chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions 2 Packages Projects Releases Wiki Activity

Implement basic USD test

Browse Source 
PiperOrigin-RevId: 617302442
Change-Id: Ic598df9757288640b5f35c4e740958884b1b4698
This commit is contained in:
Matthew Bennice
2024-03-19 14:51:47 -07:00
committed by Copybara-Service
parent b4694ee331
commit 20c8e3e43b
4 changed files with 192 additions and 51 deletions
Download Patch File Download Diff File Expand all files Collapse all files
python/mujoco/testdata/usd_golden.usda
Vendored
+71
View File
@@ -0,0 +1,71 @@
#usda 1.0
(
defaultPrim = "World"
doc = """Generated from Composed Stage of root layer
"""
endTimeCode = 1
startTimeCode = 0
timeCodesPerSecond = 24
upAxis = "Z"
)
def Xform "World"
{
def Xform "Light_Xform_0"
{
double3 xformOp:translate
uniform token[] xformOpOrder = ["xformOp:translate"]
def SphereLight "Light_0"
{
bool inputs:normalize = 1
float inputs:radius = 0.3
bool treatAsPoint = 0
}
}
def Xform "CubeMesh_Xform_white_box"
{
matrix4d xformOp:transform.timeSamples = {
0: ( (0, 0, 0, 0), (0, 0, 0, 0), (0, 0, 0, 0), (0, 0, 0, 1) ),
}
uniform token[] xformOpOrder = ["xformOp:transform"]
def Mesh "CubeMesh_white_box" (
apiSchemas = ["MaterialBindingAPI"]
)
{
int[] faceVertexCounts = [3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3]
int[] faceVertexIndices = [4, 7, 5, 4, 6, 7, 0, 2, 4, 2, 6, 4, 0, 1, 2, 1, 3, 2, 1, 5, 7, 1, 7, 3, 2, 3, 7, 2, 7, 6, 0, 4, 1, 1, 4, 5]
rel material:binding = </World/_materials/Material_white_box>
point3f[] points = [(-1, -1, -1), (1, -1, -1), (-1, -1, 1), (1, -1, 1), (-1, 1, -1), (1, 1, -1), (-1, 1, 1), (1, 1, 1)]
texCoord2f[] primvars:UVMap = [] (
interpolation = "faceVarying"
)
int[] primvars:UVMap:indices = [0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35]
uniform token subdivisionScheme = "none"
token visibility.timeSamples = {
0: "inherited",
}
}
}
def "_materials"
{
def Material "Material_white_box"
{
token outputs:surface.connect = </World/_materials/Material_white_box/Principled_BSDF.outputs:surface>
def Shader "Principled_BSDF"
{
uniform token info:id = "UsdPreviewSurface"
color3f inputs:diffuseColor = (1, 1, 1)
float inputs:metallic = 0.5
float inputs:opacity = 1
float inputs:roughness = 0.5
token outputs:surface
}
}
}
}
python/mujoco/usd/component.py
+31 -35
View File
@@ -15,6 +15,7 @@
from typing import List, Optional, Tuple
import mujoco
import mujoco.usd.utils
import numpy as np
# TODO: b/288149332 - Remove once USD Python Binding works well with pytype.
@@ -36,9 +37,9 @@ class USDMesh:
stage: Usd.Stage,
model: mujoco.MjModel,
geom: mujoco.MjvGeom,
objid: int,
objid: str,
dataid: int,
rgba: Tuple[int, ...] = (1, 1, 1, 1),
rgba: np.ndarray = np.array([1, 1, 1, 1]),
texture_file: Optional[str] = None,
):
self.stage = stage
@@ -216,7 +217,7 @@ class USDMesh:
UsdShade.MaterialBindingAPI(self.usd_mesh).Bind(mtl)
def update(self, pos: np.ndarray, mat: np.ndarray, visible: bool, frame: int):
transformation_mat = mujoco.usd_utils.create_transform_matrix(
transformation_mat = mujoco.usd.utils.create_transform_matrix(
rotation_matrix=mat, translation_vector=pos
).T
self.transform_op.Set(Gf.Matrix4d(transformation_mat.tolist()), frame)
@@ -235,8 +236,8 @@ class USDPrimitiveMesh:
self,
stage: Usd.Stage,
geom: mujoco.MjvGeom,
objid: int,
rgba: Tuple[int, ...] = (1, 1, 1, 1),
objid: str,
rgba: np.ndarray = np.array([1, 1, 1, 1]),
texture_file: Optional[str] = None,
):
self.stage = stage
@@ -246,9 +247,9 @@ class USDPrimitiveMesh:
self.texture_file = texture_file
self.usd_prim = Usd.Prim()
self.usd_mesh = Usd.Mesh()
self.prim_mesh = Usd.PrimMesh()
self.transform_op = Usd.TransformOp()
self.usd_mesh = UsdGeom.Mesh()
self.prim_mesh = None
self.transform_op = Gf.Matrix4d(1.)
def _set_refinement_properties(self):
self.usd_prim.GetAttribute("subdivisionScheme").Set("none")
@@ -364,7 +365,7 @@ class USDPrimitiveMesh:
UsdShade.MaterialBindingAPI(self.usd_mesh).Bind(mtl)
def update(self, pos: np.ndarray, mat: np.ndarray, visible: bool, frame: int):
transformation_mat = mujoco.usd_util.create_transform_matrix(
transformation_mat = mujoco.usd.utils.create_transform_matrix(
rotation_matrix=mat, translation_vector=pos
).T
self.transform_op.Set(Gf.Matrix4d(transformation_mat.tolist()), frame)
@@ -383,8 +384,8 @@ class USDPrimitive:
self,
stage: Usd.Stage,
geom: mujoco.MjvGeom,
objid: int,
rgba: Tuple[int, ...] = (1, 1, 1, 1),
objid: str,
rgba: np.ndarray = np.array([1, 1, 1, 1]),
texture_file: Optional[str] = None,
):
self.stage = stage
@@ -395,7 +396,7 @@ class USDPrimitive:
self.usd_prim = Usd.Prim()
self.usd_primitive_shape = Usd.PrimitiveShape()
self.transform_op = Usd.TransformOp()
self.transform_op = Gf.Matrix4d(1.)
def _set_refinement_properties(self):
self.usd_prim.GetAttribute("subdivisionScheme").Set("none")
@@ -481,7 +482,7 @@ class USDPrimitive:
UsdShade.MaterialBindingAPI(self.usd_primitive_shape).Bind(mtl)
def update(self, pos: np.ndarray, mat: np.ndarray, visible: bool, frame: int):
transformation_mat = mujoco.usd_util.create_transform_matrix(
transformation_mat = mujoco.usd.utils.create_transform_matrix(
rotation_matrix=mat, translation_vector=pos
).T
self.transform_op.Set(Gf.Matrix4d(transformation_mat.tolist()), frame)
@@ -500,8 +501,8 @@ class USDCapsule(USDPrimitive):
self,
stage: Usd.Stage,
geom: mujoco.MjvGeom,
objid: int,
rgba: Tuple[int, ...] = (1, 1, 1, 1),
objid: str,
rgba: np.ndarray = np.array([1, 1, 1, 1]),
texture_file: Optional[str] = None,
):
@@ -536,8 +537,8 @@ class USDEllipsoid(USDPrimitive):
self,
stage: Usd.Stage,
geom: mujoco.MjvGeom,
objid: int,
rgba: Tuple[int, ...] = (1, 1, 1, 1),
objid: str,
rgba: np.ndarray = np.array([1, 1, 1, 1]),
texture_file: Optional[str] = None,
):
@@ -569,8 +570,8 @@ class USDCubeMesh(USDPrimitiveMesh):
self,
stage: Usd.Stage,
geom: mujoco.MjvGeom,
objid: int,
rgba: Tuple[int, ...] = (1, 1, 1, 1),
objid: str,
rgba: np.ndarray = np.array([1, 1, 1, 1]),
texture_file: Optional[str] = None,
):
@@ -586,8 +587,6 @@ class USDCubeMesh(USDPrimitiveMesh):
width=self.geom.size[0] * 2,
height=self.geom.size[1] * 2,
depth=self.geom.size[2] * 2,
create_uv_map=True,
map_texture_to_each_face=True,
)
self.prim_mesh.translate(-self.prim_mesh.get_center())
@@ -623,8 +622,8 @@ class USDSphereMesh(USDPrimitiveMesh):
self,
stage: Usd.Stage,
geom: mujoco.MjvGeom,
objid: int,
rgba: Tuple[int, ...] = (1, 1, 1, 1),
objid: str,
rgba: np.ndarray = np.array([1, 1, 1, 1]),
texture_file: Optional[str] = None,
):
@@ -637,7 +636,7 @@ class USDSphereMesh(USDPrimitiveMesh):
self.usd_prim = stage.GetPrimAtPath(mesh_path)
self.prim_mesh = o3d.geometry.TriangleMesh.create_sphere(
radius=float(self.geom.size[0]), create_uv_map=True
radius=float(self.geom.size[0])
)
self.prim_mesh.translate(-self.prim_mesh.get_center())
@@ -673,8 +672,8 @@ class USDCylinderMesh(USDPrimitiveMesh):
self,
stage: Usd.Stage,
geom: mujoco.MjvGeom,
objid: int,
rgba: Tuple[int, ...] = (1, 1, 1, 1),
objid: str,
rgba: np.ndarray = np.array([1, 1, 1, 1]),
texture_file: Optional[str] = None,
):
@@ -689,7 +688,6 @@ class USDCylinderMesh(USDPrimitiveMesh):
self.prim_mesh = o3d.geometry.TriangleMesh.create_cylinder(
radius=self.geom.size[0],
height=self.geom.size[2] * 2,
create_uv_map=True,
)
self.prim_mesh.translate(-self.prim_mesh.get_center())
@@ -725,8 +723,8 @@ class USDPlaneMesh(USDPrimitiveMesh):
self,
stage: Usd.Stage,
geom: mujoco.MjvGeom,
objid: int,
rgba: Tuple[int, ...] = (1, 1, 1, 1),
objid: str,
rgba: np.ndarray = np.array([1, 1, 1, 1]),
texture_file: Optional[str] = None,
):
@@ -742,8 +740,6 @@ class USDPlaneMesh(USDPrimitiveMesh):
width=self.geom.size[0] * 2 if self.geom.size[0] > 0 else 100,
height=self.geom.size[1] * 2 if self.geom.size[1] > 0 else 100,
depth=0.001,
create_uv_map=True,
map_texture_to_each_face=True,
)
self.prim_mesh.translate(-self.prim_mesh.get_center())
@@ -776,7 +772,7 @@ class USDPlaneMesh(USDPrimitiveMesh):
class USDSphereLight:
def __init__(
self, stage: Usd.Stage, objid: int, radius: Optional[float] = 0.3
self, stage: Usd.Stage, objid: str, radius: Optional[float] = 0.3
):
self.stage = stage
@@ -808,7 +804,7 @@ class USDSphereLight:
class USDDomeLight:
def __init__(self, stage: Usd.Stage, objid: int):
def __init__(self, stage: Usd.Stage, objid: str):
self.stage = stage
xform_path = f"/World/Light_Xform_{objid}"
@@ -829,7 +825,7 @@ class USDDomeLight:
class USDCamera:
def __init__(self, stage: Usd.Stage, objid: int):
def __init__(self, stage: Usd.Stage, objid: str):
self.stage = stage
xform_path = f"/World/Camera_Xform_{objid}"
@@ -851,7 +847,7 @@ class USDCamera:
def update(self, cam_pos: np.ndarray, cam_mat: np.ndarray, frame: int):
transformation_mat = mujoco.usd_util.create_transform_matrix(
transformation_mat = mujoco.usd.utils.create_transform_matrix(
rotation_matrix=cam_mat, translation_vector=cam_pos
).T
self.transform_op.Set(Gf.Matrix4d(transformation_mat.tolist()), frame)
python/mujoco/usd/exporter.py
+20 -16
View File
@@ -15,6 +15,7 @@
import os
import mujoco
import mujoco.usd.component as component_module
import numpy as np
import scipy
import termcolor
@@ -235,7 +236,7 @@ class USDExporter:
# handles meshes in scene
if geom.type == mujoco.mjtGeom.mjGEOM_MESH:
usd_geom = mujoco.usd.USDMesh(
usd_geom = component_module.USDMesh(
stage=self.stage,
model=self.model,
geom=geom,
@@ -245,7 +246,7 @@ class USDExporter:
texture_file=texture_file,
)
elif geom.type == mujoco.mjtGeom.mjGEOM_PLANE:
usd_geom = mujoco.usd.USDPlaneMesh(
usd_geom = component_module.USDPlaneMesh(
stage=self.stage,
geom=geom,
objid=geom_name,
@@ -253,7 +254,7 @@ class USDExporter:
texture_file=texture_file,
)
elif geom.type == mujoco.mjtGeom.mjGEOM_SPHERE:
usd_geom = mujoco.usd.USDSphereMesh(
usd_geom = component_module.USDSphereMesh(
stage=self.stage,
geom=geom,
objid=geom_name,
@@ -261,7 +262,7 @@ class USDExporter:
texture_file=texture_file,
)
elif geom.type == mujoco.mjtGeom.mjGEOM_CAPSULE:
usd_geom = mujoco.usd.USDCapsule(
usd_geom = component_module.USDCapsule(
stage=self.stage,
geom=geom,
objid=geom_name,
@@ -269,7 +270,7 @@ class USDExporter:
texture_file=texture_file,
)
elif geom.type == mujoco.mjtGeom.mjGEOM_ELLIPSOID:
usd_geom = mujoco.usd.USDEllipsoid(
usd_geom = component_module.USDEllipsoid(
stage=self.stage,
geom=geom,
objid=geom_name,
@@ -277,7 +278,7 @@ class USDExporter:
texture_file=texture_file,
)
elif geom.type == mujoco.mjtGeom.mjGEOM_CYLINDER:
usd_geom = mujoco.usd.USDCylinderMesh(
usd_geom = component_module.USDCylinderMesh(
stage=self.stage,
geom=geom,
objid=geom_name,
@@ -285,7 +286,7 @@ class USDExporter:
texture_file=texture_file,
)
elif geom.type == mujoco.mjtGeom.mjGEOM_BOX:
usd_geom = mujoco.usd.USDCubeMesh(
usd_geom = component_module.USDCubeMesh(
stage=self.stage,
geom=geom,
objid=geom_name,
@@ -331,7 +332,8 @@ class USDExporter:
for i in range(self.scene.nlight):
light = self.scene.lights[i]
if not np.allclose(light.pos, [0, 0, 0]):
self.usd_lights.append(mujoco.usd.USDSphereLight(stage=self.stage, objid=i))
self.usd_lights.append
(component_module.USDSphereLight(stage=self.stage, objid=str(i)))
else:
self.usd_lights.append(None)
@@ -342,7 +344,7 @@ class USDExporter:
if np.allclose(light.pos, [0, 0, 0]):
continue
if self.usd_lights[i] is None:
if i >= len(self.usd_lights) or self.usd_lights[i] is None:
continue
self.usd_lights[i].update(
@@ -356,8 +358,10 @@ class USDExporter:
def _load_cameras(self):
self.usd_cameras = []
for name in self.camera_names:
self.usd_cameras.append(mujoco.usd.USDCamera(stage=self.stage, objid=name))
if self.camera_names is not None:
for name in self.camera_names:
self.usd_cameras.append(
component_module.USDCamera(stage=self.stage, objid=name))
def _update_cameras(
self,
@@ -397,11 +401,11 @@ class USDExporter:
):
if light_type == "sphere":
new_light = mujoco.usd.USDSphereLight(stage=self.stage, objid=objid, radius=radius)
new_light = component_module.USDSphereLight(stage=self.stage, objid=str(objid), radius=radius)
new_light.update(pos=pos, intensity=intensity, color=color, frame=0)
new_light.update(pos=np.array(pos), intensity=intensity, color=color, frame=0)
elif light_type == "dome":
new_light = mujoco.usd.USDDomeLight(stage=self.stage, objid=objid)
new_light = component_module.USDDomeLight(stage=self.stage, objid=str(objid))
new_light.update(intensity=intensity, color=color, frame=0)
@@ -411,11 +415,11 @@ class USDExporter:
rotation_xyz: List[float],
objid: Optional[int] = 1,
):
new_camera = mujoco.usd.USDCamera(stage=self.stage, objid=objid)
new_camera = component_module.USDCamera(stage=self.stage, objid=str(objid))
r = scipy.spatial.transform.Rotation.from_euler(
"xyz", rotation_xyz, degrees=True)
new_camera.update(cam_pos=pos, cam_mat=r.as_matrix(), frame=0)
new_camera.update(cam_pos=np.array(pos), cam_mat=r.as_matrix(), frame=0)
def save_scene(self, filetype: str = "usd"):
self.stage.SetEndTimeCode(self.frame_count)
python/mujoco/usd/exporter_test.py
+70
View File
@@ -0,0 +1,70 @@
# Copyright 2024 DeepMind Technologies Limited
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
# ==============================================================================
"""Tests for the MuJoCo USD Exporter."""
import logging
import os
import mujoco
from absl.testing import absltest
from etils import epath
# Open3D and USD are not fully supported on all MuJoCo architectures.
# pylint: disable=python.style(g-import-not-at-top)
execute_test = True
try:
from mujoco.usd import exporter as exporter_module
from pxr import Usd
except ImportError:
logging.warning('Skipping test due to missing import')
execute_test = False
# pylint: enable=python.style(g-import-not-at-top)
class ExporterTest(absltest.TestCase):
def test_usd_export(self):
if not execute_test:
return
output_dir = os.getenv('TEST_UNDECLARED_OUTPUTS_DIR')
xml = """
<mujoco>
<worldbody>
<camera name="closeup" pos="0 -6 0" xyaxes="1 0 0 0 1 100"/>
<geom name="white_box" type="box" size="1 1 1" rgba="1 1 1 1"/>
</worldbody>
</mujoco>
"""
model = mujoco.MjModel.from_xml_string(xml)
data = mujoco.MjData(model)
exporter = exporter_module.USDExporter(
model,
output_directory_name="mujoco_usdpkg",
output_directory_root=output_dir,
)
exporter.update_scene(data)
exporter.save_scene("export.usda")
with open(os.path.join(
output_dir, "mujoco_usdpkg/frames", "frame_1_.export.usda"), "r") as f:
golden_path = os.path.join(
epath.resource_path("mujoco"), "testdata", "usd_golden.usda")
with open(golden_path, "r") as golden_file:
self.assertEqual(f.read(), golden_file.read())
if __name__ == "__main__":
absltest.main()