记录动作以及回放record_demo,replay_demo
This commit is contained in:
139
scripts/tools/convert_mjcf.py
Normal file
139
scripts/tools/convert_mjcf.py
Normal file
@@ -0,0 +1,139 @@
|
||||
# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
|
||||
# All rights reserved.
|
||||
#
|
||||
# SPDX-License-Identifier: BSD-3-Clause
|
||||
|
||||
"""
|
||||
Utility to convert a MJCF into USD format.
|
||||
|
||||
MuJoCo XML Format (MJCF) is an XML file format used in MuJoCo to describe all elements of a robot.
|
||||
For more information, see: http://www.mujoco.org/book/XMLreference.html
|
||||
|
||||
This script uses the MJCF importer extension from Isaac Sim (``isaacsim.asset.importer.mjcf``) to convert
|
||||
a MJCF asset into USD format. It is designed as a convenience script for command-line use. For more information
|
||||
on the MJCF importer, see the documentation for the extension:
|
||||
https://docs.isaacsim.omniverse.nvidia.com/latest/robot_setup/ext_isaacsim_asset_importer_mjcf.html
|
||||
|
||||
|
||||
positional arguments:
|
||||
input The path to the input URDF file.
|
||||
output The path to store the USD file.
|
||||
|
||||
optional arguments:
|
||||
-h, --help Show this help message and exit
|
||||
--fix-base Fix the base to where it is imported. (default: False)
|
||||
--import-sites Import sites by parse <site> tag. (default: True)
|
||||
--make-instanceable Make the asset instanceable for efficient cloning. (default: False)
|
||||
|
||||
"""
|
||||
|
||||
"""Launch Isaac Sim Simulator first."""
|
||||
|
||||
import argparse
|
||||
|
||||
from isaaclab.app import AppLauncher
|
||||
|
||||
# add argparse arguments
|
||||
parser = argparse.ArgumentParser(description="Utility to convert a MJCF into USD format.")
|
||||
parser.add_argument("input", type=str, help="The path to the input MJCF file.")
|
||||
parser.add_argument("output", type=str, help="The path to store the USD file.")
|
||||
parser.add_argument("--fix-base", action="store_true", default=False, help="Fix the base to where it is imported.")
|
||||
parser.add_argument(
|
||||
"--import-sites", action="store_true", default=False, help="Import sites by parsing the <site> tag."
|
||||
)
|
||||
parser.add_argument(
|
||||
"--make-instanceable",
|
||||
action="store_true",
|
||||
default=False,
|
||||
help="Make the asset instanceable for efficient cloning.",
|
||||
)
|
||||
|
||||
# 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
|
||||
|
||||
"""Rest everything follows."""
|
||||
|
||||
import contextlib
|
||||
import os
|
||||
|
||||
import carb
|
||||
import omni.kit.app
|
||||
|
||||
import isaaclab.sim as sim_utils
|
||||
from isaaclab.sim.converters import MjcfConverter, MjcfConverterCfg
|
||||
from isaaclab.utils.assets import check_file_path
|
||||
from isaaclab.utils.dict import print_dict
|
||||
|
||||
|
||||
def main():
|
||||
# check valid file path
|
||||
mjcf_path = args_cli.input
|
||||
if not os.path.isabs(mjcf_path):
|
||||
mjcf_path = os.path.abspath(mjcf_path)
|
||||
if not check_file_path(mjcf_path):
|
||||
raise ValueError(f"Invalid file path: {mjcf_path}")
|
||||
# create destination path
|
||||
dest_path = args_cli.output
|
||||
if not os.path.isabs(dest_path):
|
||||
dest_path = os.path.abspath(dest_path)
|
||||
|
||||
# create the converter configuration
|
||||
mjcf_converter_cfg = MjcfConverterCfg(
|
||||
asset_path=mjcf_path,
|
||||
usd_dir=os.path.dirname(dest_path),
|
||||
usd_file_name=os.path.basename(dest_path),
|
||||
fix_base=args_cli.fix_base,
|
||||
import_sites=args_cli.import_sites,
|
||||
force_usd_conversion=True,
|
||||
make_instanceable=args_cli.make_instanceable,
|
||||
)
|
||||
|
||||
# Print info
|
||||
print("-" * 80)
|
||||
print("-" * 80)
|
||||
print(f"Input MJCF file: {mjcf_path}")
|
||||
print("MJCF importer config:")
|
||||
print_dict(mjcf_converter_cfg.to_dict(), nesting=0)
|
||||
print("-" * 80)
|
||||
print("-" * 80)
|
||||
|
||||
# Create mjcf converter and import the file
|
||||
mjcf_converter = MjcfConverter(mjcf_converter_cfg)
|
||||
# print output
|
||||
print("MJCF importer output:")
|
||||
print(f"Generated USD file: {mjcf_converter.usd_path}")
|
||||
print("-" * 80)
|
||||
print("-" * 80)
|
||||
|
||||
# Determine if there is a GUI to update:
|
||||
# acquire settings interface
|
||||
carb_settings_iface = carb.settings.get_settings()
|
||||
# read flag for whether a local GUI is enabled
|
||||
local_gui = carb_settings_iface.get("/app/window/enabled")
|
||||
# read flag for whether livestreaming GUI is enabled
|
||||
livestream_gui = carb_settings_iface.get("/app/livestream/enabled")
|
||||
|
||||
# Simulate scene (if not headless)
|
||||
if local_gui or livestream_gui:
|
||||
# Open the stage with USD
|
||||
sim_utils.open_stage(mjcf_converter.usd_path)
|
||||
# Reinitialize the simulation
|
||||
app = omni.kit.app.get_app_interface()
|
||||
# Run simulation
|
||||
with contextlib.suppress(KeyboardInterrupt):
|
||||
while app.is_running():
|
||||
# perform step
|
||||
app.update()
|
||||
|
||||
|
||||
if __name__ == "__main__":
|
||||
# run the main function
|
||||
main()
|
||||
# close sim app
|
||||
simulation_app.close()
|
||||
Reference in New Issue
Block a user