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kit-extension-path-tracking

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Sample path tracking extension for NVIDIA Omniverse contest for developers

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# Vehicle Path Tracking Extension

## 1. About

Omniverse Vehicle Path tracking extension allows a physics-enabled vehicle created
with a PhysX Vehicle extension (omni.physx.vehicle) to move and automatically track a user-defined path.
User-defined path is represented by an instance of USD BasisCurves, and a path tracking algorithm
is inspired by a classic Pure Pursuit algorithm [3].

![Vehicle Path Tracking Preview](https://raw.githubusercontent.com/omnioverflow/kit-extension-path-tracking/main/exts/ext.path.tracking/data/preview.PNG)
Figure 1. Preview of Vehicle Path Tracking Extension

### System Requirements:

- `Code 2022.1.3+` or `Create 2022.1.5+` (support for Create 2022.3.0 is in progress)
- `Pyhton 3.7+`, `numpy` (this requirement should be satisfied when using Omniverse Kit's embedded `CPython 3.7`)

### Limitations

For the moment, the extension is simple and a number of 
shortcuts have been taken and a few simplifications applied, including the following:

* Pure Pursuit Tracking algorithm is kinematics-based and therefore several physics vehicle dynamics
properties are not considered while computing wheel steering angle, such as tire slipping etc. 
* A vehicle might go off the track if proposed an input path of a physically "impossible" trajectory, or at high-speed turn.
* Limited unit test coverage; occasional bugs might exist.

### Future Work

* Implement automatic computation of vehicle path which satisfies certain constraints (waypoints, collision free path etc.).
* Add support for different vehicle controller algorithms, including more sophisticated ones (e.g., PID controller).
* Getting rid of limitations, bugfix.

## 2. Installing Extension

### Add a path to a local clone to Omniverse extension search path

1. `git clone -b main $PATH_TO_DIR`
2. `Window` -> `Extension Manager` -> ⚙️ `Gear Icon` -> `Extension Search Path`
3. Add a path to just cloned extension as an extension search path: `$PATH_TO_DIR/exts`

### Omniverse Community Tab

Extension is also available in the community tab in the Extension Manager: just search for path.tracking in the search field.

### Activate extension

When extension search path configuration is done, start the extension:
1. `Window` -> `Extension Manager`
2. Find Vehicle path tracking extension in the list and enable it (Figure 2)

<img src="exts/ext.path.tracking/data/img/figures/figure_01.png" alt="activating extension" style="height:400px;"/>
Figure 2. Activating path tracking extension in extension manager.

---

## 3. Getting Started

### 3.1. Evaluate vehicle path tracking on a preset configuration

The fastest way to evaluate how vehicle path tracking extension works is to use a preset vehicle and curve (could be considered as `HelloWorld` before importing your own physx-vehicle and custom paths).
To get started with the preset configuration please proceed as follows (Figure 3):
1. Click `Load a preset scene` button
2. Click `Start scenario` button

<img src="exts/ext.path.tracking/data/img/figures/figure_02.png" style="width:600px" alt="extension preview"> 
Figure 3. Getting started with a preset scene.

The extension also allows a quick way to load a ground plane, a sample physics vehicle, and a sample basis curve. See Figure 4.

<img src="exts/ext.path.tracking/data/img/figures/figure_03.png" style="width:600px" alt="extension controls"/> 
Figure 4. Other extension controls.

---

### 3.2. Create your custom vehicle-to-curve attachment setup

Extension supports path tracking for any Omniverse PhysX Vehicle.
One could load a template vehicle using the extension ui or using a conventional method via `Create`->`Physics`->`Vehicle`.
It is also straightforward to add a custom mesh and materials to a physics vehicle [2].

You can create a curve for vehicle path tracking using either of the following methods (Figure 5):
- `Create`->`BasisCurves`->`From Bezier`
- `Create`->`BasisCurves`->`From Pencil`

<img src="exts/ext.path.tracking/data/img/figures/figure_04.png" style="height:500px"/> | <img src="exts/ext.path.tracking/data/img/figures/figure_05.png" style="height:500px"/> 
Figure 5. Create a custom path to track via USD BasisCurves.

---

Once a physics vehicle and a path to be tracked defined by USD BasisCurves is created, select the WizardVehicle and the BasisCruves prims in the stage (via Ctrl-click)
and click `Attach Selected` button. Note that is very important to select specifically `WizardVehicle` prim in the scene,
not `WizardVehicle/Vehicle` for instance.
Please see Figure 6 for the illustration.

<img src="exts/ext.path.tracking/data/img/figures/figure_06.png" style="width:1100px"/> 
Figure 6. Attachment of a path (USD BasisCurves) to a physics-enabled vehicle.

In case if vehicle-to-curve attachment was successful it should be reflected on the
extension UI (Figure 7).

<img src="exts/ext.path.tracking/data/img/figures/figure_07.png" style="width:600px"/> 
Figure 7. Successful vehicle-to-curve attachment is shown on the right side.

When vehicle-to-curve attachment(s) is created, proceed by clicking Start Scenario button.

If you want to get rid of all already existing vehicle-to-curve attachments, please click `Clear All Attachments` (Figure 8).
It is very important to clear vehicle-to-curve attachments, when changing vehicles and corresponding tracked paths.

<img src="exts/ext.path.tracking/data/img/figures/figure_08.png" style="width:600px"/> 
Figure 8. Removing existing vehicle-to-curve attachments.

### 3.3. Multiple Vehicles

The extension supports multiple vehicle-to-curve attachments.
Note, that for attachment to work, a pair of `WizardVehicle` and
`BasisCurve` objects should be selected and attached consequently.
Results of path tracking with multiple vehicles is shown in Figure 9.

<img src="exts/ext.path.tracking/data/img/figures/figure_09_01.png" style="height:300px"/> <img src="exts/ext.path.tracking/data/img/figures/figure_09_02.png" style="height:300px"/> <img src="exts/ext.path.tracking/data/img/figures/figure_09_03.png" style="height:300px"/> 
Figure 9. Support of multiple vehicle-to-curve attachments.

### Troubleshooting

Note that extension is in Beta. The following items might be of help if any issues:

- It always takes a few seconds between clicking 'Start scenario' button and actual start of the simulation, so please be patient.
- On a fresh install some physx warnings/errors might be occasionally reported to the console log, they should not prevent the extension from producing expected results though.
- If path tracking is not working on a custom vehicle and path, please verify that exactly `WizardVehicle1` from omni.physx.vehicle is selected (not a child prim 'WizardVehicle1/Vehicle' or some parent prim) along with a prim of type `BasisCurves` (which is to be tracked) before clicking 'Attach Selected’.
- Use 'Clear All Attachments` if there are some issues.

---

## 4. Results

1. [youtube video] [Vehicle Path Tracking Extension Overview](https://youtu.be/tv-_xrqjzm4)
2. [youtube video] [Vehicle Dynamics and Vehicle Path Tracking: Forklift Usecase](https://youtu.be/SRibExkL4aE)
2. [youtube video] [OmniPhysX & Vehicle Dynamics Showcase](https://youtu.be/C8tjZWtU6w8)

## 5. References

1. [Omniverse Developer Contest] https://www.nvidia.com/en-us/omniverse/apps/code/developer-contest/
2. [Omniverse Vehicle Dynamics] https://docs.omniverse.nvidia.com/app_create/prod_extensions/ext_vehicle-dynamics.html
3. [Coutler 1992] Coulter, R. Craig. Implementation of the pure pursuit path tracking algorithm. Carnegie-Mellon UNIV Pittsburgh PA Robotics INST, 1992. (https://www.ri.cmu.edu/pub_files/pub3/coulter_r_craig_1992_1/coulter_r_craig_1992_1.pdf)
4. Credits for a forklift model model: https://sketchfab.com/3d-models/forklift-73d21c990e634589b0c130777751be28 (license: [Creative Commons Attribution](https://creativecommons.org/licenses/by/4.0/))
5. Credits for a Dodge Challenger car model: https://sketchfab.com/3d-models/dodge-challenger-ef40662c84eb4beb85acdfce5ac4f40e (license: [Creative Commons Attribution NonCommercial](https://creativecommons.org/licenses/by-nc/4.0/))
6. Credits for a monster truck (used in the result video): https://sketchfab.com/3d-models/hcr2-monster-truck-811bd567566b497a8cbbb06fd5a267b6 (license: [Creative Commons Attribution](https://creativecommons.org/licenses/by/4.0/))
7. Credits for a race track model (used in the result video): https://sketchfab.com/3d-models/track-5f5e9454fd59436e8d0dd38df9ec83c4 (license: [Creative Commons Attribution NonCommercial](https://creativecommons.org/licenses/by-nc/4.0/))

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