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wertyuilife
2026-03-23 03:17:59 +08:00
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62
scripts/tools/clean_trash.py Normal file
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# Copyright (c) 2024-2025 Ziqi Fan
# SPDX-License-Identifier: Apache-2.0
import os
import re
import shutil
def clean_trash(folder_path):
"""
Delete folders that meet the following conditions:
1. Contain `events.out.*` files.
2. Also meet:
- No `.pt` files, or
- Less than 3 `.pt` files.
:param folder_path: Target folder path
"""
if not os.path.exists(folder_path):
print(f"Folder {folder_path} does not exist.")
return
# List of folders to delete
folders_to_delete = []
# Traverse subfolders
for root, dirs, files in os.walk(folder_path):
# Regex match `events.out.*` and `.pt` files
event_pattern = re.compile(r"events\.out.*")
model_pattern = re.compile(r"model_\d+\.pt")
event_files = [f for f in files if event_pattern.match(f)]
model_files = [f for f in files if model_pattern.match(f)]
# Check delete conditions: have `events.out.*` files, but no `.pt` files or less than 3 `.pt` files
if event_files and (len(model_files) < 3):
folders_to_delete.append(os.path.abspath(root))
# If there are folders that meet the conditions, prompt and delete
if folders_to_delete:
print("The following folders contain `events.out.*` and meet the deletion conditions, they will be deleted:")
for folder in folders_to_delete:
print(f" - {folder}")
# Confirm deletion
confirm = input("Confirm deletion of these folders? (y/n): ").strip().lower()
if confirm == "y":
for folder in folders_to_delete:
shutil.rmtree(folder) # Delete the entire folder
print(f"Deleted: {folder}")
print("All folders that meet the conditions have been deleted.")
else:
print("Deletion operation canceled.")
else:
print("No folders meet the conditions, no need to delete.")
# Example call
if __name__ == "__main__":
# folder = input("Please enter the target folder path: ").strip()
folder = "logs"
clean_trash(folder)

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scripts/tools/convert_mjcf.py Normal file
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# Copyright (c) 2024-2025 Ziqi Fan
# SPDX-License-Identifier: Apache-2.0
# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
"""
Utility to convert a MJCF into USD format.
MuJoCo XML Format (MJCF) is an XML file format used in MuJoCo to describe all elements of a robot.
For more information, see: http://www.mujoco.org/book/XMLreference.html
This script uses the MJCF importer extension from Isaac Sim (``isaacsim.asset.importer.mjcf``) to convert
a MJCF asset into USD format. It is designed as a convenience script for command-line use. For more information
on the MJCF importer, see the documentation for the extension:
https://docs.isaacsim.omniverse.nvidia.com/latest/robot_setup/ext_isaacsim_asset_importer_mjcf.html
positional arguments:
input The path to the input URDF file.
output The path to store the USD file.
optional arguments:
-h, --help Show this help message and exit
--fix-base Fix the base to where it is imported. (default: False)
--import-sites Import sites by parse <site> tag. (default: True)
--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 MJCF into USD format.")
parser.add_argument("input", type=str, help="The path to the input MJCF file.")
parser.add_argument("output", type=str, help="The path to store the USD file.")
parser.add_argument("--fix-base", action="store_true", default=False, help="Fix the base to where it is imported.")
parser.add_argument(
"--import-sites", action="store_true", default=False, help="Import sites by parsing the <site> tag."
)
parser.add_argument(
"--make-instanceable",
action="store_true",
default=False,
help="Make the asset instanceable for efficient cloning.",
)
# 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 contextlib
import os
import carb
import isaacsim.core.utils.stage as stage_utils
import omni.kit.app
from isaaclab.sim.converters import MjcfConverter, MjcfConverterCfg
from isaaclab.utils.assets import check_file_path
from isaaclab.utils.dict import print_dict
def main():
# check valid file path
mjcf_path = args_cli.input
if not os.path.isabs(mjcf_path):
mjcf_path = os.path.abspath(mjcf_path)
if not check_file_path(mjcf_path):
raise ValueError(f"Invalid file path: {mjcf_path}")
# create destination path
dest_path = args_cli.output
if not os.path.isabs(dest_path):
dest_path = os.path.abspath(dest_path)
# create the converter configuration
mjcf_converter_cfg = MjcfConverterCfg(
asset_path=mjcf_path,
usd_dir=os.path.dirname(dest_path),
usd_file_name=os.path.basename(dest_path),
fix_base=args_cli.fix_base,
import_sites=args_cli.import_sites,
force_usd_conversion=True,
make_instanceable=args_cli.make_instanceable,
)
# Print info
print("-" * 80)
print("-" * 80)
print(f"Input MJCF file: {mjcf_path}")
print("MJCF importer config:")
print_dict(mjcf_converter_cfg.to_dict(), nesting=0)
print("-" * 80)
print("-" * 80)
# Create mjcf converter and import the file
mjcf_converter = MjcfConverter(mjcf_converter_cfg)
# print output
print("MJCF importer output:")
print(f"Generated USD file: {mjcf_converter.usd_path}")
print("-" * 80)
print("-" * 80)
# Determine if there is a GUI to update:
# acquire settings interface
carb_settings_iface = carb.settings.get_settings()
# read flag for whether a local GUI is enabled
local_gui = carb_settings_iface.get("/app/window/enabled")
# read flag for whether livestreaming GUI is enabled
livestream_gui = carb_settings_iface.get("/app/livestream/enabled")
# Simulate scene (if not headless)
if local_gui or livestream_gui:
# Open the stage with USD
stage_utils.open_stage(mjcf_converter.usd_path)
# Reinitialize the simulation
app = omni.kit.app.get_app_interface()
# Run simulation
with contextlib.suppress(KeyboardInterrupt):
while app.is_running():
# perform step
app.update()
if __name__ == "__main__":
# run the main function
main()
# close sim app
simulation_app.close()

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scripts/tools/convert_urdf.py Normal file
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# Copyright (c) 2024-2025 Ziqi Fan
# SPDX-License-Identifier: Apache-2.0
# Copyright (c) 2022-2025, The Isaac Lab Project Developers (https://github.com/isaac-sim/IsaacLab/blob/main/CONTRIBUTORS.md).
# All rights reserved.
#
# SPDX-License-Identifier: BSD-3-Clause
"""
Utility to convert a URDF into 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 (``isaacsim.asset.importer.urdf``) 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.isaacsim.omniverse.nvidia.com/latest/robot_setup/ext_isaacsim_asset_importer_urdf.html
positional arguments:
input The path to the input URDF file.
output The path to store the USD file.
optional arguments:
-h, --help Show this help message and exit
--merge-joints Consolidate links that are connected by fixed joints. (default: False)
--fix-base Fix the base to where it is imported. (default: False)
--joint-stiffness The stiffness of the joint drive. (default: 100.0)
--joint-damping The damping of the joint drive. (default: 1.0)
--joint-target-type The type of control to use for the joint drive. (default: "position")
"""
"""Launch Isaac Sim Simulator first."""
import argparse
from isaaclab.app import AppLauncher
# add argparse arguments
parser = argparse.ArgumentParser(description="Utility to convert a URDF into USD format.")
parser.add_argument("input", type=str, help="The path to the input URDF file.")
parser.add_argument("output", type=str, help="The path to store the USD file.")
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(
"--joint-stiffness",
type=float,
default=100.0,
help="The stiffness of the joint drive.",
)
parser.add_argument(
"--joint-damping",
type=float,
default=1.0,
help="The damping of the joint drive.",
)
parser.add_argument(
"--joint-target-type",
type=str,
default="position",
choices=["position", "velocity", "none"],
help="The type of control to use for the joint drive.",
)
# 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 contextlib
import os
import carb
import isaacsim.core.utils.stage as stage_utils
import omni.kit.app
from isaaclab.sim.converters import UrdfConverter, UrdfConverterCfg
from isaaclab.utils.assets import check_file_path
from isaaclab.utils.dict import print_dict
def main():
# check valid file path
urdf_path = args_cli.input
if not os.path.isabs(urdf_path):
urdf_path = os.path.abspath(urdf_path)
if not check_file_path(urdf_path):
raise ValueError(f"Invalid file path: {urdf_path}")
# create destination path
dest_path = args_cli.output
if not os.path.isabs(dest_path):
dest_path = os.path.abspath(dest_path)
# Create Urdf converter config
urdf_converter_cfg = UrdfConverterCfg(
asset_path=urdf_path,
usd_dir=os.path.dirname(dest_path),
usd_file_name=os.path.basename(dest_path),
fix_base=args_cli.fix_base,
merge_fixed_joints=args_cli.merge_joints,
force_usd_conversion=True,
joint_drive=UrdfConverterCfg.JointDriveCfg(
gains=UrdfConverterCfg.JointDriveCfg.PDGainsCfg(
stiffness=args_cli.joint_stiffness,
damping=args_cli.joint_damping,
),
target_type=args_cli.joint_target_type,
),
)
# Print info
print("-" * 80)
print("-" * 80)
print(f"Input URDF file: {urdf_path}")
print("URDF importer config:")
print_dict(urdf_converter_cfg.to_dict(), nesting=0)
print("-" * 80)
print("-" * 80)
# Create Urdf converter and import the file
urdf_converter = UrdfConverter(urdf_converter_cfg)
# print output
print("URDF importer output:")
print(f"Generated USD file: {urdf_converter.usd_path}")
print("-" * 80)
print("-" * 80)
# Determine if there is a GUI to update:
# acquire settings interface
carb_settings_iface = carb.settings.get_settings()
# read flag for whether a local GUI is enabled
local_gui = carb_settings_iface.get("/app/window/enabled")
# read flag for whether livestreaming GUI is enabled
livestream_gui = carb_settings_iface.get("/app/livestream/enabled")
# Simulate scene (if not headless)
if local_gui or livestream_gui:
# Open the stage with USD
stage_utils.open_stage(urdf_converter.usd_path)
# Reinitialize the simulation
app = omni.kit.app.get_app_interface()
# Run simulation
with contextlib.suppress(KeyboardInterrupt):
while app.is_running():
# perform step
app.update()
if __name__ == "__main__":
# run the main function
main()
# close sim app
simulation_app.close()

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# Copyright (c) 2024-2025 Ziqi Fan
# SPDX-License-Identifier: Apache-2.0
# Copyright (c) 2024-2025, The Isaac Lab Project Developers.
# All rights reserved.
#
# SPDX-License-Identifier: Apache-2.0
"""
Script to print all the available environments in Isaac Lab.
The script iterates over all registered environments and stores the details in a table.
It prints the name of the environment, the entry point and the config file.
All the environments are registered in the `isaaclab_tasks` extension. They start
with `Isaac` in their name.
"""
"""Launch Isaac Sim Simulator first."""
from isaaclab.app import AppLauncher
# launch omniverse app
app_launcher = AppLauncher(headless=True)
simulation_app = app_launcher.app
"""Rest everything follows."""
import gymnasium as gym
import textwrap
from prettytable import PrettyTable
import robot_lab.tasks # noqa: F401
def main():
"""Print all environments registered in `isaaclab_tasks` extension."""
# print all the available environments
table = PrettyTable(["S. No.", "Task Name", "Entry Point", "Config"])
table.title = "Available Environments in Isaac Lab"
# set alignment of table columns
table.align["Task Name"] = "l"
table.align["Entry Point"] = "l"
table.align["Config"] = "l"
table.hrules = 1
# set max width for text wrapping
max_width = 50
# count of environments
index = 0
# acquire all Isaac environments names
for task_spec in gym.registry.values():
if "RobotLab" in task_spec.id:
# wrap long text in each column before adding it to the table
task_name = textwrap.fill(task_spec.id, max_width)
entry_point = textwrap.fill(task_spec.entry_point, max_width)
config = textwrap.fill(task_spec.kwargs["env_cfg_entry_point"], max_width)
# add details to table
table.add_row([index + 1, task_name, entry_point, config])
# increment count
index += 1
print(table)
if __name__ == "__main__":
try:
# run the main function
main()
except Exception as e:
raise e
finally:
# close the app
simulation_app.close()