From c7221084f7f90125e47e4785977747e5ca377f40 Mon Sep 17 00:00:00 2001 From: trandaniel Date: Wed, 27 Nov 2024 13:06:35 -0800 Subject: [PATCH 01/61] Add convert glb to usd objects. Issac Lab repo installation required. --- .../isaacsim/remote_content/converter.py | 54 ++++ .../remote_content/object_glb/.gitignore | 0 .../remote_content/object_usd/.gitignore | 0 .../habitat/isaacsim/ssh_conversion.py | 62 ++++ .../habitat/isaacsim/usd_conversion_scene.py | 296 ++++++++++++++++++ 5 files changed, 412 insertions(+) create mode 100644 habitat-lab/habitat/isaacsim/remote_content/converter.py create mode 100644 habitat-lab/habitat/isaacsim/remote_content/object_glb/.gitignore create mode 100644 habitat-lab/habitat/isaacsim/remote_content/object_usd/.gitignore create mode 100644 habitat-lab/habitat/isaacsim/ssh_conversion.py create mode 100644 habitat-lab/habitat/isaacsim/usd_conversion_scene.py diff --git a/habitat-lab/habitat/isaacsim/remote_content/converter.py b/habitat-lab/habitat/isaacsim/remote_content/converter.py new file mode 100644 index 0000000000..8405e8a543 --- /dev/null +++ b/habitat-lab/habitat/isaacsim/remote_content/converter.py @@ -0,0 +1,54 @@ +''' +This module takes converts glb files to usd. + +The system that runs this folder needs have the Issac Lab repo installed. +The converter function from isaac lab can import only after the Isaac Lab stage +is launched. asyncio library is used because the source code for +MeshConverter._convert_mesh_to_usd is also an async function. + +''' +import asyncio +import argparse +from omni.isaac.lab.app import AppLauncher +import os +import timer + +#Run laucher through Isaac Lab + + +async def convert_glb_to_usd(glb_folder_path: str, usd_folder_path: str) -> None: + """ + This function converts glb files to usd. This function launches an empty Isaac Lab stage, + Imports the respective Isaac Lab converter functions, then converts with another + MeshConverter._convert_mesh_to_usd async function. The simulation app then closes, and + the converted functions are dumped onto the respective usd_folder_path. + """ + + # create argparser + parser = argparse.ArgumentParser(description="Tutorial on creating an empty stage.") + # 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 + + from omni.isaac.lab.sim.converters import MeshConverter #NOTE: Import isaac lab converter extension after launcher runs + + glb_folder_list = [glb for glb in os.listdir(glb_folder_path) if os.path.isfile(os.path.join(glb_folder_path, glb))] + + loop = asyncio.get_event_loop() + for glb_filename in glb_folder_list: + glb_filepath = glb_folder_path + glb_filename + usd_filename = f"{glb_filename.replace('.glb', '.usd')}" + usd_filepath = usd_folder_path + usd_filename + loop.run_until_complete(MeshConverter._convert_mesh_to_usd(in_file=glb_filepath, out_file=usd_filepath)) + loop.close() + + simulation_app.close() + +if __name__ == "__main__": + glb_folder_path = '/path/object_glb/' + usd_folder_path = '/path/object_usd/' + asyncio.run(convert_glb_to_usd(glb_folder_path, usd_folder_path)) diff --git a/habitat-lab/habitat/isaacsim/remote_content/object_glb/.gitignore b/habitat-lab/habitat/isaacsim/remote_content/object_glb/.gitignore new file mode 100644 index 0000000000..e69de29bb2 diff --git a/habitat-lab/habitat/isaacsim/remote_content/object_usd/.gitignore b/habitat-lab/habitat/isaacsim/remote_content/object_usd/.gitignore new file mode 100644 index 0000000000..e69de29bb2 diff --git a/habitat-lab/habitat/isaacsim/ssh_conversion.py b/habitat-lab/habitat/isaacsim/ssh_conversion.py new file mode 100644 index 0000000000..1c434c8dd1 --- /dev/null +++ b/habitat-lab/habitat/isaacsim/ssh_conversion.py @@ -0,0 +1,62 @@ +""" +This module helps a local computer interact with a remote server. +The remote server has the machine specs required for Issac Lab installation +to run MeshConverter._convert_mesh_to_usd(). The local machine does not. +See this url for documentation: +https://isaac-sim.github.io/IsaacLab/main/_modules/omni/isaac/lab/sim/converters/mesh_converter.html#MeshConverter +""" + +from scp import SCPClient +import os +import subprocess +from multiprocessing import Barrier + +#NOTE: USER SHOULD INPUT REMOTE SERVER VALUES HERE +username = 'USERNAME' +hostname = 'IP_ADDRESS' #NOTE: THIS IS A SECURITY ISSUE +port = 23456 +REMOTE_GLB_FOLDER = '/path/object_glb/' +REMOTE_USD_FOLDER = '/path/object_usd' + + +def upload_object_glb_to_server(object_glb_path: str) -> None: + """ + Upload a local folder with .glb files and upload it to remote server. + """ + + attempts = 3 #NOTE: The attempts and for loop ensure uploads complete if upload task is dumped from queue. + for attempt in range(attempts): + try: + remote_file_path = REMOTE_GLB_FOLDER + os.path.basename(object_glb_path) + scp_command = f'scp {object_glb_path} {hostname}:{remote_file_path}' + subprocess.run(scp_command, shell=True) + break + except Exception as e: + print(f"Error uploading {filepath} (attempt {i+1}/{attempts}): {e}") + if attempt == attempts - 1: + raise + + barrier.wait() + +def run_remote_converter() -> None: + """ + This function runs the glb to usd conversion.py that sits on the given remote computer. + This sends bash commands to active Isaac Lab library in conda and run converter.py with a local subprocess library. + """ + + #Check remote pathing. + scp_command = f"ssh {username}@{hostname} 'source /home/guest/miniforge3/etc/profile.d/conda.sh; conda activate isaaclab2; python /home/guest/dev/isaac_lab_converter/converter.py' " + subprocess.run(scp_command, shell=True) + + +def download_remote_usd_folder(local_download_file_path: str) -> None: + """ + This function downloads folder contents from a remote computer. + This function uses the bash script with the help of the subprocess library. + """ + scp_command = f'scp -r -C {hostname}:{REMOTE_USD_FOLDER} {local_download_file_path}' + subprocess.run(scp_command, shell=True) + + +if __name__ == "__main__": + run_remote_converter() \ No newline at end of file diff --git a/habitat-lab/habitat/isaacsim/usd_conversion_scene.py b/habitat-lab/habitat/isaacsim/usd_conversion_scene.py new file mode 100644 index 0000000000..f8501cb9d5 --- /dev/null +++ b/habitat-lab/habitat/isaacsim/usd_conversion_scene.py @@ -0,0 +1,296 @@ +"""This file converts a .scene_instance.json to a .usd file, +using various .glb scene objects to buld the .usd scene instance.. +""" + +from pxr import Usd, UsdGeom, Sdf, Gf +import json +from pathlib import Path +import os +from ssh_conversion import * +from multiprocessing import Pool, Barrier +from typing import List, Dict, Union, Tuple + + +# CONSTANTS +STAGE_INSTANCE = "stage_instance" +OBJECT_INSTANCES = "object_instances" +TEMPLATE_NAME = "template_name" +TRANSLATION = "translation" +ROTATION = "rotation" +SCALE = "non_uniform_scale" + + +def find_filepath(filename, parent_directory) -> str: + file_found = False + for root, dirs, files in os.walk(parent_directory): + if filename in files: + output_filepath = str(os.path.join(root, filename)) + file_found = True + break + + if not file_found: + print(f"{filename} not found in the parent directoy {parent_directory}") + return None + + return output_filepath + + +def get_unique_object_names(scene_data) -> list[str]: + """ + This looks at the scene_instance.json by looking at the "template_name" key. + HSSD keeps all these objects as .glb. The scene json could use the same type of + object multiple times, but we only need the unique list of objects + """ + object_list = scene_data[OBJECT_INSTANCES] + + object_name_list = [] + for object in object_list: + object_name_list.append(object[TEMPLATE_NAME]) + + return list(set(object_name_list)) + + +def make_object_filepath_list( + glb_data_folder: str, + scene_instance_filepath: str, + scene_data, #NOTE: This should be typing for scene_instance.json Dict[str, Union[str, Dict[str, str] , List[ Dict[str, List[float]] ]]], + file_extension: str = ".glb", +) -> List[str]: + + object_name_list = get_unique_object_names(scene_data) + + # Search through the object glb folder to make a list of object filepaths from scene_data + object_filepath_list = [] + for object_name in object_name_list: + object_glb = object_name + file_extension + object_path = find_filepath(object_glb, glb_data_folder) + if object_path: + object_filepath_list.append(object_path) + + if not object_filepath_list: + # Stop the entire script if no .glb objects were found + print("No .glb objects found. Halting the program.") + sys.exit(1) + + return object_filepath_list + + +def make_collider_glb_filepath(object_name: str, scene_instance_path: str) -> str: + + object_collider_glb = object_name + ".collider.glb" + scene_folder_path = os.path.dirname(os.path.abspath(scene_instance_path)) + hssd_folder_path = os.path.dirname(scene_folder_path) + object_folder_path = hssd_folder_path + "/objects" + + object_usd_path = object_folder_path + "/" + object_name + ".collider.usd" + return object_usd_path + + +def initialize_stage(stage_usd_filepath: str, scene_instance_usd_filepath: str) -> Usd.Stage: + """Initialize Usd.Stage""" + + + stage = Usd.Stage.CreateNew(scene_instance_usd_filepath) # NOTE Might not work starting with nummber + xform_prim = UsdGeom.Xform.Define(stage, "/Scene") + + #probably don't need this + #prim = xform_prim.GetPrim() + #prim.GetReferences().AddReference(stage_usd_filepath) + + return stage + + +def find_object_usd(object_data, object_usd_folder: str, file_extension=".collider.usd") -> Tuple[bool, str, str]: + """ + Find the object .usd file from the object usd folder. + """ + object_exists = True + + object_name = object_data[TEMPLATE_NAME] + usd_filename = object_name + file_extension + usd_filepath = object_usd_folder + usd_filename + + if not os.path.exists(usd_filepath): + print(f"File {usd_filepath} not found. .usd file may not have been coverted or downloaded") + object_exists = False + + return object_exists, usd_filepath, object_name + + +def add_object_to_stage( + stage: Usd.Stage, + object_data, + object_filepath: str, + count: str, + position: List[float]=[0.0, 0.0, 0.0], + rotation: List[float]=[0.0, 0.0, 0.0], + scale: List[float]=[1.0, 1.0, 1.0], +) -> None: + """ + This module adds an UsdGeom.Xform to an initialized Usd.Stage. + """ + position = object_data[TRANSLATION] + rotation = object_data[ROTATION] + scale = object_data[SCALE] + object_name = object_data[TEMPLATE_NAME] + + # PSEUDOCODE # Given template name from scene_instance.json from above + # From root: /home/trandaniel/dev/habitat-sim/data/hssd-hab/scenes/.scene_instance.json + # Object folder: /home/trandaniel/dev/habitat-sim/data/hssd-hab/objects + + # Navigate from scene instance folder to object folder through script + # + + # Recursively search through object folder for object json (Structure vary between object data sets. Write for HSSD for now) + # Open JSON, and then use the "render_asset" key and "collision_asset" key to get .glb file + + # Convert .collision.glb to USD with isaacsim omniverse + # Output .usd file in the object folder that contains collision.glb + + # CONVERSION + + # Turn object .glb to xform + + # Add count to string if object used more than once + if count > 0: + object_name = object_name + f"_{count}" + + object_stage_name = "/OBJECT_" + object_name # NOTE: Object state name must start with a char letter + + object_xform = UsdGeom.Xform.Define( + stage, object_stage_name + ) + object_xform.GetPrim().GetReferences().AddReference(object_filepath) + + # Set Position + translate_op = next( + ( + op + for op in object_xform.GetOrderedXformOps() + if op.GetName() == "xformOp:translate" + ), + None, + ) + if translate_op is None: + translate_op = object_xform.AddTranslateOp() + translate_op.Set(value=Gf.Vec3d(*position)) + + # Set Rotation + orient_op = next( + ( + op + for op in object_xform.GetOrderedXformOps() + if op.GetName() == "xformOp:orient" + ), + None, + ) + if orient_op is None: + orient_op = object_xform.AddOrientOp() + orient_op.Set(value=Gf.Quatd(*rotation)) + + # Set Scale + scale_op = next( + ( + op + for op in object_xform.GetOrderedXformOps() + if op.GetName() == "xformOp:scale" + ), + None, + ) + if scale_op is None: + scale_op = object_xform.AddScaleOp() + scale_op.Set(value=Gf.Vec3d(*scale)) + + +def convert_scene_instance( + scene_instance_filepath: str, stage_glb_folder: str, local_download_folder: str, glb_data_folder: str +) -> None: + """ + This function takes a folder of .glb objects, converts them remotely to .usd, + downloads the converted files, and then makes a .usda scene. The idea is to + convert a scene_instance json to a .usd file by aggregating all the defined + objects within the scene instance json. + """ + + # Open scnece_instance JSON + with open(scene_instance_filepath, "r") as file: + scene_data = json.load(file) + + + stage_name: str = scene_data[STAGE_INSTANCE][TEMPLATE_NAME].split('/')[1 + ] + + # Form a list of existing object glb file paths + object_glb_filepath_list = make_object_filepath_list( + glb_data_folder, + scene_instance_filepath, + scene_data, + file_extension=".collider.glb", + ) + + # # Append stage glb to piggy back on conversion.py. #Note, stage glb not necessary probably + #stage_glb_filepath = stage_glb_folder + stage_name + '.glb' + #object_glb_filepath_list.append(stage_glb_filepath) + + # Upload glb objects to remote server + num_processes = 10 + barrier = Barrier(num_processes) + with Pool(processes=num_processes) as pool: + pool.map(upload_object_glb_to_server, object_glb_filepath_list) + + # Process objects remotely + run_remote_converter() + + # Download objects + download_remote_usd_folder(local_download_folder) + + + # TODO: Delete objects on remote server after download + + # Populate USDA file. USDA is the human readable version of a usd file.\ + + stage_usd_filepath = local_download_folder + 'object_usd/' + stage_name + '.usd' # NOTE: Might not need this + scene_instance_usd_filepath = './' + stage_name + '.scene_instance.usda' + + stage = initialize_stage(stage_usd_filepath, scene_instance_usd_filepath) + + object_usd_folder = local_download_folder + "/object_usd/" #The string is the name of the folder from remote server + + # This is to ensure the same object used multiple times have a unique ID number + previous_object_name = "" + count = 0 + + for object_data in scene_data[OBJECT_INSTANCES]: + object_exists, usd_filepath, object_name = find_object_usd( + object_data, object_usd_folder, file_extension=".collider.usd" + ) + + # This if/else is to ensure multiple copies of the same type of object have unique names. + if previous_object_name == object_name: + count += 1 + else: + previous_object_name = object_name + count = 0 + + if object_exists: + add_object_to_stage(stage, object_data, usd_filepath, count) + + stage.GetRootLayer().Save() + + print(f"Finished rendering convertin {scene_instance_filepath} to .usd") + + +if __name__ == "__main__": + + scene_instance_filepath = "/home/trandaniel/dev/habitat-sim/data/hssd-hab/scenes/102343992.scene_instance.json" + stage_glb_folder = '/home/trandaniel/dev/IsaacSimConversion/' + local_download_folder = "/home/trandaniel/dev/IsaacSimConversion/usd_scene/" + glb_data_folder = "/home/trandaniel/dev/habitat-sim/data/hssd-hab/objects" + + convert_scene_instance( + scene_instance_filepath, stage_glb_folder, local_download_folder, glb_data_folder + ) + + # TODO: Test with /home/trandaniel/dev/habitat-sim/data/hssd-hab/scenes/.scene_instance.json + # TODO; Open resulting scene output with blender, open it in viewer.py + # Some things might be missing, only rigid objects render for now, articulated later From 176c7c9c2a74fe90969463aa05df9e85ce64f4f0 Mon Sep 17 00:00:00 2001 From: trandaniel Date: Thu, 5 Dec 2024 19:17:24 -0800 Subject: [PATCH 02/61] Add urdf_conversion.py. This file converts .urdf to .usd. --- .../habitat/isaacsim/urdf_conversion.py | 48 +++++++++++++++++++ 1 file changed, 48 insertions(+) create mode 100644 habitat-lab/habitat/isaacsim/urdf_conversion.py diff --git a/habitat-lab/habitat/isaacsim/urdf_conversion.py b/habitat-lab/habitat/isaacsim/urdf_conversion.py new file mode 100644 index 0000000000..a96de71996 --- /dev/null +++ b/habitat-lab/habitat/isaacsim/urdf_conversion.py @@ -0,0 +1,48 @@ +"""This module converts urdf files to usd.""" +# TODO: first setup mamba activate isaaclab2? + +import argparse +from omni.isaac.lab.app import AppLauncher + +def convert_urdf_to_usd(source_urdf_filepath: str, usd_folder_path: str) -> None: + """ + This function converts a .urdf file into a .usd file. NOTE: Please be aware of + pathing issues and references to other .glb files within the urdf file. + + :param source_urdf_filepath: The absolute string path of the urdf file + :param usd_folder_path: The absolute directory of the desired directory location of .usd file. The output will generatate a Props-> instanceable_meshes.usd, .asset_hash, config.yaml, and the desired .usd. + + """ + + # create argparser + parser = argparse.ArgumentParser(description="Create an empty Issac Sim stage.") + # 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 + + #NOTE: Import isaac lab converter extension after launcher runs + from omni.isaac.lab.sim.converters import UrdfConverter, UrdfConverterCfg + + # urdf_filename = 'sink.urdf' + # usd_filepath = f"{source_urdf_filepath.replace('.urdf', '.usd')}" + + # Add config information + config = UrdfConverterCfg() + config.asset_path = source_urdf_filepath # Source file + config.usd_dir = usd_folder_path # Output file + config.fix_base = True + + # Convert asset + converter = UrdfConverter(cfg=config) + converter._convert_asset(cfg=config) + + simulation_app.close() + +if __name__ == "__main__": + urdf_folder_path = '/home/guest/dev/urdf_converter/object_urdf/sink.urdf' + usd_folder_path = '/home/guest/dev/urdf_converter/object_usd/' + convert_urdf_to_usd(urdf_folder_path, usd_folder_path) From 8b3af05e947cff1d7fc34966ae215ed4700e770c Mon Sep 17 00:00:00 2001 From: trandaniel Date: Mon, 9 Dec 2024 22:21:51 -0800 Subject: [PATCH 03/61] Add clean_urdf_xml.py. Written by Eric Undersander --- .../habitat/isaacsim/clean_urdf_xml.py | 67 +++++++++++++++++++ 1 file changed, 67 insertions(+) create mode 100644 habitat-lab/habitat/isaacsim/clean_urdf_xml.py diff --git a/habitat-lab/habitat/isaacsim/clean_urdf_xml.py b/habitat-lab/habitat/isaacsim/clean_urdf_xml.py new file mode 100644 index 0000000000..21b730cad5 --- /dev/null +++ b/habitat-lab/habitat/isaacsim/clean_urdf_xml.py @@ -0,0 +1,67 @@ +import argparse +from lxml import etree as ET # Using lxml for better XML handling + +def clean_urdf(input_file, output_file, remove_visual=False): + """ + Cleans a URDF file: + 1. Optionally removes elements. + 2. Fixes invalid use of '.' in and names while preserving references. + + :param input_file: Path to the input URDF file. + :param output_file: Path to the output cleaned URDF file. + :param remove_visual: If True, removes all elements. + """ + tree = ET.parse(input_file) + root = tree.getroot() + + name_map = {} # Maps old names to new names for links and joints + + # Helper function to sanitize names + def sanitize_name(name): + if '.' in name: + new_name = name.replace('.', '_') + name_map[name] = new_name + return new_name + return name + + # Update and names + for element in root.xpath("//*[@name]"): + original_name = element.get("name") + sanitized_name = sanitize_name(original_name) + element.set("name", sanitized_name) + + # Update references to and + for parent in root.xpath("//parent[@link]"): + original_link = parent.get("link") + parent.set("link", name_map.get(original_link, original_link)) + + for child in root.xpath("//child[@link]"): + original_link = child.get("link") + child.set("link", name_map.get(original_link, original_link)) + + # Optionally remove elements + if remove_visual: + for visual in root.xpath("//visual"): + visual_parent = visual.getparent() + visual_parent.remove(visual) + + # Write the cleaned URDF to the output file + with open(output_file, "wb") as f: + f.write(ET.tostring(root, pretty_print=True, xml_declaration=True, encoding="UTF-8")) + print(f"Cleaned URDF written to: {output_file}") + + +def main(): + parser = argparse.ArgumentParser(description="Clean and sanitize URDF files.") + parser.add_argument("input_file", help="Path to the input URDF file") + parser.add_argument("output_file", help="Path to the output cleaned URDF file") + parser.add_argument( + "--remove-visual", action="store_true", help="Remove all elements" + ) + args = parser.parse_args() + + clean_urdf(args.input_file, args.output_file, args.remove_visual) + + +if __name__ == "__main__": + main() From ef1bb478b7fc6ba153c64e5ac6b063a4bd5b15c0 Mon Sep 17 00:00:00 2001 From: trandaniel Date: Mon, 9 Dec 2024 22:23:22 -0800 Subject: [PATCH 04/61] Add bulk_usd_conversion.py. --- .../remote_content/bulk_usd_conversion.py | 94 +++++++++++++++++++ 1 file changed, 94 insertions(+) create mode 100644 habitat-lab/habitat/isaacsim/remote_content/bulk_usd_conversion.py diff --git a/habitat-lab/habitat/isaacsim/remote_content/bulk_usd_conversion.py b/habitat-lab/habitat/isaacsim/remote_content/bulk_usd_conversion.py new file mode 100644 index 0000000000..64bf9755dd --- /dev/null +++ b/habitat-lab/habitat/isaacsim/remote_content/bulk_usd_conversion.py @@ -0,0 +1,94 @@ +import os +from typing import List, Dict +import asyncio +import argparse +from omni.isaac.lab.app import AppLauncher +import timer + + +def copy_directory_structure(source_dir: str, target_dir: str): + + for root, dirs, files in os.walk(source_dir): + relative_path = os.path.relpath(root, source_dir) + target_path = os.path.join(target_dir, relative_path) + if not os.path.exists(target_path): + os.makedirs(target_path) + + +def list_child_folders(parent_folder: str) -> List[str]: + try: + return [folder for folder in os.listdir(parent_folder) if os.path.isdir(os.path.join(parent_folder, folder))] + except FileNotFoundError: + print(f"Error: The folder '{parent_folder}' does not exist.") + return [] + +def make_child_folder_paths(source_dir: str, child_folder_list: List[str]) -> List[str]: + child_folder_paths = [] + for child_folder in child_folder_list: + child_folder_paths.append(source_dir + child_folder + '/') + return child_folder_paths + + +async def convert_glb_to_usd(glb_folder_path: str, map_source_to_output: Dict[str, str]) -> None: + """ + This function converts glb files to usd. This function launches an empty Isaac Lab stage, + Imports the respective Isaac Lab converter functions, then converts with another + MeshConverter._convert_mesh_to_usd async function. The simulation app then closes, and + the converted functions are dumped onto the respective usd_folder_path. + """ + + # create argparser + parser = argparse.ArgumentParser(description="Tutorial on creating an empty stage.") + # 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 + + from omni.isaac.lab.sim.converters import MeshConverter #NOTE: Import isaac lab converter extension after launcher runs + + loop = asyncio.get_event_loop() + for object_folder_path in map_source_to_output: + # print(f"{object_folder_path} started.") + usd_folder_path = map_source_to_output[object_folder_path] + + glb_file_list = [file for file in os.listdir(object_folder_path) if '.collider.glb' in file and os.path.isfile(os.path.join(object_folder_path, file))] + for glb_filename in glb_file_list: + + + glb_filepath = object_folder_path + glb_filename + if not os.path.exists(glb_filepath): + continue + usd_filename = f"{glb_filename.replace('.glb', '.usd')}" + usd_filepath = usd_folder_path + usd_filename + + loop.run_until_complete(MeshConverter._convert_mesh_to_usd(in_file=glb_filepath, out_file=usd_filepath)) + print(f"{usd_folder_path} finished.") + loop.close() + print(f"Bulk conversion finished.") + simulation_app.close() + + +async def bulk_convert_to_usd(source_dir: str, target_dir: str): + object_folders = list_child_folders(source_dir) + object_folder_paths = make_child_folder_paths(source_dir, object_folders) + + usd_folder_paths = make_child_folder_paths(target_dir, object_folders) + + # A dictionary of {Input filepath: output filepath} + map_source_to_output = dict(zip(object_folder_paths, usd_folder_paths)) + + + for object_folder_path in object_folder_paths: + usd_folder_path = map_source_to_output[object_folder_path] + + await convert_glb_to_usd(source_dir, map_source_to_output) + + +if __name__ == "__main__": + source_dir = '/home/guest/repos/hssd-hab/objects/' + target_dir = '/home/guest/repos/hssd-hab/usd_objects/' + # copy_directory_structure(source_dir, target_dir) + asyncio.run(bulk_convert_to_usd(source_dir, target_dir)) \ No newline at end of file From fc9b2e486cf4f458efec321a3eecc9ebe41b71b8 Mon Sep 17 00:00:00 2001 From: trandaniel Date: Mon, 9 Dec 2024 22:29:17 -0800 Subject: [PATCH 05/61] Add glb decompression file. Add note and terminal command example. Written by Eric Undersander. --- .../isaacsim/decompress_glb_with_toktx_v2.py | 115 ++++++++++++++++++ 1 file changed, 115 insertions(+) create mode 100644 habitat-lab/habitat/isaacsim/decompress_glb_with_toktx_v2.py diff --git a/habitat-lab/habitat/isaacsim/decompress_glb_with_toktx_v2.py b/habitat-lab/habitat/isaacsim/decompress_glb_with_toktx_v2.py new file mode 100644 index 0000000000..7e59e1636d --- /dev/null +++ b/habitat-lab/habitat/isaacsim/decompress_glb_with_toktx_v2.py @@ -0,0 +1,115 @@ +# NOTE: You must clone the repo https://github.com/KhronosGroup/KTX-Software +''' +Example usage in terminal: + +decompress_glb_with_toktx_v2.py /home/eric/projects/habitat-llm/data/fpss/objects/1/15c556c44d99689e202e4e60370995fd38e0f361.glb +output3.glb --tool-path ../KTX-Software/build/Release/ktx +''' + +import os +import subprocess +import argparse +from pygltflib import GLTF2, Buffer, BufferView, Image +import base64 +import shutil + +def read_buffer_view_data_from_glb_data(glb_data, buffer_view): + """Read data for a buffer view directly from the GLB binary data.""" + byte_offset = buffer_view.byteOffset + byte_length = buffer_view.byteLength + return glb_data[byte_offset:byte_offset + byte_length] + +def decompress_textures_and_embed(glb_path, output_path, path_to_tool): + # Load the original GLB file + gltf = GLTF2().load(glb_path) + + # Ensure the GLB data is loaded + if not gltf._glb_data: + raise ValueError("No binary data found in GLTF file.") + + # Directory for temporary texture files + temp_dir = "temp_textures" + os.makedirs(temp_dir, exist_ok=True) + + # Collect binary data for new buffer + new_buffer_data = bytearray(gltf._glb_data) + + # Decompress and replace each KTX2 texture that uses the KHR_texture_basisu extension + for i, texture in enumerate(gltf.textures): + if texture.extensions and "KHR_texture_basisu" in texture.extensions: + print(f"Decompressing KTX2 texture {i}...") + + # Get the original KTX2 image source index from the extension + ktx_source_index = texture.extensions["KHR_texture_basisu"]["source"] + ktx_image = gltf.images[ktx_source_index] + + if ktx_image.uri: + # Handle base64-encoded URI + compressed_data = base64.b64decode(ktx_image.uri.split(",")[1]) + else: + # Handle embedded binary buffer + buffer_view = gltf.bufferViews[ktx_image.bufferView] + compressed_data = read_buffer_view_data_from_glb_data(gltf._glb_data, buffer_view) + + # Save compressed data to a temporary KTX2 file + ktx2_path = os.path.join(temp_dir, f"texture_{i}.ktx2") + with open(ktx2_path, "wb") as f: + f.write(compressed_data) + + # Decompress the KTX2 file to PNG using `ktx extract` + png_path = os.path.join(temp_dir, f"texture_{i}.png") + subprocess.run([path_to_tool, "extract", "--level", "0", ktx2_path, png_path], check=True) + + # Read PNG data and add it to the binary buffer + with open(png_path, "rb") as f: + decompressed_data = f.read() + buffer_offset = len(new_buffer_data) + new_buffer_data.extend(decompressed_data) + + # Create a new buffer view for the PNG data + png_buffer_view = BufferView( + buffer=0, # We assume there's only one buffer + byteOffset=buffer_offset, + byteLength=len(decompressed_data) + ) + buffer_view_index = len(gltf.bufferViews) + gltf.bufferViews.append(png_buffer_view) + + # Update the image to use the new buffer view + ktx_image.bufferView = buffer_view_index + ktx_image.mimeType = "image/png" + ktx_image.uri = None # Clear the URI since we're embedding the data + + # Update texture to use the new image directly, removing the extension + texture.source = ktx_source_index # Set source to point to the new image + texture.extensions.pop("KHR_texture_basisu", None) # Remove the extension + + # Update the buffer with the new binary data + gltf.buffers[0] = Buffer(byteLength=len(new_buffer_data), uri=None) + gltf._glb_data = bytes(new_buffer_data) + + # Remove `KHR_texture_basisu` from extensions if present + if "KHR_texture_basisu" in gltf.extensionsRequired: + gltf.extensionsRequired.remove("KHR_texture_basisu") + if "KHR_texture_basisu" in gltf.extensionsUsed: + gltf.extensionsUsed.remove("KHR_texture_basisu") + + # Save the modified GLB file + gltf.save(output_path) + print(f"Decompressed GLB saved to {output_path}") + + # Clean up temporary files + shutil.rmtree(temp_dir) + +def main(): + parser = argparse.ArgumentParser(description="Decompress Basis-compressed textures in a GLB file by embedding them as binary data.") + parser.add_argument("input_glb", type=str, help="Path to the input GLB file.") + parser.add_argument("output_glb", type=str, help="Path to the output GLB file with uncompressed textures.") + parser.add_argument("--tool-path", type=str, default="ktx", help="Path to the `ktx` tool.") + + args = parser.parse_args() + + decompress_textures_and_embed(args.input_glb, args.output_glb, args.tool_path) + +if __name__ == "__main__": + main() From 52c6b2ebce611e96453e870cd22222fa05ab1a68 Mon Sep 17 00:00:00 2001 From: trandaniel Date: Tue, 10 Dec 2024 08:31:03 -0800 Subject: [PATCH 06/61] Remove asyncio library. Add MeshConverter Cfg and remove all asyncio associated commands. --- .../isaacsim/remote_content/converter.py | 21 ++++++++++++------- 1 file changed, 14 insertions(+), 7 deletions(-) diff --git a/habitat-lab/habitat/isaacsim/remote_content/converter.py b/habitat-lab/habitat/isaacsim/remote_content/converter.py index 8405e8a543..18ae62e4cd 100644 --- a/habitat-lab/habitat/isaacsim/remote_content/converter.py +++ b/habitat-lab/habitat/isaacsim/remote_content/converter.py @@ -7,7 +7,6 @@ MeshConverter._convert_mesh_to_usd is also an async function. ''' -import asyncio import argparse from omni.isaac.lab.app import AppLauncher import os @@ -16,7 +15,8 @@ #Run laucher through Isaac Lab -async def convert_glb_to_usd(glb_folder_path: str, usd_folder_path: str) -> None: +#async def convert_glb_to_usd(glb_folder_path: str, usd_folder_path: str) -> None: +def convert_glb_to_usd(glb_folder_path: str, usd_folder_path: str) -> None: """ This function converts glb files to usd. This function launches an empty Isaac Lab stage, Imports the respective Isaac Lab converter functions, then converts with another @@ -38,17 +38,24 @@ async def convert_glb_to_usd(glb_folder_path: str, usd_folder_path: str) -> None glb_folder_list = [glb for glb in os.listdir(glb_folder_path) if os.path.isfile(os.path.join(glb_folder_path, glb))] - loop = asyncio.get_event_loop() for glb_filename in glb_folder_list: glb_filepath = glb_folder_path + glb_filename usd_filename = f"{glb_filename.replace('.glb', '.usd')}" usd_filepath = usd_folder_path + usd_filename - loop.run_until_complete(MeshConverter._convert_mesh_to_usd(in_file=glb_filepath, out_file=usd_filepath)) - loop.close() - + + converter_config = MeshConverterCfg( + asset_path=clb_filepath, + usd_dir=usd_folder_path + usd_file_name=usd_filename, + force_usd_conversion=False, + collision_approximation="convexDecomposition", + ) + converter = MeshConverter(converter_config) + print(f"Wrote {converter.usd_path}" + simulation_app.close() if __name__ == "__main__": glb_folder_path = '/path/object_glb/' usd_folder_path = '/path/object_usd/' - asyncio.run(convert_glb_to_usd(glb_folder_path, usd_folder_path)) + convert_glb_to_usd(glb_folder_path, usd_folder_path) From 75aee502ad814174a6a10940ee41817ad9b45f39 Mon Sep 17 00:00:00 2001 From: trandaniel Date: Tue, 10 Dec 2024 08:44:03 -0800 Subject: [PATCH 07/61] Remove remote_content folder. Move associated scripts to parent directory. --- .../habitat/isaacsim/{remote_content => }/bulk_usd_conversion.py | 0 habitat-lab/habitat/isaacsim/{remote_content => }/converter.py | 0 habitat-lab/habitat/isaacsim/remote_content/object_glb/.gitignore | 0 habitat-lab/habitat/isaacsim/remote_content/object_usd/.gitignore | 0 4 files changed, 0 insertions(+), 0 deletions(-) rename habitat-lab/habitat/isaacsim/{remote_content => }/bulk_usd_conversion.py (100%) rename habitat-lab/habitat/isaacsim/{remote_content => }/converter.py (100%) delete mode 100644 habitat-lab/habitat/isaacsim/remote_content/object_glb/.gitignore delete mode 100644 habitat-lab/habitat/isaacsim/remote_content/object_usd/.gitignore diff --git a/habitat-lab/habitat/isaacsim/remote_content/bulk_usd_conversion.py b/habitat-lab/habitat/isaacsim/bulk_usd_conversion.py similarity index 100% rename from habitat-lab/habitat/isaacsim/remote_content/bulk_usd_conversion.py rename to habitat-lab/habitat/isaacsim/bulk_usd_conversion.py diff --git a/habitat-lab/habitat/isaacsim/remote_content/converter.py b/habitat-lab/habitat/isaacsim/converter.py similarity index 100% rename from habitat-lab/habitat/isaacsim/remote_content/converter.py rename to habitat-lab/habitat/isaacsim/converter.py diff --git a/habitat-lab/habitat/isaacsim/remote_content/object_glb/.gitignore b/habitat-lab/habitat/isaacsim/remote_content/object_glb/.gitignore deleted file mode 100644 index e69de29bb2..0000000000 diff --git a/habitat-lab/habitat/isaacsim/remote_content/object_usd/.gitignore b/habitat-lab/habitat/isaacsim/remote_content/object_usd/.gitignore deleted file mode 100644 index e69de29bb2..0000000000 From c5f4c5163a86a8a43e15829144086d92ae1d5a73 Mon Sep 17 00:00:00 2001 From: trandaniel Date: Tue, 10 Dec 2024 08:56:29 -0800 Subject: [PATCH 08/61] Remove ssh_conversion.py. SAFEKEEPING. --- .../habitat/isaacsim/ssh_conversion.py | 62 ------------------- 1 file changed, 62 deletions(-) delete mode 100644 habitat-lab/habitat/isaacsim/ssh_conversion.py diff --git a/habitat-lab/habitat/isaacsim/ssh_conversion.py b/habitat-lab/habitat/isaacsim/ssh_conversion.py deleted file mode 100644 index 1c434c8dd1..0000000000 --- a/habitat-lab/habitat/isaacsim/ssh_conversion.py +++ /dev/null @@ -1,62 +0,0 @@ -""" -This module helps a local computer interact with a remote server. -The remote server has the machine specs required for Issac Lab installation -to run MeshConverter._convert_mesh_to_usd(). The local machine does not. -See this url for documentation: -https://isaac-sim.github.io/IsaacLab/main/_modules/omni/isaac/lab/sim/converters/mesh_converter.html#MeshConverter -""" - -from scp import SCPClient -import os -import subprocess -from multiprocessing import Barrier - -#NOTE: USER SHOULD INPUT REMOTE SERVER VALUES HERE -username = 'USERNAME' -hostname = 'IP_ADDRESS' #NOTE: THIS IS A SECURITY ISSUE -port = 23456 -REMOTE_GLB_FOLDER = '/path/object_glb/' -REMOTE_USD_FOLDER = '/path/object_usd' - - -def upload_object_glb_to_server(object_glb_path: str) -> None: - """ - Upload a local folder with .glb files and upload it to remote server. - """ - - attempts = 3 #NOTE: The attempts and for loop ensure uploads complete if upload task is dumped from queue. - for attempt in range(attempts): - try: - remote_file_path = REMOTE_GLB_FOLDER + os.path.basename(object_glb_path) - scp_command = f'scp {object_glb_path} {hostname}:{remote_file_path}' - subprocess.run(scp_command, shell=True) - break - except Exception as e: - print(f"Error uploading {filepath} (attempt {i+1}/{attempts}): {e}") - if attempt == attempts - 1: - raise - - barrier.wait() - -def run_remote_converter() -> None: - """ - This function runs the glb to usd conversion.py that sits on the given remote computer. - This sends bash commands to active Isaac Lab library in conda and run converter.py with a local subprocess library. - """ - - #Check remote pathing. - scp_command = f"ssh {username}@{hostname} 'source /home/guest/miniforge3/etc/profile.d/conda.sh; conda activate isaaclab2; python /home/guest/dev/isaac_lab_converter/converter.py' " - subprocess.run(scp_command, shell=True) - - -def download_remote_usd_folder(local_download_file_path: str) -> None: - """ - This function downloads folder contents from a remote computer. - This function uses the bash script with the help of the subprocess library. - """ - scp_command = f'scp -r -C {hostname}:{REMOTE_USD_FOLDER} {local_download_file_path}' - subprocess.run(scp_command, shell=True) - - -if __name__ == "__main__": - run_remote_converter() \ No newline at end of file From 263999672bb6b9d46f0705e15f8f1c6a286aa136 Mon Sep 17 00:00:00 2001 From: trandaniel Date: Tue, 10 Dec 2024 09:28:08 -0800 Subject: [PATCH 09/61] Remove private funciton in urdf_conversion.py. Add UrdfConverterCfg instead. --- .../habitat/isaacsim/urdf_conversion.py | 47 ++++++++++++------- 1 file changed, 30 insertions(+), 17 deletions(-) diff --git a/habitat-lab/habitat/isaacsim/urdf_conversion.py b/habitat-lab/habitat/isaacsim/urdf_conversion.py index a96de71996..596581aba7 100644 --- a/habitat-lab/habitat/isaacsim/urdf_conversion.py +++ b/habitat-lab/habitat/isaacsim/urdf_conversion.py @@ -3,8 +3,9 @@ import argparse from omni.isaac.lab.app import AppLauncher +import os -def convert_urdf_to_usd(source_urdf_filepath: str, usd_folder_path: str) -> None: +def convert_urdf_to_usd(source_urdf_filepath: str, usd_folder_path: str, usd_filename: str) -> None: """ This function converts a .urdf file into a .usd file. NOTE: Please be aware of pathing issues and references to other .glb files within the urdf file. @@ -27,22 +28,34 @@ def convert_urdf_to_usd(source_urdf_filepath: str, usd_folder_path: str) -> None #NOTE: Import isaac lab converter extension after launcher runs from omni.isaac.lab.sim.converters import UrdfConverter, UrdfConverterCfg - # urdf_filename = 'sink.urdf' - # usd_filepath = f"{source_urdf_filepath.replace('.urdf', '.usd')}" - - # Add config information - config = UrdfConverterCfg() - config.asset_path = source_urdf_filepath # Source file - config.usd_dir = usd_folder_path # Output file - config.fix_base = True - - # Convert asset - converter = UrdfConverter(cfg=config) - converter._convert_asset(cfg=config) - + # Define the configuration for the URDF conversion + config = UrdfConverterCfg( + asset_path=source_urdf_filepath, # Path to the input URDF file + usd_dir=usd_folder_path, # Directory to save the converted USD file + usd_file_name=usd_filename, # Name of the output USD file + force_usd_conversion=True, # Force conversion even if USD already exists + make_instanceable=True, # Make the USD asset instanceable + link_density=1000.0, # Default density for links + import_inertia_tensor=True, # Import inertia tensor from URDF + convex_decompose_mesh=False, # Decompose convex meshes + fix_base=False, # Fix the base link + merge_fixed_joints=False, # Merge links connected by fixed joints + self_collision=False, # Enable self-collision + default_drive_type="position", # Default drive type for joints + override_joint_dynamics=False # Override joint dynamics + ) + + # Create the UrdfConverter with the specified configuration + converter = UrdfConverter(config) + + # Get the path to the generated USD file + usd_path = converter.usd_path + print(f"USD file generated at: {usd_path}") + simulation_app.close() if __name__ == "__main__": - urdf_folder_path = '/home/guest/dev/urdf_converter/object_urdf/sink.urdf' - usd_folder_path = '/home/guest/dev/urdf_converter/object_usd/' - convert_urdf_to_usd(urdf_folder_path, usd_folder_path) + urdf_file_path = '/home/guest/dev/robot_arm/hab_spot_arm/urdf/hab_spot_arm.urdf' + usd_folder_path = '/home/guest/dev/robot_arm/usd_output' + usd_filename = 'converted_robot' # .usd and .usda both work + convert_urdf_to_usd(urdf_file_path, usd_folder_path, usd_filename) From 51b2e3c332a917cffb654aa7f31c0849e11e0373 Mon Sep 17 00:00:00 2001 From: trandaniel Date: Tue, 10 Dec 2024 09:35:54 -0800 Subject: [PATCH 10/61] Move AppLauncher class into if/main statement --- .../habitat/isaacsim/urdf_conversion.py | 32 +++++++++++-------- 1 file changed, 18 insertions(+), 14 deletions(-) diff --git a/habitat-lab/habitat/isaacsim/urdf_conversion.py b/habitat-lab/habitat/isaacsim/urdf_conversion.py index 596581aba7..3ca2601084 100644 --- a/habitat-lab/habitat/isaacsim/urdf_conversion.py +++ b/habitat-lab/habitat/isaacsim/urdf_conversion.py @@ -14,19 +14,6 @@ def convert_urdf_to_usd(source_urdf_filepath: str, usd_folder_path: str, usd_fil :param usd_folder_path: The absolute directory of the desired directory location of .usd file. The output will generatate a Props-> instanceable_meshes.usd, .asset_hash, config.yaml, and the desired .usd. """ - - # create argparser - parser = argparse.ArgumentParser(description="Create an empty Issac Sim stage.") - # 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 - - #NOTE: Import isaac lab converter extension after launcher runs - from omni.isaac.lab.sim.converters import UrdfConverter, UrdfConverterCfg # Define the configuration for the URDF conversion config = UrdfConverterCfg( @@ -52,10 +39,27 @@ def convert_urdf_to_usd(source_urdf_filepath: str, usd_folder_path: str, usd_fil usd_path = converter.usd_path print(f"USD file generated at: {usd_path}") - simulation_app.close() + if __name__ == "__main__": urdf_file_path = '/home/guest/dev/robot_arm/hab_spot_arm/urdf/hab_spot_arm.urdf' usd_folder_path = '/home/guest/dev/robot_arm/usd_output' usd_filename = 'converted_robot' # .usd and .usda both work + + + # create argparser + parser = argparse.ArgumentParser(description="Create an empty Issac Sim stage.") + # 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 + + #NOTE: Import isaac lab converter extension after launcher runs + from omni.isaac.lab.sim.converters import UrdfConverter, UrdfConverterCfg + convert_urdf_to_usd(urdf_file_path, usd_folder_path, usd_filename) + + simulation_app.close() \ No newline at end of file From 9dfde6816e86dba979aef0a53a8c6f64cdf8ac8e Mon Sep 17 00:00:00 2001 From: trandaniel Date: Tue, 10 Dec 2024 09:40:39 -0800 Subject: [PATCH 11/61] Move Applauncher class into if/main statement. --- habitat-lab/habitat/isaacsim/converter.py | 33 +++++++++++------------ 1 file changed, 16 insertions(+), 17 deletions(-) diff --git a/habitat-lab/habitat/isaacsim/converter.py b/habitat-lab/habitat/isaacsim/converter.py index 18ae62e4cd..5292d6a673 100644 --- a/habitat-lab/habitat/isaacsim/converter.py +++ b/habitat-lab/habitat/isaacsim/converter.py @@ -12,10 +12,7 @@ import os import timer -#Run laucher through Isaac Lab - -#async def convert_glb_to_usd(glb_folder_path: str, usd_folder_path: str) -> None: def convert_glb_to_usd(glb_folder_path: str, usd_folder_path: str) -> None: """ This function converts glb files to usd. This function launches an empty Isaac Lab stage, @@ -24,18 +21,6 @@ def convert_glb_to_usd(glb_folder_path: str, usd_folder_path: str) -> None: the converted functions are dumped onto the respective usd_folder_path. """ - # create argparser - parser = argparse.ArgumentParser(description="Tutorial on creating an empty stage.") - # 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 - - from omni.isaac.lab.sim.converters import MeshConverter #NOTE: Import isaac lab converter extension after launcher runs - glb_folder_list = [glb for glb in os.listdir(glb_folder_path) if os.path.isfile(os.path.join(glb_folder_path, glb))] for glb_filename in glb_folder_list: @@ -52,10 +37,24 @@ def convert_glb_to_usd(glb_folder_path: str, usd_folder_path: str) -> None: ) converter = MeshConverter(converter_config) print(f"Wrote {converter.usd_path}" - - simulation_app.close() + if __name__ == "__main__": glb_folder_path = '/path/object_glb/' usd_folder_path = '/path/object_usd/' + + # create argparser + parser = argparse.ArgumentParser(description="Tutorial on creating an empty stage.") + # 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 + + from omni.isaac.lab.sim.converters import MeshConverter #NOTE: Import isaac lab converter extension after launcher runs + convert_glb_to_usd(glb_folder_path, usd_folder_path) + + simulation_app.close() \ No newline at end of file From 33b51df6272d470323fb8f5c672e386c89ac277e Mon Sep 17 00:00:00 2001 From: trandaniel Date: Tue, 10 Dec 2024 18:11:35 -0800 Subject: [PATCH 12/61] Fix syntax and variable errors in converter.py. --- habitat-lab/habitat/isaacsim/converter.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/habitat-lab/habitat/isaacsim/converter.py b/habitat-lab/habitat/isaacsim/converter.py index 5292d6a673..00ca7662dd 100644 --- a/habitat-lab/habitat/isaacsim/converter.py +++ b/habitat-lab/habitat/isaacsim/converter.py @@ -29,14 +29,14 @@ def convert_glb_to_usd(glb_folder_path: str, usd_folder_path: str) -> None: usd_filepath = usd_folder_path + usd_filename converter_config = MeshConverterCfg( - asset_path=clb_filepath, - usd_dir=usd_folder_path + asset_path=glb_filepath, + usd_dir=usd_folder_path, usd_file_name=usd_filename, force_usd_conversion=False, collision_approximation="convexDecomposition", ) converter = MeshConverter(converter_config) - print(f"Wrote {converter.usd_path}" + print(f"Wrote {converter.usd_path}") if __name__ == "__main__": From 7b1a6b6438aaa32e6537b4b288bc5638d66523be Mon Sep 17 00:00:00 2001 From: trandaniel Date: Fri, 3 Jan 2025 19:14:20 -0800 Subject: [PATCH 13/61] Remove and archive older versions of conversion .py --- habitat-lab/habitat/isaacsim/temporary_archive/.gitignore | 0 .../isaacsim/{ => temporary_archive}/bulk_usd_conversion.py | 0 .../habitat/isaacsim/{ => temporary_archive}/clean_urdf_xml.py | 0 habitat-lab/habitat/isaacsim/{ => temporary_archive}/converter.py | 0 .../{ => temporary_archive}/decompress_glb_with_toktx_v2.py | 0 .../habitat/isaacsim/{ => temporary_archive}/urdf_conversion.py | 0 .../isaacsim/{ => temporary_archive}/usd_conversion_scene.py | 0 7 files changed, 0 insertions(+), 0 deletions(-) create mode 100644 habitat-lab/habitat/isaacsim/temporary_archive/.gitignore rename habitat-lab/habitat/isaacsim/{ => temporary_archive}/bulk_usd_conversion.py (100%) rename habitat-lab/habitat/isaacsim/{ => temporary_archive}/clean_urdf_xml.py (100%) rename habitat-lab/habitat/isaacsim/{ => temporary_archive}/converter.py (100%) rename habitat-lab/habitat/isaacsim/{ => temporary_archive}/decompress_glb_with_toktx_v2.py (100%) rename habitat-lab/habitat/isaacsim/{ => temporary_archive}/urdf_conversion.py (100%) rename habitat-lab/habitat/isaacsim/{ => temporary_archive}/usd_conversion_scene.py (100%) diff --git a/habitat-lab/habitat/isaacsim/temporary_archive/.gitignore b/habitat-lab/habitat/isaacsim/temporary_archive/.gitignore new file mode 100644 index 0000000000..e69de29bb2 diff --git a/habitat-lab/habitat/isaacsim/bulk_usd_conversion.py b/habitat-lab/habitat/isaacsim/temporary_archive/bulk_usd_conversion.py similarity index 100% rename from habitat-lab/habitat/isaacsim/bulk_usd_conversion.py rename to habitat-lab/habitat/isaacsim/temporary_archive/bulk_usd_conversion.py diff --git a/habitat-lab/habitat/isaacsim/clean_urdf_xml.py b/habitat-lab/habitat/isaacsim/temporary_archive/clean_urdf_xml.py similarity index 100% rename from habitat-lab/habitat/isaacsim/clean_urdf_xml.py rename to habitat-lab/habitat/isaacsim/temporary_archive/clean_urdf_xml.py diff --git a/habitat-lab/habitat/isaacsim/converter.py b/habitat-lab/habitat/isaacsim/temporary_archive/converter.py similarity index 100% rename from habitat-lab/habitat/isaacsim/converter.py rename to habitat-lab/habitat/isaacsim/temporary_archive/converter.py diff --git a/habitat-lab/habitat/isaacsim/decompress_glb_with_toktx_v2.py b/habitat-lab/habitat/isaacsim/temporary_archive/decompress_glb_with_toktx_v2.py similarity index 100% rename from habitat-lab/habitat/isaacsim/decompress_glb_with_toktx_v2.py rename to habitat-lab/habitat/isaacsim/temporary_archive/decompress_glb_with_toktx_v2.py diff --git a/habitat-lab/habitat/isaacsim/urdf_conversion.py b/habitat-lab/habitat/isaacsim/temporary_archive/urdf_conversion.py similarity index 100% rename from habitat-lab/habitat/isaacsim/urdf_conversion.py rename to habitat-lab/habitat/isaacsim/temporary_archive/urdf_conversion.py diff --git a/habitat-lab/habitat/isaacsim/usd_conversion_scene.py b/habitat-lab/habitat/isaacsim/temporary_archive/usd_conversion_scene.py similarity index 100% rename from habitat-lab/habitat/isaacsim/usd_conversion_scene.py rename to habitat-lab/habitat/isaacsim/temporary_archive/usd_conversion_scene.py From fc2e667042f2a411c463948cc001c94ef2256ebb Mon Sep 17 00:00:00 2001 From: trandaniel Date: Fri, 3 Jan 2025 19:14:43 -0800 Subject: [PATCH 14/61] Draft. Add urdf to usd converter. --- habitat-lab/habitat/isaacsim/urdf_to_usd.py | 186 ++++++++++++++++++++ 1 file changed, 186 insertions(+) create mode 100644 habitat-lab/habitat/isaacsim/urdf_to_usd.py diff --git a/habitat-lab/habitat/isaacsim/urdf_to_usd.py b/habitat-lab/habitat/isaacsim/urdf_to_usd.py new file mode 100644 index 0000000000..c597f81751 --- /dev/null +++ b/habitat-lab/habitat/isaacsim/urdf_to_usd.py @@ -0,0 +1,186 @@ +import os +import asyncio +import re +import xml.etree.ElementTree as ET +import argparse +import json + +import argparse +from omni.isaac.lab.app import AppLauncher + + +def clean_urdf(input_file, output_file, remove_visual=False): + """ + Cleans a URDF file: + 1. Optionally removes elements. + 2. Fixes invalid use of '.' in and names while preserving references. + + :param input_file: Path to the input URDF file. + :param output_file: Path to the output cleaned URDF file. + :param remove_visual: If True, removes all elements. + """ + tree = ET.parse(input_file) + root = tree.getroot() + + name_map = {} # Maps old names to new names for links and joints + + # Helper function to sanitize names + def sanitize_name(name): + if '.' in name: + new_name = name.replace('.', '_') + name_map[name] = new_name + return new_name + return name + + # Update and names + for element in root.xpath("//*[@name]"): + original_name = element.get("name") + sanitized_name = sanitize_name(original_name) + element.set("name", sanitized_name) + + # Update references to and + for parent in root.xpath("//parent[@link]"): + original_link = parent.get("link") + parent.set("link", name_map.get(original_link, original_link)) + + for child in root.xpath("//child[@link]"): + original_link = child.get("link") + child.set("link", name_map.get(original_link, original_link)) + + # Optionally remove elements + if remove_visual: + for visual in root.xpath("//visual"): + visual_parent = visual.getparent() + visual_parent.remove(visual) + + # Write the cleaned URDF to the output file + with open(output_file, "wb") as f: + f.write(ET.tostring(root, pretty_print=True, xml_declaration=True, encoding="UTF-8")) + print(f"Cleaned URDF written to: {output_file}") + + +def convert_urdf(urdf_filepath, out_usd_filepath): + + from omni.isaac.lab.sim.converters import UrdfConverter, UrdfConverterCfg + + out_dir, out_filename = os.path.split(out_usd_filepath) + + # Define the configuration for the URDF conversion + config = UrdfConverterCfg( + asset_path=urdf_filepath, # Path to the input URDF file + usd_dir=out_dir, # Directory to save the converted USD file + usd_file_name=out_filename, # Name of the output USD file + force_usd_conversion=True, # Force conversion even if USD already exists + make_instanceable=False, # Make the USD asset instanceable + link_density=1000.0, # Default density for links + import_inertia_tensor=True, # Import inertia tensor from URDF + convex_decompose_mesh=False, # Decompose convex meshes + fix_base=False, # Fix the base link + merge_fixed_joints=False, # Merge links connected by fixed joints + self_collision=False, # Enable self-collision + default_drive_type="position", # Default drive type for joints + override_joint_dynamics=False # Override joint dynamics + ) + + # Create the UrdfConverter with the specified configuration + converter = UrdfConverter(config) + + # Get the path to the generated USD file + usd_path = converter.usd_path + print(f"USD file generated at: {usd_path}") + + + +def add_habitat_visual_metadata_for_articulation(usd_filepath, reference_urdf_filepath, out_usd_filepath, project_root_folder): + # Parse the URDF file + urdf_tree = ET.parse(reference_urdf_filepath) + urdf_root = urdf_tree.getroot() + + # Get the robot name from the URDF + robot_name = urdf_root.get("name") + + # Extract visual metadata from the URDF + visual_metadata = {} + urdf_dir = os.path.dirname(os.path.abspath(reference_urdf_filepath)) + usd_dir = os.path.dirname(os.path.abspath(usd_filepath)) + for link in urdf_root.findall("link"): + link_name = link.get("name") + visual = link.find("visual") + if visual is not None: + geometry = visual.find("geometry") + if geometry is not None: + mesh = geometry.find("mesh") + if mesh is not None: + filename = mesh.get("filename") + asset_path = os.path.relpath(os.path.abspath(os.path.join(urdf_dir, filename)), start=project_root_folder) + scale = (1.0, 1.0, 1.0) # Default scale + + # Check for scale in the element + scale_element = mesh.find("scale") + if scale_element is not None: + scale = tuple(map(float, scale_element.text.split())) + + # Replace periods with underscores for USD-safe names + # todo: use a standard get_sanitized_usd_name function here + safe_link_name = link_name.replace(".", "_") + visual_metadata[safe_link_name] = { + "assetPath": asset_path, + "assetScale": scale + } + + # Open the USD file + stage = Usd.Stage.Open(usd_filepath) + if not stage: + raise ValueError(f"Could not open USD file: {usd_filepath}") + + # Add the habitatVisual metadata to each relevant prim + for link_name, metadata in visual_metadata.items(): + prim_path = f"/{robot_name}/{link_name}" + prim = stage.GetPrimAtPath(prim_path) + if prim: + # Add assetPath + asset_path_attr = prim.CreateAttribute("habitatVisual:assetPath", Sdf.ValueTypeNames.String) + asset_path_attr.Set(metadata["assetPath"]) + + # Add assetScale + asset_scale_attr = prim.CreateAttribute("habitatVisual:assetScale", Sdf.ValueTypeNames.Float3) + asset_scale_attr.Set(Gf.Vec3f(*metadata["assetScale"])) + else: + print(f"Warning: Prim not found for link: {link_name}") + + # Save the updated USD to the output file + stage.GetRootLayer().Export(out_usd_filepath) + print(f"Updated USD file written to: {out_usd_filepath}") + + +def convert_urdf_test(): + """ + This is an exmaple use case of going from an unformatted urdf file to usd file. + Specifically, this is render the habitat spot arm urdf. + """ + # /home/trandaniel/dev/habitat-lab/data/hab_spot_arm/urdf + source_urdf_filepath = "data/hab_spot_arm/urdf/hab_spot_arm.urdf" + clean_urdf_filepath = "data/hab_spot_arm/urdf/hab_spot_arm_clean.urdf" + # Temp USD must be in same folder as final USD. It's okay to be the exact same file. + temp_usd_filepath = "data/usd/robots/hab_spot_arm.usda" + out_usd_filepath = "data/usd/robots/hab_spot_arm.usda" + convert_urdf(clean_urdf_filepath, temp_usd_filepath) + add_habitat_visual_metadata_for_articulation(temp_usd_filepath, source_urdf_filepath, out_usd_filepath, project_root_folder="./") + +if __name__ == "__main__": + + parser = argparse.ArgumentParser(description="Create an empty Issac Sim stage.") + # append AppLauncher cli args + AppLauncher.add_app_launcher_args(parser) + # parse the arguments + ## args_cli = parser.parse_args() + args_cli, _ = parser.parse_known_args() + # launch omniverse app + args_cli.headless = True # Config to have Isaac Lab UI off + app_launcher = AppLauncher(args_cli) + simulation_app = app_launcher.app + + from omni.isaac.core.utils.extensions import enable_extension + from pxr import Usd, UsdGeom, UsdPhysics, PhysxSchema, Gf, Sdf + + convert_urdf_test() \ No newline at end of file From 61287f97367e88cd4e285b9671f201190556efba Mon Sep 17 00:00:00 2001 From: trandaniel Date: Sun, 5 Jan 2025 15:52:29 -0800 Subject: [PATCH 15/61] Add scene_instance_json_to_usd.py. Draft stage. --- .../isaacsim/scene_instance_json_to_usd.py | 458 ++++++++++++++++++ 1 file changed, 458 insertions(+) create mode 100644 habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py diff --git a/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py b/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py new file mode 100644 index 0000000000..abb0e716b8 --- /dev/null +++ b/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py @@ -0,0 +1,458 @@ +"""This module converts a scene instance json to a usda file. +""" + +import os +import asyncio +import re +import xml.etree.ElementTree as ET +import argparse +import json +import math + +import argparse +from omni.isaac.lab.app import AppLauncher + + +def sanitize_usd_name(name: str) -> str: + """Sanitizes a string for use as a USD node name. + + :param name: The input string to sanitize. + + :return: The sanitized string, suitable for use as a USD node name. + """ + + #assert len(name) > 0 + if len(name) == 0: + print("Input string for USD node is empty") + return + + # Replace spaces, hyphens, colons, and other special characters with underscores + sanitized_name = re.sub(r"[^\w]", "_", name) + + # Remove consecutive underscores + sanitized_name = re.sub(r"_+", "_", sanitized_name) + + # Ensure the name doesn't start with a number + if sanitized_name[0].isdigit(): + sanitized_name = "_" + sanitized_name + + return sanitized_name + + +def object_usd_info(obj_instance_json, object_counts): + """ From the values defined in the object json from the scence instance, generate various + strings and object counts. + :param obj_instance_json: This is object level information from the scence_instance json file, Dictionary object + :param object counts: This dictionary contains information about multiples uses of the same mesh + + :return: object_config_filename is the name of the object config file. + out_usd_path is the filepath where the converted object is located. object_counts might be updated if there is another + instance of the same mesh. unique_object_name is the unique name of a mesh. + """ + object_config_filename = f"{obj_instance_json['template_name']}.object_config.json" + # TODO: maybe don't prepend OBJECT_. Just use sanitize_usd_name. + # NOTE: You cannot start the unique object name with number in teh Xform class environment + base_object_name = "OBJECT_" + object_config_filename.removesuffix(".object_config.json") + base_object_name = sanitize_usd_name(base_object_name) + + if base_object_name in object_counts: + object_counts[base_object_name] += 1 + unique_object_name = f"{base_object_name}_dup{object_counts[base_object_name]}" + else: + unique_object_name = base_object_name + object_counts[base_object_name] = 1 + + out_usd_path = f"./data/usd/objects/{base_object_name}.usda" + + return object_config_filename, out_usd_path, object_counts, unique_object_name + + +############################################################################################ +# Convert scence instance object to a usd file +############################################################################################ + + +def convert_object_to_usd(objects_folder: str, object_config_filename: str, out_usd_path; str, project_root_folder; str) -> None: + """This converts an hssd object to a usda file. + + :param objects_folder : Parent folder that contains all the objects to an hssd scene. + :param object_config_filename: String name of the config file associated with an object. + :param out_usd_path: Filepath where object usd will be located after conversion + :project_root_folder: Path of habitat-lab repo + """ + object_config_filepath = find_file(objects_folder, object_config_filename) + assert object_config_filepath + + object_config_json_data = None + with open(object_config_filepath, 'r') as file: + object_config_json_data = json.load(file) + # By convention, we fall back to render_asset if collision_asset is not set. See Habitat-sim Simulator::getJoinedMesh. + collision_asset_filename = object_config_json_data["collision_asset"] if "collision_asset" in object_config_json_data else object_config_json_data["render_asset"] + collision_asset_filepath = find_file(objects_folder, collision_asset_filename) + + print(f"Converting {collision_asset_filepath}...") + + convert_mesh_to_usd(collision_asset_filepath, out_usd_path, load_materials=False) + + # TODO: DANIEL is this from urdf? + render_asset_filepath_from_urdf = object_config_json_data["render_asset"] + + object_config_dir, _ = os.path.split(object_config_filepath) + usd_dir, _ = os.path.split(out_usd_path) + + + render_asset_filepath_for_usd = os.path.relpath(os.path.abspath(os.path.join(object_config_dir, render_asset_filepath_from_urdf)), start=project_root_folder) + + render_asset_scale = object_config_json_data.get("scale", (1.0, 1.0, 1.0)) + + add_habitat_visual_to_usd_root(out_usd_path, render_asset_filepath_for_usd, render_asset_scale) + + print(f"Wrote {out_usd_path}") + + +def find_file(folder: str, filename: str) -> str: + """Given a root folder, return the string of the absolute path of file contained within the root folder + + :param folder: Root folder to search in + :param filename: Name of file to be searched for. + + :return: Absoluate path string of filename if it is found, None if none found. + """ + result = None + for root, dirs, files in os.walk(folder): + if filename in files: + assert not result + result = os.path.join(root, filename) + return os.path.abspath(result) + + +def convert_mesh_to_usd(in_file: str, out_file: str, load_materials: bool = True) -> bool: + """Convert mesh to usd + + :param in_file: string filepath of input mesh + :param out_file: string of output usda file + :param load_materials: TODO: Add description + + :return: TODO: Add description + + """ + asyncio.run( + async_convert_mesh_to_usd(in_file=in_file, out_file=out_file, load_materials=load_materials) + ) + + from pxr import Usd + stage = Usd.Stage.Open(out_file) + + convert_meshes_to_static_colliders(stage, "/World") + + stage.GetRootLayer().Export(out_file) + + +async def async_convert_mesh_to_usd(in_file: str, out_file: str, load_materials: bool = True) -> bool: + """ported from IsaacLab mesh_converter.py _convert_mesh_to_usd + TODO: Add param descriptions, and return description. + """ + + enable_extension("omni.kit.asset_converter") + + import omni.kit.asset_converter + import omni.usd + + # Create converter context + converter_context = omni.kit.asset_converter.AssetConverterContext() + # Set up converter settings + # Don't import/export materials + converter_context.ignore_materials = not load_materials + converter_context.ignore_animations = True + converter_context.ignore_camera = True + converter_context.ignore_light = True + # Merge all meshes into one + converter_context.merge_all_meshes = False + # Sets world units to meters, this will also scale asset if it's centimeters model. + # This does not work right now :(, so we need to scale the mesh manually + converter_context.use_meter_as_world_unit = True + converter_context.baking_scales = True + # Uses double precision for all transform ops. + converter_context.use_double_precision_to_usd_transform_op = True + + # Create converter task + instance = omni.kit.asset_converter.get_instance() + task = instance.create_converter_task(in_file, out_file, None, converter_context) + # Start conversion task and wait for it to finish + success = await task.wait_until_finished() + if not success: + raise RuntimeError(f"Failed to convert {in_file} to USD. Error: {task.get_error_message()}") + return success + + +def convert_meshes_to_static_colliders(stage, root_path) -> None: + """ + Iterates over all meshes in the USD subtree under `root_path` and adds convex hull collision shapes. + + :param stage: The USD stage. + :param root_path: The root path of the subtree to process. + """ + # Get the root prim + root_prim = stage.GetPrimAtPath(root_path) + if not root_prim.IsValid(): + raise ValueError(f"The specified root path '{root_path}' is not valid.") + + # Iterate over all child prims in the subtree + for prim in Usd.PrimRange(root_prim): + # Check if the prim is a mesh + if prim.IsA(UsdGeom.Mesh): + # print(f"Processing mesh: {prim.GetPath()}") + + # Check if MeshCollisionAPI is already applied + UsdPhysics.CollisionAPI.Apply(prim) + collision_api = UsdPhysics.MeshCollisionAPI.Apply(prim) + collision_api.GetApproximationAttr().Set("convexHull") # "convexDecomposition") + + physicsAPI = UsdPhysics.RigidBodyAPI.Apply(prim) + PhysxSchema.PhysxRigidBodyAPI.Apply(prim) + physicsAPI.CreateRigidBodyEnabledAttr(True) + physicsAPI.CreateKinematicEnabledAttr(True) + + # set purpose to "guide" so that this mesh doesn't render in Isaac? + if True: + mesh_geom = UsdGeom.Imageable(prim) + mesh_geom.CreatePurposeAttr(UsdGeom.Tokens.guide) + +def add_habitat_visual_to_usd_root(usd_filepath, render_asset_filepath, render_asset_scale): + """TODO: Add function description, param description, and output description""" + + # Open the USD file + stage = Usd.Stage.Open(usd_filepath) + if not stage: + raise ValueError(f"Could not open USD file: {usd_filepath}") + + default_prim = stage.GetDefaultPrim() + + # Add habitatVisual:assetPath + asset_path_attr = default_prim.CreateAttribute("habitatVisual:assetPath", Sdf.ValueTypeNames.String) + asset_path_attr.Set(render_asset_filepath) + + # Add habitatVisual:assetScale + asset_scale_attr = default_prim.CreateAttribute("habitatVisual:assetScale", Sdf.ValueTypeNames.Float3) + asset_scale_attr.Set(Gf.Vec3f(*render_asset_scale)) + + # Save the updated USD file + stage.GetRootLayer().Save() + print(f"Added habitat visual metadata to RigidBody prim in: {usd_filepath}") + +############################################################################################ +# Add xform spatial information +############################################################################################ + +def add_xform_scale(object_xform) -> None: + """Add object scale value into xform class for scene instance json.""" + # Ensure scale op exists, default value + scale = [1.0, 1.0, 1.0] # obj_instance_json.get("non_uniform_scale", [1.0, 1.0, 1.0]) + + scale_op = next( + (op for op in object_xform.GetOrderedXformOps() if op.GetName() == "xformOp:scale"), + None, + ) + if scale_op is None: + scale_op = object_xform.AddScaleOp() + scale_op.Set(Gf.Vec3f(*scale)) + + +def add_xform_rotation(obj_instance_json, object_xform) -> None: + """Add object rotation value into xform class for scene instance json.""" + # Ensure rotation op exists + # rotation = habitat_to_usd_rotation([0.0, 0.0, 0.0, 1.0]) + # rotation = [1.0, 0.0, 0.0, 0.0] + # 90 degrees about x in wxyz format + # rotation = [0.7071068,0.7071067,0.0,0.0] + rotation = habitat_to_usd_rotation(obj_instance_json.get("rotation", [1.0, 0.0, 0.0, 0.0])) + orient_op = next( + (op for op in object_xform.GetOrderedXformOps() if op.GetName() == "xformOp:orient"), + None, + ) + if orient_op is None: + orient_op = object_xform.AddOrientOp(precision=UsdGeom.XformOp.PrecisionDouble) + orient_op.Set(Gf.Quatd(*rotation)) + + +def habitat_to_usd_rotation(rotation)-> List[float]: + """ + Convert a quaternion rotation from Habitat to USD coordinate system. + + Parameters + ---------- + rotation : list[float] + Quaternion in Habitat coordinates [w, x, y, z] (wxyz). + + Returns + ------- + list[float] + Quaternion in USD coordinates [w, x, y, z] (wxyz). + """ + HALF_SQRT2 = 0.70710678 # √0.5 + + # Combined inverse quaternion transform: (inverse of q_trans) + # q_x90_inv = [√0.5, √0.5, 0, 0] (wxyz format) + # q_y180_inv = [0, 0, -1, 0] (wxyz format) + q_y90_inv = [HALF_SQRT2, 0.0, HALF_SQRT2, 0.0] + + q_x90_inv = [HALF_SQRT2, HALF_SQRT2, 0.0, 0.0] + q_z90_inv = [HALF_SQRT2, 0.0, 0.0, HALF_SQRT2] + q_y180_inv = [0.0, 0.0, -1.0, 0.0] + q_z180_inv = [0.0, 0.0, 0.0, 1.0] + + # Multiply q_y180_inv * q_x90_inv to get the combined quaternion + def quat_multiply(q1, q2): + w1, x1, y1, z1 = q1 + w2, x2, y2, z2 = q2 + w = w1*w2 - x1*x2 - y1*y2 - z1*z2 + x = w1*x2 + x1*w2 + y1*z2 - z1*y2 + y = w1*y2 - x1*z2 + y1*w2 + z1*x2 + z = w1*z2 + x1*y2 - y1*x2 + z1*w2 + return [w, x, y, z] + + q_trans_inv = quat_multiply(q_x90_inv, q_y180_inv) + + # Multiply q_trans_inv with the input rotation quaternion + w, x, y, z = rotation + rotation_usd = quat_multiply(q_trans_inv, [w, x, y, z]) + + return rotation_usd + + +def add_xform_translation(obj_instance_json, object_xform) -> None: + """Add object translation value into xform class for scene instance json.""" + # Ensure translation op exists + position = habitat_to_usd_position(obj_instance_json.get("translation", [0.0, 0.0, 0.0])) + translate_op = next( + (op for op in object_xform.GetOrderedXformOps() if op.GetName() == "xformOp:translate"), + None, + ) + if translate_op is None: + translate_op = object_xform.AddTranslateOp() + translate_op.Set(Gf.Vec3f(*position)) + + +def habitat_to_usd_position(position) -> List[float]: + """ + Convert a position from Habitat (Y-up) to USD (Z-up) coordinate system. + + Habitat (-x, z, y) -> Isaac (x, y, z) + """ + x, y, z = position + return [-x, z, y] + +############################################################################################ +# Main function +############################################################################################ + +def convert_hab_scene(scene_filepath: str, project_root_folder: str, objects_folder: str = '', scene_usd_filepath: str= "./data/test_scene_instance.usda") -> None: + """ + This is the main function takes data from a scene_instance.json file to .usda. + NOTE, folder directories for objects are speific to the hssd object dataset. + """ + + # TODO: DANIEL Not sure why check is here, when json library for scene_json_data variable does same check? + try: + assert os.path.exists(scene_filepath) + except AssertionError: + raise FileNotFoundError(f"Scene instance json {scene_filepath} does not exist") + + with open(scene_filepath, 'r') as file: + scene_json_data = json.load(file) + + # Form Xform stage object for output .usda file. + stage = Usd.Stage.CreateNew(scene_usd_filepath) + xform_prim = UsdGeom.Xform.Define(stage, "/Scene") + stage.SetDefaultPrim(xform_prim.GetPrim()) + + # Get scene folder and objects folder. In the case of HSSD, the scene folder + # contains the scene_instance.json files, and the object folder is the same hierarchy. + # Adjust paths as needed. + scenes_folder = os.path.dirname(scene_filepath) + if not objects_folder: + objects_folder = scenes_folder + "/../objects" + + try: + assert os.path.exists(objects_folder) + except AssertionError: + raise FileNotFoundError(f"Object glb folder {objects_folder} does not exist") + + # A scene may have multiple instances of the same object mesh. Xform usda needs + # to have one unique name per mesh. + object_counts = {} + max_count = -1 # 50 #TODO: temp only convert the first N objects + count = 0 + + try: + assert "object_instances" in scene_json_data + except AssertionError: + print(f"'object_instances' key not found in {scene_filepath} ") + return + # raise KeyError(f"'object_instances' key not found in {scene_filepath} ")# TODO: may need return instead of raise, incase we need to for loop convert_hab_scene + + for obj_instance_json in scene_json_data["object_instances"]: + + # TODO: assert collision_asset_size is (1,1,1) or not present + # TODO: check is_collidable + # TODO: how to handle scale + + object_config_filename = f"{obj_instance_json['template_name']}.object_config.json" + # TODO: maybe don't prepend OBJECT_. Just use sanitize_usd_name. + # NOTE: You cannot start the unique object name with number in teh Xform class environment + base_object_name = "OBJECT_" + object_config_filename.removesuffix(".object_config.json") + base_object_name = sanitize_usd_name(base_object_name) + + object_config_filename, out_usd_path, object_counts, unique_object_name = object_usd_info(obj_instance_json, object_counts) + + # TODO: gather these up and do them later with multiprocessing + # NOTE: This will be answered when trying to proccess multiple scene_instance_jsons. + #if not os.path.exists(out_usd_path): + convert_object_to_usd(objects_folder, object_config_filename, out_usd_path, project_root_folder) + + relative_usd_path = out_usd_path.removeprefix("./data/usd/") + + # Form Scene Node + object_xform = UsdGeom.Xform.Define( + stage, f"/Scene/{unique_object_name}" + ) + + object_xform.GetPrim().GetReferences().AddReference(relative_usd_path) + + # Operation are performed in the order listed, change as desired + # Current order is scale at global origin, local rotation at global origin, then translate from global origin + add_xform_scale(object_xform) + add_xform_rotation(obj_instance_json, object_xform) + add_xform_translation(obj_instance_json, object_xform) + + # NOTE: Let's not change the xform order. I don't know what's going on with Xform order. + # object_xform.SetXformOpOrder(xform_op_order) + + count += 1 + if count == max_count: + break + + stage.GetRootLayer().Save() + print(f"wrote scene {scene_usd_filepath}") + +if __name__ == "__main__": + scene_instance_filepath = '/home/trandaniel/dev/habitat-sim/data/hssd-hab/scenes/102343992.scene_instance.json' + + from omni.isaac.lab.app import AppLauncher + + parser = argparse.ArgumentParser(description="Create an empty Issac Sim stage.") + # append AppLauncher cli args + AppLauncher.add_app_launcher_args(parser) + # parse the arguments + args_cli = parser.parse_args() + # launch omniverse app + args_cli.headless = True # Config to have Isaac Lab UI off + app_launcher = AppLauncher(args_cli) + simulation_app = app_launcher.app + + from omni.isaac.core.utils.extensions import enable_extension + from pxr import Usd, UsdGeom, UsdPhysics, PhysxSchema, Gf, Sdf + + convert_hab_scene(scene_instance_filepath, project_root_folder="/home/trandaniel/dev/habitat-lab/test_convert") + + From c5bf778de55dcffca822d75c9a4f9d3500d48dbe Mon Sep 17 00:00:00 2001 From: trandaniel Date: Sun, 5 Jan 2025 15:58:00 -0800 Subject: [PATCH 16/61] Minor formatting --- habitat-lab/habitat/isaacsim/urdf_to_usd.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/habitat-lab/habitat/isaacsim/urdf_to_usd.py b/habitat-lab/habitat/isaacsim/urdf_to_usd.py index c597f81751..61adb29731 100644 --- a/habitat-lab/habitat/isaacsim/urdf_to_usd.py +++ b/habitat-lab/habitat/isaacsim/urdf_to_usd.py @@ -9,7 +9,7 @@ from omni.isaac.lab.app import AppLauncher -def clean_urdf(input_file, output_file, remove_visual=False): +def clean_urdf(input_file: str, output_file: str, remove_visual=False) -> None: """ Cleans a URDF file: 1. Optionally removes elements. @@ -59,7 +59,7 @@ def sanitize_name(name): print(f"Cleaned URDF written to: {output_file}") -def convert_urdf(urdf_filepath, out_usd_filepath): +def convert_urdf(urdf_filepath: str, out_usd_filepath: str) -> None: from omni.isaac.lab.sim.converters import UrdfConverter, UrdfConverterCfg @@ -91,7 +91,7 @@ def convert_urdf(urdf_filepath, out_usd_filepath): -def add_habitat_visual_metadata_for_articulation(usd_filepath, reference_urdf_filepath, out_usd_filepath, project_root_folder): +def add_habitat_visual_metadata_for_articulation(usd_filepath: str, reference_urdf_filepath: str, out_usd_filepath: str, project_root_folder: str) -> None: # Parse the URDF file urdf_tree = ET.parse(reference_urdf_filepath) urdf_root = urdf_tree.getroot() From ec5d0e68b6e3d3e4f3309aa54616b6776b3a01c9 Mon Sep 17 00:00:00 2001 From: trandaniel Date: Sun, 5 Jan 2025 16:22:50 -0800 Subject: [PATCH 17/61] Black formatting --- .../isaacsim/scene_instance_json_to_usd.py | 279 ++++++++++++------ habitat-lab/habitat/isaacsim/urdf_to_usd.py | 83 ++++-- 2 files changed, 246 insertions(+), 116 deletions(-) diff --git a/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py b/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py index abb0e716b8..05bc94e901 100644 --- a/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py +++ b/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py @@ -21,7 +21,7 @@ def sanitize_usd_name(name: str) -> str: :return: The sanitized string, suitable for use as a USD node name. """ - #assert len(name) > 0 + # assert len(name) > 0 if len(name) == 0: print("Input string for USD node is empty") return @@ -40,31 +40,42 @@ def sanitize_usd_name(name: str) -> str: def object_usd_info(obj_instance_json, object_counts): - """ From the values defined in the object json from the scence instance, generate various + """From the values defined in the object json from the scence instance, generate various strings and object counts. :param obj_instance_json: This is object level information from the scence_instance json file, Dictionary object :param object counts: This dictionary contains information about multiples uses of the same mesh - - :return: object_config_filename is the name of the object config file. + + :return: object_config_filename is the name of the object config file. out_usd_path is the filepath where the converted object is located. object_counts might be updated if there is another instance of the same mesh. unique_object_name is the unique name of a mesh. """ - object_config_filename = f"{obj_instance_json['template_name']}.object_config.json" + object_config_filename = ( + f"{obj_instance_json['template_name']}.object_config.json" + ) # TODO: maybe don't prepend OBJECT_. Just use sanitize_usd_name. # NOTE: You cannot start the unique object name with number in teh Xform class environment - base_object_name = "OBJECT_" + object_config_filename.removesuffix(".object_config.json") + base_object_name = "OBJECT_" + object_config_filename.removesuffix( + ".object_config.json" + ) base_object_name = sanitize_usd_name(base_object_name) if base_object_name in object_counts: object_counts[base_object_name] += 1 - unique_object_name = f"{base_object_name}_dup{object_counts[base_object_name]}" + unique_object_name = ( + f"{base_object_name}_dup{object_counts[base_object_name]}" + ) else: unique_object_name = base_object_name object_counts[base_object_name] = 1 out_usd_path = f"./data/usd/objects/{base_object_name}.usda" - - return object_config_filename, out_usd_path, object_counts, unique_object_name + + return ( + object_config_filename, + out_usd_path, + object_counts, + unique_object_name, + ) ############################################################################################ @@ -72,7 +83,12 @@ def object_usd_info(obj_instance_json, object_counts): ############################################################################################ -def convert_object_to_usd(objects_folder: str, object_config_filename: str, out_usd_path; str, project_root_folder; str) -> None: +def convert_object_to_usd( + objects_folder: str, + object_config_filename: str, + out_usd_path: str, + project_root_folder: str, +) -> None: """This converts an hssd object to a usda file. :param objects_folder : Parent folder that contains all the objects to an hssd scene. @@ -84,38 +100,52 @@ def convert_object_to_usd(objects_folder: str, object_config_filename: str, out_ assert object_config_filepath object_config_json_data = None - with open(object_config_filepath, 'r') as file: + with open(object_config_filepath, "r") as file: object_config_json_data = json.load(file) # By convention, we fall back to render_asset if collision_asset is not set. See Habitat-sim Simulator::getJoinedMesh. - collision_asset_filename = object_config_json_data["collision_asset"] if "collision_asset" in object_config_json_data else object_config_json_data["render_asset"] - collision_asset_filepath = find_file(objects_folder, collision_asset_filename) + collision_asset_filename = ( + object_config_json_data["collision_asset"] + if "collision_asset" in object_config_json_data + else object_config_json_data["render_asset"] + ) + collision_asset_filepath = find_file( + objects_folder, collision_asset_filename + ) print(f"Converting {collision_asset_filepath}...") - convert_mesh_to_usd(collision_asset_filepath, out_usd_path, load_materials=False) + convert_mesh_to_usd( + collision_asset_filepath, out_usd_path, load_materials=False + ) # TODO: DANIEL is this from urdf? render_asset_filepath_from_urdf = object_config_json_data["render_asset"] object_config_dir, _ = os.path.split(object_config_filepath) usd_dir, _ = os.path.split(out_usd_path) - - render_asset_filepath_for_usd = os.path.relpath(os.path.abspath(os.path.join(object_config_dir, render_asset_filepath_from_urdf)), start=project_root_folder) + render_asset_filepath_for_usd = os.path.relpath( + os.path.abspath( + os.path.join(object_config_dir, render_asset_filepath_from_urdf) + ), + start=project_root_folder, + ) render_asset_scale = object_config_json_data.get("scale", (1.0, 1.0, 1.0)) - add_habitat_visual_to_usd_root(out_usd_path, render_asset_filepath_for_usd, render_asset_scale) + add_habitat_visual_to_usd_root( + out_usd_path, render_asset_filepath_for_usd, render_asset_scale + ) - print(f"Wrote {out_usd_path}") + print(f"Wrote {out_usd_path}") def find_file(folder: str, filename: str) -> str: """Given a root folder, return the string of the absolute path of file contained within the root folder - + :param folder: Root folder to search in :param filename: Name of file to be searched for. - + :return: Absoluate path string of filename if it is found, None if none found. """ result = None @@ -126,21 +156,26 @@ def find_file(folder: str, filename: str) -> str: return os.path.abspath(result) -def convert_mesh_to_usd(in_file: str, out_file: str, load_materials: bool = True) -> bool: +def convert_mesh_to_usd( + in_file: str, out_file: str, load_materials: bool = True +) -> bool: """Convert mesh to usd - + :param in_file: string filepath of input mesh :param out_file: string of output usda file :param load_materials: TODO: Add description - + :return: TODO: Add description - + """ asyncio.run( - async_convert_mesh_to_usd(in_file=in_file, out_file=out_file, load_materials=load_materials) + async_convert_mesh_to_usd( + in_file=in_file, out_file=out_file, load_materials=load_materials + ) ) from pxr import Usd + stage = Usd.Stage.Open(out_file) convert_meshes_to_static_colliders(stage, "/World") @@ -148,7 +183,9 @@ def convert_mesh_to_usd(in_file: str, out_file: str, load_materials: bool = True stage.GetRootLayer().Export(out_file) -async def async_convert_mesh_to_usd(in_file: str, out_file: str, load_materials: bool = True) -> bool: +async def async_convert_mesh_to_usd( + in_file: str, out_file: str, load_materials: bool = True +) -> bool: """ported from IsaacLab mesh_converter.py _convert_mesh_to_usd TODO: Add param descriptions, and return description. """ @@ -177,11 +214,15 @@ async def async_convert_mesh_to_usd(in_file: str, out_file: str, load_materials: # Create converter task instance = omni.kit.asset_converter.get_instance() - task = instance.create_converter_task(in_file, out_file, None, converter_context) + task = instance.create_converter_task( + in_file, out_file, None, converter_context + ) # Start conversion task and wait for it to finish success = await task.wait_until_finished() if not success: - raise RuntimeError(f"Failed to convert {in_file} to USD. Error: {task.get_error_message()}") + raise RuntimeError( + f"Failed to convert {in_file} to USD. Error: {task.get_error_message()}" + ) return success @@ -195,8 +236,10 @@ def convert_meshes_to_static_colliders(stage, root_path) -> None: # Get the root prim root_prim = stage.GetPrimAtPath(root_path) if not root_prim.IsValid(): - raise ValueError(f"The specified root path '{root_path}' is not valid.") - + raise ValueError( + f"The specified root path '{root_path}' is not valid." + ) + # Iterate over all child prims in the subtree for prim in Usd.PrimRange(root_prim): # Check if the prim is a mesh @@ -206,7 +249,9 @@ def convert_meshes_to_static_colliders(stage, root_path) -> None: # Check if MeshCollisionAPI is already applied UsdPhysics.CollisionAPI.Apply(prim) collision_api = UsdPhysics.MeshCollisionAPI.Apply(prim) - collision_api.GetApproximationAttr().Set("convexHull") # "convexDecomposition") + collision_api.GetApproximationAttr().Set( + "convexHull" + ) # "convexDecomposition") physicsAPI = UsdPhysics.RigidBodyAPI.Apply(prim) PhysxSchema.PhysxRigidBodyAPI.Apply(prim) @@ -218,9 +263,12 @@ def convert_meshes_to_static_colliders(stage, root_path) -> None: mesh_geom = UsdGeom.Imageable(prim) mesh_geom.CreatePurposeAttr(UsdGeom.Tokens.guide) -def add_habitat_visual_to_usd_root(usd_filepath, render_asset_filepath, render_asset_scale): + +def add_habitat_visual_to_usd_root( + usd_filepath, render_asset_filepath, render_asset_scale +): """TODO: Add function description, param description, and output description""" - + # Open the USD file stage = Usd.Stage.Open(usd_filepath) if not stage: @@ -229,35 +277,51 @@ def add_habitat_visual_to_usd_root(usd_filepath, render_asset_filepath, render_a default_prim = stage.GetDefaultPrim() # Add habitatVisual:assetPath - asset_path_attr = default_prim.CreateAttribute("habitatVisual:assetPath", Sdf.ValueTypeNames.String) + asset_path_attr = default_prim.CreateAttribute( + "habitatVisual:assetPath", Sdf.ValueTypeNames.String + ) asset_path_attr.Set(render_asset_filepath) # Add habitatVisual:assetScale - asset_scale_attr = default_prim.CreateAttribute("habitatVisual:assetScale", Sdf.ValueTypeNames.Float3) + asset_scale_attr = default_prim.CreateAttribute( + "habitatVisual:assetScale", Sdf.ValueTypeNames.Float3 + ) asset_scale_attr.Set(Gf.Vec3f(*render_asset_scale)) # Save the updated USD file stage.GetRootLayer().Save() - print(f"Added habitat visual metadata to RigidBody prim in: {usd_filepath}") + print( + f"Added habitat visual metadata to RigidBody prim in: {usd_filepath}" + ) + ############################################################################################ # Add xform spatial information ############################################################################################ + def add_xform_scale(object_xform) -> None: """Add object scale value into xform class for scene instance json.""" # Ensure scale op exists, default value - scale = [1.0, 1.0, 1.0] # obj_instance_json.get("non_uniform_scale", [1.0, 1.0, 1.0]) - + scale = [ + 1.0, + 1.0, + 1.0, + ] # obj_instance_json.get("non_uniform_scale", [1.0, 1.0, 1.0]) + scale_op = next( - (op for op in object_xform.GetOrderedXformOps() if op.GetName() == "xformOp:scale"), + ( + op + for op in object_xform.GetOrderedXformOps() + if op.GetName() == "xformOp:scale" + ), None, ) if scale_op is None: scale_op = object_xform.AddScaleOp() scale_op.Set(Gf.Vec3f(*scale)) - + def add_xform_rotation(obj_instance_json, object_xform) -> None: """Add object rotation value into xform class for scene instance json.""" # Ensure rotation op exists @@ -265,17 +329,25 @@ def add_xform_rotation(obj_instance_json, object_xform) -> None: # rotation = [1.0, 0.0, 0.0, 0.0] # 90 degrees about x in wxyz format # rotation = [0.7071068,0.7071067,0.0,0.0] - rotation = habitat_to_usd_rotation(obj_instance_json.get("rotation", [1.0, 0.0, 0.0, 0.0])) + rotation = habitat_to_usd_rotation( + obj_instance_json.get("rotation", [1.0, 0.0, 0.0, 0.0]) + ) orient_op = next( - (op for op in object_xform.GetOrderedXformOps() if op.GetName() == "xformOp:orient"), + ( + op + for op in object_xform.GetOrderedXformOps() + if op.GetName() == "xformOp:orient" + ), None, ) if orient_op is None: - orient_op = object_xform.AddOrientOp(precision=UsdGeom.XformOp.PrecisionDouble) + orient_op = object_xform.AddOrientOp( + precision=UsdGeom.XformOp.PrecisionDouble + ) orient_op.Set(Gf.Quatd(*rotation)) -def habitat_to_usd_rotation(rotation)-> List[float]: +def habitat_to_usd_rotation(rotation) -> List[float]: """ Convert a quaternion rotation from Habitat to USD coordinate system. @@ -305,10 +377,10 @@ def habitat_to_usd_rotation(rotation)-> List[float]: def quat_multiply(q1, q2): w1, x1, y1, z1 = q1 w2, x2, y2, z2 = q2 - w = w1*w2 - x1*x2 - y1*y2 - z1*z2 - x = w1*x2 + x1*w2 + y1*z2 - z1*y2 - y = w1*y2 - x1*z2 + y1*w2 + z1*x2 - z = w1*z2 + x1*y2 - y1*x2 + z1*w2 + w = w1 * w2 - x1 * x2 - y1 * y2 - z1 * z2 + x = w1 * x2 + x1 * w2 + y1 * z2 - z1 * y2 + y = w1 * y2 - x1 * z2 + y1 * w2 + z1 * x2 + z = w1 * z2 + x1 * y2 - y1 * x2 + z1 * w2 return [w, x, y, z] q_trans_inv = quat_multiply(q_x90_inv, q_y180_inv) @@ -319,13 +391,19 @@ def quat_multiply(q1, q2): return rotation_usd - + def add_xform_translation(obj_instance_json, object_xform) -> None: """Add object translation value into xform class for scene instance json.""" # Ensure translation op exists - position = habitat_to_usd_position(obj_instance_json.get("translation", [0.0, 0.0, 0.0])) + position = habitat_to_usd_position( + obj_instance_json.get("translation", [0.0, 0.0, 0.0]) + ) translate_op = next( - (op for op in object_xform.GetOrderedXformOps() if op.GetName() == "xformOp:translate"), + ( + op + for op in object_xform.GetOrderedXformOps() + if op.GetName() == "xformOp:translate" + ), None, ) if translate_op is None: @@ -342,49 +420,60 @@ def habitat_to_usd_position(position) -> List[float]: x, y, z = position return [-x, z, y] + ############################################################################################ # Main function ############################################################################################ -def convert_hab_scene(scene_filepath: str, project_root_folder: str, objects_folder: str = '', scene_usd_filepath: str= "./data/test_scene_instance.usda") -> None: + +def convert_hab_scene( + scene_filepath: str, + project_root_folder: str, + objects_folder: str = "", + scene_usd_filepath: str = "./data/test_scene_instance.usda", +) -> None: """ This is the main function takes data from a scene_instance.json file to .usda. NOTE, folder directories for objects are speific to the hssd object dataset. """ # TODO: DANIEL Not sure why check is here, when json library for scene_json_data variable does same check? - try: + try: assert os.path.exists(scene_filepath) except AssertionError: - raise FileNotFoundError(f"Scene instance json {scene_filepath} does not exist") + raise FileNotFoundError( + f"Scene instance json {scene_filepath} does not exist" + ) + + with open(scene_filepath, "r") as file: + scene_json_data = json.load(file) - with open(scene_filepath, 'r') as file: - scene_json_data = json.load(file) - # Form Xform stage object for output .usda file. stage = Usd.Stage.CreateNew(scene_usd_filepath) xform_prim = UsdGeom.Xform.Define(stage, "/Scene") stage.SetDefaultPrim(xform_prim.GetPrim()) - + # Get scene folder and objects folder. In the case of HSSD, the scene folder # contains the scene_instance.json files, and the object folder is the same hierarchy. - # Adjust paths as needed. + # Adjust paths as needed. scenes_folder = os.path.dirname(scene_filepath) if not objects_folder: objects_folder = scenes_folder + "/../objects" - - try: + + try: assert os.path.exists(objects_folder) except AssertionError: - raise FileNotFoundError(f"Object glb folder {objects_folder} does not exist") - + raise FileNotFoundError( + f"Object glb folder {objects_folder} does not exist" + ) + # A scene may have multiple instances of the same object mesh. Xform usda needs # to have one unique name per mesh. object_counts = {} - max_count = -1 # 50 #TODO: temp only convert the first N objects + max_count = -1 # 50 #TODO: temp only convert the first N objects count = 0 - try: + try: assert "object_instances" in scene_json_data except AssertionError: print(f"'object_instances' key not found in {scene_filepath} ") @@ -392,39 +481,53 @@ def convert_hab_scene(scene_filepath: str, project_root_folder: str, objects_fol # raise KeyError(f"'object_instances' key not found in {scene_filepath} ")# TODO: may need return instead of raise, incase we need to for loop convert_hab_scene for obj_instance_json in scene_json_data["object_instances"]: - + # TODO: assert collision_asset_size is (1,1,1) or not present # TODO: check is_collidable # TODO: how to handle scale - - object_config_filename = f"{obj_instance_json['template_name']}.object_config.json" + + object_config_filename = ( + f"{obj_instance_json['template_name']}.object_config.json" + ) # TODO: maybe don't prepend OBJECT_. Just use sanitize_usd_name. # NOTE: You cannot start the unique object name with number in teh Xform class environment - base_object_name = "OBJECT_" + object_config_filename.removesuffix(".object_config.json") + base_object_name = "OBJECT_" + object_config_filename.removesuffix( + ".object_config.json" + ) base_object_name = sanitize_usd_name(base_object_name) - - object_config_filename, out_usd_path, object_counts, unique_object_name = object_usd_info(obj_instance_json, object_counts) - + + ( + object_config_filename, + out_usd_path, + object_counts, + unique_object_name, + ) = object_usd_info(obj_instance_json, object_counts) + # TODO: gather these up and do them later with multiprocessing # NOTE: This will be answered when trying to proccess multiple scene_instance_jsons. - #if not os.path.exists(out_usd_path): - convert_object_to_usd(objects_folder, object_config_filename, out_usd_path, project_root_folder) + # if not os.path.exists(out_usd_path): + convert_object_to_usd( + objects_folder, + object_config_filename, + out_usd_path, + project_root_folder, + ) relative_usd_path = out_usd_path.removeprefix("./data/usd/") - + # Form Scene Node object_xform = UsdGeom.Xform.Define( stage, f"/Scene/{unique_object_name}" - ) - + ) + object_xform.GetPrim().GetReferences().AddReference(relative_usd_path) # Operation are performed in the order listed, change as desired - # Current order is scale at global origin, local rotation at global origin, then translate from global origin + # Current order is scale at global origin, local rotation at global origin, then translate from global origin add_xform_scale(object_xform) add_xform_rotation(obj_instance_json, object_xform) add_xform_translation(obj_instance_json, object_xform) - + # NOTE: Let's not change the xform order. I don't know what's going on with Xform order. # object_xform.SetXformOpOrder(xform_op_order) @@ -434,25 +537,29 @@ def convert_hab_scene(scene_filepath: str, project_root_folder: str, objects_fol stage.GetRootLayer().Save() print(f"wrote scene {scene_usd_filepath}") - + + if __name__ == "__main__": - scene_instance_filepath = '/home/trandaniel/dev/habitat-sim/data/hssd-hab/scenes/102343992.scene_instance.json' + scene_instance_filepath = "/home/trandaniel/dev/habitat-sim/data/hssd-hab/scenes/102343992.scene_instance.json" from omni.isaac.lab.app import AppLauncher - parser = argparse.ArgumentParser(description="Create an empty Issac Sim stage.") + parser = argparse.ArgumentParser( + description="Create an empty Issac Sim stage." + ) # append AppLauncher cli args AppLauncher.add_app_launcher_args(parser) # parse the arguments args_cli = parser.parse_args() # launch omniverse app - args_cli.headless = True # Config to have Isaac Lab UI off + args_cli.headless = True # Config to have Isaac Lab UI off app_launcher = AppLauncher(args_cli) simulation_app = app_launcher.app from omni.isaac.core.utils.extensions import enable_extension from pxr import Usd, UsdGeom, UsdPhysics, PhysxSchema, Gf, Sdf - convert_hab_scene(scene_instance_filepath, project_root_folder="/home/trandaniel/dev/habitat-lab/test_convert") - - + convert_hab_scene( + scene_instance_filepath, + project_root_folder="/home/trandaniel/dev/habitat-lab/test_convert", + ) diff --git a/habitat-lab/habitat/isaacsim/urdf_to_usd.py b/habitat-lab/habitat/isaacsim/urdf_to_usd.py index 61adb29731..2d7ef0eb77 100644 --- a/habitat-lab/habitat/isaacsim/urdf_to_usd.py +++ b/habitat-lab/habitat/isaacsim/urdf_to_usd.py @@ -26,8 +26,8 @@ def clean_urdf(input_file: str, output_file: str, remove_visual=False) -> None: # Helper function to sanitize names def sanitize_name(name): - if '.' in name: - new_name = name.replace('.', '_') + if "." in name: + new_name = name.replace(".", "_") name_map[name] = new_name return new_name return name @@ -55,7 +55,11 @@ def sanitize_name(name): # Write the cleaned URDF to the output file with open(output_file, "wb") as f: - f.write(ET.tostring(root, pretty_print=True, xml_declaration=True, encoding="UTF-8")) + f.write( + ET.tostring( + root, pretty_print=True, xml_declaration=True, encoding="UTF-8" + ) + ) print(f"Cleaned URDF written to: {output_file}") @@ -68,18 +72,18 @@ def convert_urdf(urdf_filepath: str, out_usd_filepath: str) -> None: # Define the configuration for the URDF conversion config = UrdfConverterCfg( asset_path=urdf_filepath, # Path to the input URDF file - usd_dir=out_dir, # Directory to save the converted USD file - usd_file_name=out_filename, # Name of the output USD file - force_usd_conversion=True, # Force conversion even if USD already exists - make_instanceable=False, # Make the USD asset instanceable - link_density=1000.0, # Default density for links - import_inertia_tensor=True, # Import inertia tensor from URDF - convex_decompose_mesh=False, # Decompose convex meshes - fix_base=False, # Fix the base link - merge_fixed_joints=False, # Merge links connected by fixed joints - self_collision=False, # Enable self-collision - default_drive_type="position", # Default drive type for joints - override_joint_dynamics=False # Override joint dynamics + usd_dir=out_dir, # Directory to save the converted USD file + usd_file_name=out_filename, # Name of the output USD file + force_usd_conversion=True, # Force conversion even if USD already exists + make_instanceable=False, # Make the USD asset instanceable + link_density=1000.0, # Default density for links + import_inertia_tensor=True, # Import inertia tensor from URDF + convex_decompose_mesh=False, # Decompose convex meshes + fix_base=False, # Fix the base link + merge_fixed_joints=False, # Merge links connected by fixed joints + self_collision=False, # Enable self-collision + default_drive_type="position", # Default drive type for joints + override_joint_dynamics=False, # Override joint dynamics ) # Create the UrdfConverter with the specified configuration @@ -87,11 +91,15 @@ def convert_urdf(urdf_filepath: str, out_usd_filepath: str) -> None: # Get the path to the generated USD file usd_path = converter.usd_path - print(f"USD file generated at: {usd_path}") - - + print(f"USD file generated at: {usd_path}") -def add_habitat_visual_metadata_for_articulation(usd_filepath: str, reference_urdf_filepath: str, out_usd_filepath: str, project_root_folder: str) -> None: + +def add_habitat_visual_metadata_for_articulation( + usd_filepath: str, + reference_urdf_filepath: str, + out_usd_filepath: str, + project_root_folder: str, +) -> None: # Parse the URDF file urdf_tree = ET.parse(reference_urdf_filepath) urdf_root = urdf_tree.getroot() @@ -112,7 +120,10 @@ def add_habitat_visual_metadata_for_articulation(usd_filepath: str, reference_ur mesh = geometry.find("mesh") if mesh is not None: filename = mesh.get("filename") - asset_path = os.path.relpath(os.path.abspath(os.path.join(urdf_dir, filename)), start=project_root_folder) + asset_path = os.path.relpath( + os.path.abspath(os.path.join(urdf_dir, filename)), + start=project_root_folder, + ) scale = (1.0, 1.0, 1.0) # Default scale # Check for scale in the element @@ -125,7 +136,7 @@ def add_habitat_visual_metadata_for_articulation(usd_filepath: str, reference_ur safe_link_name = link_name.replace(".", "_") visual_metadata[safe_link_name] = { "assetPath": asset_path, - "assetScale": scale + "assetScale": scale, } # Open the USD file @@ -139,11 +150,15 @@ def add_habitat_visual_metadata_for_articulation(usd_filepath: str, reference_ur prim = stage.GetPrimAtPath(prim_path) if prim: # Add assetPath - asset_path_attr = prim.CreateAttribute("habitatVisual:assetPath", Sdf.ValueTypeNames.String) + asset_path_attr = prim.CreateAttribute( + "habitatVisual:assetPath", Sdf.ValueTypeNames.String + ) asset_path_attr.Set(metadata["assetPath"]) # Add assetScale - asset_scale_attr = prim.CreateAttribute("habitatVisual:assetScale", Sdf.ValueTypeNames.Float3) + asset_scale_attr = prim.CreateAttribute( + "habitatVisual:assetScale", Sdf.ValueTypeNames.Float3 + ) asset_scale_attr.Set(Gf.Vec3f(*metadata["assetScale"])) else: print(f"Warning: Prim not found for link: {link_name}") @@ -155,7 +170,7 @@ def add_habitat_visual_metadata_for_articulation(usd_filepath: str, reference_ur def convert_urdf_test(): """ - This is an exmaple use case of going from an unformatted urdf file to usd file. + This is an exmaple use case of going from an unformatted urdf file to usd file. Specifically, this is render the habitat spot arm urdf. """ # /home/trandaniel/dev/habitat-lab/data/hab_spot_arm/urdf @@ -165,22 +180,30 @@ def convert_urdf_test(): temp_usd_filepath = "data/usd/robots/hab_spot_arm.usda" out_usd_filepath = "data/usd/robots/hab_spot_arm.usda" convert_urdf(clean_urdf_filepath, temp_usd_filepath) - add_habitat_visual_metadata_for_articulation(temp_usd_filepath, source_urdf_filepath, out_usd_filepath, project_root_folder="./") + add_habitat_visual_metadata_for_articulation( + temp_usd_filepath, + source_urdf_filepath, + out_usd_filepath, + project_root_folder="./", + ) + if __name__ == "__main__": - - parser = argparse.ArgumentParser(description="Create an empty Issac Sim stage.") + + parser = argparse.ArgumentParser( + description="Create an empty Issac Sim stage." + ) # append AppLauncher cli args AppLauncher.add_app_launcher_args(parser) # parse the arguments ## args_cli = parser.parse_args() args_cli, _ = parser.parse_known_args() # launch omniverse app - args_cli.headless = True # Config to have Isaac Lab UI off + args_cli.headless = True # Config to have Isaac Lab UI off app_launcher = AppLauncher(args_cli) simulation_app = app_launcher.app from omni.isaac.core.utils.extensions import enable_extension from pxr import Usd, UsdGeom, UsdPhysics, PhysxSchema, Gf, Sdf - - convert_urdf_test() \ No newline at end of file + + convert_urdf_test() From 511d8da36fdee3ba8f2d4a989b569076f090675e Mon Sep 17 00:00:00 2001 From: trandaniel Date: Sun, 5 Jan 2025 16:41:44 -0800 Subject: [PATCH 18/61] Remove temporary archive folder. --- .../isaacsim/temporary_archive/.gitignore | 0 .../temporary_archive/bulk_usd_conversion.py | 94 ------ .../temporary_archive/clean_urdf_xml.py | 67 ---- .../isaacsim/temporary_archive/converter.py | 60 ---- .../decompress_glb_with_toktx_v2.py | 115 ------- .../temporary_archive/urdf_conversion.py | 65 ---- .../temporary_archive/usd_conversion_scene.py | 296 ------------------ 7 files changed, 697 deletions(-) delete mode 100644 habitat-lab/habitat/isaacsim/temporary_archive/.gitignore delete mode 100644 habitat-lab/habitat/isaacsim/temporary_archive/bulk_usd_conversion.py delete mode 100644 habitat-lab/habitat/isaacsim/temporary_archive/clean_urdf_xml.py delete mode 100644 habitat-lab/habitat/isaacsim/temporary_archive/converter.py delete mode 100644 habitat-lab/habitat/isaacsim/temporary_archive/decompress_glb_with_toktx_v2.py delete mode 100644 habitat-lab/habitat/isaacsim/temporary_archive/urdf_conversion.py delete mode 100644 habitat-lab/habitat/isaacsim/temporary_archive/usd_conversion_scene.py diff --git a/habitat-lab/habitat/isaacsim/temporary_archive/.gitignore b/habitat-lab/habitat/isaacsim/temporary_archive/.gitignore deleted file mode 100644 index e69de29bb2..0000000000 diff --git a/habitat-lab/habitat/isaacsim/temporary_archive/bulk_usd_conversion.py b/habitat-lab/habitat/isaacsim/temporary_archive/bulk_usd_conversion.py deleted file mode 100644 index 64bf9755dd..0000000000 --- a/habitat-lab/habitat/isaacsim/temporary_archive/bulk_usd_conversion.py +++ /dev/null @@ -1,94 +0,0 @@ -import os -from typing import List, Dict -import asyncio -import argparse -from omni.isaac.lab.app import AppLauncher -import timer - - -def copy_directory_structure(source_dir: str, target_dir: str): - - for root, dirs, files in os.walk(source_dir): - relative_path = os.path.relpath(root, source_dir) - target_path = os.path.join(target_dir, relative_path) - if not os.path.exists(target_path): - os.makedirs(target_path) - - -def list_child_folders(parent_folder: str) -> List[str]: - try: - return [folder for folder in os.listdir(parent_folder) if os.path.isdir(os.path.join(parent_folder, folder))] - except FileNotFoundError: - print(f"Error: The folder '{parent_folder}' does not exist.") - return [] - -def make_child_folder_paths(source_dir: str, child_folder_list: List[str]) -> List[str]: - child_folder_paths = [] - for child_folder in child_folder_list: - child_folder_paths.append(source_dir + child_folder + '/') - return child_folder_paths - - -async def convert_glb_to_usd(glb_folder_path: str, map_source_to_output: Dict[str, str]) -> None: - """ - This function converts glb files to usd. This function launches an empty Isaac Lab stage, - Imports the respective Isaac Lab converter functions, then converts with another - MeshConverter._convert_mesh_to_usd async function. The simulation app then closes, and - the converted functions are dumped onto the respective usd_folder_path. - """ - - # create argparser - parser = argparse.ArgumentParser(description="Tutorial on creating an empty stage.") - # 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 - - from omni.isaac.lab.sim.converters import MeshConverter #NOTE: Import isaac lab converter extension after launcher runs - - loop = asyncio.get_event_loop() - for object_folder_path in map_source_to_output: - # print(f"{object_folder_path} started.") - usd_folder_path = map_source_to_output[object_folder_path] - - glb_file_list = [file for file in os.listdir(object_folder_path) if '.collider.glb' in file and os.path.isfile(os.path.join(object_folder_path, file))] - for glb_filename in glb_file_list: - - - glb_filepath = object_folder_path + glb_filename - if not os.path.exists(glb_filepath): - continue - usd_filename = f"{glb_filename.replace('.glb', '.usd')}" - usd_filepath = usd_folder_path + usd_filename - - loop.run_until_complete(MeshConverter._convert_mesh_to_usd(in_file=glb_filepath, out_file=usd_filepath)) - print(f"{usd_folder_path} finished.") - loop.close() - print(f"Bulk conversion finished.") - simulation_app.close() - - -async def bulk_convert_to_usd(source_dir: str, target_dir: str): - object_folders = list_child_folders(source_dir) - object_folder_paths = make_child_folder_paths(source_dir, object_folders) - - usd_folder_paths = make_child_folder_paths(target_dir, object_folders) - - # A dictionary of {Input filepath: output filepath} - map_source_to_output = dict(zip(object_folder_paths, usd_folder_paths)) - - - for object_folder_path in object_folder_paths: - usd_folder_path = map_source_to_output[object_folder_path] - - await convert_glb_to_usd(source_dir, map_source_to_output) - - -if __name__ == "__main__": - source_dir = '/home/guest/repos/hssd-hab/objects/' - target_dir = '/home/guest/repos/hssd-hab/usd_objects/' - # copy_directory_structure(source_dir, target_dir) - asyncio.run(bulk_convert_to_usd(source_dir, target_dir)) \ No newline at end of file diff --git a/habitat-lab/habitat/isaacsim/temporary_archive/clean_urdf_xml.py b/habitat-lab/habitat/isaacsim/temporary_archive/clean_urdf_xml.py deleted file mode 100644 index 21b730cad5..0000000000 --- a/habitat-lab/habitat/isaacsim/temporary_archive/clean_urdf_xml.py +++ /dev/null @@ -1,67 +0,0 @@ -import argparse -from lxml import etree as ET # Using lxml for better XML handling - -def clean_urdf(input_file, output_file, remove_visual=False): - """ - Cleans a URDF file: - 1. Optionally removes elements. - 2. Fixes invalid use of '.' in and names while preserving references. - - :param input_file: Path to the input URDF file. - :param output_file: Path to the output cleaned URDF file. - :param remove_visual: If True, removes all elements. - """ - tree = ET.parse(input_file) - root = tree.getroot() - - name_map = {} # Maps old names to new names for links and joints - - # Helper function to sanitize names - def sanitize_name(name): - if '.' in name: - new_name = name.replace('.', '_') - name_map[name] = new_name - return new_name - return name - - # Update and names - for element in root.xpath("//*[@name]"): - original_name = element.get("name") - sanitized_name = sanitize_name(original_name) - element.set("name", sanitized_name) - - # Update references to and - for parent in root.xpath("//parent[@link]"): - original_link = parent.get("link") - parent.set("link", name_map.get(original_link, original_link)) - - for child in root.xpath("//child[@link]"): - original_link = child.get("link") - child.set("link", name_map.get(original_link, original_link)) - - # Optionally remove elements - if remove_visual: - for visual in root.xpath("//visual"): - visual_parent = visual.getparent() - visual_parent.remove(visual) - - # Write the cleaned URDF to the output file - with open(output_file, "wb") as f: - f.write(ET.tostring(root, pretty_print=True, xml_declaration=True, encoding="UTF-8")) - print(f"Cleaned URDF written to: {output_file}") - - -def main(): - parser = argparse.ArgumentParser(description="Clean and sanitize URDF files.") - parser.add_argument("input_file", help="Path to the input URDF file") - parser.add_argument("output_file", help="Path to the output cleaned URDF file") - parser.add_argument( - "--remove-visual", action="store_true", help="Remove all elements" - ) - args = parser.parse_args() - - clean_urdf(args.input_file, args.output_file, args.remove_visual) - - -if __name__ == "__main__": - main() diff --git a/habitat-lab/habitat/isaacsim/temporary_archive/converter.py b/habitat-lab/habitat/isaacsim/temporary_archive/converter.py deleted file mode 100644 index 00ca7662dd..0000000000 --- a/habitat-lab/habitat/isaacsim/temporary_archive/converter.py +++ /dev/null @@ -1,60 +0,0 @@ -''' -This module takes converts glb files to usd. - -The system that runs this folder needs have the Issac Lab repo installed. -The converter function from isaac lab can import only after the Isaac Lab stage -is launched. asyncio library is used because the source code for -MeshConverter._convert_mesh_to_usd is also an async function. - -''' -import argparse -from omni.isaac.lab.app import AppLauncher -import os -import timer - - -def convert_glb_to_usd(glb_folder_path: str, usd_folder_path: str) -> None: - """ - This function converts glb files to usd. This function launches an empty Isaac Lab stage, - Imports the respective Isaac Lab converter functions, then converts with another - MeshConverter._convert_mesh_to_usd async function. The simulation app then closes, and - the converted functions are dumped onto the respective usd_folder_path. - """ - - glb_folder_list = [glb for glb in os.listdir(glb_folder_path) if os.path.isfile(os.path.join(glb_folder_path, glb))] - - for glb_filename in glb_folder_list: - glb_filepath = glb_folder_path + glb_filename - usd_filename = f"{glb_filename.replace('.glb', '.usd')}" - usd_filepath = usd_folder_path + usd_filename - - converter_config = MeshConverterCfg( - asset_path=glb_filepath, - usd_dir=usd_folder_path, - usd_file_name=usd_filename, - force_usd_conversion=False, - collision_approximation="convexDecomposition", - ) - converter = MeshConverter(converter_config) - print(f"Wrote {converter.usd_path}") - - -if __name__ == "__main__": - glb_folder_path = '/path/object_glb/' - usd_folder_path = '/path/object_usd/' - - # create argparser - parser = argparse.ArgumentParser(description="Tutorial on creating an empty stage.") - # 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 - - from omni.isaac.lab.sim.converters import MeshConverter #NOTE: Import isaac lab converter extension after launcher runs - - convert_glb_to_usd(glb_folder_path, usd_folder_path) - - simulation_app.close() \ No newline at end of file diff --git a/habitat-lab/habitat/isaacsim/temporary_archive/decompress_glb_with_toktx_v2.py b/habitat-lab/habitat/isaacsim/temporary_archive/decompress_glb_with_toktx_v2.py deleted file mode 100644 index 7e59e1636d..0000000000 --- a/habitat-lab/habitat/isaacsim/temporary_archive/decompress_glb_with_toktx_v2.py +++ /dev/null @@ -1,115 +0,0 @@ -# NOTE: You must clone the repo https://github.com/KhronosGroup/KTX-Software -''' -Example usage in terminal: - -decompress_glb_with_toktx_v2.py /home/eric/projects/habitat-llm/data/fpss/objects/1/15c556c44d99689e202e4e60370995fd38e0f361.glb -output3.glb --tool-path ../KTX-Software/build/Release/ktx -''' - -import os -import subprocess -import argparse -from pygltflib import GLTF2, Buffer, BufferView, Image -import base64 -import shutil - -def read_buffer_view_data_from_glb_data(glb_data, buffer_view): - """Read data for a buffer view directly from the GLB binary data.""" - byte_offset = buffer_view.byteOffset - byte_length = buffer_view.byteLength - return glb_data[byte_offset:byte_offset + byte_length] - -def decompress_textures_and_embed(glb_path, output_path, path_to_tool): - # Load the original GLB file - gltf = GLTF2().load(glb_path) - - # Ensure the GLB data is loaded - if not gltf._glb_data: - raise ValueError("No binary data found in GLTF file.") - - # Directory for temporary texture files - temp_dir = "temp_textures" - os.makedirs(temp_dir, exist_ok=True) - - # Collect binary data for new buffer - new_buffer_data = bytearray(gltf._glb_data) - - # Decompress and replace each KTX2 texture that uses the KHR_texture_basisu extension - for i, texture in enumerate(gltf.textures): - if texture.extensions and "KHR_texture_basisu" in texture.extensions: - print(f"Decompressing KTX2 texture {i}...") - - # Get the original KTX2 image source index from the extension - ktx_source_index = texture.extensions["KHR_texture_basisu"]["source"] - ktx_image = gltf.images[ktx_source_index] - - if ktx_image.uri: - # Handle base64-encoded URI - compressed_data = base64.b64decode(ktx_image.uri.split(",")[1]) - else: - # Handle embedded binary buffer - buffer_view = gltf.bufferViews[ktx_image.bufferView] - compressed_data = read_buffer_view_data_from_glb_data(gltf._glb_data, buffer_view) - - # Save compressed data to a temporary KTX2 file - ktx2_path = os.path.join(temp_dir, f"texture_{i}.ktx2") - with open(ktx2_path, "wb") as f: - f.write(compressed_data) - - # Decompress the KTX2 file to PNG using `ktx extract` - png_path = os.path.join(temp_dir, f"texture_{i}.png") - subprocess.run([path_to_tool, "extract", "--level", "0", ktx2_path, png_path], check=True) - - # Read PNG data and add it to the binary buffer - with open(png_path, "rb") as f: - decompressed_data = f.read() - buffer_offset = len(new_buffer_data) - new_buffer_data.extend(decompressed_data) - - # Create a new buffer view for the PNG data - png_buffer_view = BufferView( - buffer=0, # We assume there's only one buffer - byteOffset=buffer_offset, - byteLength=len(decompressed_data) - ) - buffer_view_index = len(gltf.bufferViews) - gltf.bufferViews.append(png_buffer_view) - - # Update the image to use the new buffer view - ktx_image.bufferView = buffer_view_index - ktx_image.mimeType = "image/png" - ktx_image.uri = None # Clear the URI since we're embedding the data - - # Update texture to use the new image directly, removing the extension - texture.source = ktx_source_index # Set source to point to the new image - texture.extensions.pop("KHR_texture_basisu", None) # Remove the extension - - # Update the buffer with the new binary data - gltf.buffers[0] = Buffer(byteLength=len(new_buffer_data), uri=None) - gltf._glb_data = bytes(new_buffer_data) - - # Remove `KHR_texture_basisu` from extensions if present - if "KHR_texture_basisu" in gltf.extensionsRequired: - gltf.extensionsRequired.remove("KHR_texture_basisu") - if "KHR_texture_basisu" in gltf.extensionsUsed: - gltf.extensionsUsed.remove("KHR_texture_basisu") - - # Save the modified GLB file - gltf.save(output_path) - print(f"Decompressed GLB saved to {output_path}") - - # Clean up temporary files - shutil.rmtree(temp_dir) - -def main(): - parser = argparse.ArgumentParser(description="Decompress Basis-compressed textures in a GLB file by embedding them as binary data.") - parser.add_argument("input_glb", type=str, help="Path to the input GLB file.") - parser.add_argument("output_glb", type=str, help="Path to the output GLB file with uncompressed textures.") - parser.add_argument("--tool-path", type=str, default="ktx", help="Path to the `ktx` tool.") - - args = parser.parse_args() - - decompress_textures_and_embed(args.input_glb, args.output_glb, args.tool_path) - -if __name__ == "__main__": - main() diff --git a/habitat-lab/habitat/isaacsim/temporary_archive/urdf_conversion.py b/habitat-lab/habitat/isaacsim/temporary_archive/urdf_conversion.py deleted file mode 100644 index 3ca2601084..0000000000 --- a/habitat-lab/habitat/isaacsim/temporary_archive/urdf_conversion.py +++ /dev/null @@ -1,65 +0,0 @@ -"""This module converts urdf files to usd.""" -# TODO: first setup mamba activate isaaclab2? - -import argparse -from omni.isaac.lab.app import AppLauncher -import os - -def convert_urdf_to_usd(source_urdf_filepath: str, usd_folder_path: str, usd_filename: str) -> None: - """ - This function converts a .urdf file into a .usd file. NOTE: Please be aware of - pathing issues and references to other .glb files within the urdf file. - - :param source_urdf_filepath: The absolute string path of the urdf file - :param usd_folder_path: The absolute directory of the desired directory location of .usd file. The output will generatate a Props-> instanceable_meshes.usd, .asset_hash, config.yaml, and the desired .usd. - - """ - - # Define the configuration for the URDF conversion - config = UrdfConverterCfg( - asset_path=source_urdf_filepath, # Path to the input URDF file - usd_dir=usd_folder_path, # Directory to save the converted USD file - usd_file_name=usd_filename, # Name of the output USD file - force_usd_conversion=True, # Force conversion even if USD already exists - make_instanceable=True, # Make the USD asset instanceable - link_density=1000.0, # Default density for links - import_inertia_tensor=True, # Import inertia tensor from URDF - convex_decompose_mesh=False, # Decompose convex meshes - fix_base=False, # Fix the base link - merge_fixed_joints=False, # Merge links connected by fixed joints - self_collision=False, # Enable self-collision - default_drive_type="position", # Default drive type for joints - override_joint_dynamics=False # Override joint dynamics - ) - - # Create the UrdfConverter with the specified configuration - converter = UrdfConverter(config) - - # Get the path to the generated USD file - usd_path = converter.usd_path - print(f"USD file generated at: {usd_path}") - - - -if __name__ == "__main__": - urdf_file_path = '/home/guest/dev/robot_arm/hab_spot_arm/urdf/hab_spot_arm.urdf' - usd_folder_path = '/home/guest/dev/robot_arm/usd_output' - usd_filename = 'converted_robot' # .usd and .usda both work - - - # create argparser - parser = argparse.ArgumentParser(description="Create an empty Issac Sim stage.") - # 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 - - #NOTE: Import isaac lab converter extension after launcher runs - from omni.isaac.lab.sim.converters import UrdfConverter, UrdfConverterCfg - - convert_urdf_to_usd(urdf_file_path, usd_folder_path, usd_filename) - - simulation_app.close() \ No newline at end of file diff --git a/habitat-lab/habitat/isaacsim/temporary_archive/usd_conversion_scene.py b/habitat-lab/habitat/isaacsim/temporary_archive/usd_conversion_scene.py deleted file mode 100644 index f8501cb9d5..0000000000 --- a/habitat-lab/habitat/isaacsim/temporary_archive/usd_conversion_scene.py +++ /dev/null @@ -1,296 +0,0 @@ -"""This file converts a .scene_instance.json to a .usd file, -using various .glb scene objects to buld the .usd scene instance.. -""" - -from pxr import Usd, UsdGeom, Sdf, Gf -import json -from pathlib import Path -import os -from ssh_conversion import * -from multiprocessing import Pool, Barrier -from typing import List, Dict, Union, Tuple - - -# CONSTANTS -STAGE_INSTANCE = "stage_instance" -OBJECT_INSTANCES = "object_instances" -TEMPLATE_NAME = "template_name" -TRANSLATION = "translation" -ROTATION = "rotation" -SCALE = "non_uniform_scale" - - -def find_filepath(filename, parent_directory) -> str: - file_found = False - for root, dirs, files in os.walk(parent_directory): - if filename in files: - output_filepath = str(os.path.join(root, filename)) - file_found = True - break - - if not file_found: - print(f"{filename} not found in the parent directoy {parent_directory}") - return None - - return output_filepath - - -def get_unique_object_names(scene_data) -> list[str]: - """ - This looks at the scene_instance.json by looking at the "template_name" key. - HSSD keeps all these objects as .glb. The scene json could use the same type of - object multiple times, but we only need the unique list of objects - """ - object_list = scene_data[OBJECT_INSTANCES] - - object_name_list = [] - for object in object_list: - object_name_list.append(object[TEMPLATE_NAME]) - - return list(set(object_name_list)) - - -def make_object_filepath_list( - glb_data_folder: str, - scene_instance_filepath: str, - scene_data, #NOTE: This should be typing for scene_instance.json Dict[str, Union[str, Dict[str, str] , List[ Dict[str, List[float]] ]]], - file_extension: str = ".glb", -) -> List[str]: - - object_name_list = get_unique_object_names(scene_data) - - # Search through the object glb folder to make a list of object filepaths from scene_data - object_filepath_list = [] - for object_name in object_name_list: - object_glb = object_name + file_extension - object_path = find_filepath(object_glb, glb_data_folder) - if object_path: - object_filepath_list.append(object_path) - - if not object_filepath_list: - # Stop the entire script if no .glb objects were found - print("No .glb objects found. Halting the program.") - sys.exit(1) - - return object_filepath_list - - -def make_collider_glb_filepath(object_name: str, scene_instance_path: str) -> str: - - object_collider_glb = object_name + ".collider.glb" - scene_folder_path = os.path.dirname(os.path.abspath(scene_instance_path)) - hssd_folder_path = os.path.dirname(scene_folder_path) - object_folder_path = hssd_folder_path + "/objects" - - object_usd_path = object_folder_path + "/" + object_name + ".collider.usd" - return object_usd_path - - -def initialize_stage(stage_usd_filepath: str, scene_instance_usd_filepath: str) -> Usd.Stage: - """Initialize Usd.Stage""" - - - stage = Usd.Stage.CreateNew(scene_instance_usd_filepath) # NOTE Might not work starting with nummber - xform_prim = UsdGeom.Xform.Define(stage, "/Scene") - - #probably don't need this - #prim = xform_prim.GetPrim() - #prim.GetReferences().AddReference(stage_usd_filepath) - - return stage - - -def find_object_usd(object_data, object_usd_folder: str, file_extension=".collider.usd") -> Tuple[bool, str, str]: - """ - Find the object .usd file from the object usd folder. - """ - object_exists = True - - object_name = object_data[TEMPLATE_NAME] - usd_filename = object_name + file_extension - usd_filepath = object_usd_folder + usd_filename - - if not os.path.exists(usd_filepath): - print(f"File {usd_filepath} not found. .usd file may not have been coverted or downloaded") - object_exists = False - - return object_exists, usd_filepath, object_name - - -def add_object_to_stage( - stage: Usd.Stage, - object_data, - object_filepath: str, - count: str, - position: List[float]=[0.0, 0.0, 0.0], - rotation: List[float]=[0.0, 0.0, 0.0], - scale: List[float]=[1.0, 1.0, 1.0], -) -> None: - """ - This module adds an UsdGeom.Xform to an initialized Usd.Stage. - """ - position = object_data[TRANSLATION] - rotation = object_data[ROTATION] - scale = object_data[SCALE] - object_name = object_data[TEMPLATE_NAME] - - # PSEUDOCODE # Given template name from scene_instance.json from above - # From root: /home/trandaniel/dev/habitat-sim/data/hssd-hab/scenes/.scene_instance.json - # Object folder: /home/trandaniel/dev/habitat-sim/data/hssd-hab/objects - - # Navigate from scene instance folder to object folder through script - # - - # Recursively search through object folder for object json (Structure vary between object data sets. Write for HSSD for now) - # Open JSON, and then use the "render_asset" key and "collision_asset" key to get .glb file - - # Convert .collision.glb to USD with isaacsim omniverse - # Output .usd file in the object folder that contains collision.glb - - # CONVERSION - - # Turn object .glb to xform - - # Add count to string if object used more than once - if count > 0: - object_name = object_name + f"_{count}" - - object_stage_name = "/OBJECT_" + object_name # NOTE: Object state name must start with a char letter - - object_xform = UsdGeom.Xform.Define( - stage, object_stage_name - ) - object_xform.GetPrim().GetReferences().AddReference(object_filepath) - - # Set Position - translate_op = next( - ( - op - for op in object_xform.GetOrderedXformOps() - if op.GetName() == "xformOp:translate" - ), - None, - ) - if translate_op is None: - translate_op = object_xform.AddTranslateOp() - translate_op.Set(value=Gf.Vec3d(*position)) - - # Set Rotation - orient_op = next( - ( - op - for op in object_xform.GetOrderedXformOps() - if op.GetName() == "xformOp:orient" - ), - None, - ) - if orient_op is None: - orient_op = object_xform.AddOrientOp() - orient_op.Set(value=Gf.Quatd(*rotation)) - - # Set Scale - scale_op = next( - ( - op - for op in object_xform.GetOrderedXformOps() - if op.GetName() == "xformOp:scale" - ), - None, - ) - if scale_op is None: - scale_op = object_xform.AddScaleOp() - scale_op.Set(value=Gf.Vec3d(*scale)) - - -def convert_scene_instance( - scene_instance_filepath: str, stage_glb_folder: str, local_download_folder: str, glb_data_folder: str -) -> None: - """ - This function takes a folder of .glb objects, converts them remotely to .usd, - downloads the converted files, and then makes a .usda scene. The idea is to - convert a scene_instance json to a .usd file by aggregating all the defined - objects within the scene instance json. - """ - - # Open scnece_instance JSON - with open(scene_instance_filepath, "r") as file: - scene_data = json.load(file) - - - stage_name: str = scene_data[STAGE_INSTANCE][TEMPLATE_NAME].split('/')[1 - ] - - # Form a list of existing object glb file paths - object_glb_filepath_list = make_object_filepath_list( - glb_data_folder, - scene_instance_filepath, - scene_data, - file_extension=".collider.glb", - ) - - # # Append stage glb to piggy back on conversion.py. #Note, stage glb not necessary probably - #stage_glb_filepath = stage_glb_folder + stage_name + '.glb' - #object_glb_filepath_list.append(stage_glb_filepath) - - # Upload glb objects to remote server - num_processes = 10 - barrier = Barrier(num_processes) - with Pool(processes=num_processes) as pool: - pool.map(upload_object_glb_to_server, object_glb_filepath_list) - - # Process objects remotely - run_remote_converter() - - # Download objects - download_remote_usd_folder(local_download_folder) - - - # TODO: Delete objects on remote server after download - - # Populate USDA file. USDA is the human readable version of a usd file.\ - - stage_usd_filepath = local_download_folder + 'object_usd/' + stage_name + '.usd' # NOTE: Might not need this - scene_instance_usd_filepath = './' + stage_name + '.scene_instance.usda' - - stage = initialize_stage(stage_usd_filepath, scene_instance_usd_filepath) - - object_usd_folder = local_download_folder + "/object_usd/" #The string is the name of the folder from remote server - - # This is to ensure the same object used multiple times have a unique ID number - previous_object_name = "" - count = 0 - - for object_data in scene_data[OBJECT_INSTANCES]: - object_exists, usd_filepath, object_name = find_object_usd( - object_data, object_usd_folder, file_extension=".collider.usd" - ) - - # This if/else is to ensure multiple copies of the same type of object have unique names. - if previous_object_name == object_name: - count += 1 - else: - previous_object_name = object_name - count = 0 - - if object_exists: - add_object_to_stage(stage, object_data, usd_filepath, count) - - stage.GetRootLayer().Save() - - print(f"Finished rendering convertin {scene_instance_filepath} to .usd") - - -if __name__ == "__main__": - - scene_instance_filepath = "/home/trandaniel/dev/habitat-sim/data/hssd-hab/scenes/102343992.scene_instance.json" - stage_glb_folder = '/home/trandaniel/dev/IsaacSimConversion/' - local_download_folder = "/home/trandaniel/dev/IsaacSimConversion/usd_scene/" - glb_data_folder = "/home/trandaniel/dev/habitat-sim/data/hssd-hab/objects" - - convert_scene_instance( - scene_instance_filepath, stage_glb_folder, local_download_folder, glb_data_folder - ) - - # TODO: Test with /home/trandaniel/dev/habitat-sim/data/hssd-hab/scenes/.scene_instance.json - # TODO; Open resulting scene output with blender, open it in viewer.py - # Some things might be missing, only rigid objects render for now, articulated later From ec6e7202c84ff7587738064a7094c70e7472f3b1 Mon Sep 17 00:00:00 2001 From: trandaniel Date: Sun, 5 Jan 2025 21:29:06 -0800 Subject: [PATCH 19/61] Fix github actions issues and formatting issues. --- .../isaacsim/scene_instance_json_to_usd.py | 23 ++++++++++--------- habitat-lab/habitat/isaacsim/urdf_to_usd.py | 8 +++++-- 2 files changed, 18 insertions(+), 13 deletions(-) diff --git a/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py b/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py index 05bc94e901..57c51ebc1f 100644 --- a/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py +++ b/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py @@ -1,4 +1,4 @@ -"""This module converts a scene instance json to a usda file. +"""This module converts a scene instance json to a usda file. """ import os @@ -8,12 +8,11 @@ import argparse import json import math - +from typing import List, Union import argparse -from omni.isaac.lab.app import AppLauncher -def sanitize_usd_name(name: str) -> str: +def sanitize_usd_name(name: str) -> Union[str, None]: """Sanitizes a string for use as a USD node name. :param name: The input string to sanitize. @@ -24,7 +23,7 @@ def sanitize_usd_name(name: str) -> str: # assert len(name) > 0 if len(name) == 0: print("Input string for USD node is empty") - return + return None # Replace spaces, hyphens, colons, and other special characters with underscores sanitized_name = re.sub(r"[^\w]", "_", name) @@ -122,7 +121,9 @@ def convert_object_to_usd( render_asset_filepath_from_urdf = object_config_json_data["render_asset"] object_config_dir, _ = os.path.split(object_config_filepath) - usd_dir, _ = os.path.split(out_usd_path) + + # TODO: DELETE LINE IF NOT USED + # usd_dir, _ = os.path.split(out_usd_path) render_asset_filepath_for_usd = os.path.relpath( os.path.abspath( @@ -149,7 +150,7 @@ def find_file(folder: str, filename: str) -> str: :return: Absoluate path string of filename if it is found, None if none found. """ result = None - for root, dirs, files in os.walk(folder): + for root, _, files in os.walk(folder): if filename in files: assert not result result = os.path.join(root, filename) @@ -366,12 +367,12 @@ def habitat_to_usd_rotation(rotation) -> List[float]: # Combined inverse quaternion transform: (inverse of q_trans) # q_x90_inv = [√0.5, √0.5, 0, 0] (wxyz format) # q_y180_inv = [0, 0, -1, 0] (wxyz format) - q_y90_inv = [HALF_SQRT2, 0.0, HALF_SQRT2, 0.0] - + # q_y90_inv = [HALF_SQRT2, 0.0, HALF_SQRT2, 0.0] + # q_z90_inv = [HALF_SQRT2, 0.0, 0.0, HALF_SQRT2] + # q_z180_inv = [0.0, 0.0, 0.0, 1.0] + q_x90_inv = [HALF_SQRT2, HALF_SQRT2, 0.0, 0.0] - q_z90_inv = [HALF_SQRT2, 0.0, 0.0, HALF_SQRT2] q_y180_inv = [0.0, 0.0, -1.0, 0.0] - q_z180_inv = [0.0, 0.0, 0.0, 1.0] # Multiply q_y180_inv * q_x90_inv to get the combined quaternion def quat_multiply(q1, q2): diff --git a/habitat-lab/habitat/isaacsim/urdf_to_usd.py b/habitat-lab/habitat/isaacsim/urdf_to_usd.py index 2d7ef0eb77..24dd3b235b 100644 --- a/habitat-lab/habitat/isaacsim/urdf_to_usd.py +++ b/habitat-lab/habitat/isaacsim/urdf_to_usd.py @@ -203,7 +203,11 @@ def convert_urdf_test(): app_launcher = AppLauncher(args_cli) simulation_app = app_launcher.app - from omni.isaac.core.utils.extensions import enable_extension - from pxr import Usd, UsdGeom, UsdPhysics, PhysxSchema, Gf, Sdf + # TODO: DELETE library if not used. + # from omni.isaac.core.utils.extensions import enable_extension + + # TODO: DELETE line with extra modules if not needed + # from pxr import Usd, UsdGeom, UsdPhysics, PhysxSchema, Gf, Sdf + from pxr import Usd, Gf, Sdf convert_urdf_test() From dc683e2dcf1ae52c666e91f3f0cb39d871673506 Mon Sep 17 00:00:00 2001 From: trandaniel Date: Sun, 5 Jan 2025 22:01:57 -0800 Subject: [PATCH 20/61] Fix github actions and formatting issues. --- .../habitat/isaacsim/scene_instance_json_to_usd.py | 8 ++++---- habitat-lab/habitat/isaacsim/urdf_to_usd.py | 12 ++++++------ 2 files changed, 10 insertions(+), 10 deletions(-) diff --git a/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py b/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py index 57c51ebc1f..b7138f4050 100644 --- a/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py +++ b/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py @@ -8,11 +8,11 @@ import argparse import json import math -from typing import List, Union +from typing import List, Union, Optional import argparse -def sanitize_usd_name(name: str) -> Union[str, None]: +def sanitize_usd_name(name: str) -> Optional[str]: """Sanitizes a string for use as a USD node name. :param name: The input string to sanitize. @@ -159,7 +159,7 @@ def find_file(folder: str, filename: str) -> str: def convert_mesh_to_usd( in_file: str, out_file: str, load_materials: bool = True -) -> bool: +) -> None: """Convert mesh to usd :param in_file: string filepath of input mesh @@ -470,7 +470,7 @@ def convert_hab_scene( # A scene may have multiple instances of the same object mesh. Xform usda needs # to have one unique name per mesh. - object_counts = {} + object_counts: Dict[str, int] = {} max_count = -1 # 50 #TODO: temp only convert the first N objects count = 0 diff --git a/habitat-lab/habitat/isaacsim/urdf_to_usd.py b/habitat-lab/habitat/isaacsim/urdf_to_usd.py index 24dd3b235b..04460dbbd0 100644 --- a/habitat-lab/habitat/isaacsim/urdf_to_usd.py +++ b/habitat-lab/habitat/isaacsim/urdf_to_usd.py @@ -33,30 +33,30 @@ def sanitize_name(name): return name # Update and names - for element in root.xpath("//*[@name]"): + for element in root.xpath("//*[@name]"): # noqa original_name = element.get("name") sanitized_name = sanitize_name(original_name) element.set("name", sanitized_name) # Update references to and - for parent in root.xpath("//parent[@link]"): + for parent in root.xpath("//parent[@link]"): # noqa original_link = parent.get("link") parent.set("link", name_map.get(original_link, original_link)) - for child in root.xpath("//child[@link]"): + for child in root.xpath("//child[@link]"): # noqa original_link = child.get("link") child.set("link", name_map.get(original_link, original_link)) # Optionally remove elements if remove_visual: - for visual in root.xpath("//visual"): + for visual in root.xpath("//visual"): # noqa visual_parent = visual.getparent() visual_parent.remove(visual) # Write the cleaned URDF to the output file with open(output_file, "wb") as f: f.write( - ET.tostring( + ET.tostring( # noqa root, pretty_print=True, xml_declaration=True, encoding="UTF-8" ) ) @@ -129,7 +129,7 @@ def add_habitat_visual_metadata_for_articulation( # Check for scale in the element scale_element = mesh.find("scale") if scale_element is not None: - scale = tuple(map(float, scale_element.text.split())) + scale = tuple(map(float, scale_element.text.split())) # noqa # Replace periods with underscores for USD-safe names # todo: use a standard get_sanitized_usd_name function here From f1c134291efffeaa303b9c1372b01df786b21755 Mon Sep 17 00:00:00 2001 From: trandaniel Date: Sun, 5 Jan 2025 22:06:29 -0800 Subject: [PATCH 21/61] Save black formatting changes. --- .../habitat/isaacsim/scene_instance_json_to_usd.py | 4 ++-- habitat-lab/habitat/isaacsim/urdf_to_usd.py | 14 +++++++------- 2 files changed, 9 insertions(+), 9 deletions(-) diff --git a/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py b/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py index b7138f4050..7a54d918b5 100644 --- a/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py +++ b/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py @@ -121,7 +121,7 @@ def convert_object_to_usd( render_asset_filepath_from_urdf = object_config_json_data["render_asset"] object_config_dir, _ = os.path.split(object_config_filepath) - + # TODO: DELETE LINE IF NOT USED # usd_dir, _ = os.path.split(out_usd_path) @@ -370,7 +370,7 @@ def habitat_to_usd_rotation(rotation) -> List[float]: # q_y90_inv = [HALF_SQRT2, 0.0, HALF_SQRT2, 0.0] # q_z90_inv = [HALF_SQRT2, 0.0, 0.0, HALF_SQRT2] # q_z180_inv = [0.0, 0.0, 0.0, 1.0] - + q_x90_inv = [HALF_SQRT2, HALF_SQRT2, 0.0, 0.0] q_y180_inv = [0.0, 0.0, -1.0, 0.0] diff --git a/habitat-lab/habitat/isaacsim/urdf_to_usd.py b/habitat-lab/habitat/isaacsim/urdf_to_usd.py index 04460dbbd0..2753861570 100644 --- a/habitat-lab/habitat/isaacsim/urdf_to_usd.py +++ b/habitat-lab/habitat/isaacsim/urdf_to_usd.py @@ -33,30 +33,30 @@ def sanitize_name(name): return name # Update and names - for element in root.xpath("//*[@name]"): # noqa + for element in root.xpath("//*[@name]"): # noqa original_name = element.get("name") sanitized_name = sanitize_name(original_name) element.set("name", sanitized_name) # Update references to and - for parent in root.xpath("//parent[@link]"): # noqa + for parent in root.xpath("//parent[@link]"): # noqa original_link = parent.get("link") parent.set("link", name_map.get(original_link, original_link)) - for child in root.xpath("//child[@link]"): # noqa + for child in root.xpath("//child[@link]"): # noqa original_link = child.get("link") child.set("link", name_map.get(original_link, original_link)) # Optionally remove elements if remove_visual: - for visual in root.xpath("//visual"): # noqa + for visual in root.xpath("//visual"): # noqa visual_parent = visual.getparent() visual_parent.remove(visual) # Write the cleaned URDF to the output file with open(output_file, "wb") as f: f.write( - ET.tostring( # noqa + ET.tostring( # noqa root, pretty_print=True, xml_declaration=True, encoding="UTF-8" ) ) @@ -129,7 +129,7 @@ def add_habitat_visual_metadata_for_articulation( # Check for scale in the element scale_element = mesh.find("scale") if scale_element is not None: - scale = tuple(map(float, scale_element.text.split())) # noqa + scale = tuple(map(float, scale_element.text.split())) # noqa # Replace periods with underscores for USD-safe names # todo: use a standard get_sanitized_usd_name function here @@ -205,7 +205,7 @@ def convert_urdf_test(): # TODO: DELETE library if not used. # from omni.isaac.core.utils.extensions import enable_extension - + # TODO: DELETE line with extra modules if not needed # from pxr import Usd, UsdGeom, UsdPhysics, PhysxSchema, Gf, Sdf from pxr import Usd, Gf, Sdf From c32fb4e3cecc5e3a60127b3aef003ac87c9673d5 Mon Sep 17 00:00:00 2001 From: trandaniel Date: Sun, 5 Jan 2025 22:11:57 -0800 Subject: [PATCH 22/61] Fix black formatting. --- habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py | 1 - habitat-lab/habitat/isaacsim/urdf_to_usd.py | 6 +++--- 2 files changed, 3 insertions(+), 4 deletions(-) diff --git a/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py b/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py index 7a54d918b5..e7768ba573 100644 --- a/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py +++ b/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py @@ -482,7 +482,6 @@ def convert_hab_scene( # raise KeyError(f"'object_instances' key not found in {scene_filepath} ")# TODO: may need return instead of raise, incase we need to for loop convert_hab_scene for obj_instance_json in scene_json_data["object_instances"]: - # TODO: assert collision_asset_size is (1,1,1) or not present # TODO: check is_collidable # TODO: how to handle scale diff --git a/habitat-lab/habitat/isaacsim/urdf_to_usd.py b/habitat-lab/habitat/isaacsim/urdf_to_usd.py index 2753861570..a25dbae9aa 100644 --- a/habitat-lab/habitat/isaacsim/urdf_to_usd.py +++ b/habitat-lab/habitat/isaacsim/urdf_to_usd.py @@ -64,7 +64,6 @@ def sanitize_name(name): def convert_urdf(urdf_filepath: str, out_usd_filepath: str) -> None: - from omni.isaac.lab.sim.converters import UrdfConverter, UrdfConverterCfg out_dir, out_filename = os.path.split(out_usd_filepath) @@ -129,7 +128,9 @@ def add_habitat_visual_metadata_for_articulation( # Check for scale in the element scale_element = mesh.find("scale") if scale_element is not None: - scale = tuple(map(float, scale_element.text.split())) # noqa + scale = tuple( # noqa + map(float, scale_element.text.split()) + ) # Replace periods with underscores for USD-safe names # todo: use a standard get_sanitized_usd_name function here @@ -189,7 +190,6 @@ def convert_urdf_test(): if __name__ == "__main__": - parser = argparse.ArgumentParser( description="Create an empty Issac Sim stage." ) From 06fcc5294545923f50995678a2660fa14fc3ff62 Mon Sep 17 00:00:00 2001 From: trandaniel Date: Sun, 5 Jan 2025 22:15:03 -0800 Subject: [PATCH 23/61] Fix black formatting --- habitat-lab/habitat/isaacsim/urdf_to_usd.py | 1 + 1 file changed, 1 insertion(+) diff --git a/habitat-lab/habitat/isaacsim/urdf_to_usd.py b/habitat-lab/habitat/isaacsim/urdf_to_usd.py index a25dbae9aa..f1f3614856 100644 --- a/habitat-lab/habitat/isaacsim/urdf_to_usd.py +++ b/habitat-lab/habitat/isaacsim/urdf_to_usd.py @@ -130,6 +130,7 @@ def add_habitat_visual_metadata_for_articulation( if scale_element is not None: scale = tuple( # noqa map(float, scale_element.text.split()) + ) # Replace periods with underscores for USD-safe names From 365cbb204dce5cc17a766fe08cbfc8a8f488fc6b Mon Sep 17 00:00:00 2001 From: trandaniel Date: Sun, 5 Jan 2025 22:17:28 -0800 Subject: [PATCH 24/61] Fix black formatting. --- habitat-lab/habitat/isaacsim/urdf_to_usd.py | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/habitat-lab/habitat/isaacsim/urdf_to_usd.py b/habitat-lab/habitat/isaacsim/urdf_to_usd.py index f1f3614856..d31309e3dd 100644 --- a/habitat-lab/habitat/isaacsim/urdf_to_usd.py +++ b/habitat-lab/habitat/isaacsim/urdf_to_usd.py @@ -129,9 +129,7 @@ def add_habitat_visual_metadata_for_articulation( scale_element = mesh.find("scale") if scale_element is not None: scale = tuple( # noqa - map(float, scale_element.text.split()) - - ) + map(float, scale_element.text.split())) # Replace periods with underscores for USD-safe names # todo: use a standard get_sanitized_usd_name function here From 6f05bb7b24c83faded7a17ac8f7a6d2aedacce8d Mon Sep 17 00:00:00 2001 From: trandaniel Date: Sun, 5 Jan 2025 22:21:05 -0800 Subject: [PATCH 25/61] Fix black formatting --- habitat-lab/habitat/isaacsim/urdf_to_usd.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/habitat-lab/habitat/isaacsim/urdf_to_usd.py b/habitat-lab/habitat/isaacsim/urdf_to_usd.py index d31309e3dd..a25dbae9aa 100644 --- a/habitat-lab/habitat/isaacsim/urdf_to_usd.py +++ b/habitat-lab/habitat/isaacsim/urdf_to_usd.py @@ -129,7 +129,8 @@ def add_habitat_visual_metadata_for_articulation( scale_element = mesh.find("scale") if scale_element is not None: scale = tuple( # noqa - map(float, scale_element.text.split())) + map(float, scale_element.text.split()) + ) # Replace periods with underscores for USD-safe names # todo: use a standard get_sanitized_usd_name function here From eaacc63320ee62924a2db814caed214581eb7ff4 Mon Sep 17 00:00:00 2001 From: trandaniel Date: Sun, 5 Jan 2025 22:25:38 -0800 Subject: [PATCH 26/61] FIx black formatting --- habitat-lab/habitat/isaacsim/urdf_to_usd.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/habitat-lab/habitat/isaacsim/urdf_to_usd.py b/habitat-lab/habitat/isaacsim/urdf_to_usd.py index a25dbae9aa..9268556850 100644 --- a/habitat-lab/habitat/isaacsim/urdf_to_usd.py +++ b/habitat-lab/habitat/isaacsim/urdf_to_usd.py @@ -128,9 +128,9 @@ def add_habitat_visual_metadata_for_articulation( # Check for scale in the element scale_element = mesh.find("scale") if scale_element is not None: - scale = tuple( # noqa + scale = tuple( map(float, scale_element.text.split()) - ) + ) # noqa # Replace periods with underscores for USD-safe names # todo: use a standard get_sanitized_usd_name function here From 21453bce60ccdc63129e95d00ed04baf078511d1 Mon Sep 17 00:00:00 2001 From: trandaniel Date: Sun, 5 Jan 2025 22:30:01 -0800 Subject: [PATCH 27/61] Fix black formatting. --- habitat-lab/habitat/isaacsim/urdf_to_usd.py | 1 + 1 file changed, 1 insertion(+) diff --git a/habitat-lab/habitat/isaacsim/urdf_to_usd.py b/habitat-lab/habitat/isaacsim/urdf_to_usd.py index 9268556850..4dd226dc3b 100644 --- a/habitat-lab/habitat/isaacsim/urdf_to_usd.py +++ b/habitat-lab/habitat/isaacsim/urdf_to_usd.py @@ -128,6 +128,7 @@ def add_habitat_visual_metadata_for_articulation( # Check for scale in the element scale_element = mesh.find("scale") if scale_element is not None: + scale = tuple( map(float, scale_element.text.split()) ) # noqa From c71926e1843724e826ef80066ba547daccbb46b7 Mon Sep 17 00:00:00 2001 From: trandaniel Date: Mon, 6 Jan 2025 10:01:14 -0800 Subject: [PATCH 28/61] Fix black formatting. --- habitat-lab/habitat/isaacsim/urdf_to_usd.py | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/habitat-lab/habitat/isaacsim/urdf_to_usd.py b/habitat-lab/habitat/isaacsim/urdf_to_usd.py index 4dd226dc3b..fbfb173d10 100644 --- a/habitat-lab/habitat/isaacsim/urdf_to_usd.py +++ b/habitat-lab/habitat/isaacsim/urdf_to_usd.py @@ -128,8 +128,7 @@ def add_habitat_visual_metadata_for_articulation( # Check for scale in the element scale_element = mesh.find("scale") if scale_element is not None: - - scale = tuple( + scale = tuple( map(float, scale_element.text.split()) ) # noqa From 0e146c76eabb4a53ebff4662cbb69f2b9b0d43a2 Mon Sep 17 00:00:00 2001 From: trandaniel Date: Mon, 6 Jan 2025 10:04:12 -0800 Subject: [PATCH 29/61] Fix black formatting --- habitat-lab/habitat/isaacsim/urdf_to_usd.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/habitat-lab/habitat/isaacsim/urdf_to_usd.py b/habitat-lab/habitat/isaacsim/urdf_to_usd.py index fbfb173d10..673da7fc43 100644 --- a/habitat-lab/habitat/isaacsim/urdf_to_usd.py +++ b/habitat-lab/habitat/isaacsim/urdf_to_usd.py @@ -128,7 +128,7 @@ def add_habitat_visual_metadata_for_articulation( # Check for scale in the element scale_element = mesh.find("scale") if scale_element is not None: - scale = tuple( + scale = tuple( map(float, scale_element.text.split()) ) # noqa From 3d4eed092e9faa31a099151a1529f68799efdbdd Mon Sep 17 00:00:00 2001 From: trandaniel Date: Mon, 6 Jan 2025 10:20:37 -0800 Subject: [PATCH 30/61] Fix isort formatting --- .../isaacsim/scene_instance_json_to_usd.py | 15 ++++++++------- habitat-lab/habitat/isaacsim/urdf_to_usd.py | 9 ++++----- 2 files changed, 12 insertions(+), 12 deletions(-) diff --git a/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py b/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py index e7768ba573..a40fa88b15 100644 --- a/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py +++ b/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py @@ -1,15 +1,16 @@ """This module converts a scene instance json to a usda file. """ -import os -import asyncio -import re -import xml.etree.ElementTree as ET import argparse +import asyncio import json import math -from typing import List, Union, Optional -import argparse +import os +import re +import xml.etree.ElementTree as ET + +from typing import List, Optional, Union + def sanitize_usd_name(name: str) -> Optional[str]: @@ -557,7 +558,7 @@ def convert_hab_scene( simulation_app = app_launcher.app from omni.isaac.core.utils.extensions import enable_extension - from pxr import Usd, UsdGeom, UsdPhysics, PhysxSchema, Gf, Sdf + from pxr import Gf, PhysxSchema, Sdf, Usd, UsdGeom, UsdPhysics convert_hab_scene( scene_instance_filepath, diff --git a/habitat-lab/habitat/isaacsim/urdf_to_usd.py b/habitat-lab/habitat/isaacsim/urdf_to_usd.py index 673da7fc43..5ee1eb78d7 100644 --- a/habitat-lab/habitat/isaacsim/urdf_to_usd.py +++ b/habitat-lab/habitat/isaacsim/urdf_to_usd.py @@ -1,11 +1,10 @@ -import os +import argparse import asyncio +import os +import json import re import xml.etree.ElementTree as ET -import argparse -import json -import argparse from omni.isaac.lab.app import AppLauncher @@ -208,6 +207,6 @@ def convert_urdf_test(): # TODO: DELETE line with extra modules if not needed # from pxr import Usd, UsdGeom, UsdPhysics, PhysxSchema, Gf, Sdf - from pxr import Usd, Gf, Sdf + from pxr import Gf, Sdf, Usd convert_urdf_test() From 465397db32f2c60f26dc4dd5eb1a64e1ce2dbfc7 Mon Sep 17 00:00:00 2001 From: trandaniel Date: Mon, 6 Jan 2025 10:26:35 -0800 Subject: [PATCH 31/61] Fix black formatting. --- habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py | 1 - 1 file changed, 1 deletion(-) diff --git a/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py b/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py index a40fa88b15..839c81c780 100644 --- a/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py +++ b/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py @@ -12,7 +12,6 @@ from typing import List, Optional, Union - def sanitize_usd_name(name: str) -> Optional[str]: """Sanitizes a string for use as a USD node name. From ab74beeeadbe201a97c2b2afe1f3be4c66654042 Mon Sep 17 00:00:00 2001 From: trandaniel Date: Mon, 6 Jan 2025 10:28:56 -0800 Subject: [PATCH 32/61] Fix isort formatting. --- habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py | 1 - habitat-lab/habitat/isaacsim/urdf_to_usd.py | 2 +- 2 files changed, 1 insertion(+), 2 deletions(-) diff --git a/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py b/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py index 839c81c780..4fd1ae95db 100644 --- a/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py +++ b/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py @@ -8,7 +8,6 @@ import os import re import xml.etree.ElementTree as ET - from typing import List, Optional, Union diff --git a/habitat-lab/habitat/isaacsim/urdf_to_usd.py b/habitat-lab/habitat/isaacsim/urdf_to_usd.py index 5ee1eb78d7..c2055338db 100644 --- a/habitat-lab/habitat/isaacsim/urdf_to_usd.py +++ b/habitat-lab/habitat/isaacsim/urdf_to_usd.py @@ -1,7 +1,7 @@ import argparse import asyncio -import os import json +import os import re import xml.etree.ElementTree as ET From 80b46a006a0588fab9c1e1165616537c67ee5a87 Mon Sep 17 00:00:00 2001 From: trandaniel Date: Mon, 6 Jan 2025 10:45:14 -0800 Subject: [PATCH 33/61] Fixing various formatting issues. --- .../habitat/isaacsim/scene_instance_json_to_usd.py | 2 +- habitat-lab/habitat/isaacsim/urdf_to_usd.py | 14 +++++++------- 2 files changed, 8 insertions(+), 8 deletions(-) diff --git a/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py b/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py index 4fd1ae95db..472e15c173 100644 --- a/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py +++ b/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py @@ -8,7 +8,7 @@ import os import re import xml.etree.ElementTree as ET -from typing import List, Optional, Union +from typing import Dict, List, Optional, Union def sanitize_usd_name(name: str) -> Optional[str]: diff --git a/habitat-lab/habitat/isaacsim/urdf_to_usd.py b/habitat-lab/habitat/isaacsim/urdf_to_usd.py index c2055338db..a1d627bbb4 100644 --- a/habitat-lab/habitat/isaacsim/urdf_to_usd.py +++ b/habitat-lab/habitat/isaacsim/urdf_to_usd.py @@ -32,32 +32,32 @@ def sanitize_name(name): return name # Update and names - for element in root.xpath("//*[@name]"): # noqa + for element in root.xpath("//*[@name]"): # noqa: ALL # mypy: ignore original_name = element.get("name") sanitized_name = sanitize_name(original_name) element.set("name", sanitized_name) # Update references to and - for parent in root.xpath("//parent[@link]"): # noqa + for parent in root.xpath("//parent[@link]"): # noqa: ALL # mypy: ignore original_link = parent.get("link") parent.set("link", name_map.get(original_link, original_link)) - for child in root.xpath("//child[@link]"): # noqa + for child in root.xpath("//child[@link]"): # noqa: ALL # mypy: ignore original_link = child.get("link") child.set("link", name_map.get(original_link, original_link)) # Optionally remove elements if remove_visual: - for visual in root.xpath("//visual"): # noqa + for visual in root.xpath("//visual"): # noqa: ALL # mypy: ignore visual_parent = visual.getparent() visual_parent.remove(visual) # Write the cleaned URDF to the output file with open(output_file, "wb") as f: f.write( - ET.tostring( # noqa + ET.tostring( root, pretty_print=True, xml_declaration=True, encoding="UTF-8" - ) + ) # noqa: ALL # mypy: ignore ) print(f"Cleaned URDF written to: {output_file}") @@ -129,7 +129,7 @@ def add_habitat_visual_metadata_for_articulation( if scale_element is not None: scale = tuple( map(float, scale_element.text.split()) - ) # noqa + ) # noqa: ALL # mypy: ignore # Replace periods with underscores for USD-safe names # todo: use a standard get_sanitized_usd_name function here From 16bb5557d0ee5e49a2de9bc52f52222578a0d299 Mon Sep 17 00:00:00 2001 From: trandaniel Date: Mon, 6 Jan 2025 10:49:54 -0800 Subject: [PATCH 34/61] Fix formatting. --- habitat-lab/habitat/isaacsim/urdf_to_usd.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/habitat-lab/habitat/isaacsim/urdf_to_usd.py b/habitat-lab/habitat/isaacsim/urdf_to_usd.py index a1d627bbb4..90e00ab1ba 100644 --- a/habitat-lab/habitat/isaacsim/urdf_to_usd.py +++ b/habitat-lab/habitat/isaacsim/urdf_to_usd.py @@ -55,7 +55,7 @@ def sanitize_name(name): # Write the cleaned URDF to the output file with open(output_file, "wb") as f: f.write( - ET.tostring( + ET.tostring( root, pretty_print=True, xml_declaration=True, encoding="UTF-8" ) # noqa: ALL # mypy: ignore ) From 2ee9d873b40502f40659b8a2456a0ffe39fa2d23 Mon Sep 17 00:00:00 2001 From: trandaniel Date: Mon, 6 Jan 2025 11:04:58 -0800 Subject: [PATCH 35/61] Fix formatting. --- habitat-lab/habitat/isaacsim/urdf_to_usd.py | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/habitat-lab/habitat/isaacsim/urdf_to_usd.py b/habitat-lab/habitat/isaacsim/urdf_to_usd.py index 90e00ab1ba..497bb3c2fd 100644 --- a/habitat-lab/habitat/isaacsim/urdf_to_usd.py +++ b/habitat-lab/habitat/isaacsim/urdf_to_usd.py @@ -32,23 +32,23 @@ def sanitize_name(name): return name # Update and names - for element in root.xpath("//*[@name]"): # noqa: ALL # mypy: ignore + for element in root.xpath("//*[@name]"): # noqa: ALL # type: ignore original_name = element.get("name") sanitized_name = sanitize_name(original_name) element.set("name", sanitized_name) # Update references to and - for parent in root.xpath("//parent[@link]"): # noqa: ALL # mypy: ignore + for parent in root.xpath("//parent[@link]"): # noqa: ALL # type: ignore original_link = parent.get("link") parent.set("link", name_map.get(original_link, original_link)) - for child in root.xpath("//child[@link]"): # noqa: ALL # mypy: ignore + for child in root.xpath("//child[@link]"): # noqa: ALL # type: ignore original_link = child.get("link") child.set("link", name_map.get(original_link, original_link)) # Optionally remove elements if remove_visual: - for visual in root.xpath("//visual"): # noqa: ALL # mypy: ignore + for visual in root.xpath("//visual"): # noqa: ALL # type: ignore visual_parent = visual.getparent() visual_parent.remove(visual) @@ -57,7 +57,7 @@ def sanitize_name(name): f.write( ET.tostring( root, pretty_print=True, xml_declaration=True, encoding="UTF-8" - ) # noqa: ALL # mypy: ignore + ) # noqa: ALL # type: ignore ) print(f"Cleaned URDF written to: {output_file}") @@ -129,7 +129,7 @@ def add_habitat_visual_metadata_for_articulation( if scale_element is not None: scale = tuple( map(float, scale_element.text.split()) - ) # noqa: ALL # mypy: ignore + ) # noqa: ALL # type: ignore # Replace periods with underscores for USD-safe names # todo: use a standard get_sanitized_usd_name function here From 7d7a01eab25c92e155276b9ee810708c627abc47 Mon Sep 17 00:00:00 2001 From: trandaniel Date: Mon, 6 Jan 2025 11:11:00 -0800 Subject: [PATCH 36/61] Fix formatting. --- habitat-lab/habitat/isaacsim/urdf_to_usd.py | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/habitat-lab/habitat/isaacsim/urdf_to_usd.py b/habitat-lab/habitat/isaacsim/urdf_to_usd.py index 497bb3c2fd..b01891e448 100644 --- a/habitat-lab/habitat/isaacsim/urdf_to_usd.py +++ b/habitat-lab/habitat/isaacsim/urdf_to_usd.py @@ -32,23 +32,23 @@ def sanitize_name(name): return name # Update and names - for element in root.xpath("//*[@name]"): # noqa: ALL # type: ignore + for element in root.xpath("//*[@name]"): # type: ignore # noqa: ALL original_name = element.get("name") sanitized_name = sanitize_name(original_name) element.set("name", sanitized_name) # Update references to and - for parent in root.xpath("//parent[@link]"): # noqa: ALL # type: ignore + for parent in root.xpath("//parent[@link]"): # type: ignore # noqa: ALL original_link = parent.get("link") parent.set("link", name_map.get(original_link, original_link)) - for child in root.xpath("//child[@link]"): # noqa: ALL # type: ignore + for child in root.xpath("//child[@link]"): # type: ignore # noqa: ALL original_link = child.get("link") child.set("link", name_map.get(original_link, original_link)) # Optionally remove elements if remove_visual: - for visual in root.xpath("//visual"): # noqa: ALL # type: ignore + for visual in root.xpath("//visual"): # type: ignore # noqa: ALL visual_parent = visual.getparent() visual_parent.remove(visual) @@ -57,7 +57,7 @@ def sanitize_name(name): f.write( ET.tostring( root, pretty_print=True, xml_declaration=True, encoding="UTF-8" - ) # noqa: ALL # type: ignore + ) # type: ignore # noqa: ALL ) print(f"Cleaned URDF written to: {output_file}") @@ -108,7 +108,7 @@ def add_habitat_visual_metadata_for_articulation( # Extract visual metadata from the URDF visual_metadata = {} urdf_dir = os.path.dirname(os.path.abspath(reference_urdf_filepath)) - usd_dir = os.path.dirname(os.path.abspath(usd_filepath)) + # usd_dir = os.path.dirname(os.path.abspath(usd_filepath)) # NOTE: Not used in this function for link in urdf_root.findall("link"): link_name = link.get("name") visual = link.find("visual") @@ -129,7 +129,7 @@ def add_habitat_visual_metadata_for_articulation( if scale_element is not None: scale = tuple( map(float, scale_element.text.split()) - ) # noqa: ALL # type: ignore + ) # type: ignore # noqa: ALL # Replace periods with underscores for USD-safe names # todo: use a standard get_sanitized_usd_name function here From 41020e4bdd388577443aafa1309fdca81555dfba Mon Sep 17 00:00:00 2001 From: trandaniel Date: Mon, 6 Jan 2025 11:18:46 -0800 Subject: [PATCH 37/61] Remove unused libraries for github actions. --- habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py | 4 +--- habitat-lab/habitat/isaacsim/urdf_to_usd.py | 3 --- 2 files changed, 1 insertion(+), 6 deletions(-) diff --git a/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py b/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py index 472e15c173..d8aa3aa97b 100644 --- a/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py +++ b/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py @@ -4,11 +4,9 @@ import argparse import asyncio import json -import math import os import re -import xml.etree.ElementTree as ET -from typing import Dict, List, Optional, Union +from typing import Dict, List, Optional def sanitize_usd_name(name: str) -> Optional[str]: diff --git a/habitat-lab/habitat/isaacsim/urdf_to_usd.py b/habitat-lab/habitat/isaacsim/urdf_to_usd.py index b01891e448..d8597de4ef 100644 --- a/habitat-lab/habitat/isaacsim/urdf_to_usd.py +++ b/habitat-lab/habitat/isaacsim/urdf_to_usd.py @@ -1,8 +1,5 @@ import argparse -import asyncio -import json import os -import re import xml.etree.ElementTree as ET from omni.isaac.lab.app import AppLauncher From d1804009b8b5834cc07a55a62872a9c77d4ff185 Mon Sep 17 00:00:00 2001 From: trandaniel Date: Thu, 9 Jan 2025 11:30:46 -0800 Subject: [PATCH 38/61] Minor docstring changes as suggested on github. --- .../isaacsim/scene_instance_json_to_usd.py | 42 ++++--------------- 1 file changed, 7 insertions(+), 35 deletions(-) diff --git a/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py b/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py index d8aa3aa97b..31d1fa2a50 100644 --- a/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py +++ b/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py @@ -74,11 +74,6 @@ def object_usd_info(obj_instance_json, object_counts): ) -############################################################################################ -# Convert scence instance object to a usd file -############################################################################################ - - def convert_object_to_usd( objects_folder: str, object_config_filename: str, @@ -293,11 +288,6 @@ def add_habitat_visual_to_usd_root( ) -############################################################################################ -# Add xform spatial information -############################################################################################ - - def add_xform_scale(object_xform) -> None: """Add object scale value into xform class for scene instance json.""" # Ensure scale op exists, default value @@ -419,11 +409,6 @@ def habitat_to_usd_position(position) -> List[float]: return [-x, z, y] -############################################################################################ -# Main function -############################################################################################ - - def convert_hab_scene( scene_filepath: str, project_root_folder: str, @@ -431,18 +416,14 @@ def convert_hab_scene( scene_usd_filepath: str = "./data/test_scene_instance.usda", ) -> None: """ - This is the main function takes data from a scene_instance.json file to .usda. - NOTE, folder directories for objects are speific to the hssd object dataset. + This function converts scene_instance.json file types to .usda. + + :param scene_filepath: Filepath of the scene_instance,json + :param project_root_folder: Directory path of habitat-lab + :param objects_folder: Directory path that contains scence instance objects. + :param scene_usd_filepath: Filepath location of scene instance usda file after conversion. """ - - # TODO: DANIEL Not sure why check is here, when json library for scene_json_data variable does same check? - try: - assert os.path.exists(scene_filepath) - except AssertionError: - raise FileNotFoundError( - f"Scene instance json {scene_filepath} does not exist" - ) - + with open(scene_filepath, "r") as file: scene_json_data = json.load(file) @@ -468,8 +449,6 @@ def convert_hab_scene( # A scene may have multiple instances of the same object mesh. Xform usda needs # to have one unique name per mesh. object_counts: Dict[str, int] = {} - max_count = -1 # 50 #TODO: temp only convert the first N objects - count = 0 try: assert "object_instances" in scene_json_data @@ -500,9 +479,6 @@ def convert_hab_scene( unique_object_name, ) = object_usd_info(obj_instance_json, object_counts) - # TODO: gather these up and do them later with multiprocessing - # NOTE: This will be answered when trying to proccess multiple scene_instance_jsons. - # if not os.path.exists(out_usd_path): convert_object_to_usd( objects_folder, object_config_filename, @@ -528,10 +504,6 @@ def convert_hab_scene( # NOTE: Let's not change the xform order. I don't know what's going on with Xform order. # object_xform.SetXformOpOrder(xform_op_order) - count += 1 - if count == max_count: - break - stage.GetRootLayer().Save() print(f"wrote scene {scene_usd_filepath}") From fd4b5d6dfa57ac475bc9b4535924e974aece046b Mon Sep 17 00:00:00 2001 From: trandaniel Date: Thu, 9 Jan 2025 12:47:44 -0800 Subject: [PATCH 39/61] Update docstring for scene_instance_json_to_usd.py --- .../habitat/isaacsim/scene_instance_json_to_usd.py | 10 ++++++++-- 1 file changed, 8 insertions(+), 2 deletions(-) diff --git a/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py b/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py index 31d1fa2a50..bb17b81fed 100644 --- a/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py +++ b/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py @@ -259,8 +259,14 @@ def convert_meshes_to_static_colliders(stage, root_path) -> None: def add_habitat_visual_to_usd_root( usd_filepath, render_asset_filepath, render_asset_scale -): - """TODO: Add function description, param description, and output description""" +) -> None: + """ + This function adds habitat visual information into a usda file. + + :param usd_filepath: Filepath to scene instance json file + :param render_asset_filepath: Filepath that contains render asset information + :param render_asset_scale: An array that defines scale on the xyz axis + """ # Open the USD file stage = Usd.Stage.Open(usd_filepath) From 5b2c63d08441c081ea42a97dd7f62bdfd67f48e1 Mon Sep 17 00:00:00 2001 From: trandaniel Date: Thu, 9 Jan 2025 20:53:49 -0800 Subject: [PATCH 40/61] Add CLI for usd conversion. --- .../isaacsim/scene_instance_json_to_usd.py | 42 ++++++------ habitat-lab/habitat/isaacsim/urdf_to_usd.py | 67 +++++++++++++------ 2 files changed, 70 insertions(+), 39 deletions(-) diff --git a/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py b/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py index bb17b81fed..aaad2b4401 100644 --- a/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py +++ b/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py @@ -418,8 +418,8 @@ def habitat_to_usd_position(position) -> List[float]: def convert_hab_scene( scene_filepath: str, project_root_folder: str, + scene_usd_filepath: str, objects_folder: str = "", - scene_usd_filepath: str = "./data/test_scene_instance.usda", ) -> None: """ This function converts scene_instance.json file types to .usda. @@ -512,29 +512,33 @@ def convert_hab_scene( stage.GetRootLayer().Save() print(f"wrote scene {scene_usd_filepath}") - - -if __name__ == "__main__": - scene_instance_filepath = "/home/trandaniel/dev/habitat-sim/data/hssd-hab/scenes/102343992.scene_instance.json" - - from omni.isaac.lab.app import AppLauncher - + +def scene_conversion_main(): + + # Build parser parser = argparse.ArgumentParser( description="Create an empty Issac Sim stage." ) - # append AppLauncher cli args + parser.add_argument("scene_filepath", help="Path to scene instance json file.") + parser.add_argument("project_root_folder", help="Path to habitat-lab repo") + parser.add_argument("scene_usd_filepath", help="Path to output usda file") + parser.add_argument("objects_folder", help="Path to the objects folder", nargs='?') + + # Launch Issac Lab Applauncher + from omni.isaac.lab.app import AppLauncher AppLauncher.add_app_launcher_args(parser) - # parse the arguments - args_cli = parser.parse_args() - # launch omniverse app - args_cli.headless = True # Config to have Isaac Lab UI off - app_launcher = AppLauncher(args_cli) + args = parser.parse_args() + args.headless = True + app_launcher = AppLauncher(args) simulation_app = app_launcher.app - + from omni.isaac.core.utils.extensions import enable_extension from pxr import Gf, PhysxSchema, Sdf, Usd, UsdGeom, UsdPhysics + + convert_hab_scene(args.scene_filepath, args.project_root_folder,args.scene_usd_filepath, args.objects_folder) - convert_hab_scene( - scene_instance_filepath, - project_root_folder="/home/trandaniel/dev/habitat-lab/test_convert", - ) + +if __name__ == "__main__": + scene_conversion_main() + + diff --git a/habitat-lab/habitat/isaacsim/urdf_to_usd.py b/habitat-lab/habitat/isaacsim/urdf_to_usd.py index d8597de4ef..ba987e6694 100644 --- a/habitat-lab/habitat/isaacsim/urdf_to_usd.py +++ b/habitat-lab/habitat/isaacsim/urdf_to_usd.py @@ -2,8 +2,6 @@ import os import xml.etree.ElementTree as ET -from omni.isaac.lab.app import AppLauncher - def clean_urdf(input_file: str, output_file: str, remove_visual=False) -> None: """ @@ -184,26 +182,55 @@ def convert_urdf_test(): project_root_folder="./", ) - -if __name__ == "__main__": +def convert_urdf_main(): + """This function converts urdf files to usda.""" + # Build parser and subparser parser = argparse.ArgumentParser( description="Create an empty Issac Sim stage." ) - # append AppLauncher cli args + subparsers = parser.add_subparsers(dest='command') + + # Parser for clean_urdf + parser_clean_urdf = subparsers.add_parser('clean_urdf', help='Run clean_urdf function') + parser_clean_urdf.add_argument('input_file', required=True) + parser_clean_urdf.add_argument('output_file', required=True) + parser_clean_urdf.add_argument('remove_visual', required=False) + parser_clean_urdf.set_defaults(func=clean_urdf) + + # Parser for convert_urdf function + parser_convert_urdf = subparsers.add_parser('convert_urdf', help='Run convert_urdf function') + parser_convert_urdf.add_argument('urdf_filepath', required=True) + parser_convert_urdf.add_argument('out_usd_filepath', required=True) + parser_convert_urdf.set_defaults(func=convert_urdf) + + # Parser for add_habitat_visual_metadata_for_articulation function + parser_add_hab_visual_metadata = subparsers.add_parser('add_habitat_visual_metadata_for_articulation', help='add_habitat_visual_metadata_for_articulation') + parser_add_hab_visual_metadata.add_argument('usd_filepath', required=True) + parser_add_hab_visual_metadata.add_argument('reference_urdf_filepath', required=True) + parser_add_hab_visual_metadata.add_argument('out_usd_filepath', required=True) + parser_add_hab_visual_metadata.add_argument('project_root_folder', required=True) + parser_add_hab_visual_metadata.set_defaults(func=add_habitat_visual_metadata_for_articulation) + + # Launch Issac Lab Applauncher and load libraries + from omni.isaac.lab.app import AppLauncher AppLauncher.add_app_launcher_args(parser) - # parse the arguments - ## args_cli = parser.parse_args() - args_cli, _ = parser.parse_known_args() - # launch omniverse app - args_cli.headless = True # Config to have Isaac Lab UI off - app_launcher = AppLauncher(args_cli) - simulation_app = app_launcher.app - - # TODO: DELETE library if not used. - # from omni.isaac.core.utils.extensions import enable_extension - - # TODO: DELETE line with extra modules if not needed - # from pxr import Usd, UsdGeom, UsdPhysics, PhysxSchema, Gf, Sdf + args = parser.parse_args() + args.headless = True + app_launcher = AppLauncher(args) + simulation_app = app_launcher.app from pxr import Gf, Sdf, Usd - - convert_urdf_test() + + # Argparse function selection + if args.command: + if args.command == 'clean_urdf': + args.func(args.input_file, args.output_file, args.remove_visual) + elif args.command == 'convert_urdf': + args.func(args.urdf_filepath, args.out_usd_filepath) + elif args.command == 'add_habitat_visual_metadata_for_articulation': + args.func(args.usd_filepath, args.reference_urdf_filepath, args.out_usd_filepath, args.project_root_folder) + else: + parser.print_help() + + +if __name__ == "__main__": + convert_urdf_main() From 1b9c9d5a22578f9fda8906b9249b23688a5008ac Mon Sep 17 00:00:00 2001 From: trandaniel Date: Fri, 10 Jan 2025 12:44:27 -0800 Subject: [PATCH 41/61] Draft, add bulk scene instance json coversion --- .../habitat/isaacsim/scene_instance_json_to_usd.py | 13 ++++++++++++- 1 file changed, 12 insertions(+), 1 deletion(-) diff --git a/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py b/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py index aaad2b4401..b33c91bdf2 100644 --- a/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py +++ b/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py @@ -513,8 +513,19 @@ def convert_hab_scene( stage.GetRootLayer().Save() print(f"wrote scene {scene_usd_filepath}") -def scene_conversion_main(): + +def bulk_scene_instance_conversion(scene_directory: str, project_root_folder: str, scene_usd_directory: str, objects_folder: str = ""): + + scene_instance_json_list = find_scene_instance_json_files(scene_directory) + for scene_filepath in scene_instance_json_list[:3]: + scene_usd_filepath = make_scene_instance_usd_path(scene_filepath, scene_usd_directory) + + print(scene_usd_filepath) + convert_hab_scene(scene_filepath, project_root_folder, scene_usd_filepath) + + +if __name__ == "__main__": # Build parser parser = argparse.ArgumentParser( description="Create an empty Issac Sim stage." From a6010f3b708ad75e972044d58a06fe3b73021710 Mon Sep 17 00:00:00 2001 From: trandaniel Date: Fri, 10 Jan 2025 12:45:03 -0800 Subject: [PATCH 42/61] Draft, add CLI --- .../isaacsim/scene_instance_json_to_usd.py | 67 ++++++++++++++++--- habitat-lab/habitat/isaacsim/urdf_to_usd.py | 48 ++++--------- 2 files changed, 71 insertions(+), 44 deletions(-) diff --git a/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py b/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py index b33c91bdf2..c73a294934 100644 --- a/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py +++ b/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py @@ -148,6 +148,33 @@ def find_file(folder: str, filename: str) -> str: result = os.path.join(root, filename) return os.path.abspath(result) +def find_scene_instance_json_files(scene_directory: str) -> List[str]: + """ + Find all files in the given folder and its subfolders whose names end with 'scene_instance.json'. + :param folder_path: The path to the folder to search. + :return: A list of paths to the matching files. + """ + matching_files = [] + for root, _ , files in os.walk(scene_directory): + for file in files: + if file.endswith('scene_instance.json'): + matching_files.append(os.path.join(root, file)) + return matching_files + + +def make_scene_instance_usd_path(scene_filepath: str, scene_usd_directory: str) -> str: + + filename_with_extension = os.path.basename(scene_filepath) + filename_without_extension = os.path.splitext(filename_with_extension)[0] + usda_filename = f"{filename_without_extension}.usda" + + # Create the new directory if it doesn't exist + if not os.path.exists(scene_usd_directory): + os.makedirs(scene_usd_directory) + + usda_filepath = os.path.join(scene_usd_directory, usda_filename) + + return usda_filepath def convert_mesh_to_usd( in_file: str, out_file: str, load_materials: bool = True @@ -430,6 +457,9 @@ def convert_hab_scene( :param scene_usd_filepath: Filepath location of scene instance usda file after conversion. """ + # from omni.isaac.core.utils.extensions import enable_extension + from pxr import Gf, PhysxSchema, Sdf, Usd, UsdGeom, UsdPhysics + with open(scene_filepath, "r") as file: scene_json_data = json.load(file) @@ -530,10 +560,24 @@ def bulk_scene_instance_conversion(scene_directory: str, project_root_folder: st parser = argparse.ArgumentParser( description="Create an empty Issac Sim stage." ) - parser.add_argument("scene_filepath", help="Path to scene instance json file.") - parser.add_argument("project_root_folder", help="Path to habitat-lab repo") - parser.add_argument("scene_usd_filepath", help="Path to output usda file") - parser.add_argument("objects_folder", help="Path to the objects folder", nargs='?') + subparsers = parser.add_subparsers(dest='command') + + # Parser for convert_hab_scene + parser_convert_hab_scene = subparsers.add_parser('convert_hab_scene', help='Run convert_hab_scene function') + parser_convert_hab_scene.add_argument('scene_filepath') + parser_convert_hab_scene.add_argument('project_root_folder') + parser_convert_hab_scene.add_argument('scene_usd_filepath') + parser_convert_hab_scene.add_argument('--objects_folder') + parser_convert_hab_scene.set_defaults(func=convert_hab_scene) + + + # Parser for bulk_scene_instance_conversion + parser_bulk_scene_instance_conversion = subparsers.add_parser('bulk_scene_instance_conversion', help='Run bulk_scene_instance_conversion function') + parser_bulk_scene_instance_conversion.add_argument('scene_directory') + parser_bulk_scene_instance_conversion.add_argument('project_root_folder') + parser_bulk_scene_instance_conversion.add_argument('scene_usd_directory') + parser_bulk_scene_instance_conversion.add_argument('--objects_folder') + parser_bulk_scene_instance_conversion.set_defaults(func=bulk_scene_instance_conversion) # Launch Issac Lab Applauncher from omni.isaac.lab.app import AppLauncher @@ -545,11 +589,16 @@ def bulk_scene_instance_conversion(scene_directory: str, project_root_folder: st from omni.isaac.core.utils.extensions import enable_extension from pxr import Gf, PhysxSchema, Sdf, Usd, UsdGeom, UsdPhysics + + + # Argparse function selection + if args.command: + if args.command == 'convert_hab_scene': + args.func(args.scene_filepath, args.project_root_folder, args.scene_usd_filepath, args.objects_folder) + elif args.command == 'bulk_scene_instance_conversion': + args.func(args.scene_directory, args.project_root_folder, args.scene_usd_directory, args.objects_folder) + else: + parser.print_help() - convert_hab_scene(args.scene_filepath, args.project_root_folder,args.scene_usd_filepath, args.objects_folder) -if __name__ == "__main__": - scene_conversion_main() - - diff --git a/habitat-lab/habitat/isaacsim/urdf_to_usd.py b/habitat-lab/habitat/isaacsim/urdf_to_usd.py index ba987e6694..1db0b98629 100644 --- a/habitat-lab/habitat/isaacsim/urdf_to_usd.py +++ b/habitat-lab/habitat/isaacsim/urdf_to_usd.py @@ -1,7 +1,7 @@ import argparse import os -import xml.etree.ElementTree as ET - +#import xml.etree.ElementTree as ET +from lxml import etree as ET # Using lxml for better XML handling def clean_urdf(input_file: str, output_file: str, remove_visual=False) -> None: """ @@ -163,26 +163,7 @@ def add_habitat_visual_metadata_for_articulation( print(f"Updated USD file written to: {out_usd_filepath}") -def convert_urdf_test(): - """ - This is an exmaple use case of going from an unformatted urdf file to usd file. - Specifically, this is render the habitat spot arm urdf. - """ - # /home/trandaniel/dev/habitat-lab/data/hab_spot_arm/urdf - source_urdf_filepath = "data/hab_spot_arm/urdf/hab_spot_arm.urdf" - clean_urdf_filepath = "data/hab_spot_arm/urdf/hab_spot_arm_clean.urdf" - # Temp USD must be in same folder as final USD. It's okay to be the exact same file. - temp_usd_filepath = "data/usd/robots/hab_spot_arm.usda" - out_usd_filepath = "data/usd/robots/hab_spot_arm.usda" - convert_urdf(clean_urdf_filepath, temp_usd_filepath) - add_habitat_visual_metadata_for_articulation( - temp_usd_filepath, - source_urdf_filepath, - out_usd_filepath, - project_root_folder="./", - ) - -def convert_urdf_main(): +if __name__ == "__main__": """This function converts urdf files to usda.""" # Build parser and subparser parser = argparse.ArgumentParser( @@ -192,23 +173,23 @@ def convert_urdf_main(): # Parser for clean_urdf parser_clean_urdf = subparsers.add_parser('clean_urdf', help='Run clean_urdf function') - parser_clean_urdf.add_argument('input_file', required=True) - parser_clean_urdf.add_argument('output_file', required=True) - parser_clean_urdf.add_argument('remove_visual', required=False) + parser_clean_urdf.add_argument('input_file') + parser_clean_urdf.add_argument('output_file') + parser_clean_urdf.add_argument('--remove_visual') parser_clean_urdf.set_defaults(func=clean_urdf) # Parser for convert_urdf function parser_convert_urdf = subparsers.add_parser('convert_urdf', help='Run convert_urdf function') - parser_convert_urdf.add_argument('urdf_filepath', required=True) - parser_convert_urdf.add_argument('out_usd_filepath', required=True) + parser_convert_urdf.add_argument('urdf_filepath') + parser_convert_urdf.add_argument('out_usd_filepath') parser_convert_urdf.set_defaults(func=convert_urdf) # Parser for add_habitat_visual_metadata_for_articulation function parser_add_hab_visual_metadata = subparsers.add_parser('add_habitat_visual_metadata_for_articulation', help='add_habitat_visual_metadata_for_articulation') - parser_add_hab_visual_metadata.add_argument('usd_filepath', required=True) - parser_add_hab_visual_metadata.add_argument('reference_urdf_filepath', required=True) - parser_add_hab_visual_metadata.add_argument('out_usd_filepath', required=True) - parser_add_hab_visual_metadata.add_argument('project_root_folder', required=True) + parser_add_hab_visual_metadata.add_argument('usd_filepath') + parser_add_hab_visual_metadata.add_argument('reference_urdf_filepath') + parser_add_hab_visual_metadata.add_argument('out_usd_filepath') + parser_add_hab_visual_metadata.add_argument('project_root_folder') parser_add_hab_visual_metadata.set_defaults(func=add_habitat_visual_metadata_for_articulation) # Launch Issac Lab Applauncher and load libraries @@ -230,7 +211,4 @@ def convert_urdf_main(): args.func(args.usd_filepath, args.reference_urdf_filepath, args.out_usd_filepath, args.project_root_folder) else: parser.print_help() - - -if __name__ == "__main__": - convert_urdf_main() + \ No newline at end of file From d1d2fa236b204c57ae97276643f3b3da339da63e Mon Sep 17 00:00:00 2001 From: trandaniel Date: Sat, 11 Jan 2025 22:50:05 -0800 Subject: [PATCH 43/61] precommit formatting. --- .../isaacsim/scene_instance_json_to_usd.py | 108 +++++++++++------- 1 file changed, 66 insertions(+), 42 deletions(-) diff --git a/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py b/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py index c73a294934..1111d7e713 100644 --- a/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py +++ b/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py @@ -148,6 +148,7 @@ def find_file(folder: str, filename: str) -> str: result = os.path.join(root, filename) return os.path.abspath(result) + def find_scene_instance_json_files(scene_directory: str) -> List[str]: """ Find all files in the given folder and its subfolders whose names end with 'scene_instance.json'. @@ -155,15 +156,16 @@ def find_scene_instance_json_files(scene_directory: str) -> List[str]: :return: A list of paths to the matching files. """ matching_files = [] - for root, _ , files in os.walk(scene_directory): + for root, _, files in os.walk(scene_directory): for file in files: - if file.endswith('scene_instance.json'): + if file.endswith("scene_instance.json"): matching_files.append(os.path.join(root, file)) return matching_files -def make_scene_instance_usd_path(scene_filepath: str, scene_usd_directory: str) -> str: - +def make_scene_instance_usd_path( + scene_filepath: str, scene_usd_directory: str +) -> str: filename_with_extension = os.path.basename(scene_filepath) filename_without_extension = os.path.splitext(filename_with_extension)[0] usda_filename = f"{filename_without_extension}.usda" @@ -171,11 +173,12 @@ def make_scene_instance_usd_path(scene_filepath: str, scene_usd_directory: str) # Create the new directory if it doesn't exist if not os.path.exists(scene_usd_directory): os.makedirs(scene_usd_directory) - + usda_filepath = os.path.join(scene_usd_directory, usda_filename) - + return usda_filepath + def convert_mesh_to_usd( in_file: str, out_file: str, load_materials: bool = True ) -> None: @@ -289,7 +292,7 @@ def add_habitat_visual_to_usd_root( ) -> None: """ This function adds habitat visual information into a usda file. - + :param usd_filepath: Filepath to scene instance json file :param render_asset_filepath: Filepath that contains render asset information :param render_asset_scale: An array that defines scale on the xyz axis @@ -450,16 +453,16 @@ def convert_hab_scene( ) -> None: """ This function converts scene_instance.json file types to .usda. - + :param scene_filepath: Filepath of the scene_instance,json :param project_root_folder: Directory path of habitat-lab :param objects_folder: Directory path that contains scence instance objects. :param scene_usd_filepath: Filepath location of scene instance usda file after conversion. """ - + # from omni.isaac.core.utils.extensions import enable_extension from pxr import Gf, PhysxSchema, Sdf, Usd, UsdGeom, UsdPhysics - + with open(scene_filepath, "r") as file: scene_json_data = json.load(file) @@ -542,63 +545,84 @@ def convert_hab_scene( stage.GetRootLayer().Save() print(f"wrote scene {scene_usd_filepath}") - -def bulk_scene_instance_conversion(scene_directory: str, project_root_folder: str, scene_usd_directory: str, objects_folder: str = ""): +def bulk_scene_instance_conversion( + scene_directory: str, + project_root_folder: str, + scene_usd_directory: str, + objects_folder: str = "", +): scene_instance_json_list = find_scene_instance_json_files(scene_directory) - + for scene_filepath in scene_instance_json_list[:3]: - scene_usd_filepath = make_scene_instance_usd_path(scene_filepath, scene_usd_directory) - + scene_usd_filepath = make_scene_instance_usd_path( + scene_filepath, scene_usd_directory + ) + print(scene_usd_filepath) - convert_hab_scene(scene_filepath, project_root_folder, scene_usd_filepath) - + convert_hab_scene( + scene_filepath, project_root_folder, scene_usd_filepath + ) + if __name__ == "__main__": # Build parser parser = argparse.ArgumentParser( description="Create an empty Issac Sim stage." ) - subparsers = parser.add_subparsers(dest='command') - + subparsers = parser.add_subparsers(dest="command") + # Parser for convert_hab_scene - parser_convert_hab_scene = subparsers.add_parser('convert_hab_scene', help='Run convert_hab_scene function') - parser_convert_hab_scene.add_argument('scene_filepath') - parser_convert_hab_scene.add_argument('project_root_folder') - parser_convert_hab_scene.add_argument('scene_usd_filepath') - parser_convert_hab_scene.add_argument('--objects_folder') + parser_convert_hab_scene = subparsers.add_parser( + "convert_hab_scene", help="Run convert_hab_scene function" + ) + parser_convert_hab_scene.add_argument("scene_filepath") + parser_convert_hab_scene.add_argument("project_root_folder") + parser_convert_hab_scene.add_argument("scene_usd_filepath") + parser_convert_hab_scene.add_argument("--objects_folder") parser_convert_hab_scene.set_defaults(func=convert_hab_scene) - # Parser for bulk_scene_instance_conversion - parser_bulk_scene_instance_conversion = subparsers.add_parser('bulk_scene_instance_conversion', help='Run bulk_scene_instance_conversion function') - parser_bulk_scene_instance_conversion.add_argument('scene_directory') - parser_bulk_scene_instance_conversion.add_argument('project_root_folder') - parser_bulk_scene_instance_conversion.add_argument('scene_usd_directory') - parser_bulk_scene_instance_conversion.add_argument('--objects_folder') - parser_bulk_scene_instance_conversion.set_defaults(func=bulk_scene_instance_conversion) - + parser_bulk_scene_instance_conversion = subparsers.add_parser( + "bulk_scene_instance_conversion", + help="Run bulk_scene_instance_conversion function", + ) + parser_bulk_scene_instance_conversion.add_argument("scene_directory") + parser_bulk_scene_instance_conversion.add_argument("project_root_folder") + parser_bulk_scene_instance_conversion.add_argument("scene_usd_directory") + parser_bulk_scene_instance_conversion.add_argument("--objects_folder") + parser_bulk_scene_instance_conversion.set_defaults( + func=bulk_scene_instance_conversion + ) + # Launch Issac Lab Applauncher from omni.isaac.lab.app import AppLauncher + AppLauncher.add_app_launcher_args(parser) args = parser.parse_args() - args.headless = True + args.headless = True app_launcher = AppLauncher(args) simulation_app = app_launcher.app - + from omni.isaac.core.utils.extensions import enable_extension from pxr import Gf, PhysxSchema, Sdf, Usd, UsdGeom, UsdPhysics - # Argparse function selection if args.command: - if args.command == 'convert_hab_scene': - args.func(args.scene_filepath, args.project_root_folder, args.scene_usd_filepath, args.objects_folder) - elif args.command == 'bulk_scene_instance_conversion': - args.func(args.scene_directory, args.project_root_folder, args.scene_usd_directory, args.objects_folder) + if args.command == "convert_hab_scene": + args.func( + args.scene_filepath, + args.project_root_folder, + args.scene_usd_filepath, + args.objects_folder, + ) + elif args.command == "bulk_scene_instance_conversion": + args.func( + args.scene_directory, + args.project_root_folder, + args.scene_usd_directory, + args.objects_folder, + ) else: parser.print_help() - - - From 14d4ee9714f4bd840b50ca91111d60cc3ce12968 Mon Sep 17 00:00:00 2001 From: trandaniel Date: Sat, 11 Jan 2025 22:59:02 -0800 Subject: [PATCH 44/61] Remove bulk scene conversion logic. Will be transferred to unit tests. --- .../isaacsim/scene_instance_json_to_usd.py | 67 ++----------------- 1 file changed, 6 insertions(+), 61 deletions(-) diff --git a/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py b/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py index 1111d7e713..8371bc09e4 100644 --- a/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py +++ b/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py @@ -547,54 +547,18 @@ def convert_hab_scene( print(f"wrote scene {scene_usd_filepath}") -def bulk_scene_instance_conversion( - scene_directory: str, - project_root_folder: str, - scene_usd_directory: str, - objects_folder: str = "", -): - scene_instance_json_list = find_scene_instance_json_files(scene_directory) - - for scene_filepath in scene_instance_json_list[:3]: - scene_usd_filepath = make_scene_instance_usd_path( - scene_filepath, scene_usd_directory - ) - - print(scene_usd_filepath) - convert_hab_scene( - scene_filepath, project_root_folder, scene_usd_filepath - ) - - if __name__ == "__main__": # Build parser parser = argparse.ArgumentParser( description="Create an empty Issac Sim stage." ) - subparsers = parser.add_subparsers(dest="command") # Parser for convert_hab_scene - parser_convert_hab_scene = subparsers.add_parser( - "convert_hab_scene", help="Run convert_hab_scene function" - ) - parser_convert_hab_scene.add_argument("scene_filepath") - parser_convert_hab_scene.add_argument("project_root_folder") - parser_convert_hab_scene.add_argument("scene_usd_filepath") - parser_convert_hab_scene.add_argument("--objects_folder") - parser_convert_hab_scene.set_defaults(func=convert_hab_scene) - - # Parser for bulk_scene_instance_conversion - parser_bulk_scene_instance_conversion = subparsers.add_parser( - "bulk_scene_instance_conversion", - help="Run bulk_scene_instance_conversion function", - ) - parser_bulk_scene_instance_conversion.add_argument("scene_directory") - parser_bulk_scene_instance_conversion.add_argument("project_root_folder") - parser_bulk_scene_instance_conversion.add_argument("scene_usd_directory") - parser_bulk_scene_instance_conversion.add_argument("--objects_folder") - parser_bulk_scene_instance_conversion.set_defaults( - func=bulk_scene_instance_conversion - ) + parser.add_argument("scene_filepath") + parser.add_argument("project_root_folder") + parser.add_argument("scene_usd_filepath") + parser.add_argument("--objects_folder") + parser.set_defaults(func=convert_hab_scene) # Launch Issac Lab Applauncher from omni.isaac.lab.app import AppLauncher @@ -606,23 +570,4 @@ def bulk_scene_instance_conversion( simulation_app = app_launcher.app from omni.isaac.core.utils.extensions import enable_extension - from pxr import Gf, PhysxSchema, Sdf, Usd, UsdGeom, UsdPhysics - - # Argparse function selection - if args.command: - if args.command == "convert_hab_scene": - args.func( - args.scene_filepath, - args.project_root_folder, - args.scene_usd_filepath, - args.objects_folder, - ) - elif args.command == "bulk_scene_instance_conversion": - args.func( - args.scene_directory, - args.project_root_folder, - args.scene_usd_directory, - args.objects_folder, - ) - else: - parser.print_help() + from pxr import Gf, PhysxSchema, Sdf, Usd, UsdGeom, UsdPhysics \ No newline at end of file From d2db10295636f8bfdaf99f6d75b5978f0aff776a Mon Sep 17 00:00:00 2001 From: trandaniel Date: Sat, 11 Jan 2025 23:24:04 -0800 Subject: [PATCH 45/61] Update docstrings, minor check, and conversion function into if/main --- .../isaacsim/scene_instance_json_to_usd.py | 30 +++++++++++-------- 1 file changed, 18 insertions(+), 12 deletions(-) diff --git a/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py b/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py index 8371bc09e4..7b5708d2d5 100644 --- a/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py +++ b/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py @@ -105,18 +105,15 @@ def convert_object_to_usd( print(f"Converting {collision_asset_filepath}...") - convert_mesh_to_usd( - collision_asset_filepath, out_usd_path, load_materials=False - ) + if not os.path.exists(out_usd_path): + convert_mesh_to_usd( + collision_asset_filepath, out_usd_path, load_materials=False + ) - # TODO: DANIEL is this from urdf? render_asset_filepath_from_urdf = object_config_json_data["render_asset"] object_config_dir, _ = os.path.split(object_config_filepath) - # TODO: DELETE LINE IF NOT USED - # usd_dir, _ = os.path.split(out_usd_path) - render_asset_filepath_for_usd = os.path.relpath( os.path.abspath( os.path.join(object_config_dir, render_asset_filepath_from_urdf) @@ -186,9 +183,7 @@ def convert_mesh_to_usd( :param in_file: string filepath of input mesh :param out_file: string of output usda file - :param load_materials: TODO: Add description - - :return: TODO: Add description + :param load_materials: load material properties of mesh. """ asyncio.run( @@ -210,7 +205,11 @@ async def async_convert_mesh_to_usd( in_file: str, out_file: str, load_materials: bool = True ) -> bool: """ported from IsaacLab mesh_converter.py _convert_mesh_to_usd - TODO: Add param descriptions, and return description. + + :param in_file: Input mesh filepath + :param out_file: Output usda filepath + + :return: True if conversion to usd sucessful. False otherwise. """ enable_extension("omni.kit.asset_converter") @@ -570,4 +569,11 @@ def convert_hab_scene( simulation_app = app_launcher.app from omni.isaac.core.utils.extensions import enable_extension - from pxr import Gf, PhysxSchema, Sdf, Usd, UsdGeom, UsdPhysics \ No newline at end of file + from pxr import Gf, PhysxSchema, Sdf, Usd, UsdGeom, UsdPhysics + + convert_hab_scene( + args.scene_filepath, + args.project_root_folder, + args.scene_usd_filepath, + args.objects_folder, + ) From 1c2b1bc48b7eacc2d885545832c68f88e4674424 Mon Sep 17 00:00:00 2001 From: trandaniel Date: Sat, 11 Jan 2025 23:26:30 -0800 Subject: [PATCH 46/61] precommit formatting. --- habitat-lab/habitat/isaacsim/urdf_to_usd.py | 70 +++++++++++++-------- 1 file changed, 43 insertions(+), 27 deletions(-) diff --git a/habitat-lab/habitat/isaacsim/urdf_to_usd.py b/habitat-lab/habitat/isaacsim/urdf_to_usd.py index 1db0b98629..59cf0ee10e 100644 --- a/habitat-lab/habitat/isaacsim/urdf_to_usd.py +++ b/habitat-lab/habitat/isaacsim/urdf_to_usd.py @@ -1,8 +1,10 @@ import argparse import os -#import xml.etree.ElementTree as ET + +# import xml.etree.ElementTree as ET from lxml import etree as ET # Using lxml for better XML handling + def clean_urdf(input_file: str, output_file: str, remove_visual=False) -> None: """ Cleans a URDF file: @@ -169,46 +171,60 @@ def add_habitat_visual_metadata_for_articulation( parser = argparse.ArgumentParser( description="Create an empty Issac Sim stage." ) - subparsers = parser.add_subparsers(dest='command') - + subparsers = parser.add_subparsers(dest="command") + # Parser for clean_urdf - parser_clean_urdf = subparsers.add_parser('clean_urdf', help='Run clean_urdf function') - parser_clean_urdf.add_argument('input_file') - parser_clean_urdf.add_argument('output_file') - parser_clean_urdf.add_argument('--remove_visual') + parser_clean_urdf = subparsers.add_parser( + "clean_urdf", help="Run clean_urdf function" + ) + parser_clean_urdf.add_argument("input_file") + parser_clean_urdf.add_argument("output_file") + parser_clean_urdf.add_argument("--remove_visual") parser_clean_urdf.set_defaults(func=clean_urdf) - + # Parser for convert_urdf function - parser_convert_urdf = subparsers.add_parser('convert_urdf', help='Run convert_urdf function') - parser_convert_urdf.add_argument('urdf_filepath') - parser_convert_urdf.add_argument('out_usd_filepath') + parser_convert_urdf = subparsers.add_parser( + "convert_urdf", help="Run convert_urdf function" + ) + parser_convert_urdf.add_argument("urdf_filepath") + parser_convert_urdf.add_argument("out_usd_filepath") parser_convert_urdf.set_defaults(func=convert_urdf) - + # Parser for add_habitat_visual_metadata_for_articulation function - parser_add_hab_visual_metadata = subparsers.add_parser('add_habitat_visual_metadata_for_articulation', help='add_habitat_visual_metadata_for_articulation') - parser_add_hab_visual_metadata.add_argument('usd_filepath') - parser_add_hab_visual_metadata.add_argument('reference_urdf_filepath') - parser_add_hab_visual_metadata.add_argument('out_usd_filepath') - parser_add_hab_visual_metadata.add_argument('project_root_folder') - parser_add_hab_visual_metadata.set_defaults(func=add_habitat_visual_metadata_for_articulation) - + parser_add_hab_visual_metadata = subparsers.add_parser( + "add_habitat_visual_metadata_for_articulation", + help="add_habitat_visual_metadata_for_articulation", + ) + parser_add_hab_visual_metadata.add_argument("usd_filepath") + parser_add_hab_visual_metadata.add_argument("reference_urdf_filepath") + parser_add_hab_visual_metadata.add_argument("out_usd_filepath") + parser_add_hab_visual_metadata.add_argument("project_root_folder") + parser_add_hab_visual_metadata.set_defaults( + func=add_habitat_visual_metadata_for_articulation + ) + # Launch Issac Lab Applauncher and load libraries from omni.isaac.lab.app import AppLauncher + AppLauncher.add_app_launcher_args(parser) args = parser.parse_args() - args.headless = True + args.headless = True app_launcher = AppLauncher(args) - simulation_app = app_launcher.app + simulation_app = app_launcher.app from pxr import Gf, Sdf, Usd - + # Argparse function selection if args.command: - if args.command == 'clean_urdf': + if args.command == "clean_urdf": args.func(args.input_file, args.output_file, args.remove_visual) - elif args.command == 'convert_urdf': + elif args.command == "convert_urdf": args.func(args.urdf_filepath, args.out_usd_filepath) - elif args.command == 'add_habitat_visual_metadata_for_articulation': - args.func(args.usd_filepath, args.reference_urdf_filepath, args.out_usd_filepath, args.project_root_folder) + elif args.command == "add_habitat_visual_metadata_for_articulation": + args.func( + args.usd_filepath, + args.reference_urdf_filepath, + args.out_usd_filepath, + args.project_root_folder, + ) else: parser.print_help() - \ No newline at end of file From fabe34c74314c9af3d7d9decc675410f1b46d91e Mon Sep 17 00:00:00 2001 From: trandaniel Date: Sun, 12 Jan 2025 08:53:26 -0800 Subject: [PATCH 47/61] Remove redundant imports --- habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py | 3 --- 1 file changed, 3 deletions(-) diff --git a/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py b/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py index 7b5708d2d5..bc2b7fec49 100644 --- a/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py +++ b/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py @@ -459,9 +459,6 @@ def convert_hab_scene( :param scene_usd_filepath: Filepath location of scene instance usda file after conversion. """ - # from omni.isaac.core.utils.extensions import enable_extension - from pxr import Gf, PhysxSchema, Sdf, Usd, UsdGeom, UsdPhysics - with open(scene_filepath, "r") as file: scene_json_data = json.load(file) From b096e3bd360bbe4b000a870a11bb14a0ea07bc69 Mon Sep 17 00:00:00 2001 From: trandaniel Date: Sun, 12 Jan 2025 17:46:07 -0800 Subject: [PATCH 48/61] Updated docstrings and type annotations for scene_instance_json_to_usd.py --- .../isaacsim/scene_instance_json_to_usd.py | 81 ++++++++++++------- 1 file changed, 53 insertions(+), 28 deletions(-) diff --git a/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py b/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py index bc2b7fec49..74c55b2e44 100644 --- a/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py +++ b/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py @@ -6,7 +6,7 @@ import json import os import re -from typing import Dict, List, Optional +from typing import Any, Dict, List, Optional, Tuple, Union def sanitize_usd_name(name: str) -> Optional[str]: @@ -17,7 +17,6 @@ def sanitize_usd_name(name: str) -> Optional[str]: :return: The sanitized string, suitable for use as a USD node name. """ - # assert len(name) > 0 if len(name) == 0: print("Input string for USD node is empty") return None @@ -35,14 +34,18 @@ def sanitize_usd_name(name: str) -> Optional[str]: return sanitized_name -def object_usd_info(obj_instance_json, object_counts): +def object_usd_info( + obj_instance_json: Dict[str, Union[List[float], str]], + object_counts: Dict[str, int], +) -> Tuple[str, str, Dict[str, int], str]: """From the values defined in the object json from the scence instance, generate various strings and object counts. + :param obj_instance_json: This is object level information from the scence_instance json file, Dictionary object :param object counts: This dictionary contains information about multiples uses of the same mesh :return: object_config_filename is the name of the object config file. - out_usd_path is the filepath where the converted object is located. object_counts might be updated if there is another + out_usd_path is the filepath where the converted object is located. object_counts might be updated if there exists another instance of the same mesh. unique_object_name is the unique name of a mesh. """ object_config_filename = ( @@ -93,6 +96,7 @@ def convert_object_to_usd( object_config_json_data = None with open(object_config_filepath, "r") as file: object_config_json_data = json.load(file) + # By convention, we fall back to render_asset if collision_asset is not set. See Habitat-sim Simulator::getJoinedMesh. collision_asset_filename = ( object_config_json_data["collision_asset"] @@ -111,16 +115,13 @@ def convert_object_to_usd( ) render_asset_filepath_from_urdf = object_config_json_data["render_asset"] - object_config_dir, _ = os.path.split(object_config_filepath) - render_asset_filepath_for_usd = os.path.relpath( os.path.abspath( os.path.join(object_config_dir, render_asset_filepath_from_urdf) ), start=project_root_folder, ) - render_asset_scale = object_config_json_data.get("scale", (1.0, 1.0, 1.0)) add_habitat_visual_to_usd_root( @@ -149,7 +150,9 @@ def find_file(folder: str, filename: str) -> str: def find_scene_instance_json_files(scene_directory: str) -> List[str]: """ Find all files in the given folder and its subfolders whose names end with 'scene_instance.json'. + :param folder_path: The path to the folder to search. + :return: A list of paths to the matching files. """ matching_files = [] @@ -163,6 +166,15 @@ def find_scene_instance_json_files(scene_directory: str) -> List[str]: def make_scene_instance_usd_path( scene_filepath: str, scene_usd_directory: str ) -> str: + """ + Form the scene instance usda filepath from scence instance json filepath'. + + :param scene_filepath: scene instance json filepath + :param scene_usd_directory: desired scene instance usd output directory + + :return: desired scene instance usd output filepath + """ + filename_with_extension = os.path.basename(scene_filepath) filename_without_extension = os.path.splitext(filename_with_extension)[0] usda_filename = f"{filename_without_extension}.usda" @@ -248,7 +260,9 @@ async def async_convert_mesh_to_usd( return success -def convert_meshes_to_static_colliders(stage, root_path) -> None: +def convert_meshes_to_static_colliders( + stage: "Usd.stage", root_path: str +) -> None: """ Iterates over all meshes in the USD subtree under `root_path` and adds convex hull collision shapes. @@ -287,7 +301,9 @@ def convert_meshes_to_static_colliders(stage, root_path) -> None: def add_habitat_visual_to_usd_root( - usd_filepath, render_asset_filepath, render_asset_scale + usd_filepath: str, + render_asset_filepath: str, + render_asset_scale: List[float], ) -> None: """ This function adds habitat visual information into a usda file. @@ -323,8 +339,11 @@ def add_habitat_visual_to_usd_root( ) -def add_xform_scale(object_xform) -> None: - """Add object scale value into xform class for scene instance json.""" +def add_xform_scale(object_xform: "UsdGeom.Xform") -> None: + """Add object scale value into xform class for scene instance json. + + :param object_xform: The Xform class containing scene object information. + """ # Ensure scale op exists, default value scale = [ 1.0, @@ -345,8 +364,14 @@ def add_xform_scale(object_xform) -> None: scale_op.Set(Gf.Vec3f(*scale)) -def add_xform_rotation(obj_instance_json, object_xform) -> None: - """Add object rotation value into xform class for scene instance json.""" +def add_xform_rotation( + obj_instance_json: Dict[str, Any], object_xform: "UsdGeom.Xform" +) -> None: + """Add object rotation value into xform class for scene instance json. + + :param obj_instance_json: Object information from scence instance json + :object_xform: The Xform class that contains object information for usd file. + """ # Ensure rotation op exists # rotation = habitat_to_usd_rotation([0.0, 0.0, 0.0, 1.0]) # rotation = [1.0, 0.0, 0.0, 0.0] @@ -370,19 +395,13 @@ def add_xform_rotation(obj_instance_json, object_xform) -> None: orient_op.Set(Gf.Quatd(*rotation)) -def habitat_to_usd_rotation(rotation) -> List[float]: +def habitat_to_usd_rotation(rotation: List[float]) -> List[float]: """ Convert a quaternion rotation from Habitat to USD coordinate system. - Parameters - ---------- - rotation : list[float] - Quaternion in Habitat coordinates [w, x, y, z] (wxyz). + :param rotation: Quaternion in Habitat coordinates [w, x, y, z] (wxyz). - Returns - ------- - list[float] - Quaternion in USD coordinates [w, x, y, z] (wxyz). + :return: Quaternion in USD coordinates [w, x, y, z] (wxyz). """ HALF_SQRT2 = 0.70710678 # √0.5 @@ -415,8 +434,14 @@ def quat_multiply(q1, q2): return rotation_usd -def add_xform_translation(obj_instance_json, object_xform) -> None: - """Add object translation value into xform class for scene instance json.""" +def add_xform_translation( + obj_instance_json: Dict[str, Any], object_xform: "UsdGeom.Xform" +) -> None: + """Add object translation value into xform class for scene instance json. + + :param obj_instance_json: Object information from scence instance json + :object_xform: The Xform class that contains object information for usd file. + """ # Ensure translation op exists position = habitat_to_usd_position( obj_instance_json.get("translation", [0.0, 0.0, 0.0]) @@ -434,11 +459,12 @@ def add_xform_translation(obj_instance_json, object_xform) -> None: translate_op.Set(Gf.Vec3f(*position)) -def habitat_to_usd_position(position) -> List[float]: +def habitat_to_usd_position(position: List[float]) -> List[float]: """ - Convert a position from Habitat (Y-up) to USD (Z-up) coordinate system. + Convert a position from Habitat (Y-up) to USD (Z-up) coordinate system. Habitat (-x, z, y) -> Isaac (x, y, z) - Habitat (-x, z, y) -> Isaac (x, y, z) + :param position: Habitat coordinates + :return: Isaac coordinates """ x, y, z = position return [-x, z, y] @@ -490,7 +516,6 @@ def convert_hab_scene( except AssertionError: print(f"'object_instances' key not found in {scene_filepath} ") return - # raise KeyError(f"'object_instances' key not found in {scene_filepath} ")# TODO: may need return instead of raise, incase we need to for loop convert_hab_scene for obj_instance_json in scene_json_data["object_instances"]: # TODO: assert collision_asset_size is (1,1,1) or not present From 709c28870d961204609c3890683b249536dd474c Mon Sep 17 00:00:00 2001 From: trandaniel Date: Sun, 12 Jan 2025 17:49:41 -0800 Subject: [PATCH 49/61] Updated doctring and minor formatting for urdf_to_usd.py --- habitat-lab/habitat/isaacsim/urdf_to_usd.py | 17 ++++++++++++++++- 1 file changed, 16 insertions(+), 1 deletion(-) diff --git a/habitat-lab/habitat/isaacsim/urdf_to_usd.py b/habitat-lab/habitat/isaacsim/urdf_to_usd.py index 59cf0ee10e..b9d6cb31a9 100644 --- a/habitat-lab/habitat/isaacsim/urdf_to_usd.py +++ b/habitat-lab/habitat/isaacsim/urdf_to_usd.py @@ -1,7 +1,8 @@ +"""This module converts urdf files into usda files.""" + import argparse import os -# import xml.etree.ElementTree as ET from lxml import etree as ET # Using lxml for better XML handling @@ -60,6 +61,12 @@ def sanitize_name(name): def convert_urdf(urdf_filepath: str, out_usd_filepath: str) -> None: + """Convert urdf file to usda file + + :param urdf_filepath: The filepath of urdf file + :param out_usd_filepath: The desired output path of usda file + """ + from omni.isaac.lab.sim.converters import UrdfConverter, UrdfConverterCfg out_dir, out_filename = os.path.split(out_usd_filepath) @@ -95,6 +102,14 @@ def add_habitat_visual_metadata_for_articulation( out_usd_filepath: str, project_root_folder: str, ) -> None: + """Add habitat visual metadata into usda file. + + :param usd_filepath: Usd fileapath to add visual metadata + :param reference_urdf_filepath: Filepath of reference urdf + :param out_usd_filepath: Desired output usd path + :param project_root_folder: Directory path of habitat-lab + """ + # Parse the URDF file urdf_tree = ET.parse(reference_urdf_filepath) urdf_root = urdf_tree.getroot() From eec904edbe8c5ed79febad2a40594112b8b70da3 Mon Sep 17 00:00:00 2001 From: trandaniel Date: Sun, 12 Jan 2025 18:20:39 -0800 Subject: [PATCH 50/61] Migrate draft of unit test and example data from PR #2123 --- .../102343992.scene_instance.json | 1 + .../EXAMPLE.scene_instance.json | 7150 +++++++++++++++++ .../EXAMPLE2.scene_instance.json | 29 + ...ab1eb9f99117bb84c59003d684811.collider.glb | Bin 0 -> 7232 bytes ...fdc3d37dfab1eb9f99117bb84c59003d684811.glb | Bin 0 -> 611184 bytes ...f99117bb84c59003d684811.object_config.json | 1 + test/test_isaac_sim.py | 138 + 7 files changed, 7319 insertions(+) create mode 100644 test/data/usd_conversion_data/102343992.scene_instance.json create mode 100644 test/data/usd_conversion_data/EXAMPLE.scene_instance.json create mode 100644 test/data/usd_conversion_data/EXAMPLE2.scene_instance.json create mode 100644 test/data/usd_conversion_data/objects_EXAMPLE2/1efdc3d37dfab1eb9f99117bb84c59003d684811.collider.glb create mode 100644 test/data/usd_conversion_data/objects_EXAMPLE2/1efdc3d37dfab1eb9f99117bb84c59003d684811.glb create mode 100644 test/data/usd_conversion_data/objects_EXAMPLE2/1efdc3d37dfab1eb9f99117bb84c59003d684811.object_config.json create mode 100644 test/test_isaac_sim.py diff --git a/test/data/usd_conversion_data/102343992.scene_instance.json b/test/data/usd_conversion_data/102343992.scene_instance.json new file mode 100644 index 0000000000..389df30ee0 --- /dev/null +++ b/test/data/usd_conversion_data/102343992.scene_instance.json @@ -0,0 +1 @@ +{"stage_instance": {"template_name": "stages/102343992"}, "translation_origin": "asset_local", "object_instances": [{"template_name": 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test_add_habitat_visual_metadata_for_articulation(): "habitatVisual:assetScale" ).Get() ) - - if os.path.exists(out_usd_filepath): - assert True - os.remove(out_usd_filepath)

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zc{9DgF!dQP+*~ck5I^U8t{>H(J4!vuWqPeyClV6XSDe2z|g#pUhu;q;%G^Fi-NhL}9MzjW@%+s_}{?|*hC!lJ-s zh(~5jCXNknix(CM*Y@3k(Jd$Zi%RnZ=V<>pNAbTX6&Blb4ADjUQGLKUs{h>U!s5ou zhNvfbbpLUV?B^Vs93FNBQlWkB4|1 zj^+!EjHCQl+s{xBlZNO&CkE>i&QblxIqDC>eGPRaWr)F~ADvImQT{qe@~@KoizI*S zk707fxNLl#T3sz4mF0<=WQ`b7c{Z@`Clkg8=O{inNA>TTwMlj0&V|61RVJ)|IY;$5 z=V*WWE$vP}eDgc?fa+hAUpfEsm*H*Ei9xxO>gUk;c7NL|rsVuS)!*gB8;N_Xs%0~A z|Kl_1M$+HAX_-X%*&Mt}6?g|&T?=9oE)g5?uJs?SkMaZO=zQwjNA`^-`y!NoE|Go5N&lYMTUMWsvikM>eDLBX@t1p( zhz+cO^)u&aea=ySNp&`;qAT^{)~!!reaktjzd1+o|3lT8z{t`S>g?TY{h|Lp&e42@ zb96tc*3+%~t|ip9y(Wwg&e8qNIhv2m2_?nV)kj*dUo>I-bB^j0&e41*+Fql2NTrz^)U$=q-H{&SA>>s+57*!*q!IIg2#&(F*9 zZ;IbPFSO>-`Y69~j{0|<>-$qh`VT}4t@+RN>+yH!pDm)ed4pOvIh%iVdCrl4IEV4Q zvOz`1)~h`uD>C_4_fIk7D1JCc{wp)5SWWbNN0{apd_L$NaLHdDic8Msk1+vqu*!q&s" +# print("Simulation app instantiation test successful.") +# # simulation_app.close() + +def test_pyest_runs_in_isaaclab(): + assert 2 == 2 + + +## GLB TO USD CONVERSION ## + +def test_wrong_scene_instance_path(): + scene_instance_filepath = './NONEXISTENT.scene_instance.json' + with pytest.raises(FileNotFoundError): + convert_hab_scene(scene_instance_filepath, project_root_folder="./test_project_root") + +def test_example2_scene_instance(): + scene_instance_filepath = './test_convert/data/EXAMPLE2.scene_instance.json' + object_folder = './test_convert/data/objects_EXAMPLE2' + convert_hab_scene(scene_instance_filepath, project_root_folder="./test_project_root", objects_folder=object_folder) + + output_usd_path = "./data/usd/test_scene.usda" + + stage = Usd.Stage.Open(output_usd_path) + + + xform_path = "/Scene/OBJECT_1efdc3d37dfab1eb9f99117bb84c59003d684811" + xform_prim = stage.GetPrimAtPath(xform_path) + + xformable = UsdGeom.Xformable(xform_prim) + + usda_orient_im = list(xform_prim.GetAttribute('xformOp:orient').Get().imaginary) + usda_orient_real = xform_prim.GetAttribute('xformOp:orient').Get().real + usda_scale = list(xform_prim.GetAttribute('xformOp:scale').Get()) + usda_translate = list(xform_prim.GetAttribute('xformOp:translate').Get()) + + + #change usd coords back to habitat coords + + usda_translate_hab_coord = usd_to_habitat_position(usda_translate) + usda_rotation = [usda_orient_real] + usda_orient_im + usda_rotation_hab_coord = usd_to_habitat_rotation(usda_rotation) + + with open(scene_instance_filepath , 'r') as file: + scene_instance_json_data = json.load(file) + + + scene_instance_translation = scene_instance_json_data['object_instances'][0]['translation'] + scene_instance_rotation = scene_instance_json_data['object_instances'][0]['rotation'] + scene_instance_uniform_scale = scene_instance_json_data['object_instances'][0]['non_uniform_scale'] + + assert usda_translate_hab_coord == pytest.approx(scene_instance_translation) + assert usda_rotation_hab_coord== pytest.approx(scene_instance_rotation) + # TODO: Add Scale to show values are equal, looks like most objects are (1, 1, 1) for the (x, y, z) coordinates in hab space. + # Not sure, but pxr space is has values from 0 to infinity, and 1 is default, but hab space has + # -1 values? Don't know what hab space scaling is. + +########################################################################## + +## URDF TO USD CONVERSION ## + +########################################################################## + +def test_clean_urdf(): + input_file = "data/hab_spot_arm/urdf/hab_spot_arm.urdf" + output_file = "data/hab_spot_arm/urdf/hab_spot_arm_clean.urdf" + clean_urdf(input_file, output_file, remove_visual=False) + +def test_convert_urdf(): + + clean_urdf_filepath = "data/hab_spot_arm/urdf/hab_spot_arm_clean.urdf" + # Temp USD must be in same folder as final USD. It's okay to be the exact same file. + temp_usd_filepath = "data/hab_spot_arm/urdf/hab_spot_arm_no_hab_metadata.usda" + convert_urdf(clean_urdf_filepath, temp_usd_filepath) + +def test_add_habitat_visual_metadata_for_articulation(): + source_urdf_filepath = "data/hab_spot_arm/urdf/hab_spot_arm.urdf" + temp_usd_filepath = "data/hab_spot_arm/urdf/hab_spot_arm_no_hab_metadata.usda" + out_usd_filepath = "data/hab_spot_arm/urdf/hab_spot_arm.usda" + add_habitat_visual_metadata_for_articulation(temp_usd_filepath, source_urdf_filepath, out_usd_filepath, project_root_folder="./") + + +########################################################################## + +## LOADING OBJECTS ## + +########################################################################## + +def combine_two_usd_files(): + + + # Open the input files + stage1 = Usd.Stage.Open('file1.usda') + stage2 = Usd.Stage.Open('file2.usda') + # Create a new stage for the combined data + combinedStage = Usd.Stage.CreateNew('output.usda') + + + # Add the contents of the first file to the combined stage + for prim in stage1.GetPseudoRoot().GetChildren(): + combinedStage.OverridePrim(prim.GetName()) + # Add the contents of the second file to the combined stage + for prim in stage2.GetPseudoRoot().GetChildren(): + combinedStage.OverridePrim(prim.GetName()) + # Save the combined stage + combinedStage.Save() + + +########################################################################## + +if __name__ == "__main__": + + test_add_habitat_visual_metadata_for_articulation() \ No newline at end of file From 9401213473ccedaa7a41426546d2617f85a84119 Mon Sep 17 00:00:00 2001 From: trandaniel Date: Tue, 14 Jan 2025 23:46:27 -0800 Subject: [PATCH 51/61] Save progress unit test usd conversion. --- .../isaacsim/scene_instance_json_to_usd.py | 1 + habitat-lab/habitat/isaacsim/urdf_to_usd.py | 10 +- test/meshesColored/base.glb | Bin 0 -> 296732 bytes test/meshesColored/fl.uleg.glb | Bin 0 -> 291556 bytes test/meshesColored/fr.hip.glb | Bin 0 -> 26260 bytes test/test_isaac_sim.py | 254 ++++++++++++++---- 6 files changed, 209 insertions(+), 56 deletions(-) create mode 100644 test/meshesColored/base.glb create mode 100644 test/meshesColored/fl.uleg.glb create mode 100644 test/meshesColored/fr.hip.glb diff --git a/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py b/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py index 74c55b2e44..252e4e0acd 100644 --- a/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py +++ b/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py @@ -489,6 +489,7 @@ def convert_hab_scene( scene_json_data = json.load(file) # Form Xform stage object for output .usda file. + print(scene_usd_filepath) stage = Usd.Stage.CreateNew(scene_usd_filepath) xform_prim = UsdGeom.Xform.Define(stage, "/Scene") stage.SetDefaultPrim(xform_prim.GetPrim()) diff --git a/habitat-lab/habitat/isaacsim/urdf_to_usd.py b/habitat-lab/habitat/isaacsim/urdf_to_usd.py index b9d6cb31a9..ca900b8485 100644 --- a/habitat-lab/habitat/isaacsim/urdf_to_usd.py +++ b/habitat-lab/habitat/isaacsim/urdf_to_usd.py @@ -30,23 +30,23 @@ def sanitize_name(name): return name # Update and names - for element in root.xpath("//*[@name]"): # type: ignore # noqa: ALL + for element in root.xpath("//*[@name]"): original_name = element.get("name") sanitized_name = sanitize_name(original_name) element.set("name", sanitized_name) # Update references to and - for parent in root.xpath("//parent[@link]"): # type: ignore # noqa: ALL + for parent in root.xpath("//parent[@link]"): original_link = parent.get("link") parent.set("link", name_map.get(original_link, original_link)) - for child in root.xpath("//child[@link]"): # type: ignore # noqa: ALL + for child in root.xpath("//child[@link]"): original_link = child.get("link") child.set("link", name_map.get(original_link, original_link)) # Optionally remove elements if remove_visual: - for visual in root.xpath("//visual"): # type: ignore # noqa: ALL + for visual in 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import pytest import sys import os -parent_dir = os.path.dirname(os.path.dirname(__file__)) -sys.path.insert(0, parent_dir) -from isaaclab_convert_test import * import json +import subprocess + +repo_dir = os.path.dirname(os.path.dirname(__file__)) +sys.path.insert(0, repo_dir) +isaacsim_dir = repo_dir+ "/habitat-lab/habitat/isaacsim" +sys.path.insert(0, isaacsim_dir) +from scene_instance_json_to_usd import convert_hab_scene +from urdf_to_usd import clean_urdf, convert_urdf, add_habitat_visual_metadata_for_articulation + +scene_instance_conversion_script = isaacsim_dir + "/scene_instance_json_to_usd.py" +urdf_conversion_script = isaacsim_dir + "/urdf_to_usd.py" + +from lxml import etree as ET # Using lxml for better XML handling + +# TODO: DANIEL How does pathing work in the other unit test files? # def test_init_issac_lab_env(): # import argparse @@ -28,27 +41,121 @@ # print("Simulation app instantiation test successful.") # # simulation_app.close() -def test_pyest_runs_in_isaaclab(): - assert 2 == 2 +''' +@pytest.fixture(scope="module") +def load_applauncher(): + #import argparse + # Launch Issac Lab Applauncher + from omni.isaac.lab.app import AppLauncher + # Build parser + # parser = argparse.ArgumentParser( + # description="Create an empty Issac Sim stage." + # ) + # parser.add_argument(args=None) + # parser.add_argument("--dummy", help= "dummy arguement", default="default_value") + + #AppLauncher.add_app_launcher_args(parser) + #args = parser.parse_args() + #args.headless = True + app_launcher = AppLauncher(headless=True) + simulation_app = app_launcher.app + + from omni.isaac.core.utils.extensions import enable_extension + from pxr import Gf, PhysxSchema, Sdf, Usd, UsdGeom, UsdPhysics + + # yield + # simulation_app.close() +''' +## Helper functions + +def usd_to_habitat_position(position): + """ + Convert a position from USD (Z-up) to Habitat (Y-up) coordinate system. + + Issac (x, y, z) -> Habitat (-x, z, y) + """ + x, y, z = position + return [-x, z, y] + + +def usd_to_habitat_rotation(rotation): + """ + Convert a quaternion rotation from USD to Habitat coordinate system. + + Parameters + ---------- + rotation : list[float] + Quaternion in USD coordinates [w, x, y, z] (wxyz). + + Returns + ------- + list[float] + Quaternion in Habitat coordinates [w, x, y, z] (wxyz). + """ + HALF_SQRT2 = 0.70710678 # √0.5 + + # Combined inverse quaternion transform: (inverse of q_trans) + # q_x90_inv = [√0.5, √0.5, 0, 0] (wxyz format) + # q_y180_inv = [0, 0, -1, 0] (wxyz format) + q_y90_inv = [HALF_SQRT2, 0.0, HALF_SQRT2, 0.0] -## GLB TO USD CONVERSION ## + q_x90_inv = [HALF_SQRT2, HALF_SQRT2, 0.0, 0.0] + q_z90_inv = [HALF_SQRT2, 0.0, 0.0, HALF_SQRT2] + q_y180_inv = [0.0, 0.0, -1.0, 0.0] + q_z180_inv = [0.0, 0.0, 0.0, 1.0] + + def quat_multiply(q1, q2): + w1, x1, y1, z1 = q1 + w2, x2, y2, z2 = q2 + w = w1*w2 - x1*x2 - y1*y2 - z1*z2 + x = w1*x2 + x1*w2 + y1*z2 - z1*y2 + y = w1*y2 - x1*z2 + y1*w2 + z1*x2 + z = w1*z2 + x1*y2 - y1*x2 + z1*w2 + return [w, x, y, z] + + def quat_inverse(q): + w, x, y, z = q + norm = w*w + x*x + y*y + z*z + return [w/norm, -x/norm, -y/norm, -z/norm] + + # Calculate the inverse of q_x90_inv and q_y180_inv + q_x90 = quat_inverse(q_x90_inv) + q_y180 = quat_inverse(q_y180_inv) + # Calculate q_trans by multiplying q_y180 and q_x90 + q_trans = quat_multiply(q_y180, q_x90) + # Multiply q_trans with rotation_usd to get the original rotation + w, x, y, z = rotation + rotation_hab = quat_multiply(q_trans, rotation) + + return rotation_hab + +## SCENE INSTANCE JSON CONVERSION ## def test_wrong_scene_instance_path(): - scene_instance_filepath = './NONEXISTENT.scene_instance.json' + scene_filepath = './NONEXISTENT.scene_instance.json' + project_root_folder = repo_dir + scene_usd_filepath = '/home/trandaniel/dev/habitat-lab/data/usd/NONEXISTENT.usda' with pytest.raises(FileNotFoundError): - convert_hab_scene(scene_instance_filepath, project_root_folder="./test_project_root") + convert_hab_scene(scene_filepath, project_root_folder, scene_usd_filepath) -def test_example2_scene_instance(): - scene_instance_filepath = './test_convert/data/EXAMPLE2.scene_instance.json' - object_folder = './test_convert/data/objects_EXAMPLE2' - convert_hab_scene(scene_instance_filepath, project_root_folder="./test_project_root", objects_folder=object_folder) +def test_example2_scene_instance(): - output_usd_path = "./data/usd/test_scene.usda" + scene_filepath = repo_dir + '/test/data/usd_conversion_data/EXAMPLE2.scene_instance.json' + project_root_folder = repo_dir + scene_usd_filepath = repo_dir + '/data/usd/test_example2_scene_instance.usda' + object_folder = repo_dir + '/test/data/usd_conversion_data/objects_EXAMPLE2' - stage = Usd.Stage.Open(output_usd_path) + subprocess.run(["python", scene_instance_conversion_script, scene_filepath, project_root_folder, scene_usd_filepath, "--objects_folder", object_folder]) + from omni.isaac.lab.app import AppLauncher + app_launcher = AppLauncher(headless=True) + simulation_app = app_launcher.app + from omni.isaac.core.utils.extensions import enable_extension + from pxr import Gf, PhysxSchema, Sdf, Usd, UsdGeom, UsdPhysics + + stage = Usd.Stage.Open(scene_usd_filepath) xform_path = "/Scene/OBJECT_1efdc3d37dfab1eb9f99117bb84c59003d684811" xform_prim = stage.GetPrimAtPath(xform_path) @@ -59,16 +166,14 @@ def test_example2_scene_instance(): usda_scale = list(xform_prim.GetAttribute('xformOp:scale').Get()) usda_translate = list(xform_prim.GetAttribute('xformOp:translate').Get()) - #change usd coords back to habitat coords usda_translate_hab_coord = usd_to_habitat_position(usda_translate) usda_rotation = [usda_orient_real] + usda_orient_im usda_rotation_hab_coord = usd_to_habitat_rotation(usda_rotation) - with open(scene_instance_filepath , 'r') as file: + with open(scene_filepath , 'r') as file: scene_instance_json_data = json.load(file) - scene_instance_translation = scene_instance_json_data['object_instances'][0]['translation'] scene_instance_rotation = scene_instance_json_data['object_instances'][0]['rotation'] @@ -80,59 +185,106 @@ def test_example2_scene_instance(): # Not sure, but pxr space is has values from 0 to infinity, and 1 is default, but hab space has # -1 values? Don't know what hab space scaling is. -########################################################################## - ## URDF TO USD CONVERSION ## -########################################################################## - def test_clean_urdf(): - input_file = "data/hab_spot_arm/urdf/hab_spot_arm.urdf" - output_file = "data/hab_spot_arm/urdf/hab_spot_arm_clean.urdf" + + urdf_dir = repo_dir + '/test/data/usd_conversion_data/' + input_file = urdf_dir + "hab_spot_arm_EXAMPLE.urdf" + output_file = urdf_dir + "hab_spot_arm_clean.urdf" + correct_file = urdf_dir + "hab_spot_arm_clean_CORRECT.urdf" + removed_visual = urdf_dir + "hab_spot_arm_clean_visual_removed.urdf" + removed_visual_CORRECT = urdf_dir + "hab_spot_arm_clean_CORRECT_visual_removed.urdf" + clean_urdf(input_file, output_file, remove_visual=False) + clean_urdf(input_file, removed_visual, remove_visual=True) + + tree_test = ET.parse(output_file) + root_test = tree_test.getroot() + tree_correct = ET.parse(correct_file) + root_correct = tree_correct.getroot() + + tree_removed_visual = ET.parse(removed_visual) + root_removed_visual = tree_removed_visual .getroot() + tree_removed_visual_CORRECT = ET.parse(removed_visual_CORRECT) + root_removed_visual_CORRECT = tree_removed_visual_CORRECT.getroot() + + + # Update and names + for element1, element2 in zip(root_test.xpath("//*[@name]"), root_correct.xpath("//*[@name]")): + assert element1.get("name") == element2.get("name") -def test_convert_urdf(): + # Update references to + for element1, element2 in zip(root_test.xpath("//parent[@link]"), root_correct.xpath("//parent[@link]")): + assert element1.get("link") == element2.get("link") - clean_urdf_filepath = "data/hab_spot_arm/urdf/hab_spot_arm_clean.urdf" + # Update references to + for element1, element2 in zip(root_test.xpath("//child[@link]"), root_correct.xpath("//child[@link]")): + assert element1.get("link") == element2.get("link") + + # Optionally remove elements + assert len(root_removed_visual.xpath("//visual")) == 0 + assert len(root_removed_visual_CORRECT.xpath("//visual")) == 0 + + + +def test_convert_urdf(): + urdf_dir = repo_dir + '/test/data/usd_conversion_data/' + clean_urdf_filepath = urdf_dir + "hab_spot_arm_clean_CORRECT.urdf" # Temp USD must be in same folder as final USD. It's okay to be the exact same file. - temp_usd_filepath = "data/hab_spot_arm/urdf/hab_spot_arm_no_hab_metadata.usda" - convert_urdf(clean_urdf_filepath, temp_usd_filepath) + output_usd = urdf_dir + "hab_spot_arm_test_convert_urdf.usda" + + from omni.isaac.lab.app import AppLauncher + app_launcher = AppLauncher(headless=True) + simulation_app = app_launcher.app + + from omni.isaac.lab.sim.converters import UrdfConverter, UrdfConverterCfg + + convert_urdf(clean_urdf_filepath, output_usd) + # TODO: Issac sim drops Warning: Prim not found for link: fl_uleg + + assert True + def test_add_habitat_visual_metadata_for_articulation(): - source_urdf_filepath = "data/hab_spot_arm/urdf/hab_spot_arm.urdf" - temp_usd_filepath = "data/hab_spot_arm/urdf/hab_spot_arm_no_hab_metadata.usda" - out_usd_filepath = "data/hab_spot_arm/urdf/hab_spot_arm.usda" - add_habitat_visual_metadata_for_articulation(temp_usd_filepath, source_urdf_filepath, out_usd_filepath, project_root_folder="./") + urdf_dir = repo_dir + '/test/data/usd_conversion_data/' + converted_clean_usda = urdf_dir + 'hab_spot_arm_test_convert_urdf.usda' + source_urdf_filepath = urdf_dir + 'hab_spot_arm_EXAMPLE.urdf' + out_usd_filepath = urdf_dir + 'hab_spot_arm_with_hab_metadata.usda' + correct_output = urdf_dir + 'hab_spot_arm_with_hab_metadata_CORRECT.usda' + project_root_folder = repo_dir + + subprocess.run(["python", urdf_conversion_script, "add_habitat_visual_metadata_for_articulation", converted_clean_usda, source_urdf_filepath, out_usd_filepath, project_root_folder]) + + from omni.isaac.lab.app import AppLauncher + app_launcher = AppLauncher(headless=True) + simulation_app = app_launcher.app -########################################################################## - -## LOADING OBJECTS ## - -########################################################################## + from omni.isaac.core.utils.extensions import enable_extension + from pxr import Gf, PhysxSchema, Sdf, Usd, UsdGeom, UsdPhysics + + + out_usd_filepath + correct_output + + output_tree = ET.parse(out_usd_filepath) + output_root = output_tree.getroot() + + correct_tree = ET.parse(correct_output) + correct_root = correct_tree.getroot() + + # Get the robot name from the URDF + assert output_root.get("name") == output_root.get("name") -def combine_two_usd_files(): - # Open the input files - stage1 = Usd.Stage.Open('file1.usda') - stage2 = Usd.Stage.Open('file2.usda') - # Create a new stage for the combined data - combinedStage = Usd.Stage.CreateNew('output.usda') - # Add the contents of the first file to the combined stage - for prim in stage1.GetPseudoRoot().GetChildren(): - combinedStage.OverridePrim(prim.GetName()) - # Add the contents of the second file to the combined stage - for prim in stage2.GetPseudoRoot().GetChildren(): - combinedStage.OverridePrim(prim.GetName()) - # Save the combined stage - combinedStage.Save() ########################################################################## if __name__ == "__main__": - test_add_habitat_visual_metadata_for_articulation() \ No newline at end of file + test_add_habitat_visual_metadata_for_articulation() From 8d047dcac5df5f95b53a03262e592d7bd2d5e7ac Mon Sep 17 00:00:00 2001 From: trandaniel Date: Wed, 15 Jan 2025 13:24:28 -0800 Subject: [PATCH 52/61] Draft of unit test for usd conversion. --- test/test_isaac_sim.py | 387 ++++++++++++++++++++++------------------- 1 file changed, 207 insertions(+), 180 deletions(-) diff --git a/test/test_isaac_sim.py b/test/test_isaac_sim.py index 9d8dec49b5..5eec0acce4 100644 --- a/test/test_isaac_sim.py +++ b/test/test_isaac_sim.py @@ -1,75 +1,36 @@ -import argparse -import pytest -import sys -import os import json +import os import subprocess +import sys +from typing import List + +import pytest +from lxml import etree as ET repo_dir = os.path.dirname(os.path.dirname(__file__)) sys.path.insert(0, repo_dir) -isaacsim_dir = repo_dir+ "/habitat-lab/habitat/isaacsim" +isaacsim_dir = repo_dir + "/habitat-lab/habitat/isaacsim" sys.path.insert(0, isaacsim_dir) +scene_instance_conversion_script = ( + isaacsim_dir + "/scene_instance_json_to_usd.py" +) +urdf_conversion_script = isaacsim_dir + "/urdf_to_usd.py" + from scene_instance_json_to_usd import convert_hab_scene -from urdf_to_usd import clean_urdf, convert_urdf, add_habitat_visual_metadata_for_articulation +from urdf_to_usd import clean_urdf, convert_urdf -scene_instance_conversion_script = isaacsim_dir + "/scene_instance_json_to_usd.py" -urdf_conversion_script = isaacsim_dir + "/urdf_to_usd.py" +# Initialize the app here +print("Initializing AppLauncher...") -from lxml import etree as ET # Using lxml for better XML handling - -# TODO: DANIEL How does pathing work in the other unit test files? - -# def test_init_issac_lab_env(): -# import argparse -# from omni.isaac.lab.app import AppLauncher - -# parser = argparse.ArgumentParser(description="Create an empty Issac Sim stage.") -# # append AppLauncher cli args -# AppLauncher.add_app_launcher_args(parser) -# # parse the arguments -# ## args_cli = parser.parse_args() -# args_cli, _ = parser.parse_known_args() -# # launch omniverse app -# args_cli.headless = True # Config to have Isaac Lab UI off -# app_launcher = AppLauncher(args_cli) -# simulation_app = app_launcher.app - -# from omni.isaac.core.utils.extensions import enable_extension -# from pxr import Usd, UsdGeom, UsdPhysics, PhysxSchema, Gf, Sdf - -# assert str(simulation_app.__class__) == "" -# print("Simulation app instantiation test successful.") -# # simulation_app.close() - -''' -@pytest.fixture(scope="module") -def load_applauncher(): - #import argparse - # Launch Issac Lab Applauncher - from omni.isaac.lab.app import AppLauncher - # Build parser - # parser = argparse.ArgumentParser( - # description="Create an empty Issac Sim stage." - # ) - # parser.add_argument(args=None) - # parser.add_argument("--dummy", help= "dummy arguement", default="default_value") - - #AppLauncher.add_app_launcher_args(parser) - #args = parser.parse_args() - #args.headless = True - app_launcher = AppLauncher(headless=True) - simulation_app = app_launcher.app - - from omni.isaac.core.utils.extensions import enable_extension - from pxr import Gf, PhysxSchema, Sdf, Usd, UsdGeom, UsdPhysics - - # yield - - # simulation_app.close() -''' -## Helper functions +from omni.isaac.lab.app import AppLauncher -def usd_to_habitat_position(position): +app_launcher = AppLauncher(headless=True) +simulation_app = app_launcher.app +from pxr import Usd + + +## Helper functions +def usd_to_habitat_position(position: List[float]) -> List[float]: """ Convert a position from USD (Z-up) to Habitat (Y-up) coordinate system. @@ -79,7 +40,7 @@ def usd_to_habitat_position(position): return [-x, z, y] -def usd_to_habitat_rotation(rotation): +def usd_to_habitat_rotation(rotation: List[float]) -> List[float]: """ Convert a quaternion rotation from USD to Habitat coordinate system. @@ -98,26 +59,26 @@ def usd_to_habitat_rotation(rotation): # Combined inverse quaternion transform: (inverse of q_trans) # q_x90_inv = [√0.5, √0.5, 0, 0] (wxyz format) # q_y180_inv = [0, 0, -1, 0] (wxyz format) - q_y90_inv = [HALF_SQRT2, 0.0, HALF_SQRT2, 0.0] + # q_y90_inv = [HALF_SQRT2, 0.0, HALF_SQRT2, 0.0] q_x90_inv = [HALF_SQRT2, HALF_SQRT2, 0.0, 0.0] - q_z90_inv = [HALF_SQRT2, 0.0, 0.0, HALF_SQRT2] + # q_z90_inv = [HALF_SQRT2, 0.0, 0.0, HALF_SQRT2] q_y180_inv = [0.0, 0.0, -1.0, 0.0] - q_z180_inv = [0.0, 0.0, 0.0, 1.0] + # q_z180_inv = [0.0, 0.0, 0.0, 1.0] def quat_multiply(q1, q2): w1, x1, y1, z1 = q1 w2, x2, y2, z2 = q2 - w = w1*w2 - x1*x2 - y1*y2 - z1*z2 - x = w1*x2 + x1*w2 + y1*z2 - z1*y2 - y = w1*y2 - x1*z2 + y1*w2 + z1*x2 - z = w1*z2 + x1*y2 - y1*x2 + z1*w2 + w = w1 * w2 - x1 * x2 - y1 * y2 - z1 * z2 + x = w1 * x2 + x1 * w2 + y1 * z2 - z1 * y2 + y = w1 * y2 - x1 * z2 + y1 * w2 + z1 * x2 + z = w1 * z2 + x1 * y2 - y1 * x2 + z1 * w2 return [w, x, y, z] - + def quat_inverse(q): w, x, y, z = q - norm = w*w + x*x + y*y + z*z - return [w/norm, -x/norm, -y/norm, -z/norm] + norm = w * w + x * x + y * y + z * z + return [w / norm, -x / norm, -y / norm, -z / norm] # Calculate the inverse of q_x90_inv and q_y180_inv q_x90 = quat_inverse(q_x90_inv) @@ -130,161 +91,227 @@ def quat_inverse(q): return rotation_hab -## SCENE INSTANCE JSON CONVERSION ## + +## scene_instance_json_to_usd.py unit tests + def test_wrong_scene_instance_path(): - scene_filepath = './NONEXISTENT.scene_instance.json' + scene_filepath = "./NONEXISTENT.scene_instance.json" project_root_folder = repo_dir - scene_usd_filepath = '/home/trandaniel/dev/habitat-lab/data/usd/NONEXISTENT.usda' + scene_usd_filepath = ( + "/home/trandaniel/dev/habitat-lab/data/usd/NONEXISTENT.usda" + ) with pytest.raises(FileNotFoundError): - convert_hab_scene(scene_filepath, project_root_folder, scene_usd_filepath) - -def test_example2_scene_instance(): - - scene_filepath = repo_dir + '/test/data/usd_conversion_data/EXAMPLE2.scene_instance.json' + convert_hab_scene( + scene_filepath, project_root_folder, scene_usd_filepath + ) + + +def test_example2_scene_instance(): + scene_filepath = ( + repo_dir + + "/test/data/usd_conversion_data/EXAMPLE2.scene_instance.json" + ) project_root_folder = repo_dir - scene_usd_filepath = repo_dir + '/data/usd/test_example2_scene_instance.usda' - object_folder = repo_dir + '/test/data/usd_conversion_data/objects_EXAMPLE2' - - subprocess.run(["python", scene_instance_conversion_script, scene_filepath, project_root_folder, scene_usd_filepath, "--objects_folder", object_folder]) - - from omni.isaac.lab.app import AppLauncher - app_launcher = AppLauncher(headless=True) - simulation_app = app_launcher.app - - from omni.isaac.core.utils.extensions import enable_extension - from pxr import Gf, PhysxSchema, Sdf, Usd, UsdGeom, UsdPhysics - + scene_usd_filepath = ( + repo_dir + "/data/usd/test_example2_scene_instance.usda" + ) + object_folder = ( + repo_dir + "/test/data/usd_conversion_data/objects_EXAMPLE2" + ) + + subprocess.run( + [ + "python", + scene_instance_conversion_script, + scene_filepath, + project_root_folder, + scene_usd_filepath, + "--objects_folder", + object_folder, + ] + ) + stage = Usd.Stage.Open(scene_usd_filepath) xform_path = "/Scene/OBJECT_1efdc3d37dfab1eb9f99117bb84c59003d684811" xform_prim = stage.GetPrimAtPath(xform_path) - - xformable = UsdGeom.Xformable(xform_prim) - - usda_orient_im = list(xform_prim.GetAttribute('xformOp:orient').Get().imaginary) - usda_orient_real = xform_prim.GetAttribute('xformOp:orient').Get().real - usda_scale = list(xform_prim.GetAttribute('xformOp:scale').Get()) - usda_translate = list(xform_prim.GetAttribute('xformOp:translate').Get()) - - #change usd coords back to habitat coords - + + usda_orient_im = list( + xform_prim.GetAttribute("xformOp:orient").Get().imaginary + ) + usda_orient_real = xform_prim.GetAttribute("xformOp:orient").Get().real + # usda_scale = list(xform_prim.GetAttribute("xformOp:scale").Get()) + usda_translate = list(xform_prim.GetAttribute("xformOp:translate").Get()) + + # change usd coords back to habitat coords + usda_translate_hab_coord = usd_to_habitat_position(usda_translate) usda_rotation = [usda_orient_real] + usda_orient_im usda_rotation_hab_coord = usd_to_habitat_rotation(usda_rotation) - with open(scene_filepath , 'r') as file: + with open(scene_filepath, "r") as file: scene_instance_json_data = json.load(file) - - scene_instance_translation = scene_instance_json_data['object_instances'][0]['translation'] - scene_instance_rotation = scene_instance_json_data['object_instances'][0]['rotation'] - scene_instance_uniform_scale = scene_instance_json_data['object_instances'][0]['non_uniform_scale'] - - assert usda_translate_hab_coord == pytest.approx(scene_instance_translation) - assert usda_rotation_hab_coord== pytest.approx(scene_instance_rotation) - # TODO: Add Scale to show values are equal, looks like most objects are (1, 1, 1) for the (x, y, z) coordinates in hab space. + + scene_instance_translation = scene_instance_json_data["object_instances"][ + 0 + ]["translation"] + scene_instance_rotation = scene_instance_json_data["object_instances"][0][ + "rotation" + ] + # scene_instance_uniform_scale = scene_instance_json_data[ + # "object_instances" + # ][0]["non_uniform_scale"] + + assert usda_translate_hab_coord == pytest.approx( + scene_instance_translation + ) + assert usda_rotation_hab_coord == pytest.approx(scene_instance_rotation) + # TODO: Add Scale to show values are equal, looks like most objects are (1, 1, 1) for the (x, y, z) coordinates in hab space. # Not sure, but pxr space is has values from 0 to infinity, and 1 is default, but hab space has # -1 values? Don't know what hab space scaling is. -## URDF TO USD CONVERSION ## -def test_clean_urdf(): +## urdf_to_usd.py unit tests + - urdf_dir = repo_dir + '/test/data/usd_conversion_data/' +def test_clean_urdf(): + urdf_dir = repo_dir + "/test/data/usd_conversion_data/" input_file = urdf_dir + "hab_spot_arm_EXAMPLE.urdf" output_file = urdf_dir + "hab_spot_arm_clean.urdf" correct_file = urdf_dir + "hab_spot_arm_clean_CORRECT.urdf" removed_visual = urdf_dir + "hab_spot_arm_clean_visual_removed.urdf" - removed_visual_CORRECT = urdf_dir + "hab_spot_arm_clean_CORRECT_visual_removed.urdf" - + removed_visual_CORRECT = ( + urdf_dir + "hab_spot_arm_clean_CORRECT_visual_removed.urdf" + ) + clean_urdf(input_file, output_file, remove_visual=False) clean_urdf(input_file, removed_visual, remove_visual=True) - + tree_test = ET.parse(output_file) root_test = tree_test.getroot() tree_correct = ET.parse(correct_file) root_correct = tree_correct.getroot() - - tree_removed_visual = ET.parse(removed_visual) - root_removed_visual = tree_removed_visual .getroot() + + tree_removed_visual = ET.parse(removed_visual) + root_removed_visual = tree_removed_visual.getroot() tree_removed_visual_CORRECT = ET.parse(removed_visual_CORRECT) root_removed_visual_CORRECT = tree_removed_visual_CORRECT.getroot() - - + # Update and names - for element1, element2 in zip(root_test.xpath("//*[@name]"), root_correct.xpath("//*[@name]")): + for element1, element2 in zip( + root_test.xpath("//*[@name]"), root_correct.xpath("//*[@name]") + ): assert element1.get("name") == element2.get("name") # Update references to - for element1, element2 in zip(root_test.xpath("//parent[@link]"), root_correct.xpath("//parent[@link]")): + for element1, element2 in zip( + root_test.xpath("//parent[@link]"), + root_correct.xpath("//parent[@link]"), + ): assert element1.get("link") == element2.get("link") # Update references to - for element1, element2 in zip(root_test.xpath("//child[@link]"), root_correct.xpath("//child[@link]")): + for element1, element2 in zip( + root_test.xpath("//child[@link]"), root_correct.xpath("//child[@link]") + ): assert element1.get("link") == element2.get("link") - + # Optionally remove elements assert len(root_removed_visual.xpath("//visual")) == 0 assert len(root_removed_visual_CORRECT.xpath("//visual")) == 0 - - + def test_convert_urdf(): - urdf_dir = repo_dir + '/test/data/usd_conversion_data/' + urdf_dir = repo_dir + "/test/data/usd_conversion_data/" clean_urdf_filepath = urdf_dir + "hab_spot_arm_clean_CORRECT.urdf" - # Temp USD must be in same folder as final USD. It's okay to be the exact same file. output_usd = urdf_dir + "hab_spot_arm_test_convert_urdf.usda" - - from omni.isaac.lab.app import AppLauncher - app_launcher = AppLauncher(headless=True) - simulation_app = app_launcher.app - - from omni.isaac.lab.sim.converters import UrdfConverter, UrdfConverterCfg - - convert_urdf(clean_urdf_filepath, output_usd) - # TODO: Issac sim drops Warning: Prim not found for link: fl_uleg - - assert True - - -def test_add_habitat_visual_metadata_for_articulation(): - - urdf_dir = repo_dir + '/test/data/usd_conversion_data/' - converted_clean_usda = urdf_dir + 'hab_spot_arm_test_convert_urdf.usda' - source_urdf_filepath = urdf_dir + 'hab_spot_arm_EXAMPLE.urdf' - out_usd_filepath = urdf_dir + 'hab_spot_arm_with_hab_metadata.usda' - correct_output = urdf_dir + 'hab_spot_arm_with_hab_metadata_CORRECT.usda' - project_root_folder = repo_dir - - subprocess.run(["python", urdf_conversion_script, "add_habitat_visual_metadata_for_articulation", converted_clean_usda, source_urdf_filepath, out_usd_filepath, project_root_folder]) - - from omni.isaac.lab.app import AppLauncher - app_launcher = AppLauncher(headless=True) - simulation_app = app_launcher.app - - from omni.isaac.core.utils.extensions import enable_extension - from pxr import Gf, PhysxSchema, Sdf, Usd, UsdGeom, UsdPhysics - - - out_usd_filepath - correct_output - - output_tree = ET.parse(out_usd_filepath) - output_root = output_tree.getroot() - - correct_tree = ET.parse(correct_output) - correct_root = correct_tree.getroot() - - # Get the robot name from the URDF - assert output_root.get("name") == output_root.get("name") + convert_urdf(clean_urdf_filepath, output_usd) + # TODO: Issac sim drops a prim. "Warning: Prim not found for link: fl_uleg" - - - + assert True -########################################################################## +def test_add_habitat_visual_metadata_for_articulation(): + urdf_dir = repo_dir + "/test/data/usd_conversion_data/" + converted_clean_usda = urdf_dir + "hab_spot_arm_test_convert_urdf.usda" + reference_urdf_filepath = urdf_dir + "hab_spot_arm_EXAMPLE.urdf" + out_usd_filepath = urdf_dir + "hab_spot_arm_with_hab_metadata.usda" + project_root_folder = repo_dir -if __name__ == "__main__": + subprocess.run( + [ + "python", + urdf_conversion_script, + "add_habitat_visual_metadata_for_articulation", + converted_clean_usda, + reference_urdf_filepath, + out_usd_filepath, + project_root_folder, + ] + ) + + # Parse the URDF file + urdf_tree = ET.parse(reference_urdf_filepath) + urdf_root = urdf_tree.getroot() - test_add_habitat_visual_metadata_for_articulation() + # Get the robot name from the URDF + robot_name = urdf_root.get("name") + + # Build visual metadata dictionary + visual_metadata = {} + urdf_dir = os.path.dirname(os.path.abspath(reference_urdf_filepath)) + + for link in urdf_root.findall("link"): + link_name = link.get("name") + visual = link.find("visual") + if visual is not None: + geometry = visual.find("geometry") + if geometry is not None: + mesh = geometry.find("mesh") + if mesh is not None: + filename = mesh.get("filename") + asset_path = os.path.relpath( + os.path.abspath(os.path.join(urdf_dir, filename)), + start=project_root_folder, + ) + scale = (1.0, 1.0, 1.0) # Default scale + + # Check for scale in the element + scale_element = mesh.find("scale") + if scale_element is not None: + scale = tuple( + map(float, scale_element.text.split()) + ) # type: ignore # noqa: ALL + + # Replace periods with underscores for USD-safe names + # todo: use a standard get_sanitized_usd_name function here + safe_link_name = link_name.replace(".", "_") + visual_metadata[safe_link_name] = { + "assetPath": asset_path, + "assetScale": scale, + } + + # Open the USD file + stage_before_metadata = Usd.Stage.Open(converted_clean_usda) + stage_output_metadata = Usd.Stage.Open(out_usd_filepath) + + # Add the habitatVisual metadata to each relevant prim + for link_name, metadata in visual_metadata.items(): + prim_path = f"/{robot_name}/{link_name}" + prim = stage_before_metadata.GetPrimAtPath(prim_path) + + prim_output_metadata = stage_output_metadata.GetPrimAtPath(prim_path) + if prim: + assert ( + metadata["assetPath"] + == prim_output_metadata.GetAttribute( + "habitatVisual:assetPath" + ).Get() + ) + assert ( + metadata["assetScale"] + == prim_output_metadata.GetAttribute( + "habitatVisual:assetScale" + ).Get() + ) From cee05912e612e4dbe4974055ba613117cc437af0 Mon Sep 17 00:00:00 2001 From: trandaniel Date: Wed, 15 Jan 2025 13:28:08 -0800 Subject: [PATCH 53/61] Add files for unit test conversion --- test/data/usd_conversion_data/.asset_hash | 1 + test/data/usd_conversion_data/config.yaml | 18 ++ .../hab_spot_arm_EXAMPLE.urdf | 57 ++++ .../hab_spot_arm_clean.urdf | 58 ++++ .../hab_spot_arm_clean_CORRECT.urdf | 58 ++++ ...spot_arm_clean_CORRECT_visual_removed.urdf | 40 +++ .../hab_spot_arm_clean_visual_removed.urdf | 40 +++ .../hab_spot_arm_test_convert_urdf.usda | 263 +++++++++++++++++ .../hab_spot_arm_with_hab_metadata.usda | 267 ++++++++++++++++++ 9 files changed, 802 insertions(+) create mode 100644 test/data/usd_conversion_data/.asset_hash create mode 100644 test/data/usd_conversion_data/config.yaml create mode 100644 test/data/usd_conversion_data/hab_spot_arm_EXAMPLE.urdf create mode 100644 test/data/usd_conversion_data/hab_spot_arm_clean.urdf create mode 100644 test/data/usd_conversion_data/hab_spot_arm_clean_CORRECT.urdf create mode 100644 test/data/usd_conversion_data/hab_spot_arm_clean_CORRECT_visual_removed.urdf create mode 100644 test/data/usd_conversion_data/hab_spot_arm_clean_visual_removed.urdf create mode 100644 test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda create mode 100644 test/data/usd_conversion_data/hab_spot_arm_with_hab_metadata.usda diff --git a/test/data/usd_conversion_data/.asset_hash b/test/data/usd_conversion_data/.asset_hash new file mode 100644 index 0000000000..e104b10747 --- /dev/null +++ b/test/data/usd_conversion_data/.asset_hash @@ -0,0 +1 @@ +24f1b688baf20921994b95e47f42b7ee \ No newline at end of file diff --git a/test/data/usd_conversion_data/config.yaml b/test/data/usd_conversion_data/config.yaml new file mode 100644 index 0000000000..883bf4d50e --- /dev/null +++ b/test/data/usd_conversion_data/config.yaml @@ -0,0 +1,18 @@ +asset_path: /home/trandaniel/dev/habitat-lab/test/data/usd_conversion_data/hab_spot_arm_clean_CORRECT.urdf +usd_dir: /home/trandaniel/dev/habitat-lab/test/data/usd_conversion_data +usd_file_name: hab_spot_arm_test_convert_urdf.usda +force_usd_conversion: true +make_instanceable: false +import_inertia_tensor: true +fix_base: false +merge_fixed_joints: false +self_collision: false +default_drive_type: position +override_joint_dynamics: false +default_drive_stiffness: 0.0 +default_drive_damping: 0.0 +link_density: 1000.0 +convex_decompose_mesh: false +## +# Generated by UrdfConverter on 2025-01-15 at 13:12:59. +## diff --git a/test/data/usd_conversion_data/hab_spot_arm_EXAMPLE.urdf b/test/data/usd_conversion_data/hab_spot_arm_EXAMPLE.urdf new file mode 100644 index 0000000000..1032d2edf9 --- /dev/null +++ b/test/data/usd_conversion_data/hab_spot_arm_EXAMPLE.urdf @@ -0,0 +1,57 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/test/data/usd_conversion_data/hab_spot_arm_clean.urdf b/test/data/usd_conversion_data/hab_spot_arm_clean.urdf new file mode 100644 index 0000000000..78fdaa7e21 --- /dev/null +++ b/test/data/usd_conversion_data/hab_spot_arm_clean.urdf @@ -0,0 +1,58 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/test/data/usd_conversion_data/hab_spot_arm_clean_CORRECT.urdf b/test/data/usd_conversion_data/hab_spot_arm_clean_CORRECT.urdf new file mode 100644 index 0000000000..78fdaa7e21 --- /dev/null +++ b/test/data/usd_conversion_data/hab_spot_arm_clean_CORRECT.urdf @@ -0,0 +1,58 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/test/data/usd_conversion_data/hab_spot_arm_clean_CORRECT_visual_removed.urdf b/test/data/usd_conversion_data/hab_spot_arm_clean_CORRECT_visual_removed.urdf new file mode 100644 index 0000000000..8c33fe0c53 --- /dev/null +++ b/test/data/usd_conversion_data/hab_spot_arm_clean_CORRECT_visual_removed.urdf @@ -0,0 +1,40 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/test/data/usd_conversion_data/hab_spot_arm_clean_visual_removed.urdf b/test/data/usd_conversion_data/hab_spot_arm_clean_visual_removed.urdf new file mode 100644 index 0000000000..8c33fe0c53 --- /dev/null +++ b/test/data/usd_conversion_data/hab_spot_arm_clean_visual_removed.urdf @@ -0,0 +1,40 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda b/test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda new file mode 100644 index 0000000000..f91ef19858 --- /dev/null +++ b/test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda @@ -0,0 +1,263 @@ +#usda 1.0 +( + customLayerData = { + dictionary omni_layer = { + dictionary locked = { + } + dictionary muteness = { + } + } + } + defaultPrim = "spot" + doc = """Generated from Composed Stage of root layer /home/trandaniel/dev/habitat-lab/test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda + + +Generated from Composed Stage of root layer /home/trandaniel/dev/habitat-lab/test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda + + +Generated from Composed Stage of root layer /home/trandaniel/dev/habitat-lab/test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda + + +Generated from Composed Stage of root layer /home/trandaniel/dev/habitat-lab/test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda + + +Generated from Composed Stage of root layer /home/trandaniel/dev/habitat-lab/test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda + + +Generated from Composed Stage of root layer /home/trandaniel/dev/habitat-lab/test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda + + +Generated from Composed Stage of root layer /home/trandaniel/dev/habitat-lab/test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda + + +Generated from Composed Stage of root layer /home/trandaniel/dev/habitat-lab/test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda + + +Generated from Composed Stage of root layer /home/trandaniel/dev/habitat-lab/test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda + + +Generated from Composed Stage of root layer /home/trandaniel/dev/habitat-lab/test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda + + +Generated from Composed Stage of root layer /home/trandaniel/dev/habitat-lab/test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda + + +Generated from Composed Stage of root layer /home/trandaniel/dev/habitat-lab/test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda + + +Generated from Composed Stage of root layer /home/trandaniel/dev/habitat-lab/test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda + + +Generated from Composed Stage of root layer /home/trandaniel/dev/habitat-lab/test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda + + +Generated from Composed Stage of root layer /home/trandaniel/dev/habitat-lab/test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda + + +Generated from Composed Stage of root layer /home/trandaniel/dev/habitat-lab/test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda + + +Generated from Composed Stage of root layer /home/trandaniel/dev/habitat-lab/test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda +""" + metersPerUnit = 1 + upAxis = "Z" +) + +def Xform "spot" +{ + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + def Material "material_M_Base" + { + token outputs:mdl:displacement.connect = + token outputs:mdl:surface.connect = + token outputs:mdl:volume.connect = + + def Shader "Shader" + { + uniform token info:id = "UsdPreviewSurface" + uniform token info:implementationSource = "sourceAsset" + uniform asset info:mdl:sourceAsset = @OmniPBR.mdl@ + uniform token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (1, 1, 1) + asset inputs:diffuse_texture = @materials/*0@ + color3f inputs:emissive_color = (0, 0, 0) + float inputs:metallic_constant = 0 + token outputs:out + } + } + + def Material "material_M_White" + { + token outputs:mdl:displacement.connect = + token outputs:mdl:surface.connect = + token outputs:mdl:volume.connect = + + def Shader "Shader" + { + uniform token info:id = "UsdPreviewSurface" + uniform token info:implementationSource = "sourceAsset" + uniform asset info:mdl:sourceAsset = @OmniPBR.mdl@ + uniform token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.8, 0.8, 0.8) + color3f inputs:emissive_color = (0, 0, 0) + float inputs:metallic_constant = 0 + token outputs:out + } + } + + def Material "material_M_GlowBlue" + { + token outputs:mdl:displacement.connect = + token outputs:mdl:surface.connect = + token outputs:mdl:volume.connect = + + def Shader "Shader" + { + uniform token info:id = "UsdPreviewSurface" + uniform token info:implementationSource = "sourceAsset" + uniform asset info:mdl:sourceAsset = @OmniPBR.mdl@ + uniform token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.37421525, 0.6885966, 0.80000025) + color3f inputs:emissive_color = (0.34331882, 0.860551, 1) + float inputs:metallic_constant = 0 + token outputs:out + } + } + } + + def Xform "base" ( + apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsArticulationRootAPI", "PhysxArticulationAPI"] + ) + { + point3f physics:centerOfMass = (0, 0, 0) + float3 physics:diagonalInertia = (1.5, 1.5, 0.5) + float physics:mass = 70.1294 + quatf physics:principalAxes = (1, 0, 0, 0) + bool physxArticulation:enabledSelfCollisions = 0 + int physxArticulation:solverPositionIterationCount = 32 + int physxArticulation:solverVelocityIterationCount = 1 + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Mesh "visuals" + { + float3[] extent = [(-0.42666, -0.1237, -0.092999995), (0.4406, 0.123599984, 0.08047398)] + int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 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(0.6713531, 0.52975047), (0.6719838, 0.52947026), (0.4292557, 0.51624906), (0.4352126, 0.5161089), (0.43465197, 0.51744044), (0.71452326, 0.574813), (0.71424305, 0.5804194), (0.7098979, 0.59282386), (0.46730998, 0.5981744), (0.4794341, 0.6003469), (0.47971442, 0.5997863), (0.46170348, 0.5962121), (0.43570322, 0.5976137), (0.46730998, 0.5981744), (0.42154673, 0.59579164), (0.4163607, 0.5997863), (0.4212664, 0.5938994), (0.4163607, 0.5997863), (0.43465197, 0.59628224), (0.4212664, 0.5938994), (0.4212664, 0.5224863), (0.4212664, 0.5938994), (0.43465197, 0.59628224), (0.46170348, 0.5962121), (0.47971442, 0.5997863), (0.47480872, 0.593479), (0.47971442, 0.5185617), (0.46163338, 0.51758057), (0.47494894, 0.52115476), (0.46170348, 0.5962121), (0.47480872, 0.593479), (0.47494894, 0.52115476), (0.46170348, 0.5962121), (0.47494894, 0.52115476), (0.46163338, 0.51758057), (0.4212664, 0.5224863), (0.4341614, 0.52255636), (0.4163607, 0.5185617), (0.4163607, 0.5185617), (0.4341614, 0.52255636), (0.4292557, 0.51624906), (0.4341614, 0.52255636), (0.43465197, 0.59628224), (0.4352126, 0.5161089), (0.4212664, 0.5224863), (0.43465197, 0.59628224), (0.4341614, 0.52255636), (0.4341614, 0.52255636), (0.4352126, 0.5161089), (0.4292557, 0.51624906), (0.46780056, 0.59446007), (0.42519096, 0.5202437), (0.47095427, 0.5202437)] ( + interpolation = "faceVarying" + ) + texCoord2f[] primvars:st_2 = [(0.46163338, 0.51758057), (0.43465197, 0.59628224), (0.46170348, 0.5962121), (0.46163338, 0.51758057), (0.4352126, 0.5161089), (0.43465197, 0.59628224)] ( + interpolation = "faceVarying" + ) + uniform token subdivisionScheme = "bilinear" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def GeomSubset "material_0" + { + uniform token elementType = "face" + uniform token familyName = "materialBind" + int[] indices = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203, 204, 205, 206, 207, 208, 209, 210, 211, 212, 213, 214, 215, 216, 217, 218, 219, 220, 221, 222, 223, 224, 225, 226, 227, 228, 229, 230, 231, 232, 233, 234, 235, 236, 237, 238, 239, 240, 241, 242, 243, 244, 245, 246, 247, 248, 249, 250, 251, 252, 253, 254, 255, 256, 257, 258, 259, 260, 261, 262, 263, 264, 265, 266, 267, 268, 269, 270, 271, 272, 273, 274, 275, 276, 277, 278, 279, 280, 281, 282, 283, 284, 285, 286, 287, 288, 289, 290, 291, 292, 293, 294, 295, 296, 297, 298, 299, 300, 301, 302, 303, 304, 305, 306, 307, 308, 309, 310, 311, 312, 313, 314, 315, 316, 317, 318, 319, 320, 321, 322, 323, 324, 325, 326, 327, 328, 329, 330, 331, 332, 333, 334, 335, 336, 337, 338, 339, 340, 341, 342, 343, 344, 345, 346, 347, 348, 349, 350, 351, 352, 353, 354, 355, 356, 357, 358, 359, 360, 361, 362, 363, 364, 365, 366, 367, 368, 369, 370, 371, 372, 373, 374, 375, 376, 377, 378, 379, 380, 381, 382, 383, 384, 385, 386, 387, 388, 389, 390, 391, 392, 393, 394, 395, 396, 397, 398, 399, 400, 401, 402, 403, 404, 405, 406, 407, 408, 409, 410, 411, 412, 413, 414, 415, 416, 417, 418, 419, 420, 421, 422, 423, 424, 425, 426, 427, 428, 429, 430, 431, 432, 433, 434, 435, 436, 437, 438, 439, 440, 441, 442, 443, 444, 445, 446, 447, 448, 449, 450, 451, 452, 453, 454, 455, 456, 457, 458, 459, 460, 461, 462, 463, 464, 465, 466, 467, 468, 469, 470, 471, 472, 473, 474, 475, 476, 477, 478, 479, 480, 481, 482, 483, 484, 485, 486, 487, 488, 489, 490, 491, 492, 493, 494, 495, 496, 497, 498, 499, 500, 501, 502, 503, 504, 505, 506, 507, 508, 509, 510, 511, 512, 513, 514, 515, 516, 517, 518, 519, 520, 521, 522, 523, 524, 525, 526, 527, 528, 529, 530, 531, 532, 533, 534, 535, 536, 537, 538, 539, 540, 541, 542, 543, 544, 545, 546, 547, 548, 549, 550, 551, 552, 553, 554, 555, 556, 557, 558, 559, 560, 561, 562, 563, 564, 565, 566, 567, 568, 569, 570, 571, 572, 573, 574, 575, 576, 577, 578, 579, 580, 581, 582, 583, 584, 585, 586, 587, 588, 589, 590, 591, 592, 593, 594, 595, 596, 597, 598, 599, 600, 601, 602, 603, 604, 605, 606, 607, 608, 609, 610, 611, 612, 613, 614, 615, 616, 617, 618, 619, 620, 621, 622, 623, 624, 625, 626, 627, 628, 629, 630, 631, 632, 633, 634, 635, 636, 637, 638, 639, 640, 641, 642, 643, 644, 645, 646, 647, 648, 649, 650, 651, 652, 653, 654, 655, 656, 657, 658, 659, 660, 661, 662, 663, 664, 665, 666, 667, 668, 669, 670, 671, 672, 673, 674, 675, 676, 677, 678, 679, 680, 681, 682, 683, 684, 685, 686, 687, 688, 689, 690, 691, 692, 693, 694, 695, 696, 697, 698, 699, 700, 701, 702, 703, 704, 705, 706, 707, 708, 709, 710, 711, 712, 713, 714, 715, 716, 717, 718, 719, 720, 721, 722, 723, 724, 725, 726, 727, 728, 729, 730, 731, 732, 733, 734, 735, 736, 737, 738, 739, 740, 741, 742, 743, 744, 745, 746, 747, 748, 749, 750, 751, 752, 753, 754, 755, 756, 757, 758, 759, 760, 761, 762, 763, 764, 765, 766, 767, 768, 769, 770, 771, 772, 773, 774, 775, 776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 828, 829, 830, 831, 832, 833, 834, 835, 836, 837, 838, 839, 840, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 851, 852, 853, 854, 855, 856, 857, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 898, 899, 900, 901, 902, 903, 904, 905, 906, 907, 908, 909, 910, 911, 912, 913, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 967, 968, 969, 970, 971] + rel material:binding = + } + + def GeomSubset "material_1" + { + uniform token elementType = "face" + uniform token familyName = "materialBind" + int[] indices = [972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 982, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012, 1013, 1014, 1015, 1016, 1017, 1018, 1019, 1020, 1021, 1022, 1023, 1024, 1025, 1026, 1027, 1028, 1029, 1030, 1031, 1032, 1033, 1034, 1035, 1036, 1037, 1038, 1039, 1040, 1041, 1042, 1043, 1044, 1045, 1046, 1047, 1048, 1049, 1050, 1051, 1052, 1053, 1054, 1055, 1056, 1057, 1058, 1059, 1060, 1061, 1062, 1063, 1064, 1065, 1066, 1067, 1068, 1069, 1070, 1071, 1072, 1073, 1074, 1075, 1076, 1077, 1078, 1079, 1080, 1081, 1082, 1083, 1084, 1085, 1086, 1087, 1088, 1089, 1090, 1091, 1092, 1093, 1094, 1095, 1096, 1097, 1098, 1099, 1100, 1101, 1102, 1103, 1104, 1105, 1106, 1107, 1108, 1109, 1110, 1111, 1112, 1113, 1114, 1115, 1116, 1117, 1118, 1119, 1120, 1121, 1122, 1123, 1124, 1125, 1126, 1127, 1128, 1129, 1130, 1131, 1132, 1133, 1134, 1135, 1136, 1137, 1138, 1139, 1140, 1141, 1142, 1143, 1144, 1145, 1146, 1147, 1148, 1149, 1150, 1151, 1152, 1153, 1154, 1155, 1156, 1157, 1158, 1159, 1160, 1161, 1162, 1163, 1164, 1165, 1166, 1167, 1168, 1169, 1170, 1171, 1172, 1173, 1174, 1175, 1176, 1177, 1178, 1179, 1180, 1181, 1182, 1183, 1184, 1185, 1186, 1187, 1188, 1189, 1190, 1191, 1192, 1193, 1194, 1195, 1196, 1197, 1198, 1199, 1200, 1201, 1202, 1203, 1204, 1205, 1206, 1207, 1208, 1209, 1210, 1211, 1212, 1213, 1214, 1215, 1216, 1217, 1218, 1219, 1220, 1221, 1222, 1223, 1224, 1225, 1226, 1227, 1228, 1229, 1230, 1231, 1232, 1233, 1234, 1235, 1236, 1237, 1238, 1239, 1240, 1241, 1242, 1243, 1244, 1245, 1246, 1247, 1248, 1249, 1250, 1251, 1252, 1253, 1254, 1255, 1256, 1257, 1258, 1259, 1260, 1261, 1262, 1263, 1264, 1265, 1266, 1267, 1268, 1269, 1270, 1271, 1272, 1273, 1274, 1275, 1276, 1277, 1278, 1279, 1280, 1281, 1282, 1283, 1284, 1285, 1286, 1287, 1288, 1289, 1290, 1291, 1292, 1293] + rel material:binding = + } + + def GeomSubset "material_2" + { + uniform token elementType = "face" + uniform token familyName = "materialBind" + int[] indices = [1294, 1295] + rel material:binding = + } + } + + def Mesh "collisions" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + float3[] extent = [(-0.42666, -0.1237, -0.092999995), (0.4406, 0.123599984, 0.08047398)] + int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3] + int[] faceVertexIndices = [1, 9, 15, 21, 24, 28, 29, 25, 17, 30, 18, 11, 34, 39, 45, 53, 59, 4, 58, 51, 64, 65, 52, 74, 63, 73, 81, 80, 72, 47, 79, 46, 40, 85, 57, 62, 90, 78, 35, 94, 37, 33, 96, 107, 113, 121, 38, 95, 128, 77, 88, 3, 56, 10, 132, 134, 138, 131, 137, 143, 149, 139, 153, 150, 159, 146, 144, 157, 7, 20, 26, 162, 156, 166, 6, 5, 163, 27, 145, 83, 114, 170, 180, 108, 185, 191, 169, 168, 189, 179, 193, 197, 188, 194, 190, 184, 202, 192, 183, 182, 208, 201, 167, 207, 181, 214, 171, 101, 211, 97, 124, 87, 221, 227, 86, 226, 126, 229, 219, 116, 119, 222, 89, 100, 61, 76, 127, 98, 75, 120, 91, 36, 55, 84, 148, 54, 147, 8, 172, 109, 102, 99, 115, 82, 99, 82, 60, 232, 217, 228, 240, 93, 32, 118, 246, 231, 92, 239, 243, 92, 243, 117, 154, 140, 136, 247, 129, 141, 248, 142, 110, 249, 111, 257, 259, 112, 104, 258, 103, 263, 264, 105, 270, 106, 176, 271, 272, 177, 275, 276, 178, 186, 277, 187, 196, 195, 203, 282, 282, 199, 195, 288, 206, 210, 286, 209, 174, 287, 175, 295, 294, 173, 216, 300, 213, 125, 223, 301, 306, 224, 308, 123, 122, 307, 296, 233, 303, 220, 218, 302, 225, 311, 305, 317, 304, 236, 316, 297, 310, 69, 299, 70, 267, 298, 265, 212, 269, 292, 215, 279, 200, 320, 318, 198, 281, 289, 278, 319, 291, 274, 280, 160, 151, 254, 133, 130, 250, 135, 256, 152, 161, 22, 19, 23, 164, 12, 13, 165, 155, 68, 309, 315, 66, 313, 44, 314, 234, 244, 312, 242, 42, 235, 230, 245, 41, 241, 237, 43, 238, 31, 71, 261, 268, 266, 273, 290, 285, 293, 322, 284, 321, 204, 205, 323, 283, 14, 158, 251, 262, 50, 253, 67, 48, 260, 252, 49, 0, 16, 255, 2, 327, 332, 339, 340, 334, 347, 341, 348, 353, 354, 349, 359, 366, 371, 360, 375, 381, 385, 387, 391, 397, 390, 403, 396, 406, 415, 404, 410, 405, 394, 418, 426, 414, 370, 433, 358, 432, 352, 357, 437, 324, 338, 441, 447, 451, 442, 453, 434, 336, 460, 443, 462, 468, 472, 461, 386, 467, 465, 407, 393, 464, 392, 388, 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(0.6713531, 0.52975047), (0.6719838, 0.52947026), (0.4292557, 0.51624906), (0.4352126, 0.5161089), (0.43465197, 0.51744044), (0.71452326, 0.574813), (0.71424305, 0.5804194), (0.7098979, 0.59282386), (0.46730998, 0.5981744), (0.4794341, 0.6003469), (0.47971442, 0.5997863), (0.46170348, 0.5962121), (0.43570322, 0.5976137), (0.46730998, 0.5981744), (0.42154673, 0.59579164), (0.4163607, 0.5997863), (0.4212664, 0.5938994), (0.4163607, 0.5997863), (0.43465197, 0.59628224), (0.4212664, 0.5938994), (0.4212664, 0.5224863), (0.4212664, 0.5938994), (0.43465197, 0.59628224), (0.46170348, 0.5962121), (0.47971442, 0.5997863), (0.47480872, 0.593479), (0.47971442, 0.5185617), (0.46163338, 0.51758057), (0.47494894, 0.52115476), (0.46170348, 0.5962121), (0.47480872, 0.593479), (0.47494894, 0.52115476), (0.46170348, 0.5962121), (0.47494894, 0.52115476), (0.46163338, 0.51758057), (0.4212664, 0.5224863), (0.4341614, 0.52255636), (0.4163607, 0.5185617), (0.4163607, 0.5185617), (0.4341614, 0.52255636), (0.4292557, 0.51624906), (0.4341614, 0.52255636), (0.43465197, 0.59628224), (0.4352126, 0.5161089), (0.4212664, 0.5224863), (0.43465197, 0.59628224), (0.4341614, 0.52255636), (0.4341614, 0.52255636), (0.4352126, 0.5161089), (0.4292557, 0.51624906), (0.46780056, 0.59446007), (0.42519096, 0.5202437), (0.47095427, 0.5202437)] ( + interpolation = "faceVarying" + ) + texCoord2f[] primvars:st_2 = [(0.46163338, 0.51758057), (0.43465197, 0.59628224), (0.46170348, 0.5962121), (0.46163338, 0.51758057), (0.4352126, 0.5161089), (0.43465197, 0.59628224)] ( + interpolation = "faceVarying" + ) + uniform token purpose = "guide" + uniform token subdivisionScheme = "bilinear" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def PhysicsRevoluteJoint "fl_hx" ( + apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 1000 + float drive:angular:physics:stiffness = 0 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "X" + rel physics:body0 = + rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0.29785, 0.055, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (1, 0, 0, 0) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = -46.115196 + float physics:upperLimit = 44.25686 + float physxJoint:maxJointVelocity = 57295.78 + } + } + + def Xform "fl_hip" ( + apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + float physics:density = 1000 + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.29785001277923584, 0.054999999701976776, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } +} + diff --git a/test/data/usd_conversion_data/hab_spot_arm_with_hab_metadata.usda b/test/data/usd_conversion_data/hab_spot_arm_with_hab_metadata.usda new file mode 100644 index 0000000000..77d05c3a78 --- /dev/null +++ b/test/data/usd_conversion_data/hab_spot_arm_with_hab_metadata.usda @@ -0,0 +1,267 @@ +#usda 1.0 +( + customLayerData = { + dictionary omni_layer = { + dictionary locked = { + } + dictionary muteness = { + } + } + } + defaultPrim = "spot" + doc = """Generated from Composed Stage of root layer /home/trandaniel/dev/habitat-lab/test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda + + +Generated from Composed Stage of root layer /home/trandaniel/dev/habitat-lab/test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda + + +Generated from Composed Stage of root layer /home/trandaniel/dev/habitat-lab/test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda + + +Generated from Composed Stage of root layer /home/trandaniel/dev/habitat-lab/test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda + + +Generated from Composed Stage of root layer /home/trandaniel/dev/habitat-lab/test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda + + +Generated from Composed Stage of root layer /home/trandaniel/dev/habitat-lab/test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda + + +Generated from Composed Stage of root layer /home/trandaniel/dev/habitat-lab/test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda + + +Generated from Composed Stage of root layer /home/trandaniel/dev/habitat-lab/test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda + + +Generated from Composed Stage of root layer /home/trandaniel/dev/habitat-lab/test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda + + +Generated from Composed Stage of root layer /home/trandaniel/dev/habitat-lab/test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda + + +Generated from Composed Stage of root layer /home/trandaniel/dev/habitat-lab/test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda + + +Generated from Composed Stage of root layer /home/trandaniel/dev/habitat-lab/test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda + + +Generated from Composed Stage of root layer /home/trandaniel/dev/habitat-lab/test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda + + +Generated from Composed Stage of root layer /home/trandaniel/dev/habitat-lab/test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda + + +Generated from Composed Stage of root layer /home/trandaniel/dev/habitat-lab/test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda + + +Generated from Composed Stage of root layer /home/trandaniel/dev/habitat-lab/test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda + + +Generated from Composed Stage of root layer /home/trandaniel/dev/habitat-lab/test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda +""" + metersPerUnit = 1 + upAxis = "Z" +) + +def Xform "spot" +{ + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Scope "Looks" + { + def Material "material_M_Base" + { + token outputs:mdl:displacement.connect = + token outputs:mdl:surface.connect = + token outputs:mdl:volume.connect = + + def Shader "Shader" + { + uniform token info:id = "UsdPreviewSurface" + uniform token info:implementationSource = "sourceAsset" + uniform asset info:mdl:sourceAsset = @OmniPBR.mdl@ + uniform token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (1, 1, 1) + asset inputs:diffuse_texture = @materials/*0@ + color3f inputs:emissive_color = (0, 0, 0) + float inputs:metallic_constant = 0 + token outputs:out + } + } + + def Material "material_M_White" + { + token outputs:mdl:displacement.connect = + token outputs:mdl:surface.connect = + token outputs:mdl:volume.connect = + + def Shader "Shader" + { + uniform token info:id = "UsdPreviewSurface" + uniform token info:implementationSource = "sourceAsset" + uniform asset info:mdl:sourceAsset = @OmniPBR.mdl@ + uniform token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.8, 0.8, 0.8) + color3f inputs:emissive_color = (0, 0, 0) + float inputs:metallic_constant = 0 + token outputs:out + } + } + + def Material "material_M_GlowBlue" + { + token outputs:mdl:displacement.connect = + token outputs:mdl:surface.connect = + token outputs:mdl:volume.connect = + + def Shader "Shader" + { + uniform token info:id = "UsdPreviewSurface" + uniform token info:implementationSource = "sourceAsset" + uniform asset info:mdl:sourceAsset = @OmniPBR.mdl@ + uniform token info:mdl:sourceAsset:subIdentifier = "OmniPBR" + color3f inputs:diffuse_color_constant = (0.37421525, 0.6885966, 0.80000025) + color3f inputs:emissive_color = (0.34331882, 0.860551, 1) + float inputs:metallic_constant = 0 + token outputs:out + } + } + } + + def Xform "base" ( + apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsArticulationRootAPI", "PhysxArticulationAPI"] + ) + { + custom string habitatVisual:assetPath = "test/data/meshesColored/base.glb" + custom float3 habitatVisual:assetScale = (1, 1, 1) + point3f physics:centerOfMass = (0, 0, 0) + float3 physics:diagonalInertia = (1.5, 1.5, 0.5) + float physics:mass = 70.1294 + quatf physics:principalAxes = (1, 0, 0, 0) + bool physxArticulation:enabledSelfCollisions = 0 + int physxArticulation:solverPositionIterationCount = 32 + int physxArticulation:solverVelocityIterationCount = 1 + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def Mesh "visuals" + { + float3[] extent = [(-0.42666, -0.1237, -0.092999995), (0.4406, 0.123599984, 0.08047398)] + int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 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(0.6713531, 0.52975047), (0.6719838, 0.52947026), (0.4292557, 0.51624906), (0.4352126, 0.5161089), (0.43465197, 0.51744044), (0.71452326, 0.574813), (0.71424305, 0.5804194), (0.7098979, 0.59282386), (0.46730998, 0.5981744), (0.4794341, 0.6003469), (0.47971442, 0.5997863), (0.46170348, 0.5962121), (0.43570322, 0.5976137), (0.46730998, 0.5981744), (0.42154673, 0.59579164), (0.4163607, 0.5997863), (0.4212664, 0.5938994), (0.4163607, 0.5997863), (0.43465197, 0.59628224), (0.4212664, 0.5938994), (0.4212664, 0.5224863), (0.4212664, 0.5938994), (0.43465197, 0.59628224), (0.46170348, 0.5962121), (0.47971442, 0.5997863), (0.47480872, 0.593479), (0.47971442, 0.5185617), (0.46163338, 0.51758057), (0.47494894, 0.52115476), (0.46170348, 0.5962121), (0.47480872, 0.593479), (0.47494894, 0.52115476), (0.46170348, 0.5962121), (0.47494894, 0.52115476), (0.46163338, 0.51758057), (0.4212664, 0.5224863), (0.4341614, 0.52255636), (0.4163607, 0.5185617), (0.4163607, 0.5185617), (0.4341614, 0.52255636), (0.4292557, 0.51624906), (0.4341614, 0.52255636), (0.43465197, 0.59628224), (0.4352126, 0.5161089), (0.4212664, 0.5224863), (0.43465197, 0.59628224), (0.4341614, 0.52255636), (0.4341614, 0.52255636), (0.4352126, 0.5161089), (0.4292557, 0.51624906), (0.46780056, 0.59446007), (0.42519096, 0.5202437), (0.47095427, 0.5202437)] ( + interpolation = "faceVarying" + ) + texCoord2f[] primvars:st_2 = [(0.46163338, 0.51758057), (0.43465197, 0.59628224), (0.46170348, 0.5962121), (0.46163338, 0.51758057), (0.4352126, 0.5161089), (0.43465197, 0.59628224)] ( + interpolation = "faceVarying" + ) + uniform token subdivisionScheme = "bilinear" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + + def GeomSubset "material_0" + { + uniform token elementType = "face" + uniform token familyName = "materialBind" + int[] indices = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203, 204, 205, 206, 207, 208, 209, 210, 211, 212, 213, 214, 215, 216, 217, 218, 219, 220, 221, 222, 223, 224, 225, 226, 227, 228, 229, 230, 231, 232, 233, 234, 235, 236, 237, 238, 239, 240, 241, 242, 243, 244, 245, 246, 247, 248, 249, 250, 251, 252, 253, 254, 255, 256, 257, 258, 259, 260, 261, 262, 263, 264, 265, 266, 267, 268, 269, 270, 271, 272, 273, 274, 275, 276, 277, 278, 279, 280, 281, 282, 283, 284, 285, 286, 287, 288, 289, 290, 291, 292, 293, 294, 295, 296, 297, 298, 299, 300, 301, 302, 303, 304, 305, 306, 307, 308, 309, 310, 311, 312, 313, 314, 315, 316, 317, 318, 319, 320, 321, 322, 323, 324, 325, 326, 327, 328, 329, 330, 331, 332, 333, 334, 335, 336, 337, 338, 339, 340, 341, 342, 343, 344, 345, 346, 347, 348, 349, 350, 351, 352, 353, 354, 355, 356, 357, 358, 359, 360, 361, 362, 363, 364, 365, 366, 367, 368, 369, 370, 371, 372, 373, 374, 375, 376, 377, 378, 379, 380, 381, 382, 383, 384, 385, 386, 387, 388, 389, 390, 391, 392, 393, 394, 395, 396, 397, 398, 399, 400, 401, 402, 403, 404, 405, 406, 407, 408, 409, 410, 411, 412, 413, 414, 415, 416, 417, 418, 419, 420, 421, 422, 423, 424, 425, 426, 427, 428, 429, 430, 431, 432, 433, 434, 435, 436, 437, 438, 439, 440, 441, 442, 443, 444, 445, 446, 447, 448, 449, 450, 451, 452, 453, 454, 455, 456, 457, 458, 459, 460, 461, 462, 463, 464, 465, 466, 467, 468, 469, 470, 471, 472, 473, 474, 475, 476, 477, 478, 479, 480, 481, 482, 483, 484, 485, 486, 487, 488, 489, 490, 491, 492, 493, 494, 495, 496, 497, 498, 499, 500, 501, 502, 503, 504, 505, 506, 507, 508, 509, 510, 511, 512, 513, 514, 515, 516, 517, 518, 519, 520, 521, 522, 523, 524, 525, 526, 527, 528, 529, 530, 531, 532, 533, 534, 535, 536, 537, 538, 539, 540, 541, 542, 543, 544, 545, 546, 547, 548, 549, 550, 551, 552, 553, 554, 555, 556, 557, 558, 559, 560, 561, 562, 563, 564, 565, 566, 567, 568, 569, 570, 571, 572, 573, 574, 575, 576, 577, 578, 579, 580, 581, 582, 583, 584, 585, 586, 587, 588, 589, 590, 591, 592, 593, 594, 595, 596, 597, 598, 599, 600, 601, 602, 603, 604, 605, 606, 607, 608, 609, 610, 611, 612, 613, 614, 615, 616, 617, 618, 619, 620, 621, 622, 623, 624, 625, 626, 627, 628, 629, 630, 631, 632, 633, 634, 635, 636, 637, 638, 639, 640, 641, 642, 643, 644, 645, 646, 647, 648, 649, 650, 651, 652, 653, 654, 655, 656, 657, 658, 659, 660, 661, 662, 663, 664, 665, 666, 667, 668, 669, 670, 671, 672, 673, 674, 675, 676, 677, 678, 679, 680, 681, 682, 683, 684, 685, 686, 687, 688, 689, 690, 691, 692, 693, 694, 695, 696, 697, 698, 699, 700, 701, 702, 703, 704, 705, 706, 707, 708, 709, 710, 711, 712, 713, 714, 715, 716, 717, 718, 719, 720, 721, 722, 723, 724, 725, 726, 727, 728, 729, 730, 731, 732, 733, 734, 735, 736, 737, 738, 739, 740, 741, 742, 743, 744, 745, 746, 747, 748, 749, 750, 751, 752, 753, 754, 755, 756, 757, 758, 759, 760, 761, 762, 763, 764, 765, 766, 767, 768, 769, 770, 771, 772, 773, 774, 775, 776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 828, 829, 830, 831, 832, 833, 834, 835, 836, 837, 838, 839, 840, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 851, 852, 853, 854, 855, 856, 857, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 898, 899, 900, 901, 902, 903, 904, 905, 906, 907, 908, 909, 910, 911, 912, 913, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 967, 968, 969, 970, 971] + rel material:binding = + } + + def GeomSubset "material_1" + { + uniform token elementType = "face" + uniform token familyName = "materialBind" + int[] indices = [972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 982, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012, 1013, 1014, 1015, 1016, 1017, 1018, 1019, 1020, 1021, 1022, 1023, 1024, 1025, 1026, 1027, 1028, 1029, 1030, 1031, 1032, 1033, 1034, 1035, 1036, 1037, 1038, 1039, 1040, 1041, 1042, 1043, 1044, 1045, 1046, 1047, 1048, 1049, 1050, 1051, 1052, 1053, 1054, 1055, 1056, 1057, 1058, 1059, 1060, 1061, 1062, 1063, 1064, 1065, 1066, 1067, 1068, 1069, 1070, 1071, 1072, 1073, 1074, 1075, 1076, 1077, 1078, 1079, 1080, 1081, 1082, 1083, 1084, 1085, 1086, 1087, 1088, 1089, 1090, 1091, 1092, 1093, 1094, 1095, 1096, 1097, 1098, 1099, 1100, 1101, 1102, 1103, 1104, 1105, 1106, 1107, 1108, 1109, 1110, 1111, 1112, 1113, 1114, 1115, 1116, 1117, 1118, 1119, 1120, 1121, 1122, 1123, 1124, 1125, 1126, 1127, 1128, 1129, 1130, 1131, 1132, 1133, 1134, 1135, 1136, 1137, 1138, 1139, 1140, 1141, 1142, 1143, 1144, 1145, 1146, 1147, 1148, 1149, 1150, 1151, 1152, 1153, 1154, 1155, 1156, 1157, 1158, 1159, 1160, 1161, 1162, 1163, 1164, 1165, 1166, 1167, 1168, 1169, 1170, 1171, 1172, 1173, 1174, 1175, 1176, 1177, 1178, 1179, 1180, 1181, 1182, 1183, 1184, 1185, 1186, 1187, 1188, 1189, 1190, 1191, 1192, 1193, 1194, 1195, 1196, 1197, 1198, 1199, 1200, 1201, 1202, 1203, 1204, 1205, 1206, 1207, 1208, 1209, 1210, 1211, 1212, 1213, 1214, 1215, 1216, 1217, 1218, 1219, 1220, 1221, 1222, 1223, 1224, 1225, 1226, 1227, 1228, 1229, 1230, 1231, 1232, 1233, 1234, 1235, 1236, 1237, 1238, 1239, 1240, 1241, 1242, 1243, 1244, 1245, 1246, 1247, 1248, 1249, 1250, 1251, 1252, 1253, 1254, 1255, 1256, 1257, 1258, 1259, 1260, 1261, 1262, 1263, 1264, 1265, 1266, 1267, 1268, 1269, 1270, 1271, 1272, 1273, 1274, 1275, 1276, 1277, 1278, 1279, 1280, 1281, 1282, 1283, 1284, 1285, 1286, 1287, 1288, 1289, 1290, 1291, 1292, 1293] + rel material:binding = + } + + def GeomSubset "material_2" + { + uniform token elementType = "face" + uniform token familyName = "materialBind" + int[] indices = [1294, 1295] + rel material:binding = + } + } + + def Mesh "collisions" ( + apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] + ) + { + float3[] extent = [(-0.42666, -0.1237, -0.092999995), (0.4406, 0.123599984, 0.08047398)] + int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3] + int[] faceVertexIndices = [1, 9, 15, 21, 24, 28, 29, 25, 17, 30, 18, 11, 34, 39, 45, 53, 59, 4, 58, 51, 64, 65, 52, 74, 63, 73, 81, 80, 72, 47, 79, 46, 40, 85, 57, 62, 90, 78, 35, 94, 37, 33, 96, 107, 113, 121, 38, 95, 128, 77, 88, 3, 56, 10, 132, 134, 138, 131, 137, 143, 149, 139, 153, 150, 159, 146, 144, 157, 7, 20, 26, 162, 156, 166, 6, 5, 163, 27, 145, 83, 114, 170, 180, 108, 185, 191, 169, 168, 189, 179, 193, 197, 188, 194, 190, 184, 202, 192, 183, 182, 208, 201, 167, 207, 181, 214, 171, 101, 211, 97, 124, 87, 221, 227, 86, 226, 126, 229, 219, 116, 119, 222, 89, 100, 61, 76, 127, 98, 75, 120, 91, 36, 55, 84, 148, 54, 147, 8, 172, 109, 102, 99, 115, 82, 99, 82, 60, 232, 217, 228, 240, 93, 32, 118, 246, 231, 92, 239, 243, 92, 243, 117, 154, 140, 136, 247, 129, 141, 248, 142, 110, 249, 111, 257, 259, 112, 104, 258, 103, 263, 264, 105, 270, 106, 176, 271, 272, 177, 275, 276, 178, 186, 277, 187, 196, 195, 203, 282, 282, 199, 195, 288, 206, 210, 286, 209, 174, 287, 175, 295, 294, 173, 216, 300, 213, 125, 223, 301, 306, 224, 308, 123, 122, 307, 296, 233, 303, 220, 218, 302, 225, 311, 305, 317, 304, 236, 316, 297, 310, 69, 299, 70, 267, 298, 265, 212, 269, 292, 215, 279, 200, 320, 318, 198, 281, 289, 278, 319, 291, 274, 280, 160, 151, 254, 133, 130, 250, 135, 256, 152, 161, 22, 19, 23, 164, 12, 13, 165, 155, 68, 309, 315, 66, 313, 44, 314, 234, 244, 312, 242, 42, 235, 230, 245, 41, 241, 237, 43, 238, 31, 71, 261, 268, 266, 273, 290, 285, 293, 322, 284, 321, 204, 205, 323, 283, 14, 158, 251, 262, 50, 253, 67, 48, 260, 252, 49, 0, 16, 255, 2, 327, 332, 339, 340, 334, 347, 341, 348, 353, 354, 349, 359, 366, 371, 360, 375, 381, 385, 387, 391, 397, 390, 403, 396, 406, 415, 404, 410, 405, 394, 418, 426, 414, 370, 433, 358, 432, 352, 357, 437, 324, 338, 441, 447, 451, 442, 453, 434, 336, 460, 443, 462, 468, 472, 461, 386, 467, 465, 407, 393, 464, 392, 388, 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(0.6713531, 0.52975047), (0.6719838, 0.52947026), (0.4292557, 0.51624906), (0.4352126, 0.5161089), (0.43465197, 0.51744044), (0.71452326, 0.574813), (0.71424305, 0.5804194), (0.7098979, 0.59282386), (0.46730998, 0.5981744), (0.4794341, 0.6003469), (0.47971442, 0.5997863), (0.46170348, 0.5962121), (0.43570322, 0.5976137), (0.46730998, 0.5981744), (0.42154673, 0.59579164), (0.4163607, 0.5997863), (0.4212664, 0.5938994), (0.4163607, 0.5997863), (0.43465197, 0.59628224), (0.4212664, 0.5938994), (0.4212664, 0.5224863), (0.4212664, 0.5938994), (0.43465197, 0.59628224), (0.46170348, 0.5962121), (0.47971442, 0.5997863), (0.47480872, 0.593479), (0.47971442, 0.5185617), (0.46163338, 0.51758057), (0.47494894, 0.52115476), (0.46170348, 0.5962121), (0.47480872, 0.593479), (0.47494894, 0.52115476), (0.46170348, 0.5962121), (0.47494894, 0.52115476), (0.46163338, 0.51758057), (0.4212664, 0.5224863), (0.4341614, 0.52255636), (0.4163607, 0.5185617), (0.4163607, 0.5185617), (0.4341614, 0.52255636), (0.4292557, 0.51624906), (0.4341614, 0.52255636), (0.43465197, 0.59628224), (0.4352126, 0.5161089), (0.4212664, 0.5224863), (0.43465197, 0.59628224), (0.4341614, 0.52255636), (0.4341614, 0.52255636), (0.4352126, 0.5161089), (0.4292557, 0.51624906), (0.46780056, 0.59446007), (0.42519096, 0.5202437), (0.47095427, 0.5202437)] ( + interpolation = "faceVarying" + ) + texCoord2f[] primvars:st_2 = [(0.46163338, 0.51758057), (0.43465197, 0.59628224), (0.46170348, 0.5962121), (0.46163338, 0.51758057), (0.4352126, 0.5161089), (0.43465197, 0.59628224)] ( + interpolation = "faceVarying" + ) + uniform token purpose = "guide" + uniform token subdivisionScheme = "bilinear" + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0, 0, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } + + def PhysicsRevoluteJoint "fl_hx" ( + apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] + ) + { + float drive:angular:physics:damping = 0 + float drive:angular:physics:maxForce = 1000 + float drive:angular:physics:stiffness = 0 + float drive:angular:physics:targetPosition = 0 + uniform token drive:angular:physics:type = "force" + uniform token physics:axis = "X" + rel physics:body0 = + rel physics:body1 = + float physics:breakForce = 3.4028235e38 + float physics:breakTorque = 3.4028235e38 + point3f physics:localPos0 = (0.29785, 0.055, 0) + point3f physics:localPos1 = (0, 0, 0) + quatf physics:localRot0 = (1, 0, 0, 0) + quatf physics:localRot1 = (1, 0, 0, 0) + float physics:lowerLimit = -46.115196 + float physics:upperLimit = 44.25686 + float physxJoint:maxJointVelocity = 57295.78 + } + } + + def Xform "fl_hip" ( + apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] + ) + { + custom string habitatVisual:assetPath = "test/data/meshesColored/fl.hip.glb" + custom float3 habitatVisual:assetScale = (1, 1, 1) + float physics:density = 1000 + quatd xformOp:orient = (1, 0, 0, 0) + double3 xformOp:scale = (1, 1, 1) + double3 xformOp:translate = (0.29785001277923584, 0.054999999701976776, 0) + uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] + } +} + From 589aefb7cb5836a2f094700007fb08d2593a4e78 Mon Sep 17 00:00:00 2001 From: trandaniel Date: Wed, 15 Jan 2025 13:32:08 -0800 Subject: [PATCH 54/61] minor formatting --- habitat-lab/habitat/isaacsim/urdf_to_usd.py | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/habitat-lab/habitat/isaacsim/urdf_to_usd.py b/habitat-lab/habitat/isaacsim/urdf_to_usd.py index ca900b8485..f28db56ce6 100644 --- a/habitat-lab/habitat/isaacsim/urdf_to_usd.py +++ b/habitat-lab/habitat/isaacsim/urdf_to_usd.py @@ -30,23 +30,23 @@ def sanitize_name(name): return name # Update and names - for element in root.xpath("//*[@name]"): + for element in root.xpath("//*[@name]"): original_name = element.get("name") sanitized_name = sanitize_name(original_name) element.set("name", sanitized_name) # Update references to and - for parent in root.xpath("//parent[@link]"): + for parent in root.xpath("//parent[@link]"): original_link = parent.get("link") parent.set("link", name_map.get(original_link, original_link)) - for child in root.xpath("//child[@link]"): + for child in root.xpath("//child[@link]"): original_link = child.get("link") child.set("link", name_map.get(original_link, original_link)) # Optionally remove elements if remove_visual: - for visual in root.xpath("//visual"): + for visual in root.xpath("//visual"): visual_parent = visual.getparent() visual_parent.remove(visual) @@ -55,7 +55,7 @@ def sanitize_name(name): f.write( ET.tostring( root, pretty_print=True, xml_declaration=True, encoding="UTF-8" - ) + ) ) print(f"Cleaned URDF written to: {output_file}") From 175dcced14525044f4069e58bcfa9a2e5c03ca75 Mon Sep 17 00:00:00 2001 From: trandaniel Date: Wed, 15 Jan 2025 14:27:30 -0800 Subject: [PATCH 55/61] Formatting, end of file fix --- test/data/usd_conversion_data/.asset_hash | 2 +- test/data/usd_conversion_data/102343992.scene_instance.json | 2 +- test/data/usd_conversion_data/EXAMPLE.scene_instance.json | 2 +- test/data/usd_conversion_data/EXAMPLE2.scene_instance.json | 2 +- .../usd_conversion_data/hab_spot_arm_test_convert_urdf.usda | 1 - .../usd_conversion_data/hab_spot_arm_with_hab_metadata.usda | 1 - 6 files changed, 4 insertions(+), 6 deletions(-) diff --git a/test/data/usd_conversion_data/.asset_hash b/test/data/usd_conversion_data/.asset_hash index e104b10747..d4e55f00ca 100644 --- a/test/data/usd_conversion_data/.asset_hash +++ b/test/data/usd_conversion_data/.asset_hash @@ -1 +1 @@ -24f1b688baf20921994b95e47f42b7ee \ No newline at end of file +24f1b688baf20921994b95e47f42b7ee diff --git a/test/data/usd_conversion_data/102343992.scene_instance.json b/test/data/usd_conversion_data/102343992.scene_instance.json index 389df30ee0..914047ffc1 100644 --- a/test/data/usd_conversion_data/102343992.scene_instance.json +++ b/test/data/usd_conversion_data/102343992.scene_instance.json @@ -1 +1 @@ -{"stage_instance": {"template_name": "stages/102343992"}, "translation_origin": "asset_local", "object_instances": [{"template_name": "1efdc3d37dfab1eb9f99117bb84c59003d684811", "translation": [7.869999885559082, 1.200000514924497, -9.038998947203183], "rotation": [0.8660254049292261, -1.7140893014617373e-08, 0.4999999980171692, 2.144662085814174e-08], "non_uniform_scale": [0.9999999418353455, 1.000248074501974, 0.439367260520995], "motion_type": "STATIC"}, {"template_name": "1efdc3d37dfab1eb9f99117bb84c59003d684811", "translation": [8.145999908447266, -4.354715485987981e-07, 7.305999797224985], "rotation": [-4.371138874050119e-08, -6.535889244928926e-16, 0.9999999999999968, 6.713240204275516e-08], "non_uniform_scale": [1.6183986663818422, 1.675353446560673, 0.8347977596762485], "motion_type": "STATIC"}, {"template_name": 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b/test/data/usd_conversion_data/EXAMPLE.scene_instance.json @@ -7147,4 +7147,4 @@ "motion_type": "STATIC" } ] -} \ No newline at end of file +} diff --git a/test/data/usd_conversion_data/EXAMPLE2.scene_instance.json b/test/data/usd_conversion_data/EXAMPLE2.scene_instance.json index b68dc88b45..4c38a265c5 100644 --- a/test/data/usd_conversion_data/EXAMPLE2.scene_instance.json +++ b/test/data/usd_conversion_data/EXAMPLE2.scene_instance.json @@ -26,4 +26,4 @@ "motion_type": "STATIC" }] -} \ No newline at end of file +} diff --git a/test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda b/test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda index f91ef19858..f8e40949d7 100644 --- a/test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda +++ b/test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda @@ -260,4 +260,3 @@ def Xform "spot" uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] } } - diff --git a/test/data/usd_conversion_data/hab_spot_arm_with_hab_metadata.usda b/test/data/usd_conversion_data/hab_spot_arm_with_hab_metadata.usda index 77d05c3a78..8823c8baed 100644 --- a/test/data/usd_conversion_data/hab_spot_arm_with_hab_metadata.usda +++ b/test/data/usd_conversion_data/hab_spot_arm_with_hab_metadata.usda @@ -264,4 +264,3 @@ def Xform "spot" uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] } } - From 4d428a32ed916085074fe266302145b583786dd2 Mon Sep 17 00:00:00 2001 From: trandaniel Date: Wed, 22 Jan 2025 17:59:53 -0800 Subject: [PATCH 56/61] Make some minor changes as described in the above comments. --- .gitignore | 8 ++++++++ .../asset_conversion}/scene_instance_json_to_usd.py | 0 .../asset_conversion}/urdf_to_usd.py | 0 test/data/usd_conversion_data/.asset_hash | 1 - test/test_isaac_sim.py | 2 +- 5 files changed, 9 insertions(+), 2 deletions(-) rename habitat-lab/habitat/{isaacsim => isaac_sim/asset_conversion}/scene_instance_json_to_usd.py (100%) rename habitat-lab/habitat/{isaacsim => isaac_sim/asset_conversion}/urdf_to_usd.py (100%) delete mode 100644 test/data/usd_conversion_data/.asset_hash diff --git a/.gitignore b/.gitignore index 0c52dc37c4..102a5bd73d 100644 --- a/.gitignore +++ b/.gitignore @@ -106,3 +106,11 @@ data # Autogenerated navmesh files *.navmesh + +# urdf conversion artifact +.asset_hash +test/data/usd_conversion_data/config.yaml + +# Dependency Repos +IssacLab/ +habitat-sim/ \ No newline at end of file diff --git a/habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py b/habitat-lab/habitat/isaac_sim/asset_conversion/scene_instance_json_to_usd.py similarity index 100% rename from habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py rename to habitat-lab/habitat/isaac_sim/asset_conversion/scene_instance_json_to_usd.py diff --git a/habitat-lab/habitat/isaacsim/urdf_to_usd.py b/habitat-lab/habitat/isaac_sim/asset_conversion/urdf_to_usd.py similarity index 100% rename from habitat-lab/habitat/isaacsim/urdf_to_usd.py rename to habitat-lab/habitat/isaac_sim/asset_conversion/urdf_to_usd.py diff --git a/test/data/usd_conversion_data/.asset_hash b/test/data/usd_conversion_data/.asset_hash deleted file mode 100644 index d4e55f00ca..0000000000 --- a/test/data/usd_conversion_data/.asset_hash +++ /dev/null @@ -1 +0,0 @@ -24f1b688baf20921994b95e47f42b7ee diff --git a/test/test_isaac_sim.py b/test/test_isaac_sim.py index 5eec0acce4..f2f78b106e 100644 --- a/test/test_isaac_sim.py +++ b/test/test_isaac_sim.py @@ -296,7 +296,7 @@ def test_add_habitat_visual_metadata_for_articulation(): stage_before_metadata = Usd.Stage.Open(converted_clean_usda) stage_output_metadata = Usd.Stage.Open(out_usd_filepath) - # Add the habitatVisual metadata to each relevant prim + # See if habitatVisual data was contained inside usda file for link_name, metadata in visual_metadata.items(): prim_path = f"/{robot_name}/{link_name}" prim = stage_before_metadata.GetPrimAtPath(prim_path) From 71d3d06a07c7194a83113da6cc051d0660b83618 Mon Sep 17 00:00:00 2001 From: trandaniel Date: Wed, 22 Jan 2025 18:04:52 -0800 Subject: [PATCH 57/61] Remove hssd comments. --- .../isaac_sim/asset_conversion/scene_instance_json_to_usd.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/habitat-lab/habitat/isaac_sim/asset_conversion/scene_instance_json_to_usd.py b/habitat-lab/habitat/isaac_sim/asset_conversion/scene_instance_json_to_usd.py index 252e4e0acd..f19ab25057 100644 --- a/habitat-lab/habitat/isaac_sim/asset_conversion/scene_instance_json_to_usd.py +++ b/habitat-lab/habitat/isaac_sim/asset_conversion/scene_instance_json_to_usd.py @@ -83,9 +83,9 @@ def convert_object_to_usd( out_usd_path: str, project_root_folder: str, ) -> None: - """This converts an hssd object to a usda file. + """This converts an object mesh to a usda file. - :param objects_folder : Parent folder that contains all the objects to an hssd scene. + :param objects_folder : Parent folder that contains all the object meshes. :param object_config_filename: String name of the config file associated with an object. :param out_usd_path: Filepath where object usd will be located after conversion :project_root_folder: Path of habitat-lab repo From 02191379af1bc1ed5063591636818743d6c0844a Mon Sep 17 00:00:00 2001 From: trandaniel Date: Wed, 22 Jan 2025 19:48:50 -0800 Subject: [PATCH 58/61] Remove files generated by unit test. --- .../hab_spot_arm_clean.urdf | 58 ------------------- .../hab_spot_arm_clean_visual_removed.urdf | 40 ------------- 2 files changed, 98 deletions(-) delete mode 100644 test/data/usd_conversion_data/hab_spot_arm_clean.urdf delete mode 100644 test/data/usd_conversion_data/hab_spot_arm_clean_visual_removed.urdf diff --git a/test/data/usd_conversion_data/hab_spot_arm_clean.urdf b/test/data/usd_conversion_data/hab_spot_arm_clean.urdf deleted file mode 100644 index 78fdaa7e21..0000000000 --- a/test/data/usd_conversion_data/hab_spot_arm_clean.urdf +++ /dev/null @@ -1,58 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/test/data/usd_conversion_data/hab_spot_arm_clean_visual_removed.urdf b/test/data/usd_conversion_data/hab_spot_arm_clean_visual_removed.urdf deleted file mode 100644 index 8c33fe0c53..0000000000 --- a/test/data/usd_conversion_data/hab_spot_arm_clean_visual_removed.urdf +++ /dev/null @@ -1,40 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - From a35fd09477a6a22bc66d61dfbac7812c12af48ba Mon Sep 17 00:00:00 2001 From: trandaniel Date: Wed, 22 Jan 2025 19:49:29 -0800 Subject: [PATCH 59/61] Update pathing and import issues. --- test/test_isaac_sim.py | 18 ++++++++++++++---- 1 file changed, 14 insertions(+), 4 deletions(-) diff --git a/test/test_isaac_sim.py b/test/test_isaac_sim.py index f2f78b106e..cee04b6f0c 100644 --- a/test/test_isaac_sim.py +++ b/test/test_isaac_sim.py @@ -9,12 +9,14 @@ repo_dir = os.path.dirname(os.path.dirname(__file__)) sys.path.insert(0, repo_dir) -isaacsim_dir = repo_dir + "/habitat-lab/habitat/isaacsim" +isaacsim_dir = repo_dir + "/habitat-lab/habitat/isaac_sim" sys.path.insert(0, isaacsim_dir) +sys.path.insert(0, repo_dir + "/habitat-lab/habitat/isaac_sim/asset_conversion") + scene_instance_conversion_script = ( - isaacsim_dir + "/scene_instance_json_to_usd.py" + isaacsim_dir + "/asset_conversion/scene_instance_json_to_usd.py" ) -urdf_conversion_script = isaacsim_dir + "/urdf_to_usd.py" +urdf_conversion_script = isaacsim_dir + "/asset_conversion//urdf_to_usd.py" from scene_instance_json_to_usd import convert_hab_scene from urdf_to_usd import clean_urdf, convert_urdf @@ -219,7 +221,12 @@ def test_clean_urdf(): # Optionally remove elements assert len(root_removed_visual.xpath("//visual")) == 0 assert len(root_removed_visual_CORRECT.xpath("//visual")) == 0 - + + if os.path.exists(output_file): + os.remove(output_file) + + if os.path.exists(removed_visual): + os.remove(removed_visual) def test_convert_urdf(): urdf_dir = repo_dir + "/test/data/usd_conversion_data/" @@ -315,3 +322,6 @@ def test_add_habitat_visual_metadata_for_articulation(): "habitatVisual:assetScale" ).Get() ) + +if __name__ == "__main__": + test_clean_urdf() \ No newline at end of file From bdca713401913e296adb6ff86a3b8e1e8707c700 Mon Sep 17 00:00:00 2001 From: trandaniel Date: Thu, 23 Jan 2025 11:15:01 -0800 Subject: [PATCH 60/61] Remove more necessary files for unit testing isaac lab conversion --- .gitignore | 2 +- test/data/usd_conversion_data/config.yaml | 2 +- .../hab_spot_arm_test_convert_urdf.usda | 262 ----------------- .../hab_spot_arm_with_hab_metadata.usda | 266 ------------------ test/test_isaac_sim.py | 25 +- 5 files changed, 19 insertions(+), 538 deletions(-) delete mode 100644 test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda delete mode 100644 test/data/usd_conversion_data/hab_spot_arm_with_hab_metadata.usda diff --git a/.gitignore b/.gitignore index 102a5bd73d..2d9657e12f 100644 --- a/.gitignore +++ b/.gitignore @@ -113,4 +113,4 @@ test/data/usd_conversion_data/config.yaml # Dependency Repos IssacLab/ -habitat-sim/ \ No newline at end of file +habitat-sim/ diff --git a/test/data/usd_conversion_data/config.yaml b/test/data/usd_conversion_data/config.yaml index 883bf4d50e..150e75eba1 100644 --- a/test/data/usd_conversion_data/config.yaml +++ b/test/data/usd_conversion_data/config.yaml @@ -14,5 +14,5 @@ default_drive_damping: 0.0 link_density: 1000.0 convex_decompose_mesh: false ## -# Generated by UrdfConverter on 2025-01-15 at 13:12:59. +# Generated by UrdfConverter on 2025-01-23 at 11:06:07. ## diff --git a/test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda b/test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda deleted file mode 100644 index f8e40949d7..0000000000 --- a/test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda +++ /dev/null @@ -1,262 +0,0 @@ -#usda 1.0 -( - customLayerData = { - dictionary omni_layer = { - dictionary locked = { - } - dictionary muteness = { - } - } - } - defaultPrim = "spot" - doc = """Generated from Composed Stage of root layer /home/trandaniel/dev/habitat-lab/test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda - - -Generated from Composed Stage of root layer /home/trandaniel/dev/habitat-lab/test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda - - -Generated from Composed Stage of root layer /home/trandaniel/dev/habitat-lab/test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda - - -Generated from Composed Stage of root layer /home/trandaniel/dev/habitat-lab/test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda - - -Generated from Composed Stage of root layer /home/trandaniel/dev/habitat-lab/test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda - - -Generated from Composed Stage of root layer /home/trandaniel/dev/habitat-lab/test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda - - -Generated from Composed Stage of root layer /home/trandaniel/dev/habitat-lab/test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda - - -Generated from Composed Stage of root layer /home/trandaniel/dev/habitat-lab/test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda - - -Generated from Composed Stage of root layer /home/trandaniel/dev/habitat-lab/test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda - - -Generated from Composed Stage of root layer /home/trandaniel/dev/habitat-lab/test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda - - -Generated from Composed Stage of root layer /home/trandaniel/dev/habitat-lab/test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda - - -Generated from Composed Stage of root layer /home/trandaniel/dev/habitat-lab/test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda - - -Generated from Composed Stage of root layer /home/trandaniel/dev/habitat-lab/test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda - - -Generated from Composed Stage of root layer /home/trandaniel/dev/habitat-lab/test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda - - -Generated from Composed Stage of root layer /home/trandaniel/dev/habitat-lab/test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda - - -Generated from Composed Stage of root layer /home/trandaniel/dev/habitat-lab/test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda - - -Generated from Composed Stage of root layer /home/trandaniel/dev/habitat-lab/test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda -""" - metersPerUnit = 1 - upAxis = "Z" -) - -def Xform "spot" -{ - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Scope "Looks" - { - def Material "material_M_Base" - { - token outputs:mdl:displacement.connect = - token outputs:mdl:surface.connect = - token outputs:mdl:volume.connect = - - def Shader "Shader" - { - uniform token info:id = "UsdPreviewSurface" - uniform token info:implementationSource = "sourceAsset" - uniform asset info:mdl:sourceAsset = @OmniPBR.mdl@ - uniform token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (1, 1, 1) - asset inputs:diffuse_texture = @materials/*0@ - color3f inputs:emissive_color = (0, 0, 0) - float inputs:metallic_constant = 0 - token outputs:out - } - } - - def Material "material_M_White" - { - token outputs:mdl:displacement.connect = - token outputs:mdl:surface.connect = - token outputs:mdl:volume.connect = - - def Shader "Shader" - { - uniform token info:id = "UsdPreviewSurface" - uniform token info:implementationSource = "sourceAsset" - uniform asset info:mdl:sourceAsset = @OmniPBR.mdl@ - uniform token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.8, 0.8, 0.8) - color3f inputs:emissive_color = (0, 0, 0) - float inputs:metallic_constant = 0 - token outputs:out - } - } - - def Material "material_M_GlowBlue" - { - token outputs:mdl:displacement.connect = - token outputs:mdl:surface.connect = - token outputs:mdl:volume.connect = - - def Shader "Shader" - { - uniform token info:id = "UsdPreviewSurface" - uniform token info:implementationSource = "sourceAsset" - uniform asset info:mdl:sourceAsset = @OmniPBR.mdl@ - uniform token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.37421525, 0.6885966, 0.80000025) - color3f inputs:emissive_color = (0.34331882, 0.860551, 1) - float inputs:metallic_constant = 0 - token outputs:out - } - } - } - - def Xform "base" ( - apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsArticulationRootAPI", "PhysxArticulationAPI"] - ) - { - point3f physics:centerOfMass = (0, 0, 0) - float3 physics:diagonalInertia = (1.5, 1.5, 0.5) - float physics:mass = 70.1294 - quatf physics:principalAxes = (1, 0, 0, 0) - bool physxArticulation:enabledSelfCollisions = 0 - int physxArticulation:solverPositionIterationCount = 32 - int physxArticulation:solverVelocityIterationCount = 1 - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Mesh "visuals" - { - float3[] extent = [(-0.42666, -0.1237, -0.092999995), (0.4406, 0.123599984, 0.08047398)] - int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 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0.59282386), (0.6774501, 0.5745326), (0.4352126, 0.5161089), (0.46163338, 0.51758057), (0.43465197, 0.51744044), (0.6780108, 0.5747429), (0.6774501, 0.5745326), (0.6771698, 0.54776144), (0.43465197, 0.51744044), (0.4163607, 0.5185617), (0.4292557, 0.51624906), (0.70730495, 0.5346562), (0.7146634, 0.54776144), (0.7098979, 0.52947026), (0.7075852, 0.5876379), (0.7095476, 0.59254354), (0.71424305, 0.5804194), (0.6771698, 0.54776144), (0.6713531, 0.52975047), (0.6719838, 0.52947026), (0.4292557, 0.51624906), (0.4352126, 0.5161089), (0.43465197, 0.51744044), (0.71452326, 0.574813), (0.71424305, 0.5804194), (0.7098979, 0.59282386), (0.46730998, 0.5981744), (0.4794341, 0.6003469), (0.47971442, 0.5997863), (0.46170348, 0.5962121), (0.43570322, 0.5976137), (0.46730998, 0.5981744), (0.42154673, 0.59579164), (0.4163607, 0.5997863), (0.4212664, 0.5938994), (0.4163607, 0.5997863), (0.43465197, 0.59628224), (0.4212664, 0.5938994), (0.4212664, 0.5224863), (0.4212664, 0.5938994), (0.43465197, 0.59628224), (0.46170348, 0.5962121), (0.47971442, 0.5997863), (0.47480872, 0.593479), (0.47971442, 0.5185617), (0.46163338, 0.51758057), (0.47494894, 0.52115476), (0.46170348, 0.5962121), (0.47480872, 0.593479), (0.47494894, 0.52115476), (0.46170348, 0.5962121), (0.47494894, 0.52115476), (0.46163338, 0.51758057), (0.4212664, 0.5224863), (0.4341614, 0.52255636), (0.4163607, 0.5185617), (0.4163607, 0.5185617), (0.4341614, 0.52255636), (0.4292557, 0.51624906), (0.4341614, 0.52255636), (0.43465197, 0.59628224), (0.4352126, 0.5161089), (0.4212664, 0.5224863), (0.43465197, 0.59628224), (0.4341614, 0.52255636), (0.4341614, 0.52255636), (0.4352126, 0.5161089), (0.4292557, 0.51624906), (0.46780056, 0.59446007), (0.42519096, 0.5202437), (0.47095427, 0.5202437)] ( - interpolation = "faceVarying" - ) - texCoord2f[] primvars:st_2 = [(0.46163338, 0.51758057), (0.43465197, 0.59628224), (0.46170348, 0.5962121), (0.46163338, 0.51758057), (0.4352126, 0.5161089), (0.43465197, 0.59628224)] ( - interpolation = "faceVarying" - ) - uniform token subdivisionScheme = "bilinear" - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def GeomSubset "material_0" - { - uniform token elementType = "face" - uniform token familyName = "materialBind" - int[] indices = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203, 204, 205, 206, 207, 208, 209, 210, 211, 212, 213, 214, 215, 216, 217, 218, 219, 220, 221, 222, 223, 224, 225, 226, 227, 228, 229, 230, 231, 232, 233, 234, 235, 236, 237, 238, 239, 240, 241, 242, 243, 244, 245, 246, 247, 248, 249, 250, 251, 252, 253, 254, 255, 256, 257, 258, 259, 260, 261, 262, 263, 264, 265, 266, 267, 268, 269, 270, 271, 272, 273, 274, 275, 276, 277, 278, 279, 280, 281, 282, 283, 284, 285, 286, 287, 288, 289, 290, 291, 292, 293, 294, 295, 296, 297, 298, 299, 300, 301, 302, 303, 304, 305, 306, 307, 308, 309, 310, 311, 312, 313, 314, 315, 316, 317, 318, 319, 320, 321, 322, 323, 324, 325, 326, 327, 328, 329, 330, 331, 332, 333, 334, 335, 336, 337, 338, 339, 340, 341, 342, 343, 344, 345, 346, 347, 348, 349, 350, 351, 352, 353, 354, 355, 356, 357, 358, 359, 360, 361, 362, 363, 364, 365, 366, 367, 368, 369, 370, 371, 372, 373, 374, 375, 376, 377, 378, 379, 380, 381, 382, 383, 384, 385, 386, 387, 388, 389, 390, 391, 392, 393, 394, 395, 396, 397, 398, 399, 400, 401, 402, 403, 404, 405, 406, 407, 408, 409, 410, 411, 412, 413, 414, 415, 416, 417, 418, 419, 420, 421, 422, 423, 424, 425, 426, 427, 428, 429, 430, 431, 432, 433, 434, 435, 436, 437, 438, 439, 440, 441, 442, 443, 444, 445, 446, 447, 448, 449, 450, 451, 452, 453, 454, 455, 456, 457, 458, 459, 460, 461, 462, 463, 464, 465, 466, 467, 468, 469, 470, 471, 472, 473, 474, 475, 476, 477, 478, 479, 480, 481, 482, 483, 484, 485, 486, 487, 488, 489, 490, 491, 492, 493, 494, 495, 496, 497, 498, 499, 500, 501, 502, 503, 504, 505, 506, 507, 508, 509, 510, 511, 512, 513, 514, 515, 516, 517, 518, 519, 520, 521, 522, 523, 524, 525, 526, 527, 528, 529, 530, 531, 532, 533, 534, 535, 536, 537, 538, 539, 540, 541, 542, 543, 544, 545, 546, 547, 548, 549, 550, 551, 552, 553, 554, 555, 556, 557, 558, 559, 560, 561, 562, 563, 564, 565, 566, 567, 568, 569, 570, 571, 572, 573, 574, 575, 576, 577, 578, 579, 580, 581, 582, 583, 584, 585, 586, 587, 588, 589, 590, 591, 592, 593, 594, 595, 596, 597, 598, 599, 600, 601, 602, 603, 604, 605, 606, 607, 608, 609, 610, 611, 612, 613, 614, 615, 616, 617, 618, 619, 620, 621, 622, 623, 624, 625, 626, 627, 628, 629, 630, 631, 632, 633, 634, 635, 636, 637, 638, 639, 640, 641, 642, 643, 644, 645, 646, 647, 648, 649, 650, 651, 652, 653, 654, 655, 656, 657, 658, 659, 660, 661, 662, 663, 664, 665, 666, 667, 668, 669, 670, 671, 672, 673, 674, 675, 676, 677, 678, 679, 680, 681, 682, 683, 684, 685, 686, 687, 688, 689, 690, 691, 692, 693, 694, 695, 696, 697, 698, 699, 700, 701, 702, 703, 704, 705, 706, 707, 708, 709, 710, 711, 712, 713, 714, 715, 716, 717, 718, 719, 720, 721, 722, 723, 724, 725, 726, 727, 728, 729, 730, 731, 732, 733, 734, 735, 736, 737, 738, 739, 740, 741, 742, 743, 744, 745, 746, 747, 748, 749, 750, 751, 752, 753, 754, 755, 756, 757, 758, 759, 760, 761, 762, 763, 764, 765, 766, 767, 768, 769, 770, 771, 772, 773, 774, 775, 776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 828, 829, 830, 831, 832, 833, 834, 835, 836, 837, 838, 839, 840, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 851, 852, 853, 854, 855, 856, 857, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 898, 899, 900, 901, 902, 903, 904, 905, 906, 907, 908, 909, 910, 911, 912, 913, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 967, 968, 969, 970, 971] - rel material:binding = - } - - def GeomSubset "material_1" - { - uniform token elementType = "face" - uniform token familyName = "materialBind" - int[] indices = [972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 982, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012, 1013, 1014, 1015, 1016, 1017, 1018, 1019, 1020, 1021, 1022, 1023, 1024, 1025, 1026, 1027, 1028, 1029, 1030, 1031, 1032, 1033, 1034, 1035, 1036, 1037, 1038, 1039, 1040, 1041, 1042, 1043, 1044, 1045, 1046, 1047, 1048, 1049, 1050, 1051, 1052, 1053, 1054, 1055, 1056, 1057, 1058, 1059, 1060, 1061, 1062, 1063, 1064, 1065, 1066, 1067, 1068, 1069, 1070, 1071, 1072, 1073, 1074, 1075, 1076, 1077, 1078, 1079, 1080, 1081, 1082, 1083, 1084, 1085, 1086, 1087, 1088, 1089, 1090, 1091, 1092, 1093, 1094, 1095, 1096, 1097, 1098, 1099, 1100, 1101, 1102, 1103, 1104, 1105, 1106, 1107, 1108, 1109, 1110, 1111, 1112, 1113, 1114, 1115, 1116, 1117, 1118, 1119, 1120, 1121, 1122, 1123, 1124, 1125, 1126, 1127, 1128, 1129, 1130, 1131, 1132, 1133, 1134, 1135, 1136, 1137, 1138, 1139, 1140, 1141, 1142, 1143, 1144, 1145, 1146, 1147, 1148, 1149, 1150, 1151, 1152, 1153, 1154, 1155, 1156, 1157, 1158, 1159, 1160, 1161, 1162, 1163, 1164, 1165, 1166, 1167, 1168, 1169, 1170, 1171, 1172, 1173, 1174, 1175, 1176, 1177, 1178, 1179, 1180, 1181, 1182, 1183, 1184, 1185, 1186, 1187, 1188, 1189, 1190, 1191, 1192, 1193, 1194, 1195, 1196, 1197, 1198, 1199, 1200, 1201, 1202, 1203, 1204, 1205, 1206, 1207, 1208, 1209, 1210, 1211, 1212, 1213, 1214, 1215, 1216, 1217, 1218, 1219, 1220, 1221, 1222, 1223, 1224, 1225, 1226, 1227, 1228, 1229, 1230, 1231, 1232, 1233, 1234, 1235, 1236, 1237, 1238, 1239, 1240, 1241, 1242, 1243, 1244, 1245, 1246, 1247, 1248, 1249, 1250, 1251, 1252, 1253, 1254, 1255, 1256, 1257, 1258, 1259, 1260, 1261, 1262, 1263, 1264, 1265, 1266, 1267, 1268, 1269, 1270, 1271, 1272, 1273, 1274, 1275, 1276, 1277, 1278, 1279, 1280, 1281, 1282, 1283, 1284, 1285, 1286, 1287, 1288, 1289, 1290, 1291, 1292, 1293] - rel material:binding = - } - - def GeomSubset "material_2" - { - uniform token elementType = "face" - uniform token familyName = "materialBind" - int[] indices = [1294, 1295] - rel material:binding = - } - } - - def Mesh "collisions" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - float3[] extent = [(-0.42666, -0.1237, -0.092999995), (0.4406, 0.123599984, 0.08047398)] - int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 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subdivisionScheme = "bilinear" - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def PhysicsRevoluteJoint "fl_hx" ( - apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:maxForce = 1000 - float drive:angular:physics:stiffness = 0 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - rel physics:body0 = - rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0.29785, 0.055, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (1, 0, 0, 0) - quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = -46.115196 - float physics:upperLimit = 44.25686 - float physxJoint:maxJointVelocity = 57295.78 - } - } - - def Xform "fl_hip" ( - apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - float physics:density = 1000 - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0.29785001277923584, 0.054999999701976776, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } -} diff --git a/test/data/usd_conversion_data/hab_spot_arm_with_hab_metadata.usda b/test/data/usd_conversion_data/hab_spot_arm_with_hab_metadata.usda deleted file mode 100644 index 8823c8baed..0000000000 --- a/test/data/usd_conversion_data/hab_spot_arm_with_hab_metadata.usda +++ /dev/null @@ -1,266 +0,0 @@ -#usda 1.0 -( - customLayerData = { - dictionary omni_layer = { - dictionary locked = { - } - dictionary muteness = { - } - } - } - defaultPrim = "spot" - doc = """Generated from Composed Stage of root layer /home/trandaniel/dev/habitat-lab/test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda - - -Generated from Composed Stage of root layer /home/trandaniel/dev/habitat-lab/test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda - - -Generated from Composed Stage of root layer /home/trandaniel/dev/habitat-lab/test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda - - -Generated from Composed Stage of root layer /home/trandaniel/dev/habitat-lab/test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda - - -Generated from Composed Stage of root layer /home/trandaniel/dev/habitat-lab/test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda - - -Generated from Composed Stage of root layer /home/trandaniel/dev/habitat-lab/test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda - - -Generated from Composed Stage of root layer /home/trandaniel/dev/habitat-lab/test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda - - -Generated from Composed Stage of root layer /home/trandaniel/dev/habitat-lab/test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda - - -Generated from Composed Stage of root layer /home/trandaniel/dev/habitat-lab/test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda - - -Generated from Composed Stage of root layer /home/trandaniel/dev/habitat-lab/test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda - - -Generated from Composed Stage of root layer /home/trandaniel/dev/habitat-lab/test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda - - -Generated from Composed Stage of root layer /home/trandaniel/dev/habitat-lab/test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda - - -Generated from Composed Stage of root layer /home/trandaniel/dev/habitat-lab/test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda - - -Generated from Composed Stage of root layer /home/trandaniel/dev/habitat-lab/test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda - - -Generated from Composed Stage of root layer /home/trandaniel/dev/habitat-lab/test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda - - -Generated from Composed Stage of root layer /home/trandaniel/dev/habitat-lab/test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda - - -Generated from Composed Stage of root layer /home/trandaniel/dev/habitat-lab/test/data/usd_conversion_data/hab_spot_arm_test_convert_urdf.usda -""" - metersPerUnit = 1 - upAxis = "Z" -) - -def Xform "spot" -{ - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Scope "Looks" - { - def Material "material_M_Base" - { - token outputs:mdl:displacement.connect = - token outputs:mdl:surface.connect = - token outputs:mdl:volume.connect = - - def Shader "Shader" - { - uniform token info:id = "UsdPreviewSurface" - uniform token info:implementationSource = "sourceAsset" - uniform asset info:mdl:sourceAsset = @OmniPBR.mdl@ - uniform token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (1, 1, 1) - asset inputs:diffuse_texture = @materials/*0@ - color3f inputs:emissive_color = (0, 0, 0) - float inputs:metallic_constant = 0 - token outputs:out - } - } - - def Material "material_M_White" - { - token outputs:mdl:displacement.connect = - token outputs:mdl:surface.connect = - token outputs:mdl:volume.connect = - - def Shader "Shader" - { - uniform token info:id = "UsdPreviewSurface" - uniform token info:implementationSource = "sourceAsset" - uniform asset info:mdl:sourceAsset = @OmniPBR.mdl@ - uniform token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.8, 0.8, 0.8) - color3f inputs:emissive_color = (0, 0, 0) - float inputs:metallic_constant = 0 - token outputs:out - } - } - - def Material "material_M_GlowBlue" - { - token outputs:mdl:displacement.connect = - token outputs:mdl:surface.connect = - token outputs:mdl:volume.connect = - - def Shader "Shader" - { - uniform token info:id = "UsdPreviewSurface" - uniform token info:implementationSource = "sourceAsset" - uniform asset info:mdl:sourceAsset = @OmniPBR.mdl@ - uniform token info:mdl:sourceAsset:subIdentifier = "OmniPBR" - color3f inputs:diffuse_color_constant = (0.37421525, 0.6885966, 0.80000025) - color3f inputs:emissive_color = (0.34331882, 0.860551, 1) - float inputs:metallic_constant = 0 - token outputs:out - } - } - } - - def Xform "base" ( - apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI", "PhysicsArticulationRootAPI", "PhysxArticulationAPI"] - ) - { - custom string habitatVisual:assetPath = "test/data/meshesColored/base.glb" - custom float3 habitatVisual:assetScale = (1, 1, 1) - point3f physics:centerOfMass = (0, 0, 0) - float3 physics:diagonalInertia = (1.5, 1.5, 0.5) - float physics:mass = 70.1294 - quatf physics:principalAxes = (1, 0, 0, 0) - bool physxArticulation:enabledSelfCollisions = 0 - int physxArticulation:solverPositionIterationCount = 32 - int physxArticulation:solverVelocityIterationCount = 1 - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def Mesh "visuals" - { - float3[] extent = [(-0.42666, -0.1237, -0.092999995), (0.4406, 0.123599984, 0.08047398)] - int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 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(0.6771698, 0.54776144), (0.43465197, 0.51744044), (0.4163607, 0.5185617), (0.4292557, 0.51624906), (0.70730495, 0.5346562), (0.7146634, 0.54776144), (0.7098979, 0.52947026), (0.7075852, 0.5876379), (0.7095476, 0.59254354), (0.71424305, 0.5804194), (0.6771698, 0.54776144), (0.6713531, 0.52975047), (0.6719838, 0.52947026), (0.4292557, 0.51624906), (0.4352126, 0.5161089), (0.43465197, 0.51744044), (0.71452326, 0.574813), (0.71424305, 0.5804194), (0.7098979, 0.59282386), (0.46730998, 0.5981744), (0.4794341, 0.6003469), (0.47971442, 0.5997863), (0.46170348, 0.5962121), (0.43570322, 0.5976137), (0.46730998, 0.5981744), (0.42154673, 0.59579164), (0.4163607, 0.5997863), (0.4212664, 0.5938994), (0.4163607, 0.5997863), (0.43465197, 0.59628224), (0.4212664, 0.5938994), (0.4212664, 0.5224863), (0.4212664, 0.5938994), (0.43465197, 0.59628224), (0.46170348, 0.5962121), (0.47971442, 0.5997863), (0.47480872, 0.593479), (0.47971442, 0.5185617), (0.46163338, 0.51758057), (0.47494894, 0.52115476), (0.46170348, 0.5962121), (0.47480872, 0.593479), (0.47494894, 0.52115476), (0.46170348, 0.5962121), (0.47494894, 0.52115476), (0.46163338, 0.51758057), (0.4212664, 0.5224863), (0.4341614, 0.52255636), (0.4163607, 0.5185617), (0.4163607, 0.5185617), (0.4341614, 0.52255636), (0.4292557, 0.51624906), (0.4341614, 0.52255636), (0.43465197, 0.59628224), (0.4352126, 0.5161089), (0.4212664, 0.5224863), (0.43465197, 0.59628224), (0.4341614, 0.52255636), (0.4341614, 0.52255636), (0.4352126, 0.5161089), (0.4292557, 0.51624906), (0.46780056, 0.59446007), (0.42519096, 0.5202437), (0.47095427, 0.5202437)] ( - interpolation = "faceVarying" - ) - texCoord2f[] primvars:st_2 = [(0.46163338, 0.51758057), (0.43465197, 0.59628224), (0.46170348, 0.5962121), (0.46163338, 0.51758057), (0.4352126, 0.5161089), (0.43465197, 0.59628224)] ( - interpolation = "faceVarying" - ) - uniform token subdivisionScheme = "bilinear" - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - - def GeomSubset "material_0" - { - uniform token elementType = "face" - uniform token familyName = "materialBind" - int[] indices = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203, 204, 205, 206, 207, 208, 209, 210, 211, 212, 213, 214, 215, 216, 217, 218, 219, 220, 221, 222, 223, 224, 225, 226, 227, 228, 229, 230, 231, 232, 233, 234, 235, 236, 237, 238, 239, 240, 241, 242, 243, 244, 245, 246, 247, 248, 249, 250, 251, 252, 253, 254, 255, 256, 257, 258, 259, 260, 261, 262, 263, 264, 265, 266, 267, 268, 269, 270, 271, 272, 273, 274, 275, 276, 277, 278, 279, 280, 281, 282, 283, 284, 285, 286, 287, 288, 289, 290, 291, 292, 293, 294, 295, 296, 297, 298, 299, 300, 301, 302, 303, 304, 305, 306, 307, 308, 309, 310, 311, 312, 313, 314, 315, 316, 317, 318, 319, 320, 321, 322, 323, 324, 325, 326, 327, 328, 329, 330, 331, 332, 333, 334, 335, 336, 337, 338, 339, 340, 341, 342, 343, 344, 345, 346, 347, 348, 349, 350, 351, 352, 353, 354, 355, 356, 357, 358, 359, 360, 361, 362, 363, 364, 365, 366, 367, 368, 369, 370, 371, 372, 373, 374, 375, 376, 377, 378, 379, 380, 381, 382, 383, 384, 385, 386, 387, 388, 389, 390, 391, 392, 393, 394, 395, 396, 397, 398, 399, 400, 401, 402, 403, 404, 405, 406, 407, 408, 409, 410, 411, 412, 413, 414, 415, 416, 417, 418, 419, 420, 421, 422, 423, 424, 425, 426, 427, 428, 429, 430, 431, 432, 433, 434, 435, 436, 437, 438, 439, 440, 441, 442, 443, 444, 445, 446, 447, 448, 449, 450, 451, 452, 453, 454, 455, 456, 457, 458, 459, 460, 461, 462, 463, 464, 465, 466, 467, 468, 469, 470, 471, 472, 473, 474, 475, 476, 477, 478, 479, 480, 481, 482, 483, 484, 485, 486, 487, 488, 489, 490, 491, 492, 493, 494, 495, 496, 497, 498, 499, 500, 501, 502, 503, 504, 505, 506, 507, 508, 509, 510, 511, 512, 513, 514, 515, 516, 517, 518, 519, 520, 521, 522, 523, 524, 525, 526, 527, 528, 529, 530, 531, 532, 533, 534, 535, 536, 537, 538, 539, 540, 541, 542, 543, 544, 545, 546, 547, 548, 549, 550, 551, 552, 553, 554, 555, 556, 557, 558, 559, 560, 561, 562, 563, 564, 565, 566, 567, 568, 569, 570, 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771, 772, 773, 774, 775, 776, 777, 778, 779, 780, 781, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 795, 796, 797, 798, 799, 800, 801, 802, 803, 804, 805, 806, 807, 808, 809, 810, 811, 812, 813, 814, 815, 816, 817, 818, 819, 820, 821, 822, 823, 824, 825, 826, 827, 828, 829, 830, 831, 832, 833, 834, 835, 836, 837, 838, 839, 840, 841, 842, 843, 844, 845, 846, 847, 848, 849, 850, 851, 852, 853, 854, 855, 856, 857, 858, 859, 860, 861, 862, 863, 864, 865, 866, 867, 868, 869, 870, 871, 872, 873, 874, 875, 876, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 898, 899, 900, 901, 902, 903, 904, 905, 906, 907, 908, 909, 910, 911, 912, 913, 914, 915, 916, 917, 918, 919, 920, 921, 922, 923, 924, 925, 926, 927, 928, 929, 930, 931, 932, 933, 934, 935, 936, 937, 938, 939, 940, 941, 942, 943, 944, 945, 946, 947, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960, 961, 962, 963, 964, 965, 966, 967, 968, 969, 970, 971] - rel material:binding = - } - - def GeomSubset "material_1" - { - uniform token elementType = "face" - uniform token familyName = "materialBind" - int[] indices = [972, 973, 974, 975, 976, 977, 978, 979, 980, 981, 982, 983, 984, 985, 986, 987, 988, 989, 990, 991, 992, 993, 994, 995, 996, 997, 998, 999, 1000, 1001, 1002, 1003, 1004, 1005, 1006, 1007, 1008, 1009, 1010, 1011, 1012, 1013, 1014, 1015, 1016, 1017, 1018, 1019, 1020, 1021, 1022, 1023, 1024, 1025, 1026, 1027, 1028, 1029, 1030, 1031, 1032, 1033, 1034, 1035, 1036, 1037, 1038, 1039, 1040, 1041, 1042, 1043, 1044, 1045, 1046, 1047, 1048, 1049, 1050, 1051, 1052, 1053, 1054, 1055, 1056, 1057, 1058, 1059, 1060, 1061, 1062, 1063, 1064, 1065, 1066, 1067, 1068, 1069, 1070, 1071, 1072, 1073, 1074, 1075, 1076, 1077, 1078, 1079, 1080, 1081, 1082, 1083, 1084, 1085, 1086, 1087, 1088, 1089, 1090, 1091, 1092, 1093, 1094, 1095, 1096, 1097, 1098, 1099, 1100, 1101, 1102, 1103, 1104, 1105, 1106, 1107, 1108, 1109, 1110, 1111, 1112, 1113, 1114, 1115, 1116, 1117, 1118, 1119, 1120, 1121, 1122, 1123, 1124, 1125, 1126, 1127, 1128, 1129, 1130, 1131, 1132, 1133, 1134, 1135, 1136, 1137, 1138, 1139, 1140, 1141, 1142, 1143, 1144, 1145, 1146, 1147, 1148, 1149, 1150, 1151, 1152, 1153, 1154, 1155, 1156, 1157, 1158, 1159, 1160, 1161, 1162, 1163, 1164, 1165, 1166, 1167, 1168, 1169, 1170, 1171, 1172, 1173, 1174, 1175, 1176, 1177, 1178, 1179, 1180, 1181, 1182, 1183, 1184, 1185, 1186, 1187, 1188, 1189, 1190, 1191, 1192, 1193, 1194, 1195, 1196, 1197, 1198, 1199, 1200, 1201, 1202, 1203, 1204, 1205, 1206, 1207, 1208, 1209, 1210, 1211, 1212, 1213, 1214, 1215, 1216, 1217, 1218, 1219, 1220, 1221, 1222, 1223, 1224, 1225, 1226, 1227, 1228, 1229, 1230, 1231, 1232, 1233, 1234, 1235, 1236, 1237, 1238, 1239, 1240, 1241, 1242, 1243, 1244, 1245, 1246, 1247, 1248, 1249, 1250, 1251, 1252, 1253, 1254, 1255, 1256, 1257, 1258, 1259, 1260, 1261, 1262, 1263, 1264, 1265, 1266, 1267, 1268, 1269, 1270, 1271, 1272, 1273, 1274, 1275, 1276, 1277, 1278, 1279, 1280, 1281, 1282, 1283, 1284, 1285, 1286, 1287, 1288, 1289, 1290, 1291, 1292, 1293] - rel material:binding = - } - - def GeomSubset "material_2" - { - uniform token elementType = "face" - uniform token familyName = "materialBind" - int[] indices = [1294, 1295] - rel material:binding = - } - } - - def Mesh "collisions" ( - apiSchemas = ["PhysicsCollisionAPI", "PhysicsMeshCollisionAPI"] - ) - { - float3[] extent = [(-0.42666, -0.1237, -0.092999995), (0.4406, 0.123599984, 0.08047398)] - int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 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(0.47480872, 0.593479), (0.47494894, 0.52115476), (0.46170348, 0.5962121), (0.47494894, 0.52115476), (0.46163338, 0.51758057), (0.4212664, 0.5224863), (0.4341614, 0.52255636), (0.4163607, 0.5185617), (0.4163607, 0.5185617), (0.4341614, 0.52255636), (0.4292557, 0.51624906), (0.4341614, 0.52255636), (0.43465197, 0.59628224), (0.4352126, 0.5161089), (0.4212664, 0.5224863), (0.43465197, 0.59628224), (0.4341614, 0.52255636), (0.4341614, 0.52255636), (0.4352126, 0.5161089), (0.4292557, 0.51624906), (0.46780056, 0.59446007), (0.42519096, 0.5202437), (0.47095427, 0.5202437)] ( - interpolation = "faceVarying" - ) - texCoord2f[] primvars:st_2 = [(0.46163338, 0.51758057), (0.43465197, 0.59628224), (0.46170348, 0.5962121), (0.46163338, 0.51758057), (0.4352126, 0.5161089), (0.43465197, 0.59628224)] ( - interpolation = "faceVarying" - ) - uniform token purpose = "guide" - uniform token subdivisionScheme = "bilinear" - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0, 0, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } - - def PhysicsRevoluteJoint "fl_hx" ( - apiSchemas = ["PhysxJointAPI", "PhysicsJointStateAPI:angular", "PhysicsDriveAPI:angular"] - ) - { - float drive:angular:physics:damping = 0 - float drive:angular:physics:maxForce = 1000 - float drive:angular:physics:stiffness = 0 - float drive:angular:physics:targetPosition = 0 - uniform token drive:angular:physics:type = "force" - uniform token physics:axis = "X" - rel physics:body0 = - rel physics:body1 = - float physics:breakForce = 3.4028235e38 - float physics:breakTorque = 3.4028235e38 - point3f physics:localPos0 = (0.29785, 0.055, 0) - point3f physics:localPos1 = (0, 0, 0) - quatf physics:localRot0 = (1, 0, 0, 0) - quatf physics:localRot1 = (1, 0, 0, 0) - float physics:lowerLimit = -46.115196 - float physics:upperLimit = 44.25686 - float physxJoint:maxJointVelocity = 57295.78 - } - } - - def Xform "fl_hip" ( - apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsMassAPI"] - ) - { - custom string habitatVisual:assetPath = "test/data/meshesColored/fl.hip.glb" - custom float3 habitatVisual:assetScale = (1, 1, 1) - float physics:density = 1000 - quatd xformOp:orient = (1, 0, 0, 0) - double3 xformOp:scale = (1, 1, 1) - double3 xformOp:translate = (0.29785001277923584, 0.054999999701976776, 0) - uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"] - } -} diff --git a/test/test_isaac_sim.py b/test/test_isaac_sim.py index cee04b6f0c..883523f693 100644 --- a/test/test_isaac_sim.py +++ b/test/test_isaac_sim.py @@ -11,7 +11,9 @@ sys.path.insert(0, repo_dir) isaacsim_dir = repo_dir + "/habitat-lab/habitat/isaac_sim" sys.path.insert(0, isaacsim_dir) -sys.path.insert(0, repo_dir + "/habitat-lab/habitat/isaac_sim/asset_conversion") +sys.path.insert( + 0, repo_dir + "/habitat-lab/habitat/isaac_sim/asset_conversion" +) scene_instance_conversion_script = ( isaacsim_dir + "/asset_conversion/scene_instance_json_to_usd.py" @@ -172,6 +174,10 @@ def test_example2_scene_instance(): # Not sure, but pxr space is has values from 0 to infinity, and 1 is default, but hab space has # -1 values? Don't know what hab space scaling is. + if os.path.exists(scene_usd_filepath): + assert True + os.remove(scene_usd_filepath) + ## urdf_to_usd.py unit tests @@ -221,27 +227,29 @@ def test_clean_urdf(): # Optionally remove elements assert len(root_removed_visual.xpath("//visual")) == 0 assert len(root_removed_visual_CORRECT.xpath("//visual")) == 0 - + if os.path.exists(output_file): os.remove(output_file) - + if os.path.exists(removed_visual): os.remove(removed_visual) + def test_convert_urdf(): urdf_dir = repo_dir + "/test/data/usd_conversion_data/" clean_urdf_filepath = urdf_dir + "hab_spot_arm_clean_CORRECT.urdf" output_usd = urdf_dir + "hab_spot_arm_test_convert_urdf.usda" convert_urdf(clean_urdf_filepath, output_usd) - # TODO: Issac sim drops a prim. "Warning: Prim not found for link: fl_uleg" - assert True + if os.path.exists(output_usd): + assert True + os.remove(output_usd) def test_add_habitat_visual_metadata_for_articulation(): urdf_dir = repo_dir + "/test/data/usd_conversion_data/" - converted_clean_usda = urdf_dir + "hab_spot_arm_test_convert_urdf.usda" + converted_clean_usda = urdf_dir + "hab_spot_arm_test_converted_urdf.usda" reference_urdf_filepath = urdf_dir + "hab_spot_arm_EXAMPLE.urdf" out_usd_filepath = urdf_dir + "hab_spot_arm_with_hab_metadata.usda" project_root_folder = repo_dir @@ -323,5 +331,6 @@ def test_add_habitat_visual_metadata_for_articulation(): ).Get() ) -if __name__ == "__main__": - test_clean_urdf() \ No newline at end of file + if os.path.exists(out_usd_filepath): + assert True + os.remove(out_usd_filepath) From 2fe95358e7c4c3c10b64d177db1920fc67828bff Mon Sep 17 00:00:00 2001 From: trandaniel Date: Thu, 23 Jan 2025 12:27:13 -0800 Subject: [PATCH 61/61] Move meshColored folder and remove more unncessary unit test data files. --- .../102343992.scene_instance.json | 1 - test/data/usd_conversion_data/config.yaml | 2 +- ...efdc3d37dfab1eb9f99117bb84c59003d684811.glb | Bin 611184 -> 0 bytes test/meshesColored/base.glb | Bin 296732 -> 0 bytes test/meshesColored/fl.uleg.glb | Bin 291556 -> 0 bytes test/meshesColored/fr.hip.glb | Bin 26260 -> 0 bytes test/test_isaac_sim.py | 4 ---- 7 files changed, 1 insertion(+), 6 deletions(-) delete mode 100644 test/data/usd_conversion_data/102343992.scene_instance.json delete mode 100644 test/data/usd_conversion_data/objects_EXAMPLE2/1efdc3d37dfab1eb9f99117bb84c59003d684811.glb delete mode 100644 test/meshesColored/base.glb delete mode 100644 test/meshesColored/fl.uleg.glb delete mode 100644 test/meshesColored/fr.hip.glb diff --git a/test/data/usd_conversion_data/102343992.scene_instance.json b/test/data/usd_conversion_data/102343992.scene_instance.json deleted file mode 100644 index 914047ffc1..0000000000 --- a/test/data/usd_conversion_data/102343992.scene_instance.json +++ /dev/null @@ -1 +0,0 @@ -{"stage_instance": {"template_name": "stages/102343992"}, "translation_origin": "asset_local", "object_instances": [{"template_name": "1efdc3d37dfab1eb9f99117bb84c59003d684811", "translation": [7.869999885559082, 1.200000514924497, -9.038998947203183], "rotation": [0.8660254049292261, -1.7140893014617373e-08, 0.4999999980171692, 2.144662085814174e-08], "non_uniform_scale": [0.9999999418353455, 1.000248074501974, 0.439367260520995], "motion_type": "STATIC"}, {"template_name": "1efdc3d37dfab1eb9f99117bb84c59003d684811", "translation": [8.145999908447266, -4.354715485987981e-07, 7.305999797224985], "rotation": [-4.371138874050119e-08, -6.535889244928926e-16, 0.9999999999999968, 6.713240204275516e-08], "non_uniform_scale": [1.6183986663818422, 1.675353446560673, 0.8347977596762485], "motion_type": "STATIC"}, {"template_name": "356ce92bc38493578fdf63b7f3edfaea8001c849", "translation": 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