updating geom visibility logic; fixing infinite plane texture bug; adding frame skip arg to demo

python/mujoco/usd/demo.py

@@ -3,7 +3,8 @@ from tqdm import tqdm
 from pathlib import Path
 
 import mujoco
-from mujoco.usd import exporter
+# from mujoco.usd import exporter
+import exporter as exporter
 
 def generate_usd_trajectory(args):
 
@@ -20,12 +21,12 @@ def generate_usd_trajectory(args):
 
   # step through the model for length steps
   for i in tqdm(range(args.length)):
-    mujoco.mj_step(m, d)
+    for i in range(args.steps_per_frame):
+      mujoco.mj_step(m, d)
     exp.update_scene(d)
 
   exp.save_scene(filetype=args.export_extension)
 
-
 if __name__ == "__main__":
 
   parser = argparse.ArgumentParser()
@@ -55,6 +56,11 @@ if __name__ == "__main__":
                       default="usd",
                       help='extension of exported file (can be usd, usda, or usdc)')
 
+  parser.add_argument('--steps_per_frame',
+                      type=int,
+                      default=1,
+                      help='number of frames to skip for each rendering step')
+
   args = parser.parse_args()
   generate_usd_trajectory(args)