From 59303bb161666592f2be473806f01376b99f6512 Mon Sep 17 00:00:00 2001 From: Abhishek Joshi Date: Wed, 3 Jul 2024 18:32:59 -0500 Subject: [PATCH] Fixing formatting for usd files and adding pylint configuration --- python/mujoco/usd/.pylintrc | 8 ++ python/mujoco/usd/camera.py | 27 ++++-- python/mujoco/usd/demo.py | 36 +++++--- python/mujoco/usd/exporter.py | 123 +++++++++++++++++---------- python/mujoco/usd/lights.py | 33 ++++++-- python/mujoco/usd/objects.py | 151 ++++++++++++++++++++-------------- python/mujoco/usd/shapes.py | 65 +++++++++------ 7 files changed, 290 insertions(+), 153 deletions(-) create mode 100644 python/mujoco/usd/.pylintrc diff --git a/python/mujoco/usd/.pylintrc b/python/mujoco/usd/.pylintrc new file mode 100644 index 00000000..a1d88bef --- /dev/null +++ b/python/mujoco/usd/.pylintrc @@ -0,0 +1,8 @@ +[FORMAT] +max-line-length=80 + +[MESSAGES CONTROL] +disable=bad-indentation,no-member,too-few-public-methods,too-many-arguments,too-many-instance-attributes,consider-using-enumerate,too-many-locals,undefined-loop-variable + +[REPORTS] +output-format=colorized \ No newline at end of file diff --git a/python/mujoco/usd/camera.py b/python/mujoco/usd/camera.py index 64c0103c..b1b23b14 100644 --- a/python/mujoco/usd/camera.py +++ b/python/mujoco/usd/camera.py @@ -1,15 +1,27 @@ -from typing import List, Optional, Tuple - -import utils as utils_component - +# Copyright 2024 DeepMind Technologies Limited +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# ============================================================================== import numpy as np from pxr import Gf from pxr import Usd from pxr import UsdGeom -class USDCamera: +import mujoco.usd.utils as utils_component +class USDCamera: + """Class that handles the cameras in the USD scene""" def __init__(self, stage: Usd.Stage, obj_name: str): self.stage = stage @@ -22,7 +34,6 @@ class USDCamera: # defining ops required by update function self.transform_op = self.usd_xform.AddTransformOp() - # self.usd_camera.CreateFocalLengthAttr().Set(18.14756) # default in omniverse self.usd_camera.CreateFocalLengthAttr().Set(12) self.usd_camera.CreateFocusDistanceAttr().Set(400) @@ -31,8 +42,8 @@ class USDCamera: self.usd_camera.GetClippingRangeAttr().Set(Gf.Vec2f(1e-4, 1e6)) def update(self, cam_pos: np.ndarray, cam_mat: np.ndarray, frame: int): - + """Updates the position and orientation of the camera in the scene""" transformation_mat = utils_component.create_transform_matrix( rotation_matrix=cam_mat, translation_vector=cam_pos ).T - self.transform_op.Set(Gf.Matrix4d(transformation_mat.tolist()), frame) \ No newline at end of file + self.transform_op.Set(Gf.Matrix4d(transformation_mat.tolist()), frame) diff --git a/python/mujoco/usd/demo.py b/python/mujoco/usd/demo.py index 069589e4..460ce6d9 100644 --- a/python/mujoco/usd/demo.py +++ b/python/mujoco/usd/demo.py @@ -1,12 +1,26 @@ +# Copyright 2024 DeepMind Technologies Limited +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# ============================================================================== import argparse -from tqdm import tqdm from pathlib import Path +from tqdm import tqdm import mujoco from mujoco.usd import exporter def generate_usd_trajectory(args): - + """Generates a USD file from a mujoco trajectory.""" # load a model to mujoco model_path = args.model_path m = mujoco.MjModel.from_xml_path(model_path) @@ -19,8 +33,8 @@ def generate_usd_trajectory(args): camera_names=args.camera_names) # step through the model for length steps - for i in tqdm(range(args.length)): - for i in range(args.steps_per_frame): + for _ in tqdm(range(args.length)): + for _ in range(args.steps_per_frame): mujoco.mj_step(m, d) exp.update_scene(d) @@ -30,7 +44,7 @@ if __name__ == "__main__": parser = argparse.ArgumentParser() - parser.add_argument('--model_path', + parser.add_argument('--model_path', type=str, required=True, help='path to mjcf xml model') @@ -40,20 +54,20 @@ if __name__ == "__main__": default=100, help='length of trajectory to render') - parser.add_argument('--output_directory_root', + parser.add_argument('--output_directory_root', type=str, default="../usd_trajectories/", help='location where to create usd files') - parser.add_argument('--camera_names', + parser.add_argument('--camera_names', type=str, nargs='+', help='cameras to include in usd') - parser.add_argument('--export_extension', + parser.add_argument('--export_extension', type=str, default="usd", - help='extension of exported file (can be usd, usda, or usdc)') + help='extension of exported file (usd, usda, or usdc)') parser.add_argument('--steps_per_frame', type=int, @@ -62,7 +76,3 @@ if __name__ == "__main__": args = parser.parse_args() generate_usd_trajectory(args) - - - - diff --git a/python/mujoco/usd/exporter.py b/python/mujoco/usd/exporter.py index 89d9fca0..9eedfb60 100644 --- a/python/mujoco/usd/exporter.py +++ b/python/mujoco/usd/exporter.py @@ -13,6 +13,19 @@ # limitations under the License. # ============================================================================== import os +from typing import List, Optional + +import numpy as np +import scipy +import termcolor +import tqdm + +from PIL import Image as im +from PIL import ImageOps + +from pxr import Sdf +from pxr import Usd +from pxr import UsdGeom import mujoco @@ -21,24 +34,9 @@ import mujoco.usd.objects as object_module import mujoco.usd.lights as light_module import mujoco.usd.camera as camera_module -import numpy as np -import scipy -import termcolor -import tqdm - -from typing import List, Optional, Tuple, Union -from PIL import Image as im -from PIL import ImageOps - -# TODO: b/288149332 - Remove once USD Python Binding works well with pytype. -# pytype: disable=module-attr -from pxr import Sdf -from pxr import Usd -from pxr import UsdGeom - class USDExporter: - + """MuJoCo to USD exporter for porting scenes to external renderers.""" def __init__( self, model: mujoco.MjModel, @@ -58,7 +56,7 @@ class USDExporter: model: an MjModel instance. height: image height in pixels. width: image width in pixels. - max_geom: Optional integer specifying the maximum number of geoms that + max_geom: optional integer specifying the maximum number of geoms that can be rendered in the same scene. If None this will be chosen automatically based on the estimated maximum number of renderable geoms in the model. @@ -107,6 +105,10 @@ class USDExporter: self.geom_names = set() self.geom_refs = {} + # initializing list of lights and cameras + self.usd_lights = [] + self.usd_cameras = [] + # initializing rendering requirements self.renderer = mujoco.Renderer(model, height, width, max_geom) self._initialize_usd_stage() @@ -120,13 +122,16 @@ class USDExporter: @property def usd(self): + """Returns the USD file as a string.""" return self.stage.GetRootLayer().ExportToString() @property def scene(self): + """Returns the scene.""" return self.renderer.scene def _initialize_usd_stage(self): + """Initializes a USD stage to represent the mujoco scene.""" self.stage = Usd.Stage.CreateInMemory() UsdGeom.SetStageUpAxis(self.stage, UsdGeom.Tokens.z) self.stage.SetStartTimeCode(0) @@ -139,6 +144,7 @@ class USDExporter: self.stage.SetDefaultPrim(default_prim) def _initialize_output_directories(self): + """Initializes output directories to store frames and assets""" self.output_directory_path = os.path.join( self.output_directory_root, self.output_directory_name ) @@ -167,7 +173,7 @@ class USDExporter: data: mujoco.MjData, scene_option: Optional[mujoco.MjvOption] = None, ): - """Updates the scene with latest sim data + """Updates the scene with latest sim data. Args: data: structure storing current simulation state @@ -231,7 +237,7 @@ class USDExporter: ) ) - def _load_geom(self, geom: mujoco.MjvGeom, tendon: Optional[bool]=False): + def _load_geom(self, geom: mujoco.MjvGeom): geom_name = self._get_geom_name(geom) @@ -272,7 +278,7 @@ class USDExporter: mesh_config = shapes_module.mesh_config_generator( name=geom_name, geom_type=geom.type, - size=geom.size + size=geom.size ) usd_geom = object_module.USDPrimitiveMesh( mesh_config=mesh_config, @@ -316,12 +322,12 @@ class USDExporter: def _load_lights(self): # initializes an usd light object for every light in the scene - self.usd_lights = [] for i in range(self.scene.nlight): light = self.scene.lights[i] if not np.allclose(light.pos, [0, 0, 0]): - self.usd_lights.append - (light_module.USDSphereLight(stage=self.stage, obj_name=str(i))) + self.usd_lights.append( + light_module.USDSphereLight(stage=self.stage, obj_name=str(i)) + ) else: self.usd_lights.append(None) @@ -343,7 +349,6 @@ class USDExporter: ) def _load_cameras(self): - self.usd_cameras = [] if self.camera_names is not None: for name in self.camera_names: self.usd_cameras.append( @@ -355,7 +360,6 @@ class USDExporter: scene_option: Optional[mujoco.MjvOption] = None, ): for i in range(len(self.usd_cameras)): - camera = self.usd_cameras[i] camera_name = self.camera_names[i] @@ -370,12 +374,16 @@ class USDExporter: up = avg_camera.up right = np.cross(forward, up) - R = np.eye(3) - R[:, 0] = right - R[:, 1] = up - R[:, 2] = -forward + rotation = np.eye(3) + rotation[:, 0] = right + rotation[:, 1] = up + rotation[:, 2] = -forward - camera.update(cam_pos=avg_camera.pos, cam_mat=R, frame=self.updates) + camera.update( + cam_pos=avg_camera.pos, + cam_mat=rotation, + frame=self.updates + ) def add_light( self, @@ -386,16 +394,33 @@ class USDExporter: obj_name: Optional[str] = "light_1", light_type: Optional[str] = "sphere", ): - + """Adds a user defined, fixed light. + + Args: + pos: position of the light in 3D space. + intensity: intensity of the light. + radius: radius of the light to be used by renderer. + color: color of the light. + obj_name: name associated with the light. + light_type: type of light (sphere or dome). + """ if light_type == "sphere": - new_light = light_module.USDSphereLight(stage=self.stage, obj_name=str(objid), radius=radius) + new_light = light_module.USDSphereLight( + stage=self.stage, + obj_name=obj_name, + radius=radius) - new_light.update(pos=np.array(pos), intensity=intensity, color=color, frame=0) + new_light.update( + pos=np.array(pos), + intensity=intensity, + color=color, + frame=0) elif light_type == "dome": new_light = light_module.USDDomeLight( - stage=self.stage, obj_name=str(objid)) - - new_light.update(intensity=intensity, color=color, frame=0) + stage=self.stage, + obj_name=obj_name + ) + new_light.update(intensity=intensity, color=color) def add_camera( self, @@ -403,14 +428,22 @@ class USDExporter: rotation_xyz: List[float], obj_name: Optional[str] = "camera_1", ): + """Adds a user defined, fixed camera. + + Args: + pos: position of the camera in 3D space. + rotation_xyz: euler rotation of the camera. + obj_name: name associated with the camera. + """ new_camera = camera_module.USDCamera( - stage=self.stage, obj_name=str(objid)) + stage=self.stage, obj_name=obj_name) r = scipy.spatial.transform.Rotation.from_euler( "xyz", rotation_xyz, degrees=True) new_camera.update(cam_pos=np.array(pos), cam_mat=r.as_matrix(), frame=0) def save_scene(self, filetype: str = "usd"): + """Saves the scene to a USD file.""" assert filetype in ["usd", "usda", "usdc"] self.stage.SetEndTimeCode(self.frame_count) @@ -419,10 +452,14 @@ class USDExporter: geom_ref.update_visibility(False, geom_ref.last_visible_frame+1) self.stage.Export( - f"{self.output_directory_root}/{self.output_directory_name}/frames/frame_{self.frame_count}_.{filetype}" + f"{self.output_directory_root}/{self.output_directory_name}/" + \ + f"frames/frame_{self.frame_count}.{filetype}" ) if self.verbose: - print(termcolor.colored(f"Completed writing frame_{self.frame_count}.{filetype}", "green")) + print(termcolor.colored( + f"Completed writing frame_{self.frame_count}.{filetype}", + "green" + )) def _get_geom_name(self, geom): # adding id as part of name for USD file @@ -431,7 +468,8 @@ class USDExporter: geom_name = "None" geom_name += f"_id{geom.objid}" - # adding additional naming information to differentiate between geoms and tendons + # adding additional naming information to differentiate + # between geoms and tendons if geom.objtype == mujoco.mjtObj.mjOBJ_GEOM: geom_name += "_geom" elif geom.objtype == mujoco.mjtObj.mjOBJ_TENDON: @@ -439,9 +477,10 @@ class USDExporter: return geom_name - # for debugging purposes, prints all geoms in scene including those part of tendons + # for debugging purposes, prints all geoms in scene + # including those part of tendons def _print_scene_geom_info(self): for i in range(self.scene.ngeom): geom = self.scene.geoms[i] geom_name = self._get_geom_name(geom) - print(i, geom_name) \ No newline at end of file + print(i, geom_name) diff --git a/python/mujoco/usd/lights.py b/python/mujoco/usd/lights.py index eeee9e18..127abc39 100644 --- a/python/mujoco/usd/lights.py +++ b/python/mujoco/usd/lights.py @@ -1,4 +1,18 @@ -from typing import List, Optional, Tuple +# Copyright 2024 DeepMind Technologies Limited +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# ============================================================================== +from typing import Optional import numpy as np @@ -8,7 +22,7 @@ from pxr import UsdGeom from pxr import UsdLux class USDSphereLight: - + """Class that handles the sphere lights in the USD scene""" def __init__( self, stage: Usd.Stage, obj_name: str, radius: Optional[float] = 0.3 ): @@ -28,7 +42,14 @@ class USDSphereLight: # defining ops required by update function self.translate_op = self.usd_xform.AddTranslateOp() - def update(self, pos: np.ndarray, intensity: int, color: np.ndarray, frame: int): + def update( + self, + pos: np.ndarray, + intensity: int, + color: np.ndarray, + frame: int + ): + """Updates the attributes of a sphere light.""" self.translate_op.Set(Gf.Vec3d(pos.tolist()), frame) if not np.any(pos): @@ -39,7 +60,7 @@ class USDSphereLight: class USDDomeLight: - + """Class that handles the dome lights in the USD scene""" def __init__(self, stage: Usd.Stage, obj_name: str): self.stage = stage @@ -52,8 +73,8 @@ class USDDomeLight: # we assume in mujoco that all lights are point lights self.usd_light.GetNormalizeAttr().Set(True) - def update(self, intensity: int, color: np.ndarray, frame: int): + def update(self, intensity: int, color: np.ndarray): + """Updates the attributes of a dome light.""" self.usd_light.GetIntensityAttr().Set(intensity) self.usd_light.GetExposureAttr().Set(0.0) self.usd_light.GetColorAttr().Set(Gf.Vec3d(color.tolist())) - diff --git a/python/mujoco/usd/objects.py b/python/mujoco/usd/objects.py index 4bf32cc1..854606e3 100644 --- a/python/mujoco/usd/objects.py +++ b/python/mujoco/usd/objects.py @@ -14,37 +14,34 @@ # ============================================================================== from abc import ABC, abstractmethod from collections import defaultdict -from typing import List, Optional, Tuple -import pprint +from typing import Optional + +import numpy as np + +from pxr import Gf +from pxr import Sdf +from pxr import Usd +from pxr import UsdGeom +from pxr import UsdShade +from pxr import Vt import mujoco import mujoco.usd.utils as utils_component import mujoco.usd.shapes as shapes_component -import numpy as np - -# TODO: b/288149332 - Remove once USD Python Binding works well with pytype. -# pytype: disable=module-attr -from open3d import open3d as o3d -from pxr import Gf -from pxr import Sdf -from pxr import Usd -from pxr import UsdGeom -from pxr import UsdLux -from pxr import UsdShade -from pxr import Vt - class USDObject(ABC): - """ Abstract interface for all USD objects including meshes and primitives + """ Abstract interface for all USD objects including meshes and primitives. Subclasses must implement: - * `_get_uv_geometry(self)`: gets the nessecary UV information to wrap a texture - around an object in USD. Each subclass implements their own method to getting - UV information as different objects are contructed in different ways. + * `_get_uv_geometry(self)`: gets the nessecary UV information to + wrap a texture around an object in USD. Each subclass implements + their own method to getting UV information as different objects + are contructed in different ways. - * `_get_mesh_geometry(self)`: gets the mesh geometry of an object in the scene. + * `_get_mesh_geometry(self)`: gets the mesh geometry of an object + in the scene. """ def __init__( @@ -68,16 +65,16 @@ class USDObject(ABC): self.transform_op = self.usd_xform.AddTransformOp() self.scale_op = self.usd_xform.AddScaleOp() - self.last_visible_frame = -2 # not an arbitary value, forces difference greater than 1 for visibility on 0th frame + self.last_visible_frame = -2 @abstractmethod def _get_uv_geometry(self): - """Gets UV information for an object in the scene""" + """Gets UV information for an object in the scene.""" raise NotImplementedError - + @abstractmethod def _get_mesh_geometry(self): - """Gets structure of an object in the scene""" + """Gets structure of an object in the scene.""" raise NotImplementedError def attach_image_material(self, usd_mesh): @@ -176,13 +173,22 @@ class USDObject(ABC): def _set_refinement_properties(self, usd_prim, scheme="none"): usd_prim.GetAttribute("subdivisionScheme").Set(scheme) - def update(self, pos: np.ndarray, mat: np.ndarray, visible: bool, frame: int, scale: Optional[np.ndarray] = None): - """Updates the position and orientation of an object in the scene for a given frame""" + def update( + self, + pos: np.ndarray, + mat: np.ndarray, + visible: bool, + frame: int, + scale: Optional[np.ndarray] = None + ): + """Updates the position and orientation of an object + in the scene for a given frame. + """ transformation_mat = utils_component.create_transform_matrix( rotation_matrix=mat, translation_vector=pos ).T self.transform_op.Set(Gf.Matrix4d(transformation_mat.tolist()), frame) - + if visible and frame - self.last_visible_frame > 1: # non consecutive visible frames self.update_visibility(False, max(0, self.last_visible_frame)) @@ -204,7 +210,7 @@ class USDObject(ABC): self.scale_op.Set(Gf.Vec3f(scale.tolist()), frame) class USDMesh(USDObject): - + """Class that handles predefined meshes in the USD scene.""" def __init__( self, stage: Usd.Stage, @@ -249,7 +255,7 @@ class USDMesh(USDObject): else: self.attach_solid_material(self.usd_mesh) - def get_facetexcoord_ranges(self, nmesh, arr): + def _get_facetexcoord_ranges(self, nmesh, arr): facetexcoords_ranges = [0] running_sum = 0 for i in range(nmesh): @@ -268,7 +274,7 @@ class USDMesh(USDObject): mesh_texcoord_adr_from:mesh_texcoord_adr_to ] - mesh_facetexcoord_ranges = self.get_facetexcoord_ranges( + mesh_facetexcoord_ranges = self._get_facetexcoord_ranges( self.model.nmesh, self.model.mesh_facenum ) @@ -302,7 +308,7 @@ class USDMesh(USDObject): return mesh_vert, mesh_face, mesh_facenum class USDPrimitiveMesh(USDObject): - + """Class to handle primitive shapes in the USD scene.""" def __init__( self, mesh_config: dict, @@ -333,13 +339,13 @@ class USDPrimitiveMesh(USDObject): self.usd_mesh.GetFaceVertexIndicesAttr().Set(mesh_face) # setting mesh uv properties - mesh_texcoord, mesh_facetexcoord = self._get_uv_geometry() + mesh_texcoord, _ = self._get_uv_geometry() self.texcoords = UsdGeom.PrimvarsAPI(self.usd_mesh).CreatePrimvar( "UVMap", Sdf.ValueTypeNames.TexCoord2fArray, UsdGeom.Tokens.faceVarying ) self.texcoords.Set(mesh_texcoord) - self.texcoords.SetIndices(Vt.IntArray([i for i in range(mesh_facenum * 3)])) + self.texcoords.SetIndices(Vt.IntArray(list(range(mesh_facenum * 3)))) self._set_refinement_properties(self.usd_prim) @@ -349,12 +355,12 @@ class USDPrimitiveMesh(USDObject): self.attach_solid_material(self.usd_mesh) def generate_primitive_mesh(self): + """Generates the mesh for the primitive USD object.""" _, prim_mesh = shapes_component.mesh_generator(self.mesh_config) prim_mesh.translate(-prim_mesh.get_center()) return prim_mesh def _get_uv_geometry(self): - assert self.prim_mesh x_scale, y_scale = self.geom.texrepeat @@ -364,10 +370,12 @@ class USDPrimitiveMesh(USDObject): x_multiplier, y_multiplier = 1, 1 if self.geom.texuniform: if "box" in self.mesh_config: - x_multiplier, y_multiplier = self.mesh_config["box"]["width"], self.mesh_config["box"]["height"] + x_multiplier = self.mesh_config["box"]["width"] + y_multiplier = self.mesh_config["box"]["height"] elif "sphere" in self.mesh_config: - x_multiplier, y_multiplier = self.mesh_config["sphere"]["radius"], self.mesh_config["sphere"]["radius"] - + x_multiplier = self.mesh_config["sphere"]["radius"] + y_multiplier = self.mesh_config["sphere"]["radius"] + mesh_texcoord[:, 0] *= x_scale * x_multiplier mesh_texcoord[:, 1] *= y_scale * y_multiplier @@ -383,7 +391,7 @@ class USDPrimitiveMesh(USDObject): return mesh_vert, mesh_face, len(mesh_face) class USDTendon(USDObject): - + """Class to handle tendons in the USD scene.""" def __init__( self, mesh_config: dict, @@ -403,53 +411,70 @@ class USDTendon(USDObject): self.tendon_parts = self.generate_primitive_mesh() self.usd_refs = defaultdict(dict) - for name, mesh in self.tendon_parts.items(): + for name, _ in self.tendon_parts.items(): part_xform_path = f"{self.xform_path}/Mesh_Xform_{name}" mesh_path = f"{part_xform_path}/Mesh_{obj_name}" - self.usd_refs[name]["usd_xform"] = UsdGeom.Xform.Define(stage, part_xform_path) - self.usd_refs[name]["usd_mesh"] = UsdGeom.Mesh.Define(stage, mesh_path) + usd_xform = UsdGeom.Xform.Define( + stage, + part_xform_path + ) + self.usd_refs[name]["usd_xform"] = usd_xform + self.usd_refs[name]["usd_mesh"] = UsdGeom.Mesh.Define( + stage, + mesh_path + ) self.usd_refs[name]["usd_prim"] = stage.GetPrimAtPath(mesh_path) # adding ops for each of the part xforms - self.usd_refs[name]["translate_op"] = self.usd_refs[name]["usd_xform"].AddTranslateOp() - self.usd_refs[name]["scale_op"] = self.usd_refs[name]["usd_xform"].AddScaleOp() + self.usd_refs[name]["translate_op"] = usd_xform.AddTranslateOp() + self.usd_refs[name]["scale_op"] = usd_xform.AddScaleOp() # setting mesh geometry properties for each of the parts in the tendon part_geometries = self._get_mesh_geometry() for name, part_geometry in part_geometries.items(): - self.usd_refs[name]["usd_mesh"].GetPointsAttr().Set(part_geometry["mesh_vert"]) + self.usd_refs[name]["usd_mesh"].GetPointsAttr().Set( + part_geometry["mesh_vert"] + ) self.usd_refs[name]["usd_mesh"].GetFaceVertexCountsAttr().Set( [3 for _ in range(part_geometry["mesh_facenum"])] ) - self.usd_refs[name]["usd_mesh"].GetFaceVertexIndicesAttr().Set(part_geometry["mesh_face"]) + self.usd_refs[name]["usd_mesh"].GetFaceVertexIndicesAttr().Set( + part_geometry["mesh_face"] + ) # setting uv properties for each of the parts in the tendon part_uv_geometries = self._get_uv_geometry() for name, part_uv_geometry in part_uv_geometries.items(): - self.texcoords = UsdGeom.PrimvarsAPI(self.usd_refs[name]["usd_mesh"]).CreatePrimvar( - "UVMap", Sdf.ValueTypeNames.TexCoord2fArray, UsdGeom.Tokens.faceVarying + self.texcoords = UsdGeom.PrimvarsAPI( + self.usd_refs[name]["usd_mesh"] + ).CreatePrimvar( + "UVMap", + Sdf.ValueTypeNames.TexCoord2fArray, + UsdGeom.Tokens.faceVarying ) self.texcoords.Set(part_uv_geometry["mesh_texcoord"]) - self.texcoords.SetIndices(Vt.IntArray([i for i in range(part_geometry["mesh_facenum"] * 3)])) - - for name in self.usd_refs.keys(): - self._set_refinement_properties(self.usd_refs[name]["usd_prim"]) + self.texcoords.SetIndices( + Vt.IntArray(list(range(part_geometry['mesh_facenum'] * 3))) + ) + + for _, ref in self.usd_refs.items(): + self._set_refinement_properties(ref["usd_prim"]) if self.texture_file: - self.attach_image_material(self.usd_refs[name]["usd_mesh"]) + self.attach_image_material(ref["usd_mesh"]) else: - self.attach_solid_material(self.usd_refs[name]["usd_mesh"]) - + self.attach_solid_material(ref["usd_mesh"]) + def generate_primitive_mesh(self): + """Generates the tendon mesh using primitives.""" mesh_parts = {} for part_config in self.mesh_config: mesh_name, prim_mesh = shapes_component.mesh_generator(part_config) prim_mesh.translate(-prim_mesh.get_center()) mesh_parts[mesh_name] = prim_mesh return mesh_parts - + def _get_uv_geometry(self): part_uv_geometries = defaultdict(dict) for name, mesh in self.tendon_parts.items(): - x_scale, y_scale = self.geom.texrepeat mesh_texcoord = np.array(mesh.triangle_uvs) mesh_facetexcoord = np.asarray(mesh.triangles) part_uv_geometries[name] = { @@ -471,8 +496,14 @@ class USDTendon(USDObject): } return part_geometries - def update(self, pos: np.ndarray, mat: np.ndarray, visible: bool, frame: int, scale: Optional[np.ndarray] = None): - """Updates the position and orientation of an object in the scene for a given frame""" + def update( + self, + pos: np.ndarray, + mat: np.ndarray, + visible: bool, + frame: int, + scale: Optional[np.ndarray] = None): + """Updates the position and orientation of an object in the scene.""" super().update(pos, mat, visible, frame, scale) for name in self.tendon_parts.keys(): if "left" in name: @@ -483,7 +514,7 @@ class USDTendon(USDObject): self.usd_refs[name]["translate_op"].Set(Gf.Vec3f(translate), frame) def update_scale(self, scale: np.ndarray, frame: int): - """Updates the scale of the tendon""" + """Updates the scale of the tendon.""" for name in self.tendon_parts.keys(): if "cylinder" in name: self.usd_refs[name]["scale_op"].Set(Gf.Vec3f(scale.tolist()), frame) @@ -491,5 +522,3 @@ class USDTendon(USDObject): hemisphere_scale = scale.tolist() hemisphere_scale[2] = hemisphere_scale[0] self.usd_refs[name]["scale_op"].Set(Gf.Vec3f(hemisphere_scale), frame) - - diff --git a/python/mujoco/usd/shapes.py b/python/mujoco/usd/shapes.py index 614f49ba..dec9adae 100644 --- a/python/mujoco/usd/shapes.py +++ b/python/mujoco/usd/shapes.py @@ -1,15 +1,28 @@ -import copy -import mujoco -import pprint +# Copyright 2024 DeepMind Technologies Limited +# +# Licensed under the Apache License, Version 2.0 (the "License"); +# you may not use this file except in compliance with the License. +# You may obtain a copy of the License at +# +# http://www.apache.org/licenses/LICENSE-2.0 +# +# Unless required by applicable law or agreed to in writing, software +# distributed under the License is distributed on an "AS IS" BASIS, +# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +# See the License for the specific language governing permissions and +# limitations under the License. +# ============================================================================== import numpy as np import open3d as o3d +import mujoco + def create_hemisphere( radius: float, theta_steps: int = 50, phi_steps: int = 50 ): - + """Creates a hemisphere mesh from a point cloud.""" points = [] for i in range(phi_steps + 1): phi = np.pi / 2 * i / phi_steps @@ -28,6 +41,7 @@ def create_hemisphere( return mesh def decouple_config(config: dict): + """Breaks a shape config into is subcomponent shapes.""" decoupled_config = [] for key, value in config.items(): if key == "name": @@ -46,7 +60,7 @@ def mesh_config_generator( size: np.ndarray, decouple: bool = False ): - + """Creates a config for a particular mesh.""" if geom_type == mujoco.mjtGeom.mjGEOM_PLANE: config = { "name": name, @@ -65,7 +79,11 @@ def mesh_config_generator( } } elif geom_type == mujoco.mjtGeom.mjGEOM_CAPSULE: - cylinder = mesh_config_generator(name, mujoco.mjtGeom.mjGEOM_CYLINDER, size) + cylinder = mesh_config_generator( + name, + mujoco.mjtGeom.mjGEOM_CYLINDER, + size + ) config = { "name": name, "cylinder": cylinder["cylinder"], @@ -84,7 +102,11 @@ def mesh_config_generator( }, } elif geom_type == mujoco.mjtGeom.mjGEOM_ELLIPSOID: - sphere = mesh_config_generator(name, mujoco.mjtGeom.mjGEOM_SPHERE, [1.0]) + sphere = mesh_config_generator( + name, + mujoco.mjtGeom.mjGEOM_SPHERE, + [1.0] + ) sphere["sphere"]["transform"] = { "scale": tuple(size) } @@ -110,7 +132,9 @@ def mesh_config_generator( } } else: - raise NotImplemented(f"{geom_type} primitive geom type not implemented with USD integration") + raise NotImplementedError( + f"{geom_type} primitive geom type not implemented with USD integration" + ) if decouple: config = decouple_config(config) @@ -121,10 +145,10 @@ def mesh_generator( mesh_config: dict, resolution: int = 100, ): - + """Generates a mesh given a config consisting of shapes.""" assert "name" in mesh_config - mesh = None + prim_mesh, mesh = None, None for shape, config in mesh_config.items(): @@ -139,7 +163,7 @@ def mesh_generator( create_uv_map=True, map_texture_to_each_face=True, ) - elif "hemisphere" in shape: + elif "hemisphere" in shape: prim_mesh = create_hemisphere( radius=mesh_config[shape]["radius"] ) @@ -159,17 +183,19 @@ def mesh_generator( if "transform" in config: if "rotate" in config["transform"]: - R = np.zeros(9) + rotation = np.zeros(9) quat = np.zeros(4) euler = config["transform"]["rotate"] seq = 'xyz' mujoco.mju_euler2Quat(quat, euler, seq) - mujoco.mju_quat2Mat(R, quat) - R = R.reshape((3,3)) - prim_mesh.rotate(R, center=(0, 0, 0)) + mujoco.mju_quat2Mat(rotation, quat) + rotation = rotation.reshape((3,3)) + prim_mesh.rotate(rotation, center=(0, 0, 0)) if "scale" in config["transform"]: prim_mesh.vertices = o3d.utility.Vector3dVector( - np.asarray(prim_mesh.vertices) * np.array(config["transform"]["scale"])) + np.asarray(prim_mesh.vertices) * \ + np.array(config["transform"]["scale"]) + ) if "translate" in config["transform"]: prim_mesh.translate(config["transform"]["translate"]) @@ -179,10 +205,3 @@ def mesh_generator( mesh += prim_mesh return mesh_config["name"], mesh - - - - - - -