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

habitat-lab/habitat/isaacsim/remote_content/converter.py

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+''' 
+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))

habitat-lab/habitat/isaacsim/ssh_conversion.py

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+"""
+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()

habitat-lab/habitat/isaacsim/urdf_conversion.py

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+"""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)