decoupling tendons to subcomponents and fixing tendon scaling issue

python/mujoco/usd/lights.py

@@ -0,0 +1,59 @@
+from typing import List, Optional, Tuple
+
+import numpy as np
+
+from pxr import Gf
+from pxr import Usd
+from pxr import UsdGeom
+from pxr import UsdLux
+
+class USDSphereLight:
+
+  def __init__(
+      self, stage: Usd.Stage, obj_name: str, radius: Optional[float] = 0.3
+  ):
+    self.stage = stage
+
+    xform_path = f"/World/Light_Xform_{obj_name}"
+    light_path = f"{xform_path}/Light_{obj_name}"
+    self.usd_xform = UsdGeom.Xform.Define(stage, xform_path)
+    self.usd_light = UsdLux.SphereLight.Define(stage, light_path)
+    self.usd_prim = stage.GetPrimAtPath(light_path)
+
+    # we assume in mujoco that all lights are point lights
+    self.usd_light.GetRadiusAttr().Set(radius)
+    self.usd_light.GetTreatAsPointAttr().Set(False)
+    self.usd_light.GetNormalizeAttr().Set(True)
+
+    # defining ops required by update function
+    self.translate_op = self.usd_xform.AddTranslateOp()
+
+  def update(self, pos: np.ndarray, intensity: int, color: np.ndarray, frame: int):
+    self.translate_op.Set(Gf.Vec3d(pos.tolist()), frame)
+
+    if not np.any(pos):
+      intensity = 0
+
+    self.usd_light.GetIntensityAttr().Set(intensity)
+    self.usd_light.GetColorAttr().Set(Gf.Vec3d(color.tolist()))
+
+
+class USDDomeLight:
+
+  def __init__(self, stage: Usd.Stage, obj_name: str):
+    self.stage = stage
+
+    xform_path = f"/World/Light_Xform_{obj_name}"
+    light_path = f"{xform_path}/Light_{obj_name}"
+    self.usd_xform = UsdGeom.Xform.Define(stage, xform_path)
+    self.usd_light = UsdLux.DomeLight.Define(stage, light_path)
+    self.usd_prim = stage.GetPrimAtPath(light_path)
+
+    # we assume in mujoco that all lights are point lights
+    self.usd_light.GetNormalizeAttr().Set(True)
+
+  def update(self, intensity: int, color: np.ndarray, frame: int):
+    self.usd_light.GetIntensityAttr().Set(intensity)
+    self.usd_light.GetExposureAttr().Set(0.0)
+    self.usd_light.GetColorAttr().Set(Gf.Vec3d(color.tolist()))
+