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Fixing USD pipeline after copybara changes

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This commit is contained in:
Abhishek Joshi
2024-08-13 11:09:02 -07:00
parent 19aa68c2b2
commit 58dc62c4ec
3 changed files with 14 additions and 7 deletions
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python/mujoco/usd/objects.py
+8 -2
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@@ -392,8 +392,14 @@ class USDPrimitiveMesh(USDObject):
if self.geom.size[1] > 0:
t_scale *= self.geom.size[1]
mesh_texcoord[:, 0] *= s_scale / (self.geom.size[0] * 2)
mesh_texcoord[:, 1] *= t_scale / (self.geom.size[1] * 2)
s_size, t_size = self.geom.size[:2]
if self.geom.type == mujoco.mjtGeom.mjGEOM_PLANE:
s_size = s_size if s_size > 0 else 1
t_size = t_size if t_size > 0 else 1
if self.model.mat_texuniform[self.geom.matid]:
mesh_texcoord[:, 0] *= s_scale / (s_size * 2)
mesh_texcoord[:, 1] *= t_scale / (t_size * 2)
return mesh_texcoord, mesh_facetexcoord.flatten()