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Update robocasa example to use make_drake_compatible_model #427

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Jan 17, 2025
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Update robocasa example to use make_drake_compatible_model #427

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66 changes: 52 additions & 14 deletions book/mobile/robocasa.ipynb
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Original file line number Diff line number Diff line change
Expand Up @@ -13,7 +13,7 @@
},
{
"cell_type": "code",
"execution_count": null,
"execution_count": 1,
"id": "99268d0c",
"metadata": {
"colab": {},
Expand All @@ -29,7 +29,10 @@
"from zipfile import ZipFile\n",
"\n",
"from pydrake.all import ModelVisualizer, PackageMap, Simulator, StartMeshcat\n",
"from tqdm.notebook import tqdm"
"from tqdm.notebook import tqdm\n",
"\n",
"from manipulation.make_drake_compatible_model import MakeDrakeCompatibleModel\n",
"from manipulation.utils import running_as_notebook"
]
},
{
Expand All @@ -55,15 +58,15 @@
" package_name=\"robocasa\",\n",
" params=PackageMap.RemoteParams(\n",
" urls=[\n",
" f\"https://github.com/robocasa/robocasa/archive/1370b9e0f747d84fb21ed29bacefb1654865301b.zip\"\n",
" f\"https://github.com/robocasa/robocasa/archive/a7586f67b72e51722340c9dbe97a59e0aff1ff8f.zip\"\n",
" ],\n",
" sha256=(\"a7218ed369936f96b19467eee5038870b14c2b7f91a9d6108591394ed074b337\"),\n",
" strip_prefix=\"robocasa-1370b9e0f747d84fb21ed29bacefb1654865301b/robocasa/\",\n",
" sha256=(\"64abe91ac8ca9cbb22aa4d7c9461d7d899ba54e700dccecdfab5a827fcf7f322\"),\n",
" strip_prefix=\"robocasa-a7586f67b72e51722340c9dbe97a59e0aff1ff8f/robocasa/\",\n",
" ),\n",
" )\n",
"\n",
"\n",
"def DownloadRobocasaKitchenAssets():\n",
"def MaybeDownloadRobocasaKitchenAssets():\n",
" package_map = PackageMap()\n",
" AddRobocasaRemote(package_map)\n",
" # This will force the download if it hasn't been done before.\n",
Expand All @@ -73,12 +76,36 @@
" # https://github.com/robocasa/robocasa/blob/main/robocasa/scripts/download_kitchen_assets.py\n",
" # with robocasa_path updated.\n",
" DOWNLOAD_ASSET_REGISTRY = dict(\n",
" textures=dict(\n",
" message=\"Downloading environment textures\",\n",
" url=\"https://utexas.box.com/shared/static/otdsyfjontk17jdp24bkhy2hgalofbh4.zip\",\n",
" folder=os.path.join(robocasa_path, \"models/assets/textures\"),\n",
" check_folder_exists=True,\n",
" ),\n",
" fixtures=dict(\n",
" message=\"Downloading fixtures\",\n",
" url=\"https://utexas.box.com/shared/static/956d0w2ucqs7d3eors1idsohgum57nli.zip\",\n",
" url=\"https://utexas.box.com/shared/static/pobhbsjyacahg2mx8x4rm5fkz3wlmyzp.zip\",\n",
" folder=os.path.join(robocasa_path, \"models/assets/fixtures\"),\n",
" check_folder_exists=False,\n",
" check_folder_exists=True,\n",
" ),\n",
" objaverse=dict(\n",
" message=\"Downloading objaverse objects\",\n",
" url=\"https://utexas.box.com/shared/static/ejt1kc2v5vhae1rl4k5697i4xvpbjcox.zip\",\n",
" folder=os.path.join(robocasa_path, \"models/assets/objects/objaverse\"),\n",
" check_folder_exists=True,\n",
" ),\n",
" # aigen_objs=dict(\n",
" # message=\"Downloading AI-generated objects\",\n",
" # url=\"https://utexas.box.com/shared/static/os3hrui06lasnuvwqpmwn0wcrduh6jg3.zip\",\n",
" # folder=os.path.join(robocasa_path, \"models/assets/objects/aigen_objs\"),\n",
" # check_folder_exists=False,\n",
" # ),\n",
" # generative_textures=dict(\n",
" # message=\"Downloading AI-generated environment textures\",\n",
" # url=\"https://utexas.box.com/shared/static/gf9nkadvfrowkb9lmkcx58jwt4d6c1g3.zip\",\n",
" # folder=os.path.join(robocasa_path, \"models/assets/generative_textures\"),\n",
" # check_folder_exists=False,\n",
" # ),\n",
" )\n",
"\n",
" def show_progress(block_num, block_size, total_size):\n",
Expand All @@ -87,6 +114,9 @@
" pbar.update(block_size)\n",
"\n",
" for name, info in DOWNLOAD_ASSET_REGISTRY.items():\n",
" if info[\"check_folder_exists\"] and os.path.exists(info[\"folder\"]):\n",
" print(f\"Skipping {name} - already downloaded\")\n",
" continue\n",
" with tqdm(unit=\"B\", unit_scale=True, miniters=1, desc=info[\"message\"]) as pbar:\n",
" filename, headers = urllib.request.urlretrieve(\n",
" info[\"url\"], reporthook=show_progress\n",
Expand All @@ -97,9 +127,8 @@
" os.remove(filename)\n",
"\n",
"\n",
"# You'll only want to run this once.\n",
"# TODO(russt): Update this to MaybeDownloadRobocasaKitchenAssets.\n",
"# DownloadRobocasaKitchenAssets()"
"if running_as_notebook:\n",
" MaybeDownloadRobocasaKitchenAssets()"
]
},
{
Expand All @@ -124,10 +153,19 @@
"outputs": [],
"source": [
"visualizer = ModelVisualizer(meshcat=meshcat)\n",
"AddRobocasaRemote(visualizer.parser().package_map())\n",
"visualizer.AddModels(\n",
" url=\"package://robocasa/models/assets/fixtures/accessories/knife_blocks/dark_wood/model.xml\"\n",
"package_map = visualizer.parser().package_map()\n",
"AddRobocasaRemote(package_map)\n",
"original_model_path = package_map.ResolveUrl(\n",
" \"package://robocasa/models/assets/fixtures/accessories/knife_blocks/dark_wood/model.xml\"\n",
")\n",
"drake_model_path = original_model_path.replace(\".xml\", \".drake.xml\")\n",
"MakeDrakeCompatibleModel(\n",
" original_model_path,\n",
" drake_model_path,\n",
" overwrite=True,\n",
" remap_mujoco_geometry_groups={0: 3},\n",
")\n",
"visualizer.AddModels(drake_model_path)\n",
"visualizer.Run(loop_once=True)\n",
"meshcat.DeleteAddedControls()"
]
Expand Down
29 changes: 27 additions & 2 deletions manipulation/make_drake_compatible_model.py
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Original file line number Diff line number Diff line change
Expand Up @@ -262,7 +262,12 @@ def _apply_defaults(
return element


def _convert_mjcf(input_filename: str, output_filename: str, overwrite: bool) -> None:
def _convert_mjcf(
input_filename: str,
output_filename: str,
overwrite: bool,
remap_geometry_groups: dict[int, int] = {},
) -> None:
"""Convert an MJCF file to be compatible with Drake.

Args:
Expand Down Expand Up @@ -495,6 +500,15 @@ def process_defaults(element, parent_class="main"):
break
parent = parent.getparent()

# Remap geometry groups
if remap_geometry_groups:
geoms = root.findall(".//geom")
for geom in geoms:
if "group" in geom.attrib:
group = int(geom.attrib["group"])
if group in remap_geometry_groups:
geom.attrib["group"] = str(remap_geometry_groups[group])

tree.write(output_filename, pretty_print=True)
print(f"Converted MJCF file {input_filename} to {output_filename}")

Expand All @@ -504,6 +518,7 @@ def MakeDrakeCompatibleModel(
output_filename: str,
package_map: PackageMap = PackageMap(),
overwrite: bool = False,
remap_mujoco_geometry_groups: dict[int, int] = {},
) -> None:
"""Converts a model file (currently .urdf or .xml)to be compatible with the
Drake multibody parsers.
Expand Down Expand Up @@ -534,13 +549,23 @@ def MakeDrakeCompatibleModel(
package_map (PackageMap, optional): The package map to use. Defaults to None.
overwrite (bool, optional): Whether to overwrite existing files. Defaults
to False.
remap_mujoco_geometry_groups (dict[int, int], optional): Drake's mujoco
parser registers visual geometry for geometry groups < 3 (the
mujoco default), which is a common, but not universal, convention.
This argument allows you to remap (substituting the value for the
key).
"""
if input_filename.lower().endswith(".urdf"):
_convert_urdf(input_filename, output_filename, package_map, overwrite=overwrite)
elif input_filename.lower().endswith(".sdf"):
_convert_sdf(input_filename, output_filename, package_map, overwrite=overwrite)
elif input_filename.lower().endswith(".xml"):
_convert_mjcf(input_filename, output_filename, overwrite=overwrite)
_convert_mjcf(
input_filename,
output_filename,
overwrite=overwrite,
remap_geometry_groups=remap_mujoco_geometry_groups,
)
else:
print(
f"Warning: The file extension of '{input_filename}' is not "
Expand Down
1 change: 1 addition & 0 deletions manipulation/test/models/test_defaults.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -3,6 +3,7 @@
<default class="scaled">
<mesh scale="0.001 0.002 0.003"/>
</default>
<geom group="0"/>
</default>
<asset>
<mesh name="test_stl" file="cube.stl" class="scaled"/>
Expand Down
2 changes: 2 additions & 0 deletions manipulation/test/test_make_drake_compatible_model.py
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Original file line number Diff line number Diff line change
Expand Up @@ -128,13 +128,15 @@ def test_mjcf_defaults(self):
input_filename=input_filename,
output_filename=output_filename,
package_map=package_map,
remap_mujoco_geometry_groups={0: 3},
)
self.assertTrue(os.path.exists(output_filename))
with open(output_filename, "r") as f:
output_content = f.read()
self.assertIn(
'file="cube_from_stl_scaled_0.001_0.002_0.003.obj"', output_content
)
self.assertIn('group="3"', output_content)
# Clean up the temp file
os.remove(output_filename)

Expand Down
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