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Adding support for in memory usd scenes

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This commit is contained in:
Abhishek Joshi
2023-10-12 14:40:39 -05:00
parent 6e14b2bc61
commit b785642b3f
2 changed files with 13 additions and 4 deletions
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python/dist/mujoco-2.3.8.tar.gz
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python/mujoco/usd_renderer.py
+13 -4
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@@ -18,14 +18,20 @@ class USDRenderer(object):
model, model,
height=480, height=480,
width=480, width=480,
geom_groups=[1,1,1,1,1,1]): geom_groups=[1,1,1,1,1,1],
in_memory=True,
tmp_usd_stage_file='tmp_usd_stage.usd'):
self.model = model self.model = model
self.data = None self.data = None
self.renderer = mujoco.Renderer(model, height, width) self.renderer = mujoco.Renderer(model, height, width)
self.in_memory = in_memory
self.loaded_scene_info = False self.loaded_scene_info = False
self.stage = Usd.Stage.CreateNew('usd_stage.usda') if in_memory:
self.stage = Usd.Stage.CreateInMemory()
else:
self.stage = Usd.Stage.CreateNew(tmp_usd_stage_file)
UsdGeom.SetStageUpAxis(self.stage, UsdGeom.Tokens.z) UsdGeom.SetStageUpAxis(self.stage, UsdGeom.Tokens.z)
# TODO: maybe change where we initialize this? # TODO: maybe change where we initialize this?
@@ -41,7 +47,10 @@ class USDRenderer(object):
return self.renderer.scene return self.renderer.scene
def save_scene(self): def save_scene(self):
self.stage.GetRootLayer().Save() if not self.in_memory:
self.stage.GetRootLayer().Save()
else:
raise Exception("Can only save files if in_memory=False")
def update_scene(self, data): def update_scene(self, data):
self.renderer.update_scene(data, scene_option=self.scene_option) self.renderer.update_scene(data, scene_option=self.scene_option)