Create Isaac extensions for Recording and Replaying trajectories (#4)

.cruft.json

@@ -1,6 +1,6 @@
 {
   "template": "https://github.com/UrbanMachine/create-ros-app.git",
-  "commit": "93e541631403e2c2c091c65d6583d61bd85a472c",
+  "commit": "46f618667950a47275d2976e91c99dd4bd15764b",
   "checkout": null,
   "context": {
     "cookiecutter": {

isaac_src/README.md

@@ -10,4 +10,4 @@ To get good code completion, add a `Docker compose interpreter`, then
 point it towards `/isaac-sim/python.sh`. That should
 work, and pycharm should discover all the relevant libraries.
 
-![img.png](docs/img.png)
+![pycharm.png](docs/static/pycharm.png)

isaac_src/extensions/trajectory_synth/.gitignore

@@ -0,0 +1,12 @@
+# all folders starting with _ are local
+_*/
+
+.DS_Store
+**/.vscode/ipch
+
+# byte-compiled python files
+*.py[cod]
+
+/.vs
+
+/app

isaac_src/extensions/trajectory_synth/README.md

@@ -0,0 +1,52 @@
+# Extension Project Template
+
+This project was automatically generated.
+
+- `app` - It is a folder link to the location of your *Omniverse Kit* based app.
+- `exts` - It is a folder where you can add new extensions. It was automatically added to extension search path. (Extension Manager -> Gear Icon -> Extension Search Path).
+
+Open this folder using Visual Studio Code. It will suggest you to install few extensions that will make python experience better.
+
+Look for "trajectory_synth" extension in extension manager and enable it. Try applying changes to any python files, it will hot-reload and you can observe results immediately.
+
+Alternatively, you can launch your app from console with this folder added to search path and your extension enabled, e.g.:
+
+```
+> app\omni.code.bat --ext-folder exts --enable company.hello.world
+```
+
+# App Link Setup
+
+If `app` folder link doesn't exist or broken it can be created again. For better developer experience it is recommended to create a folder link named `app` to the *Omniverse Kit* app installed from *Omniverse Launcher*. Convenience script to use is included.
+
+Run:
+
+```
+> link_app.bat
+```
+
+If successful you should see `app` folder link in the root of this repo.
+
+If multiple Omniverse apps is installed script will select recommended one. Or you can explicitly pass an app:
+
+```
+> link_app.bat --app create
+```
+
+You can also just pass a path to create link to:
+
+```
+> link_app.bat --path "C:/Users/bob/AppData/Local/ov/pkg/create-2021.3.4"
+```
+
+
+# Sharing Your Extensions
+
+This folder is ready to be pushed to any git repository. Once pushed direct link to a git repository can be added to *Omniverse Kit* extension search paths.
+
+Link might look like this: `git://github.com/[user]/[your_repo].git?branch=main&dir=exts`
+
+Notice `exts` is repo subfolder with extensions. More information can be found in "Git URL as Extension Search Paths" section of developers manual.
+
+To add a link to your *Omniverse Kit* based app go into: Extension Manager -> Gear Icon -> Extension Search Path
+

isaac_src/extensions/trajectory_synth/exts/trajectory_synth/config/extension.toml

@@ -0,0 +1,47 @@
+[package]
+# Semantic Versioning is used: https://semver.org/
+version = "1.0.0"
+
+# Lists people or organizations that are considered the "authors" of the package.
+authors = ["NVIDIA"]
+
+# The title and description fields are primarily for displaying extension info in UI
+title = "trajectory_synth"
+description="An extension for recording and augmenting robot trajectories"
+
+# Path (relative to the root) or content of readme markdown file for UI.
+readme  = "docs/README.md"
+
+# URL of the extension source repository.
+repository = ""
+
+# One of categories for UI.
+category = "Synthetic Trajectories"
+
+# Keywords for the extension
+keywords = ["trajectory", "synthesis", "robotics", "simulation"]
+
+# Location of change log file in target (final) folder of extension, relative to the root.
+# More info on writing changelog: https://keepachangelog.com/en/1.0.0/
+changelog="docs/CHANGELOG.md"
+
+# Preview image and icon. Folder named "data" automatically goes in git lfs (see .gitattributes file).
+# Preview image is shown in "Overview" of Extensions window. Screenshot of an extension might be a good preview image.
+preview_image = "data/preview.png"
+
+# Icon is shown in Extensions window, it is recommended to be square, of size 256x256.
+icon = "data/icon.png"
+
+# Use omni.ui to build simple UI
+[dependencies]
+"omni.kit.uiapp" = {}
+
+# Main python module this extension provides, it will be publicly available as "import trajectory_synth".
+[[python.module]]
+name = "trajectory_synth"
+
+[[test]]
+# Extra dependencies only to be used during test run
+dependencies = [
+    "omni.kit.ui_test" # UI testing extension
+]

isaac_src/extensions/trajectory_synth/exts/trajectory_synth/docs/CHANGELOG.md

@@ -0,0 +1,8 @@
+# Changelog
+
+The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
+
+
+## [1.0.0] - 2021-04-26
+- Initial version of extension UI template with a window
+

isaac_src/extensions/trajectory_synth/exts/trajectory_synth/docs/README.md

@@ -0,0 +1,6 @@
+# Python Extension Example [trajectory_synth]
+
+This is my (Alex) first extension. It serves as an interface for starting & stopping
+trajectory recording, playback, and augmentation.
+
+The core purpose is to generate thousands of trajectories from a single human demonstration.

isaac_src/extensions/trajectory_synth/exts/trajectory_synth/docs/index.rst

@@ -0,0 +1,20 @@
+trajectory_synth
+#############################
+
+Example of Python only extension
+
+
+.. toctree::
+   :maxdepth: 1
+
+   README
+   CHANGELOG
+
+
+.. automodule::"trajectory_synth"
+    :platform: Windows-x86_64, Linux-x86_64
+    :members:
+    :undoc-members:
+    :show-inheritance:
+    :imported-members:
+    :exclude-members: contextmanager

isaac_src/extensions/trajectory_synth/exts/trajectory_synth/trajectory_synth/__init__.py

@@ -0,0 +1,2 @@
+from .traj_recorder import TrajectoryRecorderExtension
+from .traj_replayer import TrajectoryReplayerExtension

isaac_src/extensions/trajectory_synth/exts/trajectory_synth/trajectory_synth/schema.py

@@ -0,0 +1,3 @@
+TIMESTEPS_FILENAME = "timesteps"
+SCENE_FILENAME = "scene"
+DEFAULT_RECORDINGS_DIR = "/robot/synthetic-output/recordings/"

isaac_src/extensions/trajectory_synth/exts/trajectory_synth/trajectory_synth/tests/__init__.py

@@ -0,0 +1 @@
+from .test_hello_world import *

isaac_src/extensions/trajectory_synth/exts/trajectory_synth/trajectory_synth/tests/test_hello_world.py

@@ -0,0 +1,44 @@
+# NOTE:
+#   omni.kit.test - std python's unittest module with additional wrapping to add suport for async/await tests
+#   For most things refer to unittest docs: https://docs.python.org/3/library/unittest.html
+import omni.kit.test
+
+# Extnsion for writing UI tests (simulate UI interaction)
+from omni.kit import ui_test
+
+# Import extension python module we are testing with absolute import path, as if we are external user (other extension)
+import trajectory_synth
+
+
+# Having a test class dervived from omni.kit.test.AsyncTestCase declared on the root of module will make it auto-discoverable by omni.kit.test
+class Test(omni.kit.test.AsyncTestCase):
+    # Before running each test
+    async def setUp(self):
+        pass
+
+    # After running each test
+    async def tearDown(self):
+        pass
+
+    # Actual test, notice it is "async" function, so "await" can be used if needed
+    async def test_hello_public_function(self):
+        result = trajectory_synth.some_public_function(4)
+        self.assertEqual(result, 256)
+
+    async def test_window_button(self):
+        # Find a label in our window
+        label = ui_test.find("My Window//Frame/**/Label[*]")
+
+        # Find buttons in our window
+        add_button = ui_test.find("My Window//Frame/**/Button[*].text=='Add'")
+        reset_button = ui_test.find("My Window//Frame/**/Button[*].text=='Reset'")
+
+        # Click reset button
+        await reset_button.click()
+        self.assertEqual(label.widget.text, "empty")
+
+        await add_button.click()
+        self.assertEqual(label.widget.text, "count: 1")
+
+        await add_button.click()
+        self.assertEqual(label.widget.text, "count: 2")