Abhishek Joshi
67 lines
2.0 KiB
Python
67 lines
2.0 KiB
Python
import argparse
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from tqdm import tqdm
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from pathlib import Path
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import mujoco
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# from mujoco.usd import exporter
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import exporter
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def generate_usd_trajectory(args):
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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 simulation for the given duration of time
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while d.time < args.duration:
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mujoco.mj_step(m, d)
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if exp.frame_count < d.time * args.framerate:
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exp.update_scene(data=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('--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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parser.add_argument('--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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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 (can be usd, usda, or usdc)')
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args = parser.parse_args()
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generate_usd_trajectory(args)
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