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Merge pull request #1509 from awesome-aj0123:camera-bug-fixes

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PiperOrigin-RevId: 617864822
Change-Id: If8bca106ecf725f9a7103eb3e009af901d6495a4
This commit is contained in:
Copybara-Service
2024-03-21 09:18:04 -07:00
parent c3fb8e7f35 7013c288bd
commit 67982c4961
2 changed files with 67 additions and 64 deletions
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python/mujoco/usd/exporter.py
+16 -15
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@@ -240,7 +240,7 @@ class USDExporter:
stage=self.stage,
model=self.model,
geom=geom,
objid=geom_name,
obj_name=geom_name,
dataid=self.model.geom_dataid[geom.objid],
rgba=geom.rgba,
texture_file=texture_file,
@@ -249,7 +249,7 @@ class USDExporter:
usd_geom = component_module.USDPlaneMesh(
stage=self.stage,
geom=geom,
objid=geom_name,
obj_name=geom_name,
rgba=geom.rgba,
texture_file=texture_file,
)
@@ -257,7 +257,7 @@ class USDExporter:
usd_geom = component_module.USDSphereMesh(
stage=self.stage,
geom=geom,
objid=geom_name,
obj_name=geom_name,
rgba=geom.rgba,
texture_file=texture_file,
)
@@ -265,7 +265,7 @@ class USDExporter:
usd_geom = component_module.USDCapsule(
stage=self.stage,
geom=geom,
objid=geom_name,
obj_name=geom_name,
rgba=geom.rgba,
texture_file=texture_file,
)
@@ -273,7 +273,7 @@ class USDExporter:
usd_geom = component_module.USDEllipsoid(
stage=self.stage,
geom=geom,
objid=geom_name,
obj_name=geom_name,
rgba=geom.rgba,
texture_file=texture_file,
)
@@ -281,7 +281,7 @@ class USDExporter:
usd_geom = component_module.USDCylinderMesh(
stage=self.stage,
geom=geom,
objid=geom_name,
obj_name=geom_name,
rgba=geom.rgba,
texture_file=texture_file,
)
@@ -289,7 +289,7 @@ class USDExporter:
usd_geom = component_module.USDCubeMesh(
stage=self.stage,
geom=geom,
objid=geom_name,
obj_name=geom_name,
rgba=geom.rgba,
texture_file=texture_file,
)
@@ -333,7 +333,7 @@ class USDExporter:
light = self.scene.lights[i]
if not np.allclose(light.pos, [0, 0, 0]):
self.usd_lights.append
(component_module.USDSphereLight(stage=self.stage, objid=str(i)))
(component_module.USDSphereLight(stage=self.stage, obj_name=str(i)))
else:
self.usd_lights.append(None)
@@ -354,14 +354,12 @@ class USDExporter:
frame=self.updates,
)
print("done updating")
def _load_cameras(self):
self.usd_cameras = []
if self.camera_names is not None:
for name in self.camera_names:
self.usd_cameras.append(
component_module.USDCamera(stage=self.stage, objid=name))
component_module.USDCamera(stage=self.stage, obj_name=name))
def _update_cameras(
self,
@@ -377,7 +375,8 @@ class USDExporter:
data, scene_option=scene_option, camera=camera_name
)
avg_camera = mujoco.mjv_averageCamera(self.scene.camera[0], self.scene.camera[1])
avg_camera = mujoco.mjv_averageCamera(
self.scene.camera[0], self.scene.camera[1])
forward = avg_camera.forward
up = avg_camera.up
@@ -401,11 +400,12 @@ class USDExporter:
):
if light_type == "sphere":
new_light = component_module.USDSphereLight(stage=self.stage, objid=str(objid), radius=radius)
new_light = component_module.USDSphereLight(stage=self.stage, obj_name=str(objid), radius=radius)
new_light.update(pos=np.array(pos), intensity=intensity, color=color, frame=0)
elif light_type == "dome":
new_light = component_module.USDDomeLight(stage=self.stage, objid=str(objid))
new_light = component_module.USDDomeLight(
stage=self.stage, obj_name=str(objid))
new_light.update(intensity=intensity, color=color, frame=0)
@@ -415,7 +415,8 @@ class USDExporter:
rotation_xyz: List[float],
objid: Optional[int] = 1,
):
new_camera = component_module.USDCamera(stage=self.stage, objid=str(objid))
new_camera = component_module.USDCamera(
stage=self.stage, obj_name=str(objid))
r = scipy.spatial.transform.Rotation.from_euler(
"xyz", rotation_xyz, degrees=True)