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Fixing formatting for usd files and adding pylint configuration

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This commit is contained in:
Abhishek Joshi
2024-07-03 18:32:59 -05:00
parent 09b00cec5d
commit 59303bb161
7 changed files with 290 additions and 153 deletions
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python/mujoco/usd/.pylintrc
+8
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@@ -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
python/mujoco/usd/camera.py
+19 -8
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@@ -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)
self.transform_op.Set(Gf.Matrix4d(transformation_mat.tolist()), frame)
python/mujoco/usd/demo.py
+23 -13
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@@ -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)
python/mujoco/usd/exporter.py
+81 -42
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@@ -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)
print(i, geom_name)
python/mujoco/usd/lights.py
+27 -6
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@@ -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()))
python/mujoco/usd/objects.py
+90 -61
View File
@@ -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)
python/mujoco/usd/shapes.py
+42 -23
View File
@@ -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