removing usd import from __init__.py

python/mujoco/__init__.py

@@ -46,9 +46,6 @@ from mujoco._render import *
 from mujoco._structs import *
 from mujoco.gl_context import *
 from mujoco.renderer import Renderer
-from mujoco.usd.usd_exporter import USDExporter
-from mujoco.usd.usd_component import *
-from mujoco.usd.usd_utils import *
 
 HEADERS_DIR = os.path.join(os.path.dirname(__file__), 'include/mujoco')
 PLUGINS_DIR = os.path.join(os.path.dirname(__file__), 'plugin')

python/mujoco/usd/component.py

@@ -22,12 +22,6 @@ class USDMesh:
         rgba: Tuple[int] = (1,1,1,1),
         texture_file: Optional[str] = None
     ):
-        """ Initializes a new USD mesh
-        Args:
-            model: an MjModel instance.
-            dataid: id of the mesh
-            texture_file: texture associated with the mesh
-        """
         self.stage = stage
         self.model = model
         self.geom = geom

python/mujoco/usd/exporter.py

@@ -34,7 +34,7 @@ class USDExporter:
         specialized_materials_file: str = None,
         verbose: bool = True,
     ):
-        """ Initializes a new USD Renderer
+        """Initializes a new USD Renderer
         Args:
             model: an MjModel instance.
             height: image height in pixels.
@@ -98,10 +98,6 @@ class USDExporter:
         # loading required textures for the scene
         self._load_textures()
 
-        self.extra_added_water = False
-        self.extra_added_stove = False
-        self.extra_added_coffee = False
-
     @property
     def usd(self):
         return self.stage.GetRootLayer().ExportToString()
@@ -141,7 +137,7 @@ class USDExporter:
         data: _structs.MjData,
         scene_option: Optional[_structs.MjvOption] = None,
     ):
-        """ Updates the scene with latest sim data
+        """Updates the scene with latest sim data
         Args:
             data: structure storing current simulation state
             scene_option: we use this to determine which geom groups to activate