a ij* @sdZddlZddlZddlZddlmZddZedkreZ e j de dd d e j d e d d de j de ddde j de ddde j de ddde j de ddde ZeedS)zDemo script for USD exporter.N)exportercCs|j}tj|}t|}tj|t|jj |j |j d}|j |j krtt|||j|j |jkr<|j|dq<|jdddd|j|jddS) z.Generates a USD file given the user arguments.)modelZoutput_directory_nameoutput_directory_root camera_names)data)rrriZdome)posZ intensityZ light_type)filetypeN) model_pathmujocoZMjModelZ from_xml_pathZMjDatarZ USDExporterpathlibPathstemrrtimedurationZmj_stepZ frame_countZ framerateZ update_sceneZ add_lightZ save_sceneZexport_extension)Z local_argsr mdexprO/home/ghrups/robot-bench/.venv/lib64/python3.9/site-packages/mujoco/usd/demo.pygenerate_usd_trajectorys$     r__main__z --model_pathTzpath to mjcf xml model)typerequiredhelpz --durationz+duration in seconds for the generated video)rdefaultrz --framerate<z!frame rate of the generated videoz--output_directory_rootz../usd_trajectories/z"location where to create usd filesz--camera_names+zcameras to include in usd)rnargsrz--export_extensionusdz,extension of exported file (usd, usda, usdc))__doc__argparser r Z mujoco.usdrr__name__ArgumentParserparser add_argumentstrint parse_argsargsrrrrsT