refactor(convert): Add physx_max_convex_hulls, max_vertices, max_voxel_res to MeshtoUSDConverter. (#57)
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@ -45,8 +45,8 @@ with gr.Blocks(delete_cache=(43200, 43200), theme=custom_theme) as demo:
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## ***EmbodiedGen***: Image-to-3D Asset
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**🔖 Version**: {VERSION}
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<p style="display: flex; gap: 10px; flex-wrap: nowrap;">
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<a href="https://horizonrobotics.github.io/robot_lab/embodied_gen/index.html">
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<img alt="🌐 Project Page" src="https://img.shields.io/badge/🌐-Project_Page-blue">
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<a href="https://horizonrobotics.github.io/EmbodiedGen">
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<img alt="📖 Documentation" src="https://img.shields.io/badge/📖-Documentation-blue">
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</a>
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<a href="https://arxiv.org/abs/2506.10600">
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<img alt="📄 arXiv" src="https://img.shields.io/badge/📄-arXiv-b31b1b">
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@ -45,8 +45,8 @@ with gr.Blocks(delete_cache=(43200, 43200), theme=custom_theme) as demo:
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## ***EmbodiedGen***: Text-to-3D Asset
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**🔖 Version**: {VERSION}
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<p style="display: flex; gap: 10px; flex-wrap: nowrap;">
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<a href="https://horizonrobotics.github.io/robot_lab/embodied_gen/index.html">
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<img alt="🌐 Project Page" src="https://img.shields.io/badge/🌐-Project_Page-blue">
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<a href="https://horizonrobotics.github.io/EmbodiedGen">
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<img alt="📖 Documentation" src="https://img.shields.io/badge/📖-Documentation-blue">
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</a>
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<a href="https://arxiv.org/abs/2506.10600">
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<img alt="📄 arXiv" src="https://img.shields.io/badge/📄-arXiv-b31b1b">
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@ -55,8 +55,8 @@ with gr.Blocks(delete_cache=(43200, 43200), theme=custom_theme) as demo:
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## ***EmbodiedGen***: Texture Generation
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**🔖 Version**: {VERSION}
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<p style="display: flex; gap: 10px; flex-wrap: nowrap;">
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<a href="https://horizonrobotics.github.io/robot_lab/embodied_gen/index.html">
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<img alt="🌐 Project Page" src="https://img.shields.io/badge/🌐-Project_Page-blue">
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<a href="https://horizonrobotics.github.io/EmbodiedGen">
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<img alt="📖 Documentation" src="https://img.shields.io/badge/📖-Documentation-blue">
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</a>
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<a href="https://arxiv.org/abs/2506.10600">
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<img alt="📄 arXiv" src="https://img.shields.io/badge/📄-arXiv-b31b1b">
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@ -479,8 +479,8 @@ with gr.Blocks(
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**🔖 Version**: {VERSION}
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<p style="display: flex; gap: 10px; flex-wrap: nowrap;">
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<a href="https://horizonrobotics.github.io/robot_lab/embodied_gen/index.html">
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<img alt="🌐 Project Page" src="https://img.shields.io/badge/🌐-Project_Page-blue">
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<a href="https://horizonrobotics.github.io/EmbodiedGen">
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<img alt="📖 Documentation" src="https://img.shields.io/badge/📖-Documentation-blue">
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</a>
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<a href="https://arxiv.org/abs/2506.10600">
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<img alt="📄 arXiv" src="https://img.shields.io/badge/📄-arXiv-b31b1b">
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@ -488,8 +488,8 @@ class MeshtoUSDConverter(AssetConverterBase):
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DEFAULT_BIND_APIS = [
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"MaterialBindingAPI",
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# "PhysicsMeshCollisionAPI",
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"PhysxDecompositionCollisionAPI",
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"PhysicsMeshCollisionAPI",
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"PhysxConvexDecompositionCollisionAPI",
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"PhysicsCollisionAPI",
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"PhysxCollisionAPI",
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"PhysicsMassAPI",
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@ -515,10 +515,10 @@ class MeshtoUSDConverter(AssetConverterBase):
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if simulation_app is not None:
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self.simulation_app = simulation_app
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if "exit_close" in kwargs:
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self.exit_close = kwargs.pop("exit_close")
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else:
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self.exit_close = True
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self.exit_close = kwargs.pop("exit_close", True)
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self.physx_max_convex_hulls = kwargs.pop("physx_max_convex_hulls", 32)
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self.physx_max_vertices = kwargs.pop("physx_max_vertices", 16)
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self.physx_max_voxel_res = kwargs.pop("physx_max_voxel_res", 10000)
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self.usd_parms = dict(
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force_usd_conversion=force_usd_conversion,
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@ -548,12 +548,12 @@ class MeshtoUSDConverter(AssetConverterBase):
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def __exit__(self, exc_type, exc_val, exc_tb):
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"""Context manager exit, closes simulation app if created."""
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# Close the simulation app if it was created here
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if hasattr(self, "app_launcher") and self.exit_close:
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self.simulation_app.close()
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if exc_val is not None:
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logger.error(f"Exception occurred: {exc_val}.")
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if hasattr(self, "app_launcher") and self.exit_close:
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self.simulation_app.close()
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return False
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def convert(self, urdf_path: str, output_file: str):
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@ -601,11 +601,9 @@ class MeshtoUSDConverter(AssetConverterBase):
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# Add convex decomposition collision and set ShrinkWrap.
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elif prim.GetName() == "mesh":
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approx_attr = prim.GetAttribute("physics:approximation")
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if not approx_attr:
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approx_attr = prim.CreateAttribute(
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"physics:approximation", Sdf.ValueTypeNames.Token
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)
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approx_attr = prim.CreateAttribute(
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"physics:approximation", Sdf.ValueTypeNames.Token
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)
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approx_attr.Set("convexDecomposition")
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physx_conv_api = (
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@ -613,6 +611,15 @@ class MeshtoUSDConverter(AssetConverterBase):
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prim
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)
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)
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physx_conv_api.GetMaxConvexHullsAttr().Set(
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self.physx_max_convex_hulls
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)
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physx_conv_api.GetHullVertexLimitAttr().Set(
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self.physx_max_vertices
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)
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physx_conv_api.GetVoxelResolutionAttr().Set(
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self.physx_max_voxel_res
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)
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physx_conv_api.GetShrinkWrapAttr().Set(True)
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api_schemas = prim.GetMetadata("apiSchemas")
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@ -639,8 +646,8 @@ class PhysicsUSDAdder(MeshtoUSDConverter):
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DEFAULT_BIND_APIS = [
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"MaterialBindingAPI",
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# "PhysicsMeshCollisionAPI",
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"PhysxDecompositionCollisionAPI",
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"PhysicsMeshCollisionAPI",
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"PhysxConvexDecompositionCollisionAPI",
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"PhysicsCollisionAPI",
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"PhysxCollisionAPI",
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"PhysicsRigidBodyAPI",
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@ -675,18 +682,23 @@ class PhysicsUSDAdder(MeshtoUSDConverter):
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if "lightfactory" in prim.GetName().lower():
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continue
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approx_attr = prim.GetAttribute(
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"physics:approximation"
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approx_attr = prim.CreateAttribute(
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"physics:approximation", Sdf.ValueTypeNames.Token
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)
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if not approx_attr:
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approx_attr = prim.CreateAttribute(
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"physics:approximation",
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Sdf.ValueTypeNames.Token,
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)
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approx_attr.Set("convexDecomposition")
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physx_conv_api = PhysxSchema.PhysxConvexDecompositionCollisionAPI.Apply(
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prim
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)
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physx_conv_api.GetMaxConvexHullsAttr().Set(
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self.physx_max_convex_hulls
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)
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physx_conv_api.GetHullVertexLimitAttr().Set(
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self.physx_max_vertices
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)
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physx_conv_api.GetVoxelResolutionAttr().Set(
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self.physx_max_voxel_res
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)
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physx_conv_api.GetShrinkWrapAttr().Set(True)
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rigid_body_api = UsdPhysics.RigidBodyAPI.Apply(prim)
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@ -790,11 +802,9 @@ class URDFtoUSDConverter(MeshtoUSDConverter):
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with Usd.EditContext(stage, layer):
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for prim in stage.Traverse():
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if prim.GetName() == "collisions":
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approx_attr = prim.GetAttribute("physics:approximation")
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if not approx_attr:
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approx_attr = prim.CreateAttribute(
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"physics:approximation", Sdf.ValueTypeNames.Token
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)
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approx_attr = prim.CreateAttribute(
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"physics:approximation", Sdf.ValueTypeNames.Token
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)
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approx_attr.Set("convexDecomposition")
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physx_conv_api = (
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@ -802,6 +812,9 @@ class URDFtoUSDConverter(MeshtoUSDConverter):
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prim
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)
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)
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physx_conv_api.GetMaxConvexHullsAttr().Set(32)
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physx_conv_api.GetHullVertexLimitAttr().Set(16)
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physx_conv_api.GetVoxelResolutionAttr().Set(10000)
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physx_conv_api.GetShrinkWrapAttr().Set(True)
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api_schemas = prim.GetMetadata("apiSchemas")
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