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d6b3397 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 | # Copyright (c) 2022-2026, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
"""
Utility to convert a MJCF into USD format.
MuJoCo XML Format (MJCF) is an XML file format used in MuJoCo to describe all elements of a robot.
For more information, see: http://www.mujoco.org/book/XMLreference.html
This script uses the MJCF importer extension from Isaac Sim (``isaacsim.asset.importer.mjcf``) to convert
a MJCF asset into USD format. It is designed as a convenience script for command-line use. For more information
on the MJCF importer, see the documentation for the extension:
https://docs.isaacsim.omniverse.nvidia.com/latest/robot_setup/ext_isaacsim_asset_importer_mjcf.html
positional arguments:
input The path to the input MJCF file.
output The path to store the USD file.
optional arguments:
-h, --help Show this help message and exit
--merge-mesh Merge meshes where possible to optimize the model. (default: False)
--collision-from-visuals Generate collision geometry from visual geometries. (default: False)
--collision-type Type of collision geometry to use. (default: "default")
--self-collision Activate self-collisions between links. (default: False)
--import-physics-scene Import the physics scene from the MJCF file. (default: False)
"""
"""Launch Isaac Sim Simulator first."""
import argparse
from isaaclab.app import AppLauncher
# add argparse arguments
parser = argparse.ArgumentParser(description="Utility to convert a MJCF into USD format.")
parser.add_argument("input", type=str, help="The path to the input MJCF file.")
parser.add_argument("output", type=str, help="The path to store the USD file.")
parser.add_argument(
"--merge-mesh",
action="store_true",
default=False,
help="Merge meshes where possible to optimize the model.",
)
parser.add_argument(
"--collision-from-visuals",
action="store_true",
default=False,
help="Generate collision geometry from visual geometries.",
)
parser.add_argument(
"--collision-type",
type=str,
default="default",
help='Type of collision geometry to use (e.g. "default", "Convex Hull", "Convex Decomposition").',
)
parser.add_argument(
"--self-collision",
action="store_true",
default=False,
help="Activate self-collisions between links of the articulation.",
)
parser.add_argument(
"--import-physics-scene",
action="store_true",
default=False,
help="Import the physics scene (worldbody, defaults) from the MJCF file. Use --no-import-physics-scene to disable.",
)
# append AppLauncher cli args
AppLauncher.add_app_launcher_args(parser)
# parse the arguments
args_cli = parser.parse_args()
# launch omniverse app
app_launcher = AppLauncher(args_cli)
simulation_app = app_launcher.app
"""Rest everything follows."""
import contextlib
import os
import carb
from isaaclab.sim.converters import MjcfConverter, MjcfConverterCfg
from isaaclab.utils.assets import check_file_path
from isaaclab.utils.dict import print_dict
def main():
# check valid file path
mjcf_path = args_cli.input
if not os.path.isabs(mjcf_path):
mjcf_path = os.path.abspath(mjcf_path)
if not check_file_path(mjcf_path):
raise ValueError(f"Invalid file path: {mjcf_path}")
# create destination path
dest_path = args_cli.output
if not os.path.isabs(dest_path):
dest_path = os.path.abspath(dest_path)
# create the converter configuration
mjcf_converter_cfg = MjcfConverterCfg(
asset_path=mjcf_path,
usd_dir=os.path.dirname(dest_path),
force_usd_conversion=True,
merge_mesh=args_cli.merge_mesh,
collision_from_visuals=args_cli.collision_from_visuals,
collision_type=args_cli.collision_type,
self_collision=args_cli.self_collision,
import_physics_scene=args_cli.import_physics_scene,
)
# Print info
print("-" * 80)
print("-" * 80)
print(f"Input MJCF file: {mjcf_path}")
print("MJCF importer config:")
print_dict(mjcf_converter_cfg.to_dict(), nesting=0)
print("-" * 80)
print("-" * 80)
# Create mjcf converter and import the file
mjcf_converter = MjcfConverter(mjcf_converter_cfg)
# print output
print("MJCF importer output:")
print(f"Generated USD file: {mjcf_converter.usd_path}")
print("-" * 80)
print("-" * 80)
# Determine if there is a GUI to update:
# acquire settings interface
carb_settings_iface = carb.settings.get_settings()
# read flag for whether a local GUI is enabled
local_gui = carb_settings_iface.get("/app/window/enabled")
# read flag for whether livestreaming GUI is enabled
livestream_gui = carb_settings_iface.get("/app/livestream/enabled")
# Simulate scene (if not headless)
if local_gui or livestream_gui:
# Open the stage with USD and attach it to the Kit viewport context
import omni.usd
omni.usd.get_context().open_stage(mjcf_converter.usd_path)
# Reinitialize the simulation
app = omni.kit.app.get_app_interface()
# Run simulation
with contextlib.suppress(KeyboardInterrupt):
while app.is_running():
# perform step
app.update()
if __name__ == "__main__":
# run the main function
main()
# close sim app
simulation_app.close()
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