init commit

workflows/simbox/tools/rigid_obj/asset_usd_converter.py

@@ -0,0 +1,112 @@
+# pylint: skip-file
+# flake8: noqa
+# Copyright (c) 2020-2023, NVIDIA CORPORATION. All rights reserved.
+#
+# NVIDIA CORPORATION and its licensors retain all intellectual property
+# and proprietary rights in and to this software, related documentation
+# and any modifications thereto. Any use, reproduction, disclosure or
+# distribution of this software and related documentation without an express
+# license agreement from NVIDIA CORPORATION is strictly prohibited.
+#
+
+import argparse
+import asyncio
+import os
+
+from isaacsim import SimulationApp
+
+
+async def convert(in_file, out_file, load_materials=False):
+    # This import causes conflicts when global
+    import omni.kit.asset_converter
+
+    def progress_callback(progress, total_steps):
+        pass
+
+    converter_context = omni.kit.asset_converter.AssetConverterContext()
+    # setup converter and flags
+    converter_context.ignore_materials = not load_materials
+    # converter_context.ignore_animation = False
+    # converter_context.ignore_cameras = True
+    # converter_context.single_mesh = True
+    # converter_context.smooth_normals = True
+    # converter_context.preview_surface = False
+    # converter_context.support_point_instancer = False
+    # converter_context.embed_mdl_in_usd = False
+    # converter_context.use_meter_as_world_unit = True
+    # converter_context.create_world_as_default_root_prim = False
+    instance = omni.kit.asset_converter.get_instance()
+    task = instance.create_converter_task(in_file, out_file, progress_callback, converter_context)
+    success = True
+    while True:
+        success = await task.wait_until_finished()
+        if not success:
+            await asyncio.sleep(0.1)
+        else:
+            break
+    return success
+
+
+def asset_convert(args):
+    supported_file_formats = ["stl", "obj", "fbx"]
+    # for folder in args.folders:
+    #     local_asset_output = folder + "_converted"
+    #     result = omni.client.create_folder(f"{local_asset_output}")
+
+    for folder in args.folders:
+        print(f"\nConverting folder {folder}...")
+
+        (result, models) = omni.client.list(folder)
+        for i, entry in enumerate(models):
+            if i >= args.max_models:
+                print(f"max models ({args.max_models}) reached, exiting conversion")
+                break
+
+            model = str(entry.relative_path)
+            model_name = os.path.splitext(model)[0]
+            model_format = (os.path.splitext(model)[1])[1:]
+            # Supported input file formats
+            if model_format in supported_file_formats:
+                input_model_path = folder + "/" + model
+                # converted_model_path = folder + "_converted/" + model_name + "_" + model_format + ".usd"
+                converted_model_path = folder + "/" + "Aligned_obj.usd"
+                if not os.path.exists(converted_model_path):
+                    status = asyncio.get_event_loop().run_until_complete(
+                        convert(input_model_path, converted_model_path, True)
+                    )
+                    if not status:
+                        print(f"ERROR Status is {status}")
+                    print(f"---Added {converted_model_path}")
+
+
+if __name__ == "__main__":
+    kit = SimulationApp()
+
+    import omni
+    from omni.isaac.core.utils.extensions import enable_extension
+
+    enable_extension("omni.kit.asset_converter")
+
+    parser = argparse.ArgumentParser("Convert OBJ/STL assets to USD")
+    parser.add_argument(
+        "--folders", type=str, nargs="+", default=None, help="List of folders to convert (space seperated)."
+    )
+    parser.add_argument(
+        "--max-models", type=int, default=50, help="If specified, convert up to `max-models` per folder."
+    )
+    parser.add_argument(
+        "--load-materials", action="store_true", help="If specified, materials will be loaded from meshes"
+    )
+    args, unknown_args = parser.parse_known_args()
+
+    import glob
+    import os
+
+    if args.folders is not None:
+        # Ensure Omniverse Kit is launched via SimulationApp before asset_convert() is called
+        asset_convert(args)
+    else:
+        print(f"No folders specified via --folders argument, exiting")
+
+    # cleanup
+    kit.close()

workflows/simbox/tools/rigid_obj/example/omniobject3d-banana_018/Aligned.mtl

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+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl _texture.019
+Ns 0.000000
+Ka 1.000000 1.000000 1.000000
+Kd 1.000000 1.000000 1.000000
+Ks 0.000000 0.000000 0.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 1
+map_Kd Scan.jpg

workflows/simbox/tools/rigid_obj/make_collider.py

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+# pylint: skip-file
+# flake8: noqa
+
+import argparse
+
+from isaacsim import SimulationApp
+
+simulation_app = SimulationApp({"headless": True})
+
+from omni.physx.scripts import physicsUtils, utils
+from pxr import Usd
+
+
+def process(
+    usd_file,
+    create_physics_mat=True,
+):
+    """Add collision properties to a USD file using convex decomposition.
+
+    Args:
+        usd_file: Path to the USD file.
+        create_physics_mat: Whether to create physics material.
+    """
+    stage = Usd.Stage.Open(usd_file)
+    aligned_prim = stage.GetPrimAtPath("/World/Aligned")
+    child_prim = aligned_prim.GetAllChildren()[0]
+
+    utils.setCollider(child_prim, "convexDecomposition")
+    child_prim.GetAttribute("physxConvexDecompositionCollision:maxConvexHulls").Set(64)
+    child_prim.GetAttribute("physxConvexDecompositionCollision:hullVertexLimit").Set(64)
+    child_prim.GetAttribute("physxConvexDecompositionCollision:minThickness").Set(0.001)
+    child_prim.GetAttribute("physxConvexDecompositionCollision:shrinkWrap").Set(True)
+    child_prim.GetAttribute("physxConvexDecompositionCollision:errorPercentage").Set(0.1)
+    if create_physics_mat:
+        static_friction = 1.0
+        dynamic_friction = 1.0
+        utils.addRigidBodyMaterial(
+            stage,
+            "/World/Physics_Materials",
+            staticFriction=static_friction,
+            dynamicFriction=dynamic_friction,
+        )
+        physicsUtils.add_physics_material_to_prim(
+            stage,
+            aligned_prim,
+            "/World/Physics_Materials",
+        )
+    stage.Save()
+    print(f"Successfully processed: {usd_file}")
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser(description="Add collision properties to USD file using convex decomposition")
+    parser.add_argument("--usd_path", type=str, required=True, help="Path to the USD file")
+    args = parser.parse_args()
+
+    process(args.usd_path, create_physics_mat=True)

workflows/simbox/tools/rigid_obj/make_rigid.py

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+import argparse
+
+from pxr import Usd, UsdPhysics
+
+
+def process(
+    usd_file,
+    add_rigid_body=True,
+):
+    """Add rigid body physics properties to a USD file.
+
+    Args:
+        usd_file: Path to the USD file.
+        add_rigid_body: Whether to add rigid body properties.
+    """
+    stage = Usd.Stage.Open(usd_file)
+    editor = Usd.NamespaceEditor(stage)
+    root_prim = stage.GetDefaultPrim()
+    aligned_prim = root_prim.GetAllChildren()[1]
+    try:
+        editor.RenamePrim(aligned_prim, "Aligned")
+        editor.ApplyEdits()
+    except Exception:
+        # If rename fails (e.g., already renamed), continue with existing prim
+        aligned_prim = stage.GetPrimAtPath("/World/Aligned")
+
+    aligned_prim = stage.GetPrimAtPath("/World/Aligned")
+
+    if add_rigid_body:
+        UsdPhysics.RigidBodyAPI.Apply(aligned_prim)
+
+        UsdPhysics.MassAPI.Apply(aligned_prim)
+        mass_attr = aligned_prim.GetAttribute("physics:mass")
+        mass_attr.Set(0.1)
+
+    stage.Save()
+    print(f"Successfully processed: {usd_file}")
+
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser(description="Add rigid body physics properties to USD file")
+    parser.add_argument("--usd_path", type=str, required=True, help="Path to the USD file")
+    args = parser.parse_args()
+
+    process(args.usd_path, True)