From 39cbe5d5b0ad3f53ae140a505c86ee13a37fee2a Mon Sep 17 00:00:00 2001 From: Abhishek Joshi Date: Fri, 16 Aug 2024 12:06:25 -0500 Subject: [PATCH] Updating USD golden file and exporter_test.py --- python/mujoco/testdata/usd_golden.usda | 48 ++++++++++++++++++-------- python/mujoco/usd/demo.py | 5 ++- python/mujoco/usd/exporter.py | 1 - python/mujoco/usd/exporter_test.py | 34 +++++++++++------- python/mujoco/usd/shapes.py | 6 ++-- python/pyproject.toml | 1 + 6 files changed, 62 insertions(+), 33 deletions(-) diff --git a/python/mujoco/testdata/usd_golden.usda b/python/mujoco/testdata/usd_golden.usda index 1a154486..0c1c08b1 100644 --- a/python/mujoco/testdata/usd_golden.usda +++ b/python/mujoco/testdata/usd_golden.usda @@ -5,7 +5,7 @@ """ endTimeCode = 1 startTimeCode = 0 - timeCodesPerSecond = 24 + timeCodesPerSecond = 60 upAxis = "Z" ) @@ -13,48 +13,66 @@ def Xform "World" { def Xform "Light_Xform_0" { - double3 xformOp:translate + double3 xformOp:translate.timeSamples = { + 0: (0, -3.674234628677368, 3.674234628677368), + } uniform token[] xformOpOrder = ["xformOp:translate"] def SphereLight "Light_0" { + color3f inputs:color = (0.4, 0.4, 0.4) + float inputs:intensity = 10000 bool inputs:normalize = 1 float inputs:radius = 0.3 bool treatAsPoint = 0 } } - def Xform "CubeMesh_Xform_white_box" + def Xform "Camera_Xform_closeup" { matrix4d xformOp:transform.timeSamples = { - 0: ( (0, 0, 0, 0), (0, 0, 0, 0), (0, 0, 0, 0), (0, 0, 0, 1) ), + 0: ( (1, 0, -0, 0), (0, 0.009999499656260014, 0.9999499917030334, 0), (0, -0.9999499917030334, 0.009999499656260014, 0), (0, -6, 0, 1) ), } uniform token[] xformOpOrder = ["xformOp:transform"] - def Mesh "CubeMesh_white_box" ( + def Camera "Camera_closeup" + { + float2 clippingRange = (0.0001, 1000000) + float focalLength = 12 + float focusDistance = 400 + float horizontalAperture = 12 + } + } + + def Xform "Mesh_Xform_white_box_id0_geom" + { + token visibility.timeSamples = { + 0: "inherited", + 1: "invisible", + } + float3 xformOp:scale + matrix4d xformOp:transform.timeSamples = { + 0: ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, 0, 1) ), + } + uniform token[] xformOpOrder = ["xformOp:transform", "xformOp:scale"] + + def Mesh "Mesh_white_box_id0_geom" ( 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 = + rel material:binding = 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" + def Material "Material_white_box_id0_geom" { - token outputs:surface.connect = + token outputs:surface.connect = def Shader "Principled_BSDF" { diff --git a/python/mujoco/usd/demo.py b/python/mujoco/usd/demo.py index 6a2df9f3..d378df4e 100644 --- a/python/mujoco/usd/demo.py +++ b/python/mujoco/usd/demo.py @@ -79,7 +79,10 @@ if __name__ == '__main__': ) parser.add_argument( - '--camera_names', type=str, nargs='+', help='cameras to include in usd' + '--camera_names', + type=str, + nargs='+', + help='cameras to include in usd' ) parser.add_argument( diff --git a/python/mujoco/usd/exporter.py b/python/mujoco/usd/exporter.py index 5b95e47b..7879b997 100644 --- a/python/mujoco/usd/exporter.py +++ b/python/mujoco/usd/exporter.py @@ -194,7 +194,6 @@ class USDExporter: if self.updates == 0: self._initialize_usd_stage() - self._load_lights() self._load_cameras() diff --git a/python/mujoco/usd/exporter_test.py b/python/mujoco/usd/exporter_test.py index 01424bbf..5b1ba255 100644 --- a/python/mujoco/usd/exporter_test.py +++ b/python/mujoco/usd/exporter_test.py @@ -22,12 +22,12 @@ from etils import epath import mujoco -# Open3D and USD are not fully supported on all MuJoCo architectures. +# USD is not fully supported on all MuJoCo architectures. execute_test = True try: from mujoco.usd import exporter as exporter_module # pylint: disable=g-import-not-at-top except ImportError: - logging.warning('Skipping test due to missing import') + logging.warning("Skipping test due to missing import") execute_test = False @@ -35,9 +35,10 @@ class ExporterTest(absltest.TestCase): def test_usd_export(self): if not execute_test: - return + self.fail("Test test_usd_export failed to execute.") - output_dir = os.getenv('TEST_UNDECLARED_OUTPUTS_DIR') + output_dir_root = os.getenv("TEST_UNDECLARED_OUTPUTS_DIR") + output_dir_name = "usd_test" xml = """ @@ -50,19 +51,26 @@ class ExporterTest(absltest.TestCase): data = mujoco.MjData(model) exporter = exporter_module.USDExporter( model, - output_directory_name='mujoco_usdpkg', - output_directory_root=output_dir, + output_directory_name=output_dir_name, + output_directory_root=output_dir_root, + camera_names=["closeup"] ) + mujoco.mj_step(model, data) exporter.update_scene(data) - exporter.save_scene('export.usda') + exporter.save_scene("usda") with open(os.path.join( - output_dir, 'mujoco_usdpkg/frames', 'frame_1.export.usda'), 'r') as f: + output_dir_root, + f"{output_dir_name}/frames", + "frame_1.usda"), "r", encoding="utf-8" + ) 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()) + epath.resource_path("mujoco"), + "testdata", + "usd_golden.usda" + ) + with open(golden_path, "r", encoding="utf-8") as golden_file: + self.assertEqual(f.readlines(), golden_file.readlines()) - -if __name__ == '__main__': +if __name__ == "__main__": absltest.main() diff --git a/python/mujoco/usd/shapes.py b/python/mujoco/usd/shapes.py index ceaea43b..48b91771 100644 --- a/python/mujoco/usd/shapes.py +++ b/python/mujoco/usd/shapes.py @@ -254,14 +254,14 @@ class TriangleMesh: return TriangleMesh(vertices, triangles, triangle_uvs) - def translate(self, translation: np.array): + def translate(self, translation: np.ndarray) -> None: self.vertices = self.vertices + translation - def rotate(self, rotation: np.array, center: Tuple[float, ...]): + def rotate(self, rotation: np.ndarray, center: Tuple[float, ...]) -> None: translated_point = self.vertices - center self.vertices = np.dot(translated_point, rotation) + center - def scale(self, scale: np.array): + def scale(self, scale: np.ndarray) -> None: self.vertices = self.vertices * scale def get_center(self): diff --git a/python/pyproject.toml b/python/pyproject.toml index 02f9721a..46d6e734 100644 --- a/python/pyproject.toml +++ b/python/pyproject.toml @@ -58,4 +58,5 @@ mujoco = [ "include/mujoco/*.h", "testdata/*.xml", "testdata/*.msh", + "testdata/*.usda", ]