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

Fixing formatting for USD scripts

Browse Source
This commit is contained in:
Abhishek Joshi
2024-07-04 16:25:44 -05:00
parent fcb247e35b
commit e734527e7b
6 changed files with 18 additions and 42 deletions
Download Patch File Download Diff File Expand all files Collapse all files
python/mujoco/usd/objects.py
+3 -18
View File
@@ -27,11 +27,8 @@ from pxr import Vt
import mujoco
# import mujoco.usd.utils as utils_component
# import mujoco.usd.shapes as shapes_component
import utils as utils_component
import shapes as shapes_component
import mujoco.usd.utils as utils_component
import mujoco.usd.shapes as shapes_component
class USDObject(ABC):
""" Abstract interface for all USD objects including meshes and primitives.
@@ -366,21 +363,9 @@ class USDPrimitiveMesh(USDObject):
def _get_uv_geometry(self):
assert self.prim_mesh
x_scale, y_scale = self.geom.texrepeat
mesh_texcoord = np.array(self.prim_mesh.triangle_uvs)
mesh_facetexcoord = np.asarray(self.prim_mesh.triangles)
x_multiplier, y_multiplier = 1, 1
if self.geom.texuniform:
if "box" in self.mesh_config:
x_multiplier = self.mesh_config["box"]["width"]
y_multiplier = self.mesh_config["box"]["height"]
elif "sphere" in self.mesh_config:
x_multiplier = self.mesh_config["sphere"]["radius"]
y_multiplier = self.mesh_config["sphere"]["radius"]
mesh_texcoord[:, 0] *= x_scale * x_multiplier
mesh_texcoord[:, 1] *= y_scale * y_multiplier
# TODO(etom): bring back support for rescaling the texture coordinates.
return mesh_texcoord, mesh_facetexcoord.flatten()