Merge pull request #2067 from abhihjoshi:documentation

PiperOrigin-RevId: 682364758
Change-Id: I3a5000a2851a560018ae0e04a2b7ad13415cb7c6

python/mujoco/usd/README.md

@@ -0,0 +1,3 @@
+# USD exporter module
+
+Please see [documentation](https://mujoco.readthedocs.io/en/stable/python.html) for details.

python/mujoco/usd/exporter.py

@@ -42,7 +42,7 @@ class USDExporter:
       height: int = 480,
       width: int = 480,
       max_geom: int = 10000,
-      output_directory_name: str = "mujoco_usdpkg",
+      output_directory: str = "mujoco_usdpkg",
       output_directory_root: str = "./",
       light_intensity: int = 10000,
       camera_names: Optional[List[str]] = None,
@@ -59,7 +59,7 @@ class USDExporter:
           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.
-        output_directory_name: name of root directory to store outputted frames
+        output_directory: name of root directory to store outputted frames
           and assets generated by the USD renderer.
         output_directory_root: path to root directory storing generated frames
           and assets by the USD renderer.
@@ -95,7 +95,7 @@ class USDExporter:
     self.height = height
     self.width = width
     self.max_geom = max_geom
-    self.output_directory_name = output_directory_name
+    self.output_directory = output_directory
     self.output_directory_root = output_directory_root
     self.light_intensity = light_intensity
     self.camera_names = camera_names
@@ -149,7 +149,7 @@ class USDExporter:
   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
+        self.output_directory_root, self.output_directory
     )
     if not os.path.exists(self.output_directory_path):
       os.makedirs(self.output_directory_path)
@@ -498,7 +498,7 @@ 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}/" +
+        f"{self.output_directory_root}/{self.output_directory}/" +
         f"frames/frame_{self.frame_count}.{filetype}"
     )
     if self.verbose:

python/mujoco/usd/exporter_test.py

@@ -43,7 +43,7 @@ class ExporterTest(absltest.TestCase):
     data = mujoco.MjData(model)
     exporter = exporter_module.USDExporter(
         model,
-        output_directory_name=output_dir_name,
+        output_directory=output_dir_name,
         output_directory_root=output_dir_root,
         camera_names=["closeup"],
     )