3d6b73753a
- Add pick_test_tube task: USDC asset repackaging, grasp generation, task config - Add tools: usdc_to_obj.py, repackage_test_tube.py, fix_test_tube_materials.py - Add custom_task_guide.md: full Chinese documentation for creating custom tasks - Add crawled InternDataEngine online docs (23 pages) - Add grasp generation script (gen_tube_grasp.py) and pipeline config
65 lines
1.9 KiB
Python
65 lines
1.9 KiB
Python
"""
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Extract mesh from USD/USDC and export as OBJ file.
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Usage:
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python migrate/usdc_to_obj.py --input path/to/file.usdc --output path/to/output/
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"""
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import argparse
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import os
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import numpy as np
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from pxr import Usd, UsdGeom
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def main():
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parser = argparse.ArgumentParser()
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parser.add_argument("--input", required=True)
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parser.add_argument("--output", default=".")
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args = parser.parse_args()
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os.makedirs(args.output, exist_ok=True)
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obj_path = os.path.join(args.output, "Aligned_obj.obj")
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stage = Usd.Stage.Open(args.input)
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vert_offset = 0
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with open(obj_path, "w") as f:
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f.write("# Exported from USD\n\n")
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for prim in stage.Traverse():
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if prim.GetTypeName() != "Mesh":
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continue
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mesh = UsdGeom.Mesh(prim)
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points = mesh.GetPointsAttr().Get()
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if not points:
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continue
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face_counts = mesh.GetFaceVertexCountsAttr().Get()
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face_indices = mesh.GetFaceVertexIndicesAttr().Get()
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name = str(prim.GetPath()).replace("/", "_").strip("_")
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f.write(f"o {name}\n")
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print(f" Mesh: {prim.GetPath()} ({len(points)} verts)")
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for p in points:
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f.write(f"v {p[0]:.8f} {p[1]:.8f} {p[2]:.8f}\n")
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if face_counts and face_indices:
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idx = 0
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for fc in face_counts:
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verts = []
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for j in range(fc):
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verts.append(face_indices[idx] + 1 + vert_offset)
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idx += 1
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# Triangulate: fan from first vertex
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for j in range(1, len(verts) - 1):
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f.write(f"f {verts[0]} {verts[j]} {verts[j+1]}\n")
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vert_offset += len(points)
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print(f"\nSaved: {obj_path} ({vert_offset} total vertices)")
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if __name__ == "__main__":
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main()
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