Merge pull request #1714 from abhihjoshi:tendons

PiperOrigin-RevId: 651048034 Change-Id: If5b7cb55ff0007c3c6f932e62f068d1168778a33
2024-07-10 09:26:54 -07:00
parent 7f9f8b5429 e734527e7b
commit 60afda949c
9 changed files with 1092 additions and 969 deletions
@@ -0,0 +1,89 @@
+# 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.
+# ==============================================================================
+"""Demo script for USD exporter."""
+
+import argparse
+import pathlib
+
+import mujoco
+from mujoco.usd import exporter
+
+
+def generate_usd_trajectory(local_args):
+  """Generates a USD file given the user arguments."""
+  # load a model to mujoco
+  model_path = local_args.model_path
+  m = mujoco.MjModel.from_xml_path(model_path)
+  d = mujoco.MjData(m)
+
+  # create an instance of the USDExporter
+  exp = exporter.USDExporter(
+      model=m,
+      output_directory_name=pathlib.Path(local_args.model_path).stem,
+      output_directory_root=local_args.output_directory_root,
+      camera_names=local_args.camera_names,
+  )
+
+  # step through the simulation for the given duration of time
+  while d.time < local_args.duration:
+    mujoco.mj_step(m, d)
+    if exp.frame_count < d.time * local_args.framerate:
+      exp.update_scene(data=d)
+
+  exp.save_scene(filetype=local_args.export_extension)
+
+
+if __name__ == '__main__':
+
+  parser = argparse.ArgumentParser()
+
+  parser.add_argument(
+      '--model_path', type=str, required=True, help='path to mjcf xml model'
+  )
+
+  parser.add_argument(
+      '--duration',
+      type=int,
+      default=5,
+      help='duration in seconds for the generated video',
+  )
+
+  parser.add_argument(
+      '--framerate',
+      type=int,
+      default=60,
+      help='frame rate of the generated video',
+  )
+
+  parser.add_argument(
+      '--output_directory_root',
+      type=str,
+      default='../usd_trajectories/',
+      help='location where to create usd files',
+  )
+
+  parser.add_argument(
+      '--camera_names', type=str, nargs='+', help='cameras to include in usd'
+  )
+
+  parser.add_argument(
+      '--export_extension',
+      type=str,
+      default='usd',
+      help='extension of exported file (usd, usda, usdc)',
+  )
+
+  args = parser.parse_args()
+  generate_usd_trajectory(args)