| """Unitree G1 USD from newton-assets' unitree_g1, with the links of g1_body29_hand14.urdf.""" |
|
|
| import json |
| import sys |
|
|
| import numpy as np |
| from pxr import Gf, Usd, UsdGeom, UsdPhysics |
|
|
| import robotusd as ru |
|
|
| SOURCE, URDF, OUT = sys.argv[1:4] |
|
|
| layer = ru.flatten(SOURCE) |
| stage = Usd.Stage.Open(layer) |
|
|
|
|
| def body(stage, name): |
| return next(p for p in stage.Traverse() if p.HasAPI(UsdPhysics.RigidBodyAPI) and p.GetName() == name) |
|
|
|
|
| |
| def to_origin(stage): |
| for op in UsdGeom.Xformable(body(stage, "pelvis")).GetOrderedXformOps(): |
| if op.GetOpType() == UsdGeom.XformOp.TypeTranslate: |
| op.Set(Gf.Vec3d(0, 0, 0)) |
|
|
|
|
| to_origin(stage) |
| root = UsdGeom.ModelAPI(stage.GetDefaultPrim()) |
| root.SetExtentsHint(root.ComputeExtentsHint(UsdGeom.BBoxCache(Usd.TimeCode.Default(), UsdGeom.Imageable.GetOrderedPurposeTokens()))) |
|
|
| |
| |
| rest = ru.urdf_fk(URDF, {}) |
| torso = body(stage, "torso_link") |
| for link in ("d435_link", "mid360_link"): |
| ru.add_frame(stage, str(torso.GetPath()), link, rest[link]) |
|
|
| layer.documentation = ( |
| "Unitree G1 (29 DoF body, Dex3-1 hands) for LeRobot. Modified by LeRobot from newton-physics/newton-assets " |
| "unitree_g1 g1_29dof_with_hand_rev_1_0 (BSD-3-Clause, converted from MuJoCo Menagerie): flattened into one " |
| "layer, moved to put the pelvis at the origin like the g1_body29_hand14 URDF's root link, d435_link and " |
| "mid360_link frames added where the URDF puts them." |
| ) |
| layer.customLayerData = { |
| **layer.customLayerData, |
| "lerobot:source": "https://github.com/newton-physics/newton-assets/tree/0deda9b1a68d1c202a6115a78ce0ff61ac861e00/unitree_g1/usd_structured", |
| "lerobot:urdf": "https://huggingface.co/buckets/lerobot/robot-urdfs/resolve/g1/g1_body29_hand14.urdf", |
| } |
| layer.Export(OUT) |
|
|
| out = Usd.Stage.Open(OUT) |
| report = ru.check_against_urdf(out, URDF) |
| report["root_offset_mm"] = float(np.abs(ru.np_matrix(UsdGeom.XformCache().GetLocalToWorldTransform(body(out, "pelvis"))) - rest["pelvis"]).max() * 1000) |
| source = Usd.Stage.Open(SOURCE) |
| source.SetEditTarget(source.GetSessionLayer()) |
| to_origin(source) |
| report["visual_bounds_vs_source_mm"] = ru.compare_visual_bounds(source, out) |
| drawn = [p for p in out.Traverse() if p.IsA(UsdGeom.Mesh) and UsdGeom.Imageable(p).ComputePurpose() == "default"] |
| report["meshes"] = len(drawn) |
| report["triangles"] = int(sum(np.maximum(np.array(UsdGeom.Mesh(p).GetFaceVertexCountsAttr().Get()) - 2, 0).sum() for p in drawn)) |
| print(json.dumps(report, indent=1, default=str)) |
|
|
