Updating USD golden file and exporter_test.py

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(

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()
 

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 = """
 <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

@@ -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):