[Development] Add convert glb to usd objects. Issac Lab repo installation required.

habitat-lab/habitat/isaacsim/urdf_to_usd.py

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+"""This module converts urdf files into usda files."""
+
+import argparse
+import os
+
+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:
+    1. Optionally removes <visual> elements.
+    2. Fixes invalid use of '.' in <link> and <joint> 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 <visual> 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 <link> and <joint> 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 <parent link> and <child 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]"):
+        original_link = child.get("link")
+        child.set("link", name_map.get(original_link, original_link))
+
+    # Optionally remove <visual> 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: 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)
+
+    # 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: str,
+    reference_urdf_filepath: str,
+    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()
+
+    # 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)) # NOTE: Not used in this function
+    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 <mesh> 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 = 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}")
+
+
+if __name__ == "__main__":
+    """This function converts urdf files to usda."""
+    # Build parser and subparser
+    parser = argparse.ArgumentParser(
+        description="Create an empty Issac Sim stage."
+    )
+    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.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.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
+    )
+
+    # 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
+    app_launcher = AppLauncher(args)
+    simulation_app = app_launcher.app
+    from pxr import Gf, Sdf, Usd
+
+    # 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()

test/data/usd_conversion_data/.asset_hash

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+24f1b688baf20921994b95e47f42b7ee