release repository

examples/isaac_sim/util/convert_urdf_to_usd.py

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+#
+# Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+#
+# NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
+# property and proprietary rights in and to this material, related
+# documentation and any modifications thereto. Any use, reproduction,
+# disclosure or distribution of this material and related documentation
+# without an express license agreement from NVIDIA CORPORATION or
+# its affiliates is strictly prohibited.
+#
+
+# Third Party
+import torch
+
+a = torch.zeros(4, device="cuda:0")
+
+# Standard Library
+import argparse
+
+parser = argparse.ArgumentParser()
+parser.add_argument(
+    "--robot",
+    type=str,
+    default="franka.yml",
+    help="Robot configuration to download",
+)
+parser.add_argument("--save_usd", default=False, action="store_true")
+args = parser.parse_args()
+
+# Third Party
+from omni.isaac.kit import SimulationApp
+
+simulation_app = SimulationApp({"headless": args.save_usd})
+
+# Third Party
+import omni.usd
+from omni.isaac.core import World
+from omni.isaac.core.robots import Robot
+from omni.isaac.core.utils.types import ArticulationAction
+
+try:
+    # Third Party
+    from omni.isaac.urdf import _urdf  # isaacsim 2022.2
+except ImportError:
+    from omni.importer.urdf import _urdf  # isaac sim 2023.1
+
+# CuRobo
+from curobo.util.usd_helper import UsdHelper
+from curobo.util_file import (
+    get_assets_path,
+    get_filename,
+    get_path_of_dir,
+    get_robot_configs_path,
+    join_path,
+    load_yaml,
+)
+
+
+def save_usd():
+    my_world = World(stage_units_in_meters=1.0)
+
+    import_config = _urdf.ImportConfig()
+    import_config.merge_fixed_joints = False
+    import_config.convex_decomp = False
+    import_config.import_inertia_tensor = True
+    import_config.fix_base = True
+    import_config.make_default_prim = True
+    import_config.self_collision = False
+    import_config.create_physics_scene = True
+    import_config.import_inertia_tensor = False
+    import_config.default_drive_strength = 10000
+    import_config.default_position_drive_damping = 100
+    import_config.default_drive_type = _urdf.UrdfJointTargetType.JOINT_DRIVE_POSITION
+    import_config.distance_scale = 1
+    import_config.density = 0.0
+    # Get the urdf file path
+    robot_config = load_yaml(join_path(get_robot_configs_path(), args.robot))
+    urdf_path = join_path(get_assets_path(), robot_config["robot_cfg"]["kinematics"]["urdf_path"])
+    asset_path = join_path(
+        get_assets_path(), robot_config["robot_cfg"]["kinematics"]["asset_root_path"]
+    )
+    urdf_interface = _urdf.acquire_urdf_interface()
+    full_path = join_path(get_assets_path(), robot_config["robot_cfg"]["kinematics"]["urdf_path"])
+    default_config = robot_config["robot_cfg"]["kinematics"]["cspace"]["retract_config"]
+    j_names = robot_config["robot_cfg"]["kinematics"]["cspace"]["joint_names"]
+
+    robot_path = get_path_of_dir(full_path)
+    filename = get_filename(full_path)
+    imported_robot = urdf_interface.parse_urdf(robot_path, filename, import_config)
+    robot_path = urdf_interface.import_robot(
+        robot_path, filename, imported_robot, import_config, ""
+    )
+    robot = my_world.scene.add(Robot(prim_path=robot_path, name="robot"))
+    # robot.disable_gravity()
+    i = 0
+
+    my_world.reset()
+
+    usd_help = UsdHelper()
+    usd_help.load_stage(my_world.stage)
+    save_path = join_path(get_assets_path(), robot_config["robot_cfg"]["kinematics"]["usd_path"])
+    usd_help.write_stage_to_file(save_path, True)
+    print("Wrote usd file to " + save_path)
+    simulation_app.close()
+
+
+def debug_usd():
+    my_world = World(stage_units_in_meters=1.0)
+
+    import_config = _urdf.ImportConfig()
+    import_config.merge_fixed_joints = False
+    import_config.convex_decomp = False
+    import_config.import_inertia_tensor = True
+    import_config.fix_base = True
+    import_config.make_default_prim = True
+    import_config.self_collision = False
+    import_config.create_physics_scene = True
+    import_config.import_inertia_tensor = False
+    import_config.default_drive_strength = 10000
+    import_config.default_position_drive_damping = 100
+    import_config.default_drive_type = _urdf.UrdfJointTargetType.JOINT_DRIVE_POSITION
+    import_config.distance_scale = 1
+    import_config.density = 0.0
+    # Get the urdf file path
+    robot_config = load_yaml(join_path(get_robot_configs_path(), args.robot))
+    urdf_path = join_path(get_assets_path(), robot_config["robot_cfg"]["kinematics"]["urdf_path"])
+    asset_path = join_path(
+        get_assets_path(), robot_config["robot_cfg"]["kinematics"]["asset_root_path"]
+    )
+    urdf_interface = _urdf.acquire_urdf_interface()
+    full_path = join_path(get_assets_path(), robot_config["robot_cfg"]["kinematics"]["urdf_path"])
+    default_config = robot_config["robot_cfg"]["kinematics"]["cspace"]["retract_config"]
+    j_names = robot_config["robot_cfg"]["kinematics"]["cspace"]["joint_names"]
+
+    robot_path = get_path_of_dir(full_path)
+    filename = get_filename(full_path)
+    imported_robot = urdf_interface.parse_urdf(robot_path, filename, import_config)
+    robot_path = urdf_interface.import_robot(
+        robot_path, filename, imported_robot, import_config, ""
+    )
+    robot = my_world.scene.add(Robot(prim_path=robot_path, name="robot"))
+    # robot.disable_gravity()
+    i = 0
+
+    articulation_controller = robot.get_articulation_controller()
+    my_world.reset()
+
+    while simulation_app.is_running():
+        my_world.step(render=True)
+        if i == 0:
+            idx_list = [robot.get_dof_index(x) for x in j_names]
+            robot.set_joint_positions(default_config, idx_list)
+            i += 1
+        # if dof_n is not None:
+        #    dof_i = [robot.get_dof_index(x) for x in j_names]
+        #
+        #    robot.set_joint_positions(default_config, dof_i)
+        if robot.is_valid():
+            art_action = ArticulationAction(default_config, joint_indices=idx_list)
+            articulation_controller.apply_action(art_action)
+    usd_help = UsdHelper()
+    usd_help.load_stage(my_world.stage)
+    save_path = join_path(get_assets_path(), robot_config["robot_cfg"]["kinematics"]["usd_path"])
+    usd_help.write_stage_to_file(save_path, True)
+    simulation_app.close()
+
+
+if __name__ == "__main__":
+    if args.save_usd:
+        save_usd()
+    else:
+        debug_usd()

examples/isaac_sim/util/dowload_assets.py

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+#
+# Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+#
+# NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
+# property and proprietary rights in and to this material, related
+# documentation and any modifications thereto. Any use, reproduction,
+# disclosure or distribution of this material and related documentation
+# without an express license agreement from NVIDIA CORPORATION or
+# its affiliates is strictly prohibited.
+#
+
+# This script downloads robot usd assets from isaac sim for using in CuRobo.
+
+
+# Third Party
+import torch
+
+a = torch.zeros(4, device="cuda:0")
+
+# Third Party
+from omni.isaac.kit import SimulationApp
+
+simulation_app = SimulationApp({"headless": True})
+# Third Party
+from omni.isaac.core import World
+from omni.isaac.core.robots import Robot
+from omni.isaac.core.utils.nucleus import get_assets_root_path as nucleus_path
+from omni.isaac.core.utils.stage import add_reference_to_stage
+
+# CuRobo
+from curobo.util.usd_helper import UsdHelper
+from curobo.util_file import get_assets_path, get_robot_configs_path, join_path, load_yaml
+
+# supported robots:
+robots = ["franka.yml", "ur10.yml"]
+# Standard Library
+import argparse
+
+parser = argparse.ArgumentParser()
+parser.add_argument(
+    "--robot",
+    type=str,
+    default="franka.yml",
+    help="Robot configuration to download",
+)
+args = parser.parse_args()
+
+if __name__ == "__main__":
+    r = args.robot
+    my_world = World(stage_units_in_meters=1.0)
+    robot_config = load_yaml(join_path(get_robot_configs_path(), r))
+    usd_path = nucleus_path() + robot_config["robot_cfg"]["kinematics"]["isaac_usd_path"]
+
+    usd_help = UsdHelper()
+    robot_name = r
+    prim_path = robot_config["robot_cfg"]["kinematics"]["usd_robot_root"]
+    add_reference_to_stage(usd_path=usd_path, prim_path=prim_path)
+    robot = my_world.scene.add(Robot(prim_path=prim_path, name=robot_name))
+    usd_help.load_stage(my_world.stage)
+
+    my_world.reset()
+    articulation_controller = robot.get_articulation_controller()
+
+    # create a new stage and add robot to usd path:
+    save_path = join_path(get_assets_path(), robot_config["robot_cfg"]["kinematics"]["usd_path"])
+    usd_help.write_stage_to_file(save_path, True)
+    my_world.clear()
+    my_world.clear_instance()
+    simulation_app.close()