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

danieltmeta · 2024-12-03T00:49:18Z

Motivation and Context

This PR adds Issac Lab file type conversion capability. Issac lab will convert files into .usda.

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.

eundersander

I left some comments. A few top-level comments:

Let's add nice CLIs for both of these files. This means using argument-parsing and offering a friendly command-line interface.
You need to fill out the PR description. What's autopopulated there is a template for you to edit. This is an important part of documenting a code change.
As I requested earlier, let's add a minimal test file to this PR.

habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py

habitat-lab/habitat/isaacsim/urdf_to_usd.py

habitat-lab/habitat/isaacsim/scene_instance_json_to_usd.py

…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.

eundersander · 2025-01-17T17:25:26Z

test/data/usd_conversion_data/.asset_hash

@@ -0,0 +1 @@
+24f1b688baf20921994b95e47f42b7ee


What is this file for?

eundersander · 2025-01-17T17:47:28Z

habitat-lab/habitat/isaacsim/urdf_to_usd.py

@@ -0,0 +1,245 @@
+"""This module converts urdf files into usda files."""


I've changed the base for this PR to isaac_sim_dev instead of main. Sorry I didn't do this earlier. The reason for this is that our entire integration is experimental and so we don't want it in main yet.

Related to this, I chose habitat-lab/habitat/isaac_sim as the location. Can you move your scripts inside this folder? How about habitat-lab/habitat/isaac_sim/asset_conversion/urdf_to_usd.py and likewise for the other one.

habitat-lab/habitat/isaacsim/urdf_to_usd.py

eundersander · 2025-01-17T18:03:41Z

test/test_isaac_sim.py

+    stage_before_metadata = Usd.Stage.Open(converted_clean_usda)
+    stage_output_metadata = Usd.Stage.Open(out_usd_filepath)
+
+    # Add the habitatVisual metadata to each relevant prim


This comment looks wrong.

eundersander · 2025-01-17T18:04:14Z

test/test_isaac_sim.py

+    out_usd_filepath = urdf_dir + "hab_spot_arm_with_hab_metadata.usda"
+    project_root_folder = repo_dir
+
+    subprocess.run(


Your test shouldn't run the script in a subprocess. Just import and run the required functionality directly.

eundersander · 2025-01-17T18:05:04Z

test/test_isaac_sim.py

+    convert_urdf(clean_urdf_filepath, output_usd)
+    # TODO: Issac sim drops a prim. "Warning: Prim not found for link: fl_uleg"
+
+    assert True


You should do a real test here that checks something. At a minimum, check that the output file exists.

eundersander · 2025-01-17T18:08:27Z

test/data/usd_conversion_data/config.yaml

@@ -0,0 +1,18 @@
+asset_path: /home/trandaniel/dev/habitat-lab/test/data/usd_conversion_data/hab_spot_arm_clean_CORRECT.urdf


Is this needed in this PR? It looks like debug output from the conversion process.

eundersander · 2025-01-17T18:09:28Z

test/test_isaac_sim.py

+def test_clean_urdf():
+    urdf_dir = repo_dir + "/test/data/usd_conversion_data/"
+    input_file = urdf_dir + "hab_spot_arm_EXAMPLE.urdf"
+    output_file = urdf_dir + "hab_spot_arm_clean.urdf"


If hab_spot_arm_clean.urdf is generated by the test, then I guess hab_spot_arm_clean.urdf doesn't need to be included in this PR. It isn't a source file needed to run the test.

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.

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

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danieltmeta added 25 commits December 9, 2024 22:21

Add clean_urdf_xml.py. Written by Eric Undersander

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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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Remove ssh_conversion.py. SAFEKEEPING.

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

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Move AppLauncher class into if/main statement

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Move Applauncher class into if/main statement.

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Fix syntax and variable errors in converter.py.

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Remove and archive older versions of conversion .py

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Draft. Add urdf to usd converter.

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Add scene_instance_json_to_usd.py. Draft stage.

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Minor formatting

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Remove temporary archive folder.

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Fix github actions issues and formatting issues.

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danieltmeta added 7 commits January 6, 2025 10:26

Fix black formatting.

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Fix isort formatting.

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Fixing various formatting issues.

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eundersander requested changes Jan 8, 2025

View reviewed changes

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.

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Draft, add bulk scene instance json coversion

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Draft, add CLI

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precommit formatting.

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

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

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precommit formatting.

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Remove redundant imports

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Updated docstrings and type annotations for scene_instance_json_to_us…

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…d.py

Updated doctring and minor formatting for urdf_to_usd.py

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

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Save progress unit test usd conversion.

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Draft of unit test for usd conversion.

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Add files for unit test conversion

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minor formatting

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Formatting, end of file fix

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

eundersander requested changes Jan 17, 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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		@@ -0,0 +1,245 @@
		"""This module converts urdf files into usda files."""

		@@ -0,0 +1,18 @@
		asset_path: /home/trandaniel/dev/habitat-lab/test/data/usd_conversion_data/hab_spot_arm_clean_CORRECT.urdf

		@@ -0,0 +1 @@
		24f1b688baf20921994b95e47f42b7ee

[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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