Connector: IssacSim -> Ignition #16
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Signed-off-by: ahcorde <ahcorde@gmail.com>
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Some questions regarding the simulatorPoses flag.
Should it only affect the poses or should we turn off ignition->omniverse completely? From what I understand on the code, it looks like a mix currently where if ignition is the controller, the entire omni->ign code path is disabled, but when omniverse is the controller, only updating of composes from ign->omni is disabled, adding, deleting of models, updating scalings, material etc is still enabled.
Operations other than poses in theory can cause loops as well, if we add a model in ign, it will add a subtree in usd, which causes a change event, which causes a ign request to add a model and so on. Same for operations like changing a model's scale, it's material properties etc.
| // { | ||
| // ignmsg << "Changed Info Path: " << Path.GetText() << std::endl; | ||
| // } | ||
| for (const pxr::SdfPath &path : ObjectsChanged.GetResyncedPaths()) |
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I think ObjectsChanged should be _objectsChanged following ignition convention.
| req.mutable_position()->set_z(transforms.position[2]); | ||
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| ignition::math::Quaterniond q( | ||
| transforms.rotZYX[0], |
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Shouldn't it be rotXYZ instead? I realized this is just naming and GetOp indeed uses pxr::UsdGeomXformOp::TypeRotateXYZ.
source/ignition_live/main.cpp
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| app.add_option("--pose", simulatorPoses, "Which simulator will handle the poses") | ||
| ->required(); |
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Not sure on the CLI11 feature set, but if it supports it, we should use enums.
source/ignition_live/Scene.cpp
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| ignition::math::Angle(quat.Pitch()).Degree(), | ||
| ignition::math::Angle(quat.Yaw()).Degree()), | ||
| pxr::UsdGeomXformCommonAPI::RotationOrderXYZ); | ||
| if (this->ignitionControlPoses) |
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Would it be better to turn off subscription to the scene, joints and poses instead?
source/ignition_live/Scene.cpp
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| @@ -885,6 +904,28 @@ bool Scene::Init() | |||
| ignmsg << "Subscribed to topic: [" << topic << "]" << std::endl; | |||
| } | |||
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| if (!this->dataPtr->ignitionControlPoses) | |||
| { | |||
| // TODO: disabled omniverse -> ignition sync to focus on ignition -> omniverse | |||
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Can this TODO be considered done with this pr?
Signed-off-by: ahcorde <ahcorde@gmail.com>
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I'm getting service call timeout on the connector There are also errors on ignition I think the problem is that usd allows transformations on geometry but not sdf, so when trying to translate that to sdf we get a non existing target. I notice ignition physics is still running when isaacsim updates a pose, in theory this could lead to conflicting states. I can't test this now because I had to re-install omniverse to fix some other issues and downloads are down so I can't re-install isaacsim, and because of the above errors. |
Signed-off-by: Teo Koon Peng <koonpeng@openrobotics.org> Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
Signed-off-by: ahcorde <ahcorde@gmail.com>
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@koonpeng I was testing your changes, and I'm facing this issue. Translations look wrong
You need this change in ign-gazebo gazebosim/gz-sim#1394 |
Signed-off-by: ahcorde <ahcorde@gmail.com>
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I fixed the pose: |
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But we are facing another issue. Issac Sim dos not provide the joint angle, we can only see changes in the links Require: gazebosim/gz-sim#1394 I tried to implement something to calculate the joint angle but it's wrong af1daca
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Wasn't able to try this yet. I'm assuming this is the simulation being ran? https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/tutorial_ros_moveit.html
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Signed-off-by: ahcorde <ahcorde@gmail.com>
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to test this you can run this script using ROS 1: You should add the following ROS plugins: |
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managed to run the sim in isaac but wasn't able to get the connector to work 2022-03-22.15-20-02.mp4ignition logs ign-omni logs |
Signed-off-by: ahcorde <ahcorde@gmail.com>
Signed-off-by: ahcorde <ahcorde@gmail.com>
source/ignition_live/Scene.cpp
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| std::size_t found = visualName.find("_visual"); | ||
| if (found != std::string::npos) | ||
| { | ||
| if (visualName.substr(found).find("_visual") != |
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This condition will always be true since found != std::string::npos is true, a substr of the found index will always contain the search pattern.
source/ignition_live/Scene.cpp
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| std::size_t found = linkName.find("_link"); | ||
| if (found != std::string::npos) | ||
| { | ||
| if (linkName.substr(found).find("_link") != |
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This condition will always be true since found != std::string::npos is true, a substr of the found index will always contain the search pattern.
| @@ -578,6 +628,96 @@ bool Scene::Implementation::UpdateModel(const ignition::msgs::Model &_model) | |||
| auto stage = this->stage->Lock(); | |||
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| std::string modelName = _model.name(); | |||
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| auto range = pxr::UsdPrimRange::Stage(*stage); | |||
| for (auto const &prim : range) | |||
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Traversing the stage for each update might be bad for performance, maybe add some comments explaining a situation that will cause a model to be in multiple prims and possible improvements to avoid that.
| qX = ignition::math::Quaterniond(angleX.Normalized().Radian(), 0, 0); | ||
| qY = ignition::math::Quaterniond(0, angleY.Normalized().Radian(), 0); | ||
| qZ = ignition::math::Quaterniond(0, 0, angleZ.Normalized().Radian()); | ||
| q = ((q * qX) * qY) * qZ; |
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Since this is rotXYZ, we should be able to use the rpy constructor.
| continue; | ||
| auto stage = this->dataPtr->stage->Lock(); | ||
| igndbg << "path " << objectsChanged.GetText() << std::endl; | ||
| auto modelUSD = stage->GetPrimAtPath(objectsChanged.GetParentPath()); |
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Wasn't able to test this as I can't get the panda sim working. My only guess for joints orientation is that maybe the pose is being applied twice, first when calculating the joints position and then again here when calculating the pose?
Signed-off-by: ahcorde <ahcorde@gmail.com>
Signed-off-by: ahcorde <ahcorde@gmail.com>
Signed-off-by: ahcorde <ahcorde@gmail.com>
Signed-off-by: ahcorde <ahcorde@gmail.com>
| @@ -35,7 +35,7 @@ class FUSDLayerNoticeListener::Implementation | |||
| }; | |||
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| FUSDLayerNoticeListener::FUSDLayerNoticeListener( | |||
| std::shared_ptr<ThreadSafe<pxr::UsdStageRefPtr>> _stage, | |||
| std::shared_ptr<ThreadSafe<pxr::UsdStageRefPtr>> &_stage, | |||
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I guess this fixed the double lock issue? Not sure why that happens and how this fixes it, I guess the mutex got copied for some reason?
Signed-off-by: ahcorde ahcorde@gmail.com
🎉 New feature
Summary
Communication between IssacSim -> Ignition.
Added a flag to check if the pose are set by Ignition or IssacSim
If you test this PR you might find some issue relative to this issue gazebosim/gz-sim#1358
Checklist
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