0ca4a4894f
* feat(sim): Optimize support for downstream simulators and gym. * feat(sim): Optimize support for downstream simulators and gym. * docs: update docs * update version
69 lines
2.7 KiB
Python
69 lines
2.7 KiB
Python
# Project EmbodiedGen
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#
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# Copyright (c) 2025 Horizon Robotics. All Rights Reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
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# implied. See the License for the specific language governing
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# permissions and limitations under the License.
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from embodied_gen.utils.gpt_clients import GPT_CLIENT
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from embodied_gen.validators.urdf_convertor import URDFGenerator
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def test_urdf_convertor():
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urdf_gen = URDFGenerator(GPT_CLIENT, render_view_num=4)
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mesh_paths = [
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"outputs/test_urdf/sample_0/mesh/pen.obj",
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"outputs/test_urdf/sample_1/mesh/notepad.obj",
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"outputs/test_urdf/sample_2/mesh/plate.obj",
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"outputs/test_urdf/sample_3/mesh/spoon.obj",
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"outputs/test_urdf/sample_4/mesh/notebook.obj",
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"outputs/test_urdf/sample_5/mesh/plate.obj",
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"outputs/test_urdf/sample_6/mesh/spoon.obj",
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"outputs/test_urdf/sample_7/mesh/book.obj",
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"outputs/test_urdf/sample_8/mesh/lamp.obj",
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"outputs/test_urdf/sample_9/mesh/remote_control.obj",
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"outputs/test_urdf/sample_10/mesh/keyboard.obj",
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"outputs/test_urdf/sample_11/mesh/mouse.obj",
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"outputs/test_urdf/sample_12/mesh/table.obj",
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"outputs/test_urdf/sample_13/mesh/marker.obj",
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"outputs/test_urdf/pen/result/mesh/pen.obj",
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"outputs/test_urdf/notebook/result/mesh/notebook.obj",
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"outputs/test_urdf/marker/result/mesh/marker.obj",
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"outputs/test_urdf/pen2/result/mesh/pen.obj",
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"outputs/test_urdf/pen3/result/mesh/pen.obj",
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]
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for idx, mesh_path in enumerate(mesh_paths):
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filename = mesh_path.split("/")[-1].split(".")[0]
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urdf_path = urdf_gen(
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mesh_path=mesh_path,
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output_root=f"outputs/test_urdf2/sample_{idx}",
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category=filename,
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# min_height=1.0,
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# max_height=1.2,
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)
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def test_decompose_convex_mesh():
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urdf_gen = URDFGenerator(GPT_CLIENT, decompose_convex=True)
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mesh_paths = [
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"outputs/test_urdf/sample_0/mesh/pen.obj",
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"outputs/test_urdf/sample_1/mesh/notepad.obj",
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"outputs/test_urdf/sample_2/mesh/plate.obj",
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]
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for idx, mesh_path in enumerate(mesh_paths):
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filename = mesh_path.split("/")[-1].split(".")[0]
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urdf_path = urdf_gen(
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mesh_path=mesh_path,
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output_root=f"outputs/test_urdf3/sample_{idx}",
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category=filename,
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)
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