decoupling tendons to subcomponents and fixing tendon scaling issue

python/mujoco/usd/camera.py

@@ -0,0 +1,38 @@
+from typing import List, Optional, Tuple
+
+import utils as utils_component
+
+import numpy as np
+
+from pxr import Gf
+from pxr import Usd
+from pxr import UsdGeom
+
+class USDCamera:
+
+  def __init__(self, stage: Usd.Stage, obj_name: str):
+    self.stage = stage
+
+    xform_path = f"/World/Camera_Xform_{obj_name}"
+    camera_path = f"{xform_path}/Camera_{obj_name}"
+    self.usd_xform = UsdGeom.Xform.Define(stage, xform_path)
+    self.usd_camera = UsdGeom.Camera.Define(stage, camera_path)
+    self.usd_prim = stage.GetPrimAtPath(camera_path)
+
+    # defining ops required by update function
+    self.transform_op = self.usd_xform.AddTransformOp()
+
+    # self.usd_camera.CreateFocalLengthAttr().Set(18.14756) # default in omniverse
+    self.usd_camera.CreateFocalLengthAttr().Set(12)
+    self.usd_camera.CreateFocusDistanceAttr().Set(400)
+
+    self.usd_camera.GetHorizontalApertureAttr().Set(12)
+
+    self.usd_camera.GetClippingRangeAttr().Set(Gf.Vec2f(1e-4, 1e6))
+
+  def update(self, cam_pos: np.ndarray, cam_mat: np.ndarray, frame: int):
+
+    transformation_mat = utils_component.create_transform_matrix(
+        rotation_matrix=cam_mat, translation_vector=cam_pos
+    ).T
+    self.transform_op.Set(Gf.Matrix4d(transformation_mat.tolist()), frame)