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refactor(convert): Add physx_max_convex_hulls, max_vertices, max_voxel_res to MeshtoUSDConverter. #57

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Merged
HochCC merged 1 commit into from
Nov 10, 2025
Merged

refactor(convert): Add physx_max_convex_hulls, max_vertices, max_voxel_res to MeshtoUSDConverter. #57

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4 changes: 2 additions & 2 deletions apps/image_to_3d.py
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Original file line number Diff line number Diff line change
Expand Up @@ -45,8 +45,8 @@
## ***EmbodiedGen***: Image-to-3D Asset
**🔖 Version**: {VERSION}
<p style="display: flex; gap: 10px; flex-wrap: nowrap;">
<a href="https://horizonrobotics.github.io/robot_lab/embodied_gen/index.html">
<img alt="🌐 Project Page" src="https://img.shields.io/badge/🌐-Project_Page-blue">
<a href="https://horizonrobotics.github.io/EmbodiedGen">
<img alt="📖 Documentation" src="https://img.shields.io/badge/📖-Documentation-blue">
</a>
<a href="https://arxiv.org/abs/2506.10600">
<img alt="📄 arXiv" src="https://img.shields.io/badge/📄-arXiv-b31b1b">
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4 changes: 2 additions & 2 deletions apps/text_to_3d.py
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Original file line number Diff line number Diff line change
Expand Up @@ -45,8 +45,8 @@
## ***EmbodiedGen***: Text-to-3D Asset
**🔖 Version**: {VERSION}
<p style="display: flex; gap: 10px; flex-wrap: nowrap;">
<a href="https://horizonrobotics.github.io/robot_lab/embodied_gen/index.html">
<img alt="🌐 Project Page" src="https://img.shields.io/badge/🌐-Project_Page-blue">
<a href="https://horizonrobotics.github.io/EmbodiedGen">
<img alt="📖 Documentation" src="https://img.shields.io/badge/📖-Documentation-blue">
</a>
<a href="https://arxiv.org/abs/2506.10600">
<img alt="📄 arXiv" src="https://img.shields.io/badge/📄-arXiv-b31b1b">
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4 changes: 2 additions & 2 deletions apps/texture_edit.py
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Expand Up @@ -55,8 +55,8 @@ def active_btn_by_content(mesh_content: gr.Model3D, text_content: gr.Textbox):
## ***EmbodiedGen***: Texture Generation
**🔖 Version**: {VERSION}
<p style="display: flex; gap: 10px; flex-wrap: nowrap;">
<a href="https://horizonrobotics.github.io/robot_lab/embodied_gen/index.html">
<img alt="🌐 Project Page" src="https://img.shields.io/badge/🌐-Project_Page-blue">
<a href="https://horizonrobotics.github.io/EmbodiedGen">
<img alt="📖 Documentation" src="https://img.shields.io/badge/📖-Documentation-blue">
</a>
<a href="https://arxiv.org/abs/2506.10600">
<img alt="📄 arXiv" src="https://img.shields.io/badge/📄-arXiv-b31b1b">
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4 changes: 2 additions & 2 deletions apps/visualize_asset.py
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Expand Up @@ -479,8 +479,8 @@ def end_session(req: gr.Request) -> None:

**🔖 Version**: {VERSION}
<p style="display: flex; gap: 10px; flex-wrap: nowrap;">
<a href="https://horizonrobotics.github.io/robot_lab/embodied_gen/index.html">
<img alt="🌐 Project Page" src="https://img.shields.io/badge/🌐-Project_Page-blue">
<a href="https://horizonrobotics.github.io/EmbodiedGen">
<img alt="📖 Documentation" src="https://img.shields.io/badge/📖-Documentation-blue">
</a>
<a href="https://arxiv.org/abs/2506.10600">
<img alt="📄 arXiv" src="https://img.shields.io/badge/📄-arXiv-b31b1b">
Expand Down
69 changes: 41 additions & 28 deletions embodied_gen/data/asset_converter.py
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Original file line number Diff line number Diff line change
Expand Up @@ -488,8 +488,8 @@ class MeshtoUSDConverter(AssetConverterBase):

DEFAULT_BIND_APIS = [
"MaterialBindingAPI",
# "PhysicsMeshCollisionAPI",
"PhysxDecompositionCollisionAPI",
"PhysicsMeshCollisionAPI",
"PhysxConvexDecompositionCollisionAPI",
"PhysicsCollisionAPI",
"PhysxCollisionAPI",
"PhysicsMassAPI",
Expand All @@ -515,10 +515,10 @@ def __init__(
if simulation_app is not None:
self.simulation_app = simulation_app

if "exit_close" in kwargs:
self.exit_close = kwargs.pop("exit_close")
else:
self.exit_close = True
self.exit_close = kwargs.pop("exit_close", True)
self.physx_max_convex_hulls = kwargs.pop("physx_max_convex_hulls", 32)
self.physx_max_vertices = kwargs.pop("physx_max_vertices", 16)
self.physx_max_voxel_res = kwargs.pop("physx_max_voxel_res", 10000)

self.usd_parms = dict(
force_usd_conversion=force_usd_conversion,
Expand Down Expand Up @@ -548,12 +548,12 @@ def __enter__(self):
def __exit__(self, exc_type, exc_val, exc_tb):
"""Context manager exit, closes simulation app if created."""
# Close the simulation app if it was created here
if hasattr(self, "app_launcher") and self.exit_close:
self.simulation_app.close()

if exc_val is not None:
logger.error(f"Exception occurred: {exc_val}.")

if hasattr(self, "app_launcher") and self.exit_close:
self.simulation_app.close()

return False

def convert(self, urdf_path: str, output_file: str):
Expand Down Expand Up @@ -601,18 +601,25 @@ def convert(self, urdf_path: str, output_file: str):

# 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 = prim.CreateAttribute(
"physics:approximation", Sdf.ValueTypeNames.Token
)
approx_attr.Set("convexDecomposition")

physx_conv_api = (
PhysxSchema.PhysxConvexDecompositionCollisionAPI.Apply(
prim
)
)
physx_conv_api.GetMaxConvexHullsAttr().Set(
self.physx_max_convex_hulls
)
physx_conv_api.GetHullVertexLimitAttr().Set(
self.physx_max_vertices
)
physx_conv_api.GetVoxelResolutionAttr().Set(
self.physx_max_voxel_res
)
physx_conv_api.GetShrinkWrapAttr().Set(True)

api_schemas = prim.GetMetadata("apiSchemas")
Expand All @@ -639,8 +646,8 @@ class PhysicsUSDAdder(MeshtoUSDConverter):

DEFAULT_BIND_APIS = [
"MaterialBindingAPI",
# "PhysicsMeshCollisionAPI",
"PhysxDecompositionCollisionAPI",
"PhysicsMeshCollisionAPI",
"PhysxConvexDecompositionCollisionAPI",
"PhysicsCollisionAPI",
"PhysxCollisionAPI",
"PhysicsRigidBodyAPI",
Expand Down Expand Up @@ -675,18 +682,23 @@ def convert(self, usd_path: str, output_file: str = None):
if "lightfactory" in prim.GetName().lower():
continue

approx_attr = prim.GetAttribute(
"physics:approximation"
approx_attr = prim.CreateAttribute(
"physics:approximation", Sdf.ValueTypeNames.Token
)
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.GetMaxConvexHullsAttr().Set(
self.physx_max_convex_hulls
)
physx_conv_api.GetHullVertexLimitAttr().Set(
self.physx_max_vertices
)
physx_conv_api.GetVoxelResolutionAttr().Set(
self.physx_max_voxel_res
)
physx_conv_api.GetShrinkWrapAttr().Set(True)

rigid_body_api = UsdPhysics.RigidBodyAPI.Apply(prim)
Expand Down Expand Up @@ -790,18 +802,19 @@ def convert(self, urdf_path: str, output_file: str):
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 = prim.CreateAttribute(
"physics:approximation", Sdf.ValueTypeNames.Token
)
approx_attr.Set("convexDecomposition")

physx_conv_api = (
PhysxSchema.PhysxConvexDecompositionCollisionAPI.Apply(
prim
)
)
physx_conv_api.GetMaxConvexHullsAttr().Set(32)
physx_conv_api.GetHullVertexLimitAttr().Set(16)
physx_conv_api.GetVoxelResolutionAttr().Set(10000)
physx_conv_api.GetShrinkWrapAttr().Set(True)

api_schemas = prim.GetMetadata("apiSchemas")
Expand Down