From 55dedc29ce17e8dfc6d0a550e9cec2c14a6609fc Mon Sep 17 00:00:00 2001
From: Xinjie <mrwangxinjie@163.com>
Date: Thu, 30 Oct 2025 20:00:32 +0800
Subject: [PATCH] feat(conversion): Add `cvt_embodiedgen_asset_to_anysim`
 interface. (#48)

---
 embodied_gen/data/asset_converter.py | 109 ++++++++++++++++++++++++---
 1 file changed, 100 insertions(+), 9 deletions(-)

diff --git a/embodied_gen/data/asset_converter.py b/embodied_gen/data/asset_converter.py
index 546a75b..5214fec 100644
--- a/embodied_gen/data/asset_converter.py
+++ b/embodied_gen/data/asset_converter.py
@@ -21,6 +21,9 @@ __all__ = [
     "MeshtoMJCFConverter",
     "MeshtoUSDConverter",
     "URDFtoUSDConverter",
+    "cvt_embodiedgen_asset_to_anysim",
+    "PhysicsUSDAdder",
+    "SimAssetMapper",
 ]
 
 
@@ -34,6 +37,84 @@ class AssetType(str):
     MESH = "mesh"
 
 
+class SimAssetMapper:
+    _mapping = dict(
+        ISAACSIM=AssetType.USD,
+        ISAACGYM=AssetType.URDF,
+        MUJOCO=AssetType.MJCF,
+        GENESIS=AssetType.MJCF,
+        SAPIEN=AssetType.URDF,
+        PYBULLET=AssetType.URDF,
+    )
+
+    @classmethod
+    def __class_getitem__(cls, key: str):
+        key = key.upper()
+        if key.startswith("SAPIEN"):
+            key = "SAPIEN"
+        return cls._mapping[key]
+
+
+def cvt_embodiedgen_asset_to_anysim(
+    urdf_files: list[str],
+    target_type: AssetType,
+    source_type: AssetType,
+    **kwargs,
+) -> dict[str, str]:
+    """Convert URDF files generated by EmbodiedGen into the format required by all simulators.
+
+    Supported simulators include SAPIEN, Isaac Sim, MuJoCo, Isaac Gym, Genesis, and Pybullet.
+
+    Example:
+        dst_asset_path = cvt_embodiedgen_asset_to_anysim(
+            urdf_files,
+            target_type=SimAssetMapper[simulator_name],
+            source_type=AssetType.MESH,
+        )
+
+    Args:
+        urdf_files (List[str]): List of URDF file paths to be converted.
+        target_type (AssetType): The target asset type.
+        source_type (AssetType): The source asset type.
+
+    Returns:
+        Dict[str, str]: A dictionary mapping the original URDF file path to the converted asset file path.
+    """
+
+    if isinstance(urdf_files, str):
+        urdf_files = [urdf_files]
+
+    # If the target type is URDF, no conversion is needed.
+    if target_type == AssetType.URDF:
+        return {key: key for key in urdf_files}
+
+    asset_converter = AssetConverterFactory.create(
+        target_type=target_type,
+        source_type=source_type,
+        **kwargs,
+    )
+    asset_paths = dict()
+
+    with asset_converter:
+        for urdf_file in urdf_files:
+            filename = os.path.basename(urdf_file).replace(".urdf", "")
+            asset_dir = os.path.dirname(urdf_file)
+            if target_type == AssetType.MJCF:
+                target_file = f"{asset_dir}/../mjcf/{filename}.xml"
+            elif target_type == AssetType.USD:
+                target_file = f"{asset_dir}/../usd/{filename}.usd"
+            else:
+                raise NotImplementedError(
+                    f"Target type {target_type} not supported."
+                )
+            if not os.path.exists(target_file):
+                asset_converter.convert(urdf_file, target_file)
+
+            asset_paths[urdf_file] = target_file
+
+    return asset_paths
+
+
 class AssetConverterBase(ABC):
     """Converter abstract base class."""
 
@@ -222,6 +303,7 @@ class MeshtoMJCFConverter(AssetConverterBase):
                 output_dir,
                 name=str(idx),
             )
+            joint = ET.SubElement(body, "joint", attrib={"type": "free"})
             self.add_geometry(
                 mujoco_asset,
                 link,
@@ -357,24 +439,33 @@ class MeshtoUSDConverter(AssetConverterBase):
         simulation_app=None,
         **kwargs,
     ):
+        if simulation_app is not None:
+            self.simulation_app = simulation_app
+
+        if "exit_close" in kwargs:
+            self.exit_close = kwargs.pop("exit_close")
+        else:
+            self.exit_close = True
+
         self.usd_parms = dict(
             force_usd_conversion=force_usd_conversion,
             make_instanceable=make_instanceable,
             **kwargs,
         )
-        if simulation_app is not None:
-            self.simulation_app = simulation_app
 
     def __enter__(self):
         from isaaclab.app import AppLauncher
 
         if not hasattr(self, "simulation_app"):
-            launch_args = dict(
-                headless=True,
-                no_splash=True,
-                fast_shutdown=True,
-                disable_gpu=True,
-            )
+            if "launch_args" not in self.usd_parms:
+                launch_args = dict(
+                    headless=True,
+                    no_splash=True,
+                    fast_shutdown=True,
+                    disable_gpu=True,
+                )
+            else:
+                launch_args = self.usd_parms.pop("launch_args")
             self.app_launcher = AppLauncher(launch_args)
             self.simulation_app = self.app_launcher.app
 
@@ -382,7 +473,7 @@ class MeshtoUSDConverter(AssetConverterBase):
 
     def __exit__(self, exc_type, exc_val, exc_tb):
         # Close the simulation app if it was created here
-        if hasattr(self, "app_launcher"):
+        if hasattr(self, "app_launcher") and self.exit_close:
             self.simulation_app.close()
 
         if exc_val is not None: