From df88171ae16f4b6de2c9c6dbfb2db715252434ee Mon Sep 17 00:00:00 2001 From: Abhishek Joshi Date: Mon, 18 Mar 2024 18:59:22 -0500 Subject: [PATCH] removing unwanted code in __init__ function temporarily --- python/mujoco/usd/component.py | 24 +++++++++++++----------- python/mujoco/usd/exporter.py | 28 ++++++++++++++-------------- 2 files changed, 27 insertions(+), 25 deletions(-) diff --git a/python/mujoco/usd/component.py b/python/mujoco/usd/component.py index 7f7dee63..e61c775e 100644 --- a/python/mujoco/usd/component.py +++ b/python/mujoco/usd/component.py @@ -216,7 +216,7 @@ class USDMesh: UsdShade.MaterialBindingAPI(self.usd_mesh).Bind(mtl) def update(self, pos: np.ndarray, mat: np.ndarray, visible: bool, frame: int): - transformation_mat = mujoco.usd_utils.create_transform_matrix( + transformation_mat = mujoco.usd.utils.create_transform_matrix( rotation_matrix=mat, translation_vector=pos ).T self.transform_op.Set(Gf.Matrix4d(transformation_mat.tolist()), frame) @@ -245,10 +245,12 @@ class USDPrimitiveMesh: self.rgba = rgba self.texture_file = texture_file - self.usd_prim = Usd.Prim() - self.usd_mesh = Usd.Mesh() - self.prim_mesh = Usd.PrimMesh() - self.transform_op = Usd.TransformOp() + # self.usd_prim = Usd.Prim() + # self.usd_mesh = Usd.Mesh() + # self.prim_mesh = Usd.PrimMesh() + # self.transform_op = Usd.TransformOp() + + self.prim_mesh = None def _set_refinement_properties(self): self.usd_prim.GetAttribute("subdivisionScheme").Set("none") @@ -364,7 +366,7 @@ class USDPrimitiveMesh: UsdShade.MaterialBindingAPI(self.usd_mesh).Bind(mtl) def update(self, pos: np.ndarray, mat: np.ndarray, visible: bool, frame: int): - transformation_mat = mujoco.usd_util.create_transform_matrix( + transformation_mat = mujoco.usd.utils.create_transform_matrix( rotation_matrix=mat, translation_vector=pos ).T self.transform_op.Set(Gf.Matrix4d(transformation_mat.tolist()), frame) @@ -393,9 +395,9 @@ class USDPrimitive: self.rgba = rgba self.texture_file = texture_file - self.usd_prim = Usd.Prim() - self.usd_primitive_shape = Usd.PrimitiveShape() - self.transform_op = Usd.TransformOp() + # self.usd_prim = Usd.Prim() + # self.usd_primitive_shape = Usd.PrimitiveShape() + # self.transform_op = Usd.TransformOp() def _set_refinement_properties(self): self.usd_prim.GetAttribute("subdivisionScheme").Set("none") @@ -481,7 +483,7 @@ class USDPrimitive: UsdShade.MaterialBindingAPI(self.usd_primitive_shape).Bind(mtl) def update(self, pos: np.ndarray, mat: np.ndarray, visible: bool, frame: int): - transformation_mat = mujoco.usd_util.create_transform_matrix( + transformation_mat = mujoco.usd.utils.create_transform_matrix( rotation_matrix=mat, translation_vector=pos ).T self.transform_op.Set(Gf.Matrix4d(transformation_mat.tolist()), frame) @@ -851,7 +853,7 @@ class USDCamera: def update(self, cam_pos: np.ndarray, cam_mat: np.ndarray, frame: int): - transformation_mat = mujoco.usd_util.create_transform_matrix( + transformation_mat = mujoco.usd.utils.create_transform_matrix( rotation_matrix=cam_mat, translation_vector=cam_pos ).T self.transform_op.Set(Gf.Matrix4d(transformation_mat.tolist()), frame) diff --git a/python/mujoco/usd/exporter.py b/python/mujoco/usd/exporter.py index 34e1d338..1557ec6c 100644 --- a/python/mujoco/usd/exporter.py +++ b/python/mujoco/usd/exporter.py @@ -239,7 +239,7 @@ class USDExporter: stage=self.stage, model=self.model, geom=geom, - objid=geom_name, + obj_name=geom_name, dataid=self.model.geom_dataid[geom.objid], rgba=geom.rgba, texture_file=texture_file, @@ -248,7 +248,7 @@ class USDExporter: usd_geom = mujoco.usd.component.USDPlaneMesh( stage=self.stage, geom=geom, - objid=geom_name, + obj_name=geom_name, rgba=geom.rgba, texture_file=texture_file, ) @@ -256,7 +256,7 @@ class USDExporter: usd_geom = mujoco.usd.component.USDSphereMesh( stage=self.stage, geom=geom, - objid=geom_name, + obj_name=geom_name, rgba=geom.rgba, texture_file=texture_file, ) @@ -264,7 +264,7 @@ class USDExporter: usd_geom = mujoco.usd.component.USDCapsule( stage=self.stage, geom=geom, - objid=geom_name, + obj_name=geom_name, rgba=geom.rgba, texture_file=texture_file, ) @@ -272,7 +272,7 @@ class USDExporter: usd_geom = mujoco.usd.component.USDEllipsoid( stage=self.stage, geom=geom, - objid=geom_name, + obj_name=geom_name, rgba=geom.rgba, texture_file=texture_file, ) @@ -280,7 +280,7 @@ class USDExporter: usd_geom = mujoco.usd.component.USDCylinderMesh( stage=self.stage, geom=geom, - objid=geom_name, + obj_name=geom_name, rgba=geom.rgba, texture_file=texture_file, ) @@ -288,7 +288,7 @@ class USDExporter: usd_geom = mujoco.usd.component.USDCubeMesh( stage=self.stage, geom=geom, - objid=geom_name, + obj_name=geom_name, rgba=geom.rgba, texture_file=texture_file, ) @@ -331,7 +331,7 @@ class USDExporter: for i in range(self.scene.nlight): light = self.scene.lights[i] if not np.allclose(light.pos, [0, 0, 0]): - self.usd_lights.append(mujoco.usd.component.USDSphereLight(stage=self.stage, objid=i)) + self.usd_lights.append(mujoco.usd.component.USDSphereLight(stage=self.stage, obj_name=i)) else: self.usd_lights.append(None) @@ -356,7 +356,7 @@ class USDExporter: self.usd_cameras = [] if self.camera_names is not None: for name in self.camera_names: - self.usd_cameras.append(mujoco.usd.USDCamera(stage=self.stage, objid=name)) + self.usd_cameras.append(mujoco.usd.USDCamera(stage=self.stage, obj_name=name)) def _update_cameras( self, @@ -391,16 +391,16 @@ class USDExporter: intensity: int, radius: Optional[float] = 1.0, color: Optional[np.ndarray] = np.array([0.3, 0.3, 0.3]), - objid: Optional[int] = 1, + obj_name: Optional[str] = "light_1", light_type: Optional[str] = "sphere", ): if light_type == "sphere": - new_light = mujoco.usd.component.USDSphereLight(stage=self.stage, objid=objid, radius=radius) + new_light = mujoco.usd.component.USDSphereLight(stage=self.stage, obj_name=obj_name, radius=radius) new_light.update(pos=pos, intensity=intensity, color=color, frame=0) elif light_type == "dome": - new_light = mujoco.usd.component.USDDomeLight(stage=self.stage, objid=objid) + new_light = mujoco.usd.component.USDDomeLight(stage=self.stage, obj_name=obj_name) new_light.update(intensity=intensity, color=color, frame=0) @@ -408,9 +408,9 @@ class USDExporter: self, pos: List[float], rotation_xyz: List[float], - objid: Optional[int] = 1, + obj_name: Optional[str] = "camera_1", ): - new_camera = mujoco.usd.component.USDCamera(stage=self.stage, objid=objid) + new_camera = mujoco.usd.component.USDCamera(stage=self.stage, obj_name=obj_name) r = scipy.spatial.transform.Rotation.from_euler( "xyz", rotation_xyz, degrees=True)