Hana Joo
0aad65868d
Startblock: * // Put other blockers before this line to avoid churning. * has lgtm * is approved * and then * all comments are resolved * and then PiperOrigin-RevId: 961854282 Change-Id: I9d323a8ef9f36ffe69cc62d449849eac82dc6858
97 lines
2.6 KiB
Python
97 lines
2.6 KiB
Python
# Copyright 2024 DeepMind Technologies Limited
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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# ==============================================================================
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"""Demo script for USD exporter."""
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import argparse
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import pathlib
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import mujoco
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from mujoco.usd import exporter
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def generate_usd_trajectory(local_args):
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"""Generates a USD file given the user arguments."""
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# load a model to mujoco
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model_path = local_args.model_path
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m = mujoco.MjModel.from_xml_path(model_path)
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d = mujoco.MjData(m)
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# create an instance of the USDExporter
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exp = exporter.USDExporter(
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model=m,
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output_directory_name=pathlib.Path(local_args.model_path).stem, # pyrefly: ignore[unexpected-keyword]
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output_directory_root=local_args.output_directory_root,
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camera_names=local_args.camera_names,
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)
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# step through the simulation for the given duration of time
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while d.time < local_args.duration:
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mujoco.mj_step(m, d)
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if exp.frame_count < d.time * local_args.framerate:
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exp.update_scene(data=d)
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exp.add_light(pos=(0, 0, 0), # pyrefly: ignore[bad-argument-type]
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intensity=2000,
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light_type='dome')
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exp.save_scene(filetype=local_args.export_extension)
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if __name__ == '__main__':
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parser = argparse.ArgumentParser()
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parser.add_argument(
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'--model_path', type=str, required=True, help='path to mjcf xml model'
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)
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parser.add_argument(
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'--duration',
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type=int,
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default=5,
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help='duration in seconds for the generated video',
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)
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parser.add_argument(
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'--framerate',
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type=int,
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default=60,
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help='frame rate of the generated video',
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)
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parser.add_argument(
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'--output_directory_root',
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type=str,
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default='../usd_trajectories/',
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help='location where to create usd files',
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)
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parser.add_argument(
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'--camera_names',
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type=str,
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nargs='+',
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help='cameras to include in usd'
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)
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parser.add_argument(
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'--export_extension',
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type=str,
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default='usd',
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help='extension of exported file (usd, usda, usdc)',
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)
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args = parser.parse_args()
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generate_usd_trajectory(args)
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