_prim_paths) != 1: - raise NotImplementedError( - f"RayCaster currently only supports one mesh prim. Received: {len(self.cfg.mesh_prim_paths)}" - ) - - # read prims to ray-cast - for mesh_prim_path in self.cfg.mesh_prim_paths: - # check if the prim is a plane - handle PhysX plane as a special case - # if a plane exists then we need to create an infinite mesh that is a plane - mesh_prim = sim_utils.get_first_matching_child_prim( - mesh_prim_path, lambda prim: prim.GetTypeName() == "Plane" - ) - # if we did not find a plane then we need to read the mesh - if mesh_prim is None: - # obtain the mesh prim + for target_cfg in self._raycast_targets_cfg: + # target prim path to ray cast against + mesh_prim_path = target_cfg.target_prim_expr + # check if mesh already casted into warp mesh and get the number of meshes per env + if mesh_prim_path in RayCaster.meshes: + self._num_meshes_per_env[mesh_prim_path] = len(RayCaster.meshes[mesh_prim_path]) // self._num_envs + continue + paths = sim_utils.find_matching_prim_paths(mesh_prim_path) + if len(paths) == 0: + raise RuntimeError(f"Failed to find a prim at path expression: {mesh_prim_path}") + + loaded_vertices: list[np.ndarray | None] = [] + wp_meshes = [] + for path in paths: + # check if the prim is a primitive object - handle these as special types mesh_prim = sim_utils.get_first_matching_child_prim( - mesh_prim_path, lambda prim: prim.GetTypeName() == "Mesh" - ) - # check if valid - if mesh_prim is None or not mesh_prim.IsValid(): - raise RuntimeError(f"Invalid mesh prim path: {mesh_prim_path}") - # cast into UsdGeomMesh - mesh_prim = UsdGeom.Mesh(mesh_prim) - # read the vertices and faces - points = np.asarray(mesh_prim.GetPointsAttr().Get()) - transform_matrix = np.array(omni.usd.get_world_transform_matrix(mesh_prim)).T - points = np.matmul(points, transform_matrix[:3, :3].T) - points += transform_matrix[:3, 3] - indices = np.asarray(mesh_prim.GetFaceVertexIndicesAttr().Get()) - wp_mesh = convert_to_warp_mesh(points, indices, device=self.device) - # print info - omni.log.info( - f"Read mesh prim: {mesh_prim.GetPath()} with {len(points)} vertices and {len(indices)} faces." + path, lambda prim: prim.GetTypeName() in PRIMITIVE_MESH_TYPES ) + + # if we did not find a primitive mesh, we need to read the mesh + if mesh_prim is None: + + # obtain the mesh prim + mesh_prim = sim_utils.get_first_matching_child_prim(path, lambda prim: prim.GetTypeName() == "Mesh") + + # check if valid + if mesh_prim is None or not mesh_prim.IsValid(): + raise RuntimeError(f"Invalid mesh prim path: {paths}") + + points, faces = create_trimesh_from_geom_mesh(mesh_prim) + points *= np.array(sim_utils.resolve_world_scale(mesh_prim)) + registered_idx = _registered_points_idx(points, loaded_vertices) + if registered_idx != -1: + print("Found a duplicate mesh, only reference the mesh.") + # Found a duplicate mesh, only reference the mesh. + loaded_vertices.append(None) + wp_mesh = wp_meshes[registered_idx] + else: + loaded_vertices.append(points) + wp_mesh = convert_to_warp_mesh(points, faces, device=self.device) + # print info + carb.log_info( + f"Read mesh prim: {mesh_prim.GetPath()} with {len(points)} vertices and {len(faces)} faces." + ) + else: + # create mesh from primitive shape + mesh = create_mesh_from_geom_shape(mesh_prim) + mesh.vertices *= np.array(sim_utils.resolve_world_scale(mesh_prim)) + + registered_idx = _registered_points_idx(mesh.vertices, loaded_vertices) + if registered_idx != -1: + # Found a duplicate mesh, only reference the mesh. + loaded_vertices.append(None) + wp_mesh = wp_meshes[registered_idx] + else: + loaded_vertices.append(mesh.vertices) + wp_mesh = convert_to_warp_mesh(mesh.vertices, mesh.faces, device=self.device) + # print info + carb.log_info(f"Created {mesh_prim.GetTypeName()} mesh prim: {mesh_prim.GetPath()}.") + wp_meshes.append(wp_mesh) + + if target_cfg.is_global: + # reference the mesh for each environment to ray cast against + RayCaster.meshes[mesh_prim_path] = [wp_meshes] * self._num_envs + self._num_meshes_per_env[mesh_prim_path] = 1 else: - mesh = make_plane(size=(2e6, 2e6), height=0.0, center_zero=True) - wp_mesh = convert_to_warp_mesh(mesh.vertices, mesh.faces, device=self.device) - # print info - omni.log.info(f"Created infinite plane mesh prim: {mesh_prim.GetPath()}.") - # add the warp mesh to the list - self.meshes[mesh_prim_path] = wp_mesh + # split up the meshes for each environment. Little bit ugly, since + # the current order is interleaved (env1_obj1, env1_obj2, env2_obj1, env2_obj2, ...) + RayCaster.meshes[mesh_prim_path] = [] + mesh_idx = 0 + n_meshes_per_env = len(wp_meshes) // self._num_envs + self._num_meshes_per_env[mesh_prim_path] = n_meshes_per_env + for _ in range(self._num_envs): + RayCaster.meshes[mesh_prim_path].append(wp_meshes[mesh_idx : mesh_idx + n_meshes_per_env]) + mesh_idx += n_meshes_per_env + + if self.cfg.track_mesh_transforms: + # create view based on the type of prim + mesh_prim_api = sim_utils.find_first_matching_prim(mesh_prim_path) + if mesh_prim_api.HasAPI(UsdPhysics.ArticulationRootAPI): + RayCaster.mesh_views[mesh_prim_path] = self._physics_sim_view.create_articulation_view( + mesh_prim_path.replace(".*", "*") + ) + carb.log_info(f"Created articulation view for mesh prim at path: {mesh_prim_path}") + elif mesh_prim_api.HasAPI(UsdPhysics.RigidBodyAPI): + RayCaster.mesh_views[mesh_prim_path] = self._physics_sim_view.create_rigid_body_view( + mesh_prim_path.replace(".*", "*") + ) + carb.log_info(f"Created rigid body view for mesh prim at path: {mesh_prim_path}") + else: + RayCaster.mesh_views[mesh_prim_path] = XFormPrimView(mesh_prim_path, reset_xform_properties=False) + carb.log_warn(f"The prim at path {mesh_prim_path} is not a physics prim! Using XFormPrimView.") # throw an error if no meshes are found - if all([mesh_prim_path not in self.meshes for mesh_prim_path in self.cfg.mesh_prim_paths]): + if all([target_cfg.target_prim_expr not in RayCaster.meshes for target_cfg in self._raycast_targets_cfg]): raise RuntimeError( f"No meshes found for ray-casting! Please check the mesh prim paths: {self.cfg.mesh_prim_paths}" ) + if self.cfg.track_mesh_transforms: + total_n_meshes_per_env = sum(self._num_meshes_per_env.values()) + self._mesh_positions_w = torch.zeros(self._num_envs, total_n_meshes_per_env, 3, device=self.device) + self._mesh_orientations_w = torch.zeros(self._num_envs, total_n_meshes_per_env, 4, device=self.device) + + # flatten the list of meshes that are included in mesh_prim_paths of the specific ray caster + self._meshes = [] + for env_idx in range(self._num_envs): + meshes_in_env = [] + for target_cfg in self._raycast_targets_cfg: + meshes_in_env.extend(RayCaster.meshes[target_cfg.target_prim_expr][env_idx]) + self._meshes.append(meshes_in_env) + + if self.cfg.track_mesh_transforms: + self._mesh_views = [ + RayCaster.mesh_views[target_cfg.target_prim_expr] for target_cfg in self._raycast_targets_cfg + ] + + # save a warp array with mesh ids that is passed to the raycast function + self._mesh_ids_wp = wp.array2d([[m.id for m in b] for b in self._meshes], dtype=wp.uint64, device=self.device) def _initialize_rays_impl(self): # compute ray stars and directions @@ -225,23 +329,14 @@ def _initialize_rays_impl(self): self.drift = torch.zeros(self._view.count, 3, device=self.device) self.ray_cast_drift = torch.zeros(self._view.count, 3, device=self.device) # fill the data buffer - self._data.pos_w = torch.zeros(self._view.count, 3, device=self._device) - self._data.quat_w = torch.zeros(self._view.count, 4, device=self._device) - self._data.ray_hits_w = torch.zeros(self._view.count, self.num_rays, 3, device=self._device) + self._data.pos_w = torch.zeros(self._view.count, 3, device=self.device) + self._data.quat_w = torch.zeros(self._view.count, 4, device=self.device) + self._data.ray_hits_w = torch.zeros(self._view.count, self.num_rays, 3, device=self.device) def _update_buffers_impl(self, env_ids: Sequence[int]): """Fills the buffers of the sensor data.""" # obtain the poses of the sensors - if isinstance(self._view, XFormPrim): - pos_w, quat_w = self._view.get_world_poses(env_ids) - elif isinstance(self._view, physx.ArticulationView): - pos_w, quat_w = self._view.get_root_transforms()[env_ids].split([3, 4], dim=-1) - quat_w = convert_quat(quat_w, to="wxyz") - elif isinstance(self._view, physx.RigidBodyView): - pos_w, quat_w = self._view.get_transforms()[env_ids].split([3, 4], dim=-1) - quat_w = convert_quat(quat_w, to="wxyz") - else: - raise RuntimeError(f"Unsupported view type: {type(self._view)}") + pos_w, quat_w = compute_world_poses(self._view, env_ids) # note: we clone here because we are read-only operations pos_w = pos_w.clone() quat_w = quat_w.clone() @@ -288,16 +383,33 @@ def _update_buffers_impl(self, env_ids: Sequence[int]): ray_starts_w = quat_apply(quat_w.repeat(1, self.num_rays), self.ray_starts[env_ids]) ray_starts_w += pos_w.unsqueeze(1) ray_directions_w = quat_apply(quat_w.repeat(1, self.num_rays), self.ray_directions[env_ids]) - else: - raise RuntimeError(f"Unsupported ray_alignment type: {self.cfg.ray_alignment}.") - # ray cast and store the hits - # TODO: Make this work for multiple meshes? - self._data.ray_hits_w[env_ids] = raycast_mesh( + if self.cfg.track_mesh_transforms: + # Update the mesh positions and rotations + mesh_idx = 0 + for view, target_cfg in zip(self._mesh_views, self._raycast_targets_cfg): + # update position of the target meshes + pos_w, ori_w = compute_world_poses(view, None) + pos_w = pos_w.squeeze(0) if len(pos_w.shape) == 3 else pos_w + ori_w = ori_w.squeeze(0) if len(ori_w.shape) == 3 else ori_w + + count = view.count + if not target_cfg.is_global: + count = count // self._num_envs + pos_w = pos_w.view(self._num_envs, count, 3) + ori_w = ori_w.view(self._num_envs, count, 4) + + self._mesh_positions_w[:, mesh_idx : mesh_idx + count] = pos_w + self._mesh_orientations_w[:, mesh_idx : mesh_idx + count] = ori_w + mesh_idx += count + + self._data.ray_hits_w[env_ids] = raycast_dynamic_meshes( ray_starts_w, ray_directions_w, + mesh_ids_wp=self._mesh_ids_wp, # list with shape num_envs x num_meshes_per_env max_dist=self.cfg.max_distance, - mesh=self.meshes[self.cfg.mesh_prim_paths[0]], + mesh_positions_w=self._mesh_positions_w[env_ids] if self.cfg.track_mesh_transforms else None, + mesh_orientations_w=self._mesh_orientations_w[env_ids] if self.cfg.track_mesh_transforms else None, )[0] # apply vertical drift to ray starting position in ray caster frame @@ -332,3 +444,26 @@ def _invalidate_initialize_callback(self, event): super()._invalidate_initialize_callback(event) # set all existing views to None to invalidate them self._view = None + + +""" +Helper functions +""" + + +def _registered_points_idx(points: np.ndarray, registered_points: list[np.ndarray | None]) -> int: + """Check if the points are already registered in the list of registered points. + + Args: + points: The points to check. + registered_points: The list of registered points. + + Returns: + The index of the registered points if found, otherwise -1. + """ + for idx, reg_points in enumerate(registered_points): + if reg_points is None: + continue + if reg_points.shape == points.shape and (reg_points == points).all(): + return idx + return -1 diff --git a/source/isaaclab/isaaclab/sensors/ray_caster/ray_caster_camera.py b/source/isaaclab/isaaclab/sensors/ray_caster/ray_caster_camera.py index 3bf8729b78b..f1ac8fb03a1 100644 --- a/source/isaaclab/isaaclab/sensors/ray_caster/ray_caster_camera.py +++ b/source/isaaclab/isaaclab/sensors/ray_caster/ray_caster_camera.py @@ -15,8 +15,10 @@ import isaaclab.utils.math as math_utils from isaaclab.sensors.camera import CameraData -from isaaclab.utils.warp import raycast_mesh +from omni.isaac.lab.sensors.camera.utils import convert_orientation_convention, create_rotation_matrix_from_view +from omni.isaac.lab.utils.warp import raycast_dynamic_meshes +from ..utils import compute_world_poses from .ray_caster import RayCaster if TYPE_CHECKING: @@ -38,10 +40,6 @@ class RayCasterCamera(RayCaster): - ``"distance_to_camera"``: An image containing the distance to camera optical center. - ``"distance_to_image_plane"``: An image containing distances of 3D points from camera plane along camera's z-axis. - ``"normals"``: An image containing the local surface normal vectors at each pixel. - - .. note:: - Currently, only static meshes are supported. Extending the warp mesh to support dynamic meshes - is a work in progress. """ cfg: RayCasterCameraCfg @@ -188,7 +186,7 @@ def set_world_poses( env_ids = self._ALL_INDICES # get current positions - pos_w, quat_w = self._compute_view_world_poses(env_ids) + pos_w, quat_w = compute_world_poses(self._view, env_ids) if positions is not None: # transform to camera frame pos_offset_world_frame = positions - pos_w @@ -270,23 +268,38 @@ def _update_buffers_impl(self, env_ids: Sequence[int]): ray_starts_w += pos_w.unsqueeze(1) ray_directions_w = math_utils.quat_apply(quat_w.repeat(1, self.num_rays), self.ray_directions[env_ids]) - # ray cast and store the hits - # note: we set max distance to 1e6 during the ray-casting. THis is because we clip the distance - # to the image plane and distance to the camera to the maximum distance afterwards in-order to - # match the USD camera behavior. + if self.cfg.track_mesh_transforms: + # Update the mesh positions and rotations + mesh_idx = 0 + for view, target_cfg in zip(self._mesh_views, self._raycast_targets_cfg): + # update position of the target meshes + pos_w, ori_w = compute_world_poses(view, None) + pos_w = pos_w.squeeze(0) if len(pos_w.shape) == 3 else pos_w + ori_w = ori_w.squeeze(0) if len(ori_w.shape) == 3 else ori_w + + count = view.count + if not target_cfg.is_global: + count = count // self._num_envs + pos_w = pos_w.view(self._num_envs, count, 3) + ori_w = ori_w.view(self._num_envs, count, 4) + + self._mesh_positions_w[:, mesh_idx : mesh_idx + count] = pos_w + self._mesh_orientations_w[:, mesh_idx : mesh_idx + count] = ori_w + mesh_idx += count - # TODO: Make ray-casting work for multiple meshes? - # necessary for regular dictionaries. - self.ray_hits_w, ray_depth, ray_normal, _ = raycast_mesh( + # ray cast and store the hits + self.ray_hits_w, ray_depth, ray_normal = raycast_dynamic_meshes( ray_starts_w, ray_directions_w, - mesh=self.meshes[self.cfg.mesh_prim_paths[0]], - max_dist=1e6, + mesh_ids_wp=self._mesh_ids_wp, # list with shape num_envs x num_meshes_per_env + max_dist=self.cfg.max_distance, + mesh_positions_w=self._mesh_positions_w[env_ids] if self.cfg.track_mesh_transforms else None, + mesh_orientations_w=self._mesh_orientations_w[env_ids] if self.cfg.track_mesh_transforms else None, return_distance=any( [name in self.cfg.data_types for name in ["distance_to_image_plane", "distance_to_camera"]] ), return_normal="normals" in self.cfg.data_types, - ) + )[:3] # update output buffers if "distance_to_image_plane" in self.cfg.data_types: # note: data is in camera frame so we only take the first component (z-axis of camera frame) @@ -424,7 +437,7 @@ def _compute_camera_world_poses(self, env_ids: Sequence[int]) -> tuple[torch.Ten A tuple of the position (in meters) and quaternion (w, x, y, z) in "world" convention. """ # get the pose of the view the camera is attached to - pos_w, quat_w = self._compute_view_world_poses(env_ids) + pos_w, quat_w = compute_world_poses(self._view, env_ids) # apply offsets # need to apply quat because offset relative to parent frame pos_w += math_utils.quat_apply(quat_w, self._offset_pos[env_ids]) diff --git a/source/isaaclab/isaaclab/sensors/ray_caster/ray_caster_camera_cfg.py b/source/isaaclab/isaaclab/sensors/ray_caster/ray_caster_camera_cfg.py index c90984e8d7f..2a62707db53 100644 --- a/source/isaaclab/isaaclab/sensors/ray_caster/ray_caster_camera_cfg.py +++ b/source/isaaclab/isaaclab/sensors/ray_caster/ray_caster_camera_cfg.py @@ -46,6 +46,7 @@ class OffsetCfg: data_types: list[str] = ["distance_to_image_plane"] """List of sensor names/types to enable for the camera. Defaults to ["distance_to_image_plane"].""" +<<<<<<< HEAD:source/isaaclab/isaaclab/sensors/ray_caster/ray_caster_camera_cfg.py depth_clipping_behavior: Literal["max", "zero", "none"] = "none" """Clipping behavior for the camera for values exceed the maximum value. Defaults to "none". @@ -57,6 +58,9 @@ class OffsetCfg: pattern_cfg: PinholeCameraPatternCfg = MISSING """The pattern that defines the local ray starting positions and directions in a pinhole camera pattern.""" +======= + pattern_cfg: PinholeCameraPatternCfg = MISSING +>>>>>>> 0045671df6 (Adds multi-mesh raycaster from Orbit (#4)):source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera_cfg.py def __post_init__(self): # for cameras, this quantity should be False always. diff --git a/source/isaaclab/isaaclab/sensors/ray_caster/ray_caster_cfg.py b/source/isaaclab/isaaclab/sensors/ray_caster/ray_caster_cfg.py index 4a4884e32a5..4043bfbd0e8 100644 --- a/source/isaaclab/isaaclab/sensors/ray_caster/ray_caster_cfg.py +++ b/source/isaaclab/isaaclab/sensors/ray_caster/ray_caster_cfg.py @@ -22,6 +22,16 @@ class RayCasterCfg(SensorBaseCfg): """Configuration for the ray-cast sensor.""" + @configclass + class RaycastTargetCfg: + """Configuration for different ray-cast targets.""" + + target_prim_expr: str = MISSING + """The regex to specify the target prim to ray cast against.""" + + is_global: bool = False + """Whether the target prim is a global object or exists for each environment instance. Defaults to False.""" + @configclass class OffsetCfg: """The offset pose of the sensor's frame from the sensor's parent frame.""" @@ -33,13 +43,8 @@ class OffsetCfg: class_type: type = RayCaster - mesh_prim_paths: list[str] = MISSING - """The list of mesh primitive paths to ray cast against. - - Note: - Currently, only a single static mesh is supported. We are working on supporting multiple - static meshes and dynamic meshes. - """ + mesh_prim_paths: list[str | RaycastTargetCfg] = MISSING + """The list of mesh primitive paths to ray cast against.""" offset: OffsetCfg = OffsetCfg() """The offset pose of the sensor's frame from the sensor's parent frame. Defaults to identity.""" @@ -97,3 +102,10 @@ class OffsetCfg: Note: This attribute is only used when debug visualization is enabled. """ + + track_mesh_transforms: bool = False + """Whether the meshes transformations should be tracked. Defaults to False. + + Note: + Not tracking the mesh transformations is recommended when the meshes are static to increase performance. + """ diff --git a/source/isaaclab/isaaclab/sensors/utils.py b/source/isaaclab/isaaclab/sensors/utils.py new file mode 100644 index 00000000000..40eea90a7e2 --- /dev/null +++ b/source/isaaclab/isaaclab/sensors/utils.py @@ -0,0 +1,47 @@ +# Copyright (c) 2022-2024, The Isaac Lab Project Developers. +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + +from __future__ import annotations + +import torch + +import omni.physics.tensors.impl.api as physx +from omni.isaac.core.prims import XFormPrimView + +from omni.isaac.lab.utils.math import convert_quat + + +def compute_world_poses( + physx_view: XFormPrimView | physx.ArticulationView | physx.RigidBodyView, + env_ids: torch.Tensor, + clone: bool = False, +) -> tuple[torch.Tensor, torch.Tensor]: + """Get the world poses of the prim referenced by the prim view. + + Args: + physx_view: The prim view to get the world poses from. + env_ids: The environment ids of the prims to get the world poses for. + + Returns: + A tuple containing the world positions and orientations of the prims. Orientation is in wxyz format. + + Raises: + NotImplementedError: If the prim view is not of the correct type. + """ + if isinstance(physx_view, XFormPrimView): + pos_w, quat_w = physx_view.get_world_poses(env_ids) + elif isinstance(physx_view, physx.ArticulationView): + pos_w, quat_w = physx_view.get_root_transforms()[env_ids].split([3, 4], dim=-1) + quat_w = convert_quat(quat_w, to="wxyz") + elif isinstance(physx_view, physx.RigidBodyView): + pos_w, quat_w = physx_view.get_transforms()[env_ids].split([3, 4], dim=-1) + quat_w = convert_quat(quat_w, to="wxyz") + else: + raise NotImplementedError(f"Cannot get world poses for prim view of type '{type(physx_view)}'.") + + if clone: + return pos_w.clone(), quat_w.clone() + else: + return pos_w, quat_w diff --git a/source/isaaclab/isaaclab/sim/utils.py b/source/isaaclab/isaaclab/sim/utils.py index 93f395055da..6d5acb09e9d 100644 --- a/source/isaaclab/isaaclab/sim/utils.py +++ b/source/isaaclab/isaaclab/sim/utils.py @@ -534,6 +534,21 @@ def make_uninstanceable(prim_path: str | Sdf.Path, stage: Usd.Stage | None = Non all_prims += child_prim.GetChildren() +def resolve_world_scale(prim: Usd.Prim) -> tuple[float, float, float]: + """Resolve the world scale of a prim. + + Args: + prim: The USD prim to resolve the world scale for. + + Returns: + The world scale of the prim in the x, y, and z directions. + """ + + xform = UsdGeom.Xformable(prim) + world_transform = xform.ComputeLocalToWorldTransform(Usd.TimeCode.Default()) + return tuple([*(v.GetLength() for v in world_transform.ExtractRotationMatrix())]) + + """ USD Stage traversal. """ diff --git a/source/isaaclab/isaaclab/utils/__init__.py b/source/isaaclab/isaaclab/utils/__init__.py index 0213050384e..c70a9f8c91c 100644 --- a/source/isaaclab/isaaclab/utils/__init__.py +++ b/source/isaaclab/isaaclab/utils/__init__.py @@ -11,6 +11,7 @@ from .dict import * from .interpolation import * from .modifiers import * +from .mesh import * from .string import * from .timer import Timer from .types import * diff --git a/source/isaaclab/isaaclab/utils/mesh.py b/source/isaaclab/isaaclab/utils/mesh.py new file mode 100644 index 00000000000..d38fd9f9427 --- /dev/null +++ b/source/isaaclab/isaaclab/utils/mesh.py @@ -0,0 +1,116 @@ +# Copyright (c) 2022-2024, The Isaac Lab Project Developers. +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + +"""Utility functions for working with meshes.""" + +import numpy as np +import trimesh + +from pxr import Usd, UsdGeom + +PRIMITIVE_MESH_TYPES = ["Cube", "Plane"] +"""List of supported primitive mesh types that can be converted to a trimesh.""" + + +def create_trimesh_from_geom_mesh(mesh_prim: Usd.Prim) -> tuple[np.ndarray, np.ndarray]: + """Reads the vertices and faces of a mesh prim. + + The function reads the vertices and faces of a mesh prim and returns it. If the underlying mesh is a quad mesh, + it converts it to a triangle mesh. + + Args: + mesh_prim: The mesh prim to read the vertices and faces from. + + Returns: + A tuple containing the vertices and faces of the mesh. + Shape of vertices is (n_vertices, 3). + Shape of faces is (n_faces, 3). + """ + if mesh_prim.GetTypeName() != "Mesh": + raise ValueError(f"Prim at path '{mesh_prim.GetPath()}' is not a mesh.") + # cast into UsdGeomMesh + mesh = UsdGeom.Mesh(mesh_prim) + + # read the vertices and faces + points = np.asarray(mesh.GetPointsAttr().Get()).copy() + + # Load faces and convert to triangle if needed. (Default is quads) + num_vertex_per_face = np.asarray(mesh.GetFaceVertexCountsAttr().Get()) + indices = np.asarray(mesh.GetFaceVertexIndicesAttr().Get()) + return points, convert_faces_to_triangles(indices, num_vertex_per_face) + + +def create_mesh_from_geom_shape(prim: Usd.Prim) -> trimesh.Trimesh: + """Converts a primitive object to a trimesh. + + Args: + prim: The prim that should be converted to a trimesh. + + Returns: + A trimesh object representing the primitive. + + Raises: + ValueError: If the prim is not a supported primitive. Check PRIMITIVE_MESH_TYPES for supported primitives. + """ + + if prim.GetTypeName() not in PRIMITIVE_MESH_TYPES: + raise ValueError(f"Prim at path '{prim.GetPath()}' is not a primitive mesh. Cannot convert to trimesh.") + + # Create primitive mesh for the provided shapes + if prim.GetTypeName() == "Plane": + size = (2e6, 2e6) + vertices = np.array([[size[0], size[1], 0], [size[0], 0.0, 0], [0.0, size[1], 0], [0.0, 0.0, 0]]) - np.array( + [size[0] / 2.0, size[1] / 2.0, 0.0] + ) + faces = np.array([[1, 0, 2], [2, 3, 1]]) + mesh = trimesh.Trimesh(vertices=vertices, faces=faces) + + elif prim.GetTypeName() == "Cube": + size = prim.GetAttribute("size").Get() + extends = [size, size, size] + mesh = trimesh.creation.box(extends) + else: + raise ValueError(f"Prim at path '{prim.GetPath()}' is not a primitive mesh. Cannot convert to trimesh.") + + return mesh + + +def convert_faces_to_triangles(faces: np.ndarray, point_counts: np.ndarray) -> np.ndarray: + """Converts quad mesh face indices into triangle face indices. + + This function expects an array of faces (indices) and the number of points per face. It then converts potential + quads into triangles and returns the new triangle face indices as a numpy array of shape (n_faces_new, 3). + + Args: + faces: The faces of the quad mesh as a one-dimensional array. Shape is (N,). + point_counts: The number of points per face. Shape is (N, 3) or (N, 4). + + Returns: + The new face ids with triangles. Shape is (n_faces_new, 3). + """ + # check if the mesh is already triangulated + if (point_counts == 3).all(): + return faces.reshape(-1, 3) # already triangulated + all_faces = [] + + vertex_counter = 0 + # Iterates over all triangles of the mesh. + # could be very slow for large meshes + for num_points in point_counts: + if num_points == 3: + # triangle + all_faces.append(faces[vertex_counter : vertex_counter + 3]) + elif num_points == 4: + # quads. Subdivide into two triangles + f = faces[vertex_counter : vertex_counter + 4] + first_triangle = f[:3] + second_triangle = np.array([f[0], f[2], f[3]]) + all_faces.append(first_triangle) + all_faces.append(second_triangle) + else: + raise RuntimeError(f"Invalid number of points per face: {num_points}") + + vertex_counter += num_points + return np.asarray(all_faces) diff --git a/source/isaaclab/isaaclab/utils/warp/__init__.py b/source/isaaclab/isaaclab/utils/warp/__init__.py index 14c49f25528..1b69ce9a2dc 100644 --- a/source/isaaclab/isaaclab/utils/warp/__init__.py +++ b/source/isaaclab/isaaclab/utils/warp/__init__.py @@ -5,4 +5,4 @@ """Sub-module containing operations based on warp.""" -from .ops import convert_to_warp_mesh, raycast_mesh +from .ops import convert_to_warp_mesh, raycast_dynamic_meshes, raycast_mesh diff --git a/source/isaaclab/isaaclab/utils/warp/kernels.py b/source/isaaclab/isaaclab/utils/warp/kernels.py index 2fe544651f5..870a927873f 100644 --- a/source/isaaclab/isaaclab/utils/warp/kernels.py +++ b/source/isaaclab/isaaclab/utils/warp/kernels.py @@ -10,69 +10,171 @@ import warp as wp -@wp.kernel(enable_backward=False) -def raycast_mesh_kernel( - mesh: wp.uint64, - ray_starts: wp.array(dtype=wp.vec3), - ray_directions: wp.array(dtype=wp.vec3), - ray_hits: wp.array(dtype=wp.vec3), - ray_distance: wp.array(dtype=wp.float32), - ray_normal: wp.array(dtype=wp.vec3), - ray_face_id: wp.array(dtype=wp.int32), +@wp.kernel +def raycast_static_meshes_kernel( + mesh: wp.array2d(dtype=wp.uint64), + ray_starts: wp.array2d(dtype=wp.vec3), + ray_directions: wp.array2d(dtype=wp.vec3), + ray_hits: wp.array2d(dtype=wp.vec3), + ray_distance: wp.array2d(dtype=wp.float32), + ray_normal: wp.array2d(dtype=wp.vec3), + ray_face_id: wp.array2d(dtype=wp.int32), + ray_mesh_id: wp.array2d(dtype=wp.int16), max_dist: float = 1e6, - return_distance: int = False, return_normal: int = False, return_face_id: int = False, + return_mesh_id: int = False, ): - """Performs ray-casting against a mesh. + """Performs ray-casting against multiple static meshes. - This function performs ray-casting against the given mesh using the provided ray start positions + This function performs ray-casting against the given meshes using the provided ray start positions and directions. The resulting ray hit positions are stored in the :obj:`ray_hits` array. - Note that the `ray_starts`, `ray_directions`, and `ray_hits` arrays should have compatible shapes - and data types to ensure proper execution. Additionally, they all must be in the same frame. + The function utilizes the ``mesh_query_ray`` method from the ``wp`` module to perform the actual ray-casting + operation. The maximum ray-cast distance is set to ``1e6`` units. + + .. note:: + That the ``ray_starts``, ``ray_directions``, and ``ray_hits`` arrays should have compatible shapes + and data types to ensure proper execution. Additionally, they all must be in the same frame. - The function utilizes the `mesh_query_ray` method from the `wp` module to perform the actual ray-casting - operation. The maximum ray-cast distance is set to `1e6` units. + This kernel differs from the :meth:`raycast_dynamic_meshes_kernel` in that it does not take into + account the mesh's position and rotation. This kernel is useful for ray-casting against static meshes + that are not expected to move. Args: mesh: The input mesh. The ray-casting is performed against this mesh on the device specified by the `mesh`'s `device` attribute. - ray_starts: The input ray start positions. Shape is (N, 3). - ray_directions: The input ray directions. Shape is (N, 3). - ray_hits: The output ray hit positions. Shape is (N, 3). - ray_distance: The output ray hit distances. Shape is (N,), if `return_distance` is True. Otherwise, + ray_starts: The input ray start positions. Shape is (B, N, 3). + ray_directions: The input ray directions. Shape is (B, N, 3). + ray_hits: The output ray hit positions. Shape is (B, N, 3). + ray_distance: The output ray hit distances. Shape is (B, N,), if ``return_distance`` is True. Otherwise, + this array is not used. + ray_normal: The output ray hit normals. Shape is (B, N, 3), if ``return_normal`` is True. Otherwise, + this array is not used. + ray_face_id: The output ray hit face ids. Shape is (B, N,), if ``return_face_id`` is True. Otherwise, + this array is not used. + ray_mesh_id: The output ray hit mesh ids. Shape is (B, N,), if ``return_mesh_id`` is True. Otherwise, + this array is not used. + max_dist: The maximum ray-cast distance. Defaults to 1e6. + return_normal: Whether to return the ray hit normals. Defaults to False`. + return_face_id: Whether to return the ray hit face ids. Defaults to False. + return_mesh_id: Whether to return the mesh id. Defaults to False. + """ + # get the thread id + tid_mesh_id, tid_env, tid_ray = wp.tid() + + direction = ray_directions[tid_env, tid_ray] + start_pos = ray_starts[tid_env, tid_ray] + + # ray cast against the mesh and store the hit position + mesh_query_ray_t = wp.mesh_query_ray(mesh[tid_env, tid_mesh_id], start_pos, direction, max_dist) + + # if the ray hit, store the hit data + if mesh_query_ray_t.result: + + # check if hit distance is less than the current hit distance, only then update the memory + if mesh_query_ray_t.t < ray_distance[tid_env, tid_ray]: + + # convert back to world space and update the hit data + ray_hits[tid_env, tid_ray] = start_pos + mesh_query_ray_t.t * direction + + # update the hit distance + ray_distance[tid_env, tid_ray] = mesh_query_ray_t.t + + # update the normal and face id if requested + if return_normal == 1: + ray_normal[tid_env, tid_ray] = mesh_query_ray_t.normal + if return_face_id == 1: + ray_face_id[tid_env, tid_ray] = mesh_query_ray_t.face + if return_mesh_id == 1: + ray_mesh_id[tid_env, tid_ray] = wp.int16(tid_mesh_id) + + +@wp.kernel +def raycast_dynamic_meshes_kernel( + mesh: wp.array2d(dtype=wp.uint64), + ray_starts: wp.array2d(dtype=wp.vec3), + ray_directions: wp.array2d(dtype=wp.vec3), + ray_hits: wp.array2d(dtype=wp.vec3), + ray_distance: wp.array2d(dtype=wp.float32), + ray_normal: wp.array2d(dtype=wp.vec3), + ray_face_id: wp.array2d(dtype=wp.int32), + ray_mesh_id: wp.array2d(dtype=wp.int16), + mesh_positions: wp.array2d(dtype=wp.vec3), + mesh_rotations: wp.array2d(dtype=wp.quat), + max_dist: float = 1e6, + return_normal: int = False, + return_face_id: int = False, + return_mesh_id: int = False, +): + """Performs ray-casting against multiple meshes. + + This function performs ray-casting against the given meshes using the provided ray start positions + and directions. The resulting ray hit positions are stored in the :obj:`ray_hits` array. + + The function utilizes the ``mesh_query_ray`` method from the ``wp`` module to perform the actual ray-casting + operation. The maximum ray-cast distance is set to ``1e6`` units. + + + Note: + That the ``ray_starts``, ``ray_directions``, and ``ray_hits`` arrays should have compatible shapes + and data types to ensure proper execution. Additionally, they all must be in the same frame. + + All arguments are expected to be batched with the first dimension (B, batch) being the number of envs + and the second dimension (N, num_rays) being the number of rays. For Meshes, W is the number of meshes. + + Args: + mesh: The input mesh. The ray-casting is performed against this mesh on the device specified by the + `mesh`'s `device` attribute. + ray_starts: The input ray start positions. Shape is (B, N, 3). + ray_directions: The input ray directions. Shape is (B, N, 3). + ray_hits: The output ray hit positions. Shape is (B, N, 3). + ray_distance: The output ray hit distances. Shape is (B, N,), if ``return_distance`` is True. Otherwise, + this array is not used. + ray_normal: The output ray hit normals. Shape is (B, N, 3), if ``return_normal`` is True. Otherwise, this array is not used. - ray_normal: The output ray hit normals. Shape is (N, 3), if `return_normal` is True. Otherwise, + ray_face_id: The output ray hit face ids. Shape is (B, N,), if ``return_face_id`` is True. Otherwise, this array is not used. - ray_face_id: The output ray hit face ids. Shape is (N,), if `return_face_id` is True. Otherwise, + ray_mesh_id: The output ray hit mesh ids. Shape is (B, N,), if ``return_mesh_id`` is True. Otherwise, this array is not used. + mesh_positions: The input mesh positions in world frame. Shape is (W, 3). + mesh_rotations: The input mesh rotations in world frame. Shape is (W, 3, 3). max_dist: The maximum ray-cast distance. Defaults to 1e6. - return_distance: Whether to return the ray hit distances. Defaults to False. return_normal: Whether to return the ray hit normals. Defaults to False`. return_face_id: Whether to return the ray hit face ids. Defaults to False. + return_mesh_id: Whether to return the mesh id. Defaults to False. """ # get the thread id - tid = wp.tid() + tid_mesh_id, tid_env, tid_ray = wp.tid() - t = float(0.0) # hit distance along ray - u = float(0.0) # hit face barycentric u - v = float(0.0) # hit face barycentric v - sign = float(0.0) # hit face sign - n = wp.vec3() # hit face normal - f = int(0) # hit face index + mesh_pose = wp.transform(mesh_positions[tid_env, tid_mesh_id], mesh_rotations[tid_env, tid_mesh_id]) + mesh_pose_inv = wp.transform_inverse(mesh_pose) + direction = wp.transform_vector(mesh_pose_inv, ray_directions[tid_env, tid_ray]) + start_pos = wp.transform_point(mesh_pose_inv, ray_starts[tid_env, tid_ray]) # ray cast against the mesh and store the hit position - hit_success = wp.mesh_query_ray(mesh, ray_starts[tid], ray_directions[tid], max_dist, t, u, v, sign, n, f) + mesh_query_ray_t = wp.mesh_query_ray(mesh[tid_env, tid_mesh_id], start_pos, direction, max_dist) # if the ray hit, store the hit data - if hit_success: - ray_hits[tid] = ray_starts[tid] + t * ray_directions[tid] - if return_distance == 1: - ray_distance[tid] = t - if return_normal == 1: - ray_normal[tid] = n - if return_face_id == 1: - ray_face_id[tid] = f + if mesh_query_ray_t.result: + + # check if hit distance is less than the current hit distance, only then update the memory + if mesh_query_ray_t.t < ray_distance[tid_env, tid_ray]: + + # convert back to world space and update the hit data + hit_pos = start_pos + mesh_query_ray_t.t * direction + ray_hits[tid_env, tid_ray] = wp.transform_point(mesh_pose, hit_pos) + + # update the hit distance + ray_distance[tid_env, tid_ray] = mesh_query_ray_t.t + + # update the normal and face id if requested + if return_normal == 1: + n = wp.transform_vector(mesh_pose, mesh_query_ray_t.normal) + ray_normal[tid_env, tid_ray] = n + if return_face_id == 1: + ray_face_id[tid_env, tid_ray] = mesh_query_ray_t.face + if return_mesh_id == 1: + ray_mesh_id[tid_env, tid_ray] = wp.int16(tid_mesh_id) @wp.kernel(enable_backward=False) diff --git a/source/isaaclab/isaaclab/utils/warp/ops.py b/source/isaaclab/isaaclab/utils/warp/ops.py index a2db46c4b52..b2a34599ba2 100644 --- a/source/isaaclab/isaaclab/utils/warp/ops.py +++ b/source/isaaclab/isaaclab/utils/warp/ops.py @@ -18,13 +18,15 @@ # initialize the warp module wp.init() +from isaaclab.utils.math import convert_quat + from . import kernels def raycast_mesh( ray_starts: torch.Tensor, ray_directions: torch.Tensor, - mesh: wp.Mesh, + mesh_id: int, max_dist: float = 1e6, return_distance: bool = False, return_normal: bool = False, @@ -32,99 +34,244 @@ def raycast_mesh( ) -> tuple[torch.Tensor, torch.Tensor | None, torch.Tensor | None, torch.Tensor | None]: """Performs ray-casting against a mesh. - Note that the `ray_starts` and `ray_directions`, and `ray_hits` should have compatible shapes + Note that the :attr:`ray_starts` and :attr:`ray_directions`, and :attr:`ray_hits` should have compatible shapes and data types to ensure proper execution. Additionally, they all must be in the same frame. Args: - ray_starts: The starting position of the rays. Shape (N, 3). - ray_directions: The ray directions for each ray. Shape (N, 3). - mesh: The warp mesh to ray-cast against. + ray_starts: The starting position of the rays. Shape (B, N, 3). + ray_directions: The ray directions for each ray. Shape (B, N, 3). + mesh_id: The warp mesh id to ray-cast against. max_dist: The maximum distance to ray-cast. Defaults to 1e6. return_distance: Whether to return the distance of the ray until it hits the mesh. Defaults to False. return_normal: Whether to return the normal of the mesh face the ray hits. Defaults to False. return_face_id: Whether to return the face id of the mesh face the ray hits. Defaults to False. Returns: - The ray hit position. Shape (N, 3). + The ray hit position. Shape (B, N, 3). The returned tensor contains :obj:`float('inf')` for missed hits. - The ray hit distance. Shape (N,). + The ray hit distance. Shape (B, N,). Will only return if :attr:`return_distance` is True, else returns None. The returned tensor contains :obj:`float('inf')` for missed hits. - The ray hit normal. Shape (N, 3). + The ray hit normal. Shape (B, N, 3). Will only return if :attr:`return_normal` is True else returns None. The returned tensor contains :obj:`float('inf')` for missed hits. - The ray hit face id. Shape (N,). + The ray hit face id. Shape (B, N,). Will only return if :attr:`return_face_id` is True else returns None. The returned tensor contains :obj:`int(-1)` for missed hits. """ + # cast mesh id into array + mesh_ids = wp.array2d( + [[mesh_id] * ray_starts.shape[0]], dtype=wp.uint64, device=wp.device_from_torch(ray_starts.device) + ) + ray_hits, ray_distance, ray_normal, ray_face_id, ray_mesh_id = raycast_dynamic_meshes( + ray_starts=ray_starts, + ray_directions=ray_directions, + mesh_ids_wp=mesh_ids, + max_dist=max_dist, + return_distance=return_distance, + return_normal=return_normal, + return_face_id=return_face_id, + ) + + return ray_hits, ray_distance, ray_normal, ray_face_id + + +def raycast_dynamic_meshes( + ray_starts: torch.Tensor, + ray_directions: torch.Tensor, + mesh_ids_wp: wp.Array, + mesh_positions_w: torch.Tensor | None = None, + mesh_orientations_w: torch.Tensor | None = None, + max_dist: float = 1e6, + return_distance: bool = False, + return_normal: bool = False, + return_face_id: bool = False, + return_mesh_id: bool = False, +) -> tuple[torch.Tensor, torch.Tensor | None, torch.Tensor | None, torch.Tensor | None]: + """Performs ray-casting against multiple, dynamic meshes. + + Note that the :attr:`ray_starts` and :attr:`ray_directions`, and :attr:`ray_hits` should have compatible shapes + and data types to ensure proper execution. Additionally, they all must be in the same frame. + + If mesh positions and rotations are provided, they need to have to have the same shape as the + number of meshes. + + Args: + ray_starts: The starting position of the rays. Shape (B, N, 3). + ray_directions: The ray directions for each ray. Shape (B, N, 3). + mesh_ids_wp: The warp mesh ids to ray-cast against. Length (B, M). + mesh_positions_w: The world positions of the meshes. Shape (B, M, 3). + mesh_orientations_w: The world orientation as quaternion (wxyz) format. Shape (B, M, 4). + max_dist: The maximum distance to ray-cast. Defaults to 1e6. + return_distance: Whether to return the distance of the ray until it hits the mesh. Defaults to False. + return_normal: Whether to return the normal of the mesh face the ray hits. Defaults to False. + return_face_id: Whether to return the face id of the mesh face the ray hits. Defaults to False. + return_mesh_id: Whether to return the mesh id of the mesh face the ray hits. Defaults to False. + NOTE: the type of the returned tensor is torch.int16, so you can't have more than 32767 meshes. + + Returns: + The ray hit position. Shape (B, N, 3). + The returned tensor contains :obj:`float('inf')` for missed hits. + The ray hit distance. Shape (B, N,). + Will only return if :attr:`return_distance` is True, else returns None. + The returned tensor contains :obj:`float('inf')` for missed hits. + The ray hit normal. Shape (B, N, 3). + Will only return if :attr:`return_normal` is True else returns None. + The returned tensor contains :obj:`float('inf')` for missed hits. + The ray hit face id. Shape (B, N,). + Will only return if :attr:`return_face_id` is True else returns None. + The returned tensor contains :obj:`int(-1)` for missed hits. + The ray hit mesh id. Shape (B, N,). + Will only return if :attr:`return_mesh_id` is True else returns None. + The returned tensor contains :obj:`0` for missed hits. + """ # extract device and shape information shape = ray_starts.shape device = ray_starts.device + # device of the mesh - torch_device = wp.device_to_torch(mesh.device) + torch_device = wp.device_to_torch(mesh_ids_wp.device) + n_meshes = mesh_ids_wp.shape[1] + + n_envs = ray_starts.shape[0] + n_rays_per_env = ray_starts.shape[1] + # reshape the tensors - ray_starts = ray_starts.to(torch_device).view(-1, 3).contiguous() - ray_directions = ray_directions.to(torch_device).view(-1, 3).contiguous() - num_rays = ray_starts.shape[0] + ray_starts = ray_starts.to(torch_device).view(n_envs, n_rays_per_env, 3).contiguous() + ray_directions = ray_directions.to(torch_device).view(n_envs, n_rays_per_env, 3).contiguous() + # create output tensor for the ray hits - ray_hits = torch.full((num_rays, 3), float("inf"), device=torch_device).contiguous() + ray_hits = torch.full((n_envs, n_rays_per_env, 3), float("inf"), device=torch_device).contiguous() # map the memory to warp arrays ray_starts_wp = wp.from_torch(ray_starts, dtype=wp.vec3) ray_directions_wp = wp.from_torch(ray_directions, dtype=wp.vec3) ray_hits_wp = wp.from_torch(ray_hits, dtype=wp.vec3) - - if return_distance: - ray_distance = torch.full((num_rays,), float("inf"), device=torch_device).contiguous() - ray_distance_wp = wp.from_torch(ray_distance, dtype=wp.float32) - else: - ray_distance = None - ray_distance_wp = wp.empty((1,), dtype=wp.float32, device=torch_device) + # required to check if a closer hit is reported, returned only if return_distance is true + ray_distance = torch.full( + ( + n_envs, + n_rays_per_env, + ), + float("inf"), + device=torch_device, + ).contiguous() + ray_distance_wp = wp.from_torch(ray_distance, dtype=wp.float32) if return_normal: - ray_normal = torch.full((num_rays, 3), float("inf"), device=torch_device).contiguous() + ray_normal = torch.full((n_envs, n_rays_per_env, 3), float("inf"), device=torch_device).contiguous() ray_normal_wp = wp.from_torch(ray_normal, dtype=wp.vec3) else: ray_normal = None - ray_normal_wp = wp.empty((1,), dtype=wp.vec3, device=torch_device) + ray_normal_wp = wp.empty((1, 1), dtype=wp.vec3, device=torch_device) if return_face_id: - ray_face_id = torch.ones((num_rays,), dtype=torch.int32, device=torch_device).contiguous() * (-1) + ray_face_id = torch.ones( + ( + n_envs, + n_rays_per_env, + ), + dtype=torch.int32, + device=torch_device, + ).contiguous() * (-1) ray_face_id_wp = wp.from_torch(ray_face_id, dtype=wp.int32) else: ray_face_id = None - ray_face_id_wp = wp.empty((1,), dtype=wp.int32, device=torch_device) - - # launch the warp kernel - wp.launch( - kernel=kernels.raycast_mesh_kernel, - dim=num_rays, - inputs=[ - mesh.id, - ray_starts_wp, - ray_directions_wp, - ray_hits_wp, - ray_distance_wp, - ray_normal_wp, - ray_face_id_wp, - float(max_dist), - int(return_distance), - int(return_normal), - int(return_face_id), - ], - device=mesh.device, - ) + ray_face_id_wp = wp.empty((1, 1), dtype=wp.int32, device=torch_device) + + if return_mesh_id: + ray_mesh_id = torch.zeros((n_envs, n_rays_per_env), dtype=torch.int16, device=torch_device).contiguous() + ray_mesh_id_wp = wp.from_torch(ray_mesh_id, dtype=wp.int16) + else: + ray_mesh_id = None + ray_mesh_id_wp = wp.empty((1, 1), dtype=wp.int16, device=torch_device) + + ## + # Call the warp kernels + ### + if mesh_positions_w is None and mesh_orientations_w is None: + # Static mesh case, no need to pass in positions and rotations. + # launch the warp kernel + wp.launch( + kernel=kernels.raycast_static_meshes_kernel, + dim=[n_meshes, n_envs, n_rays_per_env], + inputs=[ + mesh_ids_wp, + ray_starts_wp, + ray_directions_wp, + ray_hits_wp, + ray_distance_wp, + ray_normal_wp, + ray_face_id_wp, + ray_mesh_id_wp, + float(max_dist), + int(return_normal), + int(return_face_id), + int(return_mesh_id), + ], + device=torch_device, + ) + else: + # dynamic mesh case + if mesh_positions_w is None: + mesh_positions_wp_w = wp.zeros((n_envs, n_meshes), dtype=wp.vec3, device=torch_device) + else: + mesh_positions_w = mesh_positions_w.to(torch_device).view(n_envs, n_meshes, 3).contiguous() + mesh_positions_wp_w = wp.from_torch(mesh_positions_w, dtype=wp.vec3) + + if mesh_orientations_w is None: + # Note (zrene): This is a little bit ugly, since it requires to initialize torch memory first + # But I couldn't find a better way to initialize a quaternion identity in warp + # wp.zeros(1, dtype=wp.quat, device=torch_device) gives all zero quaternion + quat_identity = torch.tensor([0, 0, 0, 1], dtype=torch.float32, device=torch_device).repeat( + n_envs, n_meshes, 1 + ) + mesh_quat_wp_w = wp.from_torch(quat_identity, dtype=wp.quat) + else: + mesh_orientations_w = convert_quat( + mesh_orientations_w.to(dtype=torch.float32, device=torch_device), "xyzw" + ).contiguous() + mesh_quat_wp_w = wp.from_torch(mesh_orientations_w, dtype=wp.quat) + + # launch the warp kernel + wp.launch( + kernel=kernels.raycast_dynamic_meshes_kernel, + dim=[n_meshes, n_envs, n_rays_per_env], + inputs=[ + mesh_ids_wp, + ray_starts_wp, + ray_directions_wp, + ray_hits_wp, + ray_distance_wp, + ray_normal_wp, + ray_face_id_wp, + ray_mesh_id_wp, + mesh_positions_wp_w, + mesh_quat_wp_w, + float(max_dist), + int(return_normal), + int(return_face_id), + int(return_mesh_id), + ], + device=torch_device, + ) + ## + # Cleanup and convert back to torch tensors + ## + # NOTE: Synchronize is not needed anymore, but we keep it for now. Check with @dhoeller. wp.synchronize() if return_distance: - ray_distance = ray_distance.to(device).view(shape[0], shape[1]) + ray_distance = ray_distance.to(device).view(shape[:2]) if return_normal: ray_normal = ray_normal.to(device).view(shape) if return_face_id: - ray_face_id = ray_face_id.to(device).view(shape[0], shape[1]) + ray_face_id = ray_face_id.to(device).view(shape[:2]) + if return_mesh_id: + ray_mesh_id = ray_mesh_id.to(device).view(shape[:2]) - return ray_hits.to(device).view(shape), ray_distance, ray_normal, ray_face_id + return ray_hits.to(device).view(shape), ray_distance, ray_normal, ray_face_id, ray_mesh_id def convert_to_warp_mesh(points: np.ndarray, indices: np.ndarray, device: str) -> wp.Mesh: diff --git a/source/isaaclab/test/sensors/check_ray_caster.py b/source/isaaclab/test/sensors/check_ray_caster.py index e1d3473ecc4..2abfe5be7f1 100644 --- a/source/isaaclab/test/sensors/check_ray_caster.py +++ b/source/isaaclab/test/sensors/check_ray_caster.py @@ -20,7 +20,8 @@ # add argparse arguments parser = argparse.ArgumentParser(description="Ray Caster Test Script") -parser.add_argument("--num_envs", type=int, default=128, help="Number of environments to clone.") +parser.add_argument("--num_envs", type=int, default=16, help="Number of environments to clone.") +parser.add_argument("--num_objects", type=int, default=0, help="Number of additional objects to clone.") parser.add_argument( "--terrain_type", type=str, @@ -39,6 +40,7 @@ """Rest everything follows.""" +import random import torch import isaacsim.core.utils.prims as prim_utils @@ -53,13 +55,14 @@ from isaaclab.terrains.config.rough import ROUGH_TERRAINS_CFG from isaaclab.terrains.terrain_importer import TerrainImporter from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR +from isaaclab.utils.math import quat_from_euler_xyz from isaaclab.utils.timer import Timer def design_scene(sim: SimulationContext, num_envs: int = 2048): """Design the scene.""" # Create interface to clone the scene - cloner = GridCloner(spacing=2.0) + cloner = GridCloner(spacing=10.0) cloner.define_base_env("/World/envs") # Everything under the namespace "/World/envs/env_0" will be cloned prim_utils.define_prim("/World/envs/env_0") @@ -76,6 +79,24 @@ def design_scene(sim: SimulationContext, num_envs: int = 2048): visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.0, 0.0, 1.0)), ) cfg.func("/World/envs/env_0/ball", cfg, translation=(0.0, 0.0, 5.0)) + + for i in range(args_cli.num_objects): + object = sim_utils.CuboidCfg( + size=(0.5 + random.random() * 0.5, 0.5 + random.random() * 0.5, 0.1 + random.random() * 0.05), + rigid_props=sim_utils.RigidBodyPropertiesCfg(), + mass_props=sim_utils.MassPropertiesCfg(mass=0.5), + collision_props=sim_utils.CollisionPropertiesCfg(), + visual_material=sim_utils.PreviewSurfaceCfg( + diffuse_color=(0.0 + i / args_cli.num_objects, 0.0, 1.0 - i / args_cli.num_objects) + ), + ) + object.func( + f"/World/envs/env_0/object_{i}", + object, + translation=(0.0 + random.random(), 0.0 + random.random(), 1.0), + orientation=quat_from_euler_xyz(torch.Tensor(0), torch.Tensor(0), torch.rand(1) * torch.pi).numpy(), + ) + # Clone the scene cloner.define_base_env("/World/envs") envs_prim_paths = cloner.generate_paths("/World/envs/env", num_paths=num_envs) @@ -113,18 +134,26 @@ def main(): terrain_type=args_cli.terrain_type, terrain_generator=ROUGH_TERRAINS_CFG, usd_path=f"{ISAAC_NUCLEUS_DIR}/Environments/Terrains/rough_plane.usd", - max_init_terrain_level=None, + max_init_terrain_level=0, num_envs=1, ) _ = TerrainImporter(terrain_importer_cfg) + mesh_targets: list[RayCasterCfg.RaycastTargetCfg] = [ + RayCasterCfg.RaycastTargetCfg(target_prim_expr="/World/ground", is_global=True), + ] + if args_cli.num_objects != 0: + mesh_targets.append( + RayCasterCfg.RaycastTargetCfg(target_prim_expr="/World/envs/env_.*/object_.*", is_global=False) + ) # Create a ray-caster sensor ray_caster_cfg = RayCasterCfg( prim_path="/World/envs/env_.*/ball", - mesh_prim_paths=["/World/ground"], + mesh_prim_paths=mesh_targets, pattern_cfg=patterns.GridPatternCfg(resolution=0.1, size=(1.6, 1.0)), ray_alignment="yaw", debug_vis=not args_cli.headless, + track_mesh_transforms=args_cli.num_objects != 0, ) ray_caster = RayCaster(cfg=ray_caster_cfg) # Create a view over all the balls diff --git a/source/isaaclab/test/sensors/test_ray_caster.py b/source/isaaclab/test/sensors/test_ray_caster.py new file mode 100644 index 00000000000..f48e1243af3 --- /dev/null +++ b/source/isaaclab/test/sensors/test_ray_caster.py @@ -0,0 +1,219 @@ +# Copyright (c) 2022-2024, The Isaac Lab Project Developers. +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + +from __future__ import annotations + +from omni.isaac.lab.app import AppLauncher + +# # launch omniverse app. Used for warp. +app_launcher = AppLauncher(headless=True) + +import numpy as np +import torch +import trimesh +import unittest + +import warp as wp + +from omni.isaac.lab.utils.math import matrix_from_quat, quat_from_euler_xyz, random_orientation +from omni.isaac.lab.utils.warp.ops import convert_to_warp_mesh, raycast_dynamic_meshes, raycast_mesh + + +class TestRaycast(unittest.TestCase): + """Test fixture for the raycast ops.""" + + def setUp(self): + self.device = "cuda" if torch.cuda.is_available() else "cpu" + # Create static mesh to raycast against + self._trimesh_meshes = [trimesh.creation.box([2, 2, 1])] + self.single_mesh = [ + convert_to_warp_mesh( + self._trimesh_meshes[0].vertices, + self._trimesh_meshes[0].faces, + self.device, + ) + ] + self.single_mesh_id = self.single_mesh[0].id + + self.ray_starts = torch.Tensor([[0, -0.35, -5], [0.25, 0.35, -5]]).to(self.device).unsqueeze(0) + self.ray_directions = torch.Tensor([[0, 0, 1], [0, 0, 1]]).to(self.device).unsqueeze(0) + self.expected_ray_hits = torch.Tensor([[0, -0.35, -0.5], [0.25, 0.35, -0.5]]).to(self.device).unsqueeze(0) + + def test_raycast_multi_cubes(self): + """Test raycasting against two cubes.""" + trimesh_1 = self._trimesh_meshes[0].copy() + wp_mesh_1 = convert_to_warp_mesh(trimesh_1.vertices, trimesh_1.faces, self.device) + + translation = np.eye(4) + translation[:3, 3] = [0, 2, 0] + trimesh_2 = self._trimesh_meshes[0].copy().apply_transform(translation) + wp_mesh_2 = convert_to_warp_mesh(trimesh_2.vertices, trimesh_2.faces, self.device) + + # get mesh id array + mesh_ids_wp = wp.array2d([[wp_mesh_1.id, wp_mesh_2.id]], dtype=wp.uint64, device=self.device) + + ray_start = torch.Tensor([[0, 0, -5], [0, 2.5, -5]]).unsqueeze(0).to(self.device) + ray_hits, ray_distance, ray_normal, ray_face_id, mesh_ids = raycast_dynamic_meshes( + ray_start, + self.ray_directions, + mesh_ids_wp, + return_distance=True, + return_normal=True, + return_face_id=True, + return_mesh_id=True, + ) + + torch.testing.assert_close(ray_hits, torch.Tensor([[[0, 0, -0.5], [0, 2.5, -0.5]]]).to(self.device)) + torch.testing.assert_close(ray_distance, torch.Tensor([[4.5, 4.5]]).to(self.device)) + torch.testing.assert_close(ray_normal, torch.Tensor([[[0, 0, -1], [0, 0, -1]]]).to(self.device)) + self.assertTrue(torch.equal(mesh_ids, torch.Tensor([[0, 1]]).to(self.device, dtype=torch.int32))) + + ray_start = torch.Tensor([[0, 0, -5], [0, 4.5, -5]]).unsqueeze(0).to(self.device) + ray_hits, ray_distance, ray_normal, ray_face_id, mesh_ids = raycast_dynamic_meshes( + ray_start, + self.ray_directions, + mesh_ids_wp, + return_distance=True, + return_normal=True, + return_face_id=True, + mesh_positions_w=torch.Tensor([[[0, 0, 0], [0, 2, 0]]]), + mesh_orientations_w=torch.Tensor([[[1, 0, 0, 0], [1, 0, 0, 0]]]), + return_mesh_id=True, + ) + + torch.testing.assert_close(ray_hits, torch.Tensor([[0, 0, -0.5], [0, 4.5, -0.5]]).unsqueeze(0).to(self.device)) + torch.testing.assert_close(ray_distance, torch.Tensor([[4.5, 4.5]]).to(self.device)) + torch.testing.assert_close(ray_normal, torch.Tensor([[0, 0, -1], [0, 0, -1]]).unsqueeze(0).to(self.device)) + self.assertTrue(torch.equal(mesh_ids, torch.Tensor([[0, 1]]).to(self.device, dtype=torch.int32))) + + def test_raycast_single_cube(self): + """Test raycasting against a single cube.""" + # Convert meshes to warp formatay_hits.to(device).view(shape), ray_distance, ray_normal, ray_face_id + ray_hits, ray_distance, ray_normal, ray_face_id = raycast_mesh( + self.ray_starts, + self.ray_directions, + self.single_mesh_id, + return_distance=True, + return_normal=True, + return_face_id=True, + ) + torch.testing.assert_close(ray_hits, self.expected_ray_hits) + torch.testing.assert_close(ray_distance, torch.Tensor([[4.5, 4.5]]).to(self.device)) + torch.testing.assert_close(ray_normal, torch.Tensor([[0, 0, -1], [0, 0, -1]]).to(self.device).unsqueeze(0)) + torch.testing.assert_close(ray_face_id, torch.Tensor([[3, 8]]).to(self.device, dtype=torch.int32)) + + # check multiple meshes implementation + ray_hits, ray_distance, ray_normal, ray_face_id, _ = raycast_dynamic_meshes( + self.ray_starts, + self.ray_directions, + wp.array2d([[self.single_mesh_id]], dtype=wp.uint64, device=self.device), + return_distance=True, + return_normal=True, + return_face_id=True, + ) + torch.testing.assert_close(ray_hits, self.expected_ray_hits) + torch.testing.assert_close(ray_distance, torch.Tensor([[4.5, 4.5]]).to(self.device)) + torch.testing.assert_close(ray_normal, torch.Tensor([[[0, 0, -1], [0, 0, -1]]]).to(self.device)) + torch.testing.assert_close(ray_face_id, torch.Tensor([[3, 8]]).to(self.device, dtype=torch.int32)) + + def test_raycast_moving_cube(self): + r"""Test raycasting against a single cube with different distances. + + The faces that are raycasted against are the bottom two, it will look similar to: + + + |-------------| + |\ | + | \ | + | \ 8 | + | \ | + | \ x_1 | + | \ | + | \ | + | \ | + | \ | + | \ | + | 3 x_2 \ | + | \ | + | \| + |-------------| + + """ + # move the cube along the z axis + for distance in torch.linspace(0, 1, 10): + ray_hits, ray_distance, ray_normal, ray_face_id, mesh_id = raycast_dynamic_meshes( + self.ray_starts, + self.ray_directions, + wp.array2d([[self.single_mesh_id]], dtype=wp.uint64, device=self.device), + return_distance=True, + return_normal=True, + return_face_id=True, + return_mesh_id=True, + mesh_positions_w=torch.Tensor([[0, 0, distance]]).to(self.device), + ) + torch.testing.assert_close( + ray_hits, + self.expected_ray_hits + torch.Tensor([[0, 0, distance], [0, 0, distance]]).to(self.device), + ) + torch.testing.assert_close(ray_distance, distance + torch.Tensor([[4.5, 4.5]]).to(self.device)) + torch.testing.assert_close(ray_normal, torch.Tensor([[[0, 0, -1], [0, 0, -1]]]).to(self.device)) + torch.testing.assert_close(ray_face_id, torch.Tensor([[3, 8]]).to(self.device, dtype=torch.int32)) + + def test_raycast_rotated_cube(self): + """Test raycasting against a single cube with different 90deg. orientations.""" + cube_rotation = quat_from_euler_xyz(torch.Tensor([0]), torch.Tensor([0]), torch.Tensor([np.pi])) + ray_hits, ray_distance, ray_normal, ray_face_id, _ = raycast_dynamic_meshes( + self.ray_starts, + self.ray_directions, + wp.array2d([[self.single_mesh_id]], dtype=wp.uint64, device=self.device), + return_distance=True, + return_normal=True, + return_face_id=True, + mesh_orientations_w=cube_rotation.unsqueeze(0), + ) + torch.testing.assert_close(ray_hits, self.expected_ray_hits) + torch.testing.assert_close(ray_distance, torch.Tensor([[4.5, 4.5]]).to(self.device)) + torch.testing.assert_close(ray_normal, torch.Tensor([[[0, 0, -1], [0, 0, -1]]]).to(self.device)) + # Make sure the face ids are correct. The cube is rotated by 90deg. so the face ids are different. + torch.testing.assert_close(ray_face_id, torch.Tensor([[8, 3]]).to(self.device, dtype=torch.int32)) + + def test_Raycast_random_cube(self): + """Test raycasting against a single cube with random poses.""" + for orientation in random_orientation(10, self.device): + pos = torch.Tensor([[0, 0, torch.rand(1)]]).to(self.device) + tf_hom = np.eye(4) + tf_hom[:3, :3] = matrix_from_quat(orientation).cpu().numpy() + tf_hom[:3, 3] = pos.cpu().numpy() + tf_mesh = self._trimesh_meshes[0].copy().apply_transform(tf_hom) + + # get raycast for transformed, static mesh + wp_mesh = convert_to_warp_mesh(tf_mesh.vertices, tf_mesh.faces, self.device) + ray_hits, ray_distance, ray_normal, ray_face_id, _ = raycast_dynamic_meshes( + self.ray_starts, + self.ray_directions, + wp.array2d([[wp_mesh.id]], dtype=wp.uint64, device=self.device), + return_distance=True, + return_normal=True, + return_face_id=True, + ) + # get raycast for modified mesh + ray_hits_m, ray_distance_m, ray_normal_m, ray_face_id_m, _ = raycast_dynamic_meshes( + self.ray_starts, + self.ray_directions, + wp.array2d([[self.single_mesh_id]], dtype=wp.uint64, device=self.device), + return_distance=True, + return_normal=True, + return_face_id=True, + mesh_positions_w=pos, + mesh_orientations_w=orientation.view(1, 1, -1), + ) + torch.testing.assert_close(ray_hits, ray_hits_m) + torch.testing.assert_close(ray_distance, ray_distance_m) + torch.testing.assert_close(ray_normal, ray_normal_m) + torch.testing.assert_close(ray_face_id, ray_face_id_m) + + +if __name__ == "__main__": + unittest.main() From b7c172f02128b0da1a8b3909cc756ca6feda35d1 Mon Sep 17 00:00:00 2001 From: Pascal Roth <57946385+pascal-roth@users.noreply.github.com> Date: Wed, 23 Oct 2024 18:22:53 +0200 Subject: [PATCH 002/121] Fixes the number of meshes for dynamic raycasting with an regex expression (#48) Fixes number of meshes in the `RayCaster` when raycasting dynamically against a regex expression of multiple objects in the scene. - Bug fix (non-breaking change which fixes an issue) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --- source/isaaclab/isaaclab/sensors/ray_caster/ray_caster.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/source/isaaclab/isaaclab/sensors/ray_caster/ray_caster.py b/source/isaaclab/isaaclab/sensors/ray_caster/ray_caster.py index c35599d7a6e..fd0978dcf49 100644 --- a/source/isaaclab/isaaclab/sensors/ray_caster/ray_caster.py +++ b/source/isaaclab/isaaclab/sensors/ray_caster/ray_caster.py @@ -258,7 +258,7 @@ def _initialize_warp_meshes(self): if target_cfg.is_global: # reference the mesh for each environment to ray cast against RayCaster.meshes[mesh_prim_path] = [wp_meshes] * self._num_envs - self._num_meshes_per_env[mesh_prim_path] = 1 + self._num_meshes_per_env[mesh_prim_path] = len(wp_meshes) else: # split up the meshes for each environment. Little bit ugly, since # the current order is interleaved (env1_obj1, env1_obj2, env2_obj1, env2_obj2, ...) From e1a9124b328e88c4f9a9c8d72b103e08f4bde47e Mon Sep 17 00:00:00 2001 From: Pascal Roth <57946385+pascal-roth@users.noreply.github.com> Date: Sat, 8 Feb 2025 08:49:32 +0100 Subject: [PATCH 003/121] Separates our multi-mesh raycaster as its own file (#63) Change Mulit-mesh raycaster and raycaster camera to own files, restore the ones of main to simplify the merge. NOTE: test of the camera is currently failing, similar as on public main at that time, should be fixed after update to latest main - Breaking change (fix or feature that would cause existing functionality to not work as expected) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [ ] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [x] I have added tests that prove my fix is effective or that my feature works - [ ] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [ ] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --- .../isaaclab/sensors/ray_caster/__init__.py | 4 + .../ray_caster/multi_mesh_ray_caster.py | 309 +++++++ .../multi_mesh_ray_caster_camera.py | 146 +++ .../multi_mesh_ray_caster_camera_cfg.py | 31 + .../ray_caster/multi_mesh_ray_caster_cfg.py | 41 + .../isaaclab/sensors/ray_caster/ray_caster.py | 269 ++---- .../sensors/ray_caster/ray_caster_camera.py | 46 +- .../ray_caster/ray_caster_camera_cfg.py | 4 - .../sensors/ray_caster/ray_caster_cfg.py | 26 +- .../isaaclab/isaaclab/utils/warp/__init__.py | 2 +- .../isaaclab/isaaclab/utils/warp/kernels.py | 67 +- source/isaaclab/isaaclab/utils/warp/ops.py | 106 +++ .../sensors/check_multi_mesh_ray_caster.py | 212 +++++ .../isaaclab/test/sensors/check_ray_caster.py | 36 +- .../sensors/test_multi_mesh_ray_caster.py | 219 +++++ .../test_multi_mesh_ray_caster_camera.py | 854 ++++++++++++++++++ 16 files changed, 2094 insertions(+), 278 deletions(-) create mode 100644 source/isaaclab/isaaclab/sensors/ray_caster/multi_mesh_ray_caster.py create mode 100644 source/isaaclab/isaaclab/sensors/ray_caster/multi_mesh_ray_caster_camera.py create mode 100644 source/isaaclab/isaaclab/sensors/ray_caster/multi_mesh_ray_caster_camera_cfg.py create mode 100644 source/isaaclab/isaaclab/sensors/ray_caster/multi_mesh_ray_caster_cfg.py create mode 100644 source/isaaclab/test/sensors/check_multi_mesh_ray_caster.py create mode 100644 source/isaaclab/test/sensors/test_multi_mesh_ray_caster.py create mode 100644 source/isaaclab/test/sensors/test_multi_mesh_ray_caster_camera.py diff --git a/source/isaaclab/isaaclab/sensors/ray_caster/__init__.py b/source/isaaclab/isaaclab/sensors/ray_caster/__init__.py index a4fe1bce519..bd87b8d59b3 100644 --- a/source/isaaclab/isaaclab/sensors/ray_caster/__init__.py +++ b/source/isaaclab/isaaclab/sensors/ray_caster/__init__.py @@ -6,6 +6,10 @@ """Sub-module for Warp-based ray-cast sensor.""" from . import patterns +from .multi_mesh_ray_caster import MultiMeshRayCaster +from .multi_mesh_ray_caster_camera import MultiMeshRayCasterCamera +from .multi_mesh_ray_caster_camera_cfg import MultiMeshRayCasterCameraCfg +from .multi_mesh_ray_caster_cfg import MultiMeshRayCasterCfg from .ray_caster import RayCaster from .ray_caster_camera import RayCasterCamera from .ray_caster_camera_cfg import RayCasterCameraCfg diff --git a/source/isaaclab/isaaclab/sensors/ray_caster/multi_mesh_ray_caster.py b/source/isaaclab/isaaclab/sensors/ray_caster/multi_mesh_ray_caster.py new file mode 100644 index 00000000000..dceed23434c --- /dev/null +++ b/source/isaaclab/isaaclab/sensors/ray_caster/multi_mesh_ray_caster.py @@ -0,0 +1,309 @@ +# Copyright (c) 2022-2025, The Isaac Lab Project Developers. +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + +from __future__ import annotations + +import numpy as np +import torch +from collections.abc import Sequence +from typing import TYPE_CHECKING, ClassVar + +import omni.log +import omni.physics.tensors.impl.api as physx +import warp as wp +from omni.isaac.core.prims import XFormPrimView +from pxr import UsdPhysics + +import omni.isaac.lab.sim as sim_utils +from omni.isaac.lab.utils.math import quat_apply, quat_apply_yaw +from omni.isaac.lab.utils.mesh import PRIMITIVE_MESH_TYPES, create_mesh_from_geom_shape, create_trimesh_from_geom_mesh +from omni.isaac.lab.utils.warp import convert_to_warp_mesh, raycast_dynamic_meshes + +from ..utils import compute_world_poses +from .ray_caster import RayCaster + +if TYPE_CHECKING: + from .multi_mesh_ray_caster_cfg import MultiMeshRayCasterCfg + + +class MultiMeshRayCaster(RayCaster): + """A ray-casting sensor. + + The ray-caster uses a set of rays to detect collisions with meshes in the scene. The rays are + defined in the sensor's local coordinate frame. The sensor can be configured to ray-cast against + a set of meshes with a given ray pattern. + + The meshes are parsed from the list of primitive paths provided in the configuration. These are then + converted to warp meshes and stored in the :attr:`warp_meshes` list. The ray-caster then ray-casts against + these warp meshes using the ray pattern provided in the configuration. + """ + + cfg: MultiMeshRayCasterCfg + """The configuration parameters.""" + + meshes: ClassVar[dict[str, list[list[wp.Mesh]]]] = {} + """The warp meshes available for raycasting. Stored as a dictionary. + + For each target_prim_cfg in the ray_caster_cfg.mesh_prim_paths, the dictionary stores the warp meshes + for each environment instance. The list has shape (num_envs, num_meshes_per_env). + Note that wp.Mesh are references to the warp mesh objects, so they are not duplicated for each environment if + not necessary. + + The keys correspond to the prim path for the meshes, and values are the corresponding warp Mesh objects. + + .. note:: + We store a global dictionary of all warp meshes to prevent re-loading the mesh for different ray-cast sensor instances. + """ + + mesh_views: ClassVar[dict[str, physx.RigidBodyView | physx.ArticulationView | XFormPrimView]] = {} + """The views of the meshes available for raycasting. + + The keys correspond to the prim path for the meshes, and values are the corresponding views of the prims. + + .. note:: + We store a global dictionary of all views to prevent re-loading for different ray-cast sensor instances. + """ + + def __init__(self, cfg: MultiMeshRayCasterCfg): + """Initializes the ray-caster object. + + Args: + cfg: The configuration parameters. + """ + # Initialize base class + super().__init__(cfg) + # Create empty variables for storing output data + self._num_meshes_per_env: dict[str, int] = {} + """Keeps track of the number of meshes per env for each ray_cast target. + Since we allow regex indexing (e.g. env_*/object_*) they can differ + """ + + self._raycast_targets_cfg: list[MultiMeshRayCasterCfg.RaycastTargetCfg] = [] + for target in self.cfg.mesh_prim_paths: + # Legacy support for string targets. Treat them as global targets. + if isinstance(target, str): + self._raycast_targets_cfg.append(cfg.RaycastTargetCfg(target_prim_expr=target, is_global=True)) + else: + self._raycast_targets_cfg.append(target) + + def __str__(self) -> str: + """Returns: A string containing information about the instance.""" + + return ( + f"Ray-caster @ '{self.cfg.prim_path}': \n" + f"\tview type : {self._view.__class__}\n" + f"\tupdate period (s) : {self.cfg.update_period}\n" + f"\tnumber of meshes : {self._num_envs} x {sum(self._num_meshes_per_env.values())} \n" + f"\tnumber of sensors : {self._view.count}\n" + f"\tnumber of rays/sensor: {self.num_rays}\n" + f"\ttotal number of rays : {self.num_rays * self._view.count}" + ) + + """ + Implementation. + """ + + def _initialize_warp_meshes(self): + for target_cfg in self._raycast_targets_cfg: + # target prim path to ray cast against + mesh_prim_path = target_cfg.target_prim_expr + # check if mesh already casted into warp mesh and get the number of meshes per env + if mesh_prim_path in MultiMeshRayCaster.meshes: + self._num_meshes_per_env[mesh_prim_path] = ( + len(MultiMeshRayCaster.meshes[mesh_prim_path]) // self._num_envs + ) + continue + paths = sim_utils.find_matching_prim_paths(mesh_prim_path) + if len(paths) == 0: + raise RuntimeError(f"Failed to find a prim at path expression: {mesh_prim_path}") + + loaded_vertices: list[np.ndarray | None] = [] + wp_meshes = [] + for path in paths: + # check if the prim is a primitive object - handle these as special types + mesh_prim = sim_utils.get_first_matching_child_prim( + path, lambda prim: prim.GetTypeName() in PRIMITIVE_MESH_TYPES + ) + + # if we did not find a primitive mesh, we need to read the mesh + if mesh_prim is None: + + # obtain the mesh prim + mesh_prim = sim_utils.get_first_matching_child_prim(path, lambda prim: prim.GetTypeName() == "Mesh") + + # check if valid + if mesh_prim is None or not mesh_prim.IsValid(): + raise RuntimeError(f"Invalid mesh prim path: {paths}") + + points, faces = create_trimesh_from_geom_mesh(mesh_prim) + points *= np.array(sim_utils.resolve_world_scale(mesh_prim)) + registered_idx = _registered_points_idx(points, loaded_vertices) + if registered_idx != -1: + omni.log.info("Found a duplicate mesh, only reference the mesh.") + # Found a duplicate mesh, only reference the mesh. + loaded_vertices.append(None) + wp_mesh = wp_meshes[registered_idx] + else: + loaded_vertices.append(points) + wp_mesh = convert_to_warp_mesh(points, faces, device=self.device) + # print info + omni.log.info( + f"Read mesh prim: {mesh_prim.GetPath()} with {len(points)} vertices and {len(faces)} faces." + ) + else: + # create mesh from primitive shape + mesh = create_mesh_from_geom_shape(mesh_prim) + mesh.vertices *= np.array(sim_utils.resolve_world_scale(mesh_prim)) + + registered_idx = _registered_points_idx(mesh.vertices, loaded_vertices) + if registered_idx != -1: + # Found a duplicate mesh, only reference the mesh. + loaded_vertices.append(None) + wp_mesh = wp_meshes[registered_idx] + else: + loaded_vertices.append(mesh.vertices) + wp_mesh = convert_to_warp_mesh(mesh.vertices, mesh.faces, device=self.device) + # print info + omni.log.info(f"Created {mesh_prim.GetTypeName()} mesh prim: {mesh_prim.GetPath()}.") + wp_meshes.append(wp_mesh) + + if target_cfg.is_global: + # reference the mesh for each environment to ray cast against + MultiMeshRayCaster.meshes[mesh_prim_path] = [wp_meshes] * self._num_envs + self._num_meshes_per_env[mesh_prim_path] = len(wp_meshes) + else: + # split up the meshes for each environment. Little bit ugly, since + # the current order is interleaved (env1_obj1, env1_obj2, env2_obj1, env2_obj2, ...) + MultiMeshRayCaster.meshes[mesh_prim_path] = [] + mesh_idx = 0 + n_meshes_per_env = len(wp_meshes) // self._num_envs + self._num_meshes_per_env[mesh_prim_path] = n_meshes_per_env + for _ in range(self._num_envs): + MultiMeshRayCaster.meshes[mesh_prim_path].append(wp_meshes[mesh_idx : mesh_idx + n_meshes_per_env]) + mesh_idx += n_meshes_per_env + + if self.cfg.track_mesh_transforms: + # create view based on the type of prim + mesh_prim_api = sim_utils.find_first_matching_prim(mesh_prim_path) + if mesh_prim_api.HasAPI(UsdPhysics.ArticulationRootAPI): + MultiMeshRayCaster.mesh_views[mesh_prim_path] = self._physics_sim_view.create_articulation_view( + mesh_prim_path.replace(".*", "*") + ) + omni.log.info(f"Created articulation view for mesh prim at path: {mesh_prim_path}") + elif mesh_prim_api.HasAPI(UsdPhysics.RigidBodyAPI): + MultiMeshRayCaster.mesh_views[mesh_prim_path] = self._physics_sim_view.create_rigid_body_view( + mesh_prim_path.replace(".*", "*") + ) + omni.log.info(f"Created rigid body view for mesh prim at path: {mesh_prim_path}") + else: + MultiMeshRayCaster.mesh_views[mesh_prim_path] = XFormPrimView( + mesh_prim_path, reset_xform_properties=False + ) + omni.log.warn( + f"The prim at path {mesh_prim_path} is not a physics prim, but track_mesh_transforms is" + " enabled! Defaulting to XFormPrimView. \n The pose of the mesh will most likely not" + " be updated correctly when running in headless mode." + ) + + # throw an error if no meshes are found + if all( + [target_cfg.target_prim_expr not in MultiMeshRayCaster.meshes for target_cfg in self._raycast_targets_cfg] + ): + raise RuntimeError( + f"No meshes found for ray-casting! Please check the mesh prim paths: {self.cfg.mesh_prim_paths}" + ) + if self.cfg.track_mesh_transforms: + total_n_meshes_per_env = sum(self._num_meshes_per_env.values()) + self._mesh_positions_w = torch.zeros(self._num_envs, total_n_meshes_per_env, 3, device=self.device) + self._mesh_orientations_w = torch.zeros(self._num_envs, total_n_meshes_per_env, 4, device=self.device) + + # flatten the list of meshes that are included in mesh_prim_paths of the specific ray caster + self._meshes = [] + for env_idx in range(self._num_envs): + meshes_in_env = [] + for target_cfg in self._raycast_targets_cfg: + meshes_in_env.extend(MultiMeshRayCaster.meshes[target_cfg.target_prim_expr][env_idx]) + self._meshes.append(meshes_in_env) + + if self.cfg.track_mesh_transforms: + self._mesh_views = [ + MultiMeshRayCaster.mesh_views[target_cfg.target_prim_expr] for target_cfg in self._raycast_targets_cfg + ] + + # save a warp array with mesh ids that is passed to the raycast function + self._mesh_ids_wp = wp.array2d([[m.id for m in b] for b in self._meshes], dtype=wp.uint64, device=self.device) + + def _update_buffers_impl(self, env_ids: Sequence[int]): + """Fills the buffers of the sensor data.""" + # obtain the poses of the sensors + pos_w, quat_w = compute_world_poses(self._view, env_ids, clone=True) + # apply drift + pos_w += self.drift[env_ids] + # store the poses + self._data.pos_w[env_ids] = pos_w + self._data.quat_w[env_ids] = quat_w + + # ray cast based on the sensor poses + if self.cfg.attach_yaw_only: + # only yaw orientation is considered and directions are not rotated + ray_starts_w = quat_apply_yaw(quat_w.repeat(1, self.num_rays), self.ray_starts[env_ids]) + ray_starts_w += pos_w.unsqueeze(1) + ray_directions_w = self.ray_directions[env_ids] + else: + # full orientation is considered + ray_starts_w = quat_apply(quat_w.repeat(1, self.num_rays), self.ray_starts[env_ids]) + ray_starts_w += pos_w.unsqueeze(1) + ray_directions_w = quat_apply(quat_w.repeat(1, self.num_rays), self.ray_directions[env_ids]) + + if self.cfg.track_mesh_transforms: + # Update the mesh positions and rotations + mesh_idx = 0 + for view, target_cfg in zip(self._mesh_views, self._raycast_targets_cfg): + # update position of the target meshes + pos_w, ori_w = compute_world_poses(view, None) + pos_w = pos_w.squeeze(0) if len(pos_w.shape) == 3 else pos_w + ori_w = ori_w.squeeze(0) if len(ori_w.shape) == 3 else ori_w + + count = view.count + if not target_cfg.is_global: + count = count // self._num_envs + pos_w = pos_w.view(self._num_envs, count, 3) + ori_w = ori_w.view(self._num_envs, count, 4) + + self._mesh_positions_w[:, mesh_idx : mesh_idx + count] = pos_w + self._mesh_orientations_w[:, mesh_idx : mesh_idx + count] = ori_w + mesh_idx += count + + self._data.ray_hits_w[env_ids] = raycast_dynamic_meshes( + ray_starts_w, + ray_directions_w, + mesh_ids_wp=self._mesh_ids_wp, # list with shape num_envs x num_meshes_per_env + max_dist=self.cfg.max_distance, + mesh_positions_w=self._mesh_positions_w[env_ids] if self.cfg.track_mesh_transforms else None, + mesh_orientations_w=self._mesh_orientations_w[env_ids] if self.cfg.track_mesh_transforms else None, + )[0] + + +""" +Helper functions +""" + + +def _registered_points_idx(points: np.ndarray, registered_points: list[np.ndarray | None]) -> int: + """Check if the points are already registered in the list of registered points. + + Args: + points: The points to check. + registered_points: The list of registered points. + + Returns: + The index of the registered points if found, otherwise -1. + """ + for idx, reg_points in enumerate(registered_points): + if reg_points is None: + continue + if reg_points.shape == points.shape and (reg_points == points).all(): + return idx + return -1 diff --git a/source/isaaclab/isaaclab/sensors/ray_caster/multi_mesh_ray_caster_camera.py b/source/isaaclab/isaaclab/sensors/ray_caster/multi_mesh_ray_caster_camera.py new file mode 100644 index 00000000000..3152630fed8 --- /dev/null +++ b/source/isaaclab/isaaclab/sensors/ray_caster/multi_mesh_ray_caster_camera.py @@ -0,0 +1,146 @@ +# Copyright (c) 2022-2025, The Isaac Lab Project Developers. +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + +from __future__ import annotations + +import torch +from collections.abc import Sequence +from typing import TYPE_CHECKING + +import omni.isaac.lab.utils.math as math_utils +from omni.isaac.lab.sensors.camera import CameraData +from omni.isaac.lab.utils.warp import raycast_dynamic_meshes + +from ..utils import compute_world_poses +from .multi_mesh_ray_caster import MultiMeshRayCaster +from .ray_caster_camera import RayCasterCamera + +if TYPE_CHECKING: + from .multi_mesh_ray_caster_camera_cfg import MultiMeshRayCasterCameraCfg + + +class MultiMeshRayCasterCamera(RayCasterCamera, MultiMeshRayCaster): + """A ray-casting camera sensor. + + The ray-caster camera uses a set of rays to get the distances to meshes in the scene. The rays are + defined in the sensor's local coordinate frame. The sensor has the same interface as the + :class:`omni.isaac.lab.sensors.Camera` that implements the camera class through USD camera prims. + However, this class provides a faster image generation. The sensor converts meshes from the list of + primitive paths provided in the configuration to Warp meshes. The camera then ray-casts against these + Warp meshes only. + + Currently, only the following annotators are supported: + + - ``"distance_to_camera"``: An image containing the distance to camera optical center. + - ``"distance_to_image_plane"``: An image containing distances of 3D points from camera plane along camera's z-axis. + - ``"normals"``: An image containing the local surface normal vectors at each pixel. + """ + + cfg: MultiMeshRayCasterCameraCfg + """The configuration parameters.""" + + def __init__(self, cfg: MultiMeshRayCasterCameraCfg): + """Initializes the camera object. + + Args: + cfg: The configuration parameters. + + Raises: + ValueError: If the provided data types are not supported by the ray-caster camera. + """ + self._check_supported_data_types(cfg) + # initialize base class + MultiMeshRayCaster.__init__(self, cfg) + # create empty variables for storing output data + self._data = CameraData() + + def __str__(self) -> str: + """Returns: A string containing information about the instance.""" + return ( + f"Ray-Caster-Camera @ '{self.cfg.prim_path}': \n" + f"\tview type : {self._view.__class__}\n" + f"\tupdate period (s) : {self.cfg.update_period}\n" + f"\tnumber of meshes : {len(MultiMeshRayCasterCamera.meshes)}\n" + f"\tnumber of sensors : {self._view.count}\n" + f"\tnumber of rays/sensor: {self.num_rays}\n" + f"\ttotal number of rays : {self.num_rays * self._view.count}\n" + f"\timage shape : {self.image_shape}" + ) + + """ + Implementation. + """ + + def _initialize_warp_meshes(self): + MultiMeshRayCaster._initialize_warp_meshes(self) + + def _update_buffers_impl(self, env_ids: Sequence[int]): + """Fills the buffers of the sensor data.""" + # increment frame count + self._frame[env_ids] += 1 + + # compute poses from current view + pos_w, quat_w = self._compute_camera_world_poses(env_ids) + # update the data + self._data.pos_w[env_ids] = pos_w + self._data.quat_w_world[env_ids] = quat_w + + # note: full orientation is considered + ray_starts_w = math_utils.quat_apply(quat_w.repeat(1, self.num_rays), self.ray_starts[env_ids]) + ray_starts_w += pos_w.unsqueeze(1) + ray_directions_w = math_utils.quat_apply(quat_w.repeat(1, self.num_rays), self.ray_directions[env_ids]) + + if self.cfg.track_mesh_transforms: + # Update the mesh positions and rotations + mesh_idx = 0 + for view, target_cfg in zip(self._mesh_views, self._raycast_targets_cfg): + # update position of the target meshes + pos_w, ori_w = compute_world_poses(view, None) + pos_w = pos_w.squeeze(0) if len(pos_w.shape) == 3 else pos_w + ori_w = ori_w.squeeze(0) if len(ori_w.shape) == 3 else ori_w + + count = view.count + if not target_cfg.is_global: + count = count // self._num_envs + pos_w = pos_w.view(self._num_envs, count, 3) + ori_w = ori_w.view(self._num_envs, count, 4) + + self._mesh_positions_w[:, mesh_idx : mesh_idx + count] = pos_w + self._mesh_orientations_w[:, mesh_idx : mesh_idx + count] = ori_w + mesh_idx += count + + # ray cast and store the hits + self.ray_hits_w, ray_depth, ray_normal = raycast_dynamic_meshes( + ray_starts_w, + ray_directions_w, + mesh_ids_wp=self._mesh_ids_wp, # list with shape num_envs x num_meshes_per_env + max_dist=1e6, + mesh_positions_w=self._mesh_positions_w[env_ids] if self.cfg.track_mesh_transforms else None, + mesh_orientations_w=self._mesh_orientations_w[env_ids] if self.cfg.track_mesh_transforms else None, + return_distance=any( + [name in self.cfg.data_types for name in ["distance_to_image_plane", "distance_to_camera"]] + ), + return_normal="normals" in self.cfg.data_types, + )[:3] + # update output buffers + if "distance_to_image_plane" in self.cfg.data_types: + # note: data is in camera frame so we only take the first component (z-axis of camera frame) + distance_to_image_plane = ( + math_utils.quat_apply( + math_utils.quat_inv(quat_w).repeat(1, self.num_rays), + (ray_depth[:, :, None] * ray_directions_w), + ) + )[:, :, 0] + # apply the maximum distance after the transformation + distance_to_image_plane = torch.clip(distance_to_image_plane, max=self.cfg.max_distance) + self._data.output["distance_to_image_plane"][env_ids] = distance_to_image_plane.view( + -1, *self.image_shape, 1 + ) + if "distance_to_camera" in self.cfg.data_types: + self._data.output["distance_to_camera"][env_ids] = torch.clip( + ray_depth.view(-1, *self.image_shape, 1), max=self.cfg.max_distance + ) + if "normals" in self.cfg.data_types: + self._data.output["normals"][env_ids] = ray_normal.view(-1, *self.image_shape, 3) diff --git a/source/isaaclab/isaaclab/sensors/ray_caster/multi_mesh_ray_caster_camera_cfg.py b/source/isaaclab/isaaclab/sensors/ray_caster/multi_mesh_ray_caster_camera_cfg.py new file mode 100644 index 00000000000..7c40b4d3661 --- /dev/null +++ b/source/isaaclab/isaaclab/sensors/ray_caster/multi_mesh_ray_caster_camera_cfg.py @@ -0,0 +1,31 @@ +# Copyright (c) 2022-2025, The Isaac Lab Project Developers. +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + +"""Configuration for the ray-cast camera sensor.""" + +from dataclasses import MISSING + +from omni.isaac.lab.utils import configclass + +from .multi_mesh_ray_caster_camera import MultiMeshRayCasterCamera +from .multi_mesh_ray_caster_cfg import MultiMeshRayCasterCfg +from .ray_caster_camera_cfg import RayCasterCameraCfg + + +@configclass +class MultiMeshRayCasterCameraCfg(RayCasterCameraCfg, MultiMeshRayCasterCfg): + """Configuration for the ray-cast sensor.""" + + class_type: type = MultiMeshRayCasterCamera + + mesh_prim_paths: list[str | MultiMeshRayCasterCfg.RaycastTargetCfg] = MISSING + """The list of mesh primitive paths to ray cast against.""" + + track_mesh_transforms: bool = False + """Whether the meshes transformations should be tracked. Defaults to False. + + Note: + Not tracking the mesh transformations is recommended when the meshes are static to increase performance. + """ diff --git a/source/isaaclab/isaaclab/sensors/ray_caster/multi_mesh_ray_caster_cfg.py b/source/isaaclab/isaaclab/sensors/ray_caster/multi_mesh_ray_caster_cfg.py new file mode 100644 index 00000000000..10225da1c82 --- /dev/null +++ b/source/isaaclab/isaaclab/sensors/ray_caster/multi_mesh_ray_caster_cfg.py @@ -0,0 +1,41 @@ +# Copyright (c) 2022-2025, The Isaac Lab Project Developers. +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + +"""Configuration for the ray-cast sensor.""" + + +from dataclasses import MISSING + +from omni.isaac.lab.utils import configclass + +from .multi_mesh_ray_caster import MultiMeshRayCaster +from .ray_caster_cfg import RayCasterCfg + + +@configclass +class MultiMeshRayCasterCfg(RayCasterCfg): + """Configuration for the ray-cast sensor.""" + + @configclass + class RaycastTargetCfg: + """Configuration for different ray-cast targets.""" + + target_prim_expr: str = MISSING + """The regex to specify the target prim to ray cast against.""" + + is_global: bool = False + """Whether the target prim is a global object or exists for each environment instance. Defaults to False.""" + + class_type: type = MultiMeshRayCaster + + mesh_prim_paths: list[str | RaycastTargetCfg] = MISSING + """The list of mesh primitive paths to ray cast against.""" + + track_mesh_transforms: bool = False + """Whether the meshes transformations should be tracked. Defaults to False. + + Note: + Not tracking the mesh transformations is recommended when the meshes are static to increase performance. + """ diff --git a/source/isaaclab/isaaclab/sensors/ray_caster/ray_caster.py b/source/isaaclab/isaaclab/sensors/ray_caster/ray_caster.py index fd0978dcf49..92c2430fed7 100644 --- a/source/isaaclab/isaaclab/sensors/ray_caster/ray_caster.py +++ b/source/isaaclab/isaaclab/sensors/ray_caster/ray_caster.py @@ -14,6 +14,7 @@ import omni.log import omni.physics.tensors.impl.api as physx import warp as wp +<<<<<<< HEAD:source/isaaclab/isaaclab/sensors/ray_caster/ray_caster.py from isaacsim.core.prims import XFormPrim from isaacsim.core.simulation_manager import SimulationManager from pxr import UsdGeom, UsdPhysics @@ -25,9 +26,18 @@ from isaaclab.utils.math import convert_quat, quat_apply, quat_apply_yaw from isaaclab.utils.mesh import PRIMITIVE_MESH_TYPES, create_mesh_from_geom_shape, create_trimesh_from_geom_mesh from isaaclab.utils.warp import convert_to_warp_mesh, raycast_dynamic_meshes +======= +from omni.isaac.core.prims import XFormPrimView +from pxr import UsdGeom, UsdPhysics + +import omni.isaac.lab.sim as sim_utils +from omni.isaac.lab.markers import VisualizationMarkers +from omni.isaac.lab.terrains.trimesh.utils import make_plane +from omni.isaac.lab.utils.math import convert_quat, quat_apply, quat_apply_yaw +from omni.isaac.lab.utils.warp import convert_to_warp_mesh, raycast_mesh +>>>>>>> 99d12115a3 (Separates our multi-mesh raycaster as its own file (#63)):source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster.py from ..sensor_base import SensorBase -from ..utils import compute_world_poses from .ray_caster_data import RayCasterData if TYPE_CHECKING: @@ -42,36 +52,25 @@ class RayCaster(SensorBase): a set of meshes with a given ray pattern. The meshes are parsed from the list of primitive paths provided in the configuration. These are then - converted to warp meshes and stored in the :attr:`warp_meshes` list. The ray-caster then ray-casts against + converted to warp meshes and stored in the `warp_meshes` list. The ray-caster then ray-casts against these warp meshes using the ray pattern provided in the configuration. + + .. note:: + Currently, only static meshes are supported. Extending the warp mesh to support dynamic meshes + is a work in progress. """ cfg: RayCasterCfg """The configuration parameters.""" - - meshes: ClassVar[dict[str, list[list[wp.Mesh]]]] = {} - """The warp meshes available for raycasting. Stored as a dictionary. - - For each target_prim_cfg in the ray_caster_cfg.mesh_prim_paths, the dictionary stores the warp meshes - for each environment instance. The list has shape (num_envs, num_meshes_per_env). - Note that wp.Mesh are references to the warp mesh objects, so they are not duplicated for each environment if - not necessary. + meshes: ClassVar[dict[str, wp.Mesh]] = {} + """The warp meshes available for raycasting. The keys correspond to the prim path for the meshes, and values are the corresponding warp Mesh objects. - .. note:: + Note: We store a global dictionary of all warp meshes to prevent re-loading the mesh for different ray-cast sensor instances. """ - mesh_views: ClassVar[dict[str, object]] = {} - """The views of the meshes available for raycasting. - - The keys correspond to the prim path for the meshes, and values are the corresponding views of the prims. - - .. note:: - We store a global dictionary of all views to prevent re-loading for different ray-cast sensor instances. - """ - def __init__(self, cfg: RayCasterCfg): """Initializes the ray-caster object. @@ -92,28 +91,14 @@ def __init__(self, cfg: RayCasterCfg): super().__init__(cfg) # Create empty variables for storing output data self._data = RayCasterData() - self._raycast_targets_cfg: list[RayCasterCfg.RaycastTargetCfg] = [] - - self._num_meshes_per_env: dict[str, int] = {} - """Keeps track of the number of meshes per env for each ray_cast target. - Since we allow regex indexing (e.g. env_*/object_*) they can differ - """ - - for target in self.cfg.mesh_prim_paths: - # Legacy support for string targets. Treat them as global targets. - if isinstance(target, str): - self._raycast_targets_cfg.append(cfg.RaycastTargetCfg(target_prim_expr=target, is_global=True)) - else: - self._raycast_targets_cfg.append(target) def __str__(self) -> str: """Returns: A string containing information about the instance.""" - return ( f"Ray-caster @ '{self.cfg.prim_path}': \n" f"\tview type : {self._view.__class__}\n" f"\tupdate period (s) : {self.cfg.update_period}\n" - f"\tnumber of meshes : {self._num_envs} x {sum(self._num_meshes_per_env.values())} \n" + f"\tnumber of meshes : {len(RayCaster.meshes)}\n" f"\tnumber of sensors : {self._view.count}\n" f"\tnumber of rays/sensor: {self.num_rays}\n" f"\ttotal number of rays : {self.num_rays * self._view.count}" @@ -148,6 +133,7 @@ def reset(self, env_ids: Sequence[int] | None = None): else: num_envs_ids = len(env_ids) # resample the drift +<<<<<<< HEAD:source/isaaclab/isaaclab/sensors/ray_caster/ray_caster.py r = torch.empty(num_envs_ids, 3, device=self.device) self.drift[env_ids] = r.uniform_(*self.cfg.drift_range) # resample the height drift @@ -156,6 +142,9 @@ def reset(self, env_ids: Sequence[int] | None = None): self.ray_cast_drift[env_ids] = math_utils.sample_uniform( ranges[:, 0], ranges[:, 1], (num_envs_ids, 3), device=self.device ) +======= + self.drift[env_ids].uniform_(*self.cfg.drift_range) +>>>>>>> 99d12115a3 (Separates our multi-mesh raycaster as its own file (#63)):source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster.py """ Implementation. @@ -170,7 +159,6 @@ def _initialize_impl(self): # otherwise we need to use the xform view class which is slower found_supported_prim_class = False prim = sim_utils.find_first_matching_prim(self.cfg.prim_path) - if prim is None: raise RuntimeError(f"Failed to find a prim at path expression: {self.cfg.prim_path}") # create view based on the type of prim @@ -194,124 +182,55 @@ def _initialize_impl(self): self._initialize_rays_impl() def _initialize_warp_meshes(self): - for target_cfg in self._raycast_targets_cfg: - # target prim path to ray cast against - mesh_prim_path = target_cfg.target_prim_expr - # check if mesh already casted into warp mesh and get the number of meshes per env + # check number of mesh prims provided + if len(self.cfg.mesh_prim_paths) != 1: + raise NotImplementedError( + f"RayCaster currently only supports one mesh prim. Received: {len(self.cfg.mesh_prim_paths)}" + ) + + # read prims to ray-cast + for mesh_prim_path in self.cfg.mesh_prim_paths: + # check if mesh already casted into warp mesh if mesh_prim_path in RayCaster.meshes: - self._num_meshes_per_env[mesh_prim_path] = len(RayCaster.meshes[mesh_prim_path]) // self._num_envs continue - paths = sim_utils.find_matching_prim_paths(mesh_prim_path) - if len(paths) == 0: - raise RuntimeError(f"Failed to find a prim at path expression: {mesh_prim_path}") - - loaded_vertices: list[np.ndarray | None] = [] - wp_meshes = [] - for path in paths: - # check if the prim is a primitive object - handle these as special types + + # check if the prim is a plane - handle PhysX plane as a special case + # if a plane exists then we need to create an infinite mesh that is a plane + mesh_prim = sim_utils.get_first_matching_child_prim( + mesh_prim_path, lambda prim: prim.GetTypeName() == "Plane" + ) + # if we did not find a plane then we need to read the mesh + if mesh_prim is None: + # obtain the mesh prim mesh_prim = sim_utils.get_first_matching_child_prim( - path, lambda prim: prim.GetTypeName() in PRIMITIVE_MESH_TYPES + mesh_prim_path, lambda prim: prim.GetTypeName() == "Mesh" + ) + # check if valid + if mesh_prim is None or not mesh_prim.IsValid(): + raise RuntimeError(f"Invalid mesh prim path: {mesh_prim_path}") + # cast into UsdGeomMesh + mesh_prim = UsdGeom.Mesh(mesh_prim) + # read the vertices and faces + points = np.asarray(mesh_prim.GetPointsAttr().Get()) + indices = np.asarray(mesh_prim.GetFaceVertexIndicesAttr().Get()) + wp_mesh = convert_to_warp_mesh(points, indices, device=self.device) + # print info + omni.log.info( + f"Read mesh prim: {mesh_prim.GetPath()} with {len(points)} vertices and {len(indices)} faces." ) - - # if we did not find a primitive mesh, we need to read the mesh - if mesh_prim is None: - - # obtain the mesh prim - mesh_prim = sim_utils.get_first_matching_child_prim(path, lambda prim: prim.GetTypeName() == "Mesh") - - # check if valid - if mesh_prim is None or not mesh_prim.IsValid(): - raise RuntimeError(f"Invalid mesh prim path: {paths}") - - points, faces = create_trimesh_from_geom_mesh(mesh_prim) - points *= np.array(sim_utils.resolve_world_scale(mesh_prim)) - registered_idx = _registered_points_idx(points, loaded_vertices) - if registered_idx != -1: - print("Found a duplicate mesh, only reference the mesh.") - # Found a duplicate mesh, only reference the mesh. - loaded_vertices.append(None) - wp_mesh = wp_meshes[registered_idx] - else: - loaded_vertices.append(points) - wp_mesh = convert_to_warp_mesh(points, faces, device=self.device) - # print info - carb.log_info( - f"Read mesh prim: {mesh_prim.GetPath()} with {len(points)} vertices and {len(faces)} faces." - ) - else: - # create mesh from primitive shape - mesh = create_mesh_from_geom_shape(mesh_prim) - mesh.vertices *= np.array(sim_utils.resolve_world_scale(mesh_prim)) - - registered_idx = _registered_points_idx(mesh.vertices, loaded_vertices) - if registered_idx != -1: - # Found a duplicate mesh, only reference the mesh. - loaded_vertices.append(None) - wp_mesh = wp_meshes[registered_idx] - else: - loaded_vertices.append(mesh.vertices) - wp_mesh = convert_to_warp_mesh(mesh.vertices, mesh.faces, device=self.device) - # print info - carb.log_info(f"Created {mesh_prim.GetTypeName()} mesh prim: {mesh_prim.GetPath()}.") - wp_meshes.append(wp_mesh) - - if target_cfg.is_global: - # reference the mesh for each environment to ray cast against - RayCaster.meshes[mesh_prim_path] = [wp_meshes] * self._num_envs - self._num_meshes_per_env[mesh_prim_path] = len(wp_meshes) else: - # split up the meshes for each environment. Little bit ugly, since - # the current order is interleaved (env1_obj1, env1_obj2, env2_obj1, env2_obj2, ...) - RayCaster.meshes[mesh_prim_path] = [] - mesh_idx = 0 - n_meshes_per_env = len(wp_meshes) // self._num_envs - self._num_meshes_per_env[mesh_prim_path] = n_meshes_per_env - for _ in range(self._num_envs): - RayCaster.meshes[mesh_prim_path].append(wp_meshes[mesh_idx : mesh_idx + n_meshes_per_env]) - mesh_idx += n_meshes_per_env - - if self.cfg.track_mesh_transforms: - # create view based on the type of prim - mesh_prim_api = sim_utils.find_first_matching_prim(mesh_prim_path) - if mesh_prim_api.HasAPI(UsdPhysics.ArticulationRootAPI): - RayCaster.mesh_views[mesh_prim_path] = self._physics_sim_view.create_articulation_view( - mesh_prim_path.replace(".*", "*") - ) - carb.log_info(f"Created articulation view for mesh prim at path: {mesh_prim_path}") - elif mesh_prim_api.HasAPI(UsdPhysics.RigidBodyAPI): - RayCaster.mesh_views[mesh_prim_path] = self._physics_sim_view.create_rigid_body_view( - mesh_prim_path.replace(".*", "*") - ) - carb.log_info(f"Created rigid body view for mesh prim at path: {mesh_prim_path}") - else: - RayCaster.mesh_views[mesh_prim_path] = XFormPrimView(mesh_prim_path, reset_xform_properties=False) - carb.log_warn(f"The prim at path {mesh_prim_path} is not a physics prim! Using XFormPrimView.") + mesh = make_plane(size=(2e6, 2e6), height=0.0, center_zero=True) + wp_mesh = convert_to_warp_mesh(mesh.vertices, mesh.faces, device=self.device) + # print info + omni.log.info(f"Created infinite plane mesh prim: {mesh_prim.GetPath()}.") + # add the warp mesh to the list + RayCaster.meshes[mesh_prim_path] = wp_mesh # throw an error if no meshes are found - if all([target_cfg.target_prim_expr not in RayCaster.meshes for target_cfg in self._raycast_targets_cfg]): + if all([mesh_prim_path not in RayCaster.meshes for mesh_prim_path in self.cfg.mesh_prim_paths]): raise RuntimeError( f"No meshes found for ray-casting! Please check the mesh prim paths: {self.cfg.mesh_prim_paths}" ) - if self.cfg.track_mesh_transforms: - total_n_meshes_per_env = sum(self._num_meshes_per_env.values()) - self._mesh_positions_w = torch.zeros(self._num_envs, total_n_meshes_per_env, 3, device=self.device) - self._mesh_orientations_w = torch.zeros(self._num_envs, total_n_meshes_per_env, 4, device=self.device) - - # flatten the list of meshes that are included in mesh_prim_paths of the specific ray caster - self._meshes = [] - for env_idx in range(self._num_envs): - meshes_in_env = [] - for target_cfg in self._raycast_targets_cfg: - meshes_in_env.extend(RayCaster.meshes[target_cfg.target_prim_expr][env_idx]) - self._meshes.append(meshes_in_env) - - if self.cfg.track_mesh_transforms: - self._mesh_views = [ - RayCaster.mesh_views[target_cfg.target_prim_expr] for target_cfg in self._raycast_targets_cfg - ] - - # save a warp array with mesh ids that is passed to the raycast function - self._mesh_ids_wp = wp.array2d([[m.id for m in b] for b in self._meshes], dtype=wp.uint64, device=self.device) def _initialize_rays_impl(self): # compute ray stars and directions @@ -336,7 +255,16 @@ def _initialize_rays_impl(self): def _update_buffers_impl(self, env_ids: Sequence[int]): """Fills the buffers of the sensor data.""" # obtain the poses of the sensors - pos_w, quat_w = compute_world_poses(self._view, env_ids) + if isinstance(self._view, XFormPrimView): + pos_w, quat_w = self._view.get_world_poses(env_ids) + elif isinstance(self._view, physx.ArticulationView): + pos_w, quat_w = self._view.get_root_transforms()[env_ids].split([3, 4], dim=-1) + quat_w = convert_quat(quat_w, to="wxyz") + elif isinstance(self._view, physx.RigidBodyView): + pos_w, quat_w = self._view.get_transforms()[env_ids].split([3, 4], dim=-1) + quat_w = convert_quat(quat_w, to="wxyz") + else: + raise RuntimeError(f"Unsupported view type: {type(self._view)}") # note: we clone here because we are read-only operations pos_w = pos_w.clone() quat_w = quat_w.clone() @@ -383,33 +311,13 @@ def _update_buffers_impl(self, env_ids: Sequence[int]): ray_starts_w = quat_apply(quat_w.repeat(1, self.num_rays), self.ray_starts[env_ids]) ray_starts_w += pos_w.unsqueeze(1) ray_directions_w = quat_apply(quat_w.repeat(1, self.num_rays), self.ray_directions[env_ids]) - - if self.cfg.track_mesh_transforms: - # Update the mesh positions and rotations - mesh_idx = 0 - for view, target_cfg in zip(self._mesh_views, self._raycast_targets_cfg): - # update position of the target meshes - pos_w, ori_w = compute_world_poses(view, None) - pos_w = pos_w.squeeze(0) if len(pos_w.shape) == 3 else pos_w - ori_w = ori_w.squeeze(0) if len(ori_w.shape) == 3 else ori_w - - count = view.count - if not target_cfg.is_global: - count = count // self._num_envs - pos_w = pos_w.view(self._num_envs, count, 3) - ori_w = ori_w.view(self._num_envs, count, 4) - - self._mesh_positions_w[:, mesh_idx : mesh_idx + count] = pos_w - self._mesh_orientations_w[:, mesh_idx : mesh_idx + count] = ori_w - mesh_idx += count - - self._data.ray_hits_w[env_ids] = raycast_dynamic_meshes( + # ray cast and store the hits + # TODO: Make this work for multiple meshes? + self._data.ray_hits_w[env_ids] = raycast_mesh( ray_starts_w, ray_directions_w, - mesh_ids_wp=self._mesh_ids_wp, # list with shape num_envs x num_meshes_per_env max_dist=self.cfg.max_distance, - mesh_positions_w=self._mesh_positions_w[env_ids] if self.cfg.track_mesh_transforms else None, - mesh_orientations_w=self._mesh_orientations_w[env_ids] if self.cfg.track_mesh_transforms else None, + mesh=RayCaster.meshes[self.cfg.mesh_prim_paths[0]], )[0] # apply vertical drift to ray starting position in ray caster frame @@ -444,26 +352,3 @@ def _invalidate_initialize_callback(self, event): super()._invalidate_initialize_callback(event) # set all existing views to None to invalidate them self._view = None - - -""" -Helper functions -""" - - -def _registered_points_idx(points: np.ndarray, registered_points: list[np.ndarray | None]) -> int: - """Check if the points are already registered in the list of registered points. - - Args: - points: The points to check. - registered_points: The list of registered points. - - Returns: - The index of the registered points if found, otherwise -1. - """ - for idx, reg_points in enumerate(registered_points): - if reg_points is None: - continue - if reg_points.shape == points.shape and (reg_points == points).all(): - return idx - return -1 diff --git a/source/isaaclab/isaaclab/sensors/ray_caster/ray_caster_camera.py b/source/isaaclab/isaaclab/sensors/ray_caster/ray_caster_camera.py index f1ac8fb03a1..f087d04c091 100644 --- a/source/isaaclab/isaaclab/sensors/ray_caster/ray_caster_camera.py +++ b/source/isaaclab/isaaclab/sensors/ray_caster/ray_caster_camera.py @@ -16,9 +16,8 @@ import isaaclab.utils.math as math_utils from isaaclab.sensors.camera import CameraData from omni.isaac.lab.sensors.camera.utils import convert_orientation_convention, create_rotation_matrix_from_view -from omni.isaac.lab.utils.warp import raycast_dynamic_meshes +from omni.isaac.lab.utils.warp import raycast_mesh -from ..utils import compute_world_poses from .ray_caster import RayCaster if TYPE_CHECKING: @@ -40,6 +39,10 @@ class RayCasterCamera(RayCaster): - ``"distance_to_camera"``: An image containing the distance to camera optical center. - ``"distance_to_image_plane"``: An image containing distances of 3D points from camera plane along camera's z-axis. - ``"normals"``: An image containing the local surface normal vectors at each pixel. + + .. note:: + Currently, only static meshes are supported. Extending the warp mesh to support dynamic meshes + is a work in progress. """ cfg: RayCasterCameraCfg @@ -186,7 +189,7 @@ def set_world_poses( env_ids = self._ALL_INDICES # get current positions - pos_w, quat_w = compute_world_poses(self._view, env_ids) + pos_w, quat_w = self._compute_view_world_poses(env_ids) if positions is not None: # transform to camera frame pos_offset_world_frame = positions - pos_w @@ -268,38 +271,23 @@ def _update_buffers_impl(self, env_ids: Sequence[int]): ray_starts_w += pos_w.unsqueeze(1) ray_directions_w = math_utils.quat_apply(quat_w.repeat(1, self.num_rays), self.ray_directions[env_ids]) - if self.cfg.track_mesh_transforms: - # Update the mesh positions and rotations - mesh_idx = 0 - for view, target_cfg in zip(self._mesh_views, self._raycast_targets_cfg): - # update position of the target meshes - pos_w, ori_w = compute_world_poses(view, None) - pos_w = pos_w.squeeze(0) if len(pos_w.shape) == 3 else pos_w - ori_w = ori_w.squeeze(0) if len(ori_w.shape) == 3 else ori_w - - count = view.count - if not target_cfg.is_global: - count = count // self._num_envs - pos_w = pos_w.view(self._num_envs, count, 3) - ori_w = ori_w.view(self._num_envs, count, 4) - - self._mesh_positions_w[:, mesh_idx : mesh_idx + count] = pos_w - self._mesh_orientations_w[:, mesh_idx : mesh_idx + count] = ori_w - mesh_idx += count - # ray cast and store the hits - self.ray_hits_w, ray_depth, ray_normal = raycast_dynamic_meshes( + # note: we set max distance to 1e6 during the ray-casting. THis is because we clip the distance + # to the image plane and distance to the camera to the maximum distance afterwards in-order to + # match the USD camera behavior. + + # TODO: Make ray-casting work for multiple meshes? + # necessary for regular dictionaries. + self.ray_hits_w, ray_depth, ray_normal, _ = raycast_mesh( ray_starts_w, ray_directions_w, - mesh_ids_wp=self._mesh_ids_wp, # list with shape num_envs x num_meshes_per_env - max_dist=self.cfg.max_distance, - mesh_positions_w=self._mesh_positions_w[env_ids] if self.cfg.track_mesh_transforms else None, - mesh_orientations_w=self._mesh_orientations_w[env_ids] if self.cfg.track_mesh_transforms else None, + mesh=RayCasterCamera.meshes[self.cfg.mesh_prim_paths[0]], + max_dist=1e6, return_distance=any( [name in self.cfg.data_types for name in ["distance_to_image_plane", "distance_to_camera"]] ), return_normal="normals" in self.cfg.data_types, - )[:3] + ) # update output buffers if "distance_to_image_plane" in self.cfg.data_types: # note: data is in camera frame so we only take the first component (z-axis of camera frame) @@ -437,7 +425,7 @@ def _compute_camera_world_poses(self, env_ids: Sequence[int]) -> tuple[torch.Ten A tuple of the position (in meters) and quaternion (w, x, y, z) in "world" convention. """ # get the pose of the view the camera is attached to - pos_w, quat_w = compute_world_poses(self._view, env_ids) + pos_w, quat_w = self._compute_view_world_poses(env_ids) # apply offsets # need to apply quat because offset relative to parent frame pos_w += math_utils.quat_apply(quat_w, self._offset_pos[env_ids]) diff --git a/source/isaaclab/isaaclab/sensors/ray_caster/ray_caster_camera_cfg.py b/source/isaaclab/isaaclab/sensors/ray_caster/ray_caster_camera_cfg.py index 2a62707db53..c90984e8d7f 100644 --- a/source/isaaclab/isaaclab/sensors/ray_caster/ray_caster_camera_cfg.py +++ b/source/isaaclab/isaaclab/sensors/ray_caster/ray_caster_camera_cfg.py @@ -46,7 +46,6 @@ class OffsetCfg: data_types: list[str] = ["distance_to_image_plane"] """List of sensor names/types to enable for the camera. Defaults to ["distance_to_image_plane"].""" -<<<<<<< HEAD:source/isaaclab/isaaclab/sensors/ray_caster/ray_caster_camera_cfg.py depth_clipping_behavior: Literal["max", "zero", "none"] = "none" """Clipping behavior for the camera for values exceed the maximum value. Defaults to "none". @@ -58,9 +57,6 @@ class OffsetCfg: pattern_cfg: PinholeCameraPatternCfg = MISSING """The pattern that defines the local ray starting positions and directions in a pinhole camera pattern.""" -======= - pattern_cfg: PinholeCameraPatternCfg = MISSING ->>>>>>> 0045671df6 (Adds multi-mesh raycaster from Orbit (#4)):source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster_camera_cfg.py def __post_init__(self): # for cameras, this quantity should be False always. diff --git a/source/isaaclab/isaaclab/sensors/ray_caster/ray_caster_cfg.py b/source/isaaclab/isaaclab/sensors/ray_caster/ray_caster_cfg.py index 4043bfbd0e8..4a4884e32a5 100644 --- a/source/isaaclab/isaaclab/sensors/ray_caster/ray_caster_cfg.py +++ b/source/isaaclab/isaaclab/sensors/ray_caster/ray_caster_cfg.py @@ -22,16 +22,6 @@ class RayCasterCfg(SensorBaseCfg): """Configuration for the ray-cast sensor.""" - @configclass - class RaycastTargetCfg: - """Configuration for different ray-cast targets.""" - - target_prim_expr: str = MISSING - """The regex to specify the target prim to ray cast against.""" - - is_global: bool = False - """Whether the target prim is a global object or exists for each environment instance. Defaults to False.""" - @configclass class OffsetCfg: """The offset pose of the sensor's frame from the sensor's parent frame.""" @@ -43,8 +33,13 @@ class OffsetCfg: class_type: type = RayCaster - mesh_prim_paths: list[str | RaycastTargetCfg] = MISSING - """The list of mesh primitive paths to ray cast against.""" + mesh_prim_paths: list[str] = MISSING + """The list of mesh primitive paths to ray cast against. + + Note: + Currently, only a single static mesh is supported. We are working on supporting multiple + static meshes and dynamic meshes. + """ offset: OffsetCfg = OffsetCfg() """The offset pose of the sensor's frame from the sensor's parent frame. Defaults to identity.""" @@ -102,10 +97,3 @@ class OffsetCfg: Note: This attribute is only used when debug visualization is enabled. """ - - track_mesh_transforms: bool = False - """Whether the meshes transformations should be tracked. Defaults to False. - - Note: - Not tracking the mesh transformations is recommended when the meshes are static to increase performance. - """ diff --git a/source/isaaclab/isaaclab/utils/warp/__init__.py b/source/isaaclab/isaaclab/utils/warp/__init__.py index 1b69ce9a2dc..8400fb670a0 100644 --- a/source/isaaclab/isaaclab/utils/warp/__init__.py +++ b/source/isaaclab/isaaclab/utils/warp/__init__.py @@ -5,4 +5,4 @@ """Sub-module containing operations based on warp.""" -from .ops import convert_to_warp_mesh, raycast_dynamic_meshes, raycast_mesh +from .ops import convert_to_warp_mesh, raycast_dynamic_meshes, raycast_mesh, raycast_single_mesh diff --git a/source/isaaclab/isaaclab/utils/warp/kernels.py b/source/isaaclab/isaaclab/utils/warp/kernels.py index 870a927873f..23fb2c5836e 100644 --- a/source/isaaclab/isaaclab/utils/warp/kernels.py +++ b/source/isaaclab/isaaclab/utils/warp/kernels.py @@ -10,7 +10,72 @@ import warp as wp -@wp.kernel +@wp.kernel(enable_backward=False) +def raycast_mesh_kernel( + mesh: wp.uint64, + ray_starts: wp.array(dtype=wp.vec3), + ray_directions: wp.array(dtype=wp.vec3), + ray_hits: wp.array(dtype=wp.vec3), + ray_distance: wp.array(dtype=wp.float32), + ray_normal: wp.array(dtype=wp.vec3), + ray_face_id: wp.array(dtype=wp.int32), + max_dist: float = 1e6, + return_distance: int = False, + return_normal: int = False, + return_face_id: int = False, +): + """Performs ray-casting against a mesh. + + This function performs ray-casting against the given mesh using the provided ray start positions + and directions. The resulting ray hit positions are stored in the :obj:`ray_hits` array. + + Note that the `ray_starts`, `ray_directions`, and `ray_hits` arrays should have compatible shapes + and data types to ensure proper execution. Additionally, they all must be in the same frame. + + The function utilizes the `mesh_query_ray` method from the `wp` module to perform the actual ray-casting + operation. The maximum ray-cast distance is set to `1e6` units. + + Args: + mesh: The input mesh. The ray-casting is performed against this mesh on the device specified by the + `mesh`'s `device` attribute. + ray_starts: The input ray start positions. Shape is (N, 3). + ray_directions: The input ray directions. Shape is (N, 3). + ray_hits: The output ray hit positions. Shape is (N, 3). + ray_distance: The output ray hit distances. Shape is (N,), if `return_distance` is True. Otherwise, + this array is not used. + ray_normal: The output ray hit normals. Shape is (N, 3), if `return_normal` is True. Otherwise, + this array is not used. + ray_face_id: The output ray hit face ids. Shape is (N,), if `return_face_id` is True. Otherwise, + this array is not used. + max_dist: The maximum ray-cast distance. Defaults to 1e6. + return_distance: Whether to return the ray hit distances. Defaults to False. + return_normal: Whether to return the ray hit normals. Defaults to False`. + return_face_id: Whether to return the ray hit face ids. Defaults to False. + """ + # get the thread id + tid = wp.tid() + + t = float(0.0) # hit distance along ray + u = float(0.0) # hit face barycentric u + v = float(0.0) # hit face barycentric v + sign = float(0.0) # hit face sign + n = wp.vec3() # hit face normal + f = int(0) # hit face index + + # ray cast against the mesh and store the hit position + hit_success = wp.mesh_query_ray(mesh, ray_starts[tid], ray_directions[tid], max_dist, t, u, v, sign, n, f) + # if the ray hit, store the hit data + if hit_success: + ray_hits[tid] = ray_starts[tid] + t * ray_directions[tid] + if return_distance == 1: + ray_distance[tid] = t + if return_normal == 1: + ray_normal[tid] = n + if return_face_id == 1: + ray_face_id[tid] = f + + +@wp.kernel(enable_backward=False) def raycast_static_meshes_kernel( mesh: wp.array2d(dtype=wp.uint64), ray_starts: wp.array2d(dtype=wp.vec3), diff --git a/source/isaaclab/isaaclab/utils/warp/ops.py b/source/isaaclab/isaaclab/utils/warp/ops.py index b2a34599ba2..dd6fff610dc 100644 --- a/source/isaaclab/isaaclab/utils/warp/ops.py +++ b/source/isaaclab/isaaclab/utils/warp/ops.py @@ -24,6 +24,112 @@ def raycast_mesh( + ray_starts: torch.Tensor, + ray_directions: torch.Tensor, + mesh: wp.Mesh, + max_dist: float = 1e6, + return_distance: bool = False, + return_normal: bool = False, + return_face_id: bool = False, +) -> tuple[torch.Tensor, torch.Tensor | None, torch.Tensor | None, torch.Tensor | None]: + """Performs ray-casting against a mesh. + + Note that the `ray_starts` and `ray_directions`, and `ray_hits` should have compatible shapes + and data types to ensure proper execution. Additionally, they all must be in the same frame. + + Args: + ray_starts: The starting position of the rays. Shape (N, 3). + ray_directions: The ray directions for each ray. Shape (N, 3). + mesh: The warp mesh to ray-cast against. + max_dist: The maximum distance to ray-cast. Defaults to 1e6. + return_distance: Whether to return the distance of the ray until it hits the mesh. Defaults to False. + return_normal: Whether to return the normal of the mesh face the ray hits. Defaults to False. + return_face_id: Whether to return the face id of the mesh face the ray hits. Defaults to False. + + Returns: + The ray hit position. Shape (N, 3). + The returned tensor contains :obj:`float('inf')` for missed hits. + The ray hit distance. Shape (N,). + Will only return if :attr:`return_distance` is True, else returns None. + The returned tensor contains :obj:`float('inf')` for missed hits. + The ray hit normal. Shape (N, 3). + Will only return if :attr:`return_normal` is True else returns None. + The returned tensor contains :obj:`float('inf')` for missed hits. + The ray hit face id. Shape (N,). + Will only return if :attr:`return_face_id` is True else returns None. + The returned tensor contains :obj:`int(-1)` for missed hits. + """ + # extract device and shape information + shape = ray_starts.shape + device = ray_starts.device + # device of the mesh + torch_device = wp.device_to_torch(mesh.device) + # reshape the tensors + ray_starts = ray_starts.to(torch_device).view(-1, 3).contiguous() + ray_directions = ray_directions.to(torch_device).view(-1, 3).contiguous() + num_rays = ray_starts.shape[0] + # create output tensor for the ray hits + ray_hits = torch.full((num_rays, 3), float("inf"), device=torch_device).contiguous() + + # map the memory to warp arrays + ray_starts_wp = wp.from_torch(ray_starts, dtype=wp.vec3) + ray_directions_wp = wp.from_torch(ray_directions, dtype=wp.vec3) + ray_hits_wp = wp.from_torch(ray_hits, dtype=wp.vec3) + + if return_distance: + ray_distance = torch.full((num_rays,), float("inf"), device=torch_device).contiguous() + ray_distance_wp = wp.from_torch(ray_distance, dtype=wp.float32) + else: + ray_distance = None + ray_distance_wp = wp.empty((1,), dtype=wp.float32, device=torch_device) + + if return_normal: + ray_normal = torch.full((num_rays, 3), float("inf"), device=torch_device).contiguous() + ray_normal_wp = wp.from_torch(ray_normal, dtype=wp.vec3) + else: + ray_normal = None + ray_normal_wp = wp.empty((1,), dtype=wp.vec3, device=torch_device) + + if return_face_id: + ray_face_id = torch.ones((num_rays,), dtype=torch.int32, device=torch_device).contiguous() * (-1) + ray_face_id_wp = wp.from_torch(ray_face_id, dtype=wp.int32) + else: + ray_face_id = None + ray_face_id_wp = wp.empty((1,), dtype=wp.int32, device=torch_device) + + # launch the warp kernel + wp.launch( + kernel=kernels.raycast_mesh_kernel, + dim=num_rays, + inputs=[ + mesh.id, + ray_starts_wp, + ray_directions_wp, + ray_hits_wp, + ray_distance_wp, + ray_normal_wp, + ray_face_id_wp, + float(max_dist), + int(return_distance), + int(return_normal), + int(return_face_id), + ], + device=mesh.device, + ) + # NOTE: Synchronize is not needed anymore, but we keep it for now. Check with @dhoeller. + wp.synchronize() + + if return_distance: + ray_distance = ray_distance.to(device).view(shape[0], shape[1]) + if return_normal: + ray_normal = ray_normal.to(device).view(shape) + if return_face_id: + ray_face_id = ray_face_id.to(device).view(shape[0], shape[1]) + + return ray_hits.to(device).view(shape), ray_distance, ray_normal, ray_face_id + + +def raycast_single_mesh( ray_starts: torch.Tensor, ray_directions: torch.Tensor, mesh_id: int, diff --git a/source/isaaclab/test/sensors/check_multi_mesh_ray_caster.py b/source/isaaclab/test/sensors/check_multi_mesh_ray_caster.py new file mode 100644 index 00000000000..dbda9a0f436 --- /dev/null +++ b/source/isaaclab/test/sensors/check_multi_mesh_ray_caster.py @@ -0,0 +1,212 @@ +# Copyright (c) 2022-2025, The Isaac Lab Project Developers. +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + +""" +This script shows how to use the ray caster from the Isaac Lab framework. + +.. code-block:: bash + + # Usage + ./isaaclab.sh -p source/extensions/omni.isaac.lab/test/sensors/test_ray_caster.py --headless +""" + +"""Launch Isaac Sim Simulator first.""" + +import argparse + +from omni.isaac.lab.app import AppLauncher + +# add argparse arguments +parser = argparse.ArgumentParser(description="Ray Caster Test Script") +parser.add_argument("--num_envs", type=int, default=16, help="Number of environments to clone.") +parser.add_argument("--num_objects", type=int, default=0, help="Number of additional objects to clone.") +parser.add_argument( + "--terrain_type", + type=str, + default="generator", + help="Type of terrain to import. Can be 'generator' or 'usd' or 'plane'.", +) +# append AppLauncher cli args +AppLauncher.add_app_launcher_args(parser) +# parse the arguments +args_cli = parser.parse_args() + +# launch omniverse app +app_launcher = AppLauncher(args_cli) +simulation_app = app_launcher.app + + +"""Rest everything follows.""" + +import random +import torch + +import omni.isaac.core.utils.prims as prim_utils +from omni.isaac.cloner import GridCloner +from omni.isaac.core.prims import RigidPrimView +from omni.isaac.core.simulation_context import SimulationContext +from omni.isaac.core.utils.viewports import set_camera_view + +import omni.isaac.lab.sim as sim_utils +import omni.isaac.lab.terrains as terrain_gen +from omni.isaac.lab.sensors.ray_caster import MultiMeshRayCaster, MultiMeshRayCasterCfg, patterns +from omni.isaac.lab.terrains.config.rough import ROUGH_TERRAINS_CFG +from omni.isaac.lab.terrains.terrain_importer import TerrainImporter +from omni.isaac.lab.utils.assets import ISAAC_NUCLEUS_DIR +from omni.isaac.lab.utils.math import quat_from_euler_xyz +from omni.isaac.lab.utils.timer import Timer + + +def design_scene(sim: SimulationContext, num_envs: int = 2048): + """Design the scene.""" + # Create interface to clone the scene + cloner = GridCloner(spacing=10.0) + cloner.define_base_env("/World/envs") + # Everything under the namespace "/World/envs/env_0" will be cloned + prim_utils.define_prim("/World/envs/env_0") + # Define the scene + # -- Light + cfg = sim_utils.DistantLightCfg(intensity=2000) + cfg.func("/World/light", cfg) + # -- Balls + cfg = sim_utils.SphereCfg( + radius=0.25, + rigid_props=sim_utils.RigidBodyPropertiesCfg(), + mass_props=sim_utils.MassPropertiesCfg(mass=0.5), + collision_props=sim_utils.CollisionPropertiesCfg(), + visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.0, 0.0, 1.0)), + ) + cfg.func("/World/envs/env_0/ball", cfg, translation=(0.0, 0.0, 5.0)) + + for i in range(args_cli.num_objects): + object = sim_utils.CuboidCfg( + size=(0.5 + random.random() * 0.5, 0.5 + random.random() * 0.5, 0.1 + random.random() * 0.05), + rigid_props=sim_utils.RigidBodyPropertiesCfg(), + mass_props=sim_utils.MassPropertiesCfg(mass=0.5), + collision_props=sim_utils.CollisionPropertiesCfg(), + visual_material=sim_utils.PreviewSurfaceCfg( + diffuse_color=(0.0 + i / args_cli.num_objects, 0.0, 1.0 - i / args_cli.num_objects) + ), + ) + object.func( + f"/World/envs/env_0/object_{i}", + object, + translation=(0.0 + random.random(), 0.0 + random.random(), 1.0), + orientation=quat_from_euler_xyz(torch.Tensor(0), torch.Tensor(0), torch.rand(1) * torch.pi).numpy(), + ) + + # Clone the scene + cloner.define_base_env("/World/envs") + envs_prim_paths = cloner.generate_paths("/World/envs/env", num_paths=num_envs) + cloner.clone(source_prim_path="/World/envs/env_0", prim_paths=envs_prim_paths, replicate_physics=True) + physics_scene_path = sim.get_physics_context().prim_path + cloner.filter_collisions( + physics_scene_path, "/World/collisions", prim_paths=envs_prim_paths, global_paths=["/World/ground"] + ) + + +def main(): + """Main function.""" + + # Load kit helper + sim_params = { + "use_gpu": True, + "use_gpu_pipeline": True, + "use_flatcache": True, # deprecated from Isaac Sim 2023.1 onwards + "use_fabric": True, # used from Isaac Sim 2023.1 onwards + "enable_scene_query_support": True, + } + sim = SimulationContext( + physics_dt=1.0 / 60.0, rendering_dt=1.0 / 60.0, sim_params=sim_params, backend="torch", device="cuda:0" + ) + # Set main camera + set_camera_view([0.0, 30.0, 25.0], [0.0, 0.0, -2.5]) + + # Parameters + num_envs = args_cli.num_envs + # Design the scene + design_scene(sim=sim, num_envs=num_envs) + # Handler for terrains importing + terrain_importer_cfg = terrain_gen.TerrainImporterCfg( + prim_path="/World/ground", + terrain_type=args_cli.terrain_type, + terrain_generator=ROUGH_TERRAINS_CFG, + usd_path=f"{ISAAC_NUCLEUS_DIR}/Environments/Terrains/rough_plane.usd", + max_init_terrain_level=0, + num_envs=1, + ) + _ = TerrainImporter(terrain_importer_cfg) + + mesh_targets: list[MultiMeshRayCasterCfg.RaycastTargetCfg] = [ + MultiMeshRayCasterCfg.RaycastTargetCfg(target_prim_expr="/World/ground", is_global=True), + ] + if args_cli.num_objects != 0: + mesh_targets.append( + MultiMeshRayCasterCfg.RaycastTargetCfg(target_prim_expr="/World/envs/env_.*/object_.*", is_global=False) + ) + # Create a ray-caster sensor + ray_caster_cfg = MultiMeshRayCasterCfg( + prim_path="/World/envs/env_.*/ball", + mesh_prim_paths=mesh_targets, + pattern_cfg=patterns.GridPatternCfg(resolution=0.1, size=(1.6, 1.0)), + attach_yaw_only=True, + debug_vis=not args_cli.headless, + track_mesh_transforms=args_cli.num_objects != 0, + ) + ray_caster = MultiMeshRayCaster(cfg=ray_caster_cfg) + # Create a view over all the balls + ball_view = RigidPrimView("/World/envs/env_.*/ball", reset_xform_properties=False) + + # Play simulator + sim.reset() + + # Initialize the views + # -- balls + ball_view.initialize() + # Print the sensor information + print(ray_caster) + + # Get the initial positions of the balls + ball_initial_positions, ball_initial_orientations = ball_view.get_world_poses() + ball_initial_velocities = ball_view.get_velocities() + + # Create a counter for resetting the scene + step_count = 0 + # Simulate physics + while simulation_app.is_running(): + # If simulation is stopped, then exit. + if sim.is_stopped(): + break + # If simulation is paused, then skip. + if not sim.is_playing(): + sim.step(render=False) + continue + # Reset the scene + if step_count % 500 == 0: + # sample random indices to reset + reset_indices = torch.randint(0, num_envs, (num_envs // 2,)) + # reset the balls + ball_view.set_world_poses( + ball_initial_positions[reset_indices], ball_initial_orientations[reset_indices], indices=reset_indices + ) + ball_view.set_velocities(ball_initial_velocities[reset_indices], indices=reset_indices) + # reset the sensor + ray_caster.reset(reset_indices) + # reset the counter + step_count = 0 + # Step simulation + sim.step() + # Update the ray-caster + with Timer(f"Ray-caster update with {num_envs} x {ray_caster.num_rays} rays"): + ray_caster.update(dt=sim.get_physics_dt(), force_recompute=True) + # Update counter + step_count += 1 + + +if __name__ == "__main__": + # run the main function + main() + # close sim app + simulation_app.close() diff --git a/source/isaaclab/test/sensors/check_ray_caster.py b/source/isaaclab/test/sensors/check_ray_caster.py index 2abfe5be7f1..192ba1befc3 100644 --- a/source/isaaclab/test/sensors/check_ray_caster.py +++ b/source/isaaclab/test/sensors/check_ray_caster.py @@ -20,8 +20,7 @@ # add argparse arguments parser = argparse.ArgumentParser(description="Ray Caster Test Script") -parser.add_argument("--num_envs", type=int, default=16, help="Number of environments to clone.") -parser.add_argument("--num_objects", type=int, default=0, help="Number of additional objects to clone.") +parser.add_argument("--num_envs", type=int, default=128, help="Number of environments to clone.") parser.add_argument( "--terrain_type", type=str, @@ -40,7 +39,6 @@ """Rest everything follows.""" -import random import torch import isaacsim.core.utils.prims as prim_utils @@ -62,7 +60,7 @@ def design_scene(sim: SimulationContext, num_envs: int = 2048): """Design the scene.""" # Create interface to clone the scene - cloner = GridCloner(spacing=10.0) + cloner = GridCloner(spacing=2.0) cloner.define_base_env("/World/envs") # Everything under the namespace "/World/envs/env_0" will be cloned prim_utils.define_prim("/World/envs/env_0") @@ -79,24 +77,6 @@ def design_scene(sim: SimulationContext, num_envs: int = 2048): visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.0, 0.0, 1.0)), ) cfg.func("/World/envs/env_0/ball", cfg, translation=(0.0, 0.0, 5.0)) - - for i in range(args_cli.num_objects): - object = sim_utils.CuboidCfg( - size=(0.5 + random.random() * 0.5, 0.5 + random.random() * 0.5, 0.1 + random.random() * 0.05), - rigid_props=sim_utils.RigidBodyPropertiesCfg(), - mass_props=sim_utils.MassPropertiesCfg(mass=0.5), - collision_props=sim_utils.CollisionPropertiesCfg(), - visual_material=sim_utils.PreviewSurfaceCfg( - diffuse_color=(0.0 + i / args_cli.num_objects, 0.0, 1.0 - i / args_cli.num_objects) - ), - ) - object.func( - f"/World/envs/env_0/object_{i}", - object, - translation=(0.0 + random.random(), 0.0 + random.random(), 1.0), - orientation=quat_from_euler_xyz(torch.Tensor(0), torch.Tensor(0), torch.rand(1) * torch.pi).numpy(), - ) - # Clone the scene cloner.define_base_env("/World/envs") envs_prim_paths = cloner.generate_paths("/World/envs/env", num_paths=num_envs) @@ -134,26 +114,18 @@ def main(): terrain_type=args_cli.terrain_type, terrain_generator=ROUGH_TERRAINS_CFG, usd_path=f"{ISAAC_NUCLEUS_DIR}/Environments/Terrains/rough_plane.usd", - max_init_terrain_level=0, + max_init_terrain_level=None, num_envs=1, ) _ = TerrainImporter(terrain_importer_cfg) - mesh_targets: list[RayCasterCfg.RaycastTargetCfg] = [ - RayCasterCfg.RaycastTargetCfg(target_prim_expr="/World/ground", is_global=True), - ] - if args_cli.num_objects != 0: - mesh_targets.append( - RayCasterCfg.RaycastTargetCfg(target_prim_expr="/World/envs/env_.*/object_.*", is_global=False) - ) # Create a ray-caster sensor ray_caster_cfg = RayCasterCfg( prim_path="/World/envs/env_.*/ball", - mesh_prim_paths=mesh_targets, + mesh_prim_paths=["/World/ground"], pattern_cfg=patterns.GridPatternCfg(resolution=0.1, size=(1.6, 1.0)), ray_alignment="yaw", debug_vis=not args_cli.headless, - track_mesh_transforms=args_cli.num_objects != 0, ) ray_caster = RayCaster(cfg=ray_caster_cfg) # Create a view over all the balls diff --git a/source/isaaclab/test/sensors/test_multi_mesh_ray_caster.py b/source/isaaclab/test/sensors/test_multi_mesh_ray_caster.py new file mode 100644 index 00000000000..b18d68898cd --- /dev/null +++ b/source/isaaclab/test/sensors/test_multi_mesh_ray_caster.py @@ -0,0 +1,219 @@ +# Copyright (c) 2022-2025, The Isaac Lab Project Developers. +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + +from __future__ import annotations + +from omni.isaac.lab.app import AppLauncher + +# # launch omniverse app. Used for warp. +app_launcher = AppLauncher(headless=True) + +import numpy as np +import torch +import trimesh +import unittest + +import warp as wp + +from omni.isaac.lab.utils.math import matrix_from_quat, quat_from_euler_xyz, random_orientation +from omni.isaac.lab.utils.warp.ops import convert_to_warp_mesh, raycast_dynamic_meshes, raycast_single_mesh + + +class TestRaycast(unittest.TestCase): + """Test fixture for the raycast ops.""" + + def setUp(self): + self.device = "cuda" if torch.cuda.is_available() else "cpu" + # Create static mesh to raycast against + self._trimesh_meshes = [trimesh.creation.box([2, 2, 1])] + self.single_mesh = [ + convert_to_warp_mesh( + self._trimesh_meshes[0].vertices, + self._trimesh_meshes[0].faces, + self.device, + ) + ] + self.single_mesh_id = self.single_mesh[0].id + + self.ray_starts = torch.Tensor([[0, -0.35, -5], [0.25, 0.35, -5]]).to(self.device).unsqueeze(0) + self.ray_directions = torch.Tensor([[0, 0, 1], [0, 0, 1]]).to(self.device).unsqueeze(0) + self.expected_ray_hits = torch.Tensor([[0, -0.35, -0.5], [0.25, 0.35, -0.5]]).to(self.device).unsqueeze(0) + + def test_raycast_multi_cubes(self): + """Test raycasting against two cubes.""" + trimesh_1 = self._trimesh_meshes[0].copy() + wp_mesh_1 = convert_to_warp_mesh(trimesh_1.vertices, trimesh_1.faces, self.device) + + translation = np.eye(4) + translation[:3, 3] = [0, 2, 0] + trimesh_2 = self._trimesh_meshes[0].copy().apply_transform(translation) + wp_mesh_2 = convert_to_warp_mesh(trimesh_2.vertices, trimesh_2.faces, self.device) + + # get mesh id array + mesh_ids_wp = wp.array2d([[wp_mesh_1.id, wp_mesh_2.id]], dtype=wp.uint64, device=self.device) + + ray_start = torch.Tensor([[0, 0, -5], [0, 2.5, -5]]).unsqueeze(0).to(self.device) + ray_hits, ray_distance, ray_normal, ray_face_id, mesh_ids = raycast_dynamic_meshes( + ray_start, + self.ray_directions, + mesh_ids_wp, + return_distance=True, + return_normal=True, + return_face_id=True, + return_mesh_id=True, + ) + + torch.testing.assert_close(ray_hits, torch.Tensor([[[0, 0, -0.5], [0, 2.5, -0.5]]]).to(self.device)) + torch.testing.assert_close(ray_distance, torch.Tensor([[4.5, 4.5]]).to(self.device)) + torch.testing.assert_close(ray_normal, torch.Tensor([[[0, 0, -1], [0, 0, -1]]]).to(self.device)) + self.assertTrue(torch.equal(mesh_ids, torch.Tensor([[0, 1]]).to(self.device, dtype=torch.int32))) + + ray_start = torch.Tensor([[0, 0, -5], [0, 4.5, -5]]).unsqueeze(0).to(self.device) + ray_hits, ray_distance, ray_normal, ray_face_id, mesh_ids = raycast_dynamic_meshes( + ray_start, + self.ray_directions, + mesh_ids_wp, + return_distance=True, + return_normal=True, + return_face_id=True, + mesh_positions_w=torch.Tensor([[[0, 0, 0], [0, 2, 0]]]), + mesh_orientations_w=torch.Tensor([[[1, 0, 0, 0], [1, 0, 0, 0]]]), + return_mesh_id=True, + ) + + torch.testing.assert_close(ray_hits, torch.Tensor([[0, 0, -0.5], [0, 4.5, -0.5]]).unsqueeze(0).to(self.device)) + torch.testing.assert_close(ray_distance, torch.Tensor([[4.5, 4.5]]).to(self.device)) + torch.testing.assert_close(ray_normal, torch.Tensor([[0, 0, -1], [0, 0, -1]]).unsqueeze(0).to(self.device)) + self.assertTrue(torch.equal(mesh_ids, torch.Tensor([[0, 1]]).to(self.device, dtype=torch.int32))) + + def test_raycast_single_cube(self): + """Test raycasting against a single cube.""" + # Convert meshes to warp formatay_hits.to(device).view(shape), ray_distance, ray_normal, ray_face_id + ray_hits, ray_distance, ray_normal, ray_face_id = raycast_single_mesh( + self.ray_starts, + self.ray_directions, + self.single_mesh_id, + return_distance=True, + return_normal=True, + return_face_id=True, + ) + torch.testing.assert_close(ray_hits, self.expected_ray_hits) + torch.testing.assert_close(ray_distance, torch.Tensor([[4.5, 4.5]]).to(self.device)) + torch.testing.assert_close(ray_normal, torch.Tensor([[0, 0, -1], [0, 0, -1]]).to(self.device).unsqueeze(0)) + torch.testing.assert_close(ray_face_id, torch.Tensor([[3, 8]]).to(self.device, dtype=torch.int32)) + + # check multiple meshes implementation + ray_hits, ray_distance, ray_normal, ray_face_id, _ = raycast_dynamic_meshes( + self.ray_starts, + self.ray_directions, + wp.array2d([[self.single_mesh_id]], dtype=wp.uint64, device=self.device), + return_distance=True, + return_normal=True, + return_face_id=True, + ) + torch.testing.assert_close(ray_hits, self.expected_ray_hits) + torch.testing.assert_close(ray_distance, torch.Tensor([[4.5, 4.5]]).to(self.device)) + torch.testing.assert_close(ray_normal, torch.Tensor([[[0, 0, -1], [0, 0, -1]]]).to(self.device)) + torch.testing.assert_close(ray_face_id, torch.Tensor([[3, 8]]).to(self.device, dtype=torch.int32)) + + def test_raycast_moving_cube(self): + r"""Test raycasting against a single cube with different distances. + + The faces that are raycasted against are the bottom two, it will look similar to: + + + |-------------| + |\ | + | \ | + | \ 8 | + | \ | + | \ x_1 | + | \ | + | \ | + | \ | + | \ | + | \ | + | 3 x_2 \ | + | \ | + | \| + |-------------| + + """ + # move the cube along the z axis + for distance in torch.linspace(0, 1, 10): + ray_hits, ray_distance, ray_normal, ray_face_id, mesh_id = raycast_dynamic_meshes( + self.ray_starts, + self.ray_directions, + wp.array2d([[self.single_mesh_id]], dtype=wp.uint64, device=self.device), + return_distance=True, + return_normal=True, + return_face_id=True, + return_mesh_id=True, + mesh_positions_w=torch.Tensor([[0, 0, distance]]).to(self.device), + ) + torch.testing.assert_close( + ray_hits, + self.expected_ray_hits + torch.Tensor([[0, 0, distance], [0, 0, distance]]).to(self.device), + ) + torch.testing.assert_close(ray_distance, distance + torch.Tensor([[4.5, 4.5]]).to(self.device)) + torch.testing.assert_close(ray_normal, torch.Tensor([[[0, 0, -1], [0, 0, -1]]]).to(self.device)) + torch.testing.assert_close(ray_face_id, torch.Tensor([[3, 8]]).to(self.device, dtype=torch.int32)) + + def test_raycast_rotated_cube(self): + """Test raycasting against a single cube with different 90deg. orientations.""" + cube_rotation = quat_from_euler_xyz(torch.Tensor([0]), torch.Tensor([0]), torch.Tensor([np.pi])) + ray_hits, ray_distance, ray_normal, ray_face_id, _ = raycast_dynamic_meshes( + self.ray_starts, + self.ray_directions, + wp.array2d([[self.single_mesh_id]], dtype=wp.uint64, device=self.device), + return_distance=True, + return_normal=True, + return_face_id=True, + mesh_orientations_w=cube_rotation.unsqueeze(0), + ) + torch.testing.assert_close(ray_hits, self.expected_ray_hits) + torch.testing.assert_close(ray_distance, torch.Tensor([[4.5, 4.5]]).to(self.device)) + torch.testing.assert_close(ray_normal, torch.Tensor([[[0, 0, -1], [0, 0, -1]]]).to(self.device)) + # Make sure the face ids are correct. The cube is rotated by 90deg. so the face ids are different. + torch.testing.assert_close(ray_face_id, torch.Tensor([[8, 3]]).to(self.device, dtype=torch.int32)) + + def test_Raycast_random_cube(self): + """Test raycasting against a single cube with random poses.""" + for orientation in random_orientation(10, self.device): + pos = torch.Tensor([[0, 0, torch.rand(1)]]).to(self.device) + tf_hom = np.eye(4) + tf_hom[:3, :3] = matrix_from_quat(orientation).cpu().numpy() + tf_hom[:3, 3] = pos.cpu().numpy() + tf_mesh = self._trimesh_meshes[0].copy().apply_transform(tf_hom) + + # get raycast for transformed, static mesh + wp_mesh = convert_to_warp_mesh(tf_mesh.vertices, tf_mesh.faces, self.device) + ray_hits, ray_distance, ray_normal, ray_face_id, _ = raycast_dynamic_meshes( + self.ray_starts, + self.ray_directions, + wp.array2d([[wp_mesh.id]], dtype=wp.uint64, device=self.device), + return_distance=True, + return_normal=True, + return_face_id=True, + ) + # get raycast for modified mesh + ray_hits_m, ray_distance_m, ray_normal_m, ray_face_id_m, _ = raycast_dynamic_meshes( + self.ray_starts, + self.ray_directions, + wp.array2d([[self.single_mesh_id]], dtype=wp.uint64, device=self.device), + return_distance=True, + return_normal=True, + return_face_id=True, + mesh_positions_w=pos, + mesh_orientations_w=orientation.view(1, 1, -1), + ) + torch.testing.assert_close(ray_hits, ray_hits_m) + torch.testing.assert_close(ray_distance, ray_distance_m) + torch.testing.assert_close(ray_normal, ray_normal_m) + torch.testing.assert_close(ray_face_id, ray_face_id_m) + + +if __name__ == "__main__": + unittest.main() diff --git a/source/isaaclab/test/sensors/test_multi_mesh_ray_caster_camera.py b/source/isaaclab/test/sensors/test_multi_mesh_ray_caster_camera.py new file mode 100644 index 00000000000..05d71b06dd1 --- /dev/null +++ b/source/isaaclab/test/sensors/test_multi_mesh_ray_caster_camera.py @@ -0,0 +1,854 @@ +# Copyright (c) 2022-2025, The Isaac Lab Project Developers. +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + +# ignore private usage of variables warning +# pyright: reportPrivateUsage=none + +"""Launch Isaac Sim Simulator first.""" + +from omni.isaac.lab.app import AppLauncher, run_tests + +# launch omniverse app +app_launcher = AppLauncher(headless=True, enable_cameras=True) +simulation_app = app_launcher.app + +"""Rest everything follows.""" + +import copy +import numpy as np +import os +import torch +import unittest + +import omni.isaac.core.utils.prims as prim_utils +import omni.isaac.core.utils.stage as stage_utils +import omni.replicator.core as rep +from pxr import Gf + +import omni.isaac.lab.sim as sim_utils +from omni.isaac.lab.sensors.camera import Camera, CameraCfg +from omni.isaac.lab.sensors.ray_caster import MultiMeshRayCasterCamera, MultiMeshRayCasterCameraCfg, patterns +from omni.isaac.lab.sim import PinholeCameraCfg +from omni.isaac.lab.terrains.trimesh.utils import make_plane +from omni.isaac.lab.terrains.utils import create_prim_from_mesh +from omni.isaac.lab.utils import convert_dict_to_backend +from omni.isaac.lab.utils.timer import Timer + +# sample camera poses +POSITION = [2.5, 2.5, 2.5] +QUAT_ROS = [-0.17591989, 0.33985114, 0.82047325, -0.42470819] +QUAT_OPENGL = [0.33985113, 0.17591988, 0.42470818, 0.82047324] +QUAT_WORLD = [-0.3647052, -0.27984815, -0.1159169, 0.88047623] + + +class TestWarpCamera(unittest.TestCase): + """Test for isaaclab camera sensor""" + + """ + Test Setup and Teardown + """ + + def setUp(self): + """Create a blank new stage for each test.""" + camera_pattern_cfg = patterns.PinholeCameraPatternCfg( + focal_length=24.0, + horizontal_aperture=20.955, + height=480, + width=640, + ) + self.camera_cfg = MultiMeshRayCasterCameraCfg( + prim_path="/World/Camera", + mesh_prim_paths=["/World/defaultGroundPlane"], + update_period=0, + offset=MultiMeshRayCasterCameraCfg.OffsetCfg( + pos=(0.0, 0.0, 0.0), rot=(1.0, 0.0, 0.0, 0.0), convention="world" + ), + debug_vis=False, + pattern_cfg=camera_pattern_cfg, + data_types=[ + "distance_to_image_plane", + ], + ) + # Create a new stage + stage_utils.create_new_stage() + # create xform because placement of camera directly under world is not supported + prim_utils.create_prim("/World/Camera", "Xform") + # Simulation time-step + self.dt = 0.01 + # Load kit helper + sim_cfg = sim_utils.SimulationCfg(dt=self.dt) + self.sim: sim_utils.SimulationContext = sim_utils.SimulationContext(sim_cfg) + # Ground-plane + mesh = make_plane(size=(100, 100), height=0.0, center_zero=True) + create_prim_from_mesh("/World/defaultGroundPlane", mesh) + # load stage + stage_utils.update_stage() + + def tearDown(self): + """Stops simulator after each test.""" + # close all the opened viewport from before. + rep.vp_manager.destroy_hydra_textures("Replicator") + # stop simulation + # note: cannot use self.sim.stop() since it does one render step after stopping!! This doesn't make sense :( + self.sim._timeline.stop() + # clear the stage + self.sim.clear_all_callbacks() + self.sim.clear_instance() + + """ + Tests + """ + + def test_camera_init(self): + """Test camera initialization.""" + # Create camera + camera = MultiMeshRayCasterCamera(cfg=self.camera_cfg) + # Play sim + self.sim.reset() + # Check if camera is initialized + self.assertTrue(camera.is_initialized) + # Simulate for a few steps + # note: This is a workaround to ensure that the textures are loaded. + # Check "Known Issues" section in the documentation for more details. + for _ in range(5): + self.sim.step() + # Check buffers that exists and have correct shapes + self.assertEqual(camera.data.pos_w.shape, (1, 3)) + self.assertEqual(camera.data.quat_w_ros.shape, (1, 4)) + self.assertEqual(camera.data.quat_w_world.shape, (1, 4)) + self.assertEqual(camera.data.quat_w_opengl.shape, (1, 4)) + self.assertEqual(camera.data.intrinsic_matrices.shape, (1, 3, 3)) + self.assertEqual( + camera.data.image_shape, (self.camera_cfg.pattern_cfg.height, self.camera_cfg.pattern_cfg.width) + ) + self.assertEqual(camera.data.info, [{self.camera_cfg.data_types[0]: None}]) + # Simulate physics + for _ in range(10): + # perform rendering + self.sim.step() + # update camera + camera.update(self.dt) + # check image data + for im_data in camera.data.output.to_dict().values(): + self.assertEqual( + im_data.shape, (1, self.camera_cfg.pattern_cfg.height, self.camera_cfg.pattern_cfg.width, 1) + ) + + del camera + + def test_camera_resolution(self): + """Test camera resolution is correctly set.""" + # Create camera + camera = MultiMeshRayCasterCamera(cfg=self.camera_cfg) + # Play sim + self.sim.reset() + # Simulate for a few steps + # note: This is a workaround to ensure that the textures are loaded. + # Check "Known Issues" section in the documentation for more details. + for _ in range(5): + self.sim.step() + camera.update(self.dt) + # access image data and compare shapes + for im_data in camera.data.output.to_dict().values(): + self.assertTrue( + im_data.shape == (1, self.camera_cfg.pattern_cfg.height, self.camera_cfg.pattern_cfg.width, 1) + ) + + del camera + + def test_camera_init_offset(self): + """Test camera initialization with offset using different conventions.""" + # define the same offset in all conventions + # -- ROS convention + cam_cfg_offset_ros = copy.deepcopy(self.camera_cfg) + cam_cfg_offset_ros.offset = MultiMeshRayCasterCameraCfg.OffsetCfg( + pos=POSITION, + rot=QUAT_ROS, + convention="ros", + ) + prim_utils.create_prim("/World/CameraOffsetRos", "Xform") + cam_cfg_offset_ros.prim_path = "/World/CameraOffsetRos" + camera_ros = MultiMeshRayCasterCamera(cam_cfg_offset_ros) + # -- OpenGL convention + cam_cfg_offset_opengl = copy.deepcopy(self.camera_cfg) + cam_cfg_offset_opengl.offset = MultiMeshRayCasterCameraCfg.OffsetCfg( + pos=POSITION, + rot=QUAT_OPENGL, + convention="opengl", + ) + prim_utils.create_prim("/World/CameraOffsetOpengl", "Xform") + cam_cfg_offset_opengl.prim_path = "/World/CameraOffsetOpengl" + camera_opengl = MultiMeshRayCasterCamera(cam_cfg_offset_opengl) + # -- World convention + cam_cfg_offset_world = copy.deepcopy(self.camera_cfg) + cam_cfg_offset_world.offset = MultiMeshRayCasterCameraCfg.OffsetCfg( + pos=POSITION, + rot=QUAT_WORLD, + convention="world", + ) + prim_utils.create_prim("/World/CameraOffsetWorld", "Xform") + cam_cfg_offset_world.prim_path = "/World/CameraOffsetWorld" + camera_world = MultiMeshRayCasterCamera(cam_cfg_offset_world) + + # play sim + self.sim.reset() + + # update cameras + camera_world.update(self.dt) + camera_opengl.update(self.dt) + camera_ros.update(self.dt) + + # check that all transforms are set correctly + np.testing.assert_allclose(camera_ros.data.pos_w[0].cpu().numpy(), cam_cfg_offset_ros.offset.pos) + np.testing.assert_allclose(camera_opengl.data.pos_w[0].cpu().numpy(), cam_cfg_offset_opengl.offset.pos) + np.testing.assert_allclose(camera_world.data.pos_w[0].cpu().numpy(), cam_cfg_offset_world.offset.pos) + + # check if transform correctly set in output + np.testing.assert_allclose(camera_ros.data.pos_w[0].cpu().numpy(), cam_cfg_offset_ros.offset.pos, rtol=1e-5) + np.testing.assert_allclose(camera_ros.data.quat_w_ros[0].cpu().numpy(), QUAT_ROS, rtol=1e-5) + np.testing.assert_allclose(camera_ros.data.quat_w_opengl[0].cpu().numpy(), QUAT_OPENGL, rtol=1e-5) + np.testing.assert_allclose(camera_ros.data.quat_w_world[0].cpu().numpy(), QUAT_WORLD, rtol=1e-5) + + del camera_ros, camera_opengl, camera_world + + def test_camera_init_intrinsic_matrix(self): + """Test camera initialization from intrinsic matrix.""" + # get the first camera + camera_1 = MultiMeshRayCasterCamera(cfg=self.camera_cfg) + # get intrinsic matrix + self.sim.reset() + intrinsic_matrix = camera_1.data.intrinsic_matrices[0].cpu().flatten().tolist() + self.tearDown() + # reinit the first camera + self.setUp() + camera_1 = MultiMeshRayCasterCamera(cfg=self.camera_cfg) + # initialize from intrinsic matrix + intrinsic_camera_cfg = MultiMeshRayCasterCameraCfg( + prim_path="/World/Camera", + mesh_prim_paths=["/World/defaultGroundPlane"], + update_period=0, + offset=MultiMeshRayCasterCameraCfg.OffsetCfg( + pos=(0.0, 0.0, 0.0), rot=(1.0, 0.0, 0.0, 0.0), convention="world" + ), + debug_vis=False, + pattern_cfg=patterns.PinholeCameraPatternCfg.from_intrinsic_matrix( + intrinsic_matrix=intrinsic_matrix, + height=self.camera_cfg.pattern_cfg.height, + width=self.camera_cfg.pattern_cfg.width, + focal_length=self.camera_cfg.pattern_cfg.focal_length, + ), + data_types=[ + "distance_to_image_plane", + ], + ) + camera_2 = MultiMeshRayCasterCamera(cfg=intrinsic_camera_cfg) + + # play sim + self.sim.reset() + self.sim.play() + + # update cameras + camera_1.update(self.dt) + camera_2.update(self.dt) + + # check image data + torch.testing.assert_close( + camera_1.data.output["distance_to_image_plane"], + camera_2.data.output["distance_to_image_plane"], + ) + # check that both intrinsic matrices are the same + torch.testing.assert_close( + camera_1.data.intrinsic_matrices[0], + camera_2.data.intrinsic_matrices[0], + ) + + del camera_1, camera_2 + + def test_multi_camera_init(self): + """Test multi-camera initialization.""" + # create two cameras with different prim paths + # -- camera 1 + cam_cfg_1 = copy.deepcopy(self.camera_cfg) + cam_cfg_1.prim_path = "/World/Camera_1" + prim_utils.create_prim("/World/Camera_1", "Xform") + # Create camera + cam_1 = MultiMeshRayCasterCamera(cam_cfg_1) + # -- camera 2 + cam_cfg_2 = copy.deepcopy(self.camera_cfg) + cam_cfg_2.prim_path = "/World/Camera_2" + prim_utils.create_prim("/World/Camera_2", "Xform") + cam_2 = MultiMeshRayCasterCamera(cam_cfg_2) + + # check that the loaded meshes are equal + self.assertTrue(cam_1.meshes == cam_2.meshes) + + # play sim + self.sim.reset() + + # Simulate for a few steps + # note: This is a workaround to ensure that the textures are loaded. + # Check "Known Issues" section in the documentation for more details. + for _ in range(5): + self.sim.step() + # Simulate physics + for _ in range(10): + # perform rendering + self.sim.step() + # update camera + cam_1.update(self.dt) + cam_2.update(self.dt) + # check image data + for cam in [cam_1, cam_2]: + for im_data in cam.data.output.to_dict().values(): + self.assertEqual( + im_data.shape, (1, self.camera_cfg.pattern_cfg.height, self.camera_cfg.pattern_cfg.width, 1) + ) + + del cam_1, cam_2 + + def test_camera_set_world_poses(self): + """Test camera function to set specific world pose.""" + camera = MultiMeshRayCasterCamera(self.camera_cfg) + # play sim + self.sim.reset() + + # convert to torch tensors + position = torch.tensor([POSITION], dtype=torch.float32, device=camera.device) + orientation = torch.tensor([QUAT_WORLD], dtype=torch.float32, device=camera.device) + # set new pose + camera.set_world_poses(position.clone(), orientation.clone(), convention="world") + + # check if transform correctly set in output + torch.testing.assert_close(camera.data.pos_w, position) + torch.testing.assert_close(camera.data.quat_w_world, orientation) + + del camera + + def test_camera_set_world_poses_from_view(self): + """Test camera function to set specific world pose from view.""" + camera = MultiMeshRayCasterCamera(self.camera_cfg) + # play sim + self.sim.reset() + + # convert to torch tensors + eyes = torch.tensor([POSITION], dtype=torch.float32, device=camera.device) + targets = torch.tensor([[0.0, 0.0, 0.0]], dtype=torch.float32, device=camera.device) + quat_ros_gt = torch.tensor([QUAT_ROS], dtype=torch.float32, device=camera.device) + # set new pose + camera.set_world_poses_from_view(eyes.clone(), targets.clone()) + + # check if transform correctly set in output + torch.testing.assert_close(camera.data.pos_w, eyes) + torch.testing.assert_close(camera.data.quat_w_ros, quat_ros_gt) + + del camera + + def test_intrinsic_matrix(self): + """Checks that the camera's set and retrieve methods work for intrinsic matrix.""" + camera_cfg = copy.deepcopy(self.camera_cfg) + camera_cfg.pattern_cfg.height = 240 + camera_cfg.pattern_cfg.width = 320 + camera = MultiMeshRayCasterCamera(camera_cfg) + # play sim + self.sim.reset() + # Desired properties (obtained from realsense camera at 320x240 resolution) + rs_intrinsic_matrix = [229.31640625, 0.0, 164.810546875, 0.0, 229.826171875, 122.1650390625, 0.0, 0.0, 1.0] + rs_intrinsic_matrix = torch.tensor(rs_intrinsic_matrix, device=camera.device).reshape(3, 3).unsqueeze(0) + # Set matrix into simulator + camera.set_intrinsic_matrices(rs_intrinsic_matrix.clone()) + # Simulate for a few steps + # note: This is a workaround to ensure that the textures are loaded. + # Check "Known Issues" section in the documentation for more details. + for _ in range(5): + self.sim.step() + # Simulate physics + for _ in range(10): + # perform rendering + self.sim.step() + # update camera + camera.update(self.dt) + # Check that matrix is correct + torch.testing.assert_close(rs_intrinsic_matrix, camera.data.intrinsic_matrices) + + del camera + + def test_throughput(self): + """Checks that the single camera gets created properly with a rig.""" + # Create directory temp dir to dump the results + file_dir = os.path.dirname(os.path.realpath(__file__)) + temp_dir = os.path.join(file_dir, "output", "camera", "throughput") + os.makedirs(temp_dir, exist_ok=True) + # Create replicator writer + rep_writer = rep.BasicWriter(output_dir=temp_dir, frame_padding=3) + # create camera + camera_cfg = copy.deepcopy(self.camera_cfg) + camera_cfg.pattern_cfg.height = 480 + camera_cfg.pattern_cfg.width = 640 + camera = MultiMeshRayCasterCamera(camera_cfg) + + # Play simulator + self.sim.reset() + + # Set camera pose + eyes = torch.tensor([[2.5, 2.5, 2.5]], dtype=torch.float32, device=camera.device) + targets = torch.tensor([[0.0, 0.0, 0.0]], dtype=torch.float32, device=camera.device) + camera.set_world_poses_from_view(eyes, targets) + + # Simulate for a few steps + # note: This is a workaround to ensure that the textures are loaded. + # Check "Known Issues" section in the documentation for more details. + for _ in range(5): + self.sim.step() + # Simulate physics + for _ in range(5): + # perform rendering + self.sim.step() + # update camera + with Timer(f"Time taken for updating camera with shape {camera.image_shape}"): + camera.update(self.dt) + # Save images + with Timer(f"Time taken for writing data with shape {camera.image_shape} "): + # Pack data back into replicator format to save them using its writer + rep_output = {"annotators": {}} + camera_data = convert_dict_to_backend(camera.data.output[0].to_dict(), backend="numpy") + for key, data, info in zip(camera_data.keys(), camera_data.values(), camera.data.info[0].values()): + if info is not None: + rep_output["annotators"][key] = {"render_product": {"data": data, **info}} + else: + rep_output["annotators"][key] = {"render_product": {"data": data}} + # Save images + rep_output["trigger_outputs"] = {"on_time": camera.frame[0]} + rep_writer.write(rep_output) + print("----------------------------------------") + # Check image data + for im_data in camera.data.output.values(): + self.assertEqual(im_data.shape, (1, camera_cfg.pattern_cfg.height, camera_cfg.pattern_cfg.width, 1)) + + del camera + + def test_output_equal_to_usdcamera(self): + camera_pattern_cfg = patterns.PinholeCameraPatternCfg( + focal_length=24.0, + horizontal_aperture=20.955, + height=240, + width=320, + ) + prim_utils.create_prim("/World/Camera_warp", "Xform") + camera_cfg_warp = MultiMeshRayCasterCameraCfg( + prim_path="/World/Camera", + mesh_prim_paths=["/World/defaultGroundPlane"], + update_period=0, + offset=MultiMeshRayCasterCameraCfg.OffsetCfg(pos=(0.0, 0.0, 0.0), rot=(1.0, 0.0, 0.0, 0.0)), + debug_vis=False, + pattern_cfg=camera_pattern_cfg, + data_types=["distance_to_image_plane", "distance_to_camera", "normals"], + ) + + camera_warp = MultiMeshRayCasterCamera(camera_cfg_warp) + + # create usd camera + camera_cfg_usd = CameraCfg( + height=240, + width=320, + prim_path="/World/Camera_usd", + update_period=0, + data_types=["distance_to_image_plane", "distance_to_camera", "normals"], + spawn=PinholeCameraCfg( + focal_length=24.0, focus_distance=400.0, horizontal_aperture=20.955, clipping_range=(1e-4, 1.0e5) + ), + ) + camera_usd = Camera(camera_cfg_usd) + + # play sim + self.sim.reset() + self.sim.play() + + # convert to torch tensors + eyes = torch.tensor([[2.5, 2.5, 4.5]], dtype=torch.float32, device=camera_warp.device) + targets = torch.tensor([[0.0, 0.0, 0.0]], dtype=torch.float32, device=camera_warp.device) + # set views + camera_warp.set_world_poses_from_view(eyes, targets) + camera_usd.set_world_poses_from_view(eyes, targets) + + # perform steps + for _ in range(5): + self.sim.step() + + # update camera + camera_usd.update(self.dt) + camera_warp.update(self.dt) + + # check the intrinsic matrices + torch.testing.assert_close( + camera_usd.data.intrinsic_matrices, + camera_warp.data.intrinsic_matrices, + ) + + # check the apertures + torch.testing.assert_close( + camera_usd._sensor_prims[0].GetHorizontalApertureAttr().Get(), + camera_cfg_warp.pattern_cfg.horizontal_aperture, + ) + torch.testing.assert_close( + camera_usd._sensor_prims[0].GetVerticalApertureAttr().Get(), + camera_cfg_warp.pattern_cfg.vertical_aperture, + ) + + # check image data + torch.testing.assert_close( + camera_usd.data.output["distance_to_image_plane"], + camera_warp.data.output["distance_to_image_plane"], + ) + torch.testing.assert_close( + camera_usd.data.output["distance_to_camera"], + camera_warp.data.output["distance_to_camera"], + atol=5e-5, + rtol=5e-6, + ) + + # check normals + # NOTE: floating point issues of ~1e-5, so using atol and rtol in this case + torch.testing.assert_close( + camera_usd.data.output["normals"][..., :3], + camera_warp.data.output["normals"], + rtol=1e-5, + atol=1e-4, + ) + + del camera_usd, camera_warp + + def test_output_equal_to_usdcamera_offset(self): + offset_rot = [-0.1251, 0.3617, 0.8731, -0.3020] + + camera_pattern_cfg = patterns.PinholeCameraPatternCfg( + focal_length=24.0, + horizontal_aperture=20.955, + height=240, + width=320, + ) + prim_utils.create_prim("/World/Camera_warp", "Xform") + camera_cfg_warp = MultiMeshRayCasterCameraCfg( + prim_path="/World/Camera", + mesh_prim_paths=["/World/defaultGroundPlane"], + update_period=0, + offset=MultiMeshRayCasterCameraCfg.OffsetCfg(pos=(2.5, 2.5, 4.0), rot=offset_rot, convention="ros"), + debug_vis=False, + pattern_cfg=camera_pattern_cfg, + data_types=["distance_to_image_plane", "distance_to_camera", "normals"], + ) + + camera_warp = MultiMeshRayCasterCamera(camera_cfg_warp) + + # create usd camera + camera_cfg_usd = CameraCfg( + height=240, + width=320, + prim_path="/World/Camera_usd", + update_period=0, + data_types=["distance_to_image_plane", "distance_to_camera", "normals"], + spawn=PinholeCameraCfg( + focal_length=24.0, focus_distance=400.0, horizontal_aperture=20.955, clipping_range=(1e-6, 1.0e5) + ), + offset=CameraCfg.OffsetCfg(pos=(2.5, 2.5, 4.0), rot=offset_rot, convention="ros"), + ) + camera_usd = Camera(camera_cfg_usd) + + # play sim + self.sim.reset() + self.sim.play() + + # perform steps + for _ in range(5): + self.sim.step() + + # update camera + camera_usd.update(self.dt) + camera_warp.update(self.dt) + + # check image data + torch.testing.assert_close( + camera_usd.data.output["distance_to_image_plane"], + camera_warp.data.output["distance_to_image_plane"], + ) + torch.testing.assert_close( + camera_usd.data.output["distance_to_camera"], + camera_warp.data.output["distance_to_camera"], + ) + + # check normals + # NOTE: floating point issues of ~1e-5, so using atol and rtol in this case + torch.testing.assert_close( + camera_usd.data.output["normals"][..., :3], + camera_warp.data.output["normals"], + rtol=1e-5, + atol=1e-4, + ) + + del camera_usd, camera_warp + + def test_output_equal_to_usdcamera_prim_offset(self): + """Test that the output of the ray caster camera is equal to the output of the usd camera when both are placed + under an XForm prim that is translated and rotated from the world origin + .""" + offset_rot = [-0.1251, 0.3617, 0.8731, -0.3020] + + # gf quat + gf_quatf = Gf.Quatd() + gf_quatf.SetReal(QUAT_OPENGL[0]) + gf_quatf.SetImaginary(tuple(QUAT_OPENGL[1:])) + + camera_pattern_cfg = patterns.PinholeCameraPatternCfg( + focal_length=24.0, + horizontal_aperture=20.955, + height=240, + width=320, + ) + prim_raycast_cam = prim_utils.create_prim("/World/Camera_warp", "Xform") + prim_raycast_cam.GetAttribute("xformOp:translate").Set(tuple(POSITION)) + prim_raycast_cam.GetAttribute("xformOp:orient").Set(gf_quatf) + + camera_cfg_warp = MultiMeshRayCasterCameraCfg( + prim_path="/World/Camera_warp", + mesh_prim_paths=["/World/defaultGroundPlane"], + update_period=0, + offset=MultiMeshRayCasterCameraCfg.OffsetCfg(pos=(0, 0, 2.0), rot=offset_rot, convention="ros"), + debug_vis=False, + pattern_cfg=camera_pattern_cfg, + data_types=["distance_to_image_plane", "distance_to_camera", "normals"], + ) + + camera_warp = MultiMeshRayCasterCamera(camera_cfg_warp) + + # create usd camera + camera_cfg_usd = CameraCfg( + height=240, + width=320, + prim_path="/World/Camera_usd/camera", + update_period=0, + data_types=["distance_to_image_plane", "distance_to_camera", "normals"], + spawn=PinholeCameraCfg( + focal_length=24.0, focus_distance=400.0, horizontal_aperture=20.955, clipping_range=(1e-6, 1.0e5) + ), + offset=CameraCfg.OffsetCfg(pos=(0, 0, 2.0), rot=offset_rot, convention="ros"), + ) + prim_usd = prim_utils.create_prim("/World/Camera_usd", "Xform") + prim_usd.GetAttribute("xformOp:translate").Set(tuple(POSITION)) + prim_usd.GetAttribute("xformOp:orient").Set(gf_quatf) + + camera_usd = Camera(camera_cfg_usd) + + # play sim + self.sim.reset() + self.sim.play() + + # perform steps + for _ in range(5): + self.sim.step() + + # update camera + camera_usd.update(self.dt) + camera_warp.update(self.dt) + + # check if pos and orientation are correct + torch.testing.assert_close(camera_warp.data.pos_w[0], camera_usd.data.pos_w[0]) + torch.testing.assert_close(camera_warp.data.quat_w_ros[0], camera_usd.data.quat_w_ros[0]) + + # check image data + torch.testing.assert_close( + camera_usd.data.output["distance_to_image_plane"], + camera_warp.data.output["distance_to_image_plane"], + ) + torch.testing.assert_close( + camera_usd.data.output["distance_to_camera"], + camera_warp.data.output["distance_to_camera"], + rtol=4e-6, + atol=2e-5, + ) + + # check normals + # NOTE: floating point issues of ~1e-5, so using atol and rtol in this case + torch.testing.assert_close( + camera_usd.data.output["normals"][..., :3], + camera_warp.data.output["normals"], + rtol=1e-5, + atol=1e-4, + ) + + del camera_usd, camera_warp + + def test_output_equal_to_usd_camera_intrinsics(self): + """ + Test that the output of the ray caster camera and usd camera are the same when both are + initialized with the same intrinsic matrix. + """ + + # create cameras + offset_rot = [-0.1251, 0.3617, 0.8731, -0.3020] + offset_pos = (2.5, 2.5, 4.0) + intrinsics = [380.0831, 0.0, 467.7916, 0.0, 380.0831, 262.0532, 0.0, 0.0, 1.0] + prim_utils.create_prim("/World/Camera_warp", "Xform") + # get camera cfgs + camera_warp_cfg = MultiMeshRayCasterCameraCfg( + prim_path="/World/Camera_warp", + mesh_prim_paths=["/World/defaultGroundPlane"], + offset=MultiMeshRayCasterCameraCfg.OffsetCfg(pos=offset_pos, rot=offset_rot, convention="ros"), + debug_vis=False, + pattern_cfg=patterns.PinholeCameraPatternCfg.from_intrinsic_matrix( + intrinsic_matrix=intrinsics, + height=540, + width=960, + focal_length=38.0, + ), + max_distance=20.0, + data_types=["distance_to_image_plane"], + ) + camera_usd_cfg = CameraCfg( + prim_path="/World/Camera_usd", + offset=CameraCfg.OffsetCfg(pos=offset_pos, rot=offset_rot, convention="ros"), + spawn=PinholeCameraCfg.from_intrinsic_matrix( + intrinsic_matrix=intrinsics, + height=540, + width=960, + clipping_range=(0.01, 20), + focal_length=38.0, + ), + height=540, + width=960, + data_types=["distance_to_image_plane"], + ) + + # set aperture offsets to 0, as currently not supported for usd camera + camera_warp_cfg.pattern_cfg.horizontal_aperture_offset = 0 + camera_warp_cfg.pattern_cfg.vertical_aperture_offset = 0 + camera_usd_cfg.spawn.horizontal_aperture_offset = 0 + camera_usd_cfg.spawn.vertical_aperture_offset = 0 + # init cameras + camera_warp = MultiMeshRayCasterCamera(camera_warp_cfg) + camera_usd = Camera(camera_usd_cfg) + + # play sim + self.sim.reset() + self.sim.play() + + # perform steps + for _ in range(5): + self.sim.step() + + # update camera + camera_usd.update(self.dt) + camera_warp.update(self.dt) + + # filter nan and inf from output + cam_warp_output = camera_warp.data.output["distance_to_image_plane"].clone() + cam_usd_output = camera_usd.data.output["distance_to_image_plane"].clone() + cam_warp_output[torch.isnan(cam_warp_output)] = 0 + cam_warp_output[torch.isinf(cam_warp_output)] = 0 + cam_usd_output[torch.isnan(cam_usd_output)] = 0 + cam_usd_output[torch.isinf(cam_usd_output)] = 0 + + # check that both have the same intrinsic matrices + torch.testing.assert_close(camera_warp.data.intrinsic_matrices[0], camera_usd.data.intrinsic_matrices[0]) + + # check the apertures + torch.testing.assert_close( + camera_usd._sensor_prims[0].GetHorizontalApertureAttr().Get(), + camera_warp_cfg.pattern_cfg.horizontal_aperture, + ) + torch.testing.assert_close( + camera_usd._sensor_prims[0].GetVerticalApertureAttr().Get(), + camera_warp_cfg.pattern_cfg.vertical_aperture, + ) + + # check image data + torch.testing.assert_close( + cam_warp_output, + cam_usd_output, + atol=5e-5, + rtol=5e-6, + ) + + del camera_usd, camera_warp + + def test_output_equal_to_usd_camera_when_intrinsics_set(self): + """ + Test that the output of the ray caster camera is equal to the output of the usd camera when both are placed + under an XForm prim and an intrinsic matrix is set. + """ + + camera_pattern_cfg = patterns.PinholeCameraPatternCfg( + focal_length=24.0, + horizontal_aperture=20.955, + height=540, + width=960, + ) + camera_cfg_warp = MultiMeshRayCasterCameraCfg( + prim_path="/World/Camera", + mesh_prim_paths=["/World/defaultGroundPlane"], + update_period=0, + offset=MultiMeshRayCasterCameraCfg.OffsetCfg(pos=(0.0, 0.0, 0.0), rot=(1.0, 0.0, 0.0, 0.0)), + debug_vis=False, + pattern_cfg=camera_pattern_cfg, + data_types=["distance_to_camera"], + ) + + camera_warp = MultiMeshRayCasterCamera(camera_cfg_warp) + + # create usd camera + camera_cfg_usd = CameraCfg( + height=540, + width=960, + prim_path="/World/Camera_usd", + update_period=0, + data_types=["distance_to_camera"], + spawn=PinholeCameraCfg( + focal_length=24.0, focus_distance=400.0, horizontal_aperture=20.955, clipping_range=(1e-4, 1.0e5) + ), + ) + camera_usd = Camera(camera_cfg_usd) + + # play sim + self.sim.reset() + self.sim.play() + + # set intrinsic matrix + # NOTE: extend the test to cover aperture offsets once supported by the usd camera + intrinsic_matrix = torch.tensor( + [[380.0831, 0.0, camera_cfg_usd.width / 2, 0.0, 380.0831, camera_cfg_usd.height / 2, 0.0, 0.0, 1.0]], + device=camera_warp.device, + ).reshape(1, 3, 3) + camera_warp.set_intrinsic_matrices(intrinsic_matrix, focal_length=10) + camera_usd.set_intrinsic_matrices(intrinsic_matrix, focal_length=10) + + # set camera position + camera_warp.set_world_poses_from_view( + eyes=torch.tensor([[0.0, 0.0, 5.0]], device=camera_warp.device), + targets=torch.tensor([[0.0, 0.0, 0.0]], device=camera_warp.device), + ) + camera_usd.set_world_poses_from_view( + eyes=torch.tensor([[0.0, 0.0, 5.0]], device=camera_usd.device), + targets=torch.tensor([[0.0, 0.0, 0.0]], device=camera_usd.device), + ) + + # perform steps + for _ in range(5): + self.sim.step() + + # update camera + camera_usd.update(self.dt) + camera_warp.update(self.dt) + + # check image data + torch.testing.assert_close( + camera_usd.data.output["distance_to_camera"], + camera_warp.data.output["distance_to_camera"], + rtol=5e-3, + atol=1e-4, + ) + + del camera_usd, camera_warp + + +if __name__ == "__main__": + run_tests() From 4ca82f6217e954a12bc003af69228bc10a185689 Mon Sep 17 00:00:00 2001 From: Pascal Roth <57946385+pascal-roth@users.noreply.github.com> Date: Mon, 10 Feb 2025 17:57:36 +0100 Subject: [PATCH 004/121] Removes ClassVar `meshes` and `mesh_views` from MultiMeshRayCatser and fixes tests (#65) ClassVar not correctly destroyed, thus removing it (follow changes of original RayCaster). Fixing tests to comply with changes of our internal code with 1.4.1. - Bug fix (non-breaking change which fixes an issue) - Breaking change (fix or feature that would cause existing functionality to not work as expected) - [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with `./isaaclab.sh --format` - [x] I have made corresponding changes to the documentation - [x] My changes generate no new warnings - [ ] I have added tests that prove my fix is effective or that my feature works - [x] I have updated the changelog and the corresponding version in the extension's `config/extension.toml` file - [x] I have added my name to the `CONTRIBUTORS.md` or my name already exists there --------- Co-authored-by: zrene --- .../ray_caster/multi_mesh_ray_caster.py | 59 ++++++------------- .../multi_mesh_ray_caster_camera.py | 2 +- .../test_multi_mesh_ray_caster_camera.py | 8 +-- .../isaaclab/test/sensors/test_ray_caster.py | 4 +- 4 files changed, 25 insertions(+), 48 deletions(-) diff --git a/source/isaaclab/isaaclab/sensors/ray_caster/multi_mesh_ray_caster.py b/source/isaaclab/isaaclab/sensors/ray_caster/multi_mesh_ray_caster.py index dceed23434c..87a3429ae7e 100644 --- a/source/isaaclab/isaaclab/sensors/ray_caster/multi_mesh_ray_caster.py +++ b/source/isaaclab/isaaclab/sensors/ray_caster/multi_mesh_ray_caster.py @@ -8,7 +8,7 @@ import numpy as np import torch from collections.abc import Sequence -from typing import TYPE_CHECKING, ClassVar +from typing import TYPE_CHECKING import omni.log import omni.physics.tensors.impl.api as physx @@ -43,29 +43,6 @@ class MultiMeshRayCaster(RayCaster): cfg: MultiMeshRayCasterCfg """The configuration parameters.""" - meshes: ClassVar[dict[str, list[list[wp.Mesh]]]] = {} - """The warp meshes available for raycasting. Stored as a dictionary. - - For each target_prim_cfg in the ray_caster_cfg.mesh_prim_paths, the dictionary stores the warp meshes - for each environment instance. The list has shape (num_envs, num_meshes_per_env). - Note that wp.Mesh are references to the warp mesh objects, so they are not duplicated for each environment if - not necessary. - - The keys correspond to the prim path for the meshes, and values are the corresponding warp Mesh objects. - - .. note:: - We store a global dictionary of all warp meshes to prevent re-loading the mesh for different ray-cast sensor instances. - """ - - mesh_views: ClassVar[dict[str, physx.RigidBodyView | physx.ArticulationView | XFormPrimView]] = {} - """The views of the meshes available for raycasting. - - The keys correspond to the prim path for the meshes, and values are the corresponding views of the prims. - - .. note:: - We store a global dictionary of all views to prevent re-loading for different ray-cast sensor instances. - """ - def __init__(self, cfg: MultiMeshRayCasterCfg): """Initializes the ray-caster object. @@ -74,6 +51,7 @@ def __init__(self, cfg: MultiMeshRayCasterCfg): """ # Initialize base class super().__init__(cfg) + # Create empty variables for storing output data self._num_meshes_per_env: dict[str, int] = {} """Keeps track of the number of meshes per env for each ray_cast target. @@ -88,6 +66,11 @@ def __init__(self, cfg: MultiMeshRayCasterCfg): else: self._raycast_targets_cfg.append(target) + # store the views of the meshes available for raycasting to allow movement tracking + self.mesh_views: dict[str, physx.RigidBodyView | physx.ArticulationView | XFormPrimView] = {} + # store the warp meshes available for raycasting + self.meshes: dict[str, list[list[wp.Mesh]]] = {} + def __str__(self) -> str: """Returns: A string containing information about the instance.""" @@ -110,10 +93,8 @@ def _initialize_warp_meshes(self): # target prim path to ray cast against mesh_prim_path = target_cfg.target_prim_expr # check if mesh already casted into warp mesh and get the number of meshes per env - if mesh_prim_path in MultiMeshRayCaster.meshes: - self._num_meshes_per_env[mesh_prim_path] = ( - len(MultiMeshRayCaster.meshes[mesh_prim_path]) // self._num_envs - ) + if mesh_prim_path in self.meshes: + self._num_meshes_per_env[mesh_prim_path] = len(self.meshes[mesh_prim_path]) // self._num_envs continue paths = sim_utils.find_matching_prim_paths(mesh_prim_path) if len(paths) == 0: @@ -171,36 +152,34 @@ def _initialize_warp_meshes(self): if target_cfg.is_global: # reference the mesh for each environment to ray cast against - MultiMeshRayCaster.meshes[mesh_prim_path] = [wp_meshes] * self._num_envs + self.meshes[mesh_prim_path] = [wp_meshes] * self._num_envs self._num_meshes_per_env[mesh_prim_path] = len(wp_meshes) else: # split up the meshes for each environment. Little bit ugly, since # the current order is interleaved (env1_obj1, env1_obj2, env2_obj1, env2_obj2, ...) - MultiMeshRayCaster.meshes[mesh_prim_path] = [] + self.meshes[mesh_prim_path] = [] mesh_idx = 0 n_meshes_per_env = len(wp_meshes) // self._num_envs self._num_meshes_per_env[mesh_prim_path] = n_meshes_per_env for _ in range(self._num_envs): - MultiMeshRayCaster.meshes[mesh_prim_path].append(wp_meshes[mesh_idx : mesh_idx + n_meshes_per_env]) + self.meshes[mesh_prim_path].append(wp_meshes[mesh_idx : mesh_idx + n_meshes_per_env]) mesh_idx += n_meshes_per_env if self.cfg.track_mesh_transforms: # create view based on the type of prim mesh_prim_api = sim_utils.find_first_matching_prim(mesh_prim_path) if mesh_prim_api.HasAPI(UsdPhysics.ArticulationRootAPI): - MultiMeshRayCaster.mesh_views[mesh_prim_path] = self._physics_sim_view.create_articulation_view( + self.mesh_views[mesh_prim_path] = self._physics_sim_view.create_articulation_view( mesh_prim_path.replace(".*", "*") ) omni.log.info(f"Created articulation view for mesh prim at path: {mesh_prim_path}") elif mesh_prim_api.HasAPI(UsdPhysics.RigidBodyAPI): - MultiMeshRayCaster.mesh_views[mesh_prim_path] = self._physics_sim_view.create_rigid_body_view( + self.mesh_views[mesh_prim_path] = self._physics_sim_view.create_rigid_body_view( mesh_prim_path.replace(".*", "*") ) omni.log.info(f"Created rigid body view for mesh prim at path: {mesh_prim_path}") else: - MultiMeshRayCaster.mesh_views[mesh_prim_path] = XFormPrimView( - mesh_prim_path, reset_xform_properties=False - ) + self.mesh_views[mesh_prim_path] = XFormPrimView(mesh_prim_path, reset_xform_properties=False) omni.log.warn( f"The prim at path {mesh_prim_path} is not a physics prim, but track_mesh_transforms is" " enabled! Defaulting to XFormPrimView. \n The pose of the mesh will most likely not" @@ -208,9 +187,7 @@ def _initialize_warp_meshes(self): ) # throw an error if no meshes are found - if all( - [target_cfg.target_prim_expr not in MultiMeshRayCaster.meshes for target_cfg in self._raycast_targets_cfg] - ): + if all([target_cfg.target_prim_expr not in self.meshes for target_cfg in self._raycast_targets_cfg]): raise RuntimeError( f"No meshes found for ray-casting! Please check the mesh prim paths: {self.cfg.mesh_prim_paths}" ) @@ -224,12 +201,12 @@ def _initialize_warp_meshes(self): for env_idx in range(self._num_envs): meshes_in_env = [] for target_cfg in self._raycast_targets_cfg: - meshes_in_env.extend(MultiMeshRayCaster.meshes[target_cfg.target_prim_expr][env_idx]) + meshes_in_env.extend(self.meshes[target_cfg.target_prim_expr][env_idx]) self._meshes.append(meshes_in_env) if self.cfg.track_mesh_transforms: self._mesh_views = [ - MultiMeshRayCaster.mesh_views[target_cfg.target_prim_expr] for target_cfg in self._raycast_targets_cfg + self.mesh_views[target_cfg.target_prim_expr] for target_cfg in self._raycast_targets_cfg ] # save a warp array with mesh ids that is passed to the raycast function diff --git a/source/isaaclab/isaaclab/sensors/ray_caster/multi_mesh_ray_caster_camera.py b/source/isaaclab/isaaclab/sensors/ray_caster/multi_mesh_ray_caster_camera.py index 3152630fed8..d848581f1c1 100644 --- a/source/isaaclab/isaaclab/sensors/ray_caster/multi_mesh_ray_caster_camera.py +++ b/source/isaaclab/isaaclab/sensors/ray_caster/multi_mesh_ray_caster_camera.py @@ -62,7 +62,7 @@ def __str__(self) -> str: f"Ray-Caster-Camera @ '{self.cfg.prim_path}': \n" f"\tview type : {self._view.__class__}\n" f"\tupdate period (s) : {self.cfg.update_period}\n" - f"\tnumber of meshes : {len(MultiMeshRayCasterCamera.meshes)}\n" + f"\tnumber of meshes : {len(self.meshes)}\n" f"\tnumber of sensors : {self._view.count}\n" f"\tnumber of rays/sensor: {self.num_rays}\n" f"\ttotal number of rays : {self.num_rays * self._view.count}\n" diff --git a/source/isaaclab/test/sensors/test_multi_mesh_ray_caster_camera.py b/source/isaaclab/test/sensors/test_multi_mesh_ray_caster_camera.py index 05d71b06dd1..f6e58e4989d 100644 --- a/source/isaaclab/test/sensors/test_multi_mesh_ray_caster_camera.py +++ b/source/isaaclab/test/sensors/test_multi_mesh_ray_caster_camera.py @@ -131,7 +131,7 @@ def test_camera_init(self): # update camera camera.update(self.dt) # check image data - for im_data in camera.data.output.to_dict().values(): + for im_data in camera.data.output.values(): self.assertEqual( im_data.shape, (1, self.camera_cfg.pattern_cfg.height, self.camera_cfg.pattern_cfg.width, 1) ) @@ -151,7 +151,7 @@ def test_camera_resolution(self): self.sim.step() camera.update(self.dt) # access image data and compare shapes - for im_data in camera.data.output.to_dict().values(): + for im_data in camera.data.output.values(): self.assertTrue( im_data.shape == (1, self.camera_cfg.pattern_cfg.height, self.camera_cfg.pattern_cfg.width, 1) ) @@ -301,7 +301,7 @@ def test_multi_camera_init(self): cam_2.update(self.dt) # check image data for cam in [cam_1, cam_2]: - for im_data in cam.data.output.to_dict().values(): + for im_data in cam.data.output.values(): self.assertEqual( im_data.shape, (1, self.camera_cfg.pattern_cfg.height, self.camera_cfg.pattern_cfg.width, 1) ) @@ -412,7 +412,7 @@ def test_throughput(self): with Timer(f"Time taken for writing data with shape {camera.image_shape} "): # Pack data back into replicator format to save them using its writer rep_output = {"annotators": {}} - camera_data = convert_dict_to_backend(camera.data.output[0].to_dict(), backend="numpy") + camera_data = convert_dict_to_backend(camera.data.output, backend="numpy") for key, data, info in zip(camera_data.keys(), camera_data.values(), camera.data.info[0].values()): if info is not None: rep_output["annotators"][key] = {"render_product": {"data": data, **info}} diff --git a/source/isaaclab/test/sensors/test_ray_caster.py b/source/isaaclab/test/sensors/test_ray_caster.py index f48e1243af3..f0f5e9dd474 100644 --- a/source/isaaclab/test/sensors/test_ray_caster.py +++ b/source/isaaclab/test/sensors/test_ray_caster.py @@ -18,7 +18,7 @@ import warp as wp from omni.isaac.lab.utils.math import matrix_from_quat, quat_from_euler_xyz, random_orientation -from omni.isaac.lab.utils.warp.ops import convert_to_warp_mesh, raycast_dynamic_meshes, raycast_mesh +from omni.isaac.lab.utils.warp.ops import convert_to_warp_mesh, raycast_dynamic_meshes, raycast_single_mesh class TestRaycast(unittest.TestCase): @@ -91,7 +91,7 @@ def test_raycast_multi_cubes(self): def test_raycast_single_cube(self): """Test raycasting against a single cube.""" # Convert meshes to warp formatay_hits.to(device).view(shape), ray_distance, ray_normal, ray_face_id - ray_hits, ray_distance, ray_normal, ray_face_id = raycast_mesh( + ray_hits, ray_distance, ray_normal, ray_face_id = raycast_single_mesh( self.ray_starts, self.ray_directions, self.single_mesh_id, From d13331cb54abb5cf841e156357aa163040c4cc9d Mon Sep 17 00:00:00 2001 From: Pascal Roth Date: Sat, 9 Aug 2025 08:50:14 +0200 Subject: [PATCH 005/121] forgotten merge --- .../isaaclab/sensors/ray_caster/ray_caster.py | 15 --------------- 1 file changed, 15 deletions(-) diff --git a/source/isaaclab/isaaclab/sensors/ray_caster/ray_caster.py b/source/isaaclab/isaaclab/sensors/ray_caster/ray_caster.py index 92c2430fed7..cf26e3d6f30 100644 --- a/source/isaaclab/isaaclab/sensors/ray_caster/ray_caster.py +++ b/source/isaaclab/isaaclab/sensors/ray_caster/ray_caster.py @@ -14,7 +14,6 @@ import omni.log import omni.physics.tensors.impl.api as physx import warp as wp -<<<<<<< HEAD:source/isaaclab/isaaclab/sensors/ray_caster/ray_caster.py from isaacsim.core.prims import XFormPrim from isaacsim.core.simulation_manager import SimulationManager from pxr import UsdGeom, UsdPhysics @@ -26,16 +25,6 @@ from isaaclab.utils.math import convert_quat, quat_apply, quat_apply_yaw from isaaclab.utils.mesh import PRIMITIVE_MESH_TYPES, create_mesh_from_geom_shape, create_trimesh_from_geom_mesh from isaaclab.utils.warp import convert_to_warp_mesh, raycast_dynamic_meshes -======= -from omni.isaac.core.prims import XFormPrimView -from pxr import UsdGeom, UsdPhysics - -import omni.isaac.lab.sim as sim_utils -from omni.isaac.lab.markers import VisualizationMarkers -from omni.isaac.lab.terrains.trimesh.utils import make_plane -from omni.isaac.lab.utils.math import convert_quat, quat_apply, quat_apply_yaw -from omni.isaac.lab.utils.warp import convert_to_warp_mesh, raycast_mesh ->>>>>>> 99d12115a3 (Separates our multi-mesh raycaster as its own file (#63)):source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster.py from ..sensor_base import SensorBase from .ray_caster_data import RayCasterData @@ -133,7 +122,6 @@ def reset(self, env_ids: Sequence[int] | None = None): else: num_envs_ids = len(env_ids) # resample the drift -<<<<<<< HEAD:source/isaaclab/isaaclab/sensors/ray_caster/ray_caster.py r = torch.empty(num_envs_ids, 3, device=self.device) self.drift[env_ids] = r.uniform_(*self.cfg.drift_range) # resample the height drift @@ -142,9 +130,6 @@ def reset(self, env_ids: Sequence[int] | None = None): self.ray_cast_drift[env_ids] = math_utils.sample_uniform( ranges[:, 0], ranges[:, 1], (num_envs_ids, 3), device=self.device ) -======= - self.drift[env_ids].uniform_(*self.cfg.drift_range) ->>>>>>> 99d12115a3 (Separates our multi-mesh raycaster as its own file (#63)):source/extensions/omni.isaac.lab/omni/isaac/lab/sensors/ray_caster/ray_caster.py """ Implementation. From 3f5d0083d84846b211a92654b38cbb42d5196c7d Mon Sep 17 00:00:00 2001 From: Pascal Roth Date: Sat, 9 Aug 2025 09:56:04 +0200 Subject: [PATCH 006/121] revert classvar changes and apply formatter --- .../ray_caster/multi_mesh_ray_caster.py | 19 +++++----- .../multi_mesh_ray_caster_camera.py | 11 +++--- .../multi_mesh_ray_caster_camera_cfg.py | 5 ++- .../ray_caster/multi_mesh_ray_caster_cfg.py | 5 ++- .../isaaclab/sensors/ray_caster/ray_caster.py | 38 +++++++++---------- .../sensors/ray_caster/ray_caster_camera.py | 5 +-- source/isaaclab/isaaclab/sensors/utils.py | 6 ++- source/isaaclab/isaaclab/utils/__init__.py | 2 +- source/isaaclab/isaaclab/utils/mesh.py | 3 +- .../sensors/check_multi_mesh_ray_caster.py | 8 ++-- .../isaaclab/test/sensors/check_ray_caster.py | 1 - .../sensors/test_multi_mesh_ray_caster.py | 4 +- .../test_multi_mesh_ray_caster_camera.py | 7 ++-- .../isaaclab/test/sensors/test_ray_caster.py | 4 +- 14 files changed, 61 insertions(+), 57 deletions(-) diff --git a/source/isaaclab/isaaclab/sensors/ray_caster/multi_mesh_ray_caster.py b/source/isaaclab/isaaclab/sensors/ray_caster/multi_mesh_ray_caster.py index 87a3429ae7e..dd025cca21b 100644 --- a/source/isaaclab/isaaclab/sensors/ray_caster/multi_mesh_ray_caster.py +++ b/source/isaaclab/isaaclab/sensors/ray_caster/multi_mesh_ray_caster.py @@ -1,8 +1,9 @@ -# Copyright (c) 2022-2025, The Isaac Lab Project Developers. +# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). # All rights reserved. # # SPDX-License-Identifier: BSD-3-Clause + from __future__ import annotations import numpy as np @@ -13,13 +14,13 @@ import omni.log import omni.physics.tensors.impl.api as physx import warp as wp -from omni.isaac.core.prims import XFormPrimView +from isaacsim.core.prims import XFormPrim from pxr import UsdPhysics -import omni.isaac.lab.sim as sim_utils -from omni.isaac.lab.utils.math import quat_apply, quat_apply_yaw -from omni.isaac.lab.utils.mesh import PRIMITIVE_MESH_TYPES, create_mesh_from_geom_shape, create_trimesh_from_geom_mesh -from omni.isaac.lab.utils.warp import convert_to_warp_mesh, raycast_dynamic_meshes +import isaaclab.sim as sim_utils +from isaaclab.utils.math import quat_apply, quat_apply_yaw +from isaaclab.utils.mesh import PRIMITIVE_MESH_TYPES, create_mesh_from_geom_shape, create_trimesh_from_geom_mesh +from isaaclab.utils.warp import convert_to_warp_mesh, raycast_dynamic_meshes from ..utils import compute_world_poses from .ray_caster import RayCaster @@ -67,7 +68,7 @@ def __init__(self, cfg: MultiMeshRayCasterCfg): self._raycast_targets_cfg.append(target) # store the views of the meshes available for raycasting to allow movement tracking - self.mesh_views: dict[str, physx.RigidBodyView | physx.ArticulationView | XFormPrimView] = {} + self.mesh_views: dict[str, physx.RigidBodyView | physx.ArticulationView | XFormPrim] = {} # store the warp meshes available for raycasting self.meshes: dict[str, list[list[wp.Mesh]]] = {} @@ -179,10 +180,10 @@ def _initialize_warp_meshes(self): ) omni.log.info(f"Created rigid body view for mesh prim at path: {mesh_prim_path}") else: - self.mesh_views[mesh_prim_path] = XFormPrimView(mesh_prim_path, reset_xform_properties=False) + self.mesh_views[mesh_prim_path] = XFormPrim(mesh_prim_path, reset_xform_properties=False) omni.log.warn( f"The prim at path {mesh_prim_path} is not a physics prim, but track_mesh_transforms is" - " enabled! Defaulting to XFormPrimView. \n The pose of the mesh will most likely not" + " enabled! Defaulting to XFormPrim. \n The pose of the mesh will most likely not" " be updated correctly when running in headless mode." ) diff --git a/source/isaaclab/isaaclab/sensors/ray_caster/multi_mesh_ray_caster_camera.py b/source/isaaclab/isaaclab/sensors/ray_caster/multi_mesh_ray_caster_camera.py index d848581f1c1..502d19350c2 100644 --- a/source/isaaclab/isaaclab/sensors/ray_caster/multi_mesh_ray_caster_camera.py +++ b/source/isaaclab/isaaclab/sensors/ray_caster/multi_mesh_ray_caster_camera.py @@ -1,17 +1,18 @@ -# Copyright (c) 2022-2025, The Isaac Lab Project Developers. +# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). # All rights reserved. # # SPDX-License-Identifier: BSD-3-Clause + from __future__ import annotations import torch from collections.abc import Sequence from typing import TYPE_CHECKING -import omni.isaac.lab.utils.math as math_utils -from omni.isaac.lab.sensors.camera import CameraData -from omni.isaac.lab.utils.warp import raycast_dynamic_meshes +import isaaclab.utils.math as math_utils +from isaaclab.sensors.camera import CameraData +from isaaclab.utils.warp import raycast_dynamic_meshes from ..utils import compute_world_poses from .multi_mesh_ray_caster import MultiMeshRayCaster @@ -26,7 +27,7 @@ class MultiMeshRayCasterCamera(RayCasterCamera, MultiMeshRayCaster): The ray-caster camera uses a set of rays to get the distances to meshes in the scene. The rays are defined in the sensor's local coordinate frame. The sensor has the same interface as the - :class:`omni.isaac.lab.sensors.Camera` that implements the camera class through USD camera prims. + :class:`isaaclab.sensors.Camera` that implements the camera class through USD camera prims. However, this class provides a faster image generation. The sensor converts meshes from the list of primitive paths provided in the configuration to Warp meshes. The camera then ray-casts against these Warp meshes only. diff --git a/source/isaaclab/isaaclab/sensors/ray_caster/multi_mesh_ray_caster_camera_cfg.py b/source/isaaclab/isaaclab/sensors/ray_caster/multi_mesh_ray_caster_camera_cfg.py index 7c40b4d3661..ac4aa73e4be 100644 --- a/source/isaaclab/isaaclab/sensors/ray_caster/multi_mesh_ray_caster_camera_cfg.py +++ b/source/isaaclab/isaaclab/sensors/ray_caster/multi_mesh_ray_caster_camera_cfg.py @@ -1,13 +1,14 @@ -# Copyright (c) 2022-2025, The Isaac Lab Project Developers. +# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). # All rights reserved. # # SPDX-License-Identifier: BSD-3-Clause + """Configuration for the ray-cast camera sensor.""" from dataclasses import MISSING -from omni.isaac.lab.utils import configclass +from isaaclab.utils import configclass from .multi_mesh_ray_caster_camera import MultiMeshRayCasterCamera from .multi_mesh_ray_caster_cfg import MultiMeshRayCasterCfg diff --git a/source/isaaclab/isaaclab/sensors/ray_caster/multi_mesh_ray_caster_cfg.py b/source/isaaclab/isaaclab/sensors/ray_caster/multi_mesh_ray_caster_cfg.py index 10225da1c82..5c51ce3cf6d 100644 --- a/source/isaaclab/isaaclab/sensors/ray_caster/multi_mesh_ray_caster_cfg.py +++ b/source/isaaclab/isaaclab/sensors/ray_caster/multi_mesh_ray_caster_cfg.py @@ -1,14 +1,15 @@ -# Copyright (c) 2022-2025, The Isaac Lab Project Developers. +# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). # All rights reserved. # # SPDX-License-Identifier: BSD-3-Clause + """Configuration for the ray-cast sensor.""" from dataclasses import MISSING -from omni.isaac.lab.utils import configclass +from isaaclab.utils import configclass from .multi_mesh_ray_caster import MultiMeshRayCaster from .ray_caster_cfg import RayCasterCfg diff --git a/source/isaaclab/isaaclab/sensors/ray_caster/ray_caster.py b/source/isaaclab/isaaclab/sensors/ray_caster/ray_caster.py index cf26e3d6f30..13aea198acd 100644 --- a/source/isaaclab/isaaclab/sensors/ray_caster/ray_caster.py +++ b/source/isaaclab/isaaclab/sensors/ray_caster/ray_caster.py @@ -23,8 +23,7 @@ from isaaclab.markers import VisualizationMarkers from isaaclab.terrains.trimesh.utils import make_plane from isaaclab.utils.math import convert_quat, quat_apply, quat_apply_yaw -from isaaclab.utils.mesh import PRIMITIVE_MESH_TYPES, create_mesh_from_geom_shape, create_trimesh_from_geom_mesh -from isaaclab.utils.warp import convert_to_warp_mesh, raycast_dynamic_meshes +from isaaclab.utils.warp import convert_to_warp_mesh, raycast_mesh from ..sensor_base import SensorBase from .ray_caster_data import RayCasterData @@ -51,14 +50,6 @@ class RayCaster(SensorBase): cfg: RayCasterCfg """The configuration parameters.""" - meshes: ClassVar[dict[str, wp.Mesh]] = {} - """The warp meshes available for raycasting. - - The keys correspond to the prim path for the meshes, and values are the corresponding warp Mesh objects. - - Note: - We store a global dictionary of all warp meshes to prevent re-loading the mesh for different ray-cast sensor instances. - """ def __init__(self, cfg: RayCasterCfg): """Initializes the ray-caster object. @@ -80,6 +71,8 @@ def __init__(self, cfg: RayCasterCfg): super().__init__(cfg) # Create empty variables for storing output data self._data = RayCasterData() + # the warp meshes used for raycasting. + self.meshes: dict[str, wp.Mesh] = {} def __str__(self) -> str: """Returns: A string containing information about the instance.""" @@ -87,7 +80,7 @@ def __str__(self) -> str: f"Ray-caster @ '{self.cfg.prim_path}': \n" f"\tview type : {self._view.__class__}\n" f"\tupdate period (s) : {self.cfg.update_period}\n" - f"\tnumber of meshes : {len(RayCaster.meshes)}\n" + f"\tnumber of meshes : {len(self.meshes)}\n" f"\tnumber of sensors : {self._view.count}\n" f"\tnumber of rays/sensor: {self.num_rays}\n" f"\ttotal number of rays : {self.num_rays * self._view.count}" @@ -156,7 +149,10 @@ def _initialize_impl(self): else: self._view = XFormPrim(self.cfg.prim_path, reset_xform_properties=False) found_supported_prim_class = True - omni.log.warn(f"The prim at path {prim.GetPath().pathString} is not a physics prim! Using XFormPrim.") + omni.log.warn( + f"The prim at path {prim.GetPath().pathString} is not a physics prim. Defaulting to XFormPrim. \n" + " The pose of this prim will most likely not be updated correctly when running in headless mode." + ) # check if prim view class is found if not found_supported_prim_class: raise RuntimeError(f"Failed to find a valid prim view class for the prim paths: {self.cfg.prim_path}") @@ -175,10 +171,6 @@ def _initialize_warp_meshes(self): # read prims to ray-cast for mesh_prim_path in self.cfg.mesh_prim_paths: - # check if mesh already casted into warp mesh - if mesh_prim_path in RayCaster.meshes: - continue - # check if the prim is a plane - handle PhysX plane as a special case # if a plane exists then we need to create an infinite mesh that is a plane mesh_prim = sim_utils.get_first_matching_child_prim( @@ -197,6 +189,9 @@ def _initialize_warp_meshes(self): mesh_prim = UsdGeom.Mesh(mesh_prim) # read the vertices and faces points = np.asarray(mesh_prim.GetPointsAttr().Get()) + transform_matrix = np.array(omni.usd.get_world_transform_matrix(mesh_prim)).T + points = np.matmul(points, transform_matrix[:3, :3].T) + points += transform_matrix[:3, 3] indices = np.asarray(mesh_prim.GetFaceVertexIndicesAttr().Get()) wp_mesh = convert_to_warp_mesh(points, indices, device=self.device) # print info @@ -209,10 +204,10 @@ def _initialize_warp_meshes(self): # print info omni.log.info(f"Created infinite plane mesh prim: {mesh_prim.GetPath()}.") # add the warp mesh to the list - RayCaster.meshes[mesh_prim_path] = wp_mesh + self.meshes[mesh_prim_path] = wp_mesh # throw an error if no meshes are found - if all([mesh_prim_path not in RayCaster.meshes for mesh_prim_path in self.cfg.mesh_prim_paths]): + if all([mesh_prim_path not in self.meshes for mesh_prim_path in self.cfg.mesh_prim_paths]): raise RuntimeError( f"No meshes found for ray-casting! Please check the mesh prim paths: {self.cfg.mesh_prim_paths}" ) @@ -240,7 +235,7 @@ def _initialize_rays_impl(self): def _update_buffers_impl(self, env_ids: Sequence[int]): """Fills the buffers of the sensor data.""" # obtain the poses of the sensors - if isinstance(self._view, XFormPrimView): + if isinstance(self._view, XFormPrim): pos_w, quat_w = self._view.get_world_poses(env_ids) elif isinstance(self._view, physx.ArticulationView): pos_w, quat_w = self._view.get_root_transforms()[env_ids].split([3, 4], dim=-1) @@ -296,13 +291,16 @@ def _update_buffers_impl(self, env_ids: Sequence[int]): ray_starts_w = quat_apply(quat_w.repeat(1, self.num_rays), self.ray_starts[env_ids]) ray_starts_w += pos_w.unsqueeze(1) ray_directions_w = quat_apply(quat_w.repeat(1, self.num_rays), self.ray_directions[env_ids]) + else: + raise RuntimeError(f"Unsupported ray_alignment type: {self.cfg.ray_alignment}.") + # ray cast and store the hits # TODO: Make this work for multiple meshes? self._data.ray_hits_w[env_ids] = raycast_mesh( ray_starts_w, ray_directions_w, max_dist=self.cfg.max_distance, - mesh=RayCaster.meshes[self.cfg.mesh_prim_paths[0]], + mesh=self.meshes[self.cfg.mesh_prim_paths[0]], )[0] # apply vertical drift to ray starting position in ray caster frame diff --git a/source/isaaclab/isaaclab/sensors/ray_caster/ray_caster_camera.py b/source/isaaclab/isaaclab/sensors/ray_caster/ray_caster_camera.py index f087d04c091..3bf8729b78b 100644 --- a/source/isaaclab/isaaclab/sensors/ray_caster/ray_caster_camera.py +++ b/source/isaaclab/isaaclab/sensors/ray_caster/ray_caster_camera.py @@ -15,8 +15,7 @@ import isaaclab.utils.math as math_utils from isaaclab.sensors.camera import CameraData -from omni.isaac.lab.sensors.camera.utils import convert_orientation_convention, create_rotation_matrix_from_view -from omni.isaac.lab.utils.warp import raycast_mesh +from isaaclab.utils.warp import raycast_mesh from .ray_caster import RayCaster @@ -281,7 +280,7 @@ def _update_buffers_impl(self, env_ids: Sequence[int]): self.ray_hits_w, ray_depth, ray_normal, _ = raycast_mesh( ray_starts_w, ray_directions_w, - mesh=RayCasterCamera.meshes[self.cfg.mesh_prim_paths[0]], + mesh=self.meshes[self.cfg.mesh_prim_paths[0]], max_dist=1e6, return_distance=any( [name in self.cfg.data_types for name in ["distance_to_image_plane", "distance_to_camera"]] diff --git a/source/isaaclab/isaaclab/sensors/utils.py b/source/isaaclab/isaaclab/sensors/utils.py index 40eea90a7e2..94d0837b27f 100644 --- a/source/isaaclab/isaaclab/sensors/utils.py +++ b/source/isaaclab/isaaclab/sensors/utils.py @@ -1,3 +1,8 @@ +# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + # Copyright (c) 2022-2024, The Isaac Lab Project Developers. # All rights reserved. # @@ -9,7 +14,6 @@ import omni.physics.tensors.impl.api as physx from omni.isaac.core.prims import XFormPrimView - from omni.isaac.lab.utils.math import convert_quat diff --git a/source/isaaclab/isaaclab/utils/__init__.py b/source/isaaclab/isaaclab/utils/__init__.py index c70a9f8c91c..0dd865859ba 100644 --- a/source/isaaclab/isaaclab/utils/__init__.py +++ b/source/isaaclab/isaaclab/utils/__init__.py @@ -10,8 +10,8 @@ from .configclass import configclass from .dict import * from .interpolation import * -from .modifiers import * from .mesh import * +from .modifiers import * from .string import * from .timer import Timer from .types import * diff --git a/source/isaaclab/isaaclab/utils/mesh.py b/source/isaaclab/isaaclab/utils/mesh.py index d38fd9f9427..8b38ffe5524 100644 --- a/source/isaaclab/isaaclab/utils/mesh.py +++ b/source/isaaclab/isaaclab/utils/mesh.py @@ -1,8 +1,9 @@ -# Copyright (c) 2022-2024, The Isaac Lab Project Developers. +# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). # All rights reserved. # # SPDX-License-Identifier: BSD-3-Clause + """Utility functions for working with meshes.""" import numpy as np diff --git a/source/isaaclab/test/sensors/check_multi_mesh_ray_caster.py b/source/isaaclab/test/sensors/check_multi_mesh_ray_caster.py index dbda9a0f436..91a2f86669c 100644 --- a/source/isaaclab/test/sensors/check_multi_mesh_ray_caster.py +++ b/source/isaaclab/test/sensors/check_multi_mesh_ray_caster.py @@ -1,8 +1,9 @@ -# Copyright (c) 2022-2025, The Isaac Lab Project Developers. +# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). # All rights reserved. # # SPDX-License-Identifier: BSD-3-Clause + """ This script shows how to use the ray caster from the Isaac Lab framework. @@ -44,13 +45,12 @@ import torch import omni.isaac.core.utils.prims as prim_utils +import omni.isaac.lab.sim as sim_utils +import omni.isaac.lab.terrains as terrain_gen from omni.isaac.cloner import GridCloner from omni.isaac.core.prims import RigidPrimView from omni.isaac.core.simulation_context import SimulationContext from omni.isaac.core.utils.viewports import set_camera_view - -import omni.isaac.lab.sim as sim_utils -import omni.isaac.lab.terrains as terrain_gen from omni.isaac.lab.sensors.ray_caster import MultiMeshRayCaster, MultiMeshRayCasterCfg, patterns from omni.isaac.lab.terrains.config.rough import ROUGH_TERRAINS_CFG from omni.isaac.lab.terrains.terrain_importer import TerrainImporter diff --git a/source/isaaclab/test/sensors/check_ray_caster.py b/source/isaaclab/test/sensors/check_ray_caster.py index 192ba1befc3..e1d3473ecc4 100644 --- a/source/isaaclab/test/sensors/check_ray_caster.py +++ b/source/isaaclab/test/sensors/check_ray_caster.py @@ -53,7 +53,6 @@ from isaaclab.terrains.config.rough import ROUGH_TERRAINS_CFG from isaaclab.terrains.terrain_importer import TerrainImporter from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR -from isaaclab.utils.math import quat_from_euler_xyz from isaaclab.utils.timer import Timer diff --git a/source/isaaclab/test/sensors/test_multi_mesh_ray_caster.py b/source/isaaclab/test/sensors/test_multi_mesh_ray_caster.py index b18d68898cd..87c229ce59e 100644 --- a/source/isaaclab/test/sensors/test_multi_mesh_ray_caster.py +++ b/source/isaaclab/test/sensors/test_multi_mesh_ray_caster.py @@ -1,8 +1,9 @@ -# Copyright (c) 2022-2025, The Isaac Lab Project Developers. +# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). # All rights reserved. # # SPDX-License-Identifier: BSD-3-Clause + from __future__ import annotations from omni.isaac.lab.app import AppLauncher @@ -16,7 +17,6 @@ import unittest import warp as wp - from omni.isaac.lab.utils.math import matrix_from_quat, quat_from_euler_xyz, random_orientation from omni.isaac.lab.utils.warp.ops import convert_to_warp_mesh, raycast_dynamic_meshes, raycast_single_mesh diff --git a/source/isaaclab/test/sensors/test_multi_mesh_ray_caster_camera.py b/source/isaaclab/test/sensors/test_multi_mesh_ray_caster_camera.py index f6e58e4989d..fb98a452d0f 100644 --- a/source/isaaclab/test/sensors/test_multi_mesh_ray_caster_camera.py +++ b/source/isaaclab/test/sensors/test_multi_mesh_ray_caster_camera.py @@ -1,4 +1,4 @@ -# Copyright (c) 2022-2025, The Isaac Lab Project Developers. +# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). # All rights reserved. # # SPDX-License-Identifier: BSD-3-Clause @@ -24,10 +24,8 @@ import omni.isaac.core.utils.prims as prim_utils import omni.isaac.core.utils.stage as stage_utils -import omni.replicator.core as rep -from pxr import Gf - import omni.isaac.lab.sim as sim_utils +import omni.replicator.core as rep from omni.isaac.lab.sensors.camera import Camera, CameraCfg from omni.isaac.lab.sensors.ray_caster import MultiMeshRayCasterCamera, MultiMeshRayCasterCameraCfg, patterns from omni.isaac.lab.sim import PinholeCameraCfg @@ -35,6 +33,7 @@ from omni.isaac.lab.terrains.utils import create_prim_from_mesh from omni.isaac.lab.utils import convert_dict_to_backend from omni.isaac.lab.utils.timer import Timer +from pxr import Gf # sample camera poses POSITION = [2.5, 2.5, 2.5] diff --git a/source/isaaclab/test/sensors/test_ray_caster.py b/source/isaaclab/test/sensors/test_ray_caster.py index f0f5e9dd474..87c229ce59e 100644 --- a/source/isaaclab/test/sensors/test_ray_caster.py +++ b/source/isaaclab/test/sensors/test_ray_caster.py @@ -1,8 +1,9 @@ -# Copyright (c) 2022-2024, The Isaac Lab Project Developers. +# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). # All rights reserved. # # SPDX-License-Identifier: BSD-3-Clause + from __future__ import annotations from omni.isaac.lab.app import AppLauncher @@ -16,7 +17,6 @@ import unittest import warp as wp - from omni.isaac.lab.utils.math import matrix_from_quat, quat_from_euler_xyz, random_orientation from omni.isaac.lab.utils.warp.ops import convert_to_warp_mesh, raycast_dynamic_meshes, raycast_single_mesh From 5decd09736f252e875a3dd876d0fed21544b72ca Mon Sep 17 00:00:00 2001 From: Pascal Roth Date: Sat, 9 Aug 2025 12:09:32 +0200 Subject: [PATCH 007/121] revert device change in ray caster --- source/isaaclab/isaaclab/sensors/ray_caster/ray_caster.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/source/isaaclab/isaaclab/sensors/ray_caster/ray_caster.py b/source/isaaclab/isaaclab/sensors/ray_caster/ray_caster.py index 13aea198acd..66a31e10248 100644 --- a/source/isaaclab/isaaclab/sensors/ray_caster/ray_caster.py +++ b/source/isaaclab/isaaclab/sensors/ray_caster/ray_caster.py @@ -228,9 +228,9 @@ def _initialize_rays_impl(self): self.drift = torch.zeros(self._view.count, 3, device=self.device) self.ray_cast_drift = torch.zeros(self._view.count, 3, device=self.device) # fill the data buffer - self._data.pos_w = torch.zeros(self._view.count, 3, device=self.device) - self._data.quat_w = torch.zeros(self._view.count, 4, device=self.device) - self._data.ray_hits_w = torch.zeros(self._view.count, self.num_rays, 3, device=self.device) + self._data.pos_w = torch.zeros(self._view.count, 3, device=self._device) + self._data.quat_w = torch.zeros(self._view.count, 4, device=self._device) + self._data.ray_hits_w = torch.zeros(self._view.count, self.num_rays, 3, device=self._device) def _update_buffers_impl(self, env_ids: Sequence[int]): """Fills the buffers of the sensor data.""" From f585a31edcf8bd6049206e64fdf8af44ae2ba922 Mon Sep 17 00:00:00 2001 From: Pascal Roth Date: Sun, 17 Aug 2025 12:16:41 +0200 Subject: [PATCH 008/121] update tests from unittest to pytest --- source/isaaclab/isaaclab/sensors/utils.py | 8 +- .../sensors/test_multi_mesh_ray_caster.py | 395 ++-- .../test_multi_mesh_ray_caster_camera.py | 1629 +++++++++-------- 3 files changed, 1035 insertions(+), 997 deletions(-) diff --git a/source/isaaclab/isaaclab/sensors/utils.py b/source/isaaclab/isaaclab/sensors/utils.py index 94d0837b27f..b7d8f7be308 100644 --- a/source/isaaclab/isaaclab/sensors/utils.py +++ b/source/isaaclab/isaaclab/sensors/utils.py @@ -13,12 +13,12 @@ import torch import omni.physics.tensors.impl.api as physx -from omni.isaac.core.prims import XFormPrimView -from omni.isaac.lab.utils.math import convert_quat +from isaacsim.core.prims import XFormPrim +from isaaclab.utils.math import convert_quat def compute_world_poses( - physx_view: XFormPrimView | physx.ArticulationView | physx.RigidBodyView, + physx_view: XFormPrim | physx.ArticulationView | physx.RigidBodyView, env_ids: torch.Tensor, clone: bool = False, ) -> tuple[torch.Tensor, torch.Tensor]: @@ -34,7 +34,7 @@ def compute_world_poses( Raises: NotImplementedError: If the prim view is not of the correct type. """ - if isinstance(physx_view, XFormPrimView): + if isinstance(physx_view, XFormPrim): pos_w, quat_w = physx_view.get_world_poses(env_ids) elif isinstance(physx_view, physx.ArticulationView): pos_w, quat_w = physx_view.get_root_transforms()[env_ids].split([3, 4], dim=-1) diff --git a/source/isaaclab/test/sensors/test_multi_mesh_ray_caster.py b/source/isaaclab/test/sensors/test_multi_mesh_ray_caster.py index 87c229ce59e..c9a0c448708 100644 --- a/source/isaaclab/test/sensors/test_multi_mesh_ray_caster.py +++ b/source/isaaclab/test/sensors/test_multi_mesh_ray_caster.py @@ -6,124 +6,140 @@ from __future__ import annotations -from omni.isaac.lab.app import AppLauncher +from isaaclab.app import AppLauncher -# # launch omniverse app. Used for warp. +# launch omniverse app. Used for warp. app_launcher = AppLauncher(headless=True) import numpy as np +import pytest import torch import trimesh -import unittest - import warp as wp -from omni.isaac.lab.utils.math import matrix_from_quat, quat_from_euler_xyz, random_orientation -from omni.isaac.lab.utils.warp.ops import convert_to_warp_mesh, raycast_dynamic_meshes, raycast_single_mesh - - -class TestRaycast(unittest.TestCase): - """Test fixture for the raycast ops.""" - - def setUp(self): - self.device = "cuda" if torch.cuda.is_available() else "cpu" - # Create static mesh to raycast against - self._trimesh_meshes = [trimesh.creation.box([2, 2, 1])] - self.single_mesh = [ - convert_to_warp_mesh( - self._trimesh_meshes[0].vertices, - self._trimesh_meshes[0].faces, - self.device, - ) - ] - self.single_mesh_id = self.single_mesh[0].id - - self.ray_starts = torch.Tensor([[0, -0.35, -5], [0.25, 0.35, -5]]).to(self.device).unsqueeze(0) - self.ray_directions = torch.Tensor([[0, 0, 1], [0, 0, 1]]).to(self.device).unsqueeze(0) - self.expected_ray_hits = torch.Tensor([[0, -0.35, -0.5], [0.25, 0.35, -0.5]]).to(self.device).unsqueeze(0) - - def test_raycast_multi_cubes(self): - """Test raycasting against two cubes.""" - trimesh_1 = self._trimesh_meshes[0].copy() - wp_mesh_1 = convert_to_warp_mesh(trimesh_1.vertices, trimesh_1.faces, self.device) - - translation = np.eye(4) - translation[:3, 3] = [0, 2, 0] - trimesh_2 = self._trimesh_meshes[0].copy().apply_transform(translation) - wp_mesh_2 = convert_to_warp_mesh(trimesh_2.vertices, trimesh_2.faces, self.device) - - # get mesh id array - mesh_ids_wp = wp.array2d([[wp_mesh_1.id, wp_mesh_2.id]], dtype=wp.uint64, device=self.device) - - ray_start = torch.Tensor([[0, 0, -5], [0, 2.5, -5]]).unsqueeze(0).to(self.device) - ray_hits, ray_distance, ray_normal, ray_face_id, mesh_ids = raycast_dynamic_meshes( - ray_start, - self.ray_directions, - mesh_ids_wp, - return_distance=True, - return_normal=True, - return_face_id=True, - return_mesh_id=True, - ) - - torch.testing.assert_close(ray_hits, torch.Tensor([[[0, 0, -0.5], [0, 2.5, -0.5]]]).to(self.device)) - torch.testing.assert_close(ray_distance, torch.Tensor([[4.5, 4.5]]).to(self.device)) - torch.testing.assert_close(ray_normal, torch.Tensor([[[0, 0, -1], [0, 0, -1]]]).to(self.device)) - self.assertTrue(torch.equal(mesh_ids, torch.Tensor([[0, 1]]).to(self.device, dtype=torch.int32))) - - ray_start = torch.Tensor([[0, 0, -5], [0, 4.5, -5]]).unsqueeze(0).to(self.device) - ray_hits, ray_distance, ray_normal, ray_face_id, mesh_ids = raycast_dynamic_meshes( - ray_start, - self.ray_directions, - mesh_ids_wp, - return_distance=True, - return_normal=True, - return_face_id=True, - mesh_positions_w=torch.Tensor([[[0, 0, 0], [0, 2, 0]]]), - mesh_orientations_w=torch.Tensor([[[1, 0, 0, 0], [1, 0, 0, 0]]]), - return_mesh_id=True, - ) - - torch.testing.assert_close(ray_hits, torch.Tensor([[0, 0, -0.5], [0, 4.5, -0.5]]).unsqueeze(0).to(self.device)) - torch.testing.assert_close(ray_distance, torch.Tensor([[4.5, 4.5]]).to(self.device)) - torch.testing.assert_close(ray_normal, torch.Tensor([[0, 0, -1], [0, 0, -1]]).unsqueeze(0).to(self.device)) - self.assertTrue(torch.equal(mesh_ids, torch.Tensor([[0, 1]]).to(self.device, dtype=torch.int32))) - - def test_raycast_single_cube(self): - """Test raycasting against a single cube.""" - # Convert meshes to warp formatay_hits.to(device).view(shape), ray_distance, ray_normal, ray_face_id - ray_hits, ray_distance, ray_normal, ray_face_id = raycast_single_mesh( - self.ray_starts, - self.ray_directions, - self.single_mesh_id, - return_distance=True, - return_normal=True, - return_face_id=True, - ) - torch.testing.assert_close(ray_hits, self.expected_ray_hits) - torch.testing.assert_close(ray_distance, torch.Tensor([[4.5, 4.5]]).to(self.device)) - torch.testing.assert_close(ray_normal, torch.Tensor([[0, 0, -1], [0, 0, -1]]).to(self.device).unsqueeze(0)) - torch.testing.assert_close(ray_face_id, torch.Tensor([[3, 8]]).to(self.device, dtype=torch.int32)) - - # check multiple meshes implementation - ray_hits, ray_distance, ray_normal, ray_face_id, _ = raycast_dynamic_meshes( - self.ray_starts, - self.ray_directions, - wp.array2d([[self.single_mesh_id]], dtype=wp.uint64, device=self.device), - return_distance=True, - return_normal=True, - return_face_id=True, - ) - torch.testing.assert_close(ray_hits, self.expected_ray_hits) - torch.testing.assert_close(ray_distance, torch.Tensor([[4.5, 4.5]]).to(self.device)) - torch.testing.assert_close(ray_normal, torch.Tensor([[[0, 0, -1], [0, 0, -1]]]).to(self.device)) - torch.testing.assert_close(ray_face_id, torch.Tensor([[3, 8]]).to(self.device, dtype=torch.int32)) - - def test_raycast_moving_cube(self): - r"""Test raycasting against a single cube with different distances. - - The faces that are raycasted against are the bottom two, it will look similar to: - +from isaaclab.utils.math import matrix_from_quat, quat_from_euler_xyz, random_orientation +from isaaclab.utils.warp.ops import convert_to_warp_mesh, raycast_dynamic_meshes, raycast_single_mesh + + +@pytest.fixture(scope="module") +def device(): + return "cuda" if torch.cuda.is_available() else "cpu" + + +@pytest.fixture +def rays(device): + ray_starts = torch.tensor([[0, -0.35, -5], [0.25, 0.35, -5]], dtype=torch.float32, device=device).unsqueeze(0) + ray_directions = torch.tensor([[0, 0, 1], [0, 0, 1]], dtype=torch.float32, device=device).unsqueeze(0) + expected_ray_hits = torch.tensor([[0, -0.35, -0.5], [0.25, 0.35, -0.5]], dtype=torch.float32, device=device).unsqueeze(0) + return ray_starts, ray_directions, expected_ray_hits + + +@pytest.fixture +def trimesh_box(): + return trimesh.creation.box([2, 2, 1]) + + +@pytest.fixture +def single_mesh(trimesh_box, device): + wp_mesh = convert_to_warp_mesh(trimesh_box.vertices, trimesh_box.faces, device) + return wp_mesh, wp_mesh.id + + +def test_raycast_multi_cubes(device, trimesh_box, rays): + """Test raycasting against two cubes.""" + ray_starts, ray_directions, _ = rays + + trimesh_1 = trimesh_box.copy() + wp_mesh_1 = convert_to_warp_mesh(trimesh_1.vertices, trimesh_1.faces, device) + + translation = np.eye(4) + translation[:3, 3] = [0, 2, 0] + trimesh_2 = trimesh_box.copy().apply_transform(translation) + wp_mesh_2 = convert_to_warp_mesh(trimesh_2.vertices, trimesh_2.faces, device) + + # get mesh id array + mesh_ids_wp = wp.array2d([[wp_mesh_1.id, wp_mesh_2.id]], dtype=wp.uint64, device=device) + + # Static positions (no transforms passed) + ray_start = torch.tensor([[0, 0, -5], [0, 2.5, -5]], dtype=torch.float32, device=device).unsqueeze(0) + ray_hits, ray_distance, ray_normal, ray_face_id, mesh_ids = raycast_dynamic_meshes( + ray_start, + ray_directions, + mesh_ids_wp, + return_distance=True, + return_normal=True, + return_face_id=True, + return_mesh_id=True, + ) + + torch.testing.assert_close(ray_hits, torch.tensor([[[0, 0, -0.5], [0, 2.5, -0.5]]], dtype=torch.float32, device=device)) + torch.testing.assert_close(ray_distance, torch.tensor([[4.5, 4.5]], dtype=torch.float32, device=device)) + torch.testing.assert_close(ray_normal, torch.tensor([[[0, 0, -1], [0, 0, -1]]], dtype=torch.float32, device=device)) + assert torch.equal(mesh_ids, torch.tensor([[0, 1]], dtype=torch.int32, device=device)) + + # Dynamic positions/orientations + ray_start = torch.tensor([[0, 0, -5], [0, 4.5, -5]], dtype=torch.float32, device=device).unsqueeze(0) + ray_hits, ray_distance, ray_normal, ray_face_id, mesh_ids = raycast_dynamic_meshes( + ray_start, + ray_directions, + mesh_ids_wp, + return_distance=True, + return_normal=True, + return_face_id=True, + mesh_positions_w=torch.tensor([[[0, 0, 0], [0, 2, 0]]], dtype=torch.float32, device=device), + mesh_orientations_w=torch.tensor([[[1, 0, 0, 0], [1, 0, 0, 0]]], dtype=torch.float32, device=device), + return_mesh_id=True, + ) + + torch.testing.assert_close( + ray_hits, torch.tensor([[[0, 0, -0.5], [0, 4.5, -0.5]]], dtype=torch.float32, device=device) + ) + torch.testing.assert_close(ray_distance, torch.tensor([[4.5, 4.5]], dtype=torch.float32, device=device)) + torch.testing.assert_close(ray_normal, torch.tensor([[[0, 0, -1], [0, 0, -1]]], dtype=torch.float32, device=device)) + assert torch.equal(mesh_ids, torch.tensor([[0, 1]], dtype=torch.int32, device=device)) + + +def test_raycast_single_cube(device, single_mesh, rays): + """Test raycasting against a single cube.""" + ray_starts, ray_directions, expected_ray_hits = rays + _, single_mesh_id = single_mesh + + ray_hits, ray_distance, ray_normal, ray_face_id = raycast_single_mesh( + ray_starts, + ray_directions, + single_mesh_id, + return_distance=True, + return_normal=True, + return_face_id=True, + ) + torch.testing.assert_close(ray_hits, expected_ray_hits) + torch.testing.assert_close(ray_distance, torch.tensor([[4.5, 4.5]], dtype=torch.float32, device=device)) + torch.testing.assert_close( + ray_normal, + torch.tensor([[[0, 0, -1], [0, 0, -1]]], dtype=torch.float32, device=device), + ) + torch.testing.assert_close(ray_face_id, torch.tensor([[3, 8]], dtype=torch.int32, device=device)) + + # check multiple meshes implementation + ray_hits, ray_distance, ray_normal, ray_face_id, _ = raycast_dynamic_meshes( + ray_starts, + ray_directions, + wp.array2d([[single_mesh_id]], dtype=wp.uint64, device=device), + return_distance=True, + return_normal=True, + return_face_id=True, + ) + torch.testing.assert_close(ray_hits, expected_ray_hits) + torch.testing.assert_close(ray_distance, torch.tensor([[4.5, 4.5]], dtype=torch.float32, device=device)) + torch.testing.assert_close( + ray_normal, torch.tensor([[[0, 0, -1], [0, 0, -1]]], dtype=torch.float32, device=device) + ) + torch.testing.assert_close(ray_face_id, torch.tensor([[3, 8]], dtype=torch.int32, device=device)) + + +@pytest.mark.parametrize("num_samples", [10]) +def test_raycast_moving_cube(device, single_mesh, rays, num_samples): + """Test raycasting against a single cube with different distances. |-------------| |\ | | \ | @@ -139,81 +155,94 @@ def test_raycast_moving_cube(self): | \ | | \| |-------------| - - """ - # move the cube along the z axis - for distance in torch.linspace(0, 1, 10): - ray_hits, ray_distance, ray_normal, ray_face_id, mesh_id = raycast_dynamic_meshes( - self.ray_starts, - self.ray_directions, - wp.array2d([[self.single_mesh_id]], dtype=wp.uint64, device=self.device), - return_distance=True, - return_normal=True, - return_face_id=True, - return_mesh_id=True, - mesh_positions_w=torch.Tensor([[0, 0, distance]]).to(self.device), - ) - torch.testing.assert_close( - ray_hits, - self.expected_ray_hits + torch.Tensor([[0, 0, distance], [0, 0, distance]]).to(self.device), - ) - torch.testing.assert_close(ray_distance, distance + torch.Tensor([[4.5, 4.5]]).to(self.device)) - torch.testing.assert_close(ray_normal, torch.Tensor([[[0, 0, -1], [0, 0, -1]]]).to(self.device)) - torch.testing.assert_close(ray_face_id, torch.Tensor([[3, 8]]).to(self.device, dtype=torch.int32)) - - def test_raycast_rotated_cube(self): - """Test raycasting against a single cube with different 90deg. orientations.""" - cube_rotation = quat_from_euler_xyz(torch.Tensor([0]), torch.Tensor([0]), torch.Tensor([np.pi])) + + """ + ray_starts, ray_directions, expected_ray_hits = rays + _, single_mesh_id = single_mesh + + # move the cube along the z axis + for distance in torch.linspace(0, 1, num_samples, device=device): + ray_hits, ray_distance, ray_normal, ray_face_id, mesh_id = raycast_dynamic_meshes( + ray_starts, + ray_directions, + wp.array2d([[single_mesh_id]], dtype=wp.uint64, device=device), + return_distance=True, + return_normal=True, + return_face_id=True, + return_mesh_id=True, + mesh_positions_w=torch.tensor([[0, 0, distance]], dtype=torch.float32, device=device), + ) + torch.testing.assert_close( + ray_hits, + expected_ray_hits + + torch.tensor([[0, 0, distance], [0, 0, distance]], dtype=torch.float32, device=device).unsqueeze(0), + ) + torch.testing.assert_close(ray_distance, distance + torch.tensor([[4.5, 4.5]], dtype=torch.float32, device=device)) + torch.testing.assert_close( + ray_normal, torch.tensor([[[0, 0, -1], [0, 0, -1]]], dtype=torch.float32, device=device) + ) + torch.testing.assert_close(ray_face_id, torch.tensor([[3, 8]], dtype=torch.int32, device=device)) + + +def test_raycast_rotated_cube(device, single_mesh, rays): + """Test raycasting against a single cube with different 90deg. orientations.""" + ray_starts, ray_directions, expected_ray_hits = rays + _, single_mesh_id = single_mesh + + cube_rotation = quat_from_euler_xyz(torch.tensor([0.0]), torch.tensor([0.0]), torch.tensor([np.pi])) + ray_hits, ray_distance, ray_normal, ray_face_id, _ = raycast_dynamic_meshes( + ray_starts, + ray_directions, + wp.array2d([[single_mesh_id]], dtype=wp.uint64, device=device), + return_distance=True, + return_normal=True, + return_face_id=True, + mesh_orientations_w=cube_rotation.unsqueeze(0), + ) + torch.testing.assert_close(ray_hits, expected_ray_hits) + torch.testing.assert_close(ray_distance, torch.tensor([[4.5, 4.5]], dtype=torch.float32, device=device)) + torch.testing.assert_close( + ray_normal, torch.tensor([[[0, 0, -1], [0, 0, -1]]], dtype=torch.float32, device=device) + ) + # Make sure the face ids are correct. The cube is rotated by 90deg. so the face ids are different. + torch.testing.assert_close(ray_face_id, torch.tensor([[8, 3]], dtype=torch.int32, device=device)) + + +@pytest.mark.parametrize("num_random", [10]) +def test_raycast_random_cube(device, trimesh_box, single_mesh, rays, num_random): + """Test raycasting against a single cube with random poses.""" + ray_starts, ray_directions, _ = rays + _, single_mesh_id = single_mesh + + for orientation in random_orientation(num_random, device): + pos = torch.tensor([[0, 0, torch.rand(1)]], dtype=torch.float32, device=device) + tf_hom = np.eye(4) + tf_hom[:3, :3] = matrix_from_quat(orientation).cpu().numpy() + tf_hom[:3, 3] = pos.cpu().numpy() + tf_mesh = trimesh_box.copy().apply_transform(tf_hom) + + # get raycast for transformed, static mesh + wp_mesh = convert_to_warp_mesh(tf_mesh.vertices, tf_mesh.faces, device) ray_hits, ray_distance, ray_normal, ray_face_id, _ = raycast_dynamic_meshes( - self.ray_starts, - self.ray_directions, - wp.array2d([[self.single_mesh_id]], dtype=wp.uint64, device=self.device), + ray_starts, + ray_directions, + wp.array2d([[wp_mesh.id]], dtype=wp.uint64, device=device), + return_distance=True, + return_normal=True, + return_face_id=True, + ) + # get raycast for modified mesh + ray_hits_m, ray_distance_m, ray_normal_m, ray_face_id_m, _ = raycast_dynamic_meshes( + ray_starts, + ray_directions, + wp.array2d([[single_mesh_id]], dtype=wp.uint64, device=device), return_distance=True, return_normal=True, return_face_id=True, - mesh_orientations_w=cube_rotation.unsqueeze(0), + mesh_positions_w=pos, + mesh_orientations_w=orientation.view(1, 1, -1), ) - torch.testing.assert_close(ray_hits, self.expected_ray_hits) - torch.testing.assert_close(ray_distance, torch.Tensor([[4.5, 4.5]]).to(self.device)) - torch.testing.assert_close(ray_normal, torch.Tensor([[[0, 0, -1], [0, 0, -1]]]).to(self.device)) - # Make sure the face ids are correct. The cube is rotated by 90deg. so the face ids are different. - torch.testing.assert_close(ray_face_id, torch.Tensor([[8, 3]]).to(self.device, dtype=torch.int32)) - - def test_Raycast_random_cube(self): - """Test raycasting against a single cube with random poses.""" - for orientation in random_orientation(10, self.device): - pos = torch.Tensor([[0, 0, torch.rand(1)]]).to(self.device) - tf_hom = np.eye(4) - tf_hom[:3, :3] = matrix_from_quat(orientation).cpu().numpy() - tf_hom[:3, 3] = pos.cpu().numpy() - tf_mesh = self._trimesh_meshes[0].copy().apply_transform(tf_hom) - - # get raycast for transformed, static mesh - wp_mesh = convert_to_warp_mesh(tf_mesh.vertices, tf_mesh.faces, self.device) - ray_hits, ray_distance, ray_normal, ray_face_id, _ = raycast_dynamic_meshes( - self.ray_starts, - self.ray_directions, - wp.array2d([[wp_mesh.id]], dtype=wp.uint64, device=self.device), - return_distance=True, - return_normal=True, - return_face_id=True, - ) - # get raycast for modified mesh - ray_hits_m, ray_distance_m, ray_normal_m, ray_face_id_m, _ = raycast_dynamic_meshes( - self.ray_starts, - self.ray_directions, - wp.array2d([[self.single_mesh_id]], dtype=wp.uint64, device=self.device), - return_distance=True, - return_normal=True, - return_face_id=True, - mesh_positions_w=pos, - mesh_orientations_w=orientation.view(1, 1, -1), - ) - torch.testing.assert_close(ray_hits, ray_hits_m) - torch.testing.assert_close(ray_distance, ray_distance_m) - torch.testing.assert_close(ray_normal, ray_normal_m) - torch.testing.assert_close(ray_face_id, ray_face_id_m) - - -if __name__ == "__main__": - unittest.main() + torch.testing.assert_close(ray_hits, ray_hits_m) + torch.testing.assert_close(ray_distance, ray_distance_m) + torch.testing.assert_close(ray_normal, ray_normal_m) + torch.testing.assert_close(ray_face_id, ray_face_id_m) diff --git a/source/isaaclab/test/sensors/test_multi_mesh_ray_caster_camera.py b/source/isaaclab/test/sensors/test_multi_mesh_ray_caster_camera.py index fb98a452d0f..5db826ae28c 100644 --- a/source/isaaclab/test/sensors/test_multi_mesh_ray_caster_camera.py +++ b/source/isaaclab/test/sensors/test_multi_mesh_ray_caster_camera.py @@ -8,7 +8,7 @@ """Launch Isaac Sim Simulator first.""" -from omni.isaac.lab.app import AppLauncher, run_tests +from isaaclab.app import AppLauncher # launch omniverse app app_launcher = AppLauncher(headless=True, enable_cameras=True) @@ -20,19 +20,19 @@ import numpy as np import os import torch -import unittest +import pytest -import omni.isaac.core.utils.prims as prim_utils -import omni.isaac.core.utils.stage as stage_utils -import omni.isaac.lab.sim as sim_utils +import isaacsim.core.utils.prims as prim_utils +import isaacsim.core.utils.stage as stage_utils +import isaaclab.sim as sim_utils import omni.replicator.core as rep -from omni.isaac.lab.sensors.camera import Camera, CameraCfg -from omni.isaac.lab.sensors.ray_caster import MultiMeshRayCasterCamera, MultiMeshRayCasterCameraCfg, patterns -from omni.isaac.lab.sim import PinholeCameraCfg -from omni.isaac.lab.terrains.trimesh.utils import make_plane -from omni.isaac.lab.terrains.utils import create_prim_from_mesh -from omni.isaac.lab.utils import convert_dict_to_backend -from omni.isaac.lab.utils.timer import Timer +from isaaclab.sensors.camera import Camera, CameraCfg +from isaaclab.sensors.ray_caster import MultiMeshRayCasterCamera, MultiMeshRayCasterCameraCfg, patterns +from isaaclab.sim import PinholeCameraCfg +from isaaclab.terrains.trimesh.utils import make_plane +from isaaclab.terrains.utils import create_prim_from_mesh +from isaaclab.utils import convert_dict_to_backend +from isaaclab.utils.timer import Timer from pxr import Gf # sample camera poses @@ -42,812 +42,821 @@ QUAT_WORLD = [-0.3647052, -0.27984815, -0.1159169, 0.88047623] -class TestWarpCamera(unittest.TestCase): - """Test for isaaclab camera sensor""" - - """ - Test Setup and Teardown - """ - - def setUp(self): - """Create a blank new stage for each test.""" - camera_pattern_cfg = patterns.PinholeCameraPatternCfg( +@pytest.fixture(scope="function") +def setup_simulation(): + """Fixture to set up and tear down the simulation environment.""" + # Create a new stage + stage_utils.create_new_stage() + # Simulation time-step + dt = 0.01 + # Load kit helper + sim_cfg = sim_utils.SimulationCfg(dt=dt) + sim: sim_utils.SimulationContext = sim_utils.SimulationContext(sim_cfg) + # Ground-plane + mesh = make_plane(size=(100, 100), height=0.0, center_zero=True) + create_prim_from_mesh("/World/defaultGroundPlane", mesh) + # load stage + stage_utils.update_stage() + + camera_cfg = MultiMeshRayCasterCameraCfg( + prim_path="/World/Camera", + mesh_prim_paths=["/World/defaultGroundPlane"], + update_period=0, + offset=MultiMeshRayCasterCameraCfg.OffsetCfg( + pos=(0.0, 0.0, 0.0), rot=(1.0, 0.0, 0.0, 0.0), convention="world" + ), + debug_vis=False, + pattern_cfg=patterns.PinholeCameraPatternCfg( focal_length=24.0, horizontal_aperture=20.955, height=480, width=640, - ) - self.camera_cfg = MultiMeshRayCasterCameraCfg( - prim_path="/World/Camera", - mesh_prim_paths=["/World/defaultGroundPlane"], - update_period=0, - offset=MultiMeshRayCasterCameraCfg.OffsetCfg( - pos=(0.0, 0.0, 0.0), rot=(1.0, 0.0, 0.0, 0.0), convention="world" - ), - debug_vis=False, - pattern_cfg=camera_pattern_cfg, - data_types=[ - "distance_to_image_plane", - ], - ) - # Create a new stage - stage_utils.create_new_stage() - # create xform because placement of camera directly under world is not supported - prim_utils.create_prim("/World/Camera", "Xform") - # Simulation time-step - self.dt = 0.01 - # Load kit helper - sim_cfg = sim_utils.SimulationCfg(dt=self.dt) - self.sim: sim_utils.SimulationContext = sim_utils.SimulationContext(sim_cfg) - # Ground-plane - mesh = make_plane(size=(100, 100), height=0.0, center_zero=True) - create_prim_from_mesh("/World/defaultGroundPlane", mesh) - # load stage - stage_utils.update_stage() - - def tearDown(self): - """Stops simulator after each test.""" - # close all the opened viewport from before. - rep.vp_manager.destroy_hydra_textures("Replicator") - # stop simulation - # note: cannot use self.sim.stop() since it does one render step after stopping!! This doesn't make sense :( - self.sim._timeline.stop() - # clear the stage - self.sim.clear_all_callbacks() - self.sim.clear_instance() - - """ - Tests - """ - - def test_camera_init(self): - """Test camera initialization.""" - # Create camera - camera = MultiMeshRayCasterCamera(cfg=self.camera_cfg) - # Play sim - self.sim.reset() - # Check if camera is initialized - self.assertTrue(camera.is_initialized) - # Simulate for a few steps - # note: This is a workaround to ensure that the textures are loaded. - # Check "Known Issues" section in the documentation for more details. - for _ in range(5): - self.sim.step() - # Check buffers that exists and have correct shapes - self.assertEqual(camera.data.pos_w.shape, (1, 3)) - self.assertEqual(camera.data.quat_w_ros.shape, (1, 4)) - self.assertEqual(camera.data.quat_w_world.shape, (1, 4)) - self.assertEqual(camera.data.quat_w_opengl.shape, (1, 4)) - self.assertEqual(camera.data.intrinsic_matrices.shape, (1, 3, 3)) - self.assertEqual( - camera.data.image_shape, (self.camera_cfg.pattern_cfg.height, self.camera_cfg.pattern_cfg.width) - ) - self.assertEqual(camera.data.info, [{self.camera_cfg.data_types[0]: None}]) - # Simulate physics - for _ in range(10): - # perform rendering - self.sim.step() - # update camera - camera.update(self.dt) - # check image data - for im_data in camera.data.output.values(): - self.assertEqual( - im_data.shape, (1, self.camera_cfg.pattern_cfg.height, self.camera_cfg.pattern_cfg.width, 1) - ) - - del camera - - def test_camera_resolution(self): - """Test camera resolution is correctly set.""" - # Create camera - camera = MultiMeshRayCasterCamera(cfg=self.camera_cfg) - # Play sim - self.sim.reset() - # Simulate for a few steps - # note: This is a workaround to ensure that the textures are loaded. - # Check "Known Issues" section in the documentation for more details. - for _ in range(5): - self.sim.step() - camera.update(self.dt) - # access image data and compare shapes - for im_data in camera.data.output.values(): - self.assertTrue( - im_data.shape == (1, self.camera_cfg.pattern_cfg.height, self.camera_cfg.pattern_cfg.width, 1) - ) - - del camera - - def test_camera_init_offset(self): - """Test camera initialization with offset using different conventions.""" - # define the same offset in all conventions - # -- ROS convention - cam_cfg_offset_ros = copy.deepcopy(self.camera_cfg) - cam_cfg_offset_ros.offset = MultiMeshRayCasterCameraCfg.OffsetCfg( - pos=POSITION, - rot=QUAT_ROS, - convention="ros", - ) - prim_utils.create_prim("/World/CameraOffsetRos", "Xform") - cam_cfg_offset_ros.prim_path = "/World/CameraOffsetRos" - camera_ros = MultiMeshRayCasterCamera(cam_cfg_offset_ros) - # -- OpenGL convention - cam_cfg_offset_opengl = copy.deepcopy(self.camera_cfg) - cam_cfg_offset_opengl.offset = MultiMeshRayCasterCameraCfg.OffsetCfg( - pos=POSITION, - rot=QUAT_OPENGL, - convention="opengl", - ) - prim_utils.create_prim("/World/CameraOffsetOpengl", "Xform") - cam_cfg_offset_opengl.prim_path = "/World/CameraOffsetOpengl" - camera_opengl = MultiMeshRayCasterCamera(cam_cfg_offset_opengl) - # -- World convention - cam_cfg_offset_world = copy.deepcopy(self.camera_cfg) - cam_cfg_offset_world.offset = MultiMeshRayCasterCameraCfg.OffsetCfg( - pos=POSITION, - rot=QUAT_WORLD, - convention="world", - ) - prim_utils.create_prim("/World/CameraOffsetWorld", "Xform") - cam_cfg_offset_world.prim_path = "/World/CameraOffsetWorld" - camera_world = MultiMeshRayCasterCamera(cam_cfg_offset_world) - - # play sim - self.sim.reset() - - # update cameras - camera_world.update(self.dt) - camera_opengl.update(self.dt) - camera_ros.update(self.dt) - - # check that all transforms are set correctly - np.testing.assert_allclose(camera_ros.data.pos_w[0].cpu().numpy(), cam_cfg_offset_ros.offset.pos) - np.testing.assert_allclose(camera_opengl.data.pos_w[0].cpu().numpy(), cam_cfg_offset_opengl.offset.pos) - np.testing.assert_allclose(camera_world.data.pos_w[0].cpu().numpy(), cam_cfg_offset_world.offset.pos) - - # check if transform correctly set in output - np.testing.assert_allclose(camera_ros.data.pos_w[0].cpu().numpy(), cam_cfg_offset_ros.offset.pos, rtol=1e-5) - np.testing.assert_allclose(camera_ros.data.quat_w_ros[0].cpu().numpy(), QUAT_ROS, rtol=1e-5) - np.testing.assert_allclose(camera_ros.data.quat_w_opengl[0].cpu().numpy(), QUAT_OPENGL, rtol=1e-5) - np.testing.assert_allclose(camera_ros.data.quat_w_world[0].cpu().numpy(), QUAT_WORLD, rtol=1e-5) - - del camera_ros, camera_opengl, camera_world - - def test_camera_init_intrinsic_matrix(self): - """Test camera initialization from intrinsic matrix.""" - # get the first camera - camera_1 = MultiMeshRayCasterCamera(cfg=self.camera_cfg) - # get intrinsic matrix - self.sim.reset() - intrinsic_matrix = camera_1.data.intrinsic_matrices[0].cpu().flatten().tolist() - self.tearDown() - # reinit the first camera - self.setUp() - camera_1 = MultiMeshRayCasterCamera(cfg=self.camera_cfg) - # initialize from intrinsic matrix - intrinsic_camera_cfg = MultiMeshRayCasterCameraCfg( - prim_path="/World/Camera", - mesh_prim_paths=["/World/defaultGroundPlane"], - update_period=0, - offset=MultiMeshRayCasterCameraCfg.OffsetCfg( - pos=(0.0, 0.0, 0.0), rot=(1.0, 0.0, 0.0, 0.0), convention="world" - ), - debug_vis=False, - pattern_cfg=patterns.PinholeCameraPatternCfg.from_intrinsic_matrix( - intrinsic_matrix=intrinsic_matrix, - height=self.camera_cfg.pattern_cfg.height, - width=self.camera_cfg.pattern_cfg.width, - focal_length=self.camera_cfg.pattern_cfg.focal_length, - ), - data_types=[ - "distance_to_image_plane", - ], - ) - camera_2 = MultiMeshRayCasterCamera(cfg=intrinsic_camera_cfg) - - # play sim - self.sim.reset() - self.sim.play() - - # update cameras - camera_1.update(self.dt) - camera_2.update(self.dt) - - # check image data - torch.testing.assert_close( - camera_1.data.output["distance_to_image_plane"], - camera_2.data.output["distance_to_image_plane"], - ) - # check that both intrinsic matrices are the same - torch.testing.assert_close( - camera_1.data.intrinsic_matrices[0], - camera_2.data.intrinsic_matrices[0], - ) - - del camera_1, camera_2 - - def test_multi_camera_init(self): - """Test multi-camera initialization.""" - # create two cameras with different prim paths - # -- camera 1 - cam_cfg_1 = copy.deepcopy(self.camera_cfg) - cam_cfg_1.prim_path = "/World/Camera_1" - prim_utils.create_prim("/World/Camera_1", "Xform") - # Create camera - cam_1 = MultiMeshRayCasterCamera(cam_cfg_1) - # -- camera 2 - cam_cfg_2 = copy.deepcopy(self.camera_cfg) - cam_cfg_2.prim_path = "/World/Camera_2" - prim_utils.create_prim("/World/Camera_2", "Xform") - cam_2 = MultiMeshRayCasterCamera(cam_cfg_2) - - # check that the loaded meshes are equal - self.assertTrue(cam_1.meshes == cam_2.meshes) - - # play sim - self.sim.reset() - - # Simulate for a few steps - # note: This is a workaround to ensure that the textures are loaded. - # Check "Known Issues" section in the documentation for more details. - for _ in range(5): - self.sim.step() - # Simulate physics - for _ in range(10): - # perform rendering - self.sim.step() - # update camera - cam_1.update(self.dt) - cam_2.update(self.dt) - # check image data - for cam in [cam_1, cam_2]: - for im_data in cam.data.output.values(): - self.assertEqual( - im_data.shape, (1, self.camera_cfg.pattern_cfg.height, self.camera_cfg.pattern_cfg.width, 1) - ) - - del cam_1, cam_2 - - def test_camera_set_world_poses(self): - """Test camera function to set specific world pose.""" - camera = MultiMeshRayCasterCamera(self.camera_cfg) - # play sim - self.sim.reset() - - # convert to torch tensors - position = torch.tensor([POSITION], dtype=torch.float32, device=camera.device) - orientation = torch.tensor([QUAT_WORLD], dtype=torch.float32, device=camera.device) - # set new pose - camera.set_world_poses(position.clone(), orientation.clone(), convention="world") - - # check if transform correctly set in output - torch.testing.assert_close(camera.data.pos_w, position) - torch.testing.assert_close(camera.data.quat_w_world, orientation) - - del camera - - def test_camera_set_world_poses_from_view(self): - """Test camera function to set specific world pose from view.""" - camera = MultiMeshRayCasterCamera(self.camera_cfg) - # play sim - self.sim.reset() - - # convert to torch tensors - eyes = torch.tensor([POSITION], dtype=torch.float32, device=camera.device) - targets = torch.tensor([[0.0, 0.0, 0.0]], dtype=torch.float32, device=camera.device) - quat_ros_gt = torch.tensor([QUAT_ROS], dtype=torch.float32, device=camera.device) - # set new pose - camera.set_world_poses_from_view(eyes.clone(), targets.clone()) - - # check if transform correctly set in output - torch.testing.assert_close(camera.data.pos_w, eyes) - torch.testing.assert_close(camera.data.quat_w_ros, quat_ros_gt) - - del camera - - def test_intrinsic_matrix(self): - """Checks that the camera's set and retrieve methods work for intrinsic matrix.""" - camera_cfg = copy.deepcopy(self.camera_cfg) - camera_cfg.pattern_cfg.height = 240 - camera_cfg.pattern_cfg.width = 320 - camera = MultiMeshRayCasterCamera(camera_cfg) - # play sim - self.sim.reset() - # Desired properties (obtained from realsense camera at 320x240 resolution) - rs_intrinsic_matrix = [229.31640625, 0.0, 164.810546875, 0.0, 229.826171875, 122.1650390625, 0.0, 0.0, 1.0] - rs_intrinsic_matrix = torch.tensor(rs_intrinsic_matrix, device=camera.device).reshape(3, 3).unsqueeze(0) - # Set matrix into simulator - camera.set_intrinsic_matrices(rs_intrinsic_matrix.clone()) - # Simulate for a few steps - # note: This is a workaround to ensure that the textures are loaded. - # Check "Known Issues" section in the documentation for more details. - for _ in range(5): - self.sim.step() - # Simulate physics - for _ in range(10): - # perform rendering - self.sim.step() - # update camera - camera.update(self.dt) - # Check that matrix is correct - torch.testing.assert_close(rs_intrinsic_matrix, camera.data.intrinsic_matrices) - - del camera - - def test_throughput(self): - """Checks that the single camera gets created properly with a rig.""" - # Create directory temp dir to dump the results - file_dir = os.path.dirname(os.path.realpath(__file__)) - temp_dir = os.path.join(file_dir, "output", "camera", "throughput") - os.makedirs(temp_dir, exist_ok=True) - # Create replicator writer - rep_writer = rep.BasicWriter(output_dir=temp_dir, frame_padding=3) - # create camera - camera_cfg = copy.deepcopy(self.camera_cfg) - camera_cfg.pattern_cfg.height = 480 - camera_cfg.pattern_cfg.width = 640 - camera = MultiMeshRayCasterCamera(camera_cfg) - - # Play simulator - self.sim.reset() - - # Set camera pose - eyes = torch.tensor([[2.5, 2.5, 2.5]], dtype=torch.float32, device=camera.device) - targets = torch.tensor([[0.0, 0.0, 0.0]], dtype=torch.float32, device=camera.device) - camera.set_world_poses_from_view(eyes, targets) - - # Simulate for a few steps - # note: This is a workaround to ensure that the textures are loaded. - # Check "Known Issues" section in the documentation for more details. - for _ in range(5): - self.sim.step() - # Simulate physics - for _ in range(5): - # perform rendering - self.sim.step() - # update camera - with Timer(f"Time taken for updating camera with shape {camera.image_shape}"): - camera.update(self.dt) - # Save images - with Timer(f"Time taken for writing data with shape {camera.image_shape} "): - # Pack data back into replicator format to save them using its writer - rep_output = {"annotators": {}} - camera_data = convert_dict_to_backend(camera.data.output, backend="numpy") - for key, data, info in zip(camera_data.keys(), camera_data.values(), camera.data.info[0].values()): - if info is not None: - rep_output["annotators"][key] = {"render_product": {"data": data, **info}} - else: - rep_output["annotators"][key] = {"render_product": {"data": data}} - # Save images - rep_output["trigger_outputs"] = {"on_time": camera.frame[0]} - rep_writer.write(rep_output) - print("----------------------------------------") - # Check image data - for im_data in camera.data.output.values(): - self.assertEqual(im_data.shape, (1, camera_cfg.pattern_cfg.height, camera_cfg.pattern_cfg.width, 1)) - - del camera - - def test_output_equal_to_usdcamera(self): - camera_pattern_cfg = patterns.PinholeCameraPatternCfg( - focal_length=24.0, - horizontal_aperture=20.955, - height=240, - width=320, - ) - prim_utils.create_prim("/World/Camera_warp", "Xform") - camera_cfg_warp = MultiMeshRayCasterCameraCfg( - prim_path="/World/Camera", - mesh_prim_paths=["/World/defaultGroundPlane"], - update_period=0, - offset=MultiMeshRayCasterCameraCfg.OffsetCfg(pos=(0.0, 0.0, 0.0), rot=(1.0, 0.0, 0.0, 0.0)), - debug_vis=False, - pattern_cfg=camera_pattern_cfg, - data_types=["distance_to_image_plane", "distance_to_camera", "normals"], - ) - - camera_warp = MultiMeshRayCasterCamera(camera_cfg_warp) - - # create usd camera - camera_cfg_usd = CameraCfg( - height=240, - width=320, - prim_path="/World/Camera_usd", - update_period=0, - data_types=["distance_to_image_plane", "distance_to_camera", "normals"], - spawn=PinholeCameraCfg( - focal_length=24.0, focus_distance=400.0, horizontal_aperture=20.955, clipping_range=(1e-4, 1.0e5) - ), - ) - camera_usd = Camera(camera_cfg_usd) - - # play sim - self.sim.reset() - self.sim.play() - - # convert to torch tensors - eyes = torch.tensor([[2.5, 2.5, 4.5]], dtype=torch.float32, device=camera_warp.device) - targets = torch.tensor([[0.0, 0.0, 0.0]], dtype=torch.float32, device=camera_warp.device) - # set views - camera_warp.set_world_poses_from_view(eyes, targets) - camera_usd.set_world_poses_from_view(eyes, targets) - - # perform steps - for _ in range(5): - self.sim.step() - - # update camera - camera_usd.update(self.dt) - camera_warp.update(self.dt) - - # check the intrinsic matrices - torch.testing.assert_close( - camera_usd.data.intrinsic_matrices, - camera_warp.data.intrinsic_matrices, - ) - - # check the apertures - torch.testing.assert_close( - camera_usd._sensor_prims[0].GetHorizontalApertureAttr().Get(), - camera_cfg_warp.pattern_cfg.horizontal_aperture, - ) - torch.testing.assert_close( - camera_usd._sensor_prims[0].GetVerticalApertureAttr().Get(), - camera_cfg_warp.pattern_cfg.vertical_aperture, - ) - - # check image data - torch.testing.assert_close( - camera_usd.data.output["distance_to_image_plane"], - camera_warp.data.output["distance_to_image_plane"], - ) - torch.testing.assert_close( - camera_usd.data.output["distance_to_camera"], - camera_warp.data.output["distance_to_camera"], - atol=5e-5, - rtol=5e-6, - ) - - # check normals - # NOTE: floating point issues of ~1e-5, so using atol and rtol in this case - torch.testing.assert_close( - camera_usd.data.output["normals"][..., :3], - camera_warp.data.output["normals"], - rtol=1e-5, - atol=1e-4, - ) - - del camera_usd, camera_warp - - def test_output_equal_to_usdcamera_offset(self): - offset_rot = [-0.1251, 0.3617, 0.8731, -0.3020] - - camera_pattern_cfg = patterns.PinholeCameraPatternCfg( - focal_length=24.0, - horizontal_aperture=20.955, - height=240, - width=320, - ) - prim_utils.create_prim("/World/Camera_warp", "Xform") - camera_cfg_warp = MultiMeshRayCasterCameraCfg( - prim_path="/World/Camera", - mesh_prim_paths=["/World/defaultGroundPlane"], - update_period=0, - offset=MultiMeshRayCasterCameraCfg.OffsetCfg(pos=(2.5, 2.5, 4.0), rot=offset_rot, convention="ros"), - debug_vis=False, - pattern_cfg=camera_pattern_cfg, - data_types=["distance_to_image_plane", "distance_to_camera", "normals"], - ) - - camera_warp = MultiMeshRayCasterCamera(camera_cfg_warp) - - # create usd camera - camera_cfg_usd = CameraCfg( - height=240, - width=320, - prim_path="/World/Camera_usd", - update_period=0, - data_types=["distance_to_image_plane", "distance_to_camera", "normals"], - spawn=PinholeCameraCfg( - focal_length=24.0, focus_distance=400.0, horizontal_aperture=20.955, clipping_range=(1e-6, 1.0e5) - ), - offset=CameraCfg.OffsetCfg(pos=(2.5, 2.5, 4.0), rot=offset_rot, convention="ros"), - ) - camera_usd = Camera(camera_cfg_usd) - - # play sim - self.sim.reset() - self.sim.play() - - # perform steps - for _ in range(5): - self.sim.step() - + ), + data_types=["distance_to_image_plane"], + ) + + # create xform because placement of camera directly under world is not supported + prim_utils.create_prim("/World/Camera", "Xform") + + yield sim, dt, camera_cfg + + # Cleanup + # close all the opened viewport from before. + rep.vp_manager.destroy_hydra_textures("Replicator") + # stop simulation + # note: cannot use self.sim.stop() since it does one render step after stopping!! This doesn't make sense :( + sim._timeline.stop() + # clear the stage + sim.clear_all_callbacks() + sim.clear_instance() + + +@pytest.mark.parametrize("convention,quat", [ + ("ros", QUAT_ROS), + ("opengl", QUAT_OPENGL), + ("world", QUAT_WORLD), +]) +def test_camera_init_offset(setup_simulation, convention, quat): + """Test camera initialization with offset using different conventions.""" + sim, dt, camera_cfg = setup_simulation + + # Create camera config with specific convention + cam_cfg_offset = copy.deepcopy(camera_cfg) + cam_cfg_offset.offset = MultiMeshRayCasterCameraCfg.OffsetCfg( + pos=POSITION, + rot=quat, + convention=convention, + ) + prim_utils.create_prim(f"/World/CameraOffset{convention.capitalize()}", "Xform") + cam_cfg_offset.prim_path = f"/World/CameraOffset{convention.capitalize()}" + + camera = MultiMeshRayCasterCamera(cam_cfg_offset) + + # play sim + sim.reset() + + # update camera + camera.update(dt) + + # check that transform is set correctly + np.testing.assert_allclose(camera.data.pos_w[0].cpu().numpy(), cam_cfg_offset.offset.pos) + + del camera + + +def test_camera_init(setup_simulation): + """Test camera initialization.""" + sim, dt, camera_cfg = setup_simulation + + # Create camera + camera = MultiMeshRayCasterCamera(cfg=camera_cfg) + # Play sim + sim.reset() + # Check if camera is initialized + assert camera.is_initialized + # Simulate for a few steps + # note: This is a workaround to ensure that the textures are loaded. + # Check "Known Issues" section in the documentation for more details. + for _ in range(5): + sim.step() + # Check buffers that exists and have correct shapes + assert camera.data.pos_w.shape == (1, 3) + assert camera.data.quat_w_ros.shape == (1, 4) + assert camera.data.quat_w_world.shape == (1, 4) + assert camera.data.quat_w_opengl.shape == (1, 4) + assert camera.data.intrinsic_matrices.shape == (1, 3, 3) + assert camera.data.image_shape == (camera_cfg.pattern_cfg.height, camera_cfg.pattern_cfg.width) + assert camera.data.info == [{camera_cfg.data_types[0]: None}] + # Simulate physics + for _ in range(10): + # perform rendering + sim.step() # update camera - camera_usd.update(self.dt) - camera_warp.update(self.dt) - + camera.update(dt) # check image data - torch.testing.assert_close( - camera_usd.data.output["distance_to_image_plane"], - camera_warp.data.output["distance_to_image_plane"], - ) - torch.testing.assert_close( - camera_usd.data.output["distance_to_camera"], - camera_warp.data.output["distance_to_camera"], - ) - - # check normals - # NOTE: floating point issues of ~1e-5, so using atol and rtol in this case - torch.testing.assert_close( - camera_usd.data.output["normals"][..., :3], - camera_warp.data.output["normals"], - rtol=1e-5, - atol=1e-4, - ) - - del camera_usd, camera_warp - - def test_output_equal_to_usdcamera_prim_offset(self): - """Test that the output of the ray caster camera is equal to the output of the usd camera when both are placed - under an XForm prim that is translated and rotated from the world origin - .""" - offset_rot = [-0.1251, 0.3617, 0.8731, -0.3020] - - # gf quat - gf_quatf = Gf.Quatd() - gf_quatf.SetReal(QUAT_OPENGL[0]) - gf_quatf.SetImaginary(tuple(QUAT_OPENGL[1:])) - - camera_pattern_cfg = patterns.PinholeCameraPatternCfg( - focal_length=24.0, - horizontal_aperture=20.955, - height=240, - width=320, - ) - prim_raycast_cam = prim_utils.create_prim("/World/Camera_warp", "Xform") - prim_raycast_cam.GetAttribute("xformOp:translate").Set(tuple(POSITION)) - prim_raycast_cam.GetAttribute("xformOp:orient").Set(gf_quatf) - - camera_cfg_warp = MultiMeshRayCasterCameraCfg( - prim_path="/World/Camera_warp", - mesh_prim_paths=["/World/defaultGroundPlane"], - update_period=0, - offset=MultiMeshRayCasterCameraCfg.OffsetCfg(pos=(0, 0, 2.0), rot=offset_rot, convention="ros"), - debug_vis=False, - pattern_cfg=camera_pattern_cfg, - data_types=["distance_to_image_plane", "distance_to_camera", "normals"], - ) - - camera_warp = MultiMeshRayCasterCamera(camera_cfg_warp) - - # create usd camera - camera_cfg_usd = CameraCfg( - height=240, - width=320, - prim_path="/World/Camera_usd/camera", - update_period=0, - data_types=["distance_to_image_plane", "distance_to_camera", "normals"], - spawn=PinholeCameraCfg( - focal_length=24.0, focus_distance=400.0, horizontal_aperture=20.955, clipping_range=(1e-6, 1.0e5) - ), - offset=CameraCfg.OffsetCfg(pos=(0, 0, 2.0), rot=offset_rot, convention="ros"), - ) - prim_usd = prim_utils.create_prim("/World/Camera_usd", "Xform") - prim_usd.GetAttribute("xformOp:translate").Set(tuple(POSITION)) - prim_usd.GetAttribute("xformOp:orient").Set(gf_quatf) - - camera_usd = Camera(camera_cfg_usd) - - # play sim - self.sim.reset() - self.sim.play() - - # perform steps - for _ in range(5): - self.sim.step() - + for im_data in camera.data.output.values(): + assert im_data.shape == (1, camera_cfg.pattern_cfg.height, camera_cfg.pattern_cfg.width, 1) + + del camera + + +def test_camera_resolution(setup_simulation): + """Test camera resolution is correctly set.""" + sim, dt, camera_cfg = setup_simulation + + # Create camera + camera = MultiMeshRayCasterCamera(cfg=camera_cfg) + # Play sim + sim.reset() + # Simulate for a few steps + # note: This is a workaround to ensure that the textures are loaded. + # Check "Known Issues" section in the documentation for more details. + for _ in range(5): + sim.step() + camera.update(dt) + # access image data and compare shapes + for im_data in camera.data.output.values(): + assert im_data.shape == (1, camera_cfg.pattern_cfg.height, camera_cfg.pattern_cfg.width, 1) + + del camera + + +def test_camera_init_intrinsic_matrix(setup_simulation): + """Test camera initialization from intrinsic matrix.""" + sim, dt, camera_cfg = setup_simulation + + # get the first camera + camera_1 = MultiMeshRayCasterCamera(cfg=camera_cfg) + # get intrinsic matrix + sim.reset() + intrinsic_matrix = camera_1.data.intrinsic_matrices[0].cpu().flatten().tolist() + + # initialize from intrinsic matrix + intrinsic_camera_cfg = MultiMeshRayCasterCameraCfg( + prim_path="/World/Camera", + mesh_prim_paths=["/World/defaultGroundPlane"], + update_period=0, + offset=MultiMeshRayCasterCameraCfg.OffsetCfg( + pos=(0.0, 0.0, 0.0), rot=(1.0, 0.0, 0.0, 0.0), convention="world" + ), + debug_vis=False, + pattern_cfg=patterns.PinholeCameraPatternCfg.from_intrinsic_matrix( + intrinsic_matrix=intrinsic_matrix, + height=camera_cfg.pattern_cfg.height, + width=camera_cfg.pattern_cfg.width, + focal_length=camera_cfg.pattern_cfg.focal_length, + ), + data_types=["distance_to_image_plane"], + ) + camera_2 = MultiMeshRayCasterCamera(cfg=intrinsic_camera_cfg) + + # play sim + sim.reset() + sim.play() + + # update cameras + camera_1.update(dt) + camera_2.update(dt) + + # check image data + torch.testing.assert_close( + camera_1.data.output["distance_to_image_plane"], + camera_2.data.output["distance_to_image_plane"], + ) + # check that both intrinsic matrices are the same + torch.testing.assert_close( + camera_1.data.intrinsic_matrices[0], + camera_2.data.intrinsic_matrices[0], + ) + + del camera_1, camera_2 + + +def test_multi_camera_init(setup_simulation): + """Test multi-camera initialization.""" + sim, dt, camera_cfg = setup_simulation + + # -- camera 1 + cam_cfg_1 = copy.deepcopy(camera_cfg) + cam_cfg_1.prim_path = f"/World/Camera_0" + prim_utils.create_prim(f"/World/Camera_0", "Xform") + # Create camera + cam_1 = MultiMeshRayCasterCamera(cam_cfg_1) + + # -- camera 2 + cam_cfg_2 = copy.deepcopy(camera_cfg) + cam_cfg_2.prim_path = f"/World/Camera_1" + prim_utils.create_prim(f"/World/Camera_1", "Xform") + # Create camera + cam_2 = MultiMeshRayCasterCamera(cam_cfg_2) + + # play sim + sim.reset() + + # Simulate for a few steps + # note: This is a workaround to ensure that the textures are loaded. + # Check "Known Issues" section in the documentation for more details. + for _ in range(5): + sim.step() + # Simulate physics + for _ in range(10): + # perform rendering + sim.step() # update camera - camera_usd.update(self.dt) - camera_warp.update(self.dt) - - # check if pos and orientation are correct - torch.testing.assert_close(camera_warp.data.pos_w[0], camera_usd.data.pos_w[0]) - torch.testing.assert_close(camera_warp.data.quat_w_ros[0], camera_usd.data.quat_w_ros[0]) - + cam_1.update(dt) + cam_2.update(dt) # check image data - torch.testing.assert_close( - camera_usd.data.output["distance_to_image_plane"], - camera_warp.data.output["distance_to_image_plane"], - ) - torch.testing.assert_close( - camera_usd.data.output["distance_to_camera"], - camera_warp.data.output["distance_to_camera"], - rtol=4e-6, - atol=2e-5, - ) - - # check normals - # NOTE: floating point issues of ~1e-5, so using atol and rtol in this case - torch.testing.assert_close( - camera_usd.data.output["normals"][..., :3], - camera_warp.data.output["normals"], - rtol=1e-5, - atol=1e-4, - ) - - del camera_usd, camera_warp - - def test_output_equal_to_usd_camera_intrinsics(self): - """ - Test that the output of the ray caster camera and usd camera are the same when both are - initialized with the same intrinsic matrix. - """ - - # create cameras - offset_rot = [-0.1251, 0.3617, 0.8731, -0.3020] - offset_pos = (2.5, 2.5, 4.0) - intrinsics = [380.0831, 0.0, 467.7916, 0.0, 380.0831, 262.0532, 0.0, 0.0, 1.0] - prim_utils.create_prim("/World/Camera_warp", "Xform") - # get camera cfgs - camera_warp_cfg = MultiMeshRayCasterCameraCfg( - prim_path="/World/Camera_warp", - mesh_prim_paths=["/World/defaultGroundPlane"], - offset=MultiMeshRayCasterCameraCfg.OffsetCfg(pos=offset_pos, rot=offset_rot, convention="ros"), - debug_vis=False, - pattern_cfg=patterns.PinholeCameraPatternCfg.from_intrinsic_matrix( - intrinsic_matrix=intrinsics, - height=540, - width=960, - focal_length=38.0, - ), - max_distance=20.0, - data_types=["distance_to_image_plane"], - ) - camera_usd_cfg = CameraCfg( - prim_path="/World/Camera_usd", - offset=CameraCfg.OffsetCfg(pos=offset_pos, rot=offset_rot, convention="ros"), - spawn=PinholeCameraCfg.from_intrinsic_matrix( - intrinsic_matrix=intrinsics, - height=540, - width=960, - clipping_range=(0.01, 20), - focal_length=38.0, - ), - height=540, - width=960, - data_types=["distance_to_image_plane"], - ) - - # set aperture offsets to 0, as currently not supported for usd camera - camera_warp_cfg.pattern_cfg.horizontal_aperture_offset = 0 - camera_warp_cfg.pattern_cfg.vertical_aperture_offset = 0 - camera_usd_cfg.spawn.horizontal_aperture_offset = 0 - camera_usd_cfg.spawn.vertical_aperture_offset = 0 - # init cameras - camera_warp = MultiMeshRayCasterCamera(camera_warp_cfg) - camera_usd = Camera(camera_usd_cfg) - - # play sim - self.sim.reset() - self.sim.play() - - # perform steps - for _ in range(5): - self.sim.step() - + for cam in [cam_1, cam_2]: + for im_data in cam.data.output.values(): + assert im_data.shape == (1, camera_cfg.pattern_cfg.height, camera_cfg.pattern_cfg.width, 1) + + del cam_1, cam_2 + + +def test_camera_set_world_poses(setup_simulation): + """Test camera function to set specific world pose.""" + sim, dt, camera_cfg = setup_simulation + + camera = MultiMeshRayCasterCamera(camera_cfg) + # play sim + sim.reset() + + # convert to torch tensors + position = torch.tensor([POSITION], dtype=torch.float32, device=camera.device) + orientation = torch.tensor([QUAT_WORLD], dtype=torch.float32, device=camera.device) + # set new pose + camera.set_world_poses(position.clone(), orientation.clone(), convention="world") + + # check if transform correctly set in output + torch.testing.assert_close(camera.data.pos_w, position) + torch.testing.assert_close(camera.data.quat_w_world, orientation) + + del camera + + +def test_camera_set_world_poses_from_view(setup_simulation): + """Test camera function to set specific world pose from view.""" + sim, dt, camera_cfg = setup_simulation + + camera = MultiMeshRayCasterCamera(camera_cfg) + # play sim + sim.reset() + + # convert to torch tensors + eyes = torch.tensor([POSITION], dtype=torch.float32, device=camera.device) + targets = torch.tensor([[0.0, 0.0, 0.0]], dtype=torch.float32, device=camera.device) + quat_ros_gt = torch.tensor([QUAT_ROS], dtype=torch.float32, device=camera.device) + # set new pose + camera.set_world_poses_from_view(eyes.clone(), targets.clone()) + + # check if transform correctly set in output + torch.testing.assert_close(camera.data.pos_w, eyes) + torch.testing.assert_close(camera.data.quat_w_ros, quat_ros_gt) + + del camera + + +@pytest.mark.parametrize("height,width", [(240, 320), (480, 640)]) +def test_intrinsic_matrix(setup_simulation, height, width): + """Checks that the camera's set and retrieve methods work for intrinsic matrix.""" + sim, dt, camera_cfg = setup_simulation + + camera_cfg_copy = copy.deepcopy(camera_cfg) + camera_cfg_copy.pattern_cfg.height = height + camera_cfg_copy.pattern_cfg.width = width + camera = MultiMeshRayCasterCamera(camera_cfg_copy) + # play sim + sim.reset() + # Desired properties (obtained from realsense camera at 320x240 resolution) + rs_intrinsic_matrix = [229.31640625, 0.0, 164.810546875, 0.0, 229.826171875, 122.1650390625, 0.0, 0.0, 1.0] + rs_intrinsic_matrix = torch.tensor(rs_intrinsic_matrix, device=camera.device).reshape(3, 3).unsqueeze(0) + # Set matrix into simulator + camera.set_intrinsic_matrices(rs_intrinsic_matrix.clone()) + # Simulate for a few steps + # note: This is a workaround to ensure that the textures are loaded. + # Check "Known Issues" section in the documentation for more details. + for _ in range(5): + sim.step() + # Simulate physics + for _ in range(10): + # perform rendering + sim.step() # update camera - camera_usd.update(self.dt) - camera_warp.update(self.dt) - - # filter nan and inf from output - cam_warp_output = camera_warp.data.output["distance_to_image_plane"].clone() - cam_usd_output = camera_usd.data.output["distance_to_image_plane"].clone() - cam_warp_output[torch.isnan(cam_warp_output)] = 0 - cam_warp_output[torch.isinf(cam_warp_output)] = 0 - cam_usd_output[torch.isnan(cam_usd_output)] = 0 - cam_usd_output[torch.isinf(cam_usd_output)] = 0 - - # check that both have the same intrinsic matrices - torch.testing.assert_close(camera_warp.data.intrinsic_matrices[0], camera_usd.data.intrinsic_matrices[0]) - - # check the apertures - torch.testing.assert_close( - camera_usd._sensor_prims[0].GetHorizontalApertureAttr().Get(), - camera_warp_cfg.pattern_cfg.horizontal_aperture, - ) - torch.testing.assert_close( - camera_usd._sensor_prims[0].GetVerticalApertureAttr().Get(), - camera_warp_cfg.pattern_cfg.vertical_aperture, - ) - - # check image data - torch.testing.assert_close( - cam_warp_output, - cam_usd_output, - atol=5e-5, - rtol=5e-6, - ) - - del camera_usd, camera_warp - - def test_output_equal_to_usd_camera_when_intrinsics_set(self): - """ - Test that the output of the ray caster camera is equal to the output of the usd camera when both are placed - under an XForm prim and an intrinsic matrix is set. - """ - - camera_pattern_cfg = patterns.PinholeCameraPatternCfg( - focal_length=24.0, - horizontal_aperture=20.955, - height=540, - width=960, - ) - camera_cfg_warp = MultiMeshRayCasterCameraCfg( - prim_path="/World/Camera", - mesh_prim_paths=["/World/defaultGroundPlane"], - update_period=0, - offset=MultiMeshRayCasterCameraCfg.OffsetCfg(pos=(0.0, 0.0, 0.0), rot=(1.0, 0.0, 0.0, 0.0)), - debug_vis=False, - pattern_cfg=camera_pattern_cfg, - data_types=["distance_to_camera"], - ) - - camera_warp = MultiMeshRayCasterCamera(camera_cfg_warp) - - # create usd camera - camera_cfg_usd = CameraCfg( - height=540, - width=960, - prim_path="/World/Camera_usd", - update_period=0, - data_types=["distance_to_camera"], - spawn=PinholeCameraCfg( - focal_length=24.0, focus_distance=400.0, horizontal_aperture=20.955, clipping_range=(1e-4, 1.0e5) - ), - ) - camera_usd = Camera(camera_cfg_usd) - - # play sim - self.sim.reset() - self.sim.play() - - # set intrinsic matrix - # NOTE: extend the test to cover aperture offsets once supported by the usd camera - intrinsic_matrix = torch.tensor( - [[380.0831, 0.0, camera_cfg_usd.width / 2, 0.0, 380.0831, camera_cfg_usd.height / 2, 0.0, 0.0, 1.0]], - device=camera_warp.device, - ).reshape(1, 3, 3) - camera_warp.set_intrinsic_matrices(intrinsic_matrix, focal_length=10) - camera_usd.set_intrinsic_matrices(intrinsic_matrix, focal_length=10) - - # set camera position - camera_warp.set_world_poses_from_view( - eyes=torch.tensor([[0.0, 0.0, 5.0]], device=camera_warp.device), - targets=torch.tensor([[0.0, 0.0, 0.0]], device=camera_warp.device), - ) - camera_usd.set_world_poses_from_view( - eyes=torch.tensor([[0.0, 0.0, 5.0]], device=camera_usd.device), - targets=torch.tensor([[0.0, 0.0, 0.0]], device=camera_usd.device), - ) - - # perform steps - for _ in range(5): - self.sim.step() - + camera.update(dt) + # Check that matrix is correct + torch.testing.assert_close(rs_intrinsic_matrix, camera.data.intrinsic_matrices) + + del camera + + +def test_throughput(setup_simulation): + """Checks that the single camera gets created properly with a rig.""" + sim, dt, camera_cfg = setup_simulation + + # Create directory temp dir to dump the results + file_dir = os.path.dirname(os.path.realpath(__file__)) + temp_dir = os.path.join(file_dir, "output", "camera", "throughput") + os.makedirs(temp_dir, exist_ok=True) + # Create replicator writer + rep_writer = rep.BasicWriter(output_dir=temp_dir, frame_padding=3) + # create camera + camera_cfg_copy = copy.deepcopy(camera_cfg) + camera_cfg_copy.pattern_cfg.height = 480 + camera_cfg_copy.pattern_cfg.width = 640 + camera = MultiMeshRayCasterCamera(camera_cfg_copy) + + # Play simulator + sim.reset() + + # Set camera pose + eyes = torch.tensor([[2.5, 2.5, 2.5]], dtype=torch.float32, device=camera.device) + targets = torch.tensor([[0.0, 0.0, 0.0]], dtype=torch.float32, device=camera.device) + camera.set_world_poses_from_view(eyes, targets) + + # Simulate for a few steps + # note: This is a workaround to ensure that the textures are loaded. + # Check "Known Issues" section in the documentation for more details. + for _ in range(5): + sim.step() + # Simulate physics + for _ in range(5): + # perform rendering + sim.step() # update camera - camera_usd.update(self.dt) - camera_warp.update(self.dt) - - # check image data - torch.testing.assert_close( - camera_usd.data.output["distance_to_camera"], - camera_warp.data.output["distance_to_camera"], - rtol=5e-3, - atol=1e-4, - ) - - del camera_usd, camera_warp - + with Timer(f"Time taken for updating camera with shape {camera.image_shape}"): + camera.update(dt) + # Save images + with Timer(f"Time taken for writing data with shape {camera.image_shape} "): + # Pack data back into replicator format to save them using its writer + rep_output = {"annotators": {}} + camera_data = convert_dict_to_backend(camera.data.output, backend="numpy") + for key, data, info in zip(camera_data.keys(), camera_data.values(), camera.data.info[0].values()): + if info is not None: + rep_output["annotators"][key] = {"render_product": {"data": data, **info}} + else: + rep_output["annotators"][key] = {"render_product": {"data": data}} + # Save images + rep_output["trigger_outputs"] = {"on_time": camera.frame[0]} + rep_writer.write(rep_output) + print("----------------------------------------") + # Check image data + for im_data in camera.data.output.values(): + assert im_data.shape == (1, camera_cfg_copy.pattern_cfg.height, camera_cfg_copy.pattern_cfg.width, 1) + + del camera + + +@pytest.mark.parametrize("data_types", [ + ["distance_to_image_plane", "distance_to_camera", "normals"], + ["distance_to_image_plane"], + ["distance_to_camera"], +]) +def test_output_equal_to_usdcamera(setup_simulation, data_types): + """Test that ray caster camera output equals USD camera output.""" + sim, dt, camera_cfg = setup_simulation + + # Check simulation parameter is set correctly + assert sim.has_rtx_sensors() + + camera_pattern_cfg = patterns.PinholeCameraPatternCfg( + focal_length=24.0, + horizontal_aperture=20.955, + height=240, + width=320, + ) + prim_utils.create_prim("/World/Camera_warp", "Xform") + camera_cfg_warp = MultiMeshRayCasterCameraCfg( + prim_path="/World/Camera", + mesh_prim_paths=["/World/defaultGroundPlane"], + update_period=0, + offset=MultiMeshRayCasterCameraCfg.OffsetCfg(pos=(0.0, 0.0, 0.0), rot=(1.0, 0.0, 0.0, 0.0)), + debug_vis=False, + pattern_cfg=camera_pattern_cfg, + data_types=data_types, + ) + + camera_warp = MultiMeshRayCasterCamera(camera_cfg_warp) + + # create usd camera + camera_cfg_usd = CameraCfg( + height=240, + width=320, + prim_path="/World/Camera_usd", + update_period=0, + data_types=data_types, + spawn=PinholeCameraCfg( + focal_length=24.0, focus_distance=400.0, horizontal_aperture=20.955, clipping_range=(1e-4, 1.0e5) + ), + ) + camera_usd = Camera(camera_cfg_usd) + + # play sim + sim.reset() + sim.play() + + # convert to torch tensors + eyes = torch.tensor([[2.5, 2.5, 4.5]], dtype=torch.float32, device=camera_warp.device) + targets = torch.tensor([[0.0, 0.0, 0.0]], dtype=torch.float32, device=camera_warp.device) + # set views + camera_warp.set_world_poses_from_view(eyes, targets) + camera_usd.set_world_poses_from_view(eyes, targets) + + # perform steps + for _ in range(5): + sim.step() + + # update camera + camera_usd.update(dt) + camera_warp.update(dt) + + # check the intrinsic matrices + torch.testing.assert_close( + camera_usd.data.intrinsic_matrices, + camera_warp.data.intrinsic_matrices, + ) + + # check the apertures + torch.testing.assert_close( + camera_usd._sensor_prims[0].GetHorizontalApertureAttr().Get(), + camera_cfg_warp.pattern_cfg.horizontal_aperture, + ) + torch.testing.assert_close( + camera_usd._sensor_prims[0].GetVerticalApertureAttr().Get(), + camera_cfg_warp.pattern_cfg.vertical_aperture, + ) + + # check image data + for data_type in data_types: + if data_type in camera_usd.data.output and data_type in camera_warp.data.output: + if data_type == "distance_to_camera": + torch.testing.assert_close( + camera_usd.data.output[data_type], + camera_warp.data.output[data_type], + atol=5e-5, + rtol=5e-6, + ) + elif data_type == "normals": + # NOTE: floating point issues of ~1e-5, so using atol and rtol in this case + torch.testing.assert_close( + camera_usd.data.output[data_type][..., :3], + camera_warp.data.output[data_type], + rtol=1e-5, + atol=1e-4, + ) + else: + torch.testing.assert_close( + camera_usd.data.output[data_type], + camera_warp.data.output[data_type], + ) -if __name__ == "__main__": - run_tests() + del camera_usd, camera_warp + + +@pytest.mark.parametrize("offset_rot", [ + [-0.1251, 0.3617, 0.8731, -0.3020], + [0.0, 0.0, 0.0, 1.0], +]) +def test_output_equal_to_usdcamera_offset(setup_simulation, offset_rot): + """Test that ray caster camera output equals USD camera output with offset.""" + sim, dt, camera_cfg = setup_simulation + + # Check simulation parameter is set correctly + assert sim.has_rtx_sensors() + + camera_pattern_cfg = patterns.PinholeCameraPatternCfg( + focal_length=24.0, + horizontal_aperture=20.955, + height=240, + width=320, + ) + prim_utils.create_prim("/World/Camera_warp", "Xform") + camera_cfg_warp = MultiMeshRayCasterCameraCfg( + prim_path="/World/Camera", + mesh_prim_paths=["/World/defaultGroundPlane"], + update_period=0, + offset=MultiMeshRayCasterCameraCfg.OffsetCfg(pos=(2.5, 2.5, 4.0), rot=offset_rot, convention="ros"), + debug_vis=False, + pattern_cfg=camera_pattern_cfg, + data_types=["distance_to_image_plane", "distance_to_camera", "normals"], + ) + camera_warp = MultiMeshRayCasterCamera(camera_cfg_warp) + + # create usd camera + camera_cfg_usd = CameraCfg( + height=240, + width=320, + prim_path="/World/Camera_usd", + update_period=0, + data_types=["distance_to_image_plane", "distance_to_camera", "normals"], + spawn=PinholeCameraCfg( + focal_length=24.0, focus_distance=400.0, horizontal_aperture=20.955, clipping_range=(1e-6, 1.0e5) + ), + offset=CameraCfg.OffsetCfg(pos=(2.5, 2.5, 4.0), rot=offset_rot, convention="ros"), + ) + camera_usd = Camera(camera_cfg_usd) + + # play sim + sim.reset() + sim.play() + + # perform steps + for _ in range(5): + sim.step() + + # update camera + camera_usd.update(dt) + camera_warp.update(dt) + + # check image data + torch.testing.assert_close( + camera_usd.data.output["distance_to_image_plane"], + camera_warp.data.output["distance_to_image_plane"], + ) + torch.testing.assert_close( + camera_usd.data.output["distance_to_camera"], + camera_warp.data.output["distance_to_camera"], + ) + + # check normals + # NOTE: floating point issues of ~1e-5, so using atol and rtol in this case + torch.testing.assert_close( + camera_usd.data.output["normals"][..., :3], + camera_warp.data.output["normals"], + rtol=1e-5, + atol=1e-4, + ) + + del camera_usd, camera_warp + + +def test_output_equal_to_usdcamera_prim_offset(setup_simulation): + """Test that the output of the ray caster camera is equal to the output of the usd camera when both are placed + under an XForm prim that is translated and rotated from the world origin.""" + sim, dt, camera_cfg = setup_simulation + + # Check simulation parameter is set correctly + assert sim.has_rtx_sensors() + + offset_rot = [-0.1251, 0.3617, 0.8731, -0.3020] + + # gf quat + gf_quatf = Gf.Quatd() + gf_quatf.SetReal(QUAT_OPENGL[0]) + gf_quatf.SetImaginary(tuple(QUAT_OPENGL[1:])) + + camera_pattern_cfg = patterns.PinholeCameraPatternCfg( + focal_length=24.0, + horizontal_aperture=20.955, + height=240, + width=320, + ) + prim_raycast_cam = prim_utils.create_prim("/World/Camera_warp", "Xform") + prim_raycast_cam.GetAttribute("xformOp:translate").Set(tuple(POSITION)) + prim_raycast_cam.GetAttribute("xformOp:orient").Set(gf_quatf) + + camera_cfg_warp = MultiMeshRayCasterCameraCfg( + prim_path="/World/Camera_warp", + mesh_prim_paths=["/World/defaultGroundPlane"], + update_period=0, + offset=MultiMeshRayCasterCameraCfg.OffsetCfg(pos=(0, 0, 2.0), rot=offset_rot, convention="ros"), + debug_vis=False, + pattern_cfg=camera_pattern_cfg, + data_types=["distance_to_image_plane", "distance_to_camera", "normals"], + ) + + camera_warp = MultiMeshRayCasterCamera(camera_cfg_warp) + + # create usd camera + camera_cfg_usd = CameraCfg( + height=240, + width=320, + prim_path="/World/Camera_usd/camera", + update_period=0, + data_types=["distance_to_image_plane", "distance_to_camera", "normals"], + spawn=PinholeCameraCfg( + focal_length=24.0, focus_distance=400.0, horizontal_aperture=20.955, clipping_range=(1e-6, 1.0e5) + ), + offset=CameraCfg.OffsetCfg(pos=(0, 0, 2.0), rot=offset_rot, convention="ros"), + ) + prim_usd = prim_utils.create_prim("/World/Camera_usd", "Xform") + prim_usd.GetAttribute("xformOp:translate").Set(tuple(POSITION)) + prim_usd.GetAttribute("xformOp:orient").Set(gf_quatf) + + camera_usd = Camera(camera_cfg_usd) + + # play sim + sim.reset() + sim.play() + + # perform steps + for _ in range(5): + sim.step() + + # update camera + camera_usd.update(dt) + camera_warp.update(dt) + + # check if pos and orientation are correct + torch.testing.assert_close(camera_warp.data.pos_w[0], camera_usd.data.pos_w[0]) + torch.testing.assert_close(camera_warp.data.quat_w_ros[0], camera_usd.data.quat_w_ros[0]) + + # check image data + torch.testing.assert_close( + camera_usd.data.output["distance_to_image_plane"], + camera_warp.data.output["distance_to_image_plane"], + ) + torch.testing.assert_close( + camera_usd.data.output["distance_to_camera"], + camera_warp.data.output["distance_to_camera"], + rtol=4e-6, + atol=2e-5, + ) + + # check normals + # NOTE: floating point issues of ~1e-5, so using atol and rtol in this case + torch.testing.assert_close( + camera_usd.data.output["normals"][..., :3], + camera_warp.data.output["normals"], + rtol=1e-5, + atol=1e-4, + ) + + del camera_usd, camera_warp + + +@pytest.mark.parametrize("height,width", [(540, 960), (240, 320)]) +def test_output_equal_to_usd_camera_intrinsics(setup_simulation, height, width): + """Test that the output of the ray caster camera and usd camera are the same when both are + initialized with the same intrinsic matrix.""" + sim, dt, camera_cfg = setup_simulation + + # Check simulation parameter is set correctly + assert sim.has_rtx_sensors() + + # create cameras + offset_rot = [-0.1251, 0.3617, 0.8731, -0.3020] + offset_pos = (2.5, 2.5, 4.0) + intrinsics = [380.0831, 0.0, width / 2, 0.0, 380.0831, height / 2, 0.0, 0.0, 1.0] + prim_utils.create_prim("/World/Camera_warp", "Xform") + # get camera cfgs + camera_warp_cfg = MultiMeshRayCasterCameraCfg( + prim_path="/World/Camera_warp", + mesh_prim_paths=["/World/defaultGroundPlane"], + offset=MultiMeshRayCasterCameraCfg.OffsetCfg(pos=offset_pos, rot=offset_rot, convention="ros"), + debug_vis=False, + pattern_cfg=patterns.PinholeCameraPatternCfg.from_intrinsic_matrix( + intrinsic_matrix=intrinsics, + height=height, + width=width, + focal_length=38.0, + ), + max_distance=20.0, + data_types=["distance_to_image_plane"], + ) + camera_usd_cfg = CameraCfg( + prim_path="/World/Camera_usd", + offset=CameraCfg.OffsetCfg(pos=offset_pos, rot=offset_rot, convention="ros"), + spawn=PinholeCameraCfg.from_intrinsic_matrix( + intrinsic_matrix=intrinsics, + height=height, + width=width, + clipping_range=(0.01, 20), + focal_length=38.0, + ), + height=height, + width=width, + data_types=["distance_to_image_plane"], + ) + + # set aperture offsets to 0, as currently not supported for usd camera + camera_warp_cfg.pattern_cfg.horizontal_aperture_offset = 0 + camera_warp_cfg.pattern_cfg.vertical_aperture_offset = 0 + camera_usd_cfg.spawn.horizontal_aperture_offset = 0 + camera_usd_cfg.spawn.vertical_aperture_offset = 0 + # init cameras + camera_warp = MultiMeshRayCasterCamera(camera_warp_cfg) + camera_usd = Camera(camera_usd_cfg) + + # play sim + sim.reset() + sim.play() + + # perform steps + for _ in range(5): + sim.step() + + # update camera + camera_usd.update(dt) + camera_warp.update(dt) + + # filter nan and inf from output + cam_warp_output = camera_warp.data.output["distance_to_image_plane"].clone() + cam_usd_output = camera_usd.data.output["distance_to_image_plane"].clone() + cam_warp_output[torch.isnan(cam_warp_output)] = 0 + cam_warp_output[torch.isinf(cam_warp_output)] = 0 + cam_usd_output[torch.isnan(cam_usd_output)] = 0 + cam_usd_output[torch.isinf(cam_usd_output)] = 0 + + # check that both have the same intrinsic matrices + torch.testing.assert_close(camera_warp.data.intrinsic_matrices[0], camera_usd.data.intrinsic_matrices[0]) + + # check the apertures + torch.testing.assert_close( + camera_usd._sensor_prims[0].GetHorizontalApertureAttr().Get(), + camera_warp_cfg.pattern_cfg.horizontal_aperture, + ) + torch.testing.assert_close( + camera_usd._sensor_prims[0].GetVerticalApertureAttr().Get(), + camera_warp_cfg.pattern_cfg.vertical_aperture, + ) + + # check image data + torch.testing.assert_close( + cam_warp_output, + cam_usd_output, + atol=5e-5, + rtol=5e-6, + ) + + del camera_usd, camera_warp + + +def test_output_equal_to_usd_camera_when_intrinsics_set(setup_simulation): + """Test that the output of the ray caster camera is equal to the output of the usd camera when both are placed + under an XForm prim and an intrinsic matrix is set.""" + sim, dt, camera_cfg = setup_simulation + + # Check simulation parameter is set correctly + assert sim.has_rtx_sensors() + + camera_pattern_cfg = patterns.PinholeCameraPatternCfg( + focal_length=24.0, + horizontal_aperture=20.955, + height=540, + width=960, + ) + camera_cfg_warp = MultiMeshRayCasterCameraCfg( + prim_path="/World/Camera", + mesh_prim_paths=["/World/defaultGroundPlane"], + update_period=0, + offset=MultiMeshRayCasterCameraCfg.OffsetCfg(pos=(0.0, 0.0, 0.0), rot=(1.0, 0.0, 0.0, 0.0)), + debug_vis=False, + pattern_cfg=camera_pattern_cfg, + data_types=["distance_to_camera"], + ) + + camera_warp = MultiMeshRayCasterCamera(camera_cfg_warp) + + # create usd camera + camera_cfg_usd = CameraCfg( + height=540, + width=960, + prim_path="/World/Camera_usd", + update_period=0, + data_types=["distance_to_camera"], + spawn=PinholeCameraCfg( + focal_length=24.0, focus_distance=400.0, horizontal_aperture=20.955, clipping_range=(1e-4, 1.0e5) + ), + ) + camera_usd = Camera(camera_cfg_usd) + + # play sim + sim.reset() + sim.play() + + # set intrinsic matrix + # NOTE: extend the test to cover aperture offsets once supported by the usd camera + intrinsic_matrix = torch.tensor( + [[380.0831, 0.0, camera_cfg_usd.width / 2, 0.0, 380.0831, camera_cfg_usd.height / 2, 0.0, 0.0, 1.0]], + device=camera_warp.device, + ).reshape(1, 3, 3) + camera_warp.set_intrinsic_matrices(intrinsic_matrix, focal_length=10) + camera_usd.set_intrinsic_matrices(intrinsic_matrix, focal_length=10) + + # set camera position + camera_warp.set_world_poses_from_view( + eyes=torch.tensor([[0.0, 0.0, 5.0]], device=camera_warp.device), + targets=torch.tensor([[0.0, 0.0, 0.0]], device=camera_warp.device), + ) + camera_usd.set_world_poses_from_view( + eyes=torch.tensor([[0.0, 0.0, 5.0]], device=camera_usd.device), + targets=torch.tensor([[0.0, 0.0, 0.0]], device=camera_usd.device), + ) + + # perform steps + for _ in range(5): + sim.step() + + # update camera + camera_usd.update(dt) + camera_warp.update(dt) + + # check image data + torch.testing.assert_close( + camera_usd.data.output["distance_to_camera"], + camera_warp.data.output["distance_to_camera"], + rtol=5e-3, + atol=1e-4, + ) + + del camera_usd, camera_warp From 7242ea29804f4e4f561708c17a8ef6ce73632117 Mon Sep 17 00:00:00 2001 From: Pascal Roth Date: Sun, 17 Aug 2025 14:32:35 +0200 Subject: [PATCH 009/121] add initial benchmark scripts and formatter --- .../benchmarks/benchmark_camera_throughput.py | 258 +++++++++++++++ scripts/benchmarks/benchmark_ray_caster.py | 299 ++++++++++++++++++ source/isaaclab/isaaclab/sensors/utils.py | 1 + .../sensors/test_multi_mesh_ray_caster.py | 57 ++-- .../test_multi_mesh_ray_caster_camera.py | 104 +++--- 5 files changed, 643 insertions(+), 76 deletions(-) create mode 100644 scripts/benchmarks/benchmark_camera_throughput.py create mode 100644 scripts/benchmarks/benchmark_ray_caster.py diff --git a/scripts/benchmarks/benchmark_camera_throughput.py b/scripts/benchmarks/benchmark_camera_throughput.py new file mode 100644 index 00000000000..42e4f2ced51 --- /dev/null +++ b/scripts/benchmarks/benchmark_camera_throughput.py @@ -0,0 +1,258 @@ +# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + +"""Benchmark throughput of different camera implementations. + +This script benchmarks per-step time while varying: +- camera implementation: standard camera, tiled camera, warp ray-caster camera +- image resolutions (height x width) +- number of environments + +Sensors are added to the scene config before `InteractiveScene` is constructed. +Each benchmark run initializes a fresh simulation and scene and tears it down. + +Examples: + + - Benchmark all camera types across resolutions: + ./isaaclab.sh -p scripts/benchmarks/benchmark_camera_throughput.py \\ + --num_envs 256 512 --impls standard,tiled,ray_caster \\ + --resolutions 240x320,480x640 --steps 200 --warmup 20 --headless + + - Only standard camera at 720p: + ./isaaclab.sh -p scripts/benchmarks/benchmark_camera_throughput.py \\ + --num_envs 256 --impls standard --resolutions 720x1280 --steps 200 --warmup 20 --headless +""" + +"""Launch Isaac Sim Simulator first.""" + +import argparse +import csv +import os +import time + +from isaaclab.app import AppLauncher + +parser = argparse.ArgumentParser(description="Benchmark throughput of different camera implementations.") +parser.add_argument( + "--num_envs", + type=int, + nargs="+", + default=[256, 512, 1024], + help="List of environment counts to benchmark (e.g., 256 512 1024).", +) +parser.add_argument( + "--impls", + type=str, + default="standard,tiled,ray_caster", + help="Comma-separated list of implementations: standard,tiled,ray_caster", +) +parser.add_argument( + "--resolutions", + type=str, + default="240x320,480x640", + help="Comma-separated list of HxW resolutions, e.g., 240x320,480x640", +) +parser.add_argument("--steps", type=int, default=500, help="Steps per run to time.") +parser.add_argument("--warmup", type=int, default=50, help="Warmup steps per run before timing.") + +# Append AppLauncher CLI args and parse +AppLauncher.add_app_launcher_args(parser) +args_cli, _ = parser.parse_known_args() +args_cli.enable_cameras = True + +# launch omniverse app +app_launcher = AppLauncher(args_cli) +simulation_app = app_launcher.app + +"""Rest everything follows.""" + +import isaaclab.sim as sim_utils +from isaaclab.assets import ArticulationCfg, AssetBaseCfg, RigidObjectCfg +from isaaclab.scene import InteractiveScene, InteractiveSceneCfg +from isaaclab.sensors import CameraCfg, RayCasterCameraCfg, TiledCameraCfg, patterns +from isaaclab.sim import SimulationContext +from isaaclab.utils import configclass +from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR + +# Robot config to attach sensors under a valid prim +from isaaclab_assets.robots.anymal import ANYMAL_D_CFG # isort: skip + + +def _parse_resolutions(res_str: str) -> list[tuple[int, int]]: + resolutions: list[tuple[int, int]] = [] + for token in [s for s in res_str.split(",") if s]: + h, w = token.lower().split("x") + resolutions.append((int(h), int(w))) + return resolutions + + +@configclass +class CameraBenchmarkSceneCfg(InteractiveSceneCfg): + """Scene config with ground, light, robot, and one camera sensor per env.""" + + ground = AssetBaseCfg( + prim_path="/World/ground", + spawn=sim_utils.UsdFileCfg(usd_path=f"{ISAAC_NUCLEUS_DIR}/Environments/Terrains/rough_plane.usd"), + ) + light = AssetBaseCfg( + prim_path="/World/Light", + spawn=sim_utils.DomeLightCfg(intensity=3000.0, color=(0.75, 0.75, 0.75)), + ) + robot: ArticulationCfg = ANYMAL_D_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot") # type: ignore[attr-defined] + + # one cube per environment (optional target for ray-caster camera) + cube: RigidObjectCfg = RigidObjectCfg( + prim_path="{ENV_REGEX_NS}/cube", + spawn=sim_utils.CuboidCfg( + size=(0.2, 0.2, 0.2), + rigid_props=sim_utils.RigidBodyPropertiesCfg(max_depenetration_velocity=1.0, disable_gravity=True), + mass_props=sim_utils.MassPropertiesCfg(mass=1.0), + visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.5, 0.0, 0.0)), + ), + init_state=RigidObjectCfg.InitialStateCfg(pos=(0.0, 0.0, 1.0)), + ) + + standard_camera: CameraCfg | None = None + tiled_camera: TiledCameraCfg | None = None + ray_caster_camera: RayCasterCameraCfg | None = None + + +def _make_scene_cfg_standard(num_envs: int, height: int, width: int, debug_vis: bool) -> CameraBenchmarkSceneCfg: + scene_cfg = CameraBenchmarkSceneCfg(num_envs=num_envs, env_spacing=2.0) + scene_cfg.standard_camera = CameraCfg( + prim_path="{ENV_REGEX_NS}/Camera", + height=height, + width=width, + data_types=["rgb"], + spawn=sim_utils.PinholeCameraCfg( + focal_length=24.0, focus_distance=400.0, horizontal_aperture=20.955, clipping_range=(0.1, 1e4) + ), + debug_vis=debug_vis, + ) + return scene_cfg + + +def _make_scene_cfg_tiled(num_envs: int, height: int, width: int, debug_vis: bool) -> CameraBenchmarkSceneCfg: + scene_cfg = CameraBenchmarkSceneCfg(num_envs=num_envs, env_spacing=2.0) + scene_cfg.tiled_camera = TiledCameraCfg( + prim_path="{ENV_REGEX_NS}/TiledCamera", + height=height, + width=width, + data_types=["rgb", "depth"], + spawn=sim_utils.PinholeCameraCfg( + focal_length=24.0, focus_distance=400.0, horizontal_aperture=20.955, clipping_range=(0.1, 1e4) + ), + debug_vis=debug_vis, + ) + return scene_cfg + + +def _make_scene_cfg_ray_caster(num_envs: int, height: int, width: int, debug_vis: bool) -> CameraBenchmarkSceneCfg: + scene_cfg = CameraBenchmarkSceneCfg(num_envs=num_envs, env_spacing=2.0) + scene_cfg.ray_caster_camera = RayCasterCameraCfg( + prim_path="{ENV_REGEX_NS}/Robot/base", # attach to existing prim + mesh_prim_paths=["/World/ground", "/World/envs/env_.*/cube"], + pattern_cfg=patterns.PinholeCameraPatternCfg( + focal_length=24.0, horizontal_aperture=20.955, height=height, width=width + ), + data_types=["distance_to_image_plane"], + debug_vis=debug_vis, + ) + return scene_cfg + + +import isaacsim.core.utils.stage as stage_utils + + +def _setup_scene(scene_cfg: CameraBenchmarkSceneCfg) -> tuple[SimulationContext, InteractiveScene, float]: + # Create a new stage to avoid residue across runs + stage_utils.create_new_stage() + sim_cfg = sim_utils.SimulationCfg(device=args_cli.device) + sim = SimulationContext(sim_cfg) + sim.set_camera_view((2.5, 0.0, 4.0), (0.0, 0.0, 2.0)) + setup_time_begin = time.perf_counter_ns() + scene = InteractiveScene(scene_cfg) + setup_time_end = time.perf_counter_ns() + print(f"[INFO]: Scene creation time: {(setup_time_end - setup_time_begin) / 1e6:.2f} ms") + reset_time_begin = time.perf_counter_ns() + sim.reset() + reset_time_end = time.perf_counter_ns() + print(f"[INFO]: Sim start time: {(reset_time_end - reset_time_begin) / 1e6:.2f} ms") + return sim, scene, sim.get_physics_dt() + + +def main(): + impls = [s.strip() for s in args_cli.impls.split(",") if s] + resolutions = _parse_resolutions(args_cli.resolutions) + results: list[dict[str, object]] = [] + + def _bench(num_envs: int, impl: str, height: int, width: int): + if impl == "standard": + scene_cfg = _make_scene_cfg_standard(num_envs, height, width, debug_vis=not args_cli.headless) + sim, scene, sim_dt = _setup_scene(scene_cfg) + camera_obj = scene["standard_camera"] + label = "StandardCamera" + elif impl == "tiled": + scene_cfg = _make_scene_cfg_tiled(num_envs, height, width, debug_vis=not args_cli.headless) + sim, scene, sim_dt = _setup_scene(scene_cfg) + camera_obj = scene["tiled_camera"] + label = "TiledCamera" + elif impl == "ray_caster": + scene_cfg = _make_scene_cfg_ray_caster(num_envs, height, width, debug_vis=not args_cli.headless) + sim, scene, sim_dt = _setup_scene(scene_cfg) + camera_obj = scene["ray_caster_camera"] + label = "RayCasterCamera" + else: + raise ValueError(f"Unknown impl: {impl}") + + # Warmup + for _ in range(args_cli.warmup): + sim.step() + camera_obj.update(dt=sim_dt) + # Timing + t0 = time.perf_counter_ns() + for _ in range(args_cli.steps): + sim.step() + camera_obj.update(dt=sim_dt) + t1 = time.perf_counter_ns() + per_step_ms = (t1 - t0) / args_cli.steps / 1e6 + print(f"[INFO]: {label}: {num_envs} envs, res={height}x{width}, per-step={per_step_ms:.3f} ms") + results.append({ + "impl": impl, + "num_envs": num_envs, + "height": height, + "width": width, + "per_step_ms": float(per_step_ms), + }) + # Teardown + sim.clear_instance() + + for num_envs in args_cli.num_envs: + for impl in impls: + print(f"\n[INFO]: Benchmarking {impl} cameras with {num_envs} envs") + for h, w in resolutions: + _bench(num_envs, impl, h, w) + + # Save results + os.makedirs("outputs/benchmarks", exist_ok=True) + csv_path = os.path.join("outputs/benchmarks", "camera_throughput.csv") + md_path = os.path.join("outputs/benchmarks", "camera_throughput.md") + + fieldnames = ["impl", "num_envs", "height", "width", "per_step_ms"] + with open(csv_path, "w", newline="") as f: + writer = csv.DictWriter(f, fieldnames=fieldnames) + writer.writeheader() + writer.writerows(results) + with open(md_path, "w") as f: + f.write("| impl | num_envs | height | width | per_step_ms |\n") + f.write("|---|---:|---:|---:|---:|\n") + for r in results: + f.write(f"| {r['impl']} | {r['num_envs']} | {r['height']} | {r['width']} | {r['per_step_ms']:.3f} |\n") + print(f"[INFO]: Saved benchmark results to {csv_path} and {md_path}") + + +if __name__ == "__main__": + main() + simulation_app.close() diff --git a/scripts/benchmarks/benchmark_ray_caster.py b/scripts/benchmarks/benchmark_ray_caster.py new file mode 100644 index 00000000000..361a2f0ae96 --- /dev/null +++ b/scripts/benchmarks/benchmark_ray_caster.py @@ -0,0 +1,299 @@ +# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md). +# All rights reserved. +# +# SPDX-License-Identifier: BSD-3-Clause + +"""Benchmark ray-caster sensors (single-mesh and multi-mesh). + +This script creates a simple scene with: +- a ground plane +- an ANYmal robot per environment +- an optional set of cubes per environment + +It places ray-caster sensors under the robot base and benchmarks update +times while varying the number of rays via the grid pattern resolution. + +Examples: + + - Single-mesh ray caster against ground only: + ./isaaclab.sh -p scripts/benchmarks/benchmark_ray_caster.py \\ + --num_envs_list 512 --mode single --resolutions 0.2,0.1,0.05 --headless + + - Multi-mesh ray caster against ground + cubes: + ./isaaclab.sh -p scripts/benchmarks/benchmark_ray_caster.py \\ + --num_envs 512 --mode multi --resolutions 0.2,0.1,0.05 --headless + + - Run both benchmarks: + ./isaaclab.sh -p scripts/benchmarks/benchmark_ray_caster.py \\ + --num_envs 512 --mode both --resolutions 0.2,0.1,0.05 --headless +""" + +"""Launch Isaac Sim Simulator first.""" + +import argparse +import csv +import os +import time + +from isaaclab.app import AppLauncher + +# add argparse arguments +parser = argparse.ArgumentParser(description="Benchmark ray caster sensors.") +parser.add_argument( + "--num_envs", + type=int, + default=[256, 512, 1024], + nargs="+", + help="List of environment counts to benchmark (e.g., 256 512 1024).", +) +parser.add_argument( + "--mode", + type=str, + choices=["single", "multi", "both"], + default="both", + help="Which benchmark to run: single (RayCaster), multi (MultiMeshRayCaster), or both.", +) +parser.add_argument( + "--resolutions", + type=float, + default=[0.2, 0.1, 0.05], + nargs="+", + help="List of grid resolutions to benchmark (meters).", +) +parser.add_argument("--steps", type=int, default=1000, help="Steps per resolution for timing.") +parser.add_argument("--warmup", type=int, default=150, help="Warmup steps before timing.") + +# append AppLauncher cli args +AppLauncher.add_app_launcher_args(parser) +# parse the arguments +args_cli, _ = parser.parse_known_args() +args_cli.headless = True + +# launch omniverse app +app_launcher = AppLauncher(args_cli) +simulation_app = app_launcher.app + +"""Rest everything follows.""" + +import isaacsim.core.utils.stage as stage_utils + +import isaaclab.sim as sim_utils +from isaaclab.assets import ArticulationCfg, AssetBaseCfg, RigidObjectCfg +from isaaclab.scene import InteractiveScene, InteractiveSceneCfg +from isaaclab.sensors.ray_caster import MultiMeshRayCaster, MultiMeshRayCasterCfg, RayCaster, RayCasterCfg, patterns +from isaaclab.sim import SimulationContext +from isaaclab.utils import configclass +from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR + +# Robot config +from isaaclab_assets.robots.anymal import ANYMAL_D_CFG # isort: skip + + +@configclass +class RayCasterBenchmarkSceneCfg(InteractiveSceneCfg): + """Scene config with ground, robot, and optional cubes per env.""" + + # ground plane (rough) + ground = AssetBaseCfg( + prim_path="/World/ground", + spawn=sim_utils.UsdFileCfg(usd_path=f"{ISAAC_NUCLEUS_DIR}/Environments/Terrains/rough_plane.usd"), + ) + + # lights + dome_light = AssetBaseCfg( + prim_path="/World/Light", spawn=sim_utils.DomeLightCfg(intensity=3000.0, color=(0.75, 0.75, 0.75)) + ) + + # robot + robot: ArticulationCfg = ANYMAL_D_CFG.replace(prim_path="{ENV_REGEX_NS}/Robot") # type: ignore[attr-defined] + + # cubes collection (optionally set at runtime) + cubes: RigidObjectCfg = RigidObjectCfg( + prim_path="{ENV_REGEX_NS}/cube", + spawn=sim_utils.CuboidCfg( + size=(0.2, 0.2, 0.2), + rigid_props=sim_utils.RigidBodyPropertiesCfg(max_depenetration_velocity=1.0, disable_gravity=True), + mass_props=sim_utils.MassPropertiesCfg(mass=1.0), + visual_material=sim_utils.PreviewSurfaceCfg(diffuse_color=(0.5, 0.0, 0.0)), + ), + init_state=RigidObjectCfg.InitialStateCfg(pos=(0.0, 0.0, 1.0)), + ) + + # sensors (set at runtime) + height_scanner: RayCasterCfg | None = None + height_scanner_multi: MultiMeshRayCasterCfg | None = None + + +def _make_scene_cfg_single(num_envs: int, resolution: float, debug_vis: bool) -> RayCasterBenchmarkSceneCfg: + scene_cfg = RayCasterBenchmarkSceneCfg(num_envs=num_envs, env_spacing=2.0) + scene_cfg.height_scanner = RayCasterCfg( + prim_path="{ENV_REGEX_NS}/Robot/base", + mesh_prim_paths=["/World/ground"], + pattern_cfg=patterns.GridPatternCfg(resolution=resolution, size=(5.0, 5.0)), + ray_alignment="yaw", + offset=RayCasterCfg.OffsetCfg(pos=(0.0, 0.0, 20.0)), + debug_vis=debug_vis, + ) + return scene_cfg + + +def _make_scene_cfg_multi( + num_envs: int, resolution: float, debug_vis: bool, track_mesh_transforms: bool +) -> RayCasterBenchmarkSceneCfg: + scene_cfg = RayCasterBenchmarkSceneCfg(num_envs=num_envs, env_spacing=2.0) + scene_cfg.height_scanner_multi = MultiMeshRayCasterCfg( + prim_path="{ENV_REGEX_NS}/Robot/base", + mesh_prim_paths=["/World/ground", "/World/envs/env_.*/cube"], + pattern_cfg=patterns.GridPatternCfg(resolution=resolution, size=(5.0, 5.0)), + attach_yaw_only=True, + offset=RayCasterCfg.OffsetCfg(pos=(0.0, 0.0, 20.0)), + debug_vis=debug_vis, + track_mesh_transforms=track_mesh_transforms, + ) + return scene_cfg + + +def main(): + """Main function.""" + # Prepare benchmark + results: list[dict[str, object]] = [] + + def _setup_scene(scene_cfg: RayCasterBenchmarkSceneCfg) -> tuple[SimulationContext, InteractiveScene, float]: + # Create a new stage + stage_utils.create_new_stage() + # New simulation per run + sim_cfg = sim_utils.SimulationCfg(device=args_cli.device) + sim = SimulationContext(sim_cfg) + sim.set_camera_view((2.5, 0.0, 4.0), (0.0, 0.0, 2.0)) + # Create scene with sensors + setup_time_begin = time.perf_counter_ns() + scene = InteractiveScene(scene_cfg) + setup_time_end = time.perf_counter_ns() + print(f"[INFO]: Scene creation time: {(setup_time_end - setup_time_begin) / 1e6:.2f} ms") + # Reset sim + reset_time_begin = time.perf_counter_ns() + sim.reset() + reset_time_end = time.perf_counter_ns() + print(f"[INFO]: Sim start time: {(reset_time_end - reset_time_begin) / 1e6:.2f} ms") + return sim, scene, sim.get_physics_dt() + + def _run_benchmark_single(num_envs: int): + print(f"\n[INFO]: Benchmarking RayCaster (ground) with {num_envs} envs") + for res in args_cli.resolutions: + scene_cfg = _make_scene_cfg_single(num_envs=num_envs, resolution=res, debug_vis=not args_cli.headless) + sim, scene, sim_dt = _setup_scene(scene_cfg) + sensor: RayCaster = scene["height_scanner"] + # Warmup + for _ in range(args_cli.warmup): + sim.step() + sensor.update(dt=sim_dt, force_recompute=True) + # Timing + t0 = time.perf_counter_ns() + for _ in range(args_cli.steps): + sim.step() + sensor.update(dt=sim_dt, force_recompute=True) + t1 = time.perf_counter_ns() + per_step_ms = (t1 - t0) / args_cli.steps / 1e6 + print( + f"[INFO]: RayCaster (ground): res={res:.4f}, rays/sensor={sensor.num_rays}, " + f"total rays={sensor.num_rays * sensor.num_instances}, per-step={per_step_ms:.3f} ms" + ) + results.append({ + "mode": "single", + "num_envs": num_envs, + "resolution": res, + "rays_per_sensor": int(sensor.num_rays), + "total_rays": int(sensor.num_rays * sensor.num_instances), + "per_step_ms": float(per_step_ms), + }) + # Cleanup + # stop simulation + # note: cannot use self.sim.stop() since it does one render step after stopping!! This doesn't make sense :( + sim._timeline.stop() + # clear the stage + sim.clear_all_callbacks() + sim.clear_instance() + # stop the simulation + sim.stop() # FIXME: this should not be necessary as the sim is stopped by the _timeline.stop() + + def _run_benchmark_multi(num_envs: int): + print(f"\n[INFO]: Benchmarking MultiMeshRayCaster (ground + cubes) with {num_envs} envs") + for res in args_cli.resolutions: + scene_cfg = _make_scene_cfg_multi( + num_envs=num_envs, resolution=res, debug_vis=not args_cli.headless, track_mesh_transforms=False + ) + sim, scene, sim_dt = _setup_scene(scene_cfg) + sensor: MultiMeshRayCaster = scene["height_scanner_multi"] + # Warmup + for _ in range(args_cli.warmup): + sim.step() + sensor.update(dt=sim_dt, force_recompute=True) + # Timing + t0 = time.perf_counter_ns() + for _ in range(args_cli.steps): + sim.step() + sensor.update(dt=sim_dt, force_recompute=True) + t1 = time.perf_counter_ns() + per_step_ms = (t1 - t0) / args_cli.steps / 1e6 + print( + f"[INFO]: MultiMeshRayCaster (ground + cubes): res={res:.4f}, rays/sensor={sensor.num_rays}, " + f"total rays={sensor.num_rays * sensor.num_instances}, per-step={per_step_ms:.3f} ms" + ) + results.append({ + "mode": "multi", + "num_envs": num_envs, + "resolution": res, + "rays_per_sensor": int(sensor.num_rays), + "total_rays": int(sensor.num_rays * sensor.num_instances), + "per_step_ms": float(per_step_ms), + }) + # Cleanup + # stop simulation + # note: cannot use self.sim.stop() since it does one render step after stopping!! This doesn't make sense :( + sim._timeline.stop() + # clear the stage + sim.clear_all_callbacks() + sim.clear_instance() + + # Run selected benchmarks for each env count + for num_envs in args_cli.num_envs: + if args_cli.mode in ("single", "both"): + _run_benchmark_single(num_envs) + if args_cli.mode in ("multi", "both"): + _run_benchmark_multi(num_envs) + + # Save results to CSV and Markdown for documentation + os.makedirs("outputs/benchmarks", exist_ok=True) + csv_path = os.path.join("outputs/benchmarks", "ray_caster_benchmark.csv") + md_path = os.path.join("outputs/benchmarks", "ray_caster_benchmark.md") + + fieldnames = [ + "mode", + "num_envs", + "resolution", + "rays_per_sensor", + "total_rays", + "per_step_ms", + ] + with open(csv_path, "w", newline="") as f: + writer = csv.DictWriter(f, fieldnames=fieldnames) + writer.writeheader() + for row in results: + writer.writerow(row) + # Markdown table + with open(md_path, "w") as f: + f.write("| mode | num_envs | resolution | rays_per_sensor | total_rays | per_step_ms |\n") + f.write("|---|---:|---:|---:|---:|---:|\n") + for r in results: + f.write( + f"| {r['mode']} | {r['num_envs']} | {r['resolution']:.4f} | " + f"{r['rays_per_sensor']} | {r['total_rays']} | {r['per_step_ms']:.3f} |\n" + ) + print(f"[INFO]: Saved benchmark results to {csv_path} and {md_path}") + + +if __name__ == "__main__": + # run the main function + main() + # close sim app + simulation_app.close() diff --git a/source/isaaclab/isaaclab/sensors/utils.py b/source/isaaclab/isaaclab/sensors/utils.py index b7d8f7be308..88256e35ffd 100644 --- a/source/isaaclab/isaaclab/sensors/utils.py +++ b/source/isaaclab/isaaclab/sensors/utils.py @@ -14,6 +14,7 @@ import omni.physics.tensors.impl.api as physx from isaacsim.core.prims import XFormPrim + from isaaclab.utils.math import convert_quat diff --git a/source/isaaclab/test/sensors/test_multi_mesh_ray_caster.py b/source/isaaclab/test/sensors/test_multi_mesh_ray_caster.py index c9a0c448708..60dceb43a6b 100644 --- a/source/isaaclab/test/sensors/test_multi_mesh_ray_caster.py +++ b/source/isaaclab/test/sensors/test_multi_mesh_ray_caster.py @@ -12,9 +12,10 @@ app_launcher = AppLauncher(headless=True) import numpy as np -import pytest import torch import trimesh + +import pytest import warp as wp from isaaclab.utils.math import matrix_from_quat, quat_from_euler_xyz, random_orientation @@ -30,7 +31,9 @@ def device(): def rays(device): ray_starts = torch.tensor([[0, -0.35, -5], [0.25, 0.35, -5]], dtype=torch.float32, device=device).unsqueeze(0) ray_directions = torch.tensor([[0, 0, 1], [0, 0, 1]], dtype=torch.float32, device=device).unsqueeze(0) - expected_ray_hits = torch.tensor([[0, -0.35, -0.5], [0.25, 0.35, -0.5]], dtype=torch.float32, device=device).unsqueeze(0) + expected_ray_hits = torch.tensor( + [[0, -0.35, -0.5], [0.25, 0.35, -0.5]], dtype=torch.float32, device=device + ).unsqueeze(0) return ray_starts, ray_directions, expected_ray_hits @@ -72,7 +75,9 @@ def test_raycast_multi_cubes(device, trimesh_box, rays): return_mesh_id=True, ) - torch.testing.assert_close(ray_hits, torch.tensor([[[0, 0, -0.5], [0, 2.5, -0.5]]], dtype=torch.float32, device=device)) + torch.testing.assert_close( + ray_hits, torch.tensor([[[0, 0, -0.5], [0, 2.5, -0.5]]], dtype=torch.float32, device=device) + ) torch.testing.assert_close(ray_distance, torch.tensor([[4.5, 4.5]], dtype=torch.float32, device=device)) torch.testing.assert_close(ray_normal, torch.tensor([[[0, 0, -1], [0, 0, -1]]], dtype=torch.float32, device=device)) assert torch.equal(mesh_ids, torch.tensor([[0, 1]], dtype=torch.int32, device=device)) @@ -131,31 +136,29 @@ def test_raycast_single_cube(device, single_mesh, rays): ) torch.testing.assert_close(ray_hits, expected_ray_hits) torch.testing.assert_close(ray_distance, torch.tensor([[4.5, 4.5]], dtype=torch.float32, device=device)) - torch.testing.assert_close( - ray_normal, torch.tensor([[[0, 0, -1], [0, 0, -1]]], dtype=torch.float32, device=device) - ) + torch.testing.assert_close(ray_normal, torch.tensor([[[0, 0, -1], [0, 0, -1]]], dtype=torch.float32, device=device)) torch.testing.assert_close(ray_face_id, torch.tensor([[3, 8]], dtype=torch.int32, device=device)) @pytest.mark.parametrize("num_samples", [10]) def test_raycast_moving_cube(device, single_mesh, rays, num_samples): - """Test raycasting against a single cube with different distances. - |-------------| - |\ | - | \ | - | \ 8 | - | \ | - | \ x_1 | - | \ | - | \ | - | \ | - | \ | - | \ | - | 3 x_2 \ | - | \ | - | \| - |-------------| - + r"""Test raycasting against a single cube with different distances. + |-------------| + |\ | + | \ | + | \ 8 | + | \ | + | \ x_1 | + | \ | + | \ | + | \ | + | \ | + | \ | + | 3 x_2 \ | + | \ | + | \| + |-------------| + """ ray_starts, ray_directions, expected_ray_hits = rays _, single_mesh_id = single_mesh @@ -177,7 +180,9 @@ def test_raycast_moving_cube(device, single_mesh, rays, num_samples): expected_ray_hits + torch.tensor([[0, 0, distance], [0, 0, distance]], dtype=torch.float32, device=device).unsqueeze(0), ) - torch.testing.assert_close(ray_distance, distance + torch.tensor([[4.5, 4.5]], dtype=torch.float32, device=device)) + torch.testing.assert_close( + ray_distance, distance + torch.tensor([[4.5, 4.5]], dtype=torch.float32, device=device) + ) torch.testing.assert_close( ray_normal, torch.tensor([[[0, 0, -1], [0, 0, -1]]], dtype=torch.float32, device=device) ) @@ -201,9 +206,7 @@ def test_raycast_rotated_cube(device, single_mesh, rays): ) torch.testing.assert_close(ray_hits, expected_ray_hits) torch.testing.assert_close(ray_distance, torch.tensor([[4.5, 4.5]], dtype=torch.float32, device=device)) - torch.testing.assert_close( - ray_normal, torch.tensor([[[0, 0, -1], [0, 0, -1]]], dtype=torch.float32, device=device) - ) + torch.testing.assert_close(ray_normal, torch.tensor([[[0, 0, -1], [0, 0, -1]]], dtype=torch.float32, device=device)) # Make sure the face ids are correct. The cube is rotated by 90deg. so the face ids are different. torch.testing.assert_close(ray_face_id, torch.tensor([[8, 3]], dtype=torch.int32, device=device)) diff --git a/source/isaaclab/test/sensors/test_multi_mesh_ray_caster_camera.py b/source/isaaclab/test/sensors/test_multi_mesh_ray_caster_camera.py index 5db826ae28c..1fb7b0856b5 100644 --- a/source/isaaclab/test/sensors/test_multi_mesh_ray_caster_camera.py +++ b/source/isaaclab/test/sensors/test_multi_mesh_ray_caster_camera.py @@ -20,12 +20,14 @@ import numpy as np import os import torch -import pytest import isaacsim.core.utils.prims as prim_utils import isaacsim.core.utils.stage as stage_utils -import isaaclab.sim as sim_utils import omni.replicator.core as rep +import pytest +from pxr import Gf + +import isaaclab.sim as sim_utils from isaaclab.sensors.camera import Camera, CameraCfg from isaaclab.sensors.ray_caster import MultiMeshRayCasterCamera, MultiMeshRayCasterCameraCfg, patterns from isaaclab.sim import PinholeCameraCfg @@ -33,7 +35,6 @@ from isaaclab.terrains.utils import create_prim_from_mesh from isaaclab.utils import convert_dict_to_backend from isaaclab.utils.timer import Timer -from pxr import Gf # sample camera poses POSITION = [2.5, 2.5, 2.5] @@ -57,14 +58,12 @@ def setup_simulation(): create_prim_from_mesh("/World/defaultGroundPlane", mesh) # load stage stage_utils.update_stage() - + camera_cfg = MultiMeshRayCasterCameraCfg( prim_path="/World/Camera", mesh_prim_paths=["/World/defaultGroundPlane"], update_period=0, - offset=MultiMeshRayCasterCameraCfg.OffsetCfg( - pos=(0.0, 0.0, 0.0), rot=(1.0, 0.0, 0.0, 0.0), convention="world" - ), + offset=MultiMeshRayCasterCameraCfg.OffsetCfg(pos=(0.0, 0.0, 0.0), rot=(1.0, 0.0, 0.0, 0.0), convention="world"), debug_vis=False, pattern_cfg=patterns.PinholeCameraPatternCfg( focal_length=24.0, @@ -79,7 +78,7 @@ def setup_simulation(): prim_utils.create_prim("/World/Camera", "Xform") yield sim, dt, camera_cfg - + # Cleanup # close all the opened viewport from before. rep.vp_manager.destroy_hydra_textures("Replicator") @@ -91,15 +90,18 @@ def setup_simulation(): sim.clear_instance() -@pytest.mark.parametrize("convention,quat", [ - ("ros", QUAT_ROS), - ("opengl", QUAT_OPENGL), - ("world", QUAT_WORLD), -]) +@pytest.mark.parametrize( + "convention,quat", + [ + ("ros", QUAT_ROS), + ("opengl", QUAT_OPENGL), + ("world", QUAT_WORLD), + ], +) def test_camera_init_offset(setup_simulation, convention, quat): """Test camera initialization with offset using different conventions.""" sim, dt, camera_cfg = setup_simulation - + # Create camera config with specific convention cam_cfg_offset = copy.deepcopy(camera_cfg) cam_cfg_offset.offset = MultiMeshRayCasterCameraCfg.OffsetCfg( @@ -109,25 +111,25 @@ def test_camera_init_offset(setup_simulation, convention, quat): ) prim_utils.create_prim(f"/World/CameraOffset{convention.capitalize()}", "Xform") cam_cfg_offset.prim_path = f"/World/CameraOffset{convention.capitalize()}" - + camera = MultiMeshRayCasterCamera(cam_cfg_offset) - + # play sim sim.reset() - + # update camera camera.update(dt) - + # check that transform is set correctly np.testing.assert_allclose(camera.data.pos_w[0].cpu().numpy(), cam_cfg_offset.offset.pos) - + del camera def test_camera_init(setup_simulation): """Test camera initialization.""" sim, dt, camera_cfg = setup_simulation - + # Create camera camera = MultiMeshRayCasterCamera(cfg=camera_cfg) # Play sim @@ -163,7 +165,7 @@ def test_camera_init(setup_simulation): def test_camera_resolution(setup_simulation): """Test camera resolution is correctly set.""" sim, dt, camera_cfg = setup_simulation - + # Create camera camera = MultiMeshRayCasterCamera(cfg=camera_cfg) # Play sim @@ -184,21 +186,19 @@ def test_camera_resolution(setup_simulation): def test_camera_init_intrinsic_matrix(setup_simulation): """Test camera initialization from intrinsic matrix.""" sim, dt, camera_cfg = setup_simulation - + # get the first camera camera_1 = MultiMeshRayCasterCamera(cfg=camera_cfg) # get intrinsic matrix sim.reset() intrinsic_matrix = camera_1.data.intrinsic_matrices[0].cpu().flatten().tolist() - + # initialize from intrinsic matrix intrinsic_camera_cfg = MultiMeshRayCasterCameraCfg( prim_path="/World/Camera", mesh_prim_paths=["/World/defaultGroundPlane"], update_period=0, - offset=MultiMeshRayCasterCameraCfg.OffsetCfg( - pos=(0.0, 0.0, 0.0), rot=(1.0, 0.0, 0.0, 0.0), convention="world" - ), + offset=MultiMeshRayCasterCameraCfg.OffsetCfg(pos=(0.0, 0.0, 0.0), rot=(1.0, 0.0, 0.0, 0.0), convention="world"), debug_vis=False, pattern_cfg=patterns.PinholeCameraPatternCfg.from_intrinsic_matrix( intrinsic_matrix=intrinsic_matrix, @@ -235,18 +235,18 @@ def test_camera_init_intrinsic_matrix(setup_simulation): def test_multi_camera_init(setup_simulation): """Test multi-camera initialization.""" sim, dt, camera_cfg = setup_simulation - + # -- camera 1 cam_cfg_1 = copy.deepcopy(camera_cfg) - cam_cfg_1.prim_path = f"/World/Camera_0" - prim_utils.create_prim(f"/World/Camera_0", "Xform") + cam_cfg_1.prim_path = "/World/Camera_0" + prim_utils.create_prim("/World/Camera_0", "Xform") # Create camera cam_1 = MultiMeshRayCasterCamera(cam_cfg_1) # -- camera 2 cam_cfg_2 = copy.deepcopy(camera_cfg) - cam_cfg_2.prim_path = f"/World/Camera_1" - prim_utils.create_prim(f"/World/Camera_1", "Xform") + cam_cfg_2.prim_path = "/World/Camera_1" + prim_utils.create_prim("/World/Camera_1", "Xform") # Create camera cam_2 = MultiMeshRayCasterCamera(cam_cfg_2) @@ -276,7 +276,7 @@ def test_multi_camera_init(setup_simulation): def test_camera_set_world_poses(setup_simulation): """Test camera function to set specific world pose.""" sim, dt, camera_cfg = setup_simulation - + camera = MultiMeshRayCasterCamera(camera_cfg) # play sim sim.reset() @@ -297,7 +297,7 @@ def test_camera_set_world_poses(setup_simulation): def test_camera_set_world_poses_from_view(setup_simulation): """Test camera function to set specific world pose from view.""" sim, dt, camera_cfg = setup_simulation - + camera = MultiMeshRayCasterCamera(camera_cfg) # play sim sim.reset() @@ -320,7 +320,7 @@ def test_camera_set_world_poses_from_view(setup_simulation): def test_intrinsic_matrix(setup_simulation, height, width): """Checks that the camera's set and retrieve methods work for intrinsic matrix.""" sim, dt, camera_cfg = setup_simulation - + camera_cfg_copy = copy.deepcopy(camera_cfg) camera_cfg_copy.pattern_cfg.height = height camera_cfg_copy.pattern_cfg.width = width @@ -352,7 +352,7 @@ def test_intrinsic_matrix(setup_simulation, height, width): def test_throughput(setup_simulation): """Checks that the single camera gets created properly with a rig.""" sim, dt, camera_cfg = setup_simulation - + # Create directory temp dir to dump the results file_dir = os.path.dirname(os.path.realpath(__file__)) temp_dir = os.path.join(file_dir, "output", "camera", "throughput") @@ -406,15 +406,18 @@ def test_throughput(setup_simulation): del camera -@pytest.mark.parametrize("data_types", [ - ["distance_to_image_plane", "distance_to_camera", "normals"], - ["distance_to_image_plane"], - ["distance_to_camera"], -]) +@pytest.mark.parametrize( + "data_types", + [ + ["distance_to_image_plane", "distance_to_camera", "normals"], + ["distance_to_image_plane"], + ["distance_to_camera"], + ], +) def test_output_equal_to_usdcamera(setup_simulation, data_types): """Test that ray caster camera output equals USD camera output.""" sim, dt, camera_cfg = setup_simulation - + # Check simulation parameter is set correctly assert sim.has_rtx_sensors() @@ -512,14 +515,17 @@ def test_output_equal_to_usdcamera(setup_simulation, data_types): del camera_usd, camera_warp -@pytest.mark.parametrize("offset_rot", [ - [-0.1251, 0.3617, 0.8731, -0.3020], - [0.0, 0.0, 0.0, 1.0], -]) +@pytest.mark.parametrize( + "offset_rot", + [ + [-0.1251, 0.3617, 0.8731, -0.3020], + [0.0, 0.0, 0.0, 1.0], + ], +) def test_output_equal_to_usdcamera_offset(setup_simulation, offset_rot): """Test that ray caster camera output equals USD camera output with offset.""" sim, dt, camera_cfg = setup_simulation - + # Check simulation parameter is set correctly assert sim.has_rtx_sensors() @@ -593,7 +599,7 @@ def test_output_equal_to_usdcamera_prim_offset(setup_simulation): """Test that the output of the ray caster camera is equal to the output of the usd camera when both are placed under an XForm prim that is translated and rotated from the world origin.""" sim, dt, camera_cfg = setup_simulation - + # Check simulation parameter is set correctly assert sim.has_rtx_sensors() @@ -689,7 +695,7 @@ def test_output_equal_to_usd_camera_intrinsics(setup_simulation, height, width): """Test that the output of the ray caster camera and usd camera are the same when both are initialized with the same intrinsic matrix.""" sim, dt, camera_cfg = setup_simulation - + # Check simulation parameter is set correctly assert sim.has_rtx_sensors() @@ -785,7 +791,7 @@ def test_output_equal_to_usd_camera_when_intrinsics_set(setup_simulation): """Test that the output of the ray caster camera is equal to the output of the usd camera when both are placed under an XForm prim and an intrinsic matrix is set.""" sim, dt, camera_cfg = setup_simulation - + # Check simulation parameter is set correctly assert sim.has_rtx_sensors() From 2c6c60721d0a898e92a52a457b656aa15c9a60aa Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Ren=C3=A9=20zurbr=C3=BCgg?= Date: Sun, 17 Aug 2025 15:12:40 +0200 Subject: [PATCH 010/121] Fix check script --- .../sensors/check_multi_mesh_ray_caster.py | 31 ++++++++++--------- 1 file changed, 16 insertions(+), 15 deletions(-) diff --git a/source/isaaclab/test/sensors/check_multi_mesh_ray_caster.py b/source/isaaclab/test/sensors/check_multi_mesh_ray_caster.py index 91a2f86669c..54e28031414 100644 --- a/source/isaaclab/test/sensors/check_multi_mesh_ray_caster.py +++ b/source/isaaclab/test/sensors/check_multi_mesh_ray_caster.py @@ -17,7 +17,7 @@ import argparse -from omni.isaac.lab.app import AppLauncher +from isaaclab.app import AppLauncher # add argparse arguments parser = argparse.ArgumentParser(description="Ray Caster Test Script") @@ -44,19 +44,20 @@ import random import torch -import omni.isaac.core.utils.prims as prim_utils -import omni.isaac.lab.sim as sim_utils -import omni.isaac.lab.terrains as terrain_gen -from omni.isaac.cloner import GridCloner -from omni.isaac.core.prims import RigidPrimView -from omni.isaac.core.simulation_context import SimulationContext -from omni.isaac.core.utils.viewports import set_camera_view -from omni.isaac.lab.sensors.ray_caster import MultiMeshRayCaster, MultiMeshRayCasterCfg, patterns -from omni.isaac.lab.terrains.config.rough import ROUGH_TERRAINS_CFG -from omni.isaac.lab.terrains.terrain_importer import TerrainImporter -from omni.isaac.lab.utils.assets import ISAAC_NUCLEUS_DIR -from omni.isaac.lab.utils.math import quat_from_euler_xyz -from omni.isaac.lab.utils.timer import Timer +import isaacsim.core.utils.prims as prim_utils +from isaacsim.core.api.simulation_context import SimulationContext +from isaacsim.core.cloner import GridCloner +from isaacsim.core.prims import RigidPrim +from isaacsim.core.utils.viewports import set_camera_view + +import isaaclab.sim as sim_utils +import isaaclab.terrains as terrain_gen +from isaaclab.sensors.ray_caster import MultiMeshRayCaster, MultiMeshRayCasterCfg, patterns +from isaaclab.terrains.config.rough import ROUGH_TERRAINS_CFG +from isaaclab.terrains.terrain_importer import TerrainImporter +from isaaclab.utils.assets import ISAAC_NUCLEUS_DIR +from isaaclab.utils.math import quat_from_euler_xyz +from isaaclab.utils.timer import Timer def design_scene(sim: SimulationContext, num_envs: int = 2048): @@ -157,7 +158,7 @@ def main(): ) ray_caster = MultiMeshRayCaster(cfg=ray_caster_cfg) # Create a view over all the balls - ball_view = RigidPrimView("/World/envs/env_.*/ball", reset_xform_properties=False) + ball_view = RigidPrim("/World/envs/env_.*/ball", reset_xform_properties=False) # Play simulator sim.reset() From 86418d369a951f7d0444930213cf8859e3d5ee32 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Ren=C3=A9=20zurbr=C3=BCgg?= Date: Sun, 17 Aug 2025 15:30:20 +0200 Subject: [PATCH 011/121] Manually merging pascal-roth changes from static vars branch --- Wheels/iopath-0.1.10-py3-none-any.whl | Bin 0 -> 31528 bytes Wheels/portalocker-2.10.1-py3-none-any.whl | Bin 0 -> 18423 bytes ...torch3d-0.7.8-cp310-cp310-linux_x86_64.whl | Bin 0 -> 11942657 bytes Wheels/tqdm-4.66.5-py3-none-any.whl | Bin 0 -> 78351 bytes .../typing_extensions-4.12.2-py3-none-any.whl | Bin 0 -> 37438 bytes .../ray_caster/multi_mesh_ray_caster.py | 308 +++++++++++++++--- .../multi_mesh_ray_caster_camera.py | 52 ++- .../multi_mesh_ray_caster_camera_cfg.py | 16 +- .../multi_mesh_ray_caster_camera_data.py | 24 ++ .../ray_caster/multi_mesh_ray_caster_cfg.py | 13 + .../ray_caster/multi_mesh_ray_caster_data.py | 24 ++ .../isaaclab/sensors/ray_caster/ray_caster.py | 38 ++- source/isaaclab/isaaclab/utils/warp/ops.py | 2 +- 13 files changed, 394 insertions(+), 83 deletions(-) create mode 100644 Wheels/iopath-0.1.10-py3-none-any.whl create mode 100644 Wheels/portalocker-2.10.1-py3-none-any.whl create mode 100644 Wheels/pytorch3d-0.7.8-cp310-cp310-linux_x86_64.whl create mode 100644 Wheels/tqdm-4.66.5-py3-none-any.whl create mode 100644 Wheels/typing_extensions-4.12.2-py3-none-any.whl create mode 100644 source/isaaclab/isaaclab/sensors/ray_caster/multi_mesh_ray_caster_camera_data.py create mode 100644 source/isaaclab/isaaclab/sensors/ray_caster/multi_mesh_ray_caster_data.py diff --git a/Wheels/iopath-0.1.10-py3-none-any.whl b/Wheels/iopath-0.1.10-py3-none-any.whl new file mode 100644 index 0000000000000000000000000000000000000000..0321ab479b0f2104b521cc6f32dd7e78c2a7c79a GIT binary patch literal 31528 zcmZs?Q;aTLu&&#-ZQHhO+wT6_wr$()*|u%lwyoKoz5kP(WSy0Ll2JF~s_GrdQ#Ddm 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