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Description
Intro
Hi!
I am a researcher at MIT, I use MuJoCo for my research on robotics.
My setup
Ubuntu 22.04, MuJoCo v3.3.0, Python API
What's happening? What did you expect?
When I export my model to USD and visualize it in Blender and Omniverse, the model is tiny! I need to scroll in a lot to be able to see my scene. Here's what I see in Omniverse:
mujoco-usd-exported.mp4
Steps for reproduction
Here's my code snippet to reproduce this:
import mujoco
import mujoco.viewer
from mujoco.usd import exporter
# Load the model -- Franka Emika Panda from Menagerie
model = mujoco.MjModel.from_xml_path("scene.xml")
data = mujoco.MjData(model)
# Create USD exporter
usd_exp = exporter.USDExporter(model=model)
duration = 5
framerate = 60
# Initialize the viewer
with mujoco.viewer.launch_passive(model, data) as viewer:
# Simulation loop
while viewer.is_running() and data.time < duration:
# Step the simulation
mujoco.mj_step(model, data)
if usd_exp.frame_count < data.time * framerate:
# Update the USD scene with current state
usd_exp.update_scene(data=data)
# Update the viewer
viewer.sync()
# Save the animation to USD file
usd_exp.save_scene(filetype="usd")Minimal model for reproduction
My scene.xml copied from Menagerie (Franka Emika Panda's scene.xml)
<mujoco model="panda scene">
<include file="panda.xml"/>
<statistic center="0.3 0 0.4" extent="1"/>
<visual>
<headlight diffuse="0.6 0.6 0.6" ambient="0.3 0.3 0.3" specular="0 0 0"/>
<rgba haze="0.15 0.25 0.35 1"/>
<global azimuth="120" elevation="-20"/>
</visual>
<asset>
<texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="3072"/>
<texture type="2d" name="groundplane" builtin="checker" mark="edge" rgb1="0.2 0.3 0.4" rgb2="0.1 0.2 0.3"
markrgb="0.8 0.8 0.8" width="300" height="300"/>
<material name="groundplane" texture="groundplane" texuniform="true" texrepeat="5 5" reflectance="0.2"/>
</asset>
<worldbody>
<light pos="0 0 1.5" dir="0 0 -1" directional="true"/>
<geom name="floor" size="0 0 0.05" type="plane" material="groundplane"/>
<camera name="main_camera" pos="1.5 1.5 1.5" quat="0.5 -0.5 0.5 0.5"/>
</worldbody>
</mujoco>
Code required for reproduction
import mujoco
import mujoco.viewer
from mujoco.usd import exporter
# Load the model -- Franka Emika Panda from Menagerie
model = mujoco.MjModel.from_xml_path("scene.xml")
data = mujoco.MjData(model)
# Create USD exporter
usd_exp = exporter.USDExporter(model=model)
duration = 5
framerate = 60
# Initialize the viewer
with mujoco.viewer.launch_passive(model, data) as viewer:
# Simulation loop
while viewer.is_running() and data.time < duration:
# Step the simulation
mujoco.mj_step(model, data)
if usd_exp.frame_count < data.time * framerate:
# Update the USD scene with current state
usd_exp.update_scene(data=data)
# Update the viewer
viewer.sync()
# Save the animation to USD file
usd_exp.save_scene(filetype="usd")Confirmations
- I searched the latest documentation thoroughly before posting.
- I searched previous Issues and Discussions, I am certain this has not been raised before.