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removing unwanted code in __init__ function temporarily

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This commit is contained in:
Abhishek Joshi
2024-03-18 18:59:22 -05:00
parent 765ba22cd9
commit df88171ae1
2 changed files with 27 additions and 25 deletions
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python/mujoco/usd/component.py
+13 -11
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@@ -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)