USD integration with support for initial primitives

python/mujoco/usd_renderer.py

@@ -0,0 +1,104 @@
+
+import mujoco
+import mujoco.viewer as viewer
+from mujoco.usd_component import *
+from pxr import Usd, UsdGeom
+
+class USDRenderer(object):
+  """
+  Renderer class the creates USD representations for mujoco scenes
+  """
+  def __init__(self,
+               model,
+               height=480,
+               width=480):
+    self.model = model
+    self.data = None
+    self.renderer = mujoco.Renderer(model, height, width)
+
+    self.loaded_scene_info = False
+
+    self.stage = Usd.Stage.CreateNew('usd_stage.usda')
+
+  @property
+  def usd(self):
+    return self.stage.GetRootLayer().ExportToString()
+  
+  @property
+  def scene(self):
+    return self.renderer.scene
+  
+  def save_scene(self):
+    self.stage.GetRootLayer().Save()
+
+  def update_scene(self, data):
+    self.renderer.update_scene(data)
+    self.data = data
+
+    if not self.loaded_scene_info:
+      # loads the initial geoms, lights, and camera information 
+      # from the scene
+      self._load()
+      self.loaded_scene_info = True
+    
+    self._update()
+
+  def _load(self):
+    """
+    Loads and initializes the necessary objects to render the scene
+    """
+    # initializes an array to store all the geoms in the scene
+    # populates with "empty" USDGeom objects
+    self.usd_geoms = []
+    geoms = self.scene.geoms
+    self.ngeom = self.scene.ngeom
+    for i in range(self.ngeom):
+      self.usd_geoms.append(create_usd_geom(geoms[i], self.stage))
+
+    # initializes an array to store all the lights in the scene
+    # populates with "empty" USDLight objects
+    self.usd_lights = []
+    lights = self.scene.lights
+    self.nlight = self.scene.nlight
+    for i in range(self.nlight):
+      self.usd_lights.append(USDLight())
+
+  def _update(self):
+    self._update_geoms()
+    self._update_lights()
+    self._update_camera()
+
+  def _update_geoms(self):
+    """
+    Updates the geoms to match the current scene
+    """
+    geoms = self.scene.geoms
+    for i in range(self.ngeom):
+      self.usd_geoms[i].update_geom(geoms[i])
+
+  def _update_lights(self):
+    """
+    Updates the lights to match the current scene
+    """
+    lights = self.scene.lights
+    nlight = self.scene.nlight
+    for i in range(nlight):
+      print(self.usd_lights[i])
+      
+  def _update_camera(self):
+    pass
+
+  def start_viewer(self):
+    if self.data:
+      viewer.launch(self.model, self.data)
+
+  def render(self):
+    # should render the usd file given a particular renderer that
+    # works with USD files?
+    # TODO: determine if this is valid functionality
+    pass
+
+  # TODO: remove later, this is only for debuggin purposes
+  def print_geom_information(self):
+    for i in range(self.ngeom):
+      print(self.usd_geoms[i])