记录动作以及回放record_demo,replay_demo
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scripts/tools/convert_urdf.py
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163
scripts/tools/convert_urdf.py
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# Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
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# All rights reserved.
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#
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# SPDX-License-Identifier: BSD-3-Clause
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"""
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Utility to convert a URDF into USD format.
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Unified Robot Description Format (URDF) is an XML file format used in ROS to describe all elements of
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a robot. For more information, see: http://wiki.ros.org/urdf
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This script uses the URDF importer extension from Isaac Sim (``isaacsim.asset.importer.urdf``) to convert a
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URDF asset into USD format. It is designed as a convenience script for command-line use. For more
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information on the URDF importer, see the documentation for the extension:
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https://docs.isaacsim.omniverse.nvidia.com/latest/robot_setup/ext_isaacsim_asset_importer_urdf.html
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positional arguments:
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input The path to the input URDF file.
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output The path to store the USD file.
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optional arguments:
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-h, --help Show this help message and exit
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--merge-joints Consolidate links that are connected by fixed joints. (default: False)
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--fix-base Fix the base to where it is imported. (default: False)
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--joint-stiffness The stiffness of the joint drive. (default: 100.0)
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--joint-damping The damping of the joint drive. (default: 1.0)
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--joint-target-type The type of control to use for the joint drive. (default: "position")
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"""
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"""Launch Isaac Sim Simulator first."""
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import argparse
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from isaaclab.app import AppLauncher
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# add argparse arguments
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parser = argparse.ArgumentParser(description="Utility to convert a URDF into USD format.")
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parser.add_argument("input", type=str, help="The path to the input URDF file.")
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parser.add_argument("output", type=str, help="The path to store the USD file.")
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parser.add_argument(
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"--merge-joints",
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action="store_true",
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default=False,
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help="Consolidate links that are connected by fixed joints.",
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)
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parser.add_argument("--fix-base", action="store_true", default=False, help="Fix the base to where it is imported.")
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parser.add_argument(
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"--joint-stiffness",
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type=float,
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default=100.0,
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help="The stiffness of the joint drive.",
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)
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parser.add_argument(
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"--joint-damping",
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type=float,
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default=1.0,
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help="The damping of the joint drive.",
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)
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parser.add_argument(
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"--joint-target-type",
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type=str,
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default="position",
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choices=["position", "velocity", "none"],
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help="The type of control to use for the joint drive.",
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)
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# append AppLauncher cli args
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AppLauncher.add_app_launcher_args(parser)
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# parse the arguments
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args_cli = parser.parse_args()
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# launch omniverse app
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app_launcher = AppLauncher(args_cli)
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simulation_app = app_launcher.app
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"""Rest everything follows."""
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import contextlib
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import os
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import carb
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import omni.kit.app
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import isaaclab.sim as sim_utils
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from isaaclab.sim.converters import UrdfConverter, UrdfConverterCfg
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from isaaclab.utils.assets import check_file_path
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from isaaclab.utils.dict import print_dict
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def main():
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# check valid file path
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urdf_path = args_cli.input
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if not os.path.isabs(urdf_path):
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urdf_path = os.path.abspath(urdf_path)
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if not check_file_path(urdf_path):
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raise ValueError(f"Invalid file path: {urdf_path}")
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# create destination path
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dest_path = args_cli.output
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if not os.path.isabs(dest_path):
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dest_path = os.path.abspath(dest_path)
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# Create Urdf converter config
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urdf_converter_cfg = UrdfConverterCfg(
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asset_path=urdf_path,
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usd_dir=os.path.dirname(dest_path),
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usd_file_name=os.path.basename(dest_path),
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fix_base=args_cli.fix_base,
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merge_fixed_joints=args_cli.merge_joints,
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force_usd_conversion=True,
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joint_drive=UrdfConverterCfg.JointDriveCfg(
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gains=UrdfConverterCfg.JointDriveCfg.PDGainsCfg(
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stiffness=args_cli.joint_stiffness,
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damping=args_cli.joint_damping,
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),
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target_type=args_cli.joint_target_type,
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),
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)
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# Print info
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print("-" * 80)
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print("-" * 80)
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print(f"Input URDF file: {urdf_path}")
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print("URDF importer config:")
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print_dict(urdf_converter_cfg.to_dict(), nesting=0)
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print("-" * 80)
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print("-" * 80)
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# Create Urdf converter and import the file
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urdf_converter = UrdfConverter(urdf_converter_cfg)
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# print output
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print("URDF importer output:")
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print(f"Generated USD file: {urdf_converter.usd_path}")
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print("-" * 80)
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print("-" * 80)
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# Determine if there is a GUI to update:
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# acquire settings interface
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carb_settings_iface = carb.settings.get_settings()
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# read flag for whether a local GUI is enabled
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local_gui = carb_settings_iface.get("/app/window/enabled")
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# read flag for whether livestreaming GUI is enabled
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livestream_gui = carb_settings_iface.get("/app/livestream/enabled")
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# Simulate scene (if not headless)
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if local_gui or livestream_gui:
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# Open the stage with USD
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sim_utils.open_stage(urdf_converter.usd_path)
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# Reinitialize the simulation
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app = omni.kit.app.get_app_interface()
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# Run simulation
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with contextlib.suppress(KeyboardInterrupt):
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while app.is_running():
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# perform step
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app.update()
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if __name__ == "__main__":
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# run the main function
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main()
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# close sim app
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simulation_app.close()
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