Updating USD golden file and exporter_test.py

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 = </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

@@ -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_name=output_dir_name,
-        output_directory_root=output_dir,
+        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')
+        epath.resource_path("mujoco"),
-      with open(golden_path, 'r') as golden_file:
+        "testdata",
-        self.assertEqual(f.read(), golden_file.read())
+        "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):

python/pyproject.toml

@@ -58,4 +58,5 @@ mujoco = [
     "include/mujoco/*.h",
     "testdata/*.xml",
     "testdata/*.msh",
+    "testdata/*.usda",
 ]