release repository

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()