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# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
"""
Utility to bulk convert URDFs or mesh files into instanceable USD format.
Unified Robot Description Format (URDF) is an XML file format used in ROS to describe all elements of
a robot. For more information, see: http://wiki.ros.org/urdf
This script uses the URDF importer extension from Isaac Sim (``omni.isaac.urdf_importer``) to convert a
URDF asset into USD format. It is designed as a convenience script for command-line use. For more
information on the URDF importer, see the documentation for the extension:
https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/ext_omni_isaac_urdf.html
positional arguments:
input The path to the input directory containing URDFs and Meshes.
output The path to directory to store the instanceable files.
optional arguments:
-h, --help Show this help message and exit
--conversion-type Select file type to convert, urdf or mesh. (default: urdf)
--merge-joints Consolidate links that are connected by fixed joints. (default: False)
--fix-base Fix the base to where it is imported. (default: False)
--make-instanceable Make the asset instanceable for efficient cloning. (default: False)
"""
"""Launch Isaac Sim Simulator first."""
import argparse
from isaaclab.app import AppLauncher
# add argparse arguments
parser = argparse.ArgumentParser(description="Utility to convert a URDF or mesh into an Instanceable asset.")
parser.add_argument("input", type=str, help="The path to the input directory.")
parser.add_argument("output", type=str, help="The path to directory to store converted instanceable files.")
parser.add_argument(
"--conversion-type", type=str, default="both", help="Select file type to convert, urdf, mesh, or both."
)
parser.add_argument(
"--merge-joints",
action="store_true",
default=False,
help="Consolidate links that are connected by fixed joints.",
)
parser.add_argument("--fix-base", action="store_true", default=False, help="Fix the base to where it is imported.")
parser.add_argument(
"--make-instanceable",
action="store_true",
default=True,
help="Make the asset instanceable for efficient cloning.",
)
parser.add_argument(
"--collision-approximation",
type=str,
default="convexDecomposition",
choices=["convexDecomposition", "convexHull", "none"],
help=(
'The method used for approximating collision mesh. Set to "none" '
"to not add a collision mesh to the converted mesh."
),
)
parser.add_argument(
"--mass",
type=float,
default=None,
help="The mass (in kg) to assign to the converted asset. If not provided, then no mass is added.",
)
# append AppLauncher cli args
AppLauncher.add_app_launcher_args(parser)
# parse the arguments
args_cli = parser.parse_args()
# launch omniverse app
app_launcher = AppLauncher(args_cli)
simulation_app = app_launcher.app
"""Rest everything follows."""
import os
from isaaclab.sim.converters import MeshConverter, MeshConverterCfg, UrdfConverter, UrdfConverterCfg
from isaaclab.sim.schemas import schemas_cfg
def main():
# Define conversion time given
conversion_type = args_cli.conversion_type.lower()
# Warning if conversion type input is not valid
if conversion_type != "urdf" and conversion_type != "mesh" and conversion_type != "both":
raise Warning("Conversion type is not valid, please select either 'urdf', 'mesh', or 'both'.")
if not os.path.exists(args_cli.input):
print(f"Error: The directory {args_cli.input} does not exist.")
# For each file and subsequent sub-directory
for root, dirs, files in os.walk(args_cli.input):
# For each file
for filename in files:
# Check for URDF extensions
if (conversion_type == "urdf" or conversion_type == "both") and filename.lower().endswith(".urdf"):
# URDF converter call
urdf_converter_cfg = UrdfConverterCfg(
asset_path=f"{root}/{filename}",
usd_dir=f"{args_cli.output}/{filename[:-5]}",
usd_file_name=f"{filename[:-5]}.usd",
fix_base=args_cli.fix_base,
merge_fixed_joints=args_cli.merge_joints,
force_usd_conversion=True,
make_instanceable=args_cli.make_instanceable,
)
# Create Urdf converter and import the file
urdf_converter = UrdfConverter(urdf_converter_cfg)
print(f"Generated USD file: {urdf_converter.usd_path}")
elif (conversion_type == "mesh" or conversion_type == "both") and (
filename.lower().endswith(".fbx")
or filename.lower().endswith(".obj")
or filename.lower().endswith(".dae")
or filename.lower().endswith(".stl")
):
# Mass properties
if args_cli.mass is not None:
mass_props = schemas_cfg.MassPropertiesCfg(mass=args_cli.mass)
rigid_props = schemas_cfg.RigidBodyPropertiesCfg()
else:
mass_props = None
rigid_props = None
# Collision properties
collision_props = schemas_cfg.CollisionPropertiesCfg(
collision_enabled=args_cli.collision_approximation != "none"
)
# Mesh converter call
mesh_converter_cfg = MeshConverterCfg(
mass_props=mass_props,
rigid_props=rigid_props,
collision_props=collision_props,
asset_path=f"{root}/{filename}",
force_usd_conversion=True,
usd_dir=f"{args_cli.output}/{filename[:-4]}",
usd_file_name=f"{filename[:-4]}.usd",
make_instanceable=args_cli.make_instanceable,
collision_approximation=args_cli.collision_approximation,
)
# Create mesh converter and import the file
mesh_converter = MeshConverter(mesh_converter_cfg)
print(f"Generated USD file: {mesh_converter.usd_path}")
if __name__ == "__main__":
# run the main function
main()
# close sim app
simulation_app.close()
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