chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Updating for PR comments

Browse Source
This commit is contained in:
Abhishek Joshi
2024-08-02 15:13:25 -05:00
parent 30b98fbe6a
commit e0483c2f86
4 changed files with 26 additions and 28 deletions
Download Patch File Download Diff File Expand all files Collapse all files
python/mujoco/usd/objects.py
+8 -8
View File
@@ -16,7 +16,7 @@
import abc
import collections
from typing import Optional, Dict, Any, Tuple
from typing import Any, Dict, List, Optional, Tuple
import mujoco
import mujoco.usd.shapes as shapes_module
@@ -55,7 +55,7 @@ class USDObject(abc.ABC):
geom: mujoco.MjvGeom,
obj_name: str,
rgba: np.ndarray = np.array([1, 1, 1, 1]),
geom_textures: Optional[Tuple[str, mujoco.mjtTexture]] = None
geom_textures: List[Optional[Tuple[str, mujoco.mjtTexture]]] = None
):
self.stage = stage
self.model = model
@@ -225,7 +225,7 @@ class USDMesh(USDObject):
obj_name: str,
dataid: int,
rgba: np.ndarray = np.array([1, 1, 1, 1]),
geom_textures: Optional[Tuple[str, mujoco.mjtTexture]] = None
geom_textures: List[Optional[Tuple[str, mujoco.mjtTexture]]] = None
):
super().__init__(stage, model, geom, obj_name, rgba, geom_textures)
@@ -243,7 +243,7 @@ class USDMesh(USDObject):
)
self.usd_mesh.GetFaceVertexIndicesAttr().Set(mesh_face)
if self.geom_textures and self.geom_textures[mujoco.mjtTextureRole.mjTEXROLE_RGB]:
if geom.matid != -1 and self.geom_textures[mujoco.mjtTextureRole.mjTEXROLE_RGB]:
# setting mesh uv properties
mesh_texcoord, mesh_facetexcoord = self._get_uv_geometry()
self.texcoords = UsdGeom.PrimvarsAPI(self.usd_mesh).CreatePrimvar(
@@ -319,7 +319,7 @@ class USDPrimitiveMesh(USDObject):
geom: mujoco.MjvGeom,
obj_name: str,
rgba: np.ndarray = np.array([1, 1, 1, 1]),
geom_textures: Optional[Tuple[str, mujoco.mjtTexture]] = None
geom_textures: List[Optional[Tuple[str, mujoco.mjtTexture]]] = None
):
super().__init__(stage, model, geom, obj_name, rgba, geom_textures)
@@ -338,7 +338,7 @@ class USDPrimitiveMesh(USDObject):
self.usd_mesh.GetFaceVertexIndicesAttr().Set(mesh_face)
self._set_refinement_properties(self.usd_prim)
if self.geom_textures and self.geom_textures[mujoco.mjtTextureRole.mjTEXROLE_RGB]:
if geom.matid != -1 and self.geom_textures[mujoco.mjtTextureRole.mjTEXROLE_RGB]:
# setting mesh uv properties
mesh_texcoord, _ = self._get_uv_geometry()
self.texcoords = UsdGeom.PrimvarsAPI(self.usd_mesh).CreatePrimvar(
@@ -403,7 +403,7 @@ class USDTendon(USDObject):
geom: mujoco.MjvGeom,
obj_name: str,
rgba: np.ndarray = np.array([1, 1, 1, 1]),
geom_textures: Optional[Tuple[str, mujoco.mjtTexture]] = None
geom_textures: List[Optional[Tuple[str, mujoco.mjtTexture]]] = None
):
super().__init__(stage, model, geom, obj_name, rgba, geom_textures)
@@ -435,7 +435,7 @@ class USDTendon(USDObject):
part_geometry["mesh_face"]
)
if self.geom_textures and self.geom_textures[mujoco.mjtTextureRole.mjTEXROLE_RGB]:
if geom.matid != -1 and self.geom_textures[mujoco.mjtTextureRole.mjTEXROLE_RGB]:
# setting uv properties for each of the parts in the tendon
part_uv_geometries = self._get_uv_geometry()
for name, part_uv_geometry in part_uv_geometries.items():