0ca4a4894f
* feat(sim): Optimize support for downstream simulators and gym. * feat(sim): Optimize support for downstream simulators and gym. * docs: update docs * update version
45 lines
1.5 KiB
Python
45 lines
1.5 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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import logging
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import tempfile
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from time import time
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import pytest
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from embodied_gen.data.convex_decomposer import decompose_convex_mesh
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logger = logging.getLogger(__name__)
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@pytest.mark.parametrize(
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"input_mesh_path, max_convex_hull",
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[
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("apps/assets/example_texture/meshes/robot_text.obj", 8),
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# ("apps/assets/example_texture/meshes/robot_text.obj", 32),
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# ("apps/assets/example_texture/meshes/robot_text.obj", 64),
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# ("apps/assets/example_texture/meshes/robot_text.obj", 128),
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],
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)
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def test_decompose_convex_mesh(input_mesh_path, max_convex_hull):
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d_params = dict(
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threshold=0.05, max_convex_hull=max_convex_hull, verbose=False
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)
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with tempfile.NamedTemporaryFile(suffix='.ply', delete=True) as tmp_file:
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start_time = time()
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decompose_convex_mesh(input_mesh_path, tmp_file.name, **d_params)
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logger.info(f"Finished in {time()-start_time:.2f}s")
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