Fixing formatting for USD scripts

python/mujoco/usd/camera.py

@@ -18,8 +18,7 @@ from pxr import Gf
 from pxr import Usd
 from pxr import UsdGeom
 
-# import mujoco.usd.utils as utils_component
+import mujoco.usd.utils as utils_component
-import utils as utils_component
 
 class USDCamera:
   """Class that handles the cameras in the USD scene"""

python/mujoco/usd/demo.py

@@ -1,14 +1,12 @@
 import argparse
-from tqdm import tqdm
 from pathlib import Path
 
 import mujoco
 
-# from mujoco.usd import exporter
+from mujoco.usd import exporter
-import exporter
 
 def generate_usd_trajectory(args):
-
+  """Generates a USD file given the user arguments"""
   # load a model to mujoco
   model_path = args.model_path
   m = mujoco.MjModel.from_xml_path(model_path)
@@ -19,7 +17,7 @@ def generate_usd_trajectory(args):
                              output_directory_name=Path(args.model_path).stem,
                              output_directory_root=args.output_directory_root,
                              camera_names=args.camera_names)
-    
+
   # step through the simulation for the given duration of time
   while d.time < args.duration:
     mujoco.mj_step(m, d)
@@ -32,7 +30,7 @@ if __name__ == "__main__":
 
   parser = argparse.ArgumentParser()
 
-  parser.add_argument('--model_path', 
+  parser.add_argument('--model_path',
                       type=str,
                       required=True,
                       help='path to mjcf xml model')
@@ -47,20 +45,20 @@ if __name__ == "__main__":
                       default=60,
                       help='frame rate of the generated video')
 
-  parser.add_argument('--output_directory_root', 
+  parser.add_argument('--output_directory_root',
                       type=str,
                       default="../usd_trajectories/",
                       help='location where to create usd files')
 
-  parser.add_argument('--camera_names', 
+  parser.add_argument('--camera_names',
                       type=str,
                       nargs='+',
                       help='cameras to include in usd')
 
-  parser.add_argument('--export_extension', 
+  parser.add_argument('--export_extension',
                       type=str,
                       default="usd",
-                      help='extension of exported file (can be usd, usda, or usdc)')
+                      help='extension of exported file (usd, usda, usdc)')
 
   args = parser.parse_args()
   generate_usd_trajectory(args)

python/mujoco/usd/exporter.py

@@ -29,15 +29,10 @@ from pxr import UsdGeom
 
 import mujoco
 
-# import mujoco.usd.shapes as shapes_module
+import mujoco.usd.shapes as shapes_module
-# import mujoco.usd.objects as object_module
+import mujoco.usd.objects as object_module
-# import mujoco.usd.lights as light_module
+import mujoco.usd.lights as light_module
-# import mujoco.usd.camera as camera_module
+import mujoco.usd.camera as camera_module
-import shapes as shapes_module
-import objects as object_module
-import lights as light_module
-import camera as camera_module
-
 
 class USDExporter:
   """MuJoCo to USD exporter for porting scenes to external renderers."""
@@ -248,7 +243,7 @@ class USDExporter:
     assert geom_name not in self.geom_names
 
     texture_file = (
-        self.texture_files[self.model.mat_texid[mujoco.mjNTEXMAT*geom.matid]]
+        self.texture_files[self.model.mat_texid[geom.matid][0]]
         if geom.matid != -1
         else None
     )

python/mujoco/usd/objects.py

@@ -27,11 +27,8 @@ from pxr import Vt
 
 import mujoco
 
-# import mujoco.usd.utils as utils_component
+import mujoco.usd.utils as utils_component
-# import mujoco.usd.shapes as shapes_component
+import mujoco.usd.shapes as shapes_component
-import utils as utils_component
-import 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)
-
+    # TODO(etom): bring back support for rescaling the texture coordinates.
-    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
 
     return mesh_texcoord, mesh_facetexcoord.flatten()
 

python/mujoco/usd/shapes.py

@@ -151,7 +151,7 @@ def mesh_generator(
     prim_mesh, mesh = None, None
 
     for shape, config in mesh_config.items():
-      
+
       if "name" in shape:
         continue
 

python/mujoco/usd/utils.py

@@ -14,7 +14,6 @@
 # ==============================================================================
 import numpy as np
 
-
 def create_transform_matrix(rotation_matrix, translation_vector):
   # Ensure rotation_matrix and translation_vector are NumPy arrays
   rotation_matrix = np.array(rotation_matrix)