Removing Open3D dependency

2024-07-20 19:33:11 -05:00
parent d49d4bf64c
commit 34060fcc49
5 changed files with 225 additions and 58 deletions
@@ -14,7 +14,8 @@
 # ==============================================================================
 """Camera handling for USD exporter."""

-import mujoco.usd.utils as utils_component
+# import mujoco.usd.utils as utils_modules
+import utils as utils_module

 import numpy as np

@@ -49,7 +50,7 @@ class USDCamera:

  def update(self, cam_pos: np.ndarray, cam_mat: np.ndarray, frame: int):
    """Updates the position and orientation of the camera in the scene."""
-    transformation_mat = utils_component.create_transform_matrix(
+    transformation_mat = utils_modules.create_transform_matrix(
        rotation_matrix=cam_mat, translation_vector=cam_pos
    ).T
    self.transform_op.Set(Gf.Matrix4d(transformation_mat.tolist()), frame)