Abhishek Joshi
79 lines
2.7 KiB
Python
79 lines
2.7 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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import argparse
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from pathlib import Path
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from tqdm import tqdm
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import mujoco
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from mujoco.usd import exporter
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def generate_usd_trajectory(args):
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"""Generates a USD file from a mujoco trajectory."""
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# load a model to mujoco
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model_path = 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(model=m,
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output_directory_name=Path(args.model_path).stem,
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output_directory_root=args.output_directory_root,
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camera_names=args.camera_names)
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# step through the model for length steps
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for _ in tqdm(range(args.length)):
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for _ in range(args.steps_per_frame):
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mujoco.mj_step(m, d)
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exp.update_scene(d)
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exp.save_scene(filetype=args.export_extension)
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if __name__ == "__main__":
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parser = argparse.ArgumentParser()
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parser.add_argument('--model_path',
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type=str,
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required=True,
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help='path to mjcf xml model')
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parser.add_argument('--length',
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type=int,
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default=100,
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help='length of trajectory to render')
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parser.add_argument('--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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parser.add_argument('--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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parser.add_argument('--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, or usdc)')
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parser.add_argument('--steps_per_frame',
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type=int,
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default=1,
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help='number of frames to skip for each rendering step')
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args = parser.parse_args()
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generate_usd_trajectory(args)
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