Feat/ext example

exts/StrideSim/StrideSim/__init__.py

@@ -2,8 +2,11 @@
 Python module serving as a project/extension template.
 """
 
-# Register Gym environments.
-from .tasks import *
+from .base_sample import *
 
 # Register UI extensions.
-from .ui import *
+from .quadruped import *
+from .quadruped_extension import *
+
+# Register Gym environments.
+from .tasks import *

exts/StrideSim/StrideSim/base_sample/__init__.py

@@ -0,0 +1,2 @@
+from .base_sample import BaseSample
+from .base_sample_extension import BaseSampleExtension

exts/StrideSim/StrideSim/base_sample/base_sample.py

@@ -0,0 +1,127 @@
+# Copyright (c) 2018-2023, NVIDIA CORPORATION. All rights reserved.
+#
+# NVIDIA CORPORATION and its licensors retain all intellectual property
+# and proprietary rights in and to this software, related documentation
+# and any modifications thereto. Any use, reproduction, disclosure or
+# distribution of this software and related documentation without an express
+# license agreement from NVIDIA CORPORATION is strictly prohibited.
+#
+import gc
+from abc import abstractmethod
+
+from omni.isaac.core import World
+from omni.isaac.core.scenes.scene import Scene
+from omni.isaac.core.utils.stage import create_new_stage_async, update_stage_async
+
+
+class BaseSample:
+    def __init__(self) -> None:
+        self._world = None
+        self._current_tasks = None
+        self._world_settings = {"physics_dt": 1.0 / 60.0, "stage_units_in_meters": 1.0, "rendering_dt": 1.0 / 60.0}
+        # self._logging_info = ""
+        return
+
+    def get_world(self):
+        return self._world
+
+    def set_world_settings(self, physics_dt=None, stage_units_in_meters=None, rendering_dt=None):
+        if physics_dt is not None:
+            self._world_settings["physics_dt"] = physics_dt
+        if stage_units_in_meters is not None:
+            self._world_settings["stage_units_in_meters"] = stage_units_in_meters
+        if rendering_dt is not None:
+            self._world_settings["rendering_dt"] = rendering_dt
+        return
+
+    async def load_world_async(self):
+        """Function called when clicking load button"""
+        if World.instance() is None:
+            await create_new_stage_async()
+            self._world = World(**self._world_settings)
+            await self._world.initialize_simulation_context_async()
+            self.setup_scene()
+        else:
+            self._world = World.instance()
+        self._current_tasks = self._world.get_current_tasks()
+        await self._world.reset_async()
+        await self._world.pause_async()
+        await self.setup_post_load()
+        if len(self._current_tasks) > 0:
+            self._world.add_physics_callback("tasks_step", self._world.step_async)
+        return
+
+    async def reset_async(self):
+        """Function called when clicking reset button"""
+        if self._world.is_tasks_scene_built() and len(self._current_tasks) > 0:
+            self._world.remove_physics_callback("tasks_step")
+        await self._world.play_async()
+        await update_stage_async()
+        await self.setup_pre_reset()
+        await self._world.reset_async()
+        await self._world.pause_async()
+        await self.setup_post_reset()
+        if self._world.is_tasks_scene_built() and len(self._current_tasks) > 0:
+            self._world.add_physics_callback("tasks_step", self._world.step_async)
+        return
+
+    @abstractmethod
+    def setup_scene(self, scene: Scene) -> None:
+        """used to setup anything in the world, adding tasks happen here for instance.
+
+        Args:
+            scene (Scene): [description]
+        """
+        return
+
+    @abstractmethod
+    async def setup_post_load(self):
+        """called after first reset of the world when pressing load,
+        initializing private variables happen here.
+        """
+        return
+
+    @abstractmethod
+    async def setup_pre_reset(self):
+        """called in reset button before resetting the world
+        to remove a physics callback for instance or a controller reset
+        """
+        return
+
+    @abstractmethod
+    async def setup_post_reset(self):
+        """called in reset button after resetting the world which includes one step with rendering"""
+        return
+
+    @abstractmethod
+    async def setup_post_clear(self):
+        """called after clicking clear button
+        or after creating a new stage and clearing the instance of the world with its callbacks
+        """
+        return
+
+    # def log_info(self, info):
+    #     self._logging_info += str(info) + "\n"
+    #     return
+
+    def _world_cleanup(self):
+        self._world.stop()
+        self._world.clear_all_callbacks()
+        self._current_tasks = None
+        self.world_cleanup()
+        return
+
+    def world_cleanup(self):
+        """Function called when extension shutdowns and starts again, (hot reloading feature)"""
+        return
+
+    async def clear_async(self):
+        """Function called when clicking clear button"""
+        await create_new_stage_async()
+        if self._world is not None:
+            self._world_cleanup()
+            self._world.clear_instance()
+            self._world = None
+            gc.collect()
+        await self.setup_post_clear()
+        return

exts/StrideSim/StrideSim/base_sample/base_sample_extension.py

@@ -0,0 +1,237 @@
+# Copyright (c) 2018-2023, NVIDIA CORPORATION. All rights reserved.
+#
+# NVIDIA CORPORATION and its licensors retain all intellectual property
+# and proprietary rights in and to this software, related documentation
+# and any modifications thereto. Any use, reproduction, disclosure or
+# distribution of this software and related documentation without an express
+# license agreement from NVIDIA CORPORATION is strictly prohibited.
+#
+
+import asyncio
+import weakref
+from abc import abstractmethod
+
+import omni.ext
+import omni.ui as ui
+from omni.isaac.core import World
+from omni.isaac.examples.base_sample import BaseSample
+from omni.isaac.ui.menu import make_menu_item_description
+from omni.isaac.ui.ui_utils import btn_builder, get_style, setup_ui_headers  # scrolling_frame_builder
+from omni.kit.menu.utils import MenuItemDescription, add_menu_items, remove_menu_items
+
+
+class BaseSampleExtension(omni.ext.IExt):
+    def on_startup(self, ext_id: str):
+        self._menu_items = None
+        self._buttons = None
+        self._ext_id = ext_id
+        self._sample = None
+        self._extra_frames = []
+        return
+
+    def start_extension(
+        self,
+        menu_name: str,
+        submenu_name: str,
+        name: str,
+        title: str,
+        doc_link: str,
+        overview: str,
+        file_path: str,
+        sample=None,
+        number_of_extra_frames=1,
+        window_width=350,
+        keep_window_open=False,
+    ):
+        if sample is None:
+            self._sample = BaseSample()
+        else:
+            self._sample = sample
+
+        menu_items = [make_menu_item_description(self._ext_id, name, lambda a=weakref.proxy(self): a._menu_callback())]
+        if menu_name == "" or menu_name is None:
+            self._menu_items = menu_items
+        elif submenu_name == "" or submenu_name is None:
+            self._menu_items = [MenuItemDescription(name=menu_name, sub_menu=menu_items)]
+        else:
+            self._menu_items = [
+                MenuItemDescription(
+                    name=menu_name, sub_menu=[MenuItemDescription(name=submenu_name, sub_menu=menu_items)]
+                )
+            ]
+        add_menu_items(self._menu_items, "Isaac Examples")
+
+        self._buttons = dict()
+        self._build_ui(
+            name=name,
+            title=title,
+            doc_link=doc_link,
+            overview=overview,
+            file_path=file_path,
+            number_of_extra_frames=number_of_extra_frames,
+            window_width=window_width,
+            keep_window_open=keep_window_open,
+        )
+        return
+
+    @property
+    def sample(self):
+        return self._sample
+
+    def get_frame(self, index):
+        if index >= len(self._extra_frames):
+            raise Exception(f"there were {len(self._extra_frames)} extra frames created only")
+        return self._extra_frames[index]
+
+    def get_world(self):
+        return World.instance()
+
+    def get_buttons(self):
+        return self._buttons
+
+    def _build_ui(
+        self, name, title, doc_link, overview, file_path, number_of_extra_frames, window_width, keep_window_open
+    ):
+        self._window = omni.ui.Window(
+            name, width=window_width, height=0, visible=keep_window_open, dockPreference=ui.DockPreference.LEFT_BOTTOM
+        )
+        with self._window.frame:
+            self._main_stack = ui.VStack(spacing=5, height=0)
+            with self._main_stack:
+                setup_ui_headers(self._ext_id, file_path, title, doc_link, overview)
+                self._controls_frame = ui.CollapsableFrame(
+                    title="World Controls",
+                    width=ui.Fraction(1),
+                    height=0,
+                    collapsed=False,
+                    style=get_style(),
+                    horizontal_scrollbar_policy=ui.ScrollBarPolicy.SCROLLBAR_AS_NEEDED,
+                    vertical_scrollbar_policy=ui.ScrollBarPolicy.SCROLLBAR_ALWAYS_ON,
+                )
+                with ui.VStack(style=get_style(), spacing=5, height=0):
+                    for i in range(number_of_extra_frames):
+                        self._extra_frames.append(
+                            ui.CollapsableFrame(
+                                title="",
+                                width=ui.Fraction(0.33),
+                                height=0,
+                                visible=False,
+                                collapsed=False,
+                                style=get_style(),
+                                horizontal_scrollbar_policy=ui.ScrollBarPolicy.SCROLLBAR_AS_NEEDED,
+                                vertical_scrollbar_policy=ui.ScrollBarPolicy.SCROLLBAR_ALWAYS_ON,
+                            )
+                        )
+                with self._controls_frame:
+                    with ui.VStack(style=get_style(), spacing=5, height=0):
+                        dict = {
+                            "label": "Load World",
+                            "type": "button",
+                            "text": "Load",
+                            "tooltip": "Load World and Task",
+                            "on_clicked_fn": self._on_load_world,
+                        }
+                        self._buttons["Load World"] = btn_builder(**dict)
+                        self._buttons["Load World"].enabled = True
+                        dict = {
+                            "label": "Reset",
+                            "type": "button",
+                            "text": "Reset",
+                            "tooltip": "Reset robot and environment",
+                            "on_clicked_fn": self._on_reset,
+                        }
+                        self._buttons["Reset"] = btn_builder(**dict)
+                        self._buttons["Reset"].enabled = False
+        return
+
+    def _set_button_tooltip(self, button_name, tool_tip):
+        self._buttons[button_name].set_tooltip(tool_tip)
+        return
+
+    def _on_load_world(self):
+        async def _on_load_world_async():
+            await self._sample.load_world_async()
+            await omni.kit.app.get_app().next_update_async()
+            self._sample._world.add_stage_callback("stage_event_1", self.on_stage_event)
+            self._enable_all_buttons(True)
+            self._buttons["Load World"].enabled = False
+            self.post_load_button_event()
+            self._sample._world.add_timeline_callback("stop_reset_event", self._reset_on_stop_event)
+
+        asyncio.ensure_future(_on_load_world_async())
+        return
+
+    def _on_reset(self):
+        async def _on_reset_async():
+            await self._sample.reset_async()
+            await omni.kit.app.get_app().next_update_async()
+            self.post_reset_button_event()
+
+        asyncio.ensure_future(_on_reset_async())
+        return
+
+    @abstractmethod
+    def post_reset_button_event(self):
+        return
+
+    @abstractmethod
+    def post_load_button_event(self):
+        return
+
+    @abstractmethod
+    def post_clear_button_event(self):
+        return
+
+    def _enable_all_buttons(self, flag):
+        for btn_name, btn in self._buttons.items():
+            if isinstance(btn, omni.ui._ui.Button):
+                btn.enabled = flag
+        return
+
+    def _menu_callback(self):
+        self._window.visible = not self._window.visible
+        return
+
+    def _on_window(self, status):
+        # if status:
+        return
+
+    def on_shutdown(self):
+        self._extra_frames = []
+        if self._sample._world is not None:
+            self._sample._world_cleanup()
+        if self._menu_items is not None:
+            self._sample_window_cleanup()
+        if self._buttons is not None:
+            self._buttons["Load World"].enabled = True
+            self._enable_all_buttons(False)
+        self.shutdown_cleanup()
+        return
+
+    def shutdown_cleanup(self):
+        return
+
+    def _sample_window_cleanup(self):
+        remove_menu_items(self._menu_items, "Isaac Examples")
+        self._window = None
+        self._menu_items = None
+        self._buttons = None
+        return
+
+    def on_stage_event(self, event):
+        if event.type == int(omni.usd.StageEventType.CLOSED):
+            if World.instance() is not None:
+                self.sample._world_cleanup()
+                self.sample._world.clear_instance()
+                if hasattr(self, "_buttons"):
+                    if self._buttons is not None:
+                        self._enable_all_buttons(False)
+                        self._buttons["Load World"].enabled = True
+        return
+
+    def _reset_on_stop_event(self, e):
+        if e.type == int(omni.timeline.TimelineEventType.STOP):
+            self._buttons["Load World"].enabled = False
+            self._buttons["Reset"].enabled = True
+            self.post_clear_button_event()
+        return