horizonrobotics/embodiedgen/asset-process

Asset Processing

Overview

Use this skill to scale or rotate an asset and all of its supported geometry files consistently. Rotation is provided as XYZ Euler angles in degrees and is applied around the asset's local origin.

The input URDF may use either supported asset layout:

<asset_dir>/result/<asset_name>.urdf
<asset_dir>/<asset_name>.urdf

The mesh directory must be beside the URDF as mesh/.

Normal mode copies the complete asset directly to <output_dir>. Pass the full target asset directory, including the desired asset directory name. Inplace mode modifies the source asset.

After processing, the tool calculates the transformed mesh's Y-axis extent and writes that value to min_height, max_height, and real_height in the URDF. It uses the main OBJ first, then the GLB, then the collision OBJ.

CLI Examples

Scale Only

python -m embodied_gen.skills.asset-process.asset_process \
  --urdf-path outputs/assets/red_box/result/red_box.urdf \
  --scale-factor 0.8 \
  --output-dir outputs/processed

Rotate Only

python -m embodied_gen.skills.asset-process.asset_process \
  --urdf-path outputs/assets/red_box/result/red_box.urdf \
  --rot-xyz 90 0 45 \
  --output-dir outputs/processed

Scale and Rotate

python -m embodied_gen.skills.asset-process.asset_process \
  --urdf-path outputs/test_wuwen/facial_cleanser_001/facial_cleanser_001.urdf \
  --scale-factor 1.0 \
  --rot-xyz 0 90 0 \
  --keep-urdf-raw-rot \
  --output-dir outputs/test_wuwen/facial_cleanser_001_processed

--keep-urdf-raw-rot is optional. When enabled, the inverse baked rotation is composed into visual and collision origin rpy values so their effective rotation remains unchanged. It is disabled by default.

Process Inplace

python -m embodied_gen.skills.asset-process.asset_process \
  --urdf-path outputs/assets/red_box/result/red_box.urdf \
  --scale-factor 0.8 \
  --rot-xyz 0 0 90 \
  --inplace

Inplace mode modifies the original asset files.

Parameters

Processed Files

• mesh/<name>.obj
• mesh/<name>.glb
• mesh/<name>_collision.obj
• mesh/<name>_gs.ply (optional; skipped when absent)
• <name>.urdf

Rotation is always baked into the asset files. URDF visual and collision origin rpy values are updated only when keep_urdf_raw_rot is enabled.

For Python API details, read embodied_gen/skills/asset-process/asset_process.py.