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Adding meshes and materials

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This commit is contained in:
Abhishek Joshi
2023-09-14 17:17:54 -05:00
parent a9efd13e44
commit 8b9ffdc441
4 changed files with 76 additions and 8 deletions
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python/mujoco/usd_component.py
+39 -3
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@@ -1,7 +1,8 @@
import os
from enum import Enum
import mujoco
from pxr import Usd, UsdGeom, UsdLux, Vt, Gf
from pxr import Usd, UsdGeom, UsdLux, UsdShade, Vt, Gf, Sdf
from scipy.spatial.transform import Rotation as R
def create_usd_geom_primitive(geom, stage):
@@ -146,7 +147,10 @@ class USDMesh(USDGeom):
stage,
model,
mesh_vertex_ranges,
mesh_face_ranges):
mesh_face_ranges,
mesh_texcoord_ranges,
mesh_facetexcoord_ranges,
texture_file):
super().__init__(geom, stage)
self.type = 7
USDMesh.mesh_count += 1
@@ -164,12 +168,44 @@ class USDMesh(USDGeom):
self.faces = model.mesh_face[mesh_face_ranges[mesh_idx]:mesh_face_ranges[mesh_idx+1]]
self.prim.GetFaceVertexIndicesAttr().Set(self.faces)
texid = geom.texid
texcoords = model.mesh_texcoord[mesh_texcoord_ranges[texid]:mesh_texcoord_ranges[texid+1]]
facetexcoords = model.mesh_facetexcoord.flatten()
facetexcoords = facetexcoords[mesh_facetexcoord_ranges[mesh_idx]:mesh_facetexcoord_ranges[mesh_idx+1]]
self.texcoords = UsdGeom.PrimvarsAPI(self.prim).CreatePrimvar("st",
Sdf.ValueTypeNames.TexCoord2fArray,
UsdGeom.Tokens.faceVarying)
self.texcoords.Set(texcoords)
self.texcoords.SetIndices(Vt.IntArray(facetexcoords.tolist()));
mtl_path = Sdf.Path(f"/World/Looks/Material_{os.path.splitext(os.path.basename(texture_file))[0]}")
mtl = UsdShade.Material.Define(stage, mtl_path)
shader = UsdShade.Shader.Define(stage, mtl_path.AppendPath("Shader"))
shader.CreateIdAttr("UsdPreviewSurface")
shader.CreateInput("diffuseColor", Sdf.ValueTypeNames.Color3f).Set((1.0, 0.0, 0.0))
shader.CreateInput("roughness", Sdf.ValueTypeNames.Float).Set(0.5)
shader.CreateInput("metallic", Sdf.ValueTypeNames.Float).Set(0.0)
diffuse_tx = UsdShade.Shader.Define(stage,mtl_path.AppendPath("DiffuseColorTx"))
diffuse_tx.CreateIdAttr('UsdUVTexture')
# TODO: don't hardcode the image file
diffuse_tx.CreateInput('file', Sdf.ValueTypeNames.Asset).Set(texture_file)
diffuse_tx.CreateOutput('rgb', Sdf.ValueTypeNames.Float3)
shader.CreateInput("diffuseColor", Sdf.ValueTypeNames.Color3f).ConnectToSource(diffuse_tx.ConnectableAPI(), 'rgb')
mtl.CreateSurfaceOutput().ConnectToSource(shader.ConnectableAPI(), "surface")
self.prim.GetPrim().ApplyAPI(UsdShade.MaterialBindingAPI)
UsdShade.MaterialBindingAPI(self.prim).Bind(mtl)
def update_geom(self, new_geom):
self.update_pos(new_geom.pos)
self.update_rotation(new_geom.mat)
# TODO: remove this, temporary
self.xform.AddScaleOp().Set(value=(10.0, 10.0, 10.0))
# self.xform.AddScaleOp().Set(value=(10.0, 10.0, 10.0))
class USDLight(object):
"""