add STL to USD converter and a script that shows how to load an USD file in Isaac Sim

min_example.py

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+import argparse
+from omni.isaac.lab.app import AppLauncher
+
+parser = argparse.ArgumentParser(description="Test")
+AppLauncher.add_app_launcher_args(parser)
+args_cli = parser.parse_args()
+app_launcher = AppLauncher(headless=False, hide_ui=True, width=640, height=480)
+simulation_app = app_launcher.app
+
+import numpy as np
+import torch
+import os
+import random
+from omni.isaac.core import SimulationContext
+from omni.isaac.core.prims import RigidPrim, GeometryPrim
+from omni.isaac.core.utils import prims
+from omni.isaac.core.world import World
+from omni.isaac.core.objects import FixedCuboid
+
+device='cuda'
+backend='torch'
+#device='cpu'
+#backend='numpy'
+
+simulation_context = SimulationContext(device=device, backend=backend)
+simulation_context.get_physics_context().enable_gpu_dynamics(True)
+
+if World.instance():
+    World.instance().clear_instance()
+
+world=World(device=device, backend=backend)
+world.scene.add_default_ground_plane()
+
+base_dir = os.getcwd()
+usd_file = os.path.join(base_dir,'usd_object','usd','nontextured_proc.usd')
+object_name = '/my_object'
+obj_prim = prims.create_prim(usd_path=usd_file, prim_path=object_name)
+rigid_prim = RigidPrim(prim_path=str(obj_prim.GetPrimPath()), name=object_name, mass=0.5,position=(0,0,0.5))
+geometry_prim = GeometryPrim(prim_path=str(obj_prim.GetPrimPath()), name=object_name, collision=True) 
+geometry_prim.set_collision_approximation("convexDecomposition")
+geometry_prim.set_contact_offset(1e-5)
+geometry_prim.set_rest_offset(0)#1e-3)
+rigid_prim.enable_rigid_body_physics()
+world.scene.add(rigid_prim)
+
+#cuboid = FixedCuboid(prim_path='/table',name='/table',scale=torch.tensor([10,10,0.4]).to('cuda'), color=np.array([255, 0, 0]))
+cuboid = FixedCuboid(prim_path='/table',name='/table',scale=np.array([10,10,0.4]), color=np.array([255, 0, 0]))
+world.scene.add(cuboid)
+
+print('initializing physics...''')
+simulation_context.initialize_physics()
+rigid_prim.initialize()
+simulation_context.play()
+for _ in range(100):
+    simulation_context.step(render=True)
+world.reset()
+print("world reset")
+
+print('stepping..')
+i = 0
+simulation_context.set_block_on_render(True)
+while simulation_app.is_running():
+    simulation_context.step(render=True)
+    # this changes after clicking the 'visual'
+    print(rigid_prim.get_local_pose())
+    i += 1
+    if i % 100 == 0:
+        print('stepping..')
+
+

stl_to_usd.py

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+import argparse
+
+from omni.isaac.lab.app import AppLauncher
+
+# add argparse arguments
+parser = argparse.ArgumentParser(description="Pick and lift state machine for lift environments.")
+parser.add_argument("--num_envs", type=int, default=4, help="Number of environments to simulate.")
+parser.add_argument("--save_path", type=str, default=None, help="Directory to store the data in.")
+# append AppLauncher cli args
+AppLauncher.add_app_launcher_args(parser)
+
+# TODO parse the arguments
+args_cli = parser.parse_args()
+batch_size = 32
+device='cuda'
+headless = True
+
+# launch omniverse app
+app_launcher = AppLauncher(headless=False, enable_cameras=True)
+simulation_app = app_launcher.app
+
+"""Rest everything else."""
+from omni.isaac.lab.sim.converters import MeshConverter, MeshConverterCfg
+from omni.isaac.lab.sim.schemas import CollisionPropertiesCfg
+
+
+#obj_urdf_path = '/home/mmatak/ycb-fixed-meshes/002_master_chef_can/google_16k/nontextured_proc.stl'
+obj_urdf_path = '/home/mmatak/ycb-fixed-meshes/003_cracker_box/google_16k/nontextured_proc.stl'
+collision_cfg = CollisionPropertiesCfg(collision_enabled=True, contact_offset=1e-3, rest_offset=1e-3)
+
+cfg = MeshConverterCfg(force_usd_conversion=True, asset_path=obj_urdf_path,\
+        usd_dir='/home/mmatak/ycb-fixed-meshes/usd', collision_props=collision_cfg)
+MeshConverter(cfg)
+print('converted')
+

test_all_usd.py

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+import argparse
+
+from omni.isaac.lab.app import AppLauncher
+
+# add argparse arguments
+parser = argparse.ArgumentParser(description="Test")
+# append AppLauncher cli args
+AppLauncher.add_app_launcher_args(parser)
+
+# TODO parse the arguments
+args_cli = parser.parse_args()
+
+# launch omniverse app
+app_launcher = AppLauncher(headless=False)
+simulation_app = app_launcher.app
+
+"""Rest everything else."""
+# 3rd party libs
+import numpy as np
+import torch
+import os
+
+import random
+from tqdm import tqdm
+from omni.isaac.core import SimulationContext
+from omni.isaac.core.prims import RigidPrim, GeometryPrim
+from omni.isaac.core.utils import prims
+from omni.isaac.core.utils.stage import add_reference_to_stage
+from omni.isaac.core.world import World
+from omni.isaac.core.objects import FixedCuboid
+
+device='cuda'
+backend='torch' if 'cuda' in device else 'numpy'
+
+simulation_context = SimulationContext(device=device, backend=backend)
+simulation_context.get_physics_context().enable_gpu_dynamics(True)
+
+if World.instance():
+    World.instance().clear_instance()
+
+world=World(device=device, backend=backend)
+world.scene.add_default_ground_plane()
+
+# Directory where subdirectories are located
+base_dir = os.getcwd()
+
+# Get all subdirectory names in the base directory
+subdirectories = [name for name in os.listdir(base_dir) if os.path.isdir(os.path.join(base_dir, name))]
+
+# Iterate through each subdirectory
+z = 1.0
+obj_id = 0
+for subdir in tqdm(subdirectories[:10]):
+    print(subdir)
+    # Define the path to the URDF file
+    stl_file = os.path.join(base_dir, subdir, 'google_16k', 'nontextured_proc.stl')
+    usd_dir = os.path.join(base_dir, subdir, 'usd')
+    usd_file = os.path.join(usd_dir, 'nontextured_proc.usd')
+    if not os.path.isfile(usd_file):
+        usd_file = os.path.join(usd_dir, 'nontextured.usd')
+    if not os.path.isfile(usd_file):
+        continue
+    object_name = '/object_' + str(obj_id) #str(subdir)
+    obj_id += 1
+    print('object name: ', object_name)
+    print('usd filepath: ', usd_file)
+    #add_reference_to_stage(usd_path=usd_file, prim_path=object_name)
+    obj_prim = prims.create_prim(usd_path=usd_file, prim_path=object_name)
+    #add_reference_to_stage(usd_path=object_name, prim_path=usd_file)
+    rigid_prim = RigidPrim(prim_path=str(obj_prim.GetPrimPath()), name=object_name, mass=0.5,\
+            position=(random.random()*8-4, random.random()*8-4, random.random() + 0.5))
+    geometry_prim = GeometryPrim(prim_path=str(obj_prim.GetPrimPath()), name=object_name, collision=True) 
+    geometry_prim.set_collision_approximation("convexDecomposition")
+    geometry_prim.set_contact_offset(0.001)
+    geometry_prim.set_rest_offset(1e-3)
+    rigid_prim.enable_rigid_body_physics()
+    world.scene.add(rigid_prim)
+    #world.scene.add(geometry_prim)
+
+    z += 0.2
+
+cuboid = FixedCuboid(prim_path='/table',name='/table',scale=torch.tensor([10,10,0.4]).to('cuda'), color=np.array([255, 0, 0]))
+world.scene.add(cuboid)
+
+print('initializing physics...''')
+simulation_context.initialize_physics()
+#prim.initialize()
+simulation_context.play()
+world.reset()
+print("world reset")
+
+print('stepping..')
+i = 0
+simulation_context.set_block_on_render(True)
+while simulation_app.is_running():
+    simulation_context.step(render=True)
+    i += 1
+    if i % 100 == 0:
+        print('stepping..')
+
+