88 lines
2.5 KiB
Python
88 lines
2.5 KiB
Python
from typing import Literal
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import pytest
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from huggingface_hub import snapshot_download
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from embodied_gen.data.asset_converter import (
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AssetConverterFactory,
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cvt_embodiedgen_asset_to_anysim,
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)
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from embodied_gen.utils.enum import AssetType, SimAssetMapper
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@pytest.fixture(scope="session")
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def data_dir(tmp_path_factory):
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data_dir = tmp_path_factory.mktemp("EmbodiedGenData")
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snapshot_download(
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repo_id="HorizonRobotics/EmbodiedGenData",
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repo_type="dataset",
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local_dir=str(data_dir),
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allow_patterns="demo_assets/remote_control/*",
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local_dir_use_symlinks=False,
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)
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return data_dir
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def test_MeshtoMJCFConverter(data_dir):
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urdf_path = (
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data_dir / "demo_assets/remote_control/result/remote_control.urdf"
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)
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assert urdf_path.exists(), f"URDF not found: {urdf_path}"
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output_file = (
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data_dir / "demo_assets/remote_control/mjcf/remote_control.xml"
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)
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asset_converter = AssetConverterFactory.create(
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target_type=AssetType.MJCF,
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source_type=AssetType.URDF,
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)
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with asset_converter:
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asset_converter.convert(str(urdf_path), str(output_file))
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assert output_file.exists(), f"Output not generated: {output_file}"
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assert output_file.stat().st_size > 0
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def test_MeshtoUSDConverter(data_dir):
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urdf_path = (
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data_dir / "demo_assets/remote_control/result/remote_control.urdf"
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)
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assert urdf_path.exists(), f"URDF not found: {urdf_path}"
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output_file = (
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data_dir / "demo_assets/remote_control/usd/remote_control.usd"
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)
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asset_converter = AssetConverterFactory.create(
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target_type=AssetType.USD,
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source_type=AssetType.MESH,
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)
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with asset_converter:
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asset_converter.convert(str(urdf_path), str(output_file))
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assert output_file.exists(), f"Output not generated: {output_file}"
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assert output_file.stat().st_size > 0
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def test_cvt_embodiedgen_asset_to_anysim(
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simulator_name: Literal[
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"isaacsim",
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"isaacgym",
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"genesis",
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"pybullet",
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"sapien3",
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"mujoco",
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] = "mujoco",
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):
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dst_asset_path = cvt_embodiedgen_asset_to_anysim(
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urdf_files=[
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"outputs/embodiedgen_assets/demo_assets/remote_control/result/remote_control.urdf",
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],
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target_dirs=[
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"outputs/embodiedgen_assets/demo_assets/remote_control/usd/remote_control.usd",
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],
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target_type=SimAssetMapper[simulator_name],
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source_type=AssetType.MESH,
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overwrite=True,
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)
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