Adds script to convert urdfs/meshes to instanceable USD in batches (#2248)

# Description

Adding a script that converts URDFs and Meshes to instanceable formatted
usd in batch (recursively searching dir) so that users do not have to do
it one at a time

## Type of change

- New feature (non-breaking change which adds functionality)

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [ ] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

Author: hapatel-bdai

scripts/tools/convert_instanceable.py

@@ -0,0 +1,161 @@
+# Copyright (c) 2022-2025, The Isaac Lab Project Developers.
+# All rights reserved.
+#
+# SPDX-License-Identifier: BSD-3-Clause
+
+"""
+Utility to bulk convert URDFs or mesh files into instanceable USD format.
+
+Unified Robot Description Format (URDF) is an XML file format used in ROS to describe all elements of
+a robot. For more information, see: http://wiki.ros.org/urdf
+
+This script uses the URDF importer extension from Isaac Sim (``omni.isaac.urdf_importer``) to convert a
+URDF asset into USD format. It is designed as a convenience script for command-line use. For more
+information on the URDF importer, see the documentation for the extension:
+https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/ext_omni_isaac_urdf.html
+
+
+positional arguments:
+  input               The path to the input directory containing URDFs and Meshes.
+  output              The path to directory to store the instanceable files.
+
+optional arguments:
+  -h, --help                Show this help message and exit
+  --conversion-type         Select file type to convert, urdf or mesh. (default: urdf)
+  --merge-joints            Consolidate links that are connected by fixed joints. (default: False)
+  --fix-base                Fix the base to where it is imported. (default: False)
+  --make-instanceable       Make the asset instanceable for efficient cloning. (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 URDF or mesh into an Instanceable asset.")
+parser.add_argument("input", type=str, help="The path to the input directory.")
+parser.add_argument("output", type=str, help="The path to directory to store converted instanceable files.")
+parser.add_argument(
+    "--conversion-type", type=str, default="both", help="Select file type to convert, urdf, mesh, or both."
+)
+parser.add_argument(
+    "--merge-joints",
+    action="store_true",
+    default=False,
+    help="Consolidate links that are connected by fixed joints.",
+)
+parser.add_argument("--fix-base", action="store_true", default=False, help="Fix the base to where it is imported.")
+parser.add_argument(
+    "--make-instanceable",
+    action="store_true",
+    default=True,
+    help="Make the asset instanceable for efficient cloning.",
+)
+parser.add_argument(
+    "--collision-approximation",
+    type=str,
+    default="convexDecomposition",
+    choices=["convexDecomposition", "convexHull", "none"],
+    help=(
+        'The method used for approximating collision mesh. Set to "none" '
+        "to not add a collision mesh to the converted mesh."
+    ),
+)
+parser.add_argument(
+    "--mass",
+    type=float,
+    default=None,
+    help="The mass (in kg) to assign to the converted asset. If not provided, then no mass is added.",
+)
+
+# 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 os
+
+from isaaclab.sim.converters import MeshConverter, MeshConverterCfg, UrdfConverter, UrdfConverterCfg
+from isaaclab.sim.schemas import schemas_cfg
+
+
+def main():
+
+    # Define conversion time given
+    conversion_type = args_cli.conversion_type.lower()
+    # Warning if conversion type input is not valid
+    if conversion_type != "urdf" and conversion_type != "mesh" and conversion_type != "both":
+        raise Warning("Conversion type is not valid, please select either 'urdf', 'mesh', or 'both'.")
+
+    if not os.path.exists(args_cli.input):
+        print(f"Error: The directory {args_cli.input} does not exist.")
+
+    # For each file and subsequent sub-directory
+    for root, dirs, files in os.walk(args_cli.input):
+        # For each file
+        for filename in files:
+            # Check for URDF extensions
+            if (conversion_type == "urdf" or conversion_type == "both") and filename.lower().endswith(".urdf"):
+                # URDF converter call
+                urdf_converter_cfg = UrdfConverterCfg(
+                    asset_path=f"{root}/{filename}",
+                    usd_dir=f"{args_cli.output}/{filename[:-5]}",
+                    usd_file_name=f"{filename[:-5]}.usd",
+                    fix_base=args_cli.fix_base,
+                    merge_fixed_joints=args_cli.merge_joints,
+                    force_usd_conversion=True,
+                    make_instanceable=args_cli.make_instanceable,
+                )
+                # Create Urdf converter and import the file
+                urdf_converter = UrdfConverter(urdf_converter_cfg)
+                print(f"Generated USD file: {urdf_converter.usd_path}")
+
+            elif (conversion_type == "mesh" or conversion_type == "both") and (
+                filename.lower().endswith(".fbx")
+                or filename.lower().endswith(".obj")
+                or filename.lower().endswith(".dae")
+                or filename.lower().endswith(".stl")
+            ):
+                # Mass properties
+                if args_cli.mass is not None:
+                    mass_props = schemas_cfg.MassPropertiesCfg(mass=args_cli.mass)
+                    rigid_props = schemas_cfg.RigidBodyPropertiesCfg()
+                else:
+                    mass_props = None
+                    rigid_props = None
+
+                # Collision properties
+                collision_props = schemas_cfg.CollisionPropertiesCfg(
+                    collision_enabled=args_cli.collision_approximation != "none"
+                )
+                # Mesh converter call
+                mesh_converter_cfg = MeshConverterCfg(
+                    mass_props=mass_props,
+                    rigid_props=rigid_props,
+                    collision_props=collision_props,
+                    asset_path=f"{root}/{filename}",
+                    force_usd_conversion=True,
+                    usd_dir=f"{args_cli.output}/{filename[:-4]}",
+                    usd_file_name=f"{filename[:-4]}.usd",
+                    make_instanceable=args_cli.make_instanceable,
+                    collision_approximation=args_cli.collision_approximation,
+                )
+                # Create mesh converter and import the file
+                mesh_converter = MeshConverter(mesh_converter_cfg)
+                print(f"Generated USD file: {mesh_converter.usd_path}")
+
+
+if __name__ == "__main__":
+    # run the main function
+    main()
+    # close sim app
+    simulation_app.close()