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Updating USD golden file and exporter_test.py

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This commit is contained in:
Abhishek Joshi
2024-08-16 12:06:25 -05:00
parent 58dc62c4ec
commit 39cbe5d5b0
6 changed files with 62 additions and 33 deletions
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python/mujoco/testdata/usd_golden.usda
Vendored
+33 -15
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@@ -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 = </World/_materials/Material_white_box>
rel material:binding = </World/_materials/Material_white_box_id0_geom>
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 = </World/_materials/Material_white_box/Principled_BSDF.outputs:surface>
token outputs:surface.connect = </World/_materials/Material_white_box_id0_geom/Principled_BSDF.outputs:surface>
def Shader "Principled_BSDF"
{
python/mujoco/usd/demo.py
+4 -1
View File
@@ -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(
python/mujoco/usd/exporter.py
-1
View File
@@ -194,7 +194,6 @@ class USDExporter:
if self.updates == 0:
self._initialize_usd_stage()
self._load_lights()
self._load_cameras()
python/mujoco/usd/exporter_test.py
+21 -13
View File
@@ -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 = """
<mujoco>
<worldbody>
@@ -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()
python/mujoco/usd/shapes.py
+3 -3
View File
@@ -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):