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import_custom_object

Helper script to download BEHAVIOR-1K dataset and assets. Improved version that can import obj file and articulated file (glb, gltf).

import_custom_object(asset_path, category, model, collision_method, hull_count, up_axis, headless, scale, check_scale, rescale, overwrite)

Imports a custom-defined object asset into an OmniGibson-compatible USD format and saves the imported asset files to the selected dataset directory.

Source code in OmniGibson/omnigibson/examples/objects/import_custom_object.py 
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@click.command()
@click.option(
    "--asset-path",
    required=True,
    type=click.Path(exists=True, dir_okay=False),
    help="Absolute path to asset file to import. This can be a raw visual mesh (for single-bodied, static objects), e.g. .obj, .glb, etc., or a more complex (such as articulated) objects defined in .urdf format.",
)
@click.option("--category", required=True, type=click.STRING, help="Category name to assign to the imported asset")
@click.option(
    "--model",
    required=True,
    type=click.STRING,
    help="Model name to assign to the imported asset. This must be unique within the dataset.",
)
@click.option(
    "--collision-method",
    type=click.Choice(["coacd", "convex", "none"]),
    default="coacd",
    help="Method to generate the collision mesh. 'coacd' generates a set of convex decompositions, while 'convex' generates a single convex hull. 'none' will not generate any explicit mesh",
)
@click.option(
    "--hull-count",
    type=int,
    default=32,
    help="Maximum number of convex hulls to decompose individual visual meshes into. Only relevant if --collision-method=coacd",
)
@click.option("--up-axis", type=click.Choice(["z", "y"]), default="z", help="Up axis for the mesh.")
@click.option("--headless", is_flag=True, help="Run the script in headless mode.")
@click.option("--scale", type=int, default=1, help="User choice scale, will be overwritten if check_scale and rescale")
@click.option("--check_scale", is_flag=True, help="Check meshes scale based on heuristic")
@click.option("--rescale", is_flag=True, help="Rescale meshes based on heuristic if check_scale ")
@click.option("--overwrite", is_flag=True, help="Overwrite any pre-existing files")
def import_custom_object(
    asset_path: str,
    category: str,
    model: str,
    collision_method: Literal["coacd", "convex", "none"],
    hull_count: int,
    up_axis: Literal["z", "y"],
    headless: bool,
    scale: int,
    check_scale: bool,
    rescale: bool,
    overwrite: bool,
):
    """
    Imports a custom-defined object asset into an OmniGibson-compatible USD format and saves the imported asset
    files to the selected dataset directory.
    """

    assert len(model) == 6 and model.isalpha(), "Model name must be 6 characters long and contain only letters."
    collision_method = None if collision_method == "none" else collision_method

    # Resolve the asset path here
    asset_path = pathlib.Path(asset_path).absolute()

    # If we're not a URDF, import the mesh directly first
    temp_dir = tempfile.mkdtemp()

    try:
        if asset_path.suffix != ".urdf":
            # Try to generate URDF, may raise ValueError if too many submeshes
            urdf_path = generate_urdf_for_mesh(
                asset_path,
                temp_dir,
                category,
                model,
                collision_method,
                hull_count,
                up_axis,
                scale=scale,
                check_scale=check_scale,
                rescale=rescale,
                overwrite=True,
            )
            if urdf_path is not None:
                click.echo("URDF generation complete!")
                collision_method = None
            else:
                # Clean up temp directories before exiting
                click.echo("Error during URDF generation")
                raise click.Abort()
        else:
            urdf_path = asset_path
            collision_method = collision_method

        # Convert to USD
        import_og_asset_from_urdf(
            category=category,
            model=model,
            urdf_path=str(urdf_path),
            collision_method=collision_method,
            hull_count=hull_count,
            overwrite=overwrite,
            use_usda=False,
        )

    finally:
        # Clean up temp directories before exiting
        shutil.rmtree(temp_dir)

    # Visualize if not headless
    if not headless:
        click.echo("The asset has been successfully imported. You can view it and make changes and save if you'd like.")
        while True:
            og.sim.render()