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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
View File
@@ -216,7 +216,7 @@ class USDMesh:
UsdShade.MaterialBindingAPI(self.usd_mesh).Bind(mtl) UsdShade.MaterialBindingAPI(self.usd_mesh).Bind(mtl)
def update(self, pos: np.ndarray, mat: np.ndarray, visible: bool, frame: int): 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 rotation_matrix=mat, translation_vector=pos
).T ).T
self.transform_op.Set(Gf.Matrix4d(transformation_mat.tolist()), frame) self.transform_op.Set(Gf.Matrix4d(transformation_mat.tolist()), frame)
@@ -245,10 +245,12 @@ class USDPrimitiveMesh:
self.rgba = rgba self.rgba = rgba
self.texture_file = texture_file self.texture_file = texture_file
self.usd_prim = Usd.Prim() # self.usd_prim = Usd.Prim()
self.usd_mesh = Usd.Mesh() # self.usd_mesh = Usd.Mesh()
self.prim_mesh = Usd.PrimMesh() # self.prim_mesh = Usd.PrimMesh()
self.transform_op = Usd.TransformOp() # self.transform_op = Usd.TransformOp()
self.prim_mesh = None
def _set_refinement_properties(self): def _set_refinement_properties(self):
self.usd_prim.GetAttribute("subdivisionScheme").Set("none") self.usd_prim.GetAttribute("subdivisionScheme").Set("none")
@@ -364,7 +366,7 @@ class USDPrimitiveMesh:
UsdShade.MaterialBindingAPI(self.usd_mesh).Bind(mtl) UsdShade.MaterialBindingAPI(self.usd_mesh).Bind(mtl)
def update(self, pos: np.ndarray, mat: np.ndarray, visible: bool, frame: int): 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 rotation_matrix=mat, translation_vector=pos
).T ).T
self.transform_op.Set(Gf.Matrix4d(transformation_mat.tolist()), frame) self.transform_op.Set(Gf.Matrix4d(transformation_mat.tolist()), frame)
@@ -393,9 +395,9 @@ class USDPrimitive:
self.rgba = rgba self.rgba = rgba
self.texture_file = texture_file self.texture_file = texture_file
self.usd_prim = Usd.Prim() # self.usd_prim = Usd.Prim()
self.usd_primitive_shape = Usd.PrimitiveShape() # self.usd_primitive_shape = Usd.PrimitiveShape()
self.transform_op = Usd.TransformOp() # self.transform_op = Usd.TransformOp()
def _set_refinement_properties(self): def _set_refinement_properties(self):
self.usd_prim.GetAttribute("subdivisionScheme").Set("none") self.usd_prim.GetAttribute("subdivisionScheme").Set("none")
@@ -481,7 +483,7 @@ class USDPrimitive:
UsdShade.MaterialBindingAPI(self.usd_primitive_shape).Bind(mtl) UsdShade.MaterialBindingAPI(self.usd_primitive_shape).Bind(mtl)
def update(self, pos: np.ndarray, mat: np.ndarray, visible: bool, frame: int): 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 rotation_matrix=mat, translation_vector=pos
).T ).T
self.transform_op.Set(Gf.Matrix4d(transformation_mat.tolist()), frame) 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): 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 rotation_matrix=cam_mat, translation_vector=cam_pos
).T ).T
self.transform_op.Set(Gf.Matrix4d(transformation_mat.tolist()), frame) self.transform_op.Set(Gf.Matrix4d(transformation_mat.tolist()), frame)
python/mujoco/usd/exporter.py
+14 -14
View File
@@ -239,7 +239,7 @@ class USDExporter:
stage=self.stage, stage=self.stage,
model=self.model, model=self.model,
geom=geom, geom=geom,
objid=geom_name, obj_name=geom_name,
dataid=self.model.geom_dataid[geom.objid], dataid=self.model.geom_dataid[geom.objid],
rgba=geom.rgba, rgba=geom.rgba,
texture_file=texture_file, texture_file=texture_file,
@@ -248,7 +248,7 @@ class USDExporter:
usd_geom = mujoco.usd.component.USDPlaneMesh( usd_geom = mujoco.usd.component.USDPlaneMesh(
stage=self.stage, stage=self.stage,
geom=geom, geom=geom,
objid=geom_name, obj_name=geom_name,
rgba=geom.rgba, rgba=geom.rgba,
texture_file=texture_file, texture_file=texture_file,
) )
@@ -256,7 +256,7 @@ class USDExporter:
usd_geom = mujoco.usd.component.USDSphereMesh( usd_geom = mujoco.usd.component.USDSphereMesh(
stage=self.stage, stage=self.stage,
geom=geom, geom=geom,
objid=geom_name, obj_name=geom_name,
rgba=geom.rgba, rgba=geom.rgba,
texture_file=texture_file, texture_file=texture_file,
) )
@@ -264,7 +264,7 @@ class USDExporter:
usd_geom = mujoco.usd.component.USDCapsule( usd_geom = mujoco.usd.component.USDCapsule(
stage=self.stage, stage=self.stage,
geom=geom, geom=geom,
objid=geom_name, obj_name=geom_name,
rgba=geom.rgba, rgba=geom.rgba,
texture_file=texture_file, texture_file=texture_file,
) )
@@ -272,7 +272,7 @@ class USDExporter:
usd_geom = mujoco.usd.component.USDEllipsoid( usd_geom = mujoco.usd.component.USDEllipsoid(
stage=self.stage, stage=self.stage,
geom=geom, geom=geom,
objid=geom_name, obj_name=geom_name,
rgba=geom.rgba, rgba=geom.rgba,
texture_file=texture_file, texture_file=texture_file,
) )
@@ -280,7 +280,7 @@ class USDExporter:
usd_geom = mujoco.usd.component.USDCylinderMesh( usd_geom = mujoco.usd.component.USDCylinderMesh(
stage=self.stage, stage=self.stage,
geom=geom, geom=geom,
objid=geom_name, obj_name=geom_name,
rgba=geom.rgba, rgba=geom.rgba,
texture_file=texture_file, texture_file=texture_file,
) )
@@ -288,7 +288,7 @@ class USDExporter:
usd_geom = mujoco.usd.component.USDCubeMesh( usd_geom = mujoco.usd.component.USDCubeMesh(
stage=self.stage, stage=self.stage,
geom=geom, geom=geom,
objid=geom_name, obj_name=geom_name,
rgba=geom.rgba, rgba=geom.rgba,
texture_file=texture_file, texture_file=texture_file,
) )
@@ -331,7 +331,7 @@ class USDExporter:
for i in range(self.scene.nlight): for i in range(self.scene.nlight):
light = self.scene.lights[i] light = self.scene.lights[i]
if not np.allclose(light.pos, [0, 0, 0]): 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: else:
self.usd_lights.append(None) self.usd_lights.append(None)
@@ -356,7 +356,7 @@ class USDExporter:
self.usd_cameras = [] self.usd_cameras = []
if self.camera_names is not None: if self.camera_names is not None:
for name in self.camera_names: 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( def _update_cameras(
self, self,
@@ -391,16 +391,16 @@ class USDExporter:
intensity: int, intensity: int,
radius: Optional[float] = 1.0, radius: Optional[float] = 1.0,
color: Optional[np.ndarray] = np.array([0.3, 0.3, 0.3]), 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", light_type: Optional[str] = "sphere",
): ):
if light_type == "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) new_light.update(pos=pos, intensity=intensity, color=color, frame=0)
elif light_type == "dome": 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) new_light.update(intensity=intensity, color=color, frame=0)
@@ -408,9 +408,9 @@ class USDExporter:
self, self,
pos: List[float], pos: List[float],
rotation_xyz: 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( r = scipy.spatial.transform.Rotation.from_euler(
"xyz", rotation_xyz, degrees=True) "xyz", rotation_xyz, degrees=True)