File size: 3,172 Bytes
7399b6f | 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 | """Copy a SAPIEN articulated asset with USD-legal names, so the URDF importer can read it.
SAPIEN names its collision meshes `original-7.obj`. A hyphen is illegal in a USD prim path, and
Isaac's URDF importer half-handles it: it renames the prim to `original_7` but then still tries
to create `</colliders/base/original-7>`, which fails to parse, and the import dies with
"Used null prim". It writes a 492-byte stub anyway and reports success, so the breakage only
surfaces later as "Failed to find an articulation ... ArticulationRootAPI".
This makes a sanitized copy: hyphens in mesh filenames and in the URDF's references become
underscores. Everything else is untouched.
python scripts/sanitize_urdf_asset.py 036_cabinet/46653 044_microwave/7310
"""
import os
import re
import shutil
import sys
SRC = os.environ.get("ROBOTWIN_SRC", "/home/yu/internship_yu/robotwin_object/objects")
def sanitize(job):
cat, inst = job.split("/")
src = f"{SRC}/{cat}/{inst}"
dst = f"{SRC}/{cat}/{inst}_clean"
if not os.path.isdir(src):
print(f"[san] MISSING {src}")
return None
if os.path.isdir(dst):
shutil.rmtree(dst)
shutil.copytree(src, dst)
renamed = 0
for root, _dirs, files in os.walk(dst):
for fn in files:
if "-" in fn:
os.rename(os.path.join(root, fn), os.path.join(root, fn.replace("-", "_")))
renamed += 1
# An OBJ names its material library INSIDE the file (`mtllib original-1.mtl`). Renaming the
# .mtl on disk without rewriting that line leaves every mesh material-less, and the whole
# asset imports as featureless grey -- the microwave rendered as a plain cube.
fixed = 0
for root, _dirs, files in os.walk(dst):
for fn in files:
if not fn.lower().endswith((".obj", ".mtl")):
continue
p = os.path.join(root, fn)
try:
txt = open(p, errors="ignore").read()
except OSError:
continue
new = re.sub(r'^(mtllib|usemtl|map_Kd|map_Ka|map_Bump|bump)\s+(.+)$',
lambda m: f"{m.group(1)} {m.group(2).replace('-', '_')}",
txt, flags=re.M)
if new != txt:
open(p, "w").write(new)
fixed += 1
urdf = os.path.join(dst, "mobility.urdf")
text = open(urdf).read()
# only rewrite hyphens inside filename references, not elsewhere in the XML
text = re.sub(r'(filename\s*=\s*")([^"]+)(")',
lambda m: m.group(1)+m.group(2).replace("-", "_")+m.group(3), text)
# link and joint names feed prim paths too
text = re.sub(r'((?:link|joint|parent|child)\s+(?:name|link)\s*=\s*")([^"]+)(")',
lambda m: m.group(1)+m.group(2).replace("-", "_")+m.group(3), text)
open(urdf, "w").write(text)
print(f"[san] {job} -> {cat}/{inst}_clean ({renamed} files renamed, "
f"{fixed} mesh files had internal references rewritten)")
return f"{cat}/{inst}_clean"
if __name__ == "__main__":
out = [sanitize(j) for j in sys.argv[1:]]
print("JOBS=" + ",".join(j for j in out if j))
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