This node smoothly rotates a prim object to match a target prim object given a speed and easing factor. At the end of the maneuver, the source prim will have the rotation as the target prim. Note: The Prim must have xform:orient in transform stack in order to interpolate rotations
Hi @raphael.zuercher - Yes, in most cases building a follow target mechanism can be done more conveniently through visual scripting tools such as Omnigraph, where you can create and manipulate complex object relationships in an intuitive way.
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For example, in the case of a rotation operation, the position vector obtained from the GetXformVectors() function is the global position. If the parent object of your target is moved or rotated, it would cause the target object to be moved or rotated as well in world space as global space transformations influence the child objects.
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We introduce NVIDIA RTX technology at a very high level (Shaders, RT Cores and Tensor Cores), then introduce the Omniverse platform. We focus on the Omniverse technology stack and give a high-level overview of its components and how developers can leverage them. Our target audience is technical artists or developers who have little-to-no exposure to the platform or creatives, who are currently trying the open beta and looking for a deeper overview of the platform and components.
Discover companies using NVIDIA Omniverse by locations, employees, revenue, industries, and more. Compare your target to your CRM or marketing platform. Create campaigns & analyze your results.
The joint also supports a motor which drives the relative angular velocity of the two actors towards a user-specified target velocity. The magnitude of the force applied by the motor may be limited to a specified maximum:
The drive attempts to follow the desired position input with the configured stiffness and damping properties. A physical lag due to the inertia of the driven body acting through the drive spring will occur; therefore, sudden step changes will result over a number of time steps. Physical lag can be reduced by stiffening the spring or supplying a velocity target.
if a more springy controller is desired, use a D6 joint with a drive target to set the desired position and orientation, and control the spring parameters to increase stiffness and damping. In general, acceleration drive is much easier to tune than force drive.
Restitution simulates bouncing (off a limit, for example). If the impact solver velocity vCurrent at the start of simulation exceeds the restitution velocity threshold, the target velocity of the constraint will be set to:
This can be useful if, for example, the joint is approaching a limit but has not yet reached it. If the target velocity is 0 and the geometric error is the distance remaining to the limit, the solver will constrain the velocity below that required to violate the limit after integration. The joint should then converge smoothly to the limit.
Initially, Omniverse models target predictable, quotidian situations such as manufacturing floors, mechanical parts, 5G antenna arrays and vehicles. However, in his keynote, Huang exuberantly predicted that with continued exponential improvements in what NVIDIA calls "accelerated computing," i.e. parallelizable problems amenable to calculation on GPUs, Omniverse will soon be capable of simulating digital twins of complex protein interactions, human biological systems and even the Earth's troposphere.
The success of this program is a testament to a strong and very nimble partnership with this client. Only three weeks into the program Omni achieved its AHT target, while reducing transfers week over week. By week eight, the program was fully staffed and providing world-class services to their customers. What was to be a two-month contract has turned into a strong continuing partnership with Omni managing other programs.
This function uses torch operations to transform points from a source frame to a target frame. Thetransformation is defined by the position t and orientation R of the target frame in the source frame.
Creating a camera and attaching it to the rendered product ensures that all frames captured will include the target object. This code allows the camera to render along with the target object. Without attaching the camera to the rendering object, some frames may be missing the target object, which would be useless for training the DL model.
Just to give an update here, the reason Cesium for Omniverse appears in the extension registry as a community extension is because we were using the omniverse-kit-extension tag. Nvidia automatically scans GitHub for all repos with that tag and adds them as community extensions.
I am also running into this issue. I cannot enable autoload because omniverse failed to solve all extension dependencies. I have fully removed omniverse and followed the quick start guide again without success. I am running on Ubuntu 22.04 with the 525.125 driver.
Screenshot from 2023-07-12 13-50-4918601055 241 KB
Greetings. I have followed all the steps from quickstart quide given above, i autoloaded cesium for omniverse nevertheless i get the error as well. (windows 11 on NVIDIA GeForce RTX 3050)
Screenshot 2023-08-13 1333021522822 215 KB
By default, Cesium renders new frames as a game engine does: regularly, at the target frame rate. While this works well for Cesium apps with dynamic data or that constantly stream data for new views, many Cesium apps can benefit from rendering less frequently. Rendering a new frame uses CPU resources and is often not necessary if your app is idle. Improved performance with explicit rendering means you can run Cesium apps without worries of kicking your laptop fan into high gear or draining battery life on mobile devices.
When explicit rendering mode is enabled and changes are made to the scene, rendering occurs as normal at the target frame rate. However, when Cesium is idle, CPU usage is greatly reduced. For instance, using Chrome developer tools, CPU usage in an idle Cesium scene averaged 25.1%, but after enabling the performance improvement, it now averages 3.0%. This was measured on a laptop with an Intel i7 processor, running in Google Chrome.
The instantaneous reward is the negative value of the Euclidean distance (\(\text{d}\)) between the robot end-effector and the target point position. The episode terminates when this distance is less than 0.035 meters in simulation (0.075 meters in real-world) or when the defined maximum timestep is reached
The control space (Cartesian or joint), the robot motion type (waypoint or impedance) and the target position acquisition (command prompt / automatically generated or USB-camera) can be specified in the environment class constructor (from reaching_franka_real_skrl_eval.py) as follow:
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NVIDIA Omniverse uses a different approach called retargeting. The retargeting system has defined a set of standard tag names for bones, then for each skeleton you can assign tags to bones. Animation clips are defined in terms of bone names for a character, so to reuse that clip on another character with different bone names, bone names are mapping from the original character to a new character by looking for pairs of bones in the old and new character with the same tag.
Here are example tags assigned to the source character. There are a large number of addition tags you can decide to bind to bones in your character. Normally I would fill out as many joints as possible, but this example only has bound the minimum required tags. (If there is no overlap in tags, the animation cannot be retargeted.)
Retargeting in Omniverse is useful to allow animation clips to be reused across humanoid characters, but I am still personally deciding which is the best way for my own project to organize the clips given the source models also need to be loaded.
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