robocasa.utils.usd package#

Submodules#

robocasa.utils.usd.component module#

class robocasa.utils.usd.component.USDCamera(stage: pxr.Usd.Stage, obj_name: str)#

Bases: object

update(cam_pos: numpy.ndarray, cam_mat: numpy.ndarray, frame: int)#
class robocasa.utils.usd.component.USDDomeLight(stage: pxr.Usd.Stage, obj_name: str)#

Bases: object

update(intensity: int, color: numpy.ndarray, frame: int)#
class robocasa.utils.usd.component.USDMesh(stage: pxr.Usd.Stage, model: mujoco._structs.MjModel, geom: mujoco._structs.MjvGeom, obj_name: str, dataid: int, rgba: numpy.ndarray = array([1, 1, 1, 1]), texture_file: Optional[str] = None)#

Bases: object

get_facetexcoord_ranges(nmesh, arr)#
update(pos: numpy.ndarray, mat: numpy.ndarray, visible: bool, frame: int)#
update_visibility(visible: bool, frame: int)#
class robocasa.utils.usd.component.USDPrimitiveMesh(mesh_config: List[dict], stage: pxr.Usd.Stage, geom: mujoco._structs.MjvGeom, obj_name: str, rgba: numpy.ndarray = array([1, 1, 1, 1]), texture_file: Optional[str] = None)#

Bases: object

update(pos: numpy.ndarray, mat: numpy.ndarray, visible: bool, frame: int)#
update_visibility(visible: bool, frame: int)#
class robocasa.utils.usd.component.USDSphereLight(stage: pxr.Usd.Stage, obj_name: str, radius: Optional[float] = 0.3)#

Bases: object

update(pos: numpy.ndarray, intensity: int, color: numpy.ndarray, frame: int)#

robocasa.utils.usd.demo module#

robocasa.utils.usd.demo.generate_usd_trajectory(args)#

robocasa.utils.usd.exporter module#

class robocasa.utils.usd.exporter.USDExporter(model: mujoco._structs.MjModel, height: int = 480, width: int = 480, max_geom: int = 10000, output_directory_name: str = 'mujoco_usdpkg', output_directory_root: str = './', light_intensity: int = 10000, camera_names: Optional[List[str]] = None, specialized_materials_file: Optional[str] = None, verbose: bool = True)#

Bases: object

add_camera(pos: List[float], rotation_xyz: List[float], objid: int, obj_name: Optional[str] = 'camera_1')#
add_light(pos: List[float], intensity: int, objid: int, radius: Optional[float] = 1.0, color: Optional[numpy.ndarray] = array([0.3, 0.3, 0.3]), obj_name: Optional[str] = 'light_1', light_type: Optional[str] = 'sphere')#
save_scene(filetype: str = 'usd')#
property scene#
update_scene(data: mujoco._structs.MjData, scene_option: Optional[mujoco._structs.MjvOption] = None)#

Updates the scene with latest sim data

Parameters

  • data – structure storing current simulation state

  • scene_option – we use this to determine which geom groups to activate

property usd#

robocasa.utils.usd.exporter_test module#

Tests for the MuJoCo USD Exporter.

class robocasa.utils.usd.exporter_test.ExporterTest(*args, **kwargs)#

Bases: absl.testing.absltest.TestCase

test_usd_export()#

robocasa.utils.usd.shapes module#

robocasa.utils.usd.shapes.create_hemisphere(radius: float, resolution: int = 20, theta_steps: int = 50, phi_steps: int = 50)#
robocasa.utils.usd.shapes.mesh_config_generator(name: str, geom_type: mujoco._enums.mjtGeom, size: numpy.ndarray)#
robocasa.utils.usd.shapes.mesh_generator(mesh_config: dict)#

robocasa.utils.usd.utils module#

robocasa.utils.usd.utils.create_transform_matrix(rotation_matrix, translation_vector)#

Module contents#