[Development] Add convert glb to usd objects. Issac Lab repo installation required. #2113

danieltmeta · 2024-12-03T00:49:18Z

Motivation and Context

This pull request (PR) introduces the capability to convert file types in Isaac Lab, specifically converting files into .usda format. These conversion utilities are essential for Isaac Sim physics simulations to process scene instance JSONs and object meshes from Habitat-Sim.

The PR includes the conversion of scene instances, encompassing rigid body objects. However, it does not currently support articulated objects or the stage. Future updates will address these limitations.

Additionally, a separate set of functions is required to convert robot URDF files into .usda format for use in Isaac Sim. This functionality will be implemented in a subsequent update.

How Has This Been Tested

Unit tests will be added to code function and the usda file output.

Types of changes

[Docs change] Addition or changes to the documentation
[Refactoring] Large changes to the code that improve its functionality or performance
[Dependency Upgrade] Upgrades one or several dependencies in habitat
[Bug Fix] (non-breaking change which fixes an issue)
[Development] A pull request that add new features to the habitat-lab task and environment codebase. Development Pull Requests must be small (less that 500 lines of code change), have unit testing, very extensive documentation and examples. These are typically new tasks, environments, sensors, etc... The review process for these Pull Request is longer because these changes will be maintained by our core team of developers, so make sure your changes are easy to understand!
[Experiment] A pull request that add new features to the habitat-baselines training codebase. Experiments Pull Requests can be any size, must have smoke/integration tests and be isolated from the rest of the code. Your code additions should not rely on other habitat-baselines code. This is to avoid dependencies between different parts of habitat-baselines. You must also include a README that will document how to use your new feature or trainer. You will be the maintainer of this code, if the code becomes stale or is not supported often enough, we will eventually remove it.

Checklist

My code follows the code style of this project.
I have updated the documentation if required.
I have read the CONTRIBUTING document.
I have completed my CLA (see CONTRIBUTING)
I have added tests to cover my changes if required.

eundersander

Some good progress here! I left some comments.

My biggest request is to add a test file (the last comment in usd_conversion_scene.py).

Also, I see that pre-commit and python lint CI tests are failing (see below "Some checks are failing"). Try to get those passing. Have you installed pre-commit locally? See instructions.

Let me know when you've addressed my comments and I'll take another look!

habitat-lab/habitat/isaacsim/remote_content/converter.py

habitat-lab/habitat/isaacsim/remote_content/object_glb/.gitignore

habitat-lab/habitat/isaacsim/remote_content/object_usd/.gitignore

habitat-lab/habitat/isaacsim/ssh_conversion.py

habitat-lab/habitat/isaacsim/urdf_conversion.py

habitat-lab/habitat/isaacsim/usd_conversion_scene.py

eundersander · 2024-12-10T01:29:45Z

habitat-lab/habitat/isaacsim/usd_conversion_scene.py

+    local_download_folder = "/home/trandaniel/dev/IsaacSimConversion/usd_scene/"
+    glb_data_folder = "/home/trandaniel/dev/habitat-sim/data/hssd-hab/objects"
+
+    convert_scene_instance(


Let's add test/test_isaac_sim.py to habitat-lab in this PR. Look at our other test files in that folder for reference. Let's have a test that tries to convert a toy habitat scene instance (this is something you suggested a while back). The test can assume the source assets are present on the machine (or maybe check for them and skip the test if they're missing). The test should inspect the output usda file and check for expected contents.

Migrating unit tests and example data from PR #2123

Need to delete PR #2123 after unit tests are reviewed.

…itten by Eric Undersander.

…associated commands.

…tory.

…nstead.

…d.py

eundersander

Good progress here!

Please flesh out your PR description a bit. You don't have to explain what Isaac Sim is, but give some background for why we need these conversion utils. Mention that we convert scene instances including rigid objects (but not any included articulated objects or the stage yet). Mention the URDF conversion for converting robot URDF files. For Type of change, specify [Development].

Let's move meshColored inside data/usd_conversion_data so all the isaac-related test data is in one subfolder.

It looks like maybe you're not using test/data/usd_conversion_data/102343992.scene_instance.json for testing, so you can remove it from this PR.

I suspect you don't need to add test/data/usd_conversion_data/objects_EXAMPLE2/1efdc3d37dfab1eb9f99117bb84c59003d684811.glb to this repo, because it's a render GLB and it won't be used/loaded during the conversion (or am I missing something?). In general, we want to be really careful and selective about adding binary files to a git repo, since they are usually large.

test/data/usd_conversion_data/.asset_hash

habitat-lab/habitat/isaacsim/urdf_to_usd.py

eundersander · 2025-01-17T17:52:09Z

habitat-lab/habitat/isaacsim/urdf_to_usd.py

+    )
+
+
+if __name__ == "__main__":


Let's update the CI to just convert a URDF to USD, rather than using/testing all the individual pieces. We want a user to be able to convert a URDF to USD with one command, without having to understand or worry about the intermediate pieces.

It should look like python habitat-lab/habitat/isaac_sim/urdf_to_usd.py [input_scene_instance_filepath] --output_folder [output_folder] --project_root_folder [project_root_folder]. It should do three things: (1) clean the input URDF (including removing visuals) and write the cleaned URDF to the output folder, perhaps as "temp.urdf". (2) Convert the cleaned URDF to USD and write to output_folder/scene_instance_base_name.usd (3) delete temp.urdf. By scene_instance_base_name, I mean that my_scene.scene_instance.json becomes my_scene.usd.

test/test_isaac_sim.py

test/data/usd_conversion_data/config.yaml

test/test_isaac_sim.py

eundersander · 2025-01-17T18:12:36Z

habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py

+    out_usd_path: str,
+    project_root_folder: str,
+) -> None:
+    """This converts an hssd object to a usda file.


Just bumping this comment. Let's not name HSSD in comments.

eundersander

I left a few more comments. Also, your test is failing in CI:

==================================== ERRORS ====================================
___________________ ERROR collecting test/test_isaac_sim.py ____________________
ImportError while importing test module '/home/runner/work/habitat-lab/habitat-lab/habitat-lab/test/test_isaac_sim.py'.
Hint: make sure your test modules/packages have valid Python names.
Traceback:
../../../../miniconda3/envs/habitat/lib/python3.9/importlib/__init__.py:127: in import_module
    return _bootstrap._gcd_import(name[level:], package, level)
test/test_isaac_sim.py:7: in <module>
    from lxml import etree as ET
E   ModuleNotFoundError: No module named 'lxml'

I believe the fix here is to add lxml to habitat-lab/requirements.txt.

eundersander · 2025-01-25T07:01:17Z

.gitignore

+
+# Dependency Repos
+IssacLab/
+habitat-sim/


This isn't needed. .gitignore entries are generally for files that many or most folks will encounter, where we know 100% it shouldn't be added to source control. Folks generally aren't cloning habitat-sim at the root of habitat-lab. I recommend cloning habitat-sim outside habitat-lab. If you happen to have this cloned here on your local system and you're trying to clean up your branch, just leave this folder as un-staged. No need to add it to .gitignore.

eundersander · 2025-01-25T07:01:47Z

.gitignore

+test/data/usd_conversion_data/config.yaml
+
+# Dependency Repos
+IssacLab/


Likewise, this isn't needed. Folks generally shouldn't be cloning IsaacLab at the root of habitat-lab.

eundersander · 2025-01-25T07:02:55Z

.gitignore

@@ -106,3 +106,11 @@ data

 # Autogenerated navmesh files
 *.navmesh
+
+# urdf conversion artifact
+.asset_hash


Can you qualify this as test/data/usd_conversion_data/.asset_hash?

eundersander · 2025-01-25T07:11:07Z

test/data/usd_conversion_data/config.yaml

@@ -14,5 +14,5 @@ default_drive_damping: 0.0
 link_density: 1000.0


This file looks like output from your test. It doesn't need to be added to version control.

eundersander · 2025-01-25T07:18:01Z

habitat-lab/habitat/isaacsim/urdf_to_usd.py

+    )
+
+
+if __name__ == "__main__":


I'd still like to see the CLI for urdf_to_usd.py simplified as described in this comment. However, if you're eager to wrap up this PR, you can add a todo in the code here and we'll address this later.

eundersander · 2025-01-25T07:20:44Z

test/test_isaac_sim.py

+
+    convert_urdf(clean_urdf_filepath, output_usd)
+
+    if os.path.exists(output_usd):


You should assert that the file exists. I.e. the test should fail if the file doesn't exist.

Add convert glb to usd objects. Issac Lab repo installation required.

c722108

danieltmeta requested a review from eundersander December 3, 2024 00:49

facebook-github-bot added the CLA Signed Do not delete this pull request or issue due to inactivity. label Dec 3, 2024

Add urdf_conversion.py. This file converts .urdf to .usd.

176c7c9

eundersander reviewed Dec 10, 2024

View reviewed changes

danieltmeta added 25 commits December 9, 2024 22:21

Add clean_urdf_xml.py. Written by Eric Undersander

8b3af05

Add bulk_usd_conversion.py.

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Add glb decompression file. Add note and terminal command example. Wr…

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…itten by Eric Undersander.

Remove asyncio library. Add MeshConverter Cfg and remove all asyncio …

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…associated commands.

Remove remote_content folder. Move associated scripts to parent direc…

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…tory.

Remove ssh_conversion.py. SAFEKEEPING.

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Remove private funciton in urdf_conversion.py. Add UrdfConverterCfg i…

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…nstead.

Move AppLauncher class into if/main statement

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Move Applauncher class into if/main statement.

9dfde68

Fix syntax and variable errors in converter.py.

33b51df

Remove and archive older versions of conversion .py

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Draft. Add urdf to usd converter.

fc2e667

Add scene_instance_json_to_usd.py. Draft stage.

61287f9

Minor formatting

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Black formatting

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Remove temporary archive folder.

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Fix github actions issues and formatting issues.

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Fix github actions and formatting issues.

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Save black formatting changes.

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Fix black formatting.

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Fix black formatting

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Fix black formatting.

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Fix black formatting

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Fix black formatting.

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danieltmeta changed the title ~~Add convert glb to usd objects. Issac Lab repo installation required.~~ **\[Development\]** Add convert glb to usd objects. Issac Lab repo installation required. Jan 9, 2025

danieltmeta changed the title **\[Development\]** Add convert glb to usd objects. Issac Lab repo installation required. [Development] Add convert glb to usd objects. Issac Lab repo installation required. Jan 9, 2025

danieltmeta added 18 commits January 9, 2025 11:30

Minor docstring changes as suggested on github.

d180400

Update docstring for scene_instance_json_to_usd.py

fd4b5d6

Add CLI for usd conversion.

5b2c63d

Draft, add bulk scene instance json coversion

1b9c9d5

Draft, add CLI

a6010f3

precommit formatting.

d1d2fa2

Remove bulk scene conversion logic. Will be transferred to unit tests.

14d4ee9

Update docstrings, minor check, and conversion function into if/main

d2db102

precommit formatting.

1c2b1bc

Remove redundant imports

fabe34c

Updated docstrings and type annotations for scene_instance_json_to_us…

b096e3b

…d.py

Updated doctring and minor formatting for urdf_to_usd.py

709c288

Migrate draft of unit test and example data from PR #2123

eec904e

Save progress unit test usd conversion.

9401213

Draft of unit test for usd conversion.

8d047dc

Add files for unit test conversion

cee0591

minor formatting

589aefb

Formatting, end of file fix

175dcce

eundersander changed the base branch from main to isaac_sim_dev January 17, 2025 17:42

eundersander requested changes Jan 17, 2025

View reviewed changes

danieltmeta added 7 commits January 22, 2025 17:59

Make some minor changes as described in the above comments.

4d428a3

Remove hssd comments.

71d3d06

Remove files generated by unit test.

0219137

Update pathing and import issues.

a35fd09

Remove more necessary files for unit testing isaac lab conversion

bdca713

Move meshColored folder and remove more unncessary unit test data files.

2fe9535

Remove subprocess, and update import issues.

37d556f

eundersander reviewed Jan 25, 2025

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[Development] Add convert glb to usd objects. Issac Lab repo installation required. #2113

[Development] Add convert glb to usd objects. Issac Lab repo installation required. #2113

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		@@ -14,5 +14,5 @@ default_drive_damping: 0.0
		link_density: 1000.0


		convert_urdf(clean_urdf_filepath, output_usd)

		if os.path.exists(output_usd):

[Development] Add convert glb to usd objects. Issac Lab repo installation required. #2113

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[Development] Add convert glb to usd objects. Issac Lab repo installation required. #2113

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danieltmeta commented Dec 3, 2024 • edited Loading

Motivation and Context

How Has This Been Tested

Types of changes

Checklist

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danieltmeta commented Dec 3, 2024 •

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