feat(sim): Support all simulators and opt asset storage size. (#40)

* feat(sim): Support all simulators and opt asset storage size.

CHANGELOG.md

@@ -4,6 +4,12 @@ All notable changes to this project will be documented in this file.
 
 The format is based on [Keep a Changelog](http://keepachangelog.com/en/1.0.0).
 
+
+## [0.1.5] - 2025-09-25
+### Feature
+- Support one-click import into all mainstream simulators([isaacsim](https://github.com/isaac-sim/IsaacSim), [mujoco](https://github.com/google-deepmind/mujoco), [genesis](https://github.com/Genesis-Embodied-AI/Genesis), [pybullet](https://github.com/bulletphysics/bullet3), [isaacgym](https://github.com/isaac-sim/IsaacGymEnvs), [sapien](https://github.com/haosulab/SAPIEN)) for assets generated by EmbodiedGen.
+- Optimize the storage volume of EmbodiedGen generated assets.
+
 ## [0.1.4] - 2025-08-29
 ### Feature
 - Supports importing the output of the EmbodiedGen Layout Generation module with a single `gym.make` command to create multiple parallel simulation environments and interactive 3D worlds.

README.md

@@ -23,6 +23,7 @@
 - [🌍 3D Scene Generation](#3d-scene-generation)
 - [⚙️ Articulated Object Generation](#articulated-object-generation)
 - [🏞️ Layout (Interactive 3D Worlds) Generation](#layout-generation)
+- [🎮 Any Simulators](#any-simulators)
 
 ## 🚀 Quick Start
 
@@ -30,7 +31,7 @@
 ```sh
 git clone https://github.com/HorizonRobotics/EmbodiedGen.git
 cd EmbodiedGen
-git checkout v0.1.4
+git checkout v0.1.5
 git submodule update --init --recursive --progress
 conda create -n embodiedgen python=3.10.13 -y # recommended to use a new env.
 conda activate embodiedgen
@@ -267,6 +268,23 @@ python embodied_gen/scripts/parallel_sim.py \
 
 ---
 
+<h2 id="any-simulators">🎮 Any Simulators</h2>
+
+Use EmbodiedGen-generated assets with correct physical collisions and consistent visual effects in any simulator
+([isaacsim](https://github.com/isaac-sim/IsaacSim), [mujoco](https://github.com/google-deepmind/mujoco), [genesis](https://github.com/Genesis-Embodied-AI/Genesis), [pybullet](https://github.com/bulletphysics/bullet3), [isaacgym](https://github.com/isaac-sim/IsaacGymEnvs), [sapien](https://github.com/haosulab/SAPIEN)).
+Example in `tests/test_examples/test_asset_converter.py`.
+
+| Simulator | Conversion Class |
+|-----------|------------------|
+| [isaacsim](https://github.com/isaac-sim/IsaacSim) | MeshtoUSDConverter |
+| [mujoco](https://github.com/google-deepmind/mujoco) | MeshtoMJCFConverter |
+| [genesis](https://github.com/Genesis-Embodied-AI/Genesis) / [sapien](https://github.com/haosulab/SAPIEN) / [isaacgym](https://github.com/isaac-sim/IsaacGymEnvs) / [pybullet](https://github.com/bulletphysics/bullet3) | EmbodiedGen generated .urdf can be used directly |
+
+
+<img src="apps/assets/simulators_collision.jpg" alt="simulators_collision" width="500">
+
+---
+
 ## For Developer
 ```sh
 pip install -e .[dev] && pre-commit install

embodied_gen/data/asset_converter.py

@@ -0,0 +1,497 @@
+from __future__ import annotations
+
+import logging
+import os
+import xml.etree.ElementTree as ET
+from abc import ABC, abstractmethod
+from dataclasses import dataclass
+from shutil import copy
+
+import trimesh
+from scipy.spatial.transform import Rotation
+
+logging.basicConfig(level=logging.INFO)
+logger = logging.getLogger(__name__)
+
+
+__all__ = [
+    "AssetConverterFactory",
+    "AssetType",
+    "MeshtoMJCFConverter",
+    "MeshtoUSDConverter",
+    "URDFtoUSDConverter",
+]
+
+
+@dataclass
+class AssetType(str):
+    """Asset type enumeration."""
+
+    MJCF = "mjcf"
+    USD = "usd"
+    URDF = "urdf"
+    MESH = "mesh"
+
+
+class AssetConverterBase(ABC):
+    """Converter abstract base class."""
+
+    @abstractmethod
+    def convert(self, urdf_path: str, output_path: str, **kwargs) -> str:
+        pass
+
+    def transform_mesh(
+        self, input_mesh: str, output_mesh: str, mesh_origin: ET.Element
+    ) -> None:
+        """Apply transform to the mesh based on the origin element in URDF."""
+        mesh = trimesh.load(input_mesh)
+        rpy = list(map(float, mesh_origin.get("rpy").split(" ")))
+        rotation = Rotation.from_euler("xyz", rpy, degrees=False)
+        offset = list(map(float, mesh_origin.get("xyz").split(" ")))
+        mesh.vertices = (mesh.vertices @ rotation.as_matrix().T) + offset
+
+        os.makedirs(os.path.dirname(output_mesh), exist_ok=True)
+        _ = mesh.export(output_mesh)
+
+        return
+
+    def __enter__(self):
+        return self
+
+    def __exit__(self, exc_type, exc_val, exc_tb):
+        return False
+
+
+class MeshtoMJCFConverter(AssetConverterBase):
+    """Convert URDF files into MJCF format."""
+
+    def __init__(
+        self,
+        **kwargs,
+    ) -> None:
+        self.kwargs = kwargs
+
+    def _copy_asset_file(self, src: str, dst: str) -> None:
+        if os.path.exists(dst):
+            return
+        os.makedirs(os.path.dirname(dst), exist_ok=True)
+        copy(src, dst)
+
+    def add_geometry(
+        self,
+        mujoco_element: ET.Element,
+        link: ET.Element,
+        body: ET.Element,
+        tag: str,
+        input_dir: str,
+        output_dir: str,
+        mesh_name: str,
+        material: ET.Element | None = None,
+        is_collision: bool = False,
+    ) -> None:
+        """Add geometry to the MJCF body from the URDF link."""
+        element = link.find(tag)
+        geometry = element.find("geometry")
+        mesh = geometry.find("mesh")
+        filename = mesh.get("filename")
+        scale = mesh.get("scale", "1.0 1.0 1.0")
+
+        mesh_asset = ET.SubElement(
+            mujoco_element, "mesh", name=mesh_name, file=filename, scale=scale
+        )
+        geom = ET.SubElement(body, "geom", type="mesh", mesh=mesh_name)
+
+        self._copy_asset_file(
+            f"{input_dir}/{filename}",
+            f"{output_dir}/{filename}",
+        )
+
+        # Preprocess the mesh by applying rotation.
+        input_mesh = f"{input_dir}/{filename}"
+        output_mesh = f"{output_dir}/{filename}"
+        mesh_origin = element.find("origin")
+        if mesh_origin is not None:
+            self.transform_mesh(input_mesh, output_mesh, mesh_origin)
+
+        if material is not None:
+            geom.set("material", material.get("name"))
+
+        if is_collision:
+            geom.set("contype", "1")
+            geom.set("conaffinity", "1")
+            geom.set("rgba", "1 1 1 0")
+
+    def add_materials(
+        self,
+        mujoco_element: ET.Element,
+        link: ET.Element,
+        tag: str,
+        input_dir: str,
+        output_dir: str,
+        name: str,
+        reflectance: float = 0.2,
+    ) -> ET.Element:
+        """Add materials to the MJCF asset from the URDF link."""
+        element = link.find(tag)
+        geometry = element.find("geometry")
+        mesh = geometry.find("mesh")
+        filename = mesh.get("filename")
+        dirname = os.path.dirname(filename)
+
+        material = ET.SubElement(
+            mujoco_element,
+            "material",
+            name=f"material_{name}",
+            texture=f"texture_{name}",
+            reflectance=str(reflectance),
+        )
+        ET.SubElement(
+            mujoco_element,
+            "texture",
+            name=f"texture_{name}",
+            type="2d",
+            file=f"{dirname}/material_0.png",
+        )
+
+        self._copy_asset_file(
+            f"{input_dir}/{dirname}/material_0.png",
+            f"{output_dir}/{dirname}/material_0.png",
+        )
+
+        return material
+
+    def convert(self, urdf_path: str, mjcf_path: str):
+        """Convert a URDF file to MJCF format."""
+        tree = ET.parse(urdf_path)
+        root = tree.getroot()
+
+        mujoco_struct = ET.Element("mujoco")
+        mujoco_struct.set("model", root.get("name"))
+        mujoco_asset = ET.SubElement(mujoco_struct, "asset")
+        mujoco_worldbody = ET.SubElement(mujoco_struct, "worldbody")
+
+        input_dir = os.path.dirname(urdf_path)
+        output_dir = os.path.dirname(mjcf_path)
+        os.makedirs(output_dir, exist_ok=True)
+        for idx, link in enumerate(root.findall("link")):
+            link_name = link.get("name", "unnamed_link")
+            body = ET.SubElement(mujoco_worldbody, "body", name=link_name)
+
+            material = self.add_materials(
+                mujoco_asset,
+                link,
+                "visual",
+                input_dir,
+                output_dir,
+                name=str(idx),
+            )
+            self.add_geometry(
+                mujoco_asset,
+                link,
+                body,
+                "visual",
+                input_dir,
+                output_dir,
+                f"visual_mesh_{idx}",
+                material,
+            )
+            self.add_geometry(
+                mujoco_asset,
+                link,
+                body,
+                "collision",
+                input_dir,
+                output_dir,
+                f"collision_mesh_{idx}",
+                is_collision=True,
+            )
+
+        tree = ET.ElementTree(mujoco_struct)
+        ET.indent(tree, space="  ", level=0)
+
+        tree.write(mjcf_path, encoding="utf-8", xml_declaration=True)
+        logger.info(f"Successfully converted {urdf_path} → {mjcf_path}")
+
+
+class MeshtoUSDConverter(AssetConverterBase):
+    """Convert Mesh file from URDF into USD format."""
+
+    DEFAULT_BIND_APIS = [
+        "MaterialBindingAPI",
+        "PhysicsMeshCollisionAPI",
+        "PhysicsCollisionAPI",
+        "PhysxCollisionAPI",
+        "PhysicsMassAPI",
+        "PhysicsRigidBodyAPI",
+        "PhysxRigidBodyAPI",
+    ]
+
+    def __init__(
+        self,
+        force_usd_conversion: bool = True,
+        make_instanceable: bool = False,
+        simulation_app=None,
+        **kwargs,
+    ):
+        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,
+            )
+            self.app_launcher = AppLauncher(launch_args)
+            self.simulation_app = self.app_launcher.app
+
+        return self
+
+    def __exit__(self, exc_type, exc_val, exc_tb):
+        # Close the simulation app if it was created here
+        if hasattr(self, "app_launcher"):
+            self.simulation_app.close()
+
+        if exc_val is not None:
+            logger.error(f"Exception occurred: {exc_val}.")
+
+        return False
+
+    def convert(self, urdf_path: str, output_file: str):
+        """Convert a URDF file to USD and post-process collision meshes."""
+        from isaaclab.sim.converters import MeshConverter, MeshConverterCfg
+        from pxr import PhysxSchema, Sdf, Usd, UsdShade
+
+        tree = ET.parse(urdf_path)
+        root = tree.getroot()
+        mesh_file = root.find("link/visual/geometry/mesh").get("filename")
+        input_mesh = os.path.join(os.path.dirname(urdf_path), mesh_file)
+        output_dir = os.path.abspath(os.path.dirname(output_file))
+        output_mesh = f"{output_dir}/mesh/{os.path.basename(mesh_file)}"
+        mesh_origin = root.find("link/visual/origin")
+        if mesh_origin is not None:
+            self.transform_mesh(input_mesh, output_mesh, mesh_origin)
+
+        cfg = MeshConverterCfg(
+            asset_path=output_mesh,
+            usd_dir=output_dir,
+            usd_file_name=os.path.basename(output_file),
+            **self.usd_parms,
+        )
+        urdf_converter = MeshConverter(cfg)
+        usd_path = urdf_converter.usd_path
+
+        stage = Usd.Stage.Open(usd_path)
+        layer = stage.GetRootLayer()
+        with Usd.EditContext(stage, layer):
+            for prim in stage.Traverse():
+                # Change texture path to relative path.
+                if prim.GetName() == "material_0":
+                    shader = UsdShade.Shader(prim).GetInput("diffuse_texture")
+                    if shader.Get() is not None:
+                        relative_path = shader.Get().path.replace(
+                            f"{output_dir}/", ""
+                        )
+                        shader.Set(Sdf.AssetPath(relative_path))
+
+                # Add convex decomposition collision and set ShrinkWrap.
+                elif prim.GetName() == "mesh":
+                    approx_attr = prim.GetAttribute("physics:approximation")
+                    if not approx_attr:
+                        approx_attr = prim.CreateAttribute(
+                            "physics:approximation", Sdf.ValueTypeNames.Token
+                        )
+                    approx_attr.Set("convexDecomposition")
+
+                    physx_conv_api = (
+                        PhysxSchema.PhysxConvexDecompositionCollisionAPI.Apply(
+                            prim
+                        )
+                    )
+                    physx_conv_api.GetShrinkWrapAttr().Set(True)
+
+                    api_schemas = prim.GetMetadata("apiSchemas")
+                    if api_schemas is None:
+                        api_schemas = Sdf.TokenListOp()
+
+                    api_list = list(api_schemas.GetAddedOrExplicitItems())
+                    for api in self.DEFAULT_BIND_APIS:
+                        if api not in api_list:
+                            api_list.append(api)
+
+                    api_schemas.appendedItems = api_list
+                    prim.SetMetadata("apiSchemas", api_schemas)
+
+        layer.Save()
+        logger.info(f"Successfully converted {urdf_path} → {usd_path}")
+
+
+class URDFtoUSDConverter(MeshtoUSDConverter):
+    """Convert URDF files into USD format.
+
+    Args:
+        fix_base (bool): Whether to fix the base link.
+        merge_fixed_joints (bool): Whether to merge fixed joints.
+        make_instanceable (bool): Whether to make prims instanceable.
+        force_usd_conversion (bool): Force conversion to USD.
+        collision_from_visuals (bool): Generate collisions from visuals if not provided.
+    """
+
+    def __init__(
+        self,
+        fix_base: bool = False,
+        merge_fixed_joints: bool = False,
+        make_instanceable: bool = True,
+        force_usd_conversion: bool = True,
+        collision_from_visuals: bool = True,
+        joint_drive=None,
+        rotate_wxyz: tuple[float] | None = None,
+        simulation_app=None,
+        **kwargs,
+    ):
+        self.usd_parms = dict(
+            fix_base=fix_base,
+            merge_fixed_joints=merge_fixed_joints,
+            make_instanceable=make_instanceable,
+            force_usd_conversion=force_usd_conversion,
+            collision_from_visuals=collision_from_visuals,
+            joint_drive=joint_drive,
+            **kwargs,
+        )
+        self.rotate_wxyz = rotate_wxyz
+        if simulation_app is not None:
+            self.simulation_app = simulation_app
+
+    def convert(self, urdf_path: str, output_file: str):
+        """Convert a URDF file to USD and post-process collision meshes."""
+        from isaaclab.sim.converters import UrdfConverter, UrdfConverterCfg
+        from pxr import Gf, PhysxSchema, Sdf, Usd, UsdGeom
+
+        cfg = UrdfConverterCfg(
+            asset_path=urdf_path,
+            usd_dir=os.path.abspath(os.path.dirname(output_file)),
+            usd_file_name=os.path.basename(output_file),
+            **self.usd_parms,
+        )
+
+        urdf_converter = UrdfConverter(cfg)
+        usd_path = urdf_converter.usd_path
+
+        stage = Usd.Stage.Open(usd_path)
+        layer = stage.GetRootLayer()
+        with Usd.EditContext(stage, layer):
+            for prim in stage.Traverse():
+                if prim.GetName() == "collisions":
+                    approx_attr = prim.GetAttribute("physics:approximation")
+                    if not approx_attr:
+                        approx_attr = prim.CreateAttribute(
+                            "physics:approximation", Sdf.ValueTypeNames.Token
+                        )
+                    approx_attr.Set("convexDecomposition")
+
+                    physx_conv_api = (
+                        PhysxSchema.PhysxConvexDecompositionCollisionAPI.Apply(
+                            prim
+                        )
+                    )
+                    physx_conv_api.GetShrinkWrapAttr().Set(True)
+
+                    api_schemas = prim.GetMetadata("apiSchemas")
+                    if api_schemas is None:
+                        api_schemas = Sdf.TokenListOp()
+
+                    api_list = list(api_schemas.GetAddedOrExplicitItems())
+                    for api in self.DEFAULT_BIND_APIS:
+                        if api not in api_list:
+                            api_list.append(api)
+
+                    api_schemas.appendedItems = api_list
+                    prim.SetMetadata("apiSchemas", api_schemas)
+
+        if self.rotate_wxyz is not None:
+            inner_prim = next(
+                p
+                for p in stage.GetDefaultPrim().GetChildren()
+                if p.IsA(UsdGeom.Xform)
+            )
+            xformable = UsdGeom.Xformable(inner_prim)
+            xformable.ClearXformOpOrder()
+            orient_op = xformable.AddOrientOp(UsdGeom.XformOp.PrecisionDouble)
+            orient_op.Set(Gf.Quatd(*self.rotate_wxyz))
+
+        layer.Save()
+        logger.info(f"Successfully converted {urdf_path} → {usd_path}")
+
+
+class AssetConverterFactory:
+    """Factory class for creating asset converters based on target and source types."""
+
+    @staticmethod
+    def create(
+        target_type: AssetType, source_type: AssetType = "urdf", **kwargs
+    ) -> AssetConverterBase:
+        """Create an asset converter instance based on target and source types."""
+        if target_type == AssetType.MJCF and source_type == AssetType.URDF:
+            converter = MeshtoMJCFConverter(**kwargs)
+        elif target_type == AssetType.USD and source_type == AssetType.URDF:
+            converter = URDFtoUSDConverter(**kwargs)
+        elif target_type == AssetType.USD and source_type == AssetType.MESH:
+            converter = MeshtoUSDConverter(**kwargs)
+        else:
+            raise ValueError(
+                f"Unsupported converter type: {source_type} -> {target_type}."
+            )
+
+        return converter
+
+
+if __name__ == "__main__":
+    # target_asset_type = AssetType.MJCF
+    target_asset_type = AssetType.USD
+
+    urdf_paths = [
+        "outputs/embodiedgen_assets/demo_assets/remote_control/result/remote_control.urdf",
+    ]
+
+    if target_asset_type == AssetType.MJCF:
+        output_files = [
+            "outputs/embodiedgen_assets/demo_assets/remote_control/mjcf/remote_control.mjcf",
+        ]
+        asset_converter = AssetConverterFactory.create(
+            target_type=AssetType.MJCF,
+            source_type=AssetType.URDF,
+        )
+
+    elif target_asset_type == AssetType.USD:
+        output_files = [
+            "outputs/embodiedgen_assets/demo_assets/remote_control/usd/remote_control.usd",
+        ]
+        asset_converter = AssetConverterFactory.create(
+            target_type=AssetType.USD,
+            source_type=AssetType.MESH,
+        )
+
+    with asset_converter:
+        for urdf_path, output_file in zip(urdf_paths, output_files):
+            asset_converter.convert(urdf_path, output_file)
+
+    # urdf_path = "outputs/embodiedgen_assets/demo_assets/remote_control/result/remote_control.urdf"
+    # output_file = "outputs/embodiedgen_assets/demo_assets/remote_control/usd/remote_control.usd"
+
+    # asset_converter = AssetConverterFactory.create(
+    #     target_type=AssetType.USD,
+    #     source_type=AssetType.URDF,
+    #     rotate_wxyz=(0.7071, 0.7071, 0, 0),  # rotate 90 deg around the X-axis
+    # )
+
+    # with asset_converter:
+    #     asset_converter.convert(urdf_path, output_file)

embodied_gen/data/backproject_v2.py

@@ -625,7 +625,7 @@ def parse_args():
         action="store_true",
         help="Disable saving delight image",
     )
-
+    parser.add_argument("--n_max_faces", type=int, default=30000)
     args, unknown = parser.parse_known_args()
 
     return args
@@ -687,6 +687,14 @@ def entrypoint(
             num_views=1000,
             norm_mesh_ratio=0.5,
         )
+        if len(mesh.faces) > args.n_max_faces:
+            mesh.vertices, mesh.faces = mesh_fixer(
+                filter_ratio=0.8,
+                max_hole_size=0.04,
+                resolution=1024,
+                num_views=1000,
+                norm_mesh_ratio=0.5,
+            )
         # Restore scale.
         mesh.vertices = mesh.vertices / scale
         mesh.vertices = mesh.vertices + center

embodied_gen/envs/pick_embodiedgen.py

@@ -196,7 +196,6 @@ class PickEmbodiedGen(BaseEnv):
                 self.scene,
                 self.layouts[env_idx],
                 z_offset=self.objs_z_offset,
-                init_quat=self.init_quat,
                 env_idx=env_idx,
             )
             self.env_actors[f"env{env_idx}"] = env_actors

embodied_gen/models/gs_model.py

@@ -39,6 +39,8 @@ __all__ = [
     "GaussianOperator",
 ]
 
+SH_C0 = 0.2820947917738781
+
 
 @dataclass
 class RenderResult:
@@ -210,9 +212,7 @@ class GaussianBase:
             device=device,
         )
 
-    def save_to_ply(
+    def save_to_ply(self, path: str, enable_mask: bool = False) -> None:
-        self, path: str, colors: torch.Tensor = None, enable_mask: bool = False
-    ):
         os.makedirs(os.path.dirname(path), exist_ok=True)
         numpy_data = self.get_numpy_data()
         means = numpy_data["_means"]
@@ -249,7 +249,6 @@ class GaussianBase:
             shN = shN[~invalid_mask]
 
         num_points = means.shape[0]
-
         with open(path, "wb") as f:
             # Write PLY header
             f.write(b"ply\n")
@@ -258,18 +257,11 @@ class GaussianBase:
             f.write(b"property float x\n")
             f.write(b"property float y\n")
             f.write(b"property float z\n")
-            f.write(b"property float nx\n")
-            f.write(b"property float ny\n")
-            f.write(b"property float nz\n")
 
-            if colors is not None:
+            for i, data in enumerate([sh0, shN]):
-                for j in range(colors.shape[1]):
+                prefix = "f_dc" if i == 0 else "f_rest"
-                    f.write(f"property float f_dc_{j}\n".encode())
+                for j in range(data.shape[1]):
-            else:
+                    f.write(f"property float {prefix}_{j}\n".encode())
-                for i, data in enumerate([sh0, shN]):
-                    prefix = "f_dc" if i == 0 else "f_rest"
-                    for j in range(data.shape[1]):
-                        f.write(f"property float {prefix}_{j}\n".encode())
 
             f.write(b"property float opacity\n")
 
@@ -283,24 +275,19 @@ class GaussianBase:
             # Write vertex data
             for i in range(num_points):
                 f.write(struct.pack("<fff", *means[i]))  # x, y, z
-                f.write(struct.pack("<fff", 0, 0, 0))  # nx, ny, nz (zeros)
 
-                if colors is not None:
+                for data in [sh0, shN]:
-                    color = colors.detach().cpu().numpy()
+                    for j in range(data.shape[1]):
-                    for j in range(color.shape[1]):
+                        f.write(struct.pack("<f", data[i, j]))
-                        f_dc = (color[i, j] - 0.5) / 0.2820947917738781
-                        f.write(struct.pack("<f", f_dc))
-                else:
-                    for data in [sh0, shN]:
-                        for j in range(data.shape[1]):
-                            f.write(struct.pack("<f", data[i, j]))
 
-                f.write(struct.pack("<f", opacities[i]))  # opacity
+                f.write(struct.pack("<f", opacities[i].item()))  # opacity
 
                 for data in [scales, quats]:
                     for j in range(data.shape[1]):
                         f.write(struct.pack("<f", data[i, j]))
 
+        return
+
 
 @dataclass
 class GaussianOperator(GaussianBase):
@@ -508,8 +495,8 @@ class GaussianOperator(GaussianBase):
 
 
 if __name__ == "__main__":
-    input_gs = "outputs/test/debug.ply"
+    input_gs = "outputs/layouts_gens_demo/task_0000/background/gs_model.ply"
-    output_gs = "./debug_v3.ply"
+    output_gs = "./gs_model.ply"
     gs_model: GaussianOperator = GaussianOperator.load_from_ply(input_gs)
 
     # 绕 x 轴旋转 180°

embodied_gen/scripts/compose_layout.py

@@ -60,7 +60,7 @@ def entrypoint(**kwargs):
     sim_cli(
         layout_path=out_layout_path,
         output_dir=output_dir,
-        robot_name="franka" if args.insert_robot else None,
+        insert_robot=args.insert_robot,
     )
 
     logger.info(f"Layout placement completed in {output_dir}")

embodied_gen/scripts/parallel_sim.py

@@ -76,7 +76,7 @@ class ParallelSimConfig:
         default_factory=lambda: [0.0, 0.0, 0.9]
     )
     """Camera target(look-at) point [x, y, z] in global coordiante system"""
-    image_hw: list[int] = field(default_factory=lambda: [512, 512])
+    image_hw: list[int] = field(default_factory=lambda: [256, 256])
     """Rendered image height and width [height, width]"""
     fovy_deg: float = 75
     """Camera vertical field of view in degrees"""

embodied_gen/scripts/simulate_sapien.py

@@ -97,7 +97,6 @@ def entrypoint(**kwargs):
         scene_manager.scene,
         cfg.layout_path,
         cfg.z_offset,
-        cfg.init_quat,
     )
     agent = load_mani_skill_robot(
         scene_manager.scene, cfg.layout_path, cfg.control_freq

embodied_gen/utils/geometry.py

@@ -285,10 +285,9 @@ def bfs_placement(
             # For manipulated and distractor objects, apply random rotation
             angle_rad = np.random.uniform(0, 2 * np.pi)
             object_quat = compute_axis_rotation_quat(
-                axis="y", angle_rad=angle_rad
+                axis="z", angle_rad=angle_rad
             )
-            object_quat_scipy = np.roll(object_quat, 1)  # [w, x, y, z]
+            rotation = R.from_quat(object_quat).as_matrix()
-            rotation = R.from_quat(object_quat_scipy).as_matrix()
             vertices = np.dot(mesh.vertices, rotation.T)
             z1 = np.percentile(vertices[:, 1], 1)
             z2 = np.percentile(vertices[:, 1], 99)

embodied_gen/utils/simulation.py

@@ -15,7 +15,6 @@
 # permissions and limitations under the License.
 
 import json
-import logging
 import os
 import xml.etree.ElementTree as ET
 from collections import defaultdict
@@ -62,32 +61,48 @@ __all__ = [
 
 
 def load_actor_from_urdf(
-    scene: ManiSkillScene | sapien.Scene,
+    scene: sapien.Scene | ManiSkillScene,
     file_path: str,
-    pose: sapien.Pose,
+    pose: sapien.Pose | None = None,
     env_idx: int = None,
     use_static: bool = False,
     update_mass: bool = False,
+    scale: float | np.ndarray = 1.0,
 ) -> sapien.pysapien.Entity:
+    def _get_local_pose(origin_tag: ET.Element | None) -> sapien.Pose:
+        local_pose = sapien.Pose(p=[0, 0, 0], q=[1, 0, 0, 0])
+        if origin_tag is not None:
+            xyz = list(map(float, origin_tag.get("xyz", "0 0 0").split()))
+            rpy = list(map(float, origin_tag.get("rpy", "0 0 0").split()))
+            qx, qy, qz, qw = R.from_euler("xyz", rpy, degrees=False).as_quat()
+            local_pose = sapien.Pose(p=xyz, q=[qw, qx, qy, qz])
+
+        return local_pose
+
     tree = ET.parse(file_path)
     root = tree.getroot()
     node_name = root.get("name")
     file_dir = os.path.dirname(file_path)
 
-    visual_mesh = root.find('.//visual/geometry/mesh')
+    visual_mesh = root.find(".//visual/geometry/mesh")
     visual_file = visual_mesh.get("filename")
     visual_scale = visual_mesh.get("scale", "1.0 1.0 1.0")
     visual_scale = np.array([float(x) for x in visual_scale.split()])
+    visual_scale *= np.array(scale)
 
-    collision_mesh = root.find('.//collision/geometry/mesh')
+    collision_mesh = root.find(".//collision/geometry/mesh")
     collision_file = collision_mesh.get("filename")
     collision_scale = collision_mesh.get("scale", "1.0 1.0 1.0")
     collision_scale = np.array([float(x) for x in collision_scale.split()])
+    collision_scale *= np.array(scale)
+
+    visual_pose = _get_local_pose(root.find(".//visual/origin"))
+    collision_pose = _get_local_pose(root.find(".//collision/origin"))
 
     visual_file = os.path.join(file_dir, visual_file)
     collision_file = os.path.join(file_dir, collision_file)
-    static_fric = root.find('.//collision/gazebo/mu1').text
+    static_fric = root.find(".//collision/gazebo/mu1").text
-    dynamic_fric = root.find('.//collision/gazebo/mu2').text
+    dynamic_fric = root.find(".//collision/gazebo/mu2").text
 
     material = physx.PhysxMaterial(
         static_friction=np.clip(float(static_fric), 0.1, 0.7),
@@ -106,17 +121,27 @@ def load_actor_from_urdf(
         # decomposition_params=dict(
         #     threshold=0.05, max_convex_hull=64, verbose=False
         # ),
+        pose=collision_pose,
     )
 
-    builder.add_visual_from_file(visual_file, scale=visual_scale)
+    builder.add_visual_from_file(
+        visual_file,
+        scale=visual_scale,
+        pose=visual_pose,
+    )
+    if pose is None:
+        pose = sapien.Pose(p=[0, 0, 0], q=[1, 0, 0, 0])
+
     builder.set_initial_pose(pose)
     if isinstance(scene, ManiSkillScene) and env_idx is not None:
         builder.set_scene_idxs([env_idx])
 
-    actor = builder.build(name=f"{node_name}-{env_idx}")
+    actor = builder.build(
+        name=node_name if env_idx is None else f"{node_name}-{env_idx}"
+    )
 
     if update_mass and hasattr(actor.components[1], "mass"):
-        node_mass = float(root.find('.//inertial/mass').get("value"))
+        node_mass = float(root.find(".//inertial/mass").get("value"))
         actor.components[1].set_mass(node_mass)
 
     return actor

embodied_gen/utils/tags.py

@@ -1 +1 @@
-VERSION = "v0.1.4"
+VERSION = "v0.1.5"

embodied_gen/validators/urdf_convertor.py

@@ -24,6 +24,7 @@ from xml.dom.minidom import parseString
 
 import numpy as np
 import trimesh
+from scipy.spatial.transform import Rotation
 from embodied_gen.data.convex_decomposer import decompose_convex_mesh
 from embodied_gen.utils.gpt_clients import GPT_CLIENT, GPTclient
 from embodied_gen.utils.process_media import render_asset3d
@@ -40,11 +41,13 @@ URDF_TEMPLATE = """
 <robot name="template_robot">
     <link name="template_link">
         <visual>
+            <origin xyz="0 0 0" rpy="0 0 0"/>
             <geometry>
                 <mesh filename="mesh.obj" scale="1.0 1.0 1.0"/>
             </geometry>
         </visual>
         <collision>
+            <origin xyz="0 0 0" rpy="0 0 0"/>
             <geometry>
                 <mesh filename="mesh.obj" scale="1.0 1.0 1.0"/>
             </geometry>
@@ -86,6 +89,7 @@ class URDFGenerator(object):
         render_dir: str = "urdf_renders",
         render_view_num: int = 4,
         decompose_convex: bool = False,
+        rotate_xyzw: list[float] = (0.7071, 0, 0, 0.7071),
     ) -> None:
         if mesh_file_list is None:
             mesh_file_list = []
@@ -160,6 +164,8 @@ class URDFGenerator(object):
             ]
         self.attrs_name = attrs_name
         self.decompose_convex = decompose_convex
+        # Rotate 90 degrees around the X-axis from blender to align with simulators.
+        self.rotate_xyzw = rotate_xyzw
 
     def parse_response(self, response: str) -> dict[str, any]:
         lines = response.split("\n")
@@ -251,6 +257,14 @@ class URDFGenerator(object):
             raise ValueError("URDF template is missing 'link' element.")
         link.set("name", output_name)
 
+        if self.rotate_xyzw is not None:
+            rpy = Rotation.from_quat(self.rotate_xyzw).as_euler(
+                "xyz", degrees=False
+            )
+            rpy = [str(round(num, 4)) for num in rpy]
+            link.find("visual/origin").set("rpy", " ".join(rpy))
+            link.find("collision/origin").set("rpy", " ".join(rpy))
+
         # Update visual geometry
         visual = link.find("visual/geometry/mesh")
         if visual is not None:
@@ -273,7 +287,11 @@ class URDFGenerator(object):
                     decompose_convex_mesh(
                         mesh_output_path, output_path, **d_params
                     )
-                    collision_mesh = f"{self.output_mesh_dir}/{filename}"
+                    obj_filename = filename.replace(".ply", ".obj")
+                    trimesh.load(output_path).export(
+                        f"{mesh_folder}/{obj_filename}"
+                    )
+                    collision_mesh = f"{self.output_mesh_dir}/{obj_filename}"
                 except Exception as e:
                     logger.warning(
                         f"Convex decomposition failed for {output_path}, {e}."
@@ -436,6 +454,7 @@ class URDFGenerator(object):
 
 
 if __name__ == "__main__":
+    # Rotate 90 degrees around the X-axis to align with simulators.
     urdf_gen = URDFGenerator(GPT_CLIENT, render_view_num=4)
     urdf_path = urdf_gen(
         mesh_path="outputs/layout2/asset3d/marker/result/mesh/marker.obj",

install.sh

@@ -26,4 +26,6 @@ if [[ "$STAGE" == "extra" || "$STAGE" == "all" ]]; then
     bash "$SCRIPT_DIR/install/install_extra.sh"
 fi
 
+pip install triton==2.1.0 numpy==1.26.4
+
 log_info "===== Installation completed successfully. ====="

install/install_basic.sh

@@ -5,10 +5,10 @@ source "$SCRIPT_DIR/_utils.sh"
 
 PIP_INSTALL_PACKAGES=(
     "pip==22.3.1"
-    "torch==2.4.0+cu118 torchvision==0.19.0+cu118 --index-url https://download.pytorch.org/whl/cu118"
+    "torch==2.4.0 torchvision==0.19.0 --index-url https://download.pytorch.org/whl/cu118"
     "xformers==0.0.27.post2 --index-url https://download.pytorch.org/whl/cu118"
-    "flash-attn==2.7.0.post2 --no-build-isolation"
     "-r requirements.txt --use-deprecated=legacy-resolver"
+    "flash-attn==2.7.0.post2"
     "utils3d@git+https://github.com/EasternJournalist/utils3d.git@9a4eb15"
     "clip@git+https://github.com/openai/CLIP.git"
     "segment-anything@git+https://github.com/facebookresearch/segment-anything.git@dca509f"
@@ -32,5 +32,5 @@ pip install "$TMP_DIR/submodules/diff-gaussian-rasterization"
 rm -rf "$TMP_DIR"
 
 try_install "Installing EmbodiedGen..." \
-    "pip install triton==2.1.0 --no-deps && pip install -e ." \
+    "pip install -e .[dev]" \
     "EmbodiedGen installation failed."

install/install_extra.sh

@@ -9,6 +9,7 @@ PYTHON_PACKAGES_NODEPS=(
 )
 
 PYTHON_PACKAGES=(
+    "ninja"
     "fused-ssim@git+https://github.com/rahul-goel/fused-ssim#egg=328dc98"
     "git+https://github.com/NVlabs/tiny-cuda-nn/#subdirectory=bindings/torch"
     "git+https://github.com/facebookresearch/pytorch3d.git@stable"
@@ -19,8 +20,6 @@ PYTHON_PACKAGES=(
     "icecream"
     "open3d"
     "pyequilib"
-    "numpy==1.26.4"
-    "triton==2.1.0"
 )
 
 for pkg in "${PYTHON_PACKAGES_NODEPS[@]}"; do

pyproject.toml

@@ -7,7 +7,7 @@ packages = ["embodied_gen"]
 
 [project]
 name = "embodied_gen"
-version = "v0.1.4"
+version = "v0.1.5"
 readme = "README.md"
 license = "Apache-2.0"
 license-files = ["LICENSE", "NOTICE"]

requirements.txt

@@ -41,3 +41,5 @@ sapien==3.0.0b1
 coacd
 mani_skill==3.0.0b21
 typing_extensions==4.14.1
+ninja
+packaging

tests/test_examples/test_asset_converter.py

@@ -0,0 +1,58 @@
+import pytest
+from huggingface_hub import snapshot_download
+from embodied_gen.data.asset_converter import AssetConverterFactory, AssetType
+
+
+@pytest.fixture(scope="session")
+def data_dir(tmp_path_factory):
+    data_dir = tmp_path_factory.mktemp("EmbodiedGenData")
+    snapshot_download(
+        repo_id="HorizonRobotics/EmbodiedGenData",
+        repo_type="dataset",
+        local_dir=str(data_dir),
+        allow_patterns="demo_assets/remote_control/*",
+        local_dir_use_symlinks=False,
+    )
+    return data_dir
+
+
+def test_MeshtoMJCFConverter(data_dir):
+    urdf_path = (
+        data_dir / "demo_assets/remote_control/result/remote_control.urdf"
+    )
+    assert urdf_path.exists(), f"URDF not found: {urdf_path}"
+
+    output_file = (
+        data_dir / "demo_assets/remote_control/mjcf/remote_control.mjcf"
+    )
+    asset_converter = AssetConverterFactory.create(
+        target_type=AssetType.MJCF,
+        source_type=AssetType.URDF,
+    )
+
+    with asset_converter:
+        asset_converter.convert(str(urdf_path), str(output_file))
+
+    assert output_file.exists(), f"Output not generated: {output_file}"
+    assert output_file.stat().st_size > 0
+
+
+def test_MeshtoUSDConverter(data_dir):
+    urdf_path = (
+        data_dir / "demo_assets/remote_control/result/remote_control.urdf"
+    )
+    assert urdf_path.exists(), f"URDF not found: {urdf_path}"
+
+    output_file = (
+        data_dir / "demo_assets/remote_control/usd/remote_control.usd"
+    )
+    asset_converter = AssetConverterFactory.create(
+        target_type=AssetType.USD,
+        source_type=AssetType.MESH,
+    )
+
+    with asset_converter:
+        asset_converter.convert(str(urdf_path), str(output_file))
+
+    assert output_file.exists(), f"Output not generated: {output_file}"
+    assert output_file.stat().st_size > 0

tests/test_integration/test_pipeline.sh

@@ -0,0 +1,25 @@
+export CUDA_VISIBLE_DEVICES=2
+source outputs/env.sh
+
+output_dir="outputs/test_integration"
+
+rm -rf ${output_dir}
+
+text3d-cli --prompts "small bronze figurine of a lion" \
+    --n_image_retry 2 --n_asset_retry 2 --n_pipe_retry 1 --seed_img 0 \
+    --output_root ${output_dir}/textto3d
+
+texture-cli --mesh_path "apps/assets/example_texture/meshes/robot_text.obj" \
+--prompt "举着牌子的写实风格机器人，大眼睛，牌子上写着“Hello”的文字" \
+--output_root "${output_dir}/texture_gen" \
+--seed 0
+
+scene3d-cli --prompts "Art studio with easel and canvas" \
+--output_dir ${output_dir}/bg_scenes/ \
+--seed 0 --gs3d.max_steps 4000 \
+--disable_pano_check
+
+layout-cli --task_descs "Place the pen in the mug on the desk" \
+--bg_list "outputs/bg_scenes/scene_list.txt" \
+--output_root "${output_dir}/layouts_gen" --insert_robot
+