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Including base colors for meshes

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This commit is contained in:
Abhishek Joshi
2023-09-17 14:08:10 -05:00
parent 3f366ffd4c
commit deb8a8e2e2
3 changed files with 89 additions and 49 deletions
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python/mujoco/usd_renderer.py
+16 -8
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@@ -6,6 +6,7 @@ from mujoco.usd_utilities import *
from pxr import Usd, UsdGeom
from PIL import Image as im
from PIL import ImageOps
class USDRenderer(object):
"""
@@ -58,7 +59,6 @@ class USDRenderer(object):
mesh_texcoord_ranges = get_mesh_ranges(self.model.nmesh, self.model.mesh_texcoordnum)
mesh_facetexcoord_ranges = get_facetexcoord_ranges(self.model.nmesh, self.model.mesh_facenum)
# create and load the texture files
# iterate through all the textures and build list of tex_rgb ranges
data_adr = 0
@@ -70,20 +70,26 @@ class USDRenderer(object):
rgb = self.model.tex_rgb[data_adr:data_adr+pixels]
img = rgb.reshape(height, width, 3)
file_name = f'{texid}.png'
im.fromarray(img).save(file_name)
img = im.fromarray(img)
img = ImageOps.flip(img)
img.save(file_name)
texture_file = os.path.abspath(file_name)
texture_files.append(texture_file)
data_adr += pixels
current_mesh_idx = 0
# 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):
if geoms[i].texid == -1:
texture_file = None
else:
texture_file = texture_files[geoms[i].texid]
if geoms[i].type == USDGeomType.Mesh.value:
self.usd_geoms.append(USDMesh(current_mesh_idx,
self.usd_geoms.append(USDMesh(self.model.geom_dataid[i],
geoms[i],
self.stage,
self.model,
@@ -91,10 +97,11 @@ class USDRenderer(object):
mesh_face_ranges,
mesh_texcoord_ranges,
mesh_facetexcoord_ranges,
texture_files[geoms[i].texid]))
current_mesh_idx += 1
texture_file))
else:
self.usd_geoms.append(create_usd_geom_primitive(geoms[i], self.stage))
self.usd_geoms.append(create_usd_geom_primitive(geoms[i],
self.stage,
texture_file))
# initializes an array to store all the lights in the scene
# populates with "empty" USDLight objects
@@ -115,7 +122,8 @@ class USDRenderer(object):
"""
geoms = self.scene.geoms
for i in range(self.ngeom):
self.usd_geoms[i].update_geom(geoms[i])
if self.usd_geoms[i] != None: # TODO: remove this once all primitives are added
self.usd_geoms[i].update_geom(geoms[i])
def _update_lights(self):
"""