haosulab
[Feature] Support USD format
As title, I wonder that how .USD file can use in maniskill. I don't find a method like create_usd_loader etc.
Thanks again.
We can support the USD file format, it just needs someone to do it. It's currently a more low priority task at the moment.
Thanks a lot. I will try to make it these days. If success, I will make a pull request!
@Ethan-Chen-plus do you have a timeline for your effort on this part?
I might have some time next week to take a look as well. A few more people have requested this recently. Moreover do there exist any other repos that load USD data formats? Or do USD to URDF conversions of sorts?
And what are some good USD based datasets that we can include for testing?
Hi @StoneT2000,
We can leverage the OpenUSD (often referred to as pxr in Python) repository for the fundamental task of loading and parsing USD files.
However, the more involved part seems to be mapping and assigning all the relevant object properties (like geometry, materials, physics attributes, etc.) into the SAPIEN/ManiSkill systems. I'm currently still digging into the API integration details.
It's great to hear that more people are requesting this! I'd definitely appreciate it if you have some time to look into it next week as well.
Data Test: GenieSimAssets dataset on Hugging Face (https://huggingface.co/datasets/agibot-world/GenieSimAssets) could be a really good candidate. It seems to have a nice collection of USD assets relevant to robotics scenes.
@StoneT2000 @Ethan-Chen-plus Any update? Would appreciate it a lot if you guys could share."
Currently guessing my way around the mjcf2usd package (https://github.com/LightwheelAI/mjcf2usd) and the isaac sim urdf exporter extension (https://github.com/isaac-sim/IsaacSim/blob/main/source/extensions/isaacsim.asset.exporter.urdf/isaacsim/asset/exporter/urdf/exporter.py)
Takes a bit of time to figure out USD, but this is on my priority list though.
Currently guessing my way around the mjcf2usd package (https://github.com/LightwheelAI/mjcf2usd) and the isaac sim urdf exporter extension (https://github.com/isaac-sim/IsaacSim/blob/main/source/extensions/isaacsim.asset.exporter.urdf/isaacsim/asset/exporter/urdf/exporter.py)
Takes a bit of time to figure out USD, but this is on my priority list though.
@StoneT2000 I have now tried to export .USD as .urdf by using the isaac sim urdf exporter extension. However, in the process of exportation, the textures will not be kept. Do you have any idea how to solve this issue? Or is this issue under your consideration?
@StoneT2000 @Ethan-Chen-plus @Zhouxunzhe Do you have any updates? I’d greatly appreciate it if you could share them.
