206 lines
7.2 KiB
Python
206 lines
7.2 KiB
Python
# 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 OBJ/STL/FBX into USD format.
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The OBJ file format is a simple data-format that represents 3D geometry alone — namely, the position
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of each vertex, the UV position of each texture coordinate vertex, vertex normals, and the faces that
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make each polygon defined as a list of vertices, and texture vertices.
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An STL file describes a raw, unstructured triangulated surface by the unit normal and vertices (ordered
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by the right-hand rule) of the triangles using a three-dimensional Cartesian coordinate system.
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FBX files are a type of 3D model file created using the Autodesk FBX software. They can be designed and
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modified in various modeling applications, such as Maya, 3ds Max, and Blender. Moreover, FBX files typically
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contain mesh, material, texture, and skeletal animation data.
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Link: https://www.autodesk.com/products/fbx/overview
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This script uses the asset converter extension from Isaac Sim (``omni.kit.asset_converter``) to convert a
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OBJ/STL/FBX asset into USD format. It is designed as a convenience script for command-line use.
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positional arguments:
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input The path to the input mesh (.OBJ/.STL/.FBX) 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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--make-instanceable, Make the asset instanceable for efficient cloning. (default: False)
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--collision-approximation The method used for approximating collision mesh. Defaults to convexDecomposition.
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Set to \"none\" to not add a collision mesh to the converted mesh.
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(default: convexDecomposition)
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--mass The mass (in kg) to assign to the converted asset. (default: None)
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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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# Define collision approximation choices (must be defined before parser)
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_valid_collision_approx = [
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"convexDecomposition",
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"convexHull",
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"triangleMesh",
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"meshSimplification",
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"sdf",
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"boundingCube",
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"boundingSphere",
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"none",
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]
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# add argparse arguments
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parser = argparse.ArgumentParser(description="Utility to convert a mesh file into USD format.")
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parser.add_argument("input", type=str, help="The path to the input mesh 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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"--make-instanceable",
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action="store_true",
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default=False,
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help="Make the asset instanceable for efficient cloning.",
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)
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parser.add_argument(
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"--collision-approximation",
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type=str,
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default="convexDecomposition",
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choices=_valid_collision_approx,
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help="The method used for approximating the collision mesh. Set to 'none' to disable collision mesh generation.",
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)
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parser.add_argument(
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"--mass",
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type=float,
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default=None,
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help="The mass (in kg) to assign to the converted asset. If not provided, then no mass is added.",
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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 MeshConverter, MeshConverterCfg
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from isaaclab.sim.schemas import schemas_cfg
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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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collision_approximation_map = {
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"convexDecomposition": schemas_cfg.ConvexDecompositionPropertiesCfg,
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"convexHull": schemas_cfg.ConvexHullPropertiesCfg,
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"triangleMesh": schemas_cfg.TriangleMeshPropertiesCfg,
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"meshSimplification": schemas_cfg.TriangleMeshSimplificationPropertiesCfg,
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"sdf": schemas_cfg.SDFMeshPropertiesCfg,
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"boundingCube": schemas_cfg.BoundingCubePropertiesCfg,
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"boundingSphere": schemas_cfg.BoundingSpherePropertiesCfg,
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"none": None,
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}
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def main():
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# check valid file path
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mesh_path = args_cli.input
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if not os.path.isabs(mesh_path):
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mesh_path = os.path.abspath(mesh_path)
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if not check_file_path(mesh_path):
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raise ValueError(f"Invalid mesh file path: {mesh_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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# Mass properties
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if args_cli.mass is not None:
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mass_props = schemas_cfg.MassPropertiesCfg(mass=args_cli.mass)
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rigid_props = schemas_cfg.RigidBodyPropertiesCfg()
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else:
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mass_props = None
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rigid_props = None
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# Collision properties
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collision_props = schemas_cfg.CollisionPropertiesCfg(collision_enabled=args_cli.collision_approximation != "none")
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# Create Mesh converter config
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cfg_class = collision_approximation_map.get(args_cli.collision_approximation)
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if cfg_class is None and args_cli.collision_approximation != "none":
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valid_keys = ", ".join(sorted(collision_approximation_map.keys()))
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raise ValueError(
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f"Invalid collision approximation type '{args_cli.collision_approximation}'. "
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f"Valid options are: {valid_keys}."
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)
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collision_cfg = cfg_class() if cfg_class is not None else None
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mesh_converter_cfg = MeshConverterCfg(
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mass_props=mass_props,
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rigid_props=rigid_props,
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collision_props=collision_props,
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asset_path=mesh_path,
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force_usd_conversion=True,
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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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make_instanceable=args_cli.make_instanceable,
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mesh_collision_props=collision_cfg,
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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 Mesh file: {mesh_path}")
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print("Mesh importer config:")
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print_dict(mesh_converter_cfg.to_dict(), nesting=0)
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print("-" * 80)
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print("-" * 80)
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# Create Mesh converter and import the file
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mesh_converter = MeshConverter(mesh_converter_cfg)
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# print output
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print("Mesh importer output:")
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print(f"Generated USD file: {mesh_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(mesh_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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