From 66c044fcf482833bf13b439f59f01955e5e92c6f Mon Sep 17 00:00:00 2001
From: Abhishek Joshi <abhishekjoshinj@gmail.com>
Date: Mon, 18 Mar 2024 15:23:46 -0500
Subject: [PATCH 01/24] adding demo script branch

---
 python/dist/mujoco-3.1.4.tar.gz | Bin 0 -> 640290 bytes
 python/mujoco/usd/__init__.py   |   3 +++
 python/mujoco/usd/demo.py       |  19 +++++++++++++++++++
 python/mujoco/usd/exporter.py   |  24 ++++++++++++------------
 4 files changed, 34 insertions(+), 12 deletions(-)
 create mode 100644 python/dist/mujoco-3.1.4.tar.gz
 create mode 100644 python/mujoco/usd/__init__.py
 create mode 100644 python/mujoco/usd/demo.py

diff --git a/python/dist/mujoco-3.1.4.tar.gz b/python/dist/mujoco-3.1.4.tar.gz
new file mode 100644
index 0000000000000000000000000000000000000000..288917a998db46a670ec2bc9abfe15b3188c2611
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literal 0
HcmV?d00001

diff --git a/python/mujoco/usd/__init__.py b/python/mujoco/usd/__init__.py
new file mode 100644
index 0000000000..1bb0c9522d
--- /dev/null
+++ b/python/mujoco/usd/__init__.py
@@ -0,0 +1,3 @@
+from .exporter import *
+from .component import *
+from .utils import *
\ No newline at end of file
diff --git a/python/mujoco/usd/demo.py b/python/mujoco/usd/demo.py
new file mode 100644
index 0000000000..11861d0ddc
--- /dev/null
+++ b/python/mujoco/usd/demo.py
@@ -0,0 +1,19 @@
+import mujoco
+from mujoco.usd import exporter
+
+if __name__ == "__main__":
+
+  # load a model to mujoco
+  m = mujoco.MjModel.from_xml_path("/Users/abhishek/Documents/research/mujoco/model/cards/cards.xml")
+  d = mujoco.MjData(m)
+
+  # create an instance of the USDExporter
+  exp = exporter.USDExporter(model=m)
+
+  mujoco.mj_step(m, d)
+
+  exp.update_scene(d)
+
+  exp.save_scene(filetype="usd")
+
+
diff --git a/python/mujoco/usd/exporter.py b/python/mujoco/usd/exporter.py
index c45979efba..a00d59c82a 100644
--- a/python/mujoco/usd/exporter.py
+++ b/python/mujoco/usd/exporter.py
@@ -235,7 +235,7 @@ def _load_geom(self, geom: mujoco.MjvGeom):
 
     # handles meshes in scene
     if geom.type == mujoco.mjtGeom.mjGEOM_MESH:
-      usd_geom = mujoco.usd.USDMesh(
+      usd_geom = mujoco.usd.component.USDMesh(
           stage=self.stage,
           model=self.model,
           geom=geom,
@@ -245,7 +245,7 @@ def _load_geom(self, geom: mujoco.MjvGeom):
           texture_file=texture_file,
       )
     elif geom.type == mujoco.mjtGeom.mjGEOM_PLANE:
-      usd_geom = mujoco.usd.USDPlaneMesh(
+      usd_geom = mujoco.usd.component.USDPlaneMesh(
           stage=self.stage,
           geom=geom,
           objid=geom_name,
@@ -253,7 +253,7 @@ def _load_geom(self, geom: mujoco.MjvGeom):
           texture_file=texture_file,
       )
     elif geom.type == mujoco.mjtGeom.mjGEOM_SPHERE:
-      usd_geom = mujoco.usd.USDSphereMesh(
+      usd_geom = mujoco.usd.component.USDSphereMesh(
           stage=self.stage,
           geom=geom,
           objid=geom_name,
@@ -261,7 +261,7 @@ def _load_geom(self, geom: mujoco.MjvGeom):
           texture_file=texture_file,
       )
     elif geom.type == mujoco.mjtGeom.mjGEOM_CAPSULE:
-      usd_geom = mujoco.usd.USDCapsule(
+      usd_geom = mujoco.usd.component.USDCapsule(
           stage=self.stage,
           geom=geom,
           objid=geom_name,
@@ -269,7 +269,7 @@ def _load_geom(self, geom: mujoco.MjvGeom):
           texture_file=texture_file,
       )
     elif geom.type == mujoco.mjtGeom.mjGEOM_ELLIPSOID:
-      usd_geom = mujoco.usd.USDEllipsoid(
+      usd_geom = mujoco.usd.component.USDEllipsoid(
           stage=self.stage,
           geom=geom,
           objid=geom_name,
@@ -277,7 +277,7 @@ def _load_geom(self, geom: mujoco.MjvGeom):
           texture_file=texture_file,
       )
     elif geom.type == mujoco.mjtGeom.mjGEOM_CYLINDER:
-      usd_geom = mujoco.usd.USDCylinderMesh(
+      usd_geom = mujoco.usd.component.USDCylinderMesh(
           stage=self.stage,
           geom=geom,
           objid=geom_name,
@@ -285,7 +285,7 @@ def _load_geom(self, geom: mujoco.MjvGeom):
           texture_file=texture_file,
       )
     elif geom.type == mujoco.mjtGeom.mjGEOM_BOX:
-      usd_geom = mujoco.usd.USDCubeMesh(
+      usd_geom = mujoco.usd.component.USDCubeMesh(
           stage=self.stage,
           geom=geom,
           objid=geom_name,
@@ -331,7 +331,7 @@ def _load_lights(self):
     for i in range(self.scene.nlight):
       light = self.scene.lights[i]
       if not np.allclose(light.pos, [0, 0, 0]):
-        self.usd_lights.append(mujoco.usd.USDSphereLight(stage=self.stage, objid=i))
+        self.usd_lights.append(mujoco.usd.component.USDSphereLight(stage=self.stage, objid=i))
       else:
         self.usd_lights.append(None)
 
@@ -357,7 +357,7 @@ def _update_lights(self):
   def _load_cameras(self):
     self.usd_cameras = []
     for name in self.camera_names:
-      self.usd_cameras.append(mujoco.usd.USDCamera(stage=self.stage, objid=name))
+      self.usd_cameras.append(mujoco.usd.component.USDCamera(stage=self.stage, objid=name))
 
   def _update_cameras(
       self,
@@ -397,11 +397,11 @@ def add_light(
   ):
 
     if light_type == "sphere":
-      new_light = mujoco.usd.USDSphereLight(stage=self.stage, objid=objid, radius=radius)
+      new_light = mujoco.usd.component.USDSphereLight(stage=self.stage, objid=objid, radius=radius)
 
       new_light.update(pos=pos, intensity=intensity, color=color, frame=0)
     elif light_type == "dome":
-      new_light = mujoco.usd.USDDomeLight(stage=self.stage, objid=objid)
+      new_light = mujoco.usd.component.USDDomeLight(stage=self.stage, objid=objid)
 
       new_light.update(intensity=intensity, color=color, frame=0)
 
@@ -411,7 +411,7 @@ def add_camera(
       rotation_xyz: List[float],
       objid: Optional[int] = 1,
   ):
-    new_camera = mujoco.usd.USDCamera(stage=self.stage, objid=objid)
+    new_camera = mujoco.usd.component.USDCamera(stage=self.stage, objid=objid)
 
     r = scipy.spatial.transform.Rotation.from_euler(
         "xyz", rotation_xyz, degrees=True)

From 45ecad1c9ee9d735a9fdc8c238d1eeb33b777a08 Mon Sep 17 00:00:00 2001
From: Abhishek Joshi <abhishekjoshinj@gmail.com>
Date: Mon, 18 Mar 2024 15:26:13 -0500
Subject: [PATCH 02/24] updating gitignore to exclude python distribution

---
 .gitignore | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/.gitignore b/.gitignore
index c55f0c71cd..9e55c926e4 100644
--- a/.gitignore
+++ b/.gitignore
@@ -29,3 +29,5 @@ Info.framework.plist
 __pycache__/
 *.py[cod]
 *$py.class
+
+python/dist
\ No newline at end of file

From d417356d7329954b0259d1701cdab383111fb9a6 Mon Sep 17 00:00:00 2001
From: Abhishek Joshi <abhishekjoshinj@gmail.com>
Date: Mon, 18 Mar 2024 15:28:07 -0500
Subject: [PATCH 03/24] removing tar file

---
 .gitignore                      |   5 ++---
 python/dist/mujoco-3.1.4.tar.gz | Bin 640290 -> 0 bytes
 2 files changed, 2 insertions(+), 3 deletions(-)
 delete mode 100644 python/dist/mujoco-3.1.4.tar.gz

diff --git a/.gitignore b/.gitignore
index 9e55c926e4..873ac307b4 100644
--- a/.gitignore
+++ b/.gitignore
@@ -18,6 +18,7 @@
 *.egg-info/
 build/
 build_cmake/
+# python/dist/
 
 # Exclude macOS folder attributes
 .DS_Store
@@ -28,6 +29,4 @@ Info.framework.plist
 # Python byte-compiled / optimized / DLL files
 __pycache__/
 *.py[cod]
-*$py.class
-
-python/dist
\ No newline at end of file
+*$py.class
\ No newline at end of file
diff --git a/python/dist/mujoco-3.1.4.tar.gz b/python/dist/mujoco-3.1.4.tar.gz
deleted file mode 100644
index 288917a998db46a670ec2bc9abfe15b3188c2611..0000000000000000000000000000000000000000
GIT binary patch
literal 0
HcmV?d00001

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Ols|&r(36?-ko^Z6{fG_#


From 983837e830ae3e93141e2e629710a8af188c5863 Mon Sep 17 00:00:00 2001
From: Abhishek Joshi <abhishekjoshinj@gmail.com>
Date: Mon, 18 Mar 2024 15:49:33 -0500
Subject: [PATCH 04/24] updating gitignore

---
 .gitignore | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.gitignore b/.gitignore
index 873ac307b4..446543268a 100644
--- a/.gitignore
+++ b/.gitignore
@@ -18,7 +18,7 @@
 *.egg-info/
 build/
 build_cmake/
-# python/dist/
+python/dist/
 
 # Exclude macOS folder attributes
 .DS_Store

From df88171ae16f4b6de2c9c6dbfb2db715252434ee Mon Sep 17 00:00:00 2001
From: Abhishek Joshi <abhishekjoshinj@gmail.com>
Date: Mon, 18 Mar 2024 18:59:22 -0500
Subject: [PATCH 05/24] removing unwanted code in __init__ function temporarily

---
 python/mujoco/usd/component.py | 24 +++++++++++++-----------
 python/mujoco/usd/exporter.py  | 28 ++++++++++++++--------------
 2 files changed, 27 insertions(+), 25 deletions(-)

diff --git a/python/mujoco/usd/component.py b/python/mujoco/usd/component.py
index 7f7dee638b..e61c775e2d 100644
--- a/python/mujoco/usd/component.py
+++ b/python/mujoco/usd/component.py
@@ -216,7 +216,7 @@ def _attach_material(self):
     UsdShade.MaterialBindingAPI(self.usd_mesh).Bind(mtl)
 
   def update(self, pos: np.ndarray, mat: np.ndarray, visible: bool, frame: int):
-    transformation_mat = mujoco.usd_utils.create_transform_matrix(
+    transformation_mat = mujoco.usd.utils.create_transform_matrix(
         rotation_matrix=mat, translation_vector=pos
     ).T
     self.transform_op.Set(Gf.Matrix4d(transformation_mat.tolist()), frame)
@@ -245,10 +245,12 @@ def __init__(
     self.rgba = rgba
     self.texture_file = texture_file
 
-    self.usd_prim = Usd.Prim()
-    self.usd_mesh = Usd.Mesh()
-    self.prim_mesh = Usd.PrimMesh()
-    self.transform_op = Usd.TransformOp()
+    # self.usd_prim = Usd.Prim()
+    # self.usd_mesh = Usd.Mesh()
+    # self.prim_mesh = Usd.PrimMesh()
+    # self.transform_op = Usd.TransformOp()
+
+    self.prim_mesh = None
 
   def _set_refinement_properties(self):
     self.usd_prim.GetAttribute("subdivisionScheme").Set("none")
@@ -364,7 +366,7 @@ def _attach_material(self):
     UsdShade.MaterialBindingAPI(self.usd_mesh).Bind(mtl)
 
   def update(self, pos: np.ndarray, mat: np.ndarray, visible: bool, frame: int):
-    transformation_mat = mujoco.usd_util.create_transform_matrix(
+    transformation_mat = mujoco.usd.utils.create_transform_matrix(
         rotation_matrix=mat, translation_vector=pos
     ).T
     self.transform_op.Set(Gf.Matrix4d(transformation_mat.tolist()), frame)
@@ -393,9 +395,9 @@ def __init__(
     self.rgba = rgba
     self.texture_file = texture_file
 
-    self.usd_prim = Usd.Prim()
-    self.usd_primitive_shape = Usd.PrimitiveShape()
-    self.transform_op = Usd.TransformOp()
+    # self.usd_prim = Usd.Prim()
+    # self.usd_primitive_shape = Usd.PrimitiveShape()
+    # self.transform_op = Usd.TransformOp()
 
   def _set_refinement_properties(self):
     self.usd_prim.GetAttribute("subdivisionScheme").Set("none")
@@ -481,7 +483,7 @@ def _attach_material(self):
     UsdShade.MaterialBindingAPI(self.usd_primitive_shape).Bind(mtl)
 
   def update(self, pos: np.ndarray, mat: np.ndarray, visible: bool, frame: int):
-    transformation_mat = mujoco.usd_util.create_transform_matrix(
+    transformation_mat = mujoco.usd.utils.create_transform_matrix(
         rotation_matrix=mat, translation_vector=pos
     ).T
     self.transform_op.Set(Gf.Matrix4d(transformation_mat.tolist()), frame)
@@ -851,7 +853,7 @@ def __init__(self, stage: Usd.Stage, obj_name: str):
 
   def update(self, cam_pos: np.ndarray, cam_mat: np.ndarray, frame: int):
 
-    transformation_mat = mujoco.usd_util.create_transform_matrix(
+    transformation_mat = mujoco.usd.utils.create_transform_matrix(
         rotation_matrix=cam_mat, translation_vector=cam_pos
     ).T
     self.transform_op.Set(Gf.Matrix4d(transformation_mat.tolist()), frame)
diff --git a/python/mujoco/usd/exporter.py b/python/mujoco/usd/exporter.py
index 34e1d33888..1557ec6ceb 100644
--- a/python/mujoco/usd/exporter.py
+++ b/python/mujoco/usd/exporter.py
@@ -239,7 +239,7 @@ def _load_geom(self, geom: mujoco.MjvGeom):
           stage=self.stage,
           model=self.model,
           geom=geom,
-          objid=geom_name,
+          obj_name=geom_name,
           dataid=self.model.geom_dataid[geom.objid],
           rgba=geom.rgba,
           texture_file=texture_file,
@@ -248,7 +248,7 @@ def _load_geom(self, geom: mujoco.MjvGeom):
       usd_geom = mujoco.usd.component.USDPlaneMesh(
           stage=self.stage,
           geom=geom,
-          objid=geom_name,
+          obj_name=geom_name,
           rgba=geom.rgba,
           texture_file=texture_file,
       )
@@ -256,7 +256,7 @@ def _load_geom(self, geom: mujoco.MjvGeom):
       usd_geom = mujoco.usd.component.USDSphereMesh(
           stage=self.stage,
           geom=geom,
-          objid=geom_name,
+          obj_name=geom_name,
           rgba=geom.rgba,
           texture_file=texture_file,
       )
@@ -264,7 +264,7 @@ def _load_geom(self, geom: mujoco.MjvGeom):
       usd_geom = mujoco.usd.component.USDCapsule(
           stage=self.stage,
           geom=geom,
-          objid=geom_name,
+          obj_name=geom_name,
           rgba=geom.rgba,
           texture_file=texture_file,
       )
@@ -272,7 +272,7 @@ def _load_geom(self, geom: mujoco.MjvGeom):
       usd_geom = mujoco.usd.component.USDEllipsoid(
           stage=self.stage,
           geom=geom,
-          objid=geom_name,
+          obj_name=geom_name,
           rgba=geom.rgba,
           texture_file=texture_file,
       )
@@ -280,7 +280,7 @@ def _load_geom(self, geom: mujoco.MjvGeom):
       usd_geom = mujoco.usd.component.USDCylinderMesh(
           stage=self.stage,
           geom=geom,
-          objid=geom_name,
+          obj_name=geom_name,
           rgba=geom.rgba,
           texture_file=texture_file,
       )
@@ -288,7 +288,7 @@ def _load_geom(self, geom: mujoco.MjvGeom):
       usd_geom = mujoco.usd.component.USDCubeMesh(
           stage=self.stage,
           geom=geom,
-          objid=geom_name,
+          obj_name=geom_name,
           rgba=geom.rgba,
           texture_file=texture_file,
       )
@@ -331,7 +331,7 @@ def _load_lights(self):
     for i in range(self.scene.nlight):
       light = self.scene.lights[i]
       if not np.allclose(light.pos, [0, 0, 0]):
-        self.usd_lights.append(mujoco.usd.component.USDSphereLight(stage=self.stage, objid=i))
+        self.usd_lights.append(mujoco.usd.component.USDSphereLight(stage=self.stage, obj_name=i))
       else:
         self.usd_lights.append(None)
 
@@ -356,7 +356,7 @@ def _load_cameras(self):
     self.usd_cameras = []
     if self.camera_names is not None:
       for name in self.camera_names:
-        self.usd_cameras.append(mujoco.usd.USDCamera(stage=self.stage, objid=name))
+        self.usd_cameras.append(mujoco.usd.USDCamera(stage=self.stage, obj_name=name))
 
   def _update_cameras(
       self,
@@ -391,16 +391,16 @@ def add_light(
       intensity: int,
       radius: Optional[float] = 1.0,
       color: Optional[np.ndarray] = np.array([0.3, 0.3, 0.3]),
-      objid: Optional[int] = 1,
+      obj_name: Optional[str] = "light_1",
       light_type: Optional[str] = "sphere",
   ):
 
     if light_type == "sphere":
-      new_light = mujoco.usd.component.USDSphereLight(stage=self.stage, objid=objid, radius=radius)
+      new_light = mujoco.usd.component.USDSphereLight(stage=self.stage, obj_name=obj_name, radius=radius)
 
       new_light.update(pos=pos, intensity=intensity, color=color, frame=0)
     elif light_type == "dome":
-      new_light = mujoco.usd.component.USDDomeLight(stage=self.stage, objid=objid)
+      new_light = mujoco.usd.component.USDDomeLight(stage=self.stage, obj_name=obj_name)
 
       new_light.update(intensity=intensity, color=color, frame=0)
 
@@ -408,9 +408,9 @@ def add_camera(
       self,
       pos: List[float],
       rotation_xyz: List[float],
-      objid: Optional[int] = 1,
+      obj_name: Optional[str] = "camera_1",
   ):
-    new_camera = mujoco.usd.component.USDCamera(stage=self.stage, objid=objid)
+    new_camera = mujoco.usd.component.USDCamera(stage=self.stage, obj_name=obj_name)
 
     r = scipy.spatial.transform.Rotation.from_euler(
         "xyz", rotation_xyz, degrees=True)

From 67a9f91c005ed39576fb659ceaaf3611ec85bc78 Mon Sep 17 00:00:00 2001
From: Abhishek Joshi <abhishekjoshinj@gmail.com>
Date: Tue, 2 Apr 2024 15:11:37 -0400
Subject: [PATCH 06/24] updating demo script

---
 python/mujoco/usd/component.py | 9 ---------
 python/mujoco/usd/demo.py      | 2 +-
 2 files changed, 1 insertion(+), 10 deletions(-)

diff --git a/python/mujoco/usd/component.py b/python/mujoco/usd/component.py
index e61c775e2d..094a636034 100644
--- a/python/mujoco/usd/component.py
+++ b/python/mujoco/usd/component.py
@@ -245,11 +245,6 @@ def __init__(
     self.rgba = rgba
     self.texture_file = texture_file
 
-    # self.usd_prim = Usd.Prim()
-    # self.usd_mesh = Usd.Mesh()
-    # self.prim_mesh = Usd.PrimMesh()
-    # self.transform_op = Usd.TransformOp()
-
     self.prim_mesh = None
 
   def _set_refinement_properties(self):
@@ -395,10 +390,6 @@ def __init__(
     self.rgba = rgba
     self.texture_file = texture_file
 
-    # self.usd_prim = Usd.Prim()
-    # self.usd_primitive_shape = Usd.PrimitiveShape()
-    # self.transform_op = Usd.TransformOp()
-
   def _set_refinement_properties(self):
     self.usd_prim.GetAttribute("subdivisionScheme").Set("none")
 
diff --git a/python/mujoco/usd/demo.py b/python/mujoco/usd/demo.py
index 11861d0ddc..8cc6f12647 100644
--- a/python/mujoco/usd/demo.py
+++ b/python/mujoco/usd/demo.py
@@ -4,7 +4,7 @@
 if __name__ == "__main__":
 
   # load a model to mujoco
-  m = mujoco.MjModel.from_xml_path("/Users/abhishek/Documents/research/mujoco/model/cards/cards.xml")
+  m = mujoco.MjModel.from_xml_path("/Users/abhishek/Documents/research/mujoco/model/humanoid/humanoid.xml")
   d = mujoco.MjData(m)
 
   # create an instance of the USDExporter

From f1fa9c0b8ba9c4a26e4d2284236970aa9953882c Mon Sep 17 00:00:00 2001
From: Abhishek Joshi <abhishekjoshinj@gmail.com>
Date: Thu, 4 Apr 2024 21:10:15 -0400
Subject: [PATCH 07/24] combining shapes into one class

---
 python/mujoco/usd/__init__.py  |   3 +-
 python/mujoco/usd/component.py | 327 +++++----------------------------
 python/mujoco/usd/demo.py      |  14 +-
 python/mujoco/usd/exporter.py  |  60 ++----
 python/mujoco/usd/shapes.py    | 129 +++++++++++++
 5 files changed, 199 insertions(+), 334 deletions(-)

diff --git a/python/mujoco/usd/__init__.py b/python/mujoco/usd/__init__.py
index 1bb0c9522d..b3c238f53a 100644
--- a/python/mujoco/usd/__init__.py
+++ b/python/mujoco/usd/__init__.py
@@ -1,3 +1,4 @@
 from .exporter import *
 from .component import *
-from .utils import *
\ No newline at end of file
+from .utils import *
+from .shapes import *
\ No newline at end of file
diff --git a/python/mujoco/usd/component.py b/python/mujoco/usd/component.py
index fbd99a2ff8..b883e3b1a8 100644
--- a/python/mujoco/usd/component.py
+++ b/python/mujoco/usd/component.py
@@ -15,7 +15,12 @@
 from typing import List, Optional, Tuple
 
 import mujoco
-import mujoco.usd.utils
+
+# import mujoco.usd.utils
+# import mujoco.usd.shapes as shapes_component
+import utils as utils_component
+import shapes as shapes_component
+
 import numpy as np
 
 # TODO: b/288149332 - Remove once USD Python Binding works well with pytype.
@@ -217,7 +222,7 @@ def _attach_material(self):
     UsdShade.MaterialBindingAPI(self.usd_mesh).Bind(mtl)
 
   def update(self, pos: np.ndarray, mat: np.ndarray, visible: bool, frame: int):
-    transformation_mat = mujoco.usd.utils.create_transform_matrix(
+    transformation_mat = utils_component.create_transform_matrix(
         rotation_matrix=mat, translation_vector=pos
     ).T
     self.transform_op.Set(Gf.Matrix4d(transformation_mat.tolist()), frame)
@@ -234,12 +239,14 @@ class USDPrimitiveMesh:
 
   def __init__(
       self,
+      mesh_config: List[dict],
       stage: Usd.Stage,
       geom: mujoco.MjvGeom,
       obj_name: str,
       rgba: np.ndarray = np.array([1, 1, 1, 1]),
       texture_file: Optional[str] = None,
   ):
+    self.mesh_config = mesh_config
     self.stage = stage
     self.geom = geom
     self.obj_name = obj_name
@@ -251,6 +258,40 @@ def __init__(
     self.prim_mesh = None
     self.transform_op = Gf.Matrix4d(1.)
 
+    _, self.prim_mesh = shapes_component.mesh_generator(mesh_config)
+
+    xform_path = f"/World/{self.obj_name}_Xform"
+    mesh_path = f"{xform_path}/{obj_name}"
+    self.usd_xform = UsdGeom.Xform.Define(stage, xform_path)
+    self.usd_mesh = UsdGeom.Mesh.Define(stage, mesh_path)
+    self.usd_prim = stage.GetPrimAtPath(mesh_path)
+
+    self.prim_mesh.translate(-self.prim_mesh.get_center())
+
+    mesh_vert, mesh_face, mesh_facenum = self._get_mesh_geometry()
+    self.usd_mesh.GetPointsAttr().Set(mesh_vert)
+    self.usd_mesh.GetFaceVertexCountsAttr().Set(
+        [3 for _ in range(mesh_facenum)]
+    )
+    self.usd_mesh.GetFaceVertexIndicesAttr().Set(mesh_face)
+
+    # setting mesh uv properties
+    mesh_texcoord, mesh_facetexcoord = self._get_uv_geometry()
+    self.texcoords = UsdGeom.PrimvarsAPI(self.usd_mesh).CreatePrimvar(
+        "UVMap", Sdf.ValueTypeNames.TexCoord2fArray, UsdGeom.Tokens.faceVarying
+    )
+
+    self.texcoords.Set(mesh_texcoord)
+    self.texcoords.SetIndices(Vt.IntArray([i for i in range(mesh_facenum * 3)]))
+
+    self._set_refinement_properties()
+
+    # setting attributes for the shape
+    self._attach_material()
+
+    # defining ops required by update function
+    self.transform_op = self.usd_xform.AddTransformOp()
+
   def _set_refinement_properties(self):
     self.usd_prim.GetAttribute("subdivisionScheme").Set("none")
 
@@ -365,7 +406,7 @@ def _attach_material(self):
     UsdShade.MaterialBindingAPI(self.usd_mesh).Bind(mtl)
 
   def update(self, pos: np.ndarray, mat: np.ndarray, visible: bool, frame: int):
-    transformation_mat = mujoco.usd.utils.create_transform_matrix(
+    transformation_mat = utils_component.create_transform_matrix(
         rotation_matrix=mat, translation_vector=pos
     ).T
     self.transform_op.Set(Gf.Matrix4d(transformation_mat.tolist()), frame)
@@ -377,284 +418,6 @@ def update_visibility(self, visible: bool, frame: int):
     else:
       self.usd_prim.GetAttribute("visibility").Set("invisible", frame)
 
-
-class USDCapsule(USDPrimitive):
-
-  def __init__(
-      self,
-      stage: Usd.Stage,
-      geom: mujoco.MjvGeom,
-      obj_name: str,
-      rgba: np.ndarray = np.array([1, 1, 1, 1]),
-      texture_file: Optional[str] = None,
-  ):
-
-    super().__init__(stage, geom, obj_name, rgba, texture_file)
-
-    xform_path = f"/World/Capsule_Xform_{obj_name}"
-    capsule_path = f"{xform_path}/Capsule_{obj_name}"
-    self.usd_xform = UsdGeom.Xform.Define(stage, xform_path)
-    self.usd_primitive_shape = UsdGeom.Capsule.Define(stage, capsule_path)
-    self.usd_prim = stage.GetPrimAtPath(capsule_path)
-
-    # defining ops required by update function
-    self.transform_op = self.usd_xform.AddTransformOp()
-    self.scale_op = self.usd_xform.AddScaleOp()
-
-    # setting attributes for the shape
-    self._set_size_attributes()
-    self._attach_material()
-
-    # self._set_refinement_properties()
-
-  def _set_size_attributes(self):
-    self.usd_primitive_shape.GetRadiusAttr().Set(float(self.geom.size[0]))
-    self.usd_primitive_shape.GetHeightAttr().Set(
-        float(self.geom.size[2] * 2)
-    )  # mujoco gives the half length
-
-
-class USDEllipsoid(USDPrimitive):
-
-  def __init__(
-      self,
-      stage: Usd.Stage,
-      geom: mujoco.MjvGeom,
-      obj_name: str,
-      rgba: np.ndarray = np.array([1, 1, 1, 1]),
-      texture_file: Optional[str] = None,
-  ):
-
-    super().__init__(stage, geom, obj_name, rgba, texture_file)
-
-    xform_path = f"/World/Ellipsoid_Xform_{obj_name}"
-    ellipsoid_path = f"{xform_path}/Ellipsoid_{obj_name}"
-    self.usd_xform = UsdGeom.Xform.Define(stage, xform_path)
-    self.usd_primitive_shape = UsdGeom.Sphere.Define(stage, ellipsoid_path)
-    self.usd_prim = stage.GetPrimAtPath(ellipsoid_path)
-
-    # defining ops required by update function
-    self.transform_op = self.usd_xform.AddTransformOp()
-    self.scale_op = self.usd_xform.AddScaleOp()
-
-    # setting attributes for the shape
-    self._set_size_attributes()
-    self._attach_material()
-
-    # self._set_refinement_properties()
-
-  def _set_size_attributes(self):
-    self.scale_op.Set(Gf.Vec3d(self.geom.size.tolist()))
-
-
-class USDCubeMesh(USDPrimitiveMesh):
-
-  def __init__(
-      self,
-      stage: Usd.Stage,
-      geom: mujoco.MjvGeom,
-      obj_name: str,
-      rgba: np.ndarray = np.array([1, 1, 1, 1]),
-      texture_file: Optional[str] = None,
-  ):
-
-    super().__init__(stage, geom, obj_name, rgba, texture_file)
-
-    xform_path = f"/World/CubeMesh_Xform_{obj_name}"
-    mesh_path = f"{xform_path}/CubeMesh_{obj_name}"
-    self.usd_xform = UsdGeom.Xform.Define(stage, xform_path)
-    self.usd_mesh = UsdGeom.Mesh.Define(stage, mesh_path)
-    self.usd_prim = stage.GetPrimAtPath(mesh_path)
-
-    self.prim_mesh = o3d.geometry.TriangleMesh.create_box(
-        width=self.geom.size[0] * 2,
-        height=self.geom.size[1] * 2,
-        depth=self.geom.size[2] * 2,
-    )
-
-    self.prim_mesh.translate(-self.prim_mesh.get_center())
-
-    mesh_vert, mesh_face, mesh_facenum = self._get_mesh_geometry()
-    self.usd_mesh.GetPointsAttr().Set(mesh_vert)
-    self.usd_mesh.GetFaceVertexCountsAttr().Set(
-        [3 for _ in range(mesh_facenum)]
-    )
-    self.usd_mesh.GetFaceVertexIndicesAttr().Set(mesh_face)
-
-    # setting mesh uv properties
-    mesh_texcoord, mesh_facetexcoord = self._get_uv_geometry()
-    self.texcoords = UsdGeom.PrimvarsAPI(self.usd_mesh).CreatePrimvar(
-        "UVMap", Sdf.ValueTypeNames.TexCoord2fArray, UsdGeom.Tokens.faceVarying
-    )
-
-    self.texcoords.Set(mesh_texcoord)
-    self.texcoords.SetIndices(Vt.IntArray([i for i in range(mesh_facenum * 3)]))
-
-    self._set_refinement_properties()
-
-    # setting attributes for the shape
-    self._attach_material()
-
-    # defining ops required by update function
-    self.transform_op = self.usd_xform.AddTransformOp()
-
-
-class USDSphereMesh(USDPrimitiveMesh):
-
-  def __init__(
-      self,
-      stage: Usd.Stage,
-      geom: mujoco.MjvGeom,
-      obj_name: str,
-      rgba: np.ndarray = np.array([1, 1, 1, 1]),
-      texture_file: Optional[str] = None,
-  ):
-
-    super().__init__(stage, geom, obj_name, rgba, texture_file)
-
-    xform_path = f"/World/SphereMesh_Xform_{obj_name}"
-    mesh_path = f"{xform_path}/SphereMesh_{obj_name}"
-    self.usd_xform = UsdGeom.Xform.Define(stage, xform_path)
-    self.usd_mesh = UsdGeom.Mesh.Define(stage, mesh_path)
-    self.usd_prim = stage.GetPrimAtPath(mesh_path)
-
-    self.prim_mesh = o3d.geometry.TriangleMesh.create_sphere(
-        radius=float(self.geom.size[0]), create_uv_map=True
-    )
-
-    self.prim_mesh.translate(-self.prim_mesh.get_center())
-
-    mesh_vert, mesh_face, mesh_facenum = self._get_mesh_geometry()
-    self.usd_mesh.GetPointsAttr().Set(mesh_vert)
-    self.usd_mesh.GetFaceVertexCountsAttr().Set(
-        [3 for _ in range(mesh_facenum)]
-    )
-    self.usd_mesh.GetFaceVertexIndicesAttr().Set(mesh_face)
-
-    # setting mesh uv properties
-    mesh_texcoord, mesh_facetexcoord = self._get_uv_geometry()
-    self.texcoords = UsdGeom.PrimvarsAPI(self.usd_mesh).CreatePrimvar(
-        "UVMap", Sdf.ValueTypeNames.TexCoord2fArray, UsdGeom.Tokens.faceVarying
-    )
-
-    self.texcoords.Set(mesh_texcoord)
-    self.texcoords.SetIndices(Vt.IntArray([i for i in range(mesh_facenum * 3)]))
-
-    self._set_refinement_properties()
-
-    # setting attributes for the shape
-    self._attach_material()
-
-    # defining ops required by update function
-    self.transform_op = self.usd_xform.AddTransformOp()
-
-
-class USDCylinderMesh(USDPrimitiveMesh):
-
-  def __init__(
-      self,
-      stage: Usd.Stage,
-      geom: mujoco.MjvGeom,
-      obj_name: str,
-      rgba: np.ndarray = np.array([1, 1, 1, 1]),
-      texture_file: Optional[str] = None,
-  ):
-
-    super().__init__(stage, geom, obj_name, rgba, texture_file)
-
-    xform_path = f"/World/CylinderMesh_Xform_{obj_name}"
-    mesh_path = f"{xform_path}/CylinderMesh_{obj_name}"
-    self.usd_xform = UsdGeom.Xform.Define(stage, xform_path)
-    self.usd_mesh = UsdGeom.Mesh.Define(stage, mesh_path)
-    self.usd_prim = stage.GetPrimAtPath(mesh_path)
-
-    self.prim_mesh = o3d.geometry.TriangleMesh.create_cylinder(
-        radius=self.geom.size[0],
-        height=self.geom.size[2] * 2,
-        create_uv_map=True,
-    )
-
-    self.prim_mesh.translate(-self.prim_mesh.get_center())
-
-    mesh_vert, mesh_face, mesh_facenum = self._get_mesh_geometry()
-    self.usd_mesh.GetPointsAttr().Set(mesh_vert)
-    self.usd_mesh.GetFaceVertexCountsAttr().Set(
-        [3 for _ in range(mesh_facenum)]
-    )
-    self.usd_mesh.GetFaceVertexIndicesAttr().Set(mesh_face)
-
-    # setting mesh uv properties
-    mesh_texcoord, mesh_facetexcoord = self._get_uv_geometry()
-    self.texcoords = UsdGeom.PrimvarsAPI(self.usd_mesh).CreatePrimvar(
-        "UVMap", Sdf.ValueTypeNames.TexCoord2fArray, UsdGeom.Tokens.faceVarying
-    )
-
-    self.texcoords.Set(mesh_texcoord)
-    self.texcoords.SetIndices(Vt.IntArray([i for i in range(mesh_facenum * 3)]))
-
-    self._set_refinement_properties()
-
-    # setting attributes for the shape
-    self._attach_material()
-
-    # defining ops required by update function
-    self.transform_op = self.usd_xform.AddTransformOp()
-
-
-class USDPlaneMesh(USDPrimitiveMesh):
-
-  def __init__(
-      self,
-      stage: Usd.Stage,
-      geom: mujoco.MjvGeom,
-      obj_name: str,
-      rgba: np.ndarray = np.array([1, 1, 1, 1]),
-      texture_file: Optional[str] = None,
-  ):
-
-    super().__init__(stage, geom, obj_name, rgba, texture_file)
-
-    xform_path = f"/World/Plane_Xform_{obj_name}"
-    plane_path = f"{xform_path}/PlaneMesh_{obj_name}"
-    self.usd_xform = UsdGeom.Xform.Define(stage, xform_path)
-    self.usd_mesh = UsdGeom.Mesh.Define(stage, plane_path)
-    self.usd_prim = stage.GetPrimAtPath(plane_path)
-
-    self.prim_mesh = o3d.geometry.TriangleMesh.create_box(
-        width=self.geom.size[0] * 2 if self.geom.size[0] > 0 else 100,
-        height=self.geom.size[1] * 2 if self.geom.size[1] > 0 else 100,
-        depth=0.001,
-        create_uv_map=True,
-        map_texture_to_each_face=True,
-    )
-
-    self.prim_mesh.translate(-self.prim_mesh.get_center())
-
-    mesh_vert, mesh_face, mesh_facenum = self._get_mesh_geometry()
-    self.usd_mesh.GetPointsAttr().Set(mesh_vert)
-    self.usd_mesh.GetFaceVertexCountsAttr().Set(
-        [3 for _ in range(mesh_facenum)]
-    )
-    self.usd_mesh.GetFaceVertexIndicesAttr().Set(mesh_face)
-
-    # setting mesh uv properties
-    mesh_texcoord, mesh_facetexcoord = self._get_uv_geometry()
-    self.texcoords = UsdGeom.PrimvarsAPI(self.usd_mesh).CreatePrimvar(
-        "UVMap", Sdf.ValueTypeNames.TexCoord2fArray, UsdGeom.Tokens.faceVarying
-    )
-
-    self.texcoords.Set(mesh_texcoord)
-    self.texcoords.SetIndices(Vt.IntArray([i for i in range(mesh_facenum * 3)]))
-
-    self._set_refinement_properties()
-
-    # setting attributes for the shape
-    self._attach_material()
-
-    # defining ops required by update function
-    self.transform_op = self.usd_xform.AddTransformOp()
-
-
 class USDSphereLight:
 
   def __init__(
@@ -732,7 +495,7 @@ def __init__(self, stage: Usd.Stage, obj_name: str):
 
   def update(self, cam_pos: np.ndarray, cam_mat: np.ndarray, frame: int):
 
-    transformation_mat = mujoco.usd.utils.create_transform_matrix(
+    transformation_mat = utils_component.create_transform_matrix(
         rotation_matrix=cam_mat, translation_vector=cam_pos
     ).T
     self.transform_op.Set(Gf.Matrix4d(transformation_mat.tolist()), frame)
diff --git a/python/mujoco/usd/demo.py b/python/mujoco/usd/demo.py
index 0279a690f2..19b4c35814 100644
--- a/python/mujoco/usd/demo.py
+++ b/python/mujoco/usd/demo.py
@@ -1,19 +1,21 @@
+
 import mujoco
-from mujoco.usd import exporter
+# from mujoco.usd import exporter
+import exporter
 
 if __name__ == "__main__":
 
   # load a model to mujoco
-  m = mujoco.MjModel.from_xml_path("/Users/abhishek/Documents/research/mujoco/model/humanoid/humanoid.xml")
+  m = mujoco.MjModel.from_xml_path("/Users/abhishek/Documents/research/mujoco/model/car/car.xml")
   d = mujoco.MjData(m)
 
   # create an instance of the USDExporter
   exp = exporter.USDExporter(model=m)
 
-  mujoco.mj_step(m, d)
-
-  exp.update_scene(d)
+  for i in range(100):
+    mujoco.mj_step(m, d)
+    exp.update_scene(d)
 
-  exp.save_scene(filetype="usda")
+  exp.save_scene(filetype="usd")
 
 
diff --git a/python/mujoco/usd/exporter.py b/python/mujoco/usd/exporter.py
index cb069a057b..92ae7e02cf 100644
--- a/python/mujoco/usd/exporter.py
+++ b/python/mujoco/usd/exporter.py
@@ -15,7 +15,12 @@
 import os
 
 import mujoco
-import mujoco.usd.component as component_module
+
+# import mujoco.usd.shapes as shapes_module
+# import mujoco.usd.component as component_module
+import shapes as shapes_module
+import component as component_module
+
 import numpy as np
 import scipy
 import termcolor
@@ -234,7 +239,6 @@ def _load_geom(self, geom: mujoco.MjvGeom):
 
     texture_file = self.texture_files[geom.texid] if geom.texid != -1 else None
 
-    # handles meshes in scene
     if geom.type == mujoco.mjtGeom.mjGEOM_MESH:
       usd_geom = component_module.USDMesh(
           stage=self.stage,
@@ -245,56 +249,22 @@ def _load_geom(self, geom: mujoco.MjvGeom):
           rgba=geom.rgba,
           texture_file=texture_file,
       )
-    elif geom.type == mujoco.mjtGeom.mjGEOM_PLANE:
-      usd_geom = component_module.USDPlaneMesh(
-          stage=self.stage,
-          geom=geom,
-          obj_name=geom_name,
-          rgba=geom.rgba,
-          texture_file=texture_file,
-      )
-    elif geom.type == mujoco.mjtGeom.mjGEOM_SPHERE:
-      usd_geom = component_module.USDSphereMesh(
-          stage=self.stage,
-          geom=geom,
-          obj_name=geom_name,
-          rgba=geom.rgba,
-          texture_file=texture_file,
-      )
-    elif geom.type == mujoco.mjtGeom.mjGEOM_CAPSULE:
-      usd_geom = component_module.USDCapsule(
-          stage=self.stage,
-          geom=geom,
-          obj_name=geom_name,
-          rgba=geom.rgba,
-          texture_file=texture_file,
-      )
-    elif geom.type == mujoco.mjtGeom.mjGEOM_ELLIPSOID:
-      usd_geom = component_module.USDEllipsoid(
-          stage=self.stage,
-          geom=geom,
-          obj_name=geom_name,
-          rgba=geom.rgba,
-          texture_file=texture_file,
-      )
-    elif geom.type == mujoco.mjtGeom.mjGEOM_CYLINDER:
-      usd_geom = component_module.USDCylinderMesh(
-          stage=self.stage,
-          geom=geom,
-          obj_name=geom_name,
-          rgba=geom.rgba,
-          texture_file=texture_file,
+    else:
+
+      mesh_config = shapes_module.mesh_config_generator(
+          name=geom_name,
+          geom_type=geom.type,
+          size=geom.size   
       )
-    elif geom.type == mujoco.mjtGeom.mjGEOM_BOX:
-      usd_geom = component_module.USDCubeMesh(
+
+      usd_geom = component_module.USDPrimitiveMesh(
+          mesh_config=mesh_config,
           stage=self.stage,
           geom=geom,
           obj_name=geom_name,
           rgba=geom.rgba,
           texture_file=texture_file,
       )
-    else:
-      usd_geom = None
 
     self.geom_name2usd[geom_name] = usd_geom
 
diff --git a/python/mujoco/usd/shapes.py b/python/mujoco/usd/shapes.py
index e69de29bb2..2959e7da8f 100644
--- a/python/mujoco/usd/shapes.py
+++ b/python/mujoco/usd/shapes.py
@@ -0,0 +1,129 @@
+import copy
+import mujoco
+import pprint
+import numpy as np
+import open3d as o3d
+
+def mesh_config_generator(
+    name: str,
+    geom_type: mujoco.mjtGeom,
+    size: np.ndarray
+):
+
+    if geom_type == mujoco.mjtGeom.mjGEOM_PLANE:
+      return {
+        "name": name,
+        "box": {
+          "width": size[0] * 2 if size[0] > 0 else 100,
+          "height": size[1] * 2 if size[1] > 0 else 100,
+          "depth": 0.001,
+          "map_texture_to_each_face": True,
+        }
+      }
+    elif geom_type == mujoco.mjtGeom.mjGEOM_SPHERE:
+      return {
+        "name": name,
+        "sphere": {
+          "radius": float(size[0])
+        }
+      }
+    elif geom_type == mujoco.mjtGeom.mjGEOM_CAPSULE:
+      cylinder = mesh_config_generator(name, mujoco.mjtGeom.mjGEOM_CYLINDER, size)
+      left_sphere = mesh_config_generator(name, mujoco.mjtGeom.mjGEOM_SPHERE, size)
+      right_sphere = copy.deepcopy(left_sphere)
+      left_sphere["sphere"]["transform"] = {
+        "translate": (0, 0, -size[2])
+      }
+      right_sphere["sphere"]["transform"] = {
+        "translate": (0, 0, size[2])
+      } 
+      return {
+        "name": name,
+        "cylinder": cylinder["cylinder"],
+        "left_sphere": left_sphere["sphere"],
+        "right_sphere": right_sphere["sphere"],
+      }
+    elif geom_type == mujoco.mjtGeom.mjGEOM_ELLIPSOID:
+      sphere = mesh_config_generator(name, mujoco.mjtGeom.mjGEOM_SPHERE, [1.0])
+      sphere["sphere"]["transform"] = {
+        "scale": tuple(size)
+      }
+      return {
+        "name": name,
+        "sphere": sphere["sphere"],
+      }
+    elif geom_type == mujoco.mjtGeom.mjGEOM_CYLINDER:
+      return {
+        "name": name,
+        "cylinder": {
+          "radius": size[0],
+          "height": size[2] * 2,
+        }
+      }
+    elif geom_type == mujoco.mjtGeom.mjGEOM_BOX:
+      return {
+        "name": name,
+        "box": {
+          "width": size[0] * 2,
+          "height": size[1] * 2,
+          "depth": size[2] * 2,
+        }
+      }
+    else:
+      raise NotImplemented(f"{geom_type} primitive geom type not implemented with USD integration")
+
+
+def mesh_generator(
+    mesh_config: dict
+):
+
+    assert "name" in mesh_config
+
+    mesh = None
+
+    for shape, config in mesh_config.items():
+
+      if shape == "name":
+        continue
+
+      if "box" in shape:
+        prim_mesh = o3d.geometry.TriangleMesh.create_box(
+            width=mesh_config[shape]["width"],
+            height=mesh_config[shape]["height"],
+            depth=mesh_config[shape]["depth"],
+            create_uv_map=True,
+            map_texture_to_each_face=True,
+        )
+      elif "sphere" in shape:
+        prim_mesh = o3d.geometry.TriangleMesh.create_sphere(
+            radius=mesh_config[shape]["radius"],
+            create_uv_map=True
+        )
+      elif "cylinder" in shape:
+        prim_mesh = o3d.geometry.TriangleMesh.create_cylinder(
+            radius=mesh_config[shape]["radius"],
+            height=mesh_config[shape]["height"],
+            create_uv_map=True,
+        )
+
+      if "transform" in config:
+        for transform, val in config["transform"].items():
+          if transform == "translate":
+            prim_mesh.translate(val)
+          if transform == "scale":
+            prim_mesh.vertices = o3d.utility.Vector3dVector(
+              np.asarray(prim_mesh.vertices) * np.array(val))
+
+      if not mesh:
+        mesh = prim_mesh
+      else:
+        mesh += prim_mesh
+
+    return mesh_config["name"], mesh
+      
+
+
+
+
+    
+

From 87a7da6cf077454af2b02ca57723149ca4e11f2c Mon Sep 17 00:00:00 2001
From: Abhishek Joshi <abhishekjoshinj@gmail.com>
Date: Wed, 10 Apr 2024 12:00:05 -0500
Subject: [PATCH 08/24] updating capsule to consist of hemispheres instead of
 spheres

---
 python/mujoco/usd/demo.py   |  2 +-
 python/mujoco/usd/shapes.py | 76 +++++++++++++++++++++++++++++--------
 python/mujoco/usd/test.py   | 43 +++++++++++++++++++++
 3 files changed, 104 insertions(+), 17 deletions(-)
 create mode 100644 python/mujoco/usd/test.py

diff --git a/python/mujoco/usd/demo.py b/python/mujoco/usd/demo.py
index 19b4c35814..8634653089 100644
--- a/python/mujoco/usd/demo.py
+++ b/python/mujoco/usd/demo.py
@@ -6,7 +6,7 @@
 if __name__ == "__main__":
 
   # load a model to mujoco
-  m = mujoco.MjModel.from_xml_path("/Users/abhishek/Documents/research/mujoco/model/car/car.xml")
+  m = mujoco.MjModel.from_xml_path("/Users/abhishek/Documents/research/mujoco/model/humanoid/humanoid.xml")
   d = mujoco.MjData(m)
 
   # create an instance of the USDExporter
diff --git a/python/mujoco/usd/shapes.py b/python/mujoco/usd/shapes.py
index 2959e7da8f..0cd6842eba 100644
--- a/python/mujoco/usd/shapes.py
+++ b/python/mujoco/usd/shapes.py
@@ -4,6 +4,30 @@
 import numpy as np
 import open3d as o3d
 
+def create_hemisphere(
+    radius: float,
+    resolution: int = 20,
+    theta_steps: int = 50,
+    phi_steps: int = 50
+):
+
+    points = []
+    for i in range(phi_steps + 1):
+        phi = np.pi / 2 * i / phi_steps
+        for j in range(theta_steps + 1):
+            theta = 2 * np.pi * j / theta_steps
+            x = radius * np.sin(phi) * np.cos(theta)
+            y = radius * np.sin(phi) * np.sin(theta)
+            z = radius * np.cos(phi)
+            points.append([x, y, z])
+
+    pcd = o3d.geometry.PointCloud()
+    pcd.points = o3d.utility.Vector3dVector(points)
+
+    mesh = pcd.compute_convex_hull()[0]
+
+    return mesh
+
 def mesh_config_generator(
     name: str,
     geom_type: mujoco.mjtGeom,
@@ -29,19 +53,22 @@ def mesh_config_generator(
       }
     elif geom_type == mujoco.mjtGeom.mjGEOM_CAPSULE:
       cylinder = mesh_config_generator(name, mujoco.mjtGeom.mjGEOM_CYLINDER, size)
-      left_sphere = mesh_config_generator(name, mujoco.mjtGeom.mjGEOM_SPHERE, size)
-      right_sphere = copy.deepcopy(left_sphere)
-      left_sphere["sphere"]["transform"] = {
-        "translate": (0, 0, -size[2])
-      }
-      right_sphere["sphere"]["transform"] = {
-        "translate": (0, 0, size[2])
-      } 
       return {
         "name": name,
         "cylinder": cylinder["cylinder"],
-        "left_sphere": left_sphere["sphere"],
-        "right_sphere": right_sphere["sphere"],
+        "left_hemisphere": {
+          "radius": size[0],
+          "transform": {
+            "translate": (0, 0, -size[2]),
+            "rotate": (np.pi, 0, 0)
+          }
+        },
+        "right_hemisphere": {
+          "radius": size[0],
+          "transform": {
+            "translate": (0, 0, size[2])
+          }
+        },
       }
     elif geom_type == mujoco.mjtGeom.mjGEOM_ELLIPSOID:
       sphere = mesh_config_generator(name, mujoco.mjtGeom.mjGEOM_SPHERE, [1.0])
@@ -94,6 +121,10 @@ def mesh_generator(
             create_uv_map=True,
             map_texture_to_each_face=True,
         )
+      elif "hemisphere" in shape: 
+        prim_mesh = create_hemisphere(
+          radius=mesh_config[shape]["radius"]
+        )
       elif "sphere" in shape:
         prim_mesh = o3d.geometry.TriangleMesh.create_sphere(
             radius=mesh_config[shape]["radius"],
@@ -107,12 +138,25 @@ def mesh_generator(
         )
 
       if "transform" in config:
-        for transform, val in config["transform"].items():
-          if transform == "translate":
-            prim_mesh.translate(val)
-          if transform == "scale":
-            prim_mesh.vertices = o3d.utility.Vector3dVector(
-              np.asarray(prim_mesh.vertices) * np.array(val))
+
+        if "rotate" in config["transform"]:
+          R = mesh.get_rotation_matrix_from_xyz(config["transform"]["rotate"])
+          prim_mesh.rotate(R, center=(0, 0, 0))
+        if "scale" in config["transform"]:
+          prim_mesh.vertices = o3d.utility.Vector3dVector(
+          np.asarray(prim_mesh.vertices) * np.array(config["transform"]["scale"]))
+        if "translate" in config["transform"]:
+          prim_mesh.translate(config["transform"]["translate"])
+
+        # for transform, val in config["transform"].items():
+        #   if transform == "translate":
+        #     prim_mesh.translate(val)
+        #   elif transform == "scale":
+        #     prim_mesh.vertices = o3d.utility.Vector3dVector(
+        #       np.asarray(prim_mesh.vertices) * np.array(val))
+        #   elif transform == "rotate":
+        #     R = mesh.get_rotation_matrix_from_xyz(val)
+        #     prim_mesh.rotate(R, center=(0, 0, 0))
 
       if not mesh:
         mesh = prim_mesh
diff --git a/python/mujoco/usd/test.py b/python/mujoco/usd/test.py
new file mode 100644
index 0000000000..0c1896719d
--- /dev/null
+++ b/python/mujoco/usd/test.py
@@ -0,0 +1,43 @@
+import open3d as o3d
+import numpy as np
+
+import open3d as o3d
+import numpy as np
+
+# Define parameters
+radius = 1.0  # Radius of the hemisphere
+resolution = 20  # Number of points per circle
+theta_steps = 20  # Number of vertical steps (slices)
+phi_steps = 20  # Number of horizontal steps
+
+# Generate points for the hemisphere
+points = []
+for i in range(phi_steps + 1):
+    phi = np.pi / 2 * i / phi_steps
+    for j in range(theta_steps + 1):
+        theta = 2 * np.pi * j / theta_steps
+        x = radius * np.sin(phi) * np.cos(theta)
+        y = radius * np.sin(phi) * np.sin(theta)
+        z = radius * np.cos(phi)
+        points.append([x, y, z])
+
+# Create Open3D point cloud
+pcd = o3d.geometry.PointCloud()
+pcd.points = o3d.utility.Vector3dVector(points)
+
+# Convert point cloud to mesh - alpha
+# mesh = o3d.geometry.TriangleMesh.create_from_point_cloud_alpha_shape(pcd, alpha=10)
+
+# Convert point cloud to mesh - ball pivoting
+# radii = [0.005, 0.01, 0.02, 0.04]
+# pcd.estimate_normals(
+#     search_param=o3d.geometry.KDTreeSearchParamHybrid(radius=1, max_nn=30))
+# mesh = o3d.geometry.TriangleMesh.create_from_point_cloud_ball_pivoting(
+#     pcd, o3d.utility.DoubleVector(radii)
+# )
+
+# Visualize the mesh
+o3d.visualization.draw_geometries([mesh])
+
+# Visualize the point cloud
+# o3d.visualization.draw_geometries([pcd])
\ No newline at end of file

From bd41b69ebbc63451a984456e174077bdeb8af9c5 Mon Sep 17 00:00:00 2001
From: Abhishek Joshi <abhishekjoshinj@gmail.com>
Date: Wed, 10 Apr 2024 12:03:22 -0500
Subject: [PATCH 09/24] removing test file

---
 python/mujoco/usd/test.py | 43 ---------------------------------------
 1 file changed, 43 deletions(-)
 delete mode 100644 python/mujoco/usd/test.py

diff --git a/python/mujoco/usd/test.py b/python/mujoco/usd/test.py
deleted file mode 100644
index 0c1896719d..0000000000
--- a/python/mujoco/usd/test.py
+++ /dev/null
@@ -1,43 +0,0 @@
-import open3d as o3d
-import numpy as np
-
-import open3d as o3d
-import numpy as np
-
-# Define parameters
-radius = 1.0  # Radius of the hemisphere
-resolution = 20  # Number of points per circle
-theta_steps = 20  # Number of vertical steps (slices)
-phi_steps = 20  # Number of horizontal steps
-
-# Generate points for the hemisphere
-points = []
-for i in range(phi_steps + 1):
-    phi = np.pi / 2 * i / phi_steps
-    for j in range(theta_steps + 1):
-        theta = 2 * np.pi * j / theta_steps
-        x = radius * np.sin(phi) * np.cos(theta)
-        y = radius * np.sin(phi) * np.sin(theta)
-        z = radius * np.cos(phi)
-        points.append([x, y, z])
-
-# Create Open3D point cloud
-pcd = o3d.geometry.PointCloud()
-pcd.points = o3d.utility.Vector3dVector(points)
-
-# Convert point cloud to mesh - alpha
-# mesh = o3d.geometry.TriangleMesh.create_from_point_cloud_alpha_shape(pcd, alpha=10)
-
-# Convert point cloud to mesh - ball pivoting
-# radii = [0.005, 0.01, 0.02, 0.04]
-# pcd.estimate_normals(
-#     search_param=o3d.geometry.KDTreeSearchParamHybrid(radius=1, max_nn=30))
-# mesh = o3d.geometry.TriangleMesh.create_from_point_cloud_ball_pivoting(
-#     pcd, o3d.utility.DoubleVector(radii)
-# )
-
-# Visualize the mesh
-o3d.visualization.draw_geometries([mesh])
-
-# Visualize the point cloud
-# o3d.visualization.draw_geometries([pcd])
\ No newline at end of file

From 916b54b2b726fdcad1b5bef423ea4e93b2fd49c8 Mon Sep 17 00:00:00 2001
From: Abhishek Joshi <abhishekjoshinj@gmail.com>
Date: Wed, 10 Apr 2024 12:20:10 -0500
Subject: [PATCH 10/24] adding support for unnamed geoms

---
 python/mujoco/usd/demo.py     | 2 +-
 python/mujoco/usd/exporter.py | 7 +++++--
 2 files changed, 6 insertions(+), 3 deletions(-)

diff --git a/python/mujoco/usd/demo.py b/python/mujoco/usd/demo.py
index 8634653089..bf661328b7 100644
--- a/python/mujoco/usd/demo.py
+++ b/python/mujoco/usd/demo.py
@@ -6,7 +6,7 @@
 if __name__ == "__main__":
 
   # load a model to mujoco
-  m = mujoco.MjModel.from_xml_path("/Users/abhishek/Documents/research/mujoco/model/humanoid/humanoid.xml")
+  m = mujoco.MjModel.from_xml_path("/Users/abhishek/Documents/research/mujoco/test/engine/testdata/catenary.xml")
   d = mujoco.MjData(m)
 
   # create an instance of the USDExporter
diff --git a/python/mujoco/usd/exporter.py b/python/mujoco/usd/exporter.py
index 92ae7e02cf..fdb63a6c0c 100644
--- a/python/mujoco/usd/exporter.py
+++ b/python/mujoco/usd/exporter.py
@@ -235,6 +235,9 @@ def _load_textures(self):
   def _load_geom(self, geom: mujoco.MjvGeom):
 
     geom_name = mujoco.mj_id2name(self.model, geom.objtype, geom.objid)
+    if not geom_name:
+      geom_name = f"unnamed_geom{geom.objid}"
+
     assert geom_name not in self.geom_name2usd
 
     texture_file = self.texture_files[geom.texid] if geom.texid != -1 else None
@@ -250,13 +253,11 @@ def _load_geom(self, geom: mujoco.MjvGeom):
           texture_file=texture_file,
       )
     else:
-
       mesh_config = shapes_module.mesh_config_generator(
           name=geom_name,
           geom_type=geom.type,
           size=geom.size   
       )
-
       usd_geom = component_module.USDPrimitiveMesh(
           mesh_config=mesh_config,
           stage=self.stage,
@@ -276,6 +277,8 @@ def _update_geoms(self):
     for i in range(self.scene.ngeom):
       geom = self.scene.geoms[i]
       geom_name = mujoco.mj_id2name(self.model, geom.objtype, geom.objid)
+      if not geom_name:
+        geom_name = f"unnamed_geom{geom.objid}"
 
       if geom_name not in self.geom_name2usd:
         self._load_geom(geom)

From a2dfc6d17eaad6db403c3a4e14eaeb22e26dd78a Mon Sep 17 00:00:00 2001
From: Abhishek Joshi <abhishekjoshinj@gmail.com>
Date: Wed, 10 Apr 2024 14:21:46 -0500
Subject: [PATCH 11/24] updating imports

---
 python/mujoco/usd/component.py | 6 ++----
 python/mujoco/usd/demo.py      | 3 +--
 python/mujoco/usd/exporter.py  | 6 ++----
 3 files changed, 5 insertions(+), 10 deletions(-)

diff --git a/python/mujoco/usd/component.py b/python/mujoco/usd/component.py
index b883e3b1a8..48b3e251c7 100644
--- a/python/mujoco/usd/component.py
+++ b/python/mujoco/usd/component.py
@@ -16,10 +16,8 @@
 
 import mujoco
 
-# import mujoco.usd.utils
-# import mujoco.usd.shapes as shapes_component
-import utils as utils_component
-import shapes as shapes_component
+import mujoco.usd.utils
+import mujoco.usd.shapes as shapes_component
 
 import numpy as np
 
diff --git a/python/mujoco/usd/demo.py b/python/mujoco/usd/demo.py
index bf661328b7..e8e8deb1ef 100644
--- a/python/mujoco/usd/demo.py
+++ b/python/mujoco/usd/demo.py
@@ -1,7 +1,6 @@
 
 import mujoco
-# from mujoco.usd import exporter
-import exporter
+from mujoco.usd import exporter
 
 if __name__ == "__main__":
 
diff --git a/python/mujoco/usd/exporter.py b/python/mujoco/usd/exporter.py
index fdb63a6c0c..ff5b24f3ab 100644
--- a/python/mujoco/usd/exporter.py
+++ b/python/mujoco/usd/exporter.py
@@ -16,10 +16,8 @@
 
 import mujoco
 
-# import mujoco.usd.shapes as shapes_module
-# import mujoco.usd.component as component_module
-import shapes as shapes_module
-import component as component_module
+import mujoco.usd.shapes as shapes_module
+import mujoco.usd.component as component_module
 
 import numpy as np
 import scipy

From 7a1e2bf61e60ef38061b9ca352213a91123543b4 Mon Sep 17 00:00:00 2001
From: Abhishek Joshi <abhishekjoshinj@gmail.com>
Date: Thu, 2 May 2024 17:23:48 -0500
Subject: [PATCH 12/24] adding demo file and unnamed geom fix

---
 python/mujoco/usd/component.py |  2 +-
 python/mujoco/usd/demo.py      | 53 ++++++++++++++++++++++++++++++----
 python/mujoco/usd/exporter.py  | 25 +++++++++++-----
 3 files changed, 67 insertions(+), 13 deletions(-)

diff --git a/python/mujoco/usd/component.py b/python/mujoco/usd/component.py
index 48b3e251c7..e91fc8e2ee 100644
--- a/python/mujoco/usd/component.py
+++ b/python/mujoco/usd/component.py
@@ -16,7 +16,7 @@
 
 import mujoco
 
-import mujoco.usd.utils
+import mujoco.usd.utils as utils_component
 import mujoco.usd.shapes as shapes_component
 
 import numpy as np
diff --git a/python/mujoco/usd/demo.py b/python/mujoco/usd/demo.py
index e8e8deb1ef..13b6f21fda 100644
--- a/python/mujoco/usd/demo.py
+++ b/python/mujoco/usd/demo.py
@@ -1,20 +1,63 @@
+import argparse
+from tqdm import tqdm
+from pathlib import Path
 
 import mujoco
 from mujoco.usd import exporter
 
-if __name__ == "__main__":
+def generate_usd_trajectory(args):
 
   # load a model to mujoco
-  m = mujoco.MjModel.from_xml_path("/Users/abhishek/Documents/research/mujoco/test/engine/testdata/catenary.xml")
+  model_path = args.model_path
+  m = mujoco.MjModel.from_xml_path(model_path)
   d = mujoco.MjData(m)
 
   # create an instance of the USDExporter
-  exp = exporter.USDExporter(model=m)
+  exp = exporter.USDExporter(model=m,
+                             output_directory_name=Path(args.model_path).stem,
+                             output_directory_root=args.output_directory_root,
+                             camera_names=args.camera_names)
 
-  for i in range(100):
+  # step through the model for length steps
+  for i in tqdm(range(args.length)):
     mujoco.mj_step(m, d)
     exp.update_scene(d)
 
-  exp.save_scene(filetype="usd")
+  exp.save_scene(filetype=args.export_extension)
+
+
+if __name__ == "__main__":
+
+  parser = argparse.ArgumentParser()
+
+  parser.add_argument('--model_path', 
+                      type=str,
+                      required=True,
+                      help='path to mjcf xml model')
+
+  parser.add_argument('--length',
+                      type=int,
+                      default=100,
+                      help='length of trajectory to render')
+
+  parser.add_argument('--output_directory_root', 
+                      type=str,
+                      default="../usd_trajectories/",
+                      help='location where to create usd files')
+
+  parser.add_argument('--camera_names', 
+                      type=str,
+                      nargs='+',
+                      help='cameras to include in usd')
+
+  parser.add_argument('--export_extension', 
+                      type=str,
+                      default="usd",
+                      help='extension of exported file (can be usd, usda, or usdc)')
+
+  args = parser.parse_args()
+  generate_usd_trajectory(args)
+
+  
 
 
diff --git a/python/mujoco/usd/exporter.py b/python/mujoco/usd/exporter.py
index ff5b24f3ab..d4b03fae9d 100644
--- a/python/mujoco/usd/exporter.py
+++ b/python/mujoco/usd/exporter.py
@@ -128,7 +128,7 @@ def _initialize_usd_stage(self):
     UsdGeom.SetStageUpAxis(self.stage, UsdGeom.Tokens.z)
     self.stage.SetStartTimeCode(0)
     # add as user input
-    self.stage.SetTimeCodesPerSecond(24.0)
+    self.stage.SetTimeCodesPerSecond(60.0)
 
     default_prim = UsdGeom.Xform.Define(
         self.stage, Sdf.Path("/World")
@@ -232,9 +232,7 @@ def _load_textures(self):
 
   def _load_geom(self, geom: mujoco.MjvGeom):
 
-    geom_name = mujoco.mj_id2name(self.model, geom.objtype, geom.objid)
-    if not geom_name:
-      geom_name = f"unnamed_geom{geom.objid}"
+    geom_name = self._get_geom_name(geom.objtype, geom.objid)
 
     assert geom_name not in self.geom_name2usd
 
@@ -271,12 +269,17 @@ def _update_geoms(self):
 
     geom_names = set(self.geom_name2usd.keys())
 
-    # iterate through all geoms in the scene and makes update
     for i in range(self.scene.ngeom):
       geom = self.scene.geoms[i]
       geom_name = mujoco.mj_id2name(self.model, geom.objtype, geom.objid)
       if not geom_name:
-        geom_name = f"unnamed_geom{geom.objid}"
+        geom_name = "None"
+      geom_name += f"_{geom.objid}"
+
+    # iterate through all geoms in the scene and makes update
+    for i in range(self.scene.ngeom):
+      geom = self.scene.geoms[i]
+      geom_name = self._get_geom_name(geom.objtype, geom.objid)
 
       if geom_name not in self.geom_name2usd:
         self._load_geom(geom)
@@ -394,9 +397,17 @@ def add_camera(
     new_camera.update(cam_pos=np.array(pos), cam_mat=r.as_matrix(), frame=0)
 
   def save_scene(self, filetype: str = "usd"):
+    assert filetype in ["usd", "usda", "usdc"]
     self.stage.SetEndTimeCode(self.frame_count)
     self.stage.Export(
         f"{self.output_directory_root}/{self.output_directory_name}/frames/frame_{self.frame_count}_.{filetype}"
     )
     if self.verbose:
-      print(termcolor.colored(f"Writing frame_{self.frame_count}", "green"))
+      print(termcolor.colored(f"Completed writing frame_{self.frame_count}.{filetype}", "green"))
+
+  def _get_geom_name(self, objtype, objid):
+    geom_name = mujoco.mj_id2name(self.model, objtype, objid)
+    if not geom_name:
+      geom_name = "None"
+    geom_name += f"_{objid}"
+    return geom_name

From 2d6c2636878d5fd865fc679599d79a9dae1678ae Mon Sep 17 00:00:00 2001
From: Abhishek Joshi <abhishekjoshinj@gmail.com>
Date: Thu, 2 May 2024 17:29:18 -0500
Subject: [PATCH 13/24] removing outdated comments

---
 python/mujoco/usd/shapes.py | 10 ----------
 1 file changed, 10 deletions(-)

diff --git a/python/mujoco/usd/shapes.py b/python/mujoco/usd/shapes.py
index 0cd6842eba..2f5e580f94 100644
--- a/python/mujoco/usd/shapes.py
+++ b/python/mujoco/usd/shapes.py
@@ -148,16 +148,6 @@ def mesh_generator(
         if "translate" in config["transform"]:
           prim_mesh.translate(config["transform"]["translate"])
 
-        # for transform, val in config["transform"].items():
-        #   if transform == "translate":
-        #     prim_mesh.translate(val)
-        #   elif transform == "scale":
-        #     prim_mesh.vertices = o3d.utility.Vector3dVector(
-        #       np.asarray(prim_mesh.vertices) * np.array(val))
-        #   elif transform == "rotate":
-        #     R = mesh.get_rotation_matrix_from_xyz(val)
-        #     prim_mesh.rotate(R, center=(0, 0, 0))
-
       if not mesh:
         mesh = prim_mesh
       else:

From f6ee435005df7fead03ecf474061ae123aa404ae Mon Sep 17 00:00:00 2001
From: Abhishek Joshi <abhishekjoshinj@gmail.com>
Date: Sat, 4 May 2024 13:47:02 -0500
Subject: [PATCH 14/24] updating geom visibility logic; fixing infinite plane
 texture bug; adding frame skip arg to demo

---
 python/mujoco/usd/component.py | 49 +++++++++++++++-------
 python/mujoco/usd/demo.py      | 12 ++++--
 python/mujoco/usd/exporter.py  | 75 +++++++++++++++++++---------------
 3 files changed, 86 insertions(+), 50 deletions(-)

diff --git a/python/mujoco/usd/component.py b/python/mujoco/usd/component.py
index e91fc8e2ee..d7729e5233 100644
--- a/python/mujoco/usd/component.py
+++ b/python/mujoco/usd/component.py
@@ -16,8 +16,10 @@
 
 import mujoco
 
-import mujoco.usd.utils as utils_component
-import mujoco.usd.shapes as shapes_component
+# import mujoco.usd.utils as utils_component
+# import mujoco.usd.shapes as shapes_component
+import utils as utils_component
+import shapes as shapes_component
 
 import numpy as np
 
@@ -80,6 +82,8 @@ def __init__(
     # defining ops required by update function
     self.transform_op = self.usd_xform.AddTransformOp()
 
+    self.last_visible_frame = -2 # not an arbitary value, forces difference greater than 1 for visibility on 0th frame
+
   def get_facetexcoord_ranges(self, nmesh, arr):
     facetexcoords_ranges = [0]
     running_sum = 0
@@ -224,13 +228,18 @@ def update(self, pos: np.ndarray, mat: np.ndarray, visible: bool, frame: int):
         rotation_matrix=mat, translation_vector=pos
     ).T
     self.transform_op.Set(Gf.Matrix4d(transformation_mat.tolist()), frame)
-    self.update_visibility(visible, frame)
+    
+    if visible and frame - self.last_visible_frame > 1:
+      # non consecutive visible frames
+      self.update_visibility(False, max(0, self.last_visible_frame))
+      self.update_visibility(True, frame)
 
-  def update_visibility(self, visible: bool, frame: int):
     if visible:
-      self.usd_prim.GetAttribute("visibility").Set("inherited", frame)
-    else:
-      self.usd_prim.GetAttribute("visibility").Set("invisible", frame)
+      self.last_visible_frame = frame
+
+  def update_visibility(self, visible: bool, frame: int):
+    visibility_setting = "inherited" if visible else "invisible"
+    self.usd_prim.GetAttribute("visibility").Set(visibility_setting, frame)
 
 
 class USDPrimitiveMesh:
@@ -290,6 +299,8 @@ def __init__(
     # defining ops required by update function
     self.transform_op = self.usd_xform.AddTransformOp()
 
+    self.last_visible_frame = -2
+
   def _set_refinement_properties(self):
     self.usd_prim.GetAttribute("subdivisionScheme").Set("none")
 
@@ -298,14 +309,17 @@ def _get_uv_geometry(self):
     assert self.prim_mesh
 
     x_scale, y_scale = self.geom.texrepeat
-
     mesh_texcoord = np.array(self.prim_mesh.triangle_uvs)
     mesh_facetexcoord = np.asarray(self.prim_mesh.triangles)
 
     x_multiplier, y_multiplier = 1, 1
     if self.geom.texuniform:
-      x_multiplier, y_multiplier = self.geom.size[:2]
-
+      # x_multiplier, y_multiplier = self.geom.size[:2]
+      if "box" in self.mesh_config:
+        x_multiplier, y_multiplier = self.mesh_config["box"]["width"], self.mesh_config["box"]["height"]
+      elif "sphere" in self.mesh_config:
+        x_multiplier, y_multiplier = self.mesh_config["sphere"]["radius"], self.mesh_config["sphere"]["radius"]
+      
     mesh_texcoord[:, 0] *= x_scale * x_multiplier
     mesh_texcoord[:, 1] *= y_scale * y_multiplier
 
@@ -408,13 +422,18 @@ def update(self, pos: np.ndarray, mat: np.ndarray, visible: bool, frame: int):
         rotation_matrix=mat, translation_vector=pos
     ).T
     self.transform_op.Set(Gf.Matrix4d(transformation_mat.tolist()), frame)
-    self.update_visibility(visible, frame)
 
-  def update_visibility(self, visible: bool, frame: int):
+    if visible and frame - self.last_visible_frame > 1:
+      # non consecutive visible frames
+      self.update_visibility(False, max(0, self.last_visible_frame))
+      self.update_visibility(True, frame)
+
     if visible:
-      self.usd_prim.GetAttribute("visibility").Set("inherited", frame)
-    else:
-      self.usd_prim.GetAttribute("visibility").Set("invisible", frame)
+      self.last_visible_frame = frame
+
+  def update_visibility(self, visible: bool, frame: int):
+    visibility_setting = "inherited" if visible else "invisible"
+    self.usd_prim.GetAttribute("visibility").Set(visibility_setting, frame)
 
 class USDSphereLight:
 
diff --git a/python/mujoco/usd/demo.py b/python/mujoco/usd/demo.py
index 13b6f21fda..645fa2e48f 100644
--- a/python/mujoco/usd/demo.py
+++ b/python/mujoco/usd/demo.py
@@ -3,7 +3,8 @@
 from pathlib import Path
 
 import mujoco
-from mujoco.usd import exporter
+# from mujoco.usd import exporter
+import exporter as exporter
 
 def generate_usd_trajectory(args):
 
@@ -20,12 +21,12 @@ def generate_usd_trajectory(args):
 
   # step through the model for length steps
   for i in tqdm(range(args.length)):
-    mujoco.mj_step(m, d)
+    for i in range(args.steps_per_frame):
+      mujoco.mj_step(m, d)
     exp.update_scene(d)
 
   exp.save_scene(filetype=args.export_extension)
 
-
 if __name__ == "__main__":
 
   parser = argparse.ArgumentParser()
@@ -55,6 +56,11 @@ def generate_usd_trajectory(args):
                       default="usd",
                       help='extension of exported file (can be usd, usda, or usdc)')
 
+  parser.add_argument('--steps_per_frame',
+                      type=int,
+                      default=1,
+                      help='number of frames to skip for each rendering step')
+
   args = parser.parse_args()
   generate_usd_trajectory(args)
 
diff --git a/python/mujoco/usd/exporter.py b/python/mujoco/usd/exporter.py
index d4b03fae9d..745f430aeb 100644
--- a/python/mujoco/usd/exporter.py
+++ b/python/mujoco/usd/exporter.py
@@ -16,8 +16,10 @@
 
 import mujoco
 
-import mujoco.usd.shapes as shapes_module
-import mujoco.usd.component as component_module
+# import mujoco.usd.shapes as shapes_module
+# import mujoco.usd.component as component_module
+import shapes as shapes_module
+import component as component_module
 
 import numpy as np
 import scipy
@@ -102,7 +104,8 @@ def __init__(
     self.frame_count = 0  # maintains how many times we have saved the scene
     self.updates = 0
 
-    self.geom_name2usd = {}
+    self.geom_names = set()
+    self.geom_refs = {}
 
     # initializing rendering requirements
     self.renderer = mujoco.Renderer(model, height, width, max_geom)
@@ -215,7 +218,7 @@ def _load_textures(self):
       )
       img_path = os.path.join(
           relative_path, texture_file_name
-      )  # relative path, TODO: switch back to this
+      )
 
       self.texture_files.append(img_path)
 
@@ -232,9 +235,9 @@ def _load_textures(self):
 
   def _load_geom(self, geom: mujoco.MjvGeom):
 
-    geom_name = self._get_geom_name(geom.objtype, geom.objid)
+    geom_name = self._get_geom_name(geom)
 
-    assert geom_name not in self.geom_name2usd
+    assert geom_name not in self.geom_names
 
     texture_file = self.texture_files[geom.texid] if geom.texid != -1 else None
 
@@ -263,42 +266,30 @@ def _load_geom(self, geom: mujoco.MjvGeom):
           texture_file=texture_file,
       )
 
-    self.geom_name2usd[geom_name] = usd_geom
+    self.geom_names.add(geom_name)
+    self.geom_refs[geom_name] = usd_geom
 
   def _update_geoms(self):
 
-    geom_names = set(self.geom_name2usd.keys())
-
-    for i in range(self.scene.ngeom):
-      geom = self.scene.geoms[i]
-      geom_name = mujoco.mj_id2name(self.model, geom.objtype, geom.objid)
-      if not geom_name:
-        geom_name = "None"
-      geom_name += f"_{geom.objid}"
-
     # iterate through all geoms in the scene and makes update
     for i in range(self.scene.ngeom):
       geom = self.scene.geoms[i]
-      geom_name = self._get_geom_name(geom.objtype, geom.objid)
+      geom_name = self._get_geom_name(geom)
 
-      if geom_name not in self.geom_name2usd:
-        self._load_geom(geom)
-        if self.geom_name2usd[geom_name]:
-          self.geom_name2usd[geom_name].update_visibility(False, 0)
+      if "tendon" in geom_name:
+        # we handle tendon geoms separately to avoid naming conflicts
+        pass
+      else:
+        if geom_name not in self.geom_names:
+          # load a new object into USD
+          self._load_geom(geom)
 
-      if self.geom_name2usd[geom_name]:
-        self.geom_name2usd[geom_name].update(
+        self.geom_refs[geom_name].update(
             pos=geom.pos,
             mat=geom.mat,
             visible=geom.rgba[3] > 0,
             frame=self.updates,
         )
-      if geom_name in geom_names:
-        geom_names.remove(geom_name)
-
-    for geom_name in geom_names:
-      if self.geom_name2usd[geom_name]:
-        self.geom_name2usd[geom_name].update_visibility(False, self.updates)
 
   def _load_lights(self):
     # initializes an usd light object for every light in the scene
@@ -399,15 +390,35 @@ def add_camera(
   def save_scene(self, filetype: str = "usd"):
     assert filetype in ["usd", "usda", "usdc"]
     self.stage.SetEndTimeCode(self.frame_count)
+
+    # post-processing for visibility of geoms in scene
+    for _, geom_ref in self.geom_refs.items():
+      geom_ref.update_visibility(False, geom_ref.last_visible_frame+1)
+
     self.stage.Export(
         f"{self.output_directory_root}/{self.output_directory_name}/frames/frame_{self.frame_count}_.{filetype}"
     )
     if self.verbose:
       print(termcolor.colored(f"Completed writing frame_{self.frame_count}.{filetype}", "green"))
 
-  def _get_geom_name(self, objtype, objid):
-    geom_name = mujoco.mj_id2name(self.model, objtype, objid)
+  def _get_geom_name(self, geom):
+    # adding id as part of name for USD file
+    geom_name = mujoco.mj_id2name(self.model, geom.objtype, geom.objid)
     if not geom_name:
       geom_name = "None"
-    geom_name += f"_{objid}"
+    geom_name += f"_id{geom.objid}"
+
+    # adding additional naming information to differentiate between geoms and tendons
+    if geom.objtype == mujoco.mjtObj.mjOBJ_GEOM:
+      geom_name += "_geom"
+    elif geom.objtype == mujoco.mjtObj.mjOBJ_TENDON:
+      geom_name += "_tendon"
+
     return geom_name
+
+  # for debugging purposes, prints all geoms in scene including those part of tendons
+  def _print_scene_geom_info(self):
+    for i in range(self.scene.ngeom):
+      geom = self.scene.geoms[i]
+      geom_name = self._get_geom_name(geom)
+      print(i, geom_name)
\ No newline at end of file

From bb2c7ae556cc8b3a0c8fdba42ad3b51d4ee67235 Mon Sep 17 00:00:00 2001
From: Abhishek Joshi <abhishekjoshinj@gmail.com>
Date: Thu, 9 May 2024 08:42:29 -0500
Subject: [PATCH 15/24] adding initial tendon logic

---
 python/mujoco/usd/component.py | 35 ++++++++++++++---
 python/mujoco/usd/exporter.py  | 68 +++++++++++++++++++++++-----------
 2 files changed, 76 insertions(+), 27 deletions(-)

diff --git a/python/mujoco/usd/component.py b/python/mujoco/usd/component.py
index d7729e5233..28fa3efd2b 100644
--- a/python/mujoco/usd/component.py
+++ b/python/mujoco/usd/component.py
@@ -296,8 +296,9 @@ def __init__(
     # setting attributes for the shape
     self._attach_material()
 
-    # defining ops required by update function
+    # defining ops required by update functions
     self.transform_op = self.usd_xform.AddTransformOp()
+    self.scale_op = self.usd_xform.AddScaleOp()
 
     self.last_visible_frame = -2
 
@@ -314,7 +315,6 @@ def _get_uv_geometry(self):
 
     x_multiplier, y_multiplier = 1, 1
     if self.geom.texuniform:
-      # x_multiplier, y_multiplier = self.geom.size[:2]
       if "box" in self.mesh_config:
         x_multiplier, y_multiplier = self.mesh_config["box"]["width"], self.mesh_config["box"]["height"]
       elif "sphere" in self.mesh_config:
@@ -435,6 +435,33 @@ def update_visibility(self, visible: bool, frame: int):
     visibility_setting = "inherited" if visible else "invisible"
     self.usd_prim.GetAttribute("visibility").Set(visibility_setting, frame)
 
+  def update_scale(self, scale: np.ndarray, frame: int):
+    self.scale_op.Set(Gf.Vec3f(scale.tolist()), frame)
+
+class USDTendon(USDPrimitiveMesh):
+
+  def __init__(
+    self,
+    mesh_config: List[dict],
+    stage: Usd.Stage,
+    geom: mujoco.MjvGeom,
+    obj_name: str,
+    rgba: np.ndarray = np.array([1, 1, 1, 1]),
+    texture_file: Optional[str] = None,
+  ):
+    super().__init__(
+      mesh_config=mesh_config,
+      stage=stage,
+      geom=geom,
+      obj_name=obj_name,
+      rgba=rgba,
+      texture_file=texture_file
+    )
+
+  def update(self, pos: np.ndarray, mat: np.ndarray, scale: np.ndarray, visible: bool, frame: int):
+    super().update(pos, mat, visible, frame)
+    super().update_scale(scale, frame)
+
 class USDSphereLight:
 
   def __init__(
@@ -456,9 +483,7 @@ def __init__(
     # defining ops required by update function
     self.translate_op = self.usd_xform.AddTranslateOp()
 
-  def update(
-      self, pos: np.ndarray, intensity: int, color: np.ndarray, frame: int
-  ):
+  def update(self, pos: np.ndarray, intensity: int, color: np.ndarray, frame: int):
     self.translate_op.Set(Gf.Vec3d(pos.tolist()), frame)
 
     if not np.any(pos):
diff --git a/python/mujoco/usd/exporter.py b/python/mujoco/usd/exporter.py
index 745f430aeb..69129e63ba 100644
--- a/python/mujoco/usd/exporter.py
+++ b/python/mujoco/usd/exporter.py
@@ -233,7 +233,7 @@ def _load_textures(self):
           )
       )
 
-  def _load_geom(self, geom: mujoco.MjvGeom):
+  def _load_geom(self, geom: mujoco.MjvGeom, tendon: Optional[bool]=False):
 
     geom_name = self._get_geom_name(geom)
 
@@ -252,19 +252,35 @@ def _load_geom(self, geom: mujoco.MjvGeom):
           texture_file=texture_file,
       )
     else:
-      mesh_config = shapes_module.mesh_config_generator(
-          name=geom_name,
-          geom_type=geom.type,
-          size=geom.size   
-      )
-      usd_geom = component_module.USDPrimitiveMesh(
-          mesh_config=mesh_config,
-          stage=self.stage,
-          geom=geom,
-          obj_name=geom_name,
-          rgba=geom.rgba,
-          texture_file=texture_file,
-      )
+      if geom.objtype == mujoco.mjtObj.mjOBJ_TENDON:
+        # scale of a tendon is equivalent to its size, assume a unit length geom size
+        mesh_config = shapes_module.mesh_config_generator(
+            name=geom_name,
+            geom_type=geom.type,
+            size=np.array([1.0, 1.0, 1.0])
+        )
+        usd_geom = component_module.USDTendon(
+            mesh_config=mesh_config,
+            stage=self.stage,
+            geom=geom,
+            obj_name=geom_name,
+            rgba=geom.rgba,
+            texture_file=texture_file,
+        )
+      else:
+        mesh_config = shapes_module.mesh_config_generator(
+            name=geom_name,
+            geom_type=geom.type,
+            size=geom.size   
+        )
+        usd_geom = component_module.USDPrimitiveMesh(
+            mesh_config=mesh_config,
+            stage=self.stage,
+            geom=geom,
+            obj_name=geom_name,
+            rgba=geom.rgba,
+            texture_file=texture_file,
+        )
 
     self.geom_names.add(geom_name)
     self.geom_refs[geom_name] = usd_geom
@@ -276,14 +292,22 @@ def _update_geoms(self):
       geom = self.scene.geoms[i]
       geom_name = self._get_geom_name(geom)
 
-      if "tendon" in geom_name:
-        # we handle tendon geoms separately to avoid naming conflicts
-        pass
-      else:
-        if geom_name not in self.geom_names:
-          # load a new object into USD
-          self._load_geom(geom)
+      if geom_name not in self.geom_names:
+        # load a new object into USD
+        self._load_geom(geom)
 
+      # TODO: make all objects scale values equivalent to their size, set original object mehs to have unit dimensions
+      if geom.objtype == mujoco.mjtObj.mjOBJ_TENDON:
+        tendon_scale = geom.size
+        tendon_scale[2] /= 2
+        self.geom_refs[geom_name].update(
+            pos=geom.pos,
+            mat=geom.mat,
+            scale=tendon_scale,
+            visible=geom.rgba[3] > 0,
+            frame=self.updates,
+        )
+      else:
         self.geom_refs[geom_name].update(
             pos=geom.pos,
             mat=geom.mat,
@@ -412,7 +436,7 @@ def _get_geom_name(self, geom):
     if geom.objtype == mujoco.mjtObj.mjOBJ_GEOM:
       geom_name += "_geom"
     elif geom.objtype == mujoco.mjtObj.mjOBJ_TENDON:
-      geom_name += "_tendon"
+      geom_name += f"_tendon_segid{geom.segid}"
 
     return geom_name
 

From 1bbf44c99a9d084b49afc05c4f024919d1034f11 Mon Sep 17 00:00:00 2001
From: Abhishek Joshi <abhishekjoshinj@gmail.com>
Date: Mon, 27 May 2024 10:26:17 -0500
Subject: [PATCH 16/24] adding resolution parameter

---
 python/mujoco/usd/exporter.py | 1 -
 python/mujoco/usd/shapes.py   | 6 ++++--
 2 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/python/mujoco/usd/exporter.py b/python/mujoco/usd/exporter.py
index 69129e63ba..f536de39ac 100644
--- a/python/mujoco/usd/exporter.py
+++ b/python/mujoco/usd/exporter.py
@@ -296,7 +296,6 @@ def _update_geoms(self):
         # load a new object into USD
         self._load_geom(geom)
 
-      # TODO: make all objects scale values equivalent to their size, set original object mehs to have unit dimensions
       if geom.objtype == mujoco.mjtObj.mjOBJ_TENDON:
         tendon_scale = geom.size
         tendon_scale[2] /= 2
diff --git a/python/mujoco/usd/shapes.py b/python/mujoco/usd/shapes.py
index 2f5e580f94..66d9644b47 100644
--- a/python/mujoco/usd/shapes.py
+++ b/python/mujoco/usd/shapes.py
@@ -6,7 +6,6 @@
 
 def create_hemisphere(
     radius: float,
-    resolution: int = 20,
     theta_steps: int = 50,
     phi_steps: int = 50
 ):
@@ -101,7 +100,8 @@ def mesh_config_generator(
 
 
 def mesh_generator(
-    mesh_config: dict
+    mesh_config: dict,
+    resolution: int = 100,
 ):
 
     assert "name" in mesh_config
@@ -128,12 +128,14 @@ def mesh_generator(
       elif "sphere" in shape:
         prim_mesh = o3d.geometry.TriangleMesh.create_sphere(
             radius=mesh_config[shape]["radius"],
+            resolution=resolution,
             create_uv_map=True
         )
       elif "cylinder" in shape:
         prim_mesh = o3d.geometry.TriangleMesh.create_cylinder(
             radius=mesh_config[shape]["radius"],
             height=mesh_config[shape]["height"],
+            resolution=resolution,
             create_uv_map=True,
         )
 

From ba842fc0d1d963466c7f99ae2ad4d83fa7cd9561 Mon Sep 17 00:00:00 2001
From: Abhishek Joshi <abhishekjoshinj@gmail.com>
Date: Sun, 2 Jun 2024 21:16:58 -0500
Subject: [PATCH 17/24] decoupling tendons to subcomponents and fixing tendon
 scaling issue

---
 python/mujoco/usd/__init__.py               |   4 +-
 python/mujoco/usd/camera.py                 |  38 ++
 python/mujoco/usd/exporter.py               |  32 +-
 python/mujoco/usd/lights.py                 |  59 +++
 python/mujoco/usd/objects.py                | 497 ++++++++++++++++++++
 python/mujoco/usd/shapes.py                 |  38 +-
 python/mujoco/usd/{component.py => temp.py} |  38 +-
 7 files changed, 654 insertions(+), 52 deletions(-)
 create mode 100644 python/mujoco/usd/camera.py
 create mode 100644 python/mujoco/usd/lights.py
 create mode 100644 python/mujoco/usd/objects.py
 rename python/mujoco/usd/{component.py => temp.py} (96%)

diff --git a/python/mujoco/usd/__init__.py b/python/mujoco/usd/__init__.py
index b3c238f53a..9bdfaccfb0 100644
--- a/python/mujoco/usd/__init__.py
+++ b/python/mujoco/usd/__init__.py
@@ -1,4 +1,6 @@
 from .exporter import *
-from .component import *
+from .objects import *
+from .lights import *
+from .camera import *
 from .utils import *
 from .shapes import *
\ No newline at end of file
diff --git a/python/mujoco/usd/camera.py b/python/mujoco/usd/camera.py
new file mode 100644
index 0000000000..64c0103c22
--- /dev/null
+++ b/python/mujoco/usd/camera.py
@@ -0,0 +1,38 @@
+from typing import List, Optional, Tuple
+
+import utils as utils_component
+
+import numpy as np
+
+from pxr import Gf
+from pxr import Usd
+from pxr import UsdGeom
+
+class USDCamera:
+
+  def __init__(self, stage: Usd.Stage, obj_name: str):
+    self.stage = stage
+
+    xform_path = f"/World/Camera_Xform_{obj_name}"
+    camera_path = f"{xform_path}/Camera_{obj_name}"
+    self.usd_xform = UsdGeom.Xform.Define(stage, xform_path)
+    self.usd_camera = UsdGeom.Camera.Define(stage, camera_path)
+    self.usd_prim = stage.GetPrimAtPath(camera_path)
+
+    # defining ops required by update function
+    self.transform_op = self.usd_xform.AddTransformOp()
+
+    # self.usd_camera.CreateFocalLengthAttr().Set(18.14756) # default in omniverse
+    self.usd_camera.CreateFocalLengthAttr().Set(12)
+    self.usd_camera.CreateFocusDistanceAttr().Set(400)
+
+    self.usd_camera.GetHorizontalApertureAttr().Set(12)
+
+    self.usd_camera.GetClippingRangeAttr().Set(Gf.Vec2f(1e-4, 1e6))
+
+  def update(self, cam_pos: np.ndarray, cam_mat: np.ndarray, frame: int):
+
+    transformation_mat = utils_component.create_transform_matrix(
+        rotation_matrix=cam_mat, translation_vector=cam_pos
+    ).T
+    self.transform_op.Set(Gf.Matrix4d(transformation_mat.tolist()), frame)
\ No newline at end of file
diff --git a/python/mujoco/usd/exporter.py b/python/mujoco/usd/exporter.py
index f536de39ac..371ca5bfcc 100644
--- a/python/mujoco/usd/exporter.py
+++ b/python/mujoco/usd/exporter.py
@@ -17,9 +17,11 @@
 import mujoco
 
 # import mujoco.usd.shapes as shapes_module
-# import mujoco.usd.component as component_module
+# import mujoco.usd.component as object_module
 import shapes as shapes_module
-import component as component_module
+import objects as object_module
+import lights as light_module
+import camera as camera_module
 
 import numpy as np
 import scipy
@@ -181,7 +183,6 @@ def update_scene(
     # update the mujoco renderer
     self.renderer.update_scene(data, scene_option=scene_option)
 
-    # TODO: update scene options
     if self.updates == 0:
       self._initialize_usd_stage()
 
@@ -195,7 +196,6 @@ def update_scene(
     self.updates += 1
 
   def _load_textures(self):
-    # TODO: remove code once added internally to mujoco
     data_adr = 0
     self.texture_files = []
     for texture_id in tqdm.tqdm(range(self.model.ntex)):
@@ -241,8 +241,9 @@ def _load_geom(self, geom: mujoco.MjvGeom, tendon: Optional[bool]=False):
 
     texture_file = self.texture_files[geom.texid] if geom.texid != -1 else None
 
+    # handling meshes in our scene
     if geom.type == mujoco.mjtGeom.mjGEOM_MESH:
-      usd_geom = component_module.USDMesh(
+      usd_geom = object_module.USDMesh(
           stage=self.stage,
           model=self.model,
           geom=geom,
@@ -252,14 +253,15 @@ def _load_geom(self, geom: mujoco.MjvGeom, tendon: Optional[bool]=False):
           texture_file=texture_file,
       )
     else:
+      # handling tendons in our scene
       if geom.objtype == mujoco.mjtObj.mjOBJ_TENDON:
-        # scale of a tendon is equivalent to its size, assume a unit length geom size
         mesh_config = shapes_module.mesh_config_generator(
             name=geom_name,
             geom_type=geom.type,
-            size=np.array([1.0, 1.0, 1.0])
+            size=np.array([1.0, 1.0, 1.0]),
+            decouple=True
         )
-        usd_geom = component_module.USDTendon(
+        usd_geom = object_module.USDTendon(
             mesh_config=mesh_config,
             stage=self.stage,
             geom=geom,
@@ -267,13 +269,14 @@ def _load_geom(self, geom: mujoco.MjvGeom, tendon: Optional[bool]=False):
             rgba=geom.rgba,
             texture_file=texture_file,
         )
+      # handling primitives in our scene
       else:
         mesh_config = shapes_module.mesh_config_generator(
             name=geom_name,
             geom_type=geom.type,
             size=geom.size   
         )
-        usd_geom = component_module.USDPrimitiveMesh(
+        usd_geom = object_module.USDPrimitiveMesh(
             mesh_config=mesh_config,
             stage=self.stage,
             geom=geom,
@@ -298,7 +301,6 @@ def _update_geoms(self):
 
       if geom.objtype == mujoco.mjtObj.mjOBJ_TENDON:
         tendon_scale = geom.size
-        tendon_scale[2] /= 2
         self.geom_refs[geom_name].update(
             pos=geom.pos,
             mat=geom.mat,
@@ -321,7 +323,7 @@ def _load_lights(self):
       light = self.scene.lights[i]
       if not np.allclose(light.pos, [0, 0, 0]):
         self.usd_lights.append
-        (component_module.USDSphereLight(stage=self.stage, obj_name=str(i)))
+        (light_module.USDSphereLight(stage=self.stage, obj_name=str(i)))
       else:
         self.usd_lights.append(None)
 
@@ -347,7 +349,7 @@ def _load_cameras(self):
     if self.camera_names is not None:
       for name in self.camera_names:
         self.usd_cameras.append(
-            component_module.USDCamera(stage=self.stage, obj_name=name))
+            camera_module.USDCamera(stage=self.stage, obj_name=name))
 
   def _update_cameras(
       self,
@@ -388,11 +390,11 @@ def add_light(
   ):
 
     if light_type == "sphere":
-      new_light = component_module.USDSphereLight(stage=self.stage, obj_name=str(objid), radius=radius)
+      new_light = light_module.USDSphereLight(stage=self.stage, obj_name=str(objid), radius=radius)
 
       new_light.update(pos=np.array(pos), intensity=intensity, color=color, frame=0)
     elif light_type == "dome":
-      new_light = component_module.USDDomeLight(
+      new_light = light_module.USDDomeLight(
           stage=self.stage, obj_name=str(objid))
 
       new_light.update(intensity=intensity, color=color, frame=0)
@@ -403,7 +405,7 @@ def add_camera(
       rotation_xyz: List[float],
       obj_name: Optional[str] = "camera_1",
   ):
-    new_camera = component_module.USDCamera(
+    new_camera = camera_module.USDCamera(
         stage=self.stage, obj_name=str(objid))
 
     r = scipy.spatial.transform.Rotation.from_euler(
diff --git a/python/mujoco/usd/lights.py b/python/mujoco/usd/lights.py
new file mode 100644
index 0000000000..eeee9e1879
--- /dev/null
+++ b/python/mujoco/usd/lights.py
@@ -0,0 +1,59 @@
+from typing import List, Optional, Tuple
+
+import numpy as np
+
+from pxr import Gf
+from pxr import Usd
+from pxr import UsdGeom
+from pxr import UsdLux
+
+class USDSphereLight:
+
+  def __init__(
+      self, stage: Usd.Stage, obj_name: str, radius: Optional[float] = 0.3
+  ):
+    self.stage = stage
+
+    xform_path = f"/World/Light_Xform_{obj_name}"
+    light_path = f"{xform_path}/Light_{obj_name}"
+    self.usd_xform = UsdGeom.Xform.Define(stage, xform_path)
+    self.usd_light = UsdLux.SphereLight.Define(stage, light_path)
+    self.usd_prim = stage.GetPrimAtPath(light_path)
+
+    # we assume in mujoco that all lights are point lights
+    self.usd_light.GetRadiusAttr().Set(radius)
+    self.usd_light.GetTreatAsPointAttr().Set(False)
+    self.usd_light.GetNormalizeAttr().Set(True)
+
+    # defining ops required by update function
+    self.translate_op = self.usd_xform.AddTranslateOp()
+
+  def update(self, pos: np.ndarray, intensity: int, color: np.ndarray, frame: int):
+    self.translate_op.Set(Gf.Vec3d(pos.tolist()), frame)
+
+    if not np.any(pos):
+      intensity = 0
+
+    self.usd_light.GetIntensityAttr().Set(intensity)
+    self.usd_light.GetColorAttr().Set(Gf.Vec3d(color.tolist()))
+
+
+class USDDomeLight:
+
+  def __init__(self, stage: Usd.Stage, obj_name: str):
+    self.stage = stage
+
+    xform_path = f"/World/Light_Xform_{obj_name}"
+    light_path = f"{xform_path}/Light_{obj_name}"
+    self.usd_xform = UsdGeom.Xform.Define(stage, xform_path)
+    self.usd_light = UsdLux.DomeLight.Define(stage, light_path)
+    self.usd_prim = stage.GetPrimAtPath(light_path)
+
+    # we assume in mujoco that all lights are point lights
+    self.usd_light.GetNormalizeAttr().Set(True)
+
+  def update(self, intensity: int, color: np.ndarray, frame: int):
+    self.usd_light.GetIntensityAttr().Set(intensity)
+    self.usd_light.GetExposureAttr().Set(0.0)
+    self.usd_light.GetColorAttr().Set(Gf.Vec3d(color.tolist()))
+
diff --git a/python/mujoco/usd/objects.py b/python/mujoco/usd/objects.py
new file mode 100644
index 0000000000..af7103513a
--- /dev/null
+++ b/python/mujoco/usd/objects.py
@@ -0,0 +1,497 @@
+# Copyright 2024 DeepMind Technologies Limited
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# ==============================================================================
+from abc import ABC, abstractmethod
+from collections import defaultdict
+from typing import List, Optional, Tuple
+import pprint
+
+import mujoco
+
+# import mujoco.usd.utils as utils_component
+# import mujoco.usd.shapes as shapes_component
+import utils as utils_component
+import shapes as shapes_component
+
+import numpy as np
+
+# TODO: b/288149332 - Remove once USD Python Binding works well with pytype.
+# pytype: disable=module-attr
+from open3d import open3d as o3d
+from pxr import Gf
+from pxr import Sdf
+from pxr import Usd
+from pxr import UsdGeom
+from pxr import UsdLux
+from pxr import UsdShade
+from pxr import Vt
+
+class USDObject(ABC):
+  """ Abstract interface for all USD objects including meshes and primitives
+
+  Subclasses must implement:
+
+  * `_get_uv_geometry(self)`: gets the nessecary UV information to wrap a texture 
+     around an object in USD. Each subclass implements their own method to getting
+     UV information as different objects are contructed in different ways.
+
+  * `_get_mesh_geometry(self)`: gets the mesh geometry of an object in the scene.
+  """
+
+  def __init__(
+      self,
+      stage: Usd.Stage,
+      geom: mujoco.MjvGeom,
+      obj_name: str,
+      rgba: np.ndarray = np.array([1, 1, 1, 1]),
+      texture_file: Optional[str] = None,
+  ):
+    self.stage = stage
+    self.geom = geom
+    self.obj_name = obj_name
+    self.rgba = rgba
+    self.texture_file = texture_file
+
+    self.xform_path = f"/World/Mesh_Xform_{obj_name}"
+    self.usd_xform = UsdGeom.Xform.Define(stage, self.xform_path)
+
+    # defining ops required by update function
+    self.transform_op = self.usd_xform.AddTransformOp()
+    self.scale_op = self.usd_xform.AddScaleOp()
+
+    self.last_visible_frame = -2 # not an arbitary value, forces difference greater than 1 for visibility on 0th frame
+
+  @abstractmethod
+  def _get_uv_geometry(self):
+    """Gets UV information for an object in the scene"""
+    raise NotImplementedError
+  
+  @abstractmethod
+  def _get_mesh_geometry(self):
+    """Gets structure of an object in the scene"""
+    raise NotImplementedError
+
+  def attach_image_material(self, usd_mesh):
+    """Attaches an image texture to a material for a USD object"""
+    mtl_path = Sdf.Path(f"/World/_materials/Material_{self.obj_name}")
+    mtl = UsdShade.Material.Define(self.stage, mtl_path)
+
+    bsdf_shader = UsdShade.Shader.Define(
+        self.stage, mtl_path.AppendPath("Principled_BSDF")
+    )
+    image_shader = UsdShade.Shader.Define(
+        self.stage, mtl_path.AppendPath("Image_Texture")
+    )
+    uvmap_shader = UsdShade.Shader.Define(
+        self.stage, mtl_path.AppendPath("uvmap")
+    )
+
+    # setting the bsdf shader attributes
+    bsdf_shader.CreateIdAttr("UsdPreviewSurface")
+    bsdf_shader.CreateInput(
+        "diffuseColor", Sdf.ValueTypeNames.Color3f
+    ).ConnectToSource(image_shader.ConnectableAPI(), "rgb")
+    bsdf_shader.CreateInput("opacity", Sdf.ValueTypeNames.Float).Set(
+        float(self.rgba[-1])
+    )
+    bsdf_shader.CreateInput("metallic", Sdf.ValueTypeNames.Float).Set(
+        self.geom.shininess
+    )
+    bsdf_shader.CreateInput("roughness", Sdf.ValueTypeNames.Float).Set(
+        1.0 - self.geom.shininess
+    )
+
+    mtl.CreateSurfaceOutput().ConnectToSource(
+        bsdf_shader.ConnectableAPI(), "surface"
+    )
+
+    # setting the image texture attributes
+    image_shader.CreateIdAttr("UsdUVTexture")
+    image_shader.CreateInput("file", Sdf.ValueTypeNames.Asset).Set(
+        self.texture_file
+    )
+    image_shader.CreateInput(
+        "sourceColorSpace", Sdf.ValueTypeNames.Token
+    ).Set("sRGB")
+    image_shader.CreateInput("wrapS", Sdf.ValueTypeNames.Token).Set("repeat")
+    image_shader.CreateInput("wrapT", Sdf.ValueTypeNames.Token).Set("repeat")
+    image_shader.CreateInput("st", Sdf.ValueTypeNames.Float2).ConnectToSource(
+        uvmap_shader.ConnectableAPI(), "result"
+    )
+    image_shader.CreateOutput("rgb", Sdf.ValueTypeNames.Float3)
+
+    # setting uvmap shader attributes
+    uvmap_shader.CreateIdAttr("UsdPrimvarReader_float2")
+    uvmap_shader.CreateInput("varname", Sdf.ValueTypeNames.Token).Set("UVMap")
+    uvmap_shader.CreateOutput("results", Sdf.ValueTypeNames.Float2)
+
+    mtl.CreateSurfaceOutput().ConnectToSource(
+        bsdf_shader.ConnectableAPI(), "surface"
+    )
+
+    usd_mesh.GetPrim().ApplyAPI(UsdShade.MaterialBindingAPI)
+    UsdShade.MaterialBindingAPI(usd_mesh).Bind(mtl)
+
+  def attach_solid_material(self, usd_mesh):
+    """Attaches an solid texture to a material for a USD object"""
+    mtl_path = Sdf.Path(f"/World/_materials/Material_{self.obj_name}")
+    mtl = UsdShade.Material.Define(self.stage, mtl_path)
+
+    bsdf_shader = UsdShade.Shader.Define(
+        self.stage, mtl_path.AppendPath("Principled_BSDF")
+    )
+
+    # settings the bsdf shader attributes
+    bsdf_shader.CreateIdAttr("UsdPreviewSurface")
+
+    bsdf_shader.CreateInput("diffuseColor", Sdf.ValueTypeNames.Color3f).Set(
+        tuple(self.rgba[0:3])
+    )
+    bsdf_shader.CreateInput("opacity", Sdf.ValueTypeNames.Float).Set(
+        float(self.rgba[-1])
+    )
+    bsdf_shader.CreateInput("metallic", Sdf.ValueTypeNames.Float).Set(
+        self.geom.shininess
+    )
+    bsdf_shader.CreateInput("roughness", Sdf.ValueTypeNames.Float).Set(
+        1.0 - self.geom.shininess
+    )
+
+    mtl.CreateSurfaceOutput().ConnectToSource(
+        bsdf_shader.ConnectableAPI(), "surface"
+    )
+
+    usd_mesh.GetPrim().ApplyAPI(UsdShade.MaterialBindingAPI)
+    UsdShade.MaterialBindingAPI(usd_mesh).Bind(mtl)
+
+  def _set_refinement_properties(self, usd_prim, scheme="none"):
+    usd_prim.GetAttribute("subdivisionScheme").Set(scheme)
+
+  def update(self, pos: np.ndarray, mat: np.ndarray, visible: bool, frame: int, scale: Optional[np.ndarray] = None):
+    """Updates the position and orientation of an object in the scene for a given frame"""
+    transformation_mat = utils_component.create_transform_matrix(
+        rotation_matrix=mat, translation_vector=pos
+    ).T
+    self.transform_op.Set(Gf.Matrix4d(transformation_mat.tolist()), frame)
+    
+    if visible and frame - self.last_visible_frame > 1:
+      # non consecutive visible frames
+      self.update_visibility(False, max(0, self.last_visible_frame))
+      self.update_visibility(True, frame)
+
+    if visible:
+      self.last_visible_frame = frame
+
+    if scale is not None:
+      self.update_scale(scale, frame)
+
+  def update_visibility(self, visible: bool, frame: int):
+    """Updates the visibility of an object in a scene for a given frame"""
+    visibility_setting = "inherited" if visible else "invisible"
+    self.usd_xform.GetVisibilityAttr().Set(visibility_setting, frame)
+
+  def update_scale(self, scale: np.ndarray, frame: int):
+    """Updates the scale of an object in the scene for a given frame"""
+    self.scale_op.Set(Gf.Vec3f(scale.tolist()), frame)
+
+class USDMesh(USDObject):
+
+  def __init__(
+      self,
+      stage: Usd.Stage,
+      model: mujoco.MjModel,
+      geom: mujoco.MjvGeom,
+      obj_name: str,
+      dataid: int,
+      rgba: np.ndarray = np.array([1, 1, 1, 1]),
+      texture_file: Optional[str] = None,
+  ):
+    super().__init__(stage,
+                     geom,
+                     obj_name,
+                     rgba,
+                     texture_file)
+
+    self.model = model
+    self.dataid = dataid
+
+    mesh_path = f"{self.xform_path}/Mesh_{obj_name}"
+    self.usd_mesh = UsdGeom.Mesh.Define(stage, mesh_path)
+    self.usd_prim = stage.GetPrimAtPath(mesh_path)
+
+    # setting mesh structure properties
+    mesh_vert, mesh_face, mesh_facenum = self._get_mesh_geometry()
+    self.usd_mesh.GetPointsAttr().Set(mesh_vert)
+    self.usd_mesh.GetFaceVertexCountsAttr().Set(
+        [3 for _ in range(mesh_facenum)]
+    )
+    self.usd_mesh.GetFaceVertexIndicesAttr().Set(mesh_face)
+
+    # setting mesh uv properties
+    mesh_texcoord, mesh_facetexcoord = self._get_uv_geometry()
+    self.texcoords = UsdGeom.PrimvarsAPI(self.usd_mesh).CreatePrimvar(
+        "UVMap", Sdf.ValueTypeNames.TexCoord2fArray, UsdGeom.Tokens.faceVarying
+    )
+    self.texcoords.Set(mesh_texcoord)
+    self.texcoords.SetIndices(Vt.IntArray(mesh_facetexcoord.tolist()))
+
+    if self.texture_file:
+      self.attach_image_material(self.usd_mesh)
+    else:
+      self.attach_solid_material(self.usd_mesh)
+
+  def get_facetexcoord_ranges(self, nmesh, arr):
+    facetexcoords_ranges = [0]
+    running_sum = 0
+    for i in range(nmesh):
+      running_sum += arr[i] * 3
+      facetexcoords_ranges.append(running_sum)
+    return facetexcoords_ranges
+
+  def _get_uv_geometry(self):
+    mesh_texcoord_adr_from = self.model.mesh_texcoordadr[self.dataid]
+    mesh_texcoord_adr_to = (
+        self.model.mesh_texcoordadr[self.dataid + 1]
+        if self.dataid < self.model.nmesh - 1
+        else len(self.model.mesh_texcoord)
+    )
+    mesh_texcoord = self.model.mesh_texcoord[
+        mesh_texcoord_adr_from:mesh_texcoord_adr_to
+    ]
+
+    mesh_facetexcoord_ranges = self.get_facetexcoord_ranges(
+        self.model.nmesh, self.model.mesh_facenum
+    )
+
+    mesh_facetexcoord = self.model.mesh_facetexcoord.flatten()
+    mesh_facetexcoord = mesh_facetexcoord[
+        mesh_facetexcoord_ranges[self.dataid] : mesh_facetexcoord_ranges[
+            self.dataid + 1
+        ]
+    ]
+
+    mesh_facetexcoord[mesh_facetexcoord == len(mesh_texcoord)] = 0
+    return mesh_texcoord, mesh_facetexcoord
+
+  def _get_mesh_geometry(self):
+    mesh_vert_adr_from = self.model.mesh_vertadr[self.dataid]
+    mesh_vert_adr_to = (
+        self.model.mesh_vertadr[self.dataid + 1]
+        if self.dataid < self.model.nmesh - 1
+        else len(self.model.mesh_vert)
+    )
+    mesh_vert = self.model.mesh_vert[mesh_vert_adr_from:mesh_vert_adr_to]
+
+    mesh_face_adr_from = self.model.mesh_faceadr[self.dataid]
+    mesh_face_adr_to = (
+        self.model.mesh_faceadr[self.dataid + 1]
+        if self.dataid < self.model.nmesh - 1
+        else len(self.model.mesh_face)
+    )
+    mesh_face = self.model.mesh_face[mesh_face_adr_from:mesh_face_adr_to]
+    mesh_facenum = self.model.mesh_facenum[self.dataid]
+    return mesh_vert, mesh_face, mesh_facenum
+
+class USDPrimitiveMesh(USDObject):
+
+  def __init__(
+      self,
+      mesh_config: dict,
+      stage: Usd.Stage,
+      geom: mujoco.MjvGeom,
+      obj_name: str,
+      rgba: np.ndarray = np.array([1, 1, 1, 1]),
+      texture_file: Optional[str] = None,
+  ):
+    super().__init__(stage,
+                     geom,
+                     obj_name,
+                     rgba,
+                     texture_file)
+
+    self.mesh_config = mesh_config
+    self.prim_mesh = self.generate_primitive_mesh()
+
+    mesh_path = f"{self.xform_path}/Mesh_{obj_name}"
+    self.usd_mesh = UsdGeom.Mesh.Define(stage, mesh_path)
+    self.usd_prim = stage.GetPrimAtPath(mesh_path)
+
+    mesh_vert, mesh_face, mesh_facenum = self._get_mesh_geometry()
+    self.usd_mesh.GetPointsAttr().Set(mesh_vert)
+    self.usd_mesh.GetFaceVertexCountsAttr().Set(
+        [3 for _ in range(mesh_facenum)]
+    )
+    self.usd_mesh.GetFaceVertexIndicesAttr().Set(mesh_face)
+
+    # setting mesh uv properties
+    mesh_texcoord, mesh_facetexcoord = self._get_uv_geometry()
+    self.texcoords = UsdGeom.PrimvarsAPI(self.usd_mesh).CreatePrimvar(
+        "UVMap", Sdf.ValueTypeNames.TexCoord2fArray, UsdGeom.Tokens.faceVarying
+    )
+
+    self.texcoords.Set(mesh_texcoord)
+    self.texcoords.SetIndices(Vt.IntArray([i for i in range(mesh_facenum * 3)]))
+
+    self._set_refinement_properties(self.usd_prim)
+
+    if self.texture_file:
+      self.attach_image_material(self.usd_mesh)
+    else:
+      self.attach_solid_material(self.usd_mesh)
+
+  def generate_primitive_mesh(self):
+    _, prim_mesh = shapes_component.mesh_generator(self.mesh_config)
+    prim_mesh.translate(-prim_mesh.get_center())
+    return prim_mesh
+
+  def _get_uv_geometry(self):
+
+    assert self.prim_mesh
+
+    x_scale, y_scale = self.geom.texrepeat
+    mesh_texcoord = np.array(self.prim_mesh.triangle_uvs)
+    mesh_facetexcoord = np.asarray(self.prim_mesh.triangles)
+
+    x_multiplier, y_multiplier = 1, 1
+    if self.geom.texuniform:
+      if "box" in self.mesh_config:
+        x_multiplier, y_multiplier = self.mesh_config["box"]["width"], self.mesh_config["box"]["height"]
+      elif "sphere" in self.mesh_config:
+        x_multiplier, y_multiplier = self.mesh_config["sphere"]["radius"], self.mesh_config["sphere"]["radius"]
+      
+    mesh_texcoord[:, 0] *= x_scale * x_multiplier
+    mesh_texcoord[:, 1] *= y_scale * y_multiplier
+
+    return mesh_texcoord, mesh_facetexcoord.flatten()
+
+  def _get_mesh_geometry(self):
+    assert self.prim_mesh
+
+    # get mesh geometry from the open3d mesh model
+    mesh_vert = np.asarray(self.prim_mesh.vertices)
+    mesh_face = np.asarray(self.prim_mesh.triangles)
+
+    return mesh_vert, mesh_face, len(mesh_face)
+
+class USDTendon(USDObject):
+  
+  def __init__(
+      self,
+      mesh_config: dict,
+      stage: Usd.Stage,
+      geom: mujoco.MjvGeom,
+      obj_name: str,
+      rgba: np.ndarray = np.array([1, 1, 1, 1]),
+      texture_file: Optional[str] = None,
+  ):
+    super().__init__(stage,
+                     geom,
+                     obj_name,
+                     rgba,
+                     texture_file)
+
+    self.mesh_config = mesh_config
+    self.tendon_parts = self.generate_primitive_mesh()
+    self.usd_refs = defaultdict(dict)
+
+    for name, mesh in self.tendon_parts.items():
+      part_xform_path = f"{self.xform_path}/Mesh_Xform_{name}"
+      mesh_path = f"{part_xform_path}/Mesh_{obj_name}"
+      self.usd_refs[name]["usd_xform"] = UsdGeom.Xform.Define(stage, part_xform_path)
+      self.usd_refs[name]["usd_mesh"] = UsdGeom.Mesh.Define(stage, mesh_path)
+      self.usd_refs[name]["usd_prim"] = stage.GetPrimAtPath(mesh_path)
+      # adding ops for each of the part xforms
+      self.usd_refs[name]["translate_op"] = self.usd_refs[name]["usd_xform"].AddTranslateOp()
+      self.usd_refs[name]["scale_op"] = self.usd_refs[name]["usd_xform"].AddScaleOp()
+
+    # setting mesh geometry properties for each of the parts in the tendon
+    part_geometries = self._get_mesh_geometry()
+    for name, part_geometry in part_geometries.items():
+      self.usd_refs[name]["usd_mesh"].GetPointsAttr().Set(part_geometry["mesh_vert"])
+      self.usd_refs[name]["usd_mesh"].GetFaceVertexCountsAttr().Set(
+        [3 for _ in range(part_geometry["mesh_facenum"])]
+      )
+      self.usd_refs[name]["usd_mesh"].GetFaceVertexIndicesAttr().Set(part_geometry["mesh_face"])
+
+    # setting uv properties for each of the parts in the tendon
+    part_uv_geometries = self._get_uv_geometry()
+    for name, part_uv_geometry in part_uv_geometries.items():
+      self.texcoords = UsdGeom.PrimvarsAPI(self.usd_refs[name]["usd_mesh"]).CreatePrimvar(
+          "UVMap", Sdf.ValueTypeNames.TexCoord2fArray, UsdGeom.Tokens.faceVarying
+      )
+      self.texcoords.Set(part_uv_geometry["mesh_texcoord"])
+      self.texcoords.SetIndices(Vt.IntArray([i for i in range(part_geometry["mesh_facenum"] * 3)]))
+    
+    for name in self.usd_refs.keys(): 
+      self._set_refinement_properties(self.usd_refs[name]["usd_prim"])
+      if self.texture_file:
+        self.attach_image_material(self.usd_refs[name]["usd_mesh"])
+      else:
+        self.attach_solid_material(self.usd_refs[name]["usd_mesh"])
+    
+  def generate_primitive_mesh(self):
+    mesh_parts = {}
+    for part_config in self.mesh_config:
+      mesh_name, prim_mesh = shapes_component.mesh_generator(part_config)
+      prim_mesh.translate(-prim_mesh.get_center())
+      mesh_parts[mesh_name] = prim_mesh
+    return mesh_parts
+  
+  def _get_uv_geometry(self):
+    part_uv_geometries = defaultdict(dict)
+    for name, mesh in self.tendon_parts.items():
+      x_scale, y_scale = self.geom.texrepeat
+      mesh_texcoord = np.array(mesh.triangle_uvs)
+      mesh_facetexcoord = np.asarray(mesh.triangles)
+      part_uv_geometries[name] = {
+        "mesh_texcoord": mesh_texcoord,
+        "mesh_facetexcoord": mesh_facetexcoord
+      }
+    return part_uv_geometries
+
+  def _get_mesh_geometry(self):
+    part_geometries = defaultdict(dict)
+    for name, mesh in self.tendon_parts.items():
+      # get mesh geometry from the open3d mesh model
+      mesh_vert = np.asarray(mesh.vertices)
+      mesh_face = np.asarray(mesh.triangles)
+      part_geometries[name] = {
+        "mesh_vert": mesh_vert,
+        "mesh_face": mesh_face,
+        "mesh_facenum": len(mesh_face)
+      }
+    return part_geometries
+
+  def update(self, pos: np.ndarray, mat: np.ndarray, visible: bool, frame: int, scale: Optional[np.ndarray] = None):
+    """Updates the position and orientation of an object in the scene for a given frame"""
+    super().update(pos, mat, visible, frame, scale)
+    for name in self.tendon_parts.keys():
+      if "left" in name:
+        translate = [0, 0, -scale[2] - (scale[0] / 2)]
+        self.usd_refs[name]["translate_op"].Set(Gf.Vec3f(translate), frame)
+      elif "right" in name:
+        translate = [0, 0, scale[2] + (scale[0] / 2)]
+        self.usd_refs[name]["translate_op"].Set(Gf.Vec3f(translate), frame)
+
+  def update_scale(self, scale: np.ndarray, frame: int):
+    """Updates the scale of the tendon"""
+    for name in self.tendon_parts.keys():
+      if "cylinder" in name:
+        self.usd_refs[name]["scale_op"].Set(Gf.Vec3f(scale.tolist()), frame)
+      else:
+        hemisphere_scale = scale.tolist()
+        hemisphere_scale[2] = hemisphere_scale[0]
+        self.usd_refs[name]["scale_op"].Set(Gf.Vec3f(hemisphere_scale), frame)
+    
+    
diff --git a/python/mujoco/usd/shapes.py b/python/mujoco/usd/shapes.py
index 66d9644b47..d89fd43d09 100644
--- a/python/mujoco/usd/shapes.py
+++ b/python/mujoco/usd/shapes.py
@@ -27,14 +27,28 @@ def create_hemisphere(
 
     return mesh
 
+def decouple_config(config: dict):
+  decoupled_config = []
+  for key, value in config.items():
+    if key == "name":
+      continue
+    decoupled_config.append({
+      "parent_name": config["name"],
+      "name": config["name"] + "_" + key,
+      key: value.copy()
+    })
+
+  return decoupled_config
+
 def mesh_config_generator(
     name: str,
     geom_type: mujoco.mjtGeom,
-    size: np.ndarray
+    size: np.ndarray,
+    decouple: bool = False
 ):
 
     if geom_type == mujoco.mjtGeom.mjGEOM_PLANE:
-      return {
+      config = {
         "name": name,
         "box": {
           "width": size[0] * 2 if size[0] > 0 else 100,
@@ -44,7 +58,7 @@ def mesh_config_generator(
         }
       }
     elif geom_type == mujoco.mjtGeom.mjGEOM_SPHERE:
-      return {
+      config = {
         "name": name,
         "sphere": {
           "radius": float(size[0])
@@ -52,7 +66,7 @@ def mesh_config_generator(
       }
     elif geom_type == mujoco.mjtGeom.mjGEOM_CAPSULE:
       cylinder = mesh_config_generator(name, mujoco.mjtGeom.mjGEOM_CYLINDER, size)
-      return {
+      config = {
         "name": name,
         "cylinder": cylinder["cylinder"],
         "left_hemisphere": {
@@ -74,12 +88,12 @@ def mesh_config_generator(
       sphere["sphere"]["transform"] = {
         "scale": tuple(size)
       }
-      return {
+      config = {
         "name": name,
         "sphere": sphere["sphere"],
       }
     elif geom_type == mujoco.mjtGeom.mjGEOM_CYLINDER:
-      return {
+      config = {
         "name": name,
         "cylinder": {
           "radius": size[0],
@@ -87,7 +101,7 @@ def mesh_config_generator(
         }
       }
     elif geom_type == mujoco.mjtGeom.mjGEOM_BOX:
-      return {
+      config = {
         "name": name,
         "box": {
           "width": size[0] * 2,
@@ -98,6 +112,10 @@ def mesh_config_generator(
     else:
       raise NotImplemented(f"{geom_type} primitive geom type not implemented with USD integration")
 
+    if decouple:
+      config = decouple_config(config)
+
+    return config
 
 def mesh_generator(
     mesh_config: dict,
@@ -110,7 +128,7 @@ def mesh_generator(
 
     for shape, config in mesh_config.items():
 
-      if shape == "name":
+      if "name" in shape:
         continue
 
       if "box" in shape:
@@ -140,9 +158,9 @@ def mesh_generator(
         )
 
       if "transform" in config:
-
         if "rotate" in config["transform"]:
-          R = mesh.get_rotation_matrix_from_xyz(config["transform"]["rotate"])
+          tmp = o3d.geometry.TriangleMesh.create_coordinate_frame() # TODO: add rotation matrix code gen to utils.py
+          R = tmp.get_rotation_matrix_from_xyz(config["transform"]["rotate"])
           prim_mesh.rotate(R, center=(0, 0, 0))
         if "scale" in config["transform"]:
           prim_mesh.vertices = o3d.utility.Vector3dVector(
diff --git a/python/mujoco/usd/component.py b/python/mujoco/usd/temp.py
similarity index 96%
rename from python/mujoco/usd/component.py
rename to python/mujoco/usd/temp.py
index 28fa3efd2b..2daee76b85 100644
--- a/python/mujoco/usd/component.py
+++ b/python/mujoco/usd/temp.py
@@ -12,6 +12,7 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 # ==============================================================================
+from abs import ABC
 from typing import List, Optional, Tuple
 
 import mujoco
@@ -34,7 +35,6 @@
 from pxr import UsdShade
 from pxr import Vt
 
-
 class USDMesh:
 
   def __init__(
@@ -265,7 +265,7 @@ def __init__(
     self.prim_mesh = None
     self.transform_op = Gf.Matrix4d(1.)
 
-    _, self.prim_mesh = shapes_component.mesh_generator(mesh_config)
+    self.prim_mesh = self.generate_primitive_mesh()
 
     xform_path = f"/World/{self.obj_name}_Xform"
     mesh_path = f"{xform_path}/{obj_name}"
@@ -273,8 +273,6 @@ def __init__(
     self.usd_mesh = UsdGeom.Mesh.Define(stage, mesh_path)
     self.usd_prim = stage.GetPrimAtPath(mesh_path)
 
-    self.prim_mesh.translate(-self.prim_mesh.get_center())
-
     mesh_vert, mesh_face, mesh_facenum = self._get_mesh_geometry()
     self.usd_mesh.GetPointsAttr().Set(mesh_vert)
     self.usd_mesh.GetFaceVertexCountsAttr().Set(
@@ -302,6 +300,11 @@ def __init__(
 
     self.last_visible_frame = -2
 
+  def generate_primitive_mesh(self):
+    _, prim_mesh = shapes_component.mesh_generator(self.mesh_config)
+    prim_mesh.translate(-prim_mesh.get_center())
+    return prim_mesh
+
   def _set_refinement_properties(self):
     self.usd_prim.GetAttribute("subdivisionScheme").Set("none")
 
@@ -417,7 +420,7 @@ def _attach_material(self):
     self.usd_mesh.GetPrim().ApplyAPI(UsdShade.MaterialBindingAPI)
     UsdShade.MaterialBindingAPI(self.usd_mesh).Bind(mtl)
 
-  def update(self, pos: np.ndarray, mat: np.ndarray, visible: bool, frame: int):
+  def update(self, pos: np.ndarray, mat: np.ndarray, visible: bool, frame: int, ):
     transformation_mat = utils_component.create_transform_matrix(
         rotation_matrix=mat, translation_vector=pos
     ).T
@@ -438,29 +441,12 @@ def update_visibility(self, visible: bool, frame: int):
   def update_scale(self, scale: np.ndarray, frame: int):
     self.scale_op.Set(Gf.Vec3f(scale.tolist()), frame)
 
-class USDTendon(USDPrimitiveMesh):
-
+class USDTendon:
+  
   def __init__(
-    self,
-    mesh_config: List[dict],
-    stage: Usd.Stage,
-    geom: mujoco.MjvGeom,
-    obj_name: str,
-    rgba: np.ndarray = np.array([1, 1, 1, 1]),
-    texture_file: Optional[str] = None,
+      self
   ):
-    super().__init__(
-      mesh_config=mesh_config,
-      stage=stage,
-      geom=geom,
-      obj_name=obj_name,
-      rgba=rgba,
-      texture_file=texture_file
-    )
-
-  def update(self, pos: np.ndarray, mat: np.ndarray, scale: np.ndarray, visible: bool, frame: int):
-    super().update(pos, mat, visible, frame)
-    super().update_scale(scale, frame)
+    pass
 
 class USDSphereLight:
 

From ee82810ad378241047fa9ac03c51c6bbae1f23a4 Mon Sep 17 00:00:00 2001
From: Abhishek Joshi <abhishekjoshinj@gmail.com>
Date: Sun, 2 Jun 2024 21:17:23 -0500
Subject: [PATCH 18/24] removing temp.py

---
 python/mujoco/usd/temp.py | 529 --------------------------------------
 1 file changed, 529 deletions(-)
 delete mode 100644 python/mujoco/usd/temp.py

diff --git a/python/mujoco/usd/temp.py b/python/mujoco/usd/temp.py
deleted file mode 100644
index 2daee76b85..0000000000
--- a/python/mujoco/usd/temp.py
+++ /dev/null
@@ -1,529 +0,0 @@
-# Copyright 2024 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
-from abs import ABC
-from typing import List, Optional, Tuple
-
-import mujoco
-
-# import mujoco.usd.utils as utils_component
-# import mujoco.usd.shapes as shapes_component
-import utils as utils_component
-import shapes as shapes_component
-
-import numpy as np
-
-# TODO: b/288149332 - Remove once USD Python Binding works well with pytype.
-# pytype: disable=module-attr
-from open3d import open3d as o3d
-from pxr import Gf
-from pxr import Sdf
-from pxr import Usd
-from pxr import UsdGeom
-from pxr import UsdLux
-from pxr import UsdShade
-from pxr import Vt
-
-class USDMesh:
-
-  def __init__(
-      self,
-      stage: Usd.Stage,
-      model: mujoco.MjModel,
-      geom: mujoco.MjvGeom,
-      obj_name: str,
-      dataid: int,
-      rgba: np.ndarray = np.array([1, 1, 1, 1]),
-      texture_file: Optional[str] = None,
-  ):
-    self.stage = stage
-    self.model = model
-    self.geom = geom
-    self.obj_name = obj_name
-    self.rgba = rgba
-    self.dataid = dataid
-    self.texture_file = texture_file
-
-    xform_path = f"/World/Mesh_Xform_{obj_name}"
-    mesh_path = f"{xform_path}/Mesh_{obj_name}"
-    self.usd_xform = UsdGeom.Xform.Define(stage, xform_path)
-    self.usd_mesh = UsdGeom.Mesh.Define(stage, mesh_path)
-    self.usd_prim = stage.GetPrimAtPath(mesh_path)
-
-    # setting mesh structure properties
-    mesh_vert, mesh_face, mesh_facenum = self._get_mesh_geometry()
-    self.usd_mesh.GetPointsAttr().Set(mesh_vert)
-    self.usd_mesh.GetFaceVertexCountsAttr().Set(
-        [3 for _ in range(mesh_facenum)]
-    )
-    self.usd_mesh.GetFaceVertexIndicesAttr().Set(mesh_face)
-
-    # setting mesh uv properties
-    mesh_texcoord, mesh_facetexcoord = self._get_uv_geometry()
-    self.texcoords = UsdGeom.PrimvarsAPI(self.usd_mesh).CreatePrimvar(
-        "UVMap", Sdf.ValueTypeNames.TexCoord2fArray, UsdGeom.Tokens.faceVarying
-    )
-    self.texcoords.Set(mesh_texcoord)
-    self.texcoords.SetIndices(Vt.IntArray(mesh_facetexcoord.tolist()))
-
-    self._attach_material()
-
-    # defining ops required by update function
-    self.transform_op = self.usd_xform.AddTransformOp()
-
-    self.last_visible_frame = -2 # not an arbitary value, forces difference greater than 1 for visibility on 0th frame
-
-  def get_facetexcoord_ranges(self, nmesh, arr):
-    facetexcoords_ranges = [0]
-    running_sum = 0
-    for i in range(nmesh):
-      running_sum += arr[i] * 3
-      facetexcoords_ranges.append(running_sum)
-    return facetexcoords_ranges
-
-  def _get_uv_geometry(self):
-    mesh_texcoord_adr_from = self.model.mesh_texcoordadr[self.dataid]
-    mesh_texcoord_adr_to = (
-        self.model.mesh_texcoordadr[self.dataid + 1]
-        if self.dataid < self.model.nmesh - 1
-        else len(self.model.mesh_texcoord)
-    )
-    mesh_texcoord = self.model.mesh_texcoord[
-        mesh_texcoord_adr_from:mesh_texcoord_adr_to
-    ]
-
-    mesh_facetexcoord_ranges = self.get_facetexcoord_ranges(
-        self.model.nmesh, self.model.mesh_facenum
-    )
-
-    mesh_facetexcoord = self.model.mesh_facetexcoord.flatten()
-    mesh_facetexcoord = mesh_facetexcoord[
-        mesh_facetexcoord_ranges[self.dataid] : mesh_facetexcoord_ranges[
-            self.dataid + 1
-        ]
-    ]
-
-    mesh_facetexcoord[mesh_facetexcoord == len(mesh_texcoord)] = 0
-
-    return mesh_texcoord, mesh_facetexcoord
-
-  def _get_mesh_geometry(self):
-    mesh_vert_adr_from = self.model.mesh_vertadr[self.dataid]
-    mesh_vert_adr_to = (
-        self.model.mesh_vertadr[self.dataid + 1]
-        if self.dataid < self.model.nmesh - 1
-        else len(self.model.mesh_vert)
-    )
-    mesh_vert = self.model.mesh_vert[mesh_vert_adr_from:mesh_vert_adr_to]
-
-    mesh_face_adr_from = self.model.mesh_faceadr[self.dataid]
-    mesh_face_adr_to = (
-        self.model.mesh_faceadr[self.dataid + 1]
-        if self.dataid < self.model.nmesh - 1
-        else len(self.model.mesh_face)
-    )
-    mesh_face = self.model.mesh_face[mesh_face_adr_from:mesh_face_adr_to]
-
-    mesh_facenum = self.model.mesh_facenum[self.dataid]
-
-    return mesh_vert, mesh_face, mesh_facenum
-
-  def _attach_material(self):
-    mtl_path = Sdf.Path(f"/World/_materials/Material_{self.obj_name}")
-    mtl = UsdShade.Material.Define(self.stage, mtl_path)
-
-    if self.texture_file:
-      bsdf_shader = UsdShade.Shader.Define(
-          self.stage, mtl_path.AppendPath("Principled_BSDF")
-      )
-      image_shader = UsdShade.Shader.Define(
-          self.stage, mtl_path.AppendPath("Image_Texture")
-      )
-      uvmap_shader = UsdShade.Shader.Define(
-          self.stage, mtl_path.AppendPath("uvmap")
-      )
-
-      # setting the bsdf shader attributes
-      bsdf_shader.CreateIdAttr("UsdPreviewSurface")
-      bsdf_shader.CreateInput(
-          "diffuseColor", Sdf.ValueTypeNames.Color3f
-      ).ConnectToSource(image_shader.ConnectableAPI(), "rgb")
-      bsdf_shader.CreateInput("opacity", Sdf.ValueTypeNames.Float).Set(
-          float(self.rgba[-1])
-      )
-      bsdf_shader.CreateInput("metallic", Sdf.ValueTypeNames.Float).Set(
-          self.geom.shininess
-      )
-      bsdf_shader.CreateInput("roughness", Sdf.ValueTypeNames.Float).Set(
-          1.0 - self.geom.shininess
-      )
-
-      mtl.CreateSurfaceOutput().ConnectToSource(
-          bsdf_shader.ConnectableAPI(), "surface"
-      )
-
-      self.usd_mesh.GetPrim().ApplyAPI(UsdShade.MaterialBindingAPI)
-      UsdShade.MaterialBindingAPI(self.usd_mesh).Bind(mtl)
-
-      # setting the image texture attributes
-      image_shader.CreateIdAttr("UsdUVTexture")
-      image_shader.CreateInput("file", Sdf.ValueTypeNames.Asset).Set(
-          self.texture_file
-      )
-      image_shader.CreateInput(
-          "sourceColorSpace", Sdf.ValueTypeNames.Token
-      ).Set("sRGB")
-      image_shader.CreateInput("wrapS", Sdf.ValueTypeNames.Token).Set("repeat")
-      image_shader.CreateInput("wrapT", Sdf.ValueTypeNames.Token).Set("repeat")
-      image_shader.CreateInput("st", Sdf.ValueTypeNames.Float2).ConnectToSource(
-          uvmap_shader.ConnectableAPI(), "result"
-      )
-      image_shader.CreateOutput("rgb", Sdf.ValueTypeNames.Float3)
-
-      # setting uvmap shader attributes
-      uvmap_shader.CreateIdAttr("UsdPrimvarReader_float2")
-      uvmap_shader.CreateInput("varname", Sdf.ValueTypeNames.Token).Set("UVMap")
-      uvmap_shader.CreateOutput("results", Sdf.ValueTypeNames.Float2)
-    else:
-      bsdf_shader = UsdShade.Shader.Define(
-          self.stage, mtl_path.AppendPath("Principled_BSDF")
-      )
-
-      # settings the bsdf shader attributes
-      bsdf_shader.CreateIdAttr("UsdPreviewSurface")
-
-      bsdf_shader.CreateInput("diffuseColor", Sdf.ValueTypeNames.Color3f).Set(
-          tuple(self.rgba[0:3])
-      )
-      bsdf_shader.CreateInput("opacity", Sdf.ValueTypeNames.Float).Set(
-          float(self.rgba[-1])
-      )
-      bsdf_shader.CreateInput("metallic", Sdf.ValueTypeNames.Float).Set(
-          self.geom.shininess
-      )
-      bsdf_shader.CreateInput("roughness", Sdf.ValueTypeNames.Float).Set(
-          1.0 - self.geom.shininess
-      )
-
-    mtl.CreateSurfaceOutput().ConnectToSource(
-        bsdf_shader.ConnectableAPI(), "surface"
-    )
-
-    self.usd_mesh.GetPrim().ApplyAPI(UsdShade.MaterialBindingAPI)
-    UsdShade.MaterialBindingAPI(self.usd_mesh).Bind(mtl)
-
-  def update(self, pos: np.ndarray, mat: np.ndarray, visible: bool, frame: int):
-    transformation_mat = utils_component.create_transform_matrix(
-        rotation_matrix=mat, translation_vector=pos
-    ).T
-    self.transform_op.Set(Gf.Matrix4d(transformation_mat.tolist()), frame)
-    
-    if visible and frame - self.last_visible_frame > 1:
-      # non consecutive visible frames
-      self.update_visibility(False, max(0, self.last_visible_frame))
-      self.update_visibility(True, frame)
-
-    if visible:
-      self.last_visible_frame = frame
-
-  def update_visibility(self, visible: bool, frame: int):
-    visibility_setting = "inherited" if visible else "invisible"
-    self.usd_prim.GetAttribute("visibility").Set(visibility_setting, frame)
-
-
-class USDPrimitiveMesh:
-
-  def __init__(
-      self,
-      mesh_config: List[dict],
-      stage: Usd.Stage,
-      geom: mujoco.MjvGeom,
-      obj_name: str,
-      rgba: np.ndarray = np.array([1, 1, 1, 1]),
-      texture_file: Optional[str] = None,
-  ):
-    self.mesh_config = mesh_config
-    self.stage = stage
-    self.geom = geom
-    self.obj_name = obj_name
-    self.rgba = rgba
-    self.texture_file = texture_file
-
-    self.usd_prim = Usd.Prim()
-    self.usd_mesh = UsdGeom.Mesh()
-    self.prim_mesh = None
-    self.transform_op = Gf.Matrix4d(1.)
-
-    self.prim_mesh = self.generate_primitive_mesh()
-
-    xform_path = f"/World/{self.obj_name}_Xform"
-    mesh_path = f"{xform_path}/{obj_name}"
-    self.usd_xform = UsdGeom.Xform.Define(stage, xform_path)
-    self.usd_mesh = UsdGeom.Mesh.Define(stage, mesh_path)
-    self.usd_prim = stage.GetPrimAtPath(mesh_path)
-
-    mesh_vert, mesh_face, mesh_facenum = self._get_mesh_geometry()
-    self.usd_mesh.GetPointsAttr().Set(mesh_vert)
-    self.usd_mesh.GetFaceVertexCountsAttr().Set(
-        [3 for _ in range(mesh_facenum)]
-    )
-    self.usd_mesh.GetFaceVertexIndicesAttr().Set(mesh_face)
-
-    # setting mesh uv properties
-    mesh_texcoord, mesh_facetexcoord = self._get_uv_geometry()
-    self.texcoords = UsdGeom.PrimvarsAPI(self.usd_mesh).CreatePrimvar(
-        "UVMap", Sdf.ValueTypeNames.TexCoord2fArray, UsdGeom.Tokens.faceVarying
-    )
-
-    self.texcoords.Set(mesh_texcoord)
-    self.texcoords.SetIndices(Vt.IntArray([i for i in range(mesh_facenum * 3)]))
-
-    self._set_refinement_properties()
-
-    # setting attributes for the shape
-    self._attach_material()
-
-    # defining ops required by update functions
-    self.transform_op = self.usd_xform.AddTransformOp()
-    self.scale_op = self.usd_xform.AddScaleOp()
-
-    self.last_visible_frame = -2
-
-  def generate_primitive_mesh(self):
-    _, prim_mesh = shapes_component.mesh_generator(self.mesh_config)
-    prim_mesh.translate(-prim_mesh.get_center())
-    return prim_mesh
-
-  def _set_refinement_properties(self):
-    self.usd_prim.GetAttribute("subdivisionScheme").Set("none")
-
-  def _get_uv_geometry(self):
-
-    assert self.prim_mesh
-
-    x_scale, y_scale = self.geom.texrepeat
-    mesh_texcoord = np.array(self.prim_mesh.triangle_uvs)
-    mesh_facetexcoord = np.asarray(self.prim_mesh.triangles)
-
-    x_multiplier, y_multiplier = 1, 1
-    if self.geom.texuniform:
-      if "box" in self.mesh_config:
-        x_multiplier, y_multiplier = self.mesh_config["box"]["width"], self.mesh_config["box"]["height"]
-      elif "sphere" in self.mesh_config:
-        x_multiplier, y_multiplier = self.mesh_config["sphere"]["radius"], self.mesh_config["sphere"]["radius"]
-      
-    mesh_texcoord[:, 0] *= x_scale * x_multiplier
-    mesh_texcoord[:, 1] *= y_scale * y_multiplier
-
-    return mesh_texcoord, mesh_facetexcoord.flatten()
-
-  def _get_mesh_geometry(self):
-
-    assert self.prim_mesh
-
-    # get mesh geometry from the open3d mesh model
-    mesh_vert = np.asarray(self.prim_mesh.vertices)
-    mesh_face = np.asarray(self.prim_mesh.triangles)
-
-    return mesh_vert, mesh_face, len(mesh_face)
-
-  def _attach_material(self):
-    mtl_path = Sdf.Path(f"/World/_materials/Material_{self.obj_name}")
-    mtl = UsdShade.Material.Define(self.stage, mtl_path)
-    if self.texture_file:
-      bsdf_shader = UsdShade.Shader.Define(
-          self.stage, mtl_path.AppendPath("Principled_BSDF")
-      )
-      image_shader = UsdShade.Shader.Define(
-          self.stage, mtl_path.AppendPath("Image_Texture")
-      )
-      uvmap_shader = UsdShade.Shader.Define(
-          self.stage, mtl_path.AppendPath("uvmap")
-      )
-
-      # setting the bsdf shader attributes
-      bsdf_shader.CreateIdAttr("UsdPreviewSurface")
-      bsdf_shader.CreateInput(
-          "diffuseColor", Sdf.ValueTypeNames.Color3f
-      ).ConnectToSource(image_shader.ConnectableAPI(), "rgb")
-      bsdf_shader.CreateInput("opacity", Sdf.ValueTypeNames.Float).Set(
-          float(self.rgba[-1])
-      )
-      bsdf_shader.CreateInput("metallic", Sdf.ValueTypeNames.Float).Set(
-          self.geom.shininess
-      )
-      bsdf_shader.CreateInput("roughness", Sdf.ValueTypeNames.Float).Set(
-          1.0 - self.geom.shininess
-      )
-
-      mtl.CreateSurfaceOutput().ConnectToSource(
-          bsdf_shader.ConnectableAPI(), "surface"
-      )
-
-      self.usd_mesh.GetPrim().ApplyAPI(UsdShade.MaterialBindingAPI)
-      UsdShade.MaterialBindingAPI(self.usd_mesh).Bind(mtl)
-
-      # setting the image texture attributes
-      image_shader.CreateIdAttr("UsdUVTexture")
-      image_shader.CreateInput("file", Sdf.ValueTypeNames.Asset).Set(
-          self.texture_file
-      )
-      image_shader.CreateInput(
-          "sourceColorSpace", Sdf.ValueTypeNames.Token
-      ).Set("sRGB")
-      image_shader.CreateInput("wrapS", Sdf.ValueTypeNames.Token).Set("repeat")
-      image_shader.CreateInput("wrapT", Sdf.ValueTypeNames.Token).Set("repeat")
-      image_shader.CreateInput("st", Sdf.ValueTypeNames.Float2).ConnectToSource(
-          uvmap_shader.ConnectableAPI(), "result"
-      )
-      image_shader.CreateOutput("rgb", Sdf.ValueTypeNames.Float3)
-
-      # setting uvmap shader attributes
-      uvmap_shader.CreateIdAttr("UsdPrimvarReader_float2")
-      uvmap_shader.CreateInput("varname", Sdf.ValueTypeNames.Token).Set("UVMap")
-      uvmap_shader.CreateOutput("results", Sdf.ValueTypeNames.Float2)
-    else:
-      bsdf_shader = UsdShade.Shader.Define(
-          self.stage, mtl_path.AppendPath("Principled_BSDF")
-      )
-
-      # settings the bsdf shader attributes
-      bsdf_shader.CreateIdAttr("UsdPreviewSurface")
-      bsdf_shader.CreateInput("diffuseColor", Sdf.ValueTypeNames.Color3f).Set(
-          tuple(self.rgba[:3])
-      )
-      bsdf_shader.CreateInput("opacity", Sdf.ValueTypeNames.Float).Set(
-          float(self.rgba[-1])
-      )
-      bsdf_shader.CreateInput("metallic", Sdf.ValueTypeNames.Float).Set(
-          self.geom.shininess
-      )
-      bsdf_shader.CreateInput("roughness", Sdf.ValueTypeNames.Float).Set(
-          1.0 - self.geom.shininess
-      )
-
-    mtl.CreateSurfaceOutput().ConnectToSource(
-        bsdf_shader.ConnectableAPI(), "surface"
-    )
-
-    self.usd_mesh.GetPrim().ApplyAPI(UsdShade.MaterialBindingAPI)
-    UsdShade.MaterialBindingAPI(self.usd_mesh).Bind(mtl)
-
-  def update(self, pos: np.ndarray, mat: np.ndarray, visible: bool, frame: int, ):
-    transformation_mat = utils_component.create_transform_matrix(
-        rotation_matrix=mat, translation_vector=pos
-    ).T
-    self.transform_op.Set(Gf.Matrix4d(transformation_mat.tolist()), frame)
-
-    if visible and frame - self.last_visible_frame > 1:
-      # non consecutive visible frames
-      self.update_visibility(False, max(0, self.last_visible_frame))
-      self.update_visibility(True, frame)
-
-    if visible:
-      self.last_visible_frame = frame
-
-  def update_visibility(self, visible: bool, frame: int):
-    visibility_setting = "inherited" if visible else "invisible"
-    self.usd_prim.GetAttribute("visibility").Set(visibility_setting, frame)
-
-  def update_scale(self, scale: np.ndarray, frame: int):
-    self.scale_op.Set(Gf.Vec3f(scale.tolist()), frame)
-
-class USDTendon:
-  
-  def __init__(
-      self
-  ):
-    pass
-
-class USDSphereLight:
-
-  def __init__(
-      self, stage: Usd.Stage, obj_name: str, radius: Optional[float] = 0.3
-  ):
-    self.stage = stage
-
-    xform_path = f"/World/Light_Xform_{obj_name}"
-    light_path = f"{xform_path}/Light_{obj_name}"
-    self.usd_xform = UsdGeom.Xform.Define(stage, xform_path)
-    self.usd_light = UsdLux.SphereLight.Define(stage, light_path)
-    self.usd_prim = stage.GetPrimAtPath(light_path)
-
-    # we assume in mujoco that all lights are point lights
-    self.usd_light.GetRadiusAttr().Set(radius)
-    self.usd_light.GetTreatAsPointAttr().Set(False)
-    self.usd_light.GetNormalizeAttr().Set(True)
-
-    # defining ops required by update function
-    self.translate_op = self.usd_xform.AddTranslateOp()
-
-  def update(self, pos: np.ndarray, intensity: int, color: np.ndarray, frame: int):
-    self.translate_op.Set(Gf.Vec3d(pos.tolist()), frame)
-
-    if not np.any(pos):
-      intensity = 0
-
-    self.usd_light.GetIntensityAttr().Set(intensity)
-    self.usd_light.GetColorAttr().Set(Gf.Vec3d(color.tolist()))
-
-
-class USDDomeLight:
-
-  def __init__(self, stage: Usd.Stage, obj_name: str):
-    self.stage = stage
-
-    xform_path = f"/World/Light_Xform_{obj_name}"
-    light_path = f"{xform_path}/Light_{obj_name}"
-    self.usd_xform = UsdGeom.Xform.Define(stage, xform_path)
-    self.usd_light = UsdLux.DomeLight.Define(stage, light_path)
-    self.usd_prim = stage.GetPrimAtPath(light_path)
-
-    # we assume in mujoco that all lights are point lights
-    self.usd_light.GetNormalizeAttr().Set(True)
-
-  def update(self, intensity: int, color: np.ndarray, frame: int):
-    self.usd_light.GetIntensityAttr().Set(intensity)
-    self.usd_light.GetExposureAttr().Set(0.0)
-    self.usd_light.GetColorAttr().Set(Gf.Vec3d(color.tolist()))
-
-
-class USDCamera:
-
-  def __init__(self, stage: Usd.Stage, obj_name: str):
-    self.stage = stage
-
-    xform_path = f"/World/Camera_Xform_{obj_name}"
-    camera_path = f"{xform_path}/Camera_{obj_name}"
-    self.usd_xform = UsdGeom.Xform.Define(stage, xform_path)
-    self.usd_camera = UsdGeom.Camera.Define(stage, camera_path)
-    self.usd_prim = stage.GetPrimAtPath(camera_path)
-
-    # defining ops required by update function
-    self.transform_op = self.usd_xform.AddTransformOp()
-
-    # self.usd_camera.CreateFocalLengthAttr().Set(18.14756) # default in omniverse
-    self.usd_camera.CreateFocalLengthAttr().Set(12)
-    self.usd_camera.CreateFocusDistanceAttr().Set(400)
-
-    self.usd_camera.GetHorizontalApertureAttr().Set(12)
-
-    self.usd_camera.GetClippingRangeAttr().Set(Gf.Vec2f(1e-4, 1e6))
-
-  def update(self, cam_pos: np.ndarray, cam_mat: np.ndarray, frame: int):
-
-    transformation_mat = utils_component.create_transform_matrix(
-        rotation_matrix=cam_mat, translation_vector=cam_pos
-    ).T
-    self.transform_op.Set(Gf.Matrix4d(transformation_mat.tolist()), frame)

From 428ec9caaf5de19a9ce31edcf60e9eafa5892cf8 Mon Sep 17 00:00:00 2001
From: Abhishek Joshi <abhishekjoshinj@gmail.com>
Date: Mon, 3 Jun 2024 11:38:13 -0500
Subject: [PATCH 19/24] fixing imports

---
 python/mujoco/usd/demo.py     |  3 +--
 python/mujoco/usd/exporter.py | 10 ++++------
 python/mujoco/usd/objects.py  |  6 ++----
 3 files changed, 7 insertions(+), 12 deletions(-)

diff --git a/python/mujoco/usd/demo.py b/python/mujoco/usd/demo.py
index 645fa2e48f..069589e49f 100644
--- a/python/mujoco/usd/demo.py
+++ b/python/mujoco/usd/demo.py
@@ -3,8 +3,7 @@
 from pathlib import Path
 
 import mujoco
-# from mujoco.usd import exporter
-import exporter as exporter
+from mujoco.usd import exporter
 
 def generate_usd_trajectory(args):
 
diff --git a/python/mujoco/usd/exporter.py b/python/mujoco/usd/exporter.py
index 371ca5bfcc..89d9fca030 100644
--- a/python/mujoco/usd/exporter.py
+++ b/python/mujoco/usd/exporter.py
@@ -16,12 +16,10 @@
 
 import mujoco
 
-# import mujoco.usd.shapes as shapes_module
-# import mujoco.usd.component as object_module
-import shapes as shapes_module
-import objects as object_module
-import lights as light_module
-import camera as camera_module
+import mujoco.usd.shapes as shapes_module
+import mujoco.usd.objects as object_module
+import mujoco.usd.lights as light_module
+import mujoco.usd.camera as camera_module
 
 import numpy as np
 import scipy
diff --git a/python/mujoco/usd/objects.py b/python/mujoco/usd/objects.py
index af7103513a..4bf32cc137 100644
--- a/python/mujoco/usd/objects.py
+++ b/python/mujoco/usd/objects.py
@@ -19,10 +19,8 @@
 
 import mujoco
 
-# import mujoco.usd.utils as utils_component
-# import mujoco.usd.shapes as shapes_component
-import utils as utils_component
-import shapes as shapes_component
+import mujoco.usd.utils as utils_component
+import mujoco.usd.shapes as shapes_component
 
 import numpy as np
 

From 64b64f41695cf1c03ed8d5a9b1c98349d3246cb0 Mon Sep 17 00:00:00 2001
From: Abhishek Joshi <abhishekjoshinj@gmail.com>
Date: Thu, 13 Jun 2024 19:50:35 +0530
Subject: [PATCH 20/24] clearing init file

---
 python/mujoco/usd/__init__.py | 6 ------
 1 file changed, 6 deletions(-)

diff --git a/python/mujoco/usd/__init__.py b/python/mujoco/usd/__init__.py
index 9bdfaccfb0..e69de29bb2 100644
--- a/python/mujoco/usd/__init__.py
+++ b/python/mujoco/usd/__init__.py
@@ -1,6 +0,0 @@
-from .exporter import *
-from .objects import *
-from .lights import *
-from .camera import *
-from .utils import *
-from .shapes import *
\ No newline at end of file

From 09b00cec5d78d82425898a9cb37d878f75f09ce6 Mon Sep 17 00:00:00 2001
From: Abhishek Joshi <abhishekjoshinj@gmail.com>
Date: Mon, 17 Jun 2024 12:37:10 +0530
Subject: [PATCH 21/24] updating rotation matrix function for shapes

---
 python/mujoco/usd/shapes.py | 9 +++++++--
 1 file changed, 7 insertions(+), 2 deletions(-)

diff --git a/python/mujoco/usd/shapes.py b/python/mujoco/usd/shapes.py
index d89fd43d09..614f49ba10 100644
--- a/python/mujoco/usd/shapes.py
+++ b/python/mujoco/usd/shapes.py
@@ -159,8 +159,13 @@ def mesh_generator(
 
       if "transform" in config:
         if "rotate" in config["transform"]:
-          tmp = o3d.geometry.TriangleMesh.create_coordinate_frame() # TODO: add rotation matrix code gen to utils.py
-          R = tmp.get_rotation_matrix_from_xyz(config["transform"]["rotate"])
+          R = np.zeros(9)
+          quat = np.zeros(4)
+          euler = config["transform"]["rotate"]
+          seq = 'xyz'
+          mujoco.mju_euler2Quat(quat, euler, seq)
+          mujoco.mju_quat2Mat(R, quat)
+          R = R.reshape((3,3))
           prim_mesh.rotate(R, center=(0, 0, 0))
         if "scale" in config["transform"]:
           prim_mesh.vertices = o3d.utility.Vector3dVector(

From 59303bb161666592f2be473806f01376b99f6512 Mon Sep 17 00:00:00 2001
From: Abhishek Joshi <abhishekjoshinj@gmail.com>
Date: Wed, 3 Jul 2024 18:32:59 -0500
Subject: [PATCH 22/24] Fixing formatting for usd files and adding pylint
 configuration

---
 python/mujoco/usd/.pylintrc   |   8 ++
 python/mujoco/usd/camera.py   |  27 +++++--
 python/mujoco/usd/demo.py     |  36 +++++----
 python/mujoco/usd/exporter.py | 115 ++++++++++++++++++---------
 python/mujoco/usd/lights.py   |  33 ++++++--
 python/mujoco/usd/objects.py  | 143 ++++++++++++++++++++--------------
 python/mujoco/usd/shapes.py   |  65 ++++++++++------
 7 files changed, 282 insertions(+), 145 deletions(-)
 create mode 100644 python/mujoco/usd/.pylintrc

diff --git a/python/mujoco/usd/.pylintrc b/python/mujoco/usd/.pylintrc
new file mode 100644
index 0000000000..a1d88bef67
--- /dev/null
+++ b/python/mujoco/usd/.pylintrc
@@ -0,0 +1,8 @@
+[FORMAT]
+max-line-length=80
+
+[MESSAGES CONTROL]
+disable=bad-indentation,no-member,too-few-public-methods,too-many-arguments,too-many-instance-attributes,consider-using-enumerate,too-many-locals,undefined-loop-variable
+
+[REPORTS]
+output-format=colorized
\ No newline at end of file
diff --git a/python/mujoco/usd/camera.py b/python/mujoco/usd/camera.py
index 64c0103c22..b1b23b149b 100644
--- a/python/mujoco/usd/camera.py
+++ b/python/mujoco/usd/camera.py
@@ -1,15 +1,27 @@
-from typing import List, Optional, Tuple
-
-import utils as utils_component
-
+# Copyright 2024 DeepMind Technologies Limited
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# ==============================================================================
 import numpy as np
 
 from pxr import Gf
 from pxr import Usd
 from pxr import UsdGeom
 
-class USDCamera:
+import mujoco.usd.utils as utils_component
 
+class USDCamera:
+  """Class that handles the cameras in the USD scene"""
   def __init__(self, stage: Usd.Stage, obj_name: str):
     self.stage = stage
 
@@ -22,7 +34,6 @@ def __init__(self, stage: Usd.Stage, obj_name: str):
     # defining ops required by update function
     self.transform_op = self.usd_xform.AddTransformOp()
 
-    # self.usd_camera.CreateFocalLengthAttr().Set(18.14756) # default in omniverse
     self.usd_camera.CreateFocalLengthAttr().Set(12)
     self.usd_camera.CreateFocusDistanceAttr().Set(400)
 
@@ -31,8 +42,8 @@ def __init__(self, stage: Usd.Stage, obj_name: str):
     self.usd_camera.GetClippingRangeAttr().Set(Gf.Vec2f(1e-4, 1e6))
 
   def update(self, cam_pos: np.ndarray, cam_mat: np.ndarray, frame: int):
-
+    """Updates the position and orientation of the camera in the scene"""
     transformation_mat = utils_component.create_transform_matrix(
         rotation_matrix=cam_mat, translation_vector=cam_pos
     ).T
-    self.transform_op.Set(Gf.Matrix4d(transformation_mat.tolist()), frame)
\ No newline at end of file
+    self.transform_op.Set(Gf.Matrix4d(transformation_mat.tolist()), frame)
diff --git a/python/mujoco/usd/demo.py b/python/mujoco/usd/demo.py
index 069589e49f..460ce6d9de 100644
--- a/python/mujoco/usd/demo.py
+++ b/python/mujoco/usd/demo.py
@@ -1,12 +1,26 @@
+# Copyright 2024 DeepMind Technologies Limited
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# ==============================================================================
 import argparse
-from tqdm import tqdm
 from pathlib import Path
+from tqdm import tqdm
 
 import mujoco
 from mujoco.usd import exporter
 
 def generate_usd_trajectory(args):
-
+  """Generates a USD file from a mujoco trajectory."""
   # load a model to mujoco
   model_path = args.model_path
   m = mujoco.MjModel.from_xml_path(model_path)
@@ -19,8 +33,8 @@ def generate_usd_trajectory(args):
                              camera_names=args.camera_names)
 
   # step through the model for length steps
-  for i in tqdm(range(args.length)):
-    for i in range(args.steps_per_frame):
+  for _ in tqdm(range(args.length)):
+    for _ in range(args.steps_per_frame):
       mujoco.mj_step(m, d)
     exp.update_scene(d)
 
@@ -30,7 +44,7 @@ def generate_usd_trajectory(args):
 
   parser = argparse.ArgumentParser()
 
-  parser.add_argument('--model_path', 
+  parser.add_argument('--model_path',
                       type=str,
                       required=True,
                       help='path to mjcf xml model')
@@ -40,20 +54,20 @@ def generate_usd_trajectory(args):
                       default=100,
                       help='length of trajectory to render')
 
-  parser.add_argument('--output_directory_root', 
+  parser.add_argument('--output_directory_root',
                       type=str,
                       default="../usd_trajectories/",
                       help='location where to create usd files')
 
-  parser.add_argument('--camera_names', 
+  parser.add_argument('--camera_names',
                       type=str,
                       nargs='+',
                       help='cameras to include in usd')
 
-  parser.add_argument('--export_extension', 
+  parser.add_argument('--export_extension',
                       type=str,
                       default="usd",
-                      help='extension of exported file (can be usd, usda, or usdc)')
+                      help='extension of exported file (usd, usda, or usdc)')
 
   parser.add_argument('--steps_per_frame',
                       type=int,
@@ -62,7 +76,3 @@ def generate_usd_trajectory(args):
 
   args = parser.parse_args()
   generate_usd_trajectory(args)
-
-  
-
-
diff --git a/python/mujoco/usd/exporter.py b/python/mujoco/usd/exporter.py
index 89d9fca030..9eedfb60e1 100644
--- a/python/mujoco/usd/exporter.py
+++ b/python/mujoco/usd/exporter.py
@@ -13,32 +13,30 @@
 # limitations under the License.
 # ==============================================================================
 import os
-
-import mujoco
-
-import mujoco.usd.shapes as shapes_module
-import mujoco.usd.objects as object_module
-import mujoco.usd.lights as light_module
-import mujoco.usd.camera as camera_module
+from typing import List, Optional
 
 import numpy as np
 import scipy
 import termcolor
 import tqdm
 
-from typing import List, Optional, Tuple, Union
 from PIL import Image as im
 from PIL import ImageOps
 
-# TODO: b/288149332 - Remove once USD Python Binding works well with pytype.
-# pytype: disable=module-attr
 from pxr import Sdf
 from pxr import Usd
 from pxr import UsdGeom
 
+import mujoco
+
+import mujoco.usd.shapes as shapes_module
+import mujoco.usd.objects as object_module
+import mujoco.usd.lights as light_module
+import mujoco.usd.camera as camera_module
+
 
 class USDExporter:
-
+  """MuJoCo to USD exporter for porting scenes to external renderers."""
   def __init__(
       self,
       model: mujoco.MjModel,
@@ -58,7 +56,7 @@ def __init__(
         model: an MjModel instance.
         height: image height in pixels.
         width: image width in pixels.
-        max_geom: Optional integer specifying the maximum number of geoms that
+        max_geom: optional integer specifying the maximum number of geoms that
           can be rendered in the same scene. If None this will be chosen
           automatically based on the estimated maximum number of renderable
           geoms in the model.
@@ -107,6 +105,10 @@ def __init__(
     self.geom_names = set()
     self.geom_refs = {}
 
+    # initializing list of lights and cameras
+    self.usd_lights = []
+    self.usd_cameras = []
+
     # initializing rendering requirements
     self.renderer = mujoco.Renderer(model, height, width, max_geom)
     self._initialize_usd_stage()
@@ -120,13 +122,16 @@ def __init__(
 
   @property
   def usd(self):
+    """Returns the USD file as a string."""
     return self.stage.GetRootLayer().ExportToString()
 
   @property
   def scene(self):
+    """Returns the scene."""
     return self.renderer.scene
 
   def _initialize_usd_stage(self):
+    """Initializes a USD stage to represent the mujoco scene."""
     self.stage = Usd.Stage.CreateInMemory()
     UsdGeom.SetStageUpAxis(self.stage, UsdGeom.Tokens.z)
     self.stage.SetStartTimeCode(0)
@@ -139,6 +144,7 @@ def _initialize_usd_stage(self):
     self.stage.SetDefaultPrim(default_prim)
 
   def _initialize_output_directories(self):
+    """Initializes output directories to store frames and assets"""
     self.output_directory_path = os.path.join(
         self.output_directory_root, self.output_directory_name
     )
@@ -167,7 +173,7 @@ def update_scene(
       data: mujoco.MjData,
       scene_option: Optional[mujoco.MjvOption] = None,
   ):
-    """Updates the scene with latest sim data
+    """Updates the scene with latest sim data.
 
     Args:
         data: structure storing current simulation state
@@ -231,7 +237,7 @@ def _load_textures(self):
           )
       )
 
-  def _load_geom(self, geom: mujoco.MjvGeom, tendon: Optional[bool]=False):
+  def _load_geom(self, geom: mujoco.MjvGeom):
 
     geom_name = self._get_geom_name(geom)
 
@@ -272,7 +278,7 @@ def _load_geom(self, geom: mujoco.MjvGeom, tendon: Optional[bool]=False):
         mesh_config = shapes_module.mesh_config_generator(
             name=geom_name,
             geom_type=geom.type,
-            size=geom.size   
+            size=geom.size
         )
         usd_geom = object_module.USDPrimitiveMesh(
             mesh_config=mesh_config,
@@ -316,12 +322,12 @@ def _update_geoms(self):
 
   def _load_lights(self):
     # initializes an usd light object for every light in the scene
-    self.usd_lights = []
     for i in range(self.scene.nlight):
       light = self.scene.lights[i]
       if not np.allclose(light.pos, [0, 0, 0]):
-        self.usd_lights.append
-        (light_module.USDSphereLight(stage=self.stage, obj_name=str(i)))
+        self.usd_lights.append(
+          light_module.USDSphereLight(stage=self.stage, obj_name=str(i))
+        )
       else:
         self.usd_lights.append(None)
 
@@ -343,7 +349,6 @@ def _update_lights(self):
       )
 
   def _load_cameras(self):
-    self.usd_cameras = []
     if self.camera_names is not None:
       for name in self.camera_names:
         self.usd_cameras.append(
@@ -355,7 +360,6 @@ def _update_cameras(
       scene_option: Optional[mujoco.MjvOption] = None,
   ):
     for i in range(len(self.usd_cameras)):
-
       camera = self.usd_cameras[i]
       camera_name = self.camera_names[i]
 
@@ -370,12 +374,16 @@ def _update_cameras(
       up = avg_camera.up
       right = np.cross(forward, up)
 
-      R = np.eye(3)
-      R[:, 0] = right
-      R[:, 1] = up
-      R[:, 2] = -forward
+      rotation = np.eye(3)
+      rotation[:, 0] = right
+      rotation[:, 1] = up
+      rotation[:, 2] = -forward
 
-      camera.update(cam_pos=avg_camera.pos, cam_mat=R, frame=self.updates)
+      camera.update(
+        cam_pos=avg_camera.pos,
+        cam_mat=rotation,
+        frame=self.updates
+      )
 
   def add_light(
       self,
@@ -386,16 +394,33 @@ def add_light(
       obj_name: Optional[str] = "light_1",
       light_type: Optional[str] = "sphere",
   ):
-
+    """Adds a user defined, fixed light.
+    
+    Args:
+        pos: position of the light in 3D space.
+        intensity: intensity of the light.
+        radius: radius of the light to be used by renderer.
+        color: color of the light.
+        obj_name: name associated with the light.
+        light_type: type of light (sphere or dome).
+    """
     if light_type == "sphere":
-      new_light = light_module.USDSphereLight(stage=self.stage, obj_name=str(objid), radius=radius)
-
-      new_light.update(pos=np.array(pos), intensity=intensity, color=color, frame=0)
+      new_light = light_module.USDSphereLight(
+        stage=self.stage,
+        obj_name=obj_name,
+        radius=radius)
+
+      new_light.update(
+        pos=np.array(pos),
+        intensity=intensity,
+        color=color,
+        frame=0)
     elif light_type == "dome":
       new_light = light_module.USDDomeLight(
-          stage=self.stage, obj_name=str(objid))
-
-      new_light.update(intensity=intensity, color=color, frame=0)
+        stage=self.stage,
+        obj_name=obj_name
+      )
+      new_light.update(intensity=intensity, color=color)
 
   def add_camera(
       self,
@@ -403,14 +428,22 @@ def add_camera(
       rotation_xyz: List[float],
       obj_name: Optional[str] = "camera_1",
   ):
+    """Adds a user defined, fixed camera.
+    
+    Args:
+        pos: position of the camera in 3D space.
+        rotation_xyz: euler rotation of the camera.
+        obj_name: name associated with the camera.
+    """
     new_camera = camera_module.USDCamera(
-        stage=self.stage, obj_name=str(objid))
+        stage=self.stage, obj_name=obj_name)
 
     r = scipy.spatial.transform.Rotation.from_euler(
         "xyz", rotation_xyz, degrees=True)
     new_camera.update(cam_pos=np.array(pos), cam_mat=r.as_matrix(), frame=0)
 
   def save_scene(self, filetype: str = "usd"):
+    """Saves the scene to a USD file."""
     assert filetype in ["usd", "usda", "usdc"]
     self.stage.SetEndTimeCode(self.frame_count)
 
@@ -419,10 +452,14 @@ def save_scene(self, filetype: str = "usd"):
       geom_ref.update_visibility(False, geom_ref.last_visible_frame+1)
 
     self.stage.Export(
-        f"{self.output_directory_root}/{self.output_directory_name}/frames/frame_{self.frame_count}_.{filetype}"
+        f"{self.output_directory_root}/{self.output_directory_name}/" + \
+        f"frames/frame_{self.frame_count}.{filetype}"
     )
     if self.verbose:
-      print(termcolor.colored(f"Completed writing frame_{self.frame_count}.{filetype}", "green"))
+      print(termcolor.colored(
+        f"Completed writing frame_{self.frame_count}.{filetype}",
+        "green"
+      ))
 
   def _get_geom_name(self, geom):
     # adding id as part of name for USD file
@@ -431,7 +468,8 @@ def _get_geom_name(self, geom):
       geom_name = "None"
     geom_name += f"_id{geom.objid}"
 
-    # adding additional naming information to differentiate between geoms and tendons
+    # adding additional naming information to differentiate
+    # between geoms and tendons
     if geom.objtype == mujoco.mjtObj.mjOBJ_GEOM:
       geom_name += "_geom"
     elif geom.objtype == mujoco.mjtObj.mjOBJ_TENDON:
@@ -439,9 +477,10 @@ def _get_geom_name(self, geom):
 
     return geom_name
 
-  # for debugging purposes, prints all geoms in scene including those part of tendons
+  # for debugging purposes, prints all geoms in scene
+  # including those part of tendons
   def _print_scene_geom_info(self):
     for i in range(self.scene.ngeom):
       geom = self.scene.geoms[i]
       geom_name = self._get_geom_name(geom)
-      print(i, geom_name)
\ No newline at end of file
+      print(i, geom_name)
diff --git a/python/mujoco/usd/lights.py b/python/mujoco/usd/lights.py
index eeee9e1879..127abc3944 100644
--- a/python/mujoco/usd/lights.py
+++ b/python/mujoco/usd/lights.py
@@ -1,4 +1,18 @@
-from typing import List, Optional, Tuple
+# Copyright 2024 DeepMind Technologies Limited
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# ==============================================================================
+from typing import Optional
 
 import numpy as np
 
@@ -8,7 +22,7 @@
 from pxr import UsdLux
 
 class USDSphereLight:
-
+  """Class that handles the sphere lights in the USD scene"""
   def __init__(
       self, stage: Usd.Stage, obj_name: str, radius: Optional[float] = 0.3
   ):
@@ -28,7 +42,14 @@ def __init__(
     # defining ops required by update function
     self.translate_op = self.usd_xform.AddTranslateOp()
 
-  def update(self, pos: np.ndarray, intensity: int, color: np.ndarray, frame: int):
+  def update(
+    self,
+    pos: np.ndarray,
+    intensity: int,
+    color: np.ndarray,
+    frame: int
+  ):
+    """Updates the attributes of a sphere light."""
     self.translate_op.Set(Gf.Vec3d(pos.tolist()), frame)
 
     if not np.any(pos):
@@ -39,7 +60,7 @@ def update(self, pos: np.ndarray, intensity: int, color: np.ndarray, frame: int)
 
 
 class USDDomeLight:
-
+  """Class that handles the dome lights in the USD scene"""
   def __init__(self, stage: Usd.Stage, obj_name: str):
     self.stage = stage
 
@@ -52,8 +73,8 @@ def __init__(self, stage: Usd.Stage, obj_name: str):
     # we assume in mujoco that all lights are point lights
     self.usd_light.GetNormalizeAttr().Set(True)
 
-  def update(self, intensity: int, color: np.ndarray, frame: int):
+  def update(self, intensity: int, color: np.ndarray):
+    """Updates the attributes of a dome light."""
     self.usd_light.GetIntensityAttr().Set(intensity)
     self.usd_light.GetExposureAttr().Set(0.0)
     self.usd_light.GetColorAttr().Set(Gf.Vec3d(color.tolist()))
-
diff --git a/python/mujoco/usd/objects.py b/python/mujoco/usd/objects.py
index 4bf32cc137..854606e3c7 100644
--- a/python/mujoco/usd/objects.py
+++ b/python/mujoco/usd/objects.py
@@ -14,37 +14,34 @@
 # ==============================================================================
 from abc import ABC, abstractmethod
 from collections import defaultdict
-from typing import List, Optional, Tuple
-import pprint
-
-import mujoco
-
-import mujoco.usd.utils as utils_component
-import mujoco.usd.shapes as shapes_component
+from typing import Optional
 
 import numpy as np
 
-# TODO: b/288149332 - Remove once USD Python Binding works well with pytype.
-# pytype: disable=module-attr
-from open3d import open3d as o3d
 from pxr import Gf
 from pxr import Sdf
 from pxr import Usd
 from pxr import UsdGeom
-from pxr import UsdLux
 from pxr import UsdShade
 from pxr import Vt
 
+import mujoco
+
+import mujoco.usd.utils as utils_component
+import mujoco.usd.shapes as shapes_component
+
 class USDObject(ABC):
-  """ Abstract interface for all USD objects including meshes and primitives
+  """ Abstract interface for all USD objects including meshes and primitives.
 
   Subclasses must implement:
 
-  * `_get_uv_geometry(self)`: gets the nessecary UV information to wrap a texture 
-     around an object in USD. Each subclass implements their own method to getting
-     UV information as different objects are contructed in different ways.
+  * `_get_uv_geometry(self)`: gets the nessecary UV information to
+     wrap a texture around an object in USD. Each subclass implements
+     their own method to getting UV information as different objects
+     are contructed in different ways.
 
-  * `_get_mesh_geometry(self)`: gets the mesh geometry of an object in the scene.
+  * `_get_mesh_geometry(self)`: gets the mesh geometry of an object
+     in the scene.
   """
 
   def __init__(
@@ -68,16 +65,16 @@ def __init__(
     self.transform_op = self.usd_xform.AddTransformOp()
     self.scale_op = self.usd_xform.AddScaleOp()
 
-    self.last_visible_frame = -2 # not an arbitary value, forces difference greater than 1 for visibility on 0th frame
+    self.last_visible_frame = -2
 
   @abstractmethod
   def _get_uv_geometry(self):
-    """Gets UV information for an object in the scene"""
+    """Gets UV information for an object in the scene."""
     raise NotImplementedError
-  
+
   @abstractmethod
   def _get_mesh_geometry(self):
-    """Gets structure of an object in the scene"""
+    """Gets structure of an object in the scene."""
     raise NotImplementedError
 
   def attach_image_material(self, usd_mesh):
@@ -176,13 +173,22 @@ def attach_solid_material(self, usd_mesh):
   def _set_refinement_properties(self, usd_prim, scheme="none"):
     usd_prim.GetAttribute("subdivisionScheme").Set(scheme)
 
-  def update(self, pos: np.ndarray, mat: np.ndarray, visible: bool, frame: int, scale: Optional[np.ndarray] = None):
-    """Updates the position and orientation of an object in the scene for a given frame"""
+  def update(
+    self,
+    pos: np.ndarray,
+    mat: np.ndarray,
+    visible: bool,
+    frame: int,
+    scale: Optional[np.ndarray] = None
+  ):
+    """Updates the position and orientation of an object
+       in the scene for a given frame.
+    """
     transformation_mat = utils_component.create_transform_matrix(
         rotation_matrix=mat, translation_vector=pos
     ).T
     self.transform_op.Set(Gf.Matrix4d(transformation_mat.tolist()), frame)
-    
+
     if visible and frame - self.last_visible_frame > 1:
       # non consecutive visible frames
       self.update_visibility(False, max(0, self.last_visible_frame))
@@ -204,7 +210,7 @@ def update_scale(self, scale: np.ndarray, frame: int):
     self.scale_op.Set(Gf.Vec3f(scale.tolist()), frame)
 
 class USDMesh(USDObject):
-
+  """Class that handles predefined meshes in the USD scene."""
   def __init__(
       self,
       stage: Usd.Stage,
@@ -249,7 +255,7 @@ def __init__(
     else:
       self.attach_solid_material(self.usd_mesh)
 
-  def get_facetexcoord_ranges(self, nmesh, arr):
+  def _get_facetexcoord_ranges(self, nmesh, arr):
     facetexcoords_ranges = [0]
     running_sum = 0
     for i in range(nmesh):
@@ -268,7 +274,7 @@ def _get_uv_geometry(self):
         mesh_texcoord_adr_from:mesh_texcoord_adr_to
     ]
 
-    mesh_facetexcoord_ranges = self.get_facetexcoord_ranges(
+    mesh_facetexcoord_ranges = self._get_facetexcoord_ranges(
         self.model.nmesh, self.model.mesh_facenum
     )
 
@@ -302,7 +308,7 @@ def _get_mesh_geometry(self):
     return mesh_vert, mesh_face, mesh_facenum
 
 class USDPrimitiveMesh(USDObject):
-
+  """Class to handle primitive shapes in the USD scene."""
   def __init__(
       self,
       mesh_config: dict,
@@ -333,13 +339,13 @@ def __init__(
     self.usd_mesh.GetFaceVertexIndicesAttr().Set(mesh_face)
 
     # setting mesh uv properties
-    mesh_texcoord, mesh_facetexcoord = self._get_uv_geometry()
+    mesh_texcoord, _ = self._get_uv_geometry()
     self.texcoords = UsdGeom.PrimvarsAPI(self.usd_mesh).CreatePrimvar(
         "UVMap", Sdf.ValueTypeNames.TexCoord2fArray, UsdGeom.Tokens.faceVarying
     )
 
     self.texcoords.Set(mesh_texcoord)
-    self.texcoords.SetIndices(Vt.IntArray([i for i in range(mesh_facenum * 3)]))
+    self.texcoords.SetIndices(Vt.IntArray(list(range(mesh_facenum * 3))))
 
     self._set_refinement_properties(self.usd_prim)
 
@@ -349,12 +355,12 @@ def __init__(
       self.attach_solid_material(self.usd_mesh)
 
   def generate_primitive_mesh(self):
+    """Generates the mesh for the primitive USD object."""
     _, prim_mesh = shapes_component.mesh_generator(self.mesh_config)
     prim_mesh.translate(-prim_mesh.get_center())
     return prim_mesh
 
   def _get_uv_geometry(self):
-
     assert self.prim_mesh
 
     x_scale, y_scale = self.geom.texrepeat
@@ -364,10 +370,12 @@ def _get_uv_geometry(self):
     x_multiplier, y_multiplier = 1, 1
     if self.geom.texuniform:
       if "box" in self.mesh_config:
-        x_multiplier, y_multiplier = self.mesh_config["box"]["width"], self.mesh_config["box"]["height"]
+        x_multiplier = self.mesh_config["box"]["width"]
+        y_multiplier = self.mesh_config["box"]["height"]
       elif "sphere" in self.mesh_config:
-        x_multiplier, y_multiplier = self.mesh_config["sphere"]["radius"], self.mesh_config["sphere"]["radius"]
-      
+        x_multiplier = self.mesh_config["sphere"]["radius"]
+        y_multiplier = self.mesh_config["sphere"]["radius"]
+
     mesh_texcoord[:, 0] *= x_scale * x_multiplier
     mesh_texcoord[:, 1] *= y_scale * y_multiplier
 
@@ -383,7 +391,7 @@ def _get_mesh_geometry(self):
     return mesh_vert, mesh_face, len(mesh_face)
 
 class USDTendon(USDObject):
-  
+  """Class to handle tendons in the USD scene."""
   def __init__(
       self,
       mesh_config: dict,
@@ -403,53 +411,70 @@ def __init__(
     self.tendon_parts = self.generate_primitive_mesh()
     self.usd_refs = defaultdict(dict)
 
-    for name, mesh in self.tendon_parts.items():
+    for name, _ in self.tendon_parts.items():
       part_xform_path = f"{self.xform_path}/Mesh_Xform_{name}"
       mesh_path = f"{part_xform_path}/Mesh_{obj_name}"
-      self.usd_refs[name]["usd_xform"] = UsdGeom.Xform.Define(stage, part_xform_path)
-      self.usd_refs[name]["usd_mesh"] = UsdGeom.Mesh.Define(stage, mesh_path)
+      usd_xform = UsdGeom.Xform.Define(
+        stage,
+        part_xform_path
+      )
+      self.usd_refs[name]["usd_xform"] = usd_xform
+      self.usd_refs[name]["usd_mesh"] = UsdGeom.Mesh.Define(
+        stage,
+        mesh_path
+      )
       self.usd_refs[name]["usd_prim"] = stage.GetPrimAtPath(mesh_path)
       # adding ops for each of the part xforms
-      self.usd_refs[name]["translate_op"] = self.usd_refs[name]["usd_xform"].AddTranslateOp()
-      self.usd_refs[name]["scale_op"] = self.usd_refs[name]["usd_xform"].AddScaleOp()
+      self.usd_refs[name]["translate_op"] = usd_xform.AddTranslateOp()
+      self.usd_refs[name]["scale_op"] = usd_xform.AddScaleOp()
 
     # setting mesh geometry properties for each of the parts in the tendon
     part_geometries = self._get_mesh_geometry()
     for name, part_geometry in part_geometries.items():
-      self.usd_refs[name]["usd_mesh"].GetPointsAttr().Set(part_geometry["mesh_vert"])
+      self.usd_refs[name]["usd_mesh"].GetPointsAttr().Set(
+        part_geometry["mesh_vert"]
+      )
       self.usd_refs[name]["usd_mesh"].GetFaceVertexCountsAttr().Set(
         [3 for _ in range(part_geometry["mesh_facenum"])]
       )
-      self.usd_refs[name]["usd_mesh"].GetFaceVertexIndicesAttr().Set(part_geometry["mesh_face"])
+      self.usd_refs[name]["usd_mesh"].GetFaceVertexIndicesAttr().Set(
+        part_geometry["mesh_face"]
+      )
 
     # setting uv properties for each of the parts in the tendon
     part_uv_geometries = self._get_uv_geometry()
     for name, part_uv_geometry in part_uv_geometries.items():
-      self.texcoords = UsdGeom.PrimvarsAPI(self.usd_refs[name]["usd_mesh"]).CreatePrimvar(
-          "UVMap", Sdf.ValueTypeNames.TexCoord2fArray, UsdGeom.Tokens.faceVarying
+      self.texcoords = UsdGeom.PrimvarsAPI(
+        self.usd_refs[name]["usd_mesh"]
+      ).CreatePrimvar(
+          "UVMap",
+          Sdf.ValueTypeNames.TexCoord2fArray,
+          UsdGeom.Tokens.faceVarying
       )
       self.texcoords.Set(part_uv_geometry["mesh_texcoord"])
-      self.texcoords.SetIndices(Vt.IntArray([i for i in range(part_geometry["mesh_facenum"] * 3)]))
-    
-    for name in self.usd_refs.keys(): 
-      self._set_refinement_properties(self.usd_refs[name]["usd_prim"])
+      self.texcoords.SetIndices(
+        Vt.IntArray(list(range(part_geometry['mesh_facenum'] * 3)))
+      )
+
+    for _, ref in self.usd_refs.items():
+      self._set_refinement_properties(ref["usd_prim"])
       if self.texture_file:
-        self.attach_image_material(self.usd_refs[name]["usd_mesh"])
+        self.attach_image_material(ref["usd_mesh"])
       else:
-        self.attach_solid_material(self.usd_refs[name]["usd_mesh"])
-    
+        self.attach_solid_material(ref["usd_mesh"])
+
   def generate_primitive_mesh(self):
+    """Generates the tendon mesh using primitives."""
     mesh_parts = {}
     for part_config in self.mesh_config:
       mesh_name, prim_mesh = shapes_component.mesh_generator(part_config)
       prim_mesh.translate(-prim_mesh.get_center())
       mesh_parts[mesh_name] = prim_mesh
     return mesh_parts
-  
+
   def _get_uv_geometry(self):
     part_uv_geometries = defaultdict(dict)
     for name, mesh in self.tendon_parts.items():
-      x_scale, y_scale = self.geom.texrepeat
       mesh_texcoord = np.array(mesh.triangle_uvs)
       mesh_facetexcoord = np.asarray(mesh.triangles)
       part_uv_geometries[name] = {
@@ -471,8 +496,14 @@ def _get_mesh_geometry(self):
       }
     return part_geometries
 
-  def update(self, pos: np.ndarray, mat: np.ndarray, visible: bool, frame: int, scale: Optional[np.ndarray] = None):
-    """Updates the position and orientation of an object in the scene for a given frame"""
+  def update(
+    self,
+    pos: np.ndarray,
+    mat: np.ndarray,
+    visible: bool,
+    frame: int,
+    scale: Optional[np.ndarray] = None):
+    """Updates the position and orientation of an object in the scene."""
     super().update(pos, mat, visible, frame, scale)
     for name in self.tendon_parts.keys():
       if "left" in name:
@@ -483,7 +514,7 @@ def update(self, pos: np.ndarray, mat: np.ndarray, visible: bool, frame: int, sc
         self.usd_refs[name]["translate_op"].Set(Gf.Vec3f(translate), frame)
 
   def update_scale(self, scale: np.ndarray, frame: int):
-    """Updates the scale of the tendon"""
+    """Updates the scale of the tendon."""
     for name in self.tendon_parts.keys():
       if "cylinder" in name:
         self.usd_refs[name]["scale_op"].Set(Gf.Vec3f(scale.tolist()), frame)
@@ -491,5 +522,3 @@ def update_scale(self, scale: np.ndarray, frame: int):
         hemisphere_scale = scale.tolist()
         hemisphere_scale[2] = hemisphere_scale[0]
         self.usd_refs[name]["scale_op"].Set(Gf.Vec3f(hemisphere_scale), frame)
-    
-    
diff --git a/python/mujoco/usd/shapes.py b/python/mujoco/usd/shapes.py
index 614f49ba10..dec9adae79 100644
--- a/python/mujoco/usd/shapes.py
+++ b/python/mujoco/usd/shapes.py
@@ -1,15 +1,28 @@
-import copy
-import mujoco
-import pprint
+# Copyright 2024 DeepMind Technologies Limited
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+# ==============================================================================
 import numpy as np
 import open3d as o3d
 
+import mujoco
+
 def create_hemisphere(
     radius: float,
     theta_steps: int = 50,
     phi_steps: int = 50
 ):
-
+    """Creates a hemisphere mesh from a point cloud."""
     points = []
     for i in range(phi_steps + 1):
         phi = np.pi / 2 * i / phi_steps
@@ -28,6 +41,7 @@ def create_hemisphere(
     return mesh
 
 def decouple_config(config: dict):
+  """Breaks a shape config into is subcomponent shapes."""
   decoupled_config = []
   for key, value in config.items():
     if key == "name":
@@ -46,7 +60,7 @@ def mesh_config_generator(
     size: np.ndarray,
     decouple: bool = False
 ):
-
+    """Creates a config for a particular mesh."""
     if geom_type == mujoco.mjtGeom.mjGEOM_PLANE:
       config = {
         "name": name,
@@ -65,7 +79,11 @@ def mesh_config_generator(
         }
       }
     elif geom_type == mujoco.mjtGeom.mjGEOM_CAPSULE:
-      cylinder = mesh_config_generator(name, mujoco.mjtGeom.mjGEOM_CYLINDER, size)
+      cylinder = mesh_config_generator(
+        name,
+        mujoco.mjtGeom.mjGEOM_CYLINDER,
+        size
+      )
       config = {
         "name": name,
         "cylinder": cylinder["cylinder"],
@@ -84,7 +102,11 @@ def mesh_config_generator(
         },
       }
     elif geom_type == mujoco.mjtGeom.mjGEOM_ELLIPSOID:
-      sphere = mesh_config_generator(name, mujoco.mjtGeom.mjGEOM_SPHERE, [1.0])
+      sphere = mesh_config_generator(
+        name,
+        mujoco.mjtGeom.mjGEOM_SPHERE,
+        [1.0]
+      )
       sphere["sphere"]["transform"] = {
         "scale": tuple(size)
       }
@@ -110,7 +132,9 @@ def mesh_config_generator(
         }
       }
     else:
-      raise NotImplemented(f"{geom_type} primitive geom type not implemented with USD integration")
+      raise NotImplementedError(
+        f"{geom_type} primitive geom type not implemented with USD integration"
+      )
 
     if decouple:
       config = decouple_config(config)
@@ -121,10 +145,10 @@ def mesh_generator(
     mesh_config: dict,
     resolution: int = 100,
 ):
-
+    """Generates a mesh given a config consisting of shapes."""
     assert "name" in mesh_config
 
-    mesh = None
+    prim_mesh, mesh = None, None
 
     for shape, config in mesh_config.items():
 
@@ -139,7 +163,7 @@ def mesh_generator(
             create_uv_map=True,
             map_texture_to_each_face=True,
         )
-      elif "hemisphere" in shape: 
+      elif "hemisphere" in shape:
         prim_mesh = create_hemisphere(
           radius=mesh_config[shape]["radius"]
         )
@@ -159,17 +183,19 @@ def mesh_generator(
 
       if "transform" in config:
         if "rotate" in config["transform"]:
-          R = np.zeros(9)
+          rotation = np.zeros(9)
           quat = np.zeros(4)
           euler = config["transform"]["rotate"]
           seq = 'xyz'
           mujoco.mju_euler2Quat(quat, euler, seq)
-          mujoco.mju_quat2Mat(R, quat)
-          R = R.reshape((3,3))
-          prim_mesh.rotate(R, center=(0, 0, 0))
+          mujoco.mju_quat2Mat(rotation, quat)
+          rotation = rotation.reshape((3,3))
+          prim_mesh.rotate(rotation, center=(0, 0, 0))
         if "scale" in config["transform"]:
           prim_mesh.vertices = o3d.utility.Vector3dVector(
-          np.asarray(prim_mesh.vertices) * np.array(config["transform"]["scale"]))
+            np.asarray(prim_mesh.vertices) * \
+            np.array(config["transform"]["scale"])
+          )
         if "translate" in config["transform"]:
           prim_mesh.translate(config["transform"]["translate"])
 
@@ -179,10 +205,3 @@ def mesh_generator(
         mesh += prim_mesh
 
     return mesh_config["name"], mesh
-      
-
-
-
-
-    
-

From c79ae6f24222bd3c6c0f42dbcac9c03686baf896 Mon Sep 17 00:00:00 2001
From: Abhishek Joshi <abhishekjoshinj@gmail.com>
Date: Thu, 4 Jul 2024 15:06:25 -0500
Subject: [PATCH 23/24] fixing frame rate bug in demo file

---
 python/mujoco/usd/camera.py        |  3 +-
 python/mujoco/usd/demo.py          | 60 ++++++++++++------------------
 python/mujoco/usd/exporter.py      | 13 ++++---
 python/mujoco/usd/exporter_test.py |  2 +-
 python/mujoco/usd/objects.py       |  7 +++-
 python/mujoco/usd/shapes.py        |  2 +-
 6 files changed, 41 insertions(+), 46 deletions(-)

diff --git a/python/mujoco/usd/camera.py b/python/mujoco/usd/camera.py
index b1b23b149b..bb9d723f80 100644
--- a/python/mujoco/usd/camera.py
+++ b/python/mujoco/usd/camera.py
@@ -18,7 +18,8 @@
 from pxr import Usd
 from pxr import UsdGeom
 
-import mujoco.usd.utils as utils_component
+# import mujoco.usd.utils as utils_component
+import utils as utils_component
 
 class USDCamera:
   """Class that handles the cameras in the USD scene"""
diff --git a/python/mujoco/usd/demo.py b/python/mujoco/usd/demo.py
index 460ce6d9de..ab5d6c7adc 100644
--- a/python/mujoco/usd/demo.py
+++ b/python/mujoco/usd/demo.py
@@ -1,26 +1,14 @@
-# Copyright 2024 DeepMind Technologies Limited
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-# ==============================================================================
 import argparse
-from pathlib import Path
 from tqdm import tqdm
+from pathlib import Path
 
 import mujoco
-from mujoco.usd import exporter
+
+# from mujoco.usd import exporter
+import exporter
 
 def generate_usd_trajectory(args):
-  """Generates a USD file from a mujoco trajectory."""
+
   # load a model to mujoco
   model_path = args.model_path
   m = mujoco.MjModel.from_xml_path(model_path)
@@ -31,12 +19,12 @@ def generate_usd_trajectory(args):
                              output_directory_name=Path(args.model_path).stem,
                              output_directory_root=args.output_directory_root,
                              camera_names=args.camera_names)
-
-  # step through the model for length steps
-  for _ in tqdm(range(args.length)):
-    for _ in range(args.steps_per_frame):
-      mujoco.mj_step(m, d)
-    exp.update_scene(d)
+    
+  # step through the simulation for the given duration of time
+  while d.time < args.duration:
+    mujoco.mj_step(m, d)
+    if exp.frame_count < d.time * args.framerate:
+      exp.update_scene(data=d)
 
   exp.save_scene(filetype=args.export_extension)
 
@@ -44,35 +32,35 @@ def generate_usd_trajectory(args):
 
   parser = argparse.ArgumentParser()
 
-  parser.add_argument('--model_path',
+  parser.add_argument('--model_path', 
                       type=str,
                       required=True,
                       help='path to mjcf xml model')
 
-  parser.add_argument('--length',
+  parser.add_argument('--duration',
                       type=int,
-                      default=100,
-                      help='length of trajectory to render')
+                      default=5,
+                      help='duration in seconds for the generated video')
 
-  parser.add_argument('--output_directory_root',
+  parser.add_argument('--framerate',
+                      type=int,
+                      default=60,
+                      help='frame rate of the generated video')
+
+  parser.add_argument('--output_directory_root', 
                       type=str,
                       default="../usd_trajectories/",
                       help='location where to create usd files')
 
-  parser.add_argument('--camera_names',
+  parser.add_argument('--camera_names', 
                       type=str,
                       nargs='+',
                       help='cameras to include in usd')
 
-  parser.add_argument('--export_extension',
+  parser.add_argument('--export_extension', 
                       type=str,
                       default="usd",
-                      help='extension of exported file (usd, usda, or usdc)')
-
-  parser.add_argument('--steps_per_frame',
-                      type=int,
-                      default=1,
-                      help='number of frames to skip for each rendering step')
+                      help='extension of exported file (can be usd, usda, or usdc)')
 
   args = parser.parse_args()
   generate_usd_trajectory(args)
diff --git a/python/mujoco/usd/exporter.py b/python/mujoco/usd/exporter.py
index 9eedfb60e1..25cd674740 100644
--- a/python/mujoco/usd/exporter.py
+++ b/python/mujoco/usd/exporter.py
@@ -29,10 +29,14 @@
 
 import mujoco
 
-import mujoco.usd.shapes as shapes_module
-import mujoco.usd.objects as object_module
-import mujoco.usd.lights as light_module
-import mujoco.usd.camera as camera_module
+# import mujoco.usd.shapes as shapes_module
+# import mujoco.usd.objects as object_module
+# import mujoco.usd.lights as light_module
+# import mujoco.usd.camera as camera_module
+import shapes as shapes_module
+import objects as object_module
+import lights as light_module
+import camera as camera_module
 
 
 class USDExporter:
@@ -293,7 +297,6 @@ def _load_geom(self, geom: mujoco.MjvGeom):
     self.geom_refs[geom_name] = usd_geom
 
   def _update_geoms(self):
-
     # iterate through all geoms in the scene and makes update
     for i in range(self.scene.ngeom):
       geom = self.scene.geoms[i]
diff --git a/python/mujoco/usd/exporter_test.py b/python/mujoco/usd/exporter_test.py
index 17d6e8557e..3320c77d34 100644
--- a/python/mujoco/usd/exporter_test.py
+++ b/python/mujoco/usd/exporter_test.py
@@ -59,7 +59,7 @@ def test_usd_export(self):
     exporter.save_scene("export.usda")
 
     with open(os.path.join(
-        output_dir, "mujoco_usdpkg/frames", "frame_1_.export.usda"), "r") as f:
+        output_dir, "mujoco_usdpkg/frames", "frame_1.export.usda"), "r") as f:
       golden_path = os.path.join(
           epath.resource_path("mujoco"), "testdata", "usd_golden.usda")
       with open(golden_path, "r") as golden_file:
diff --git a/python/mujoco/usd/objects.py b/python/mujoco/usd/objects.py
index 854606e3c7..42677bd7f6 100644
--- a/python/mujoco/usd/objects.py
+++ b/python/mujoco/usd/objects.py
@@ -27,8 +27,11 @@
 
 import mujoco
 
-import mujoco.usd.utils as utils_component
-import mujoco.usd.shapes as shapes_component
+# import mujoco.usd.utils as utils_component
+# import mujoco.usd.shapes as shapes_component
+import utils as utils_component
+import shapes as shapes_component
+
 
 class USDObject(ABC):
   """ Abstract interface for all USD objects including meshes and primitives.
diff --git a/python/mujoco/usd/shapes.py b/python/mujoco/usd/shapes.py
index dec9adae79..51a6905fb3 100644
--- a/python/mujoco/usd/shapes.py
+++ b/python/mujoco/usd/shapes.py
@@ -151,7 +151,7 @@ def mesh_generator(
     prim_mesh, mesh = None, None
 
     for shape, config in mesh_config.items():
-
+      
       if "name" in shape:
         continue
 

From e734527e7baf3c689e4d5449e2f82a9db2853303 Mon Sep 17 00:00:00 2001
From: Abhishek Joshi <abhishekjoshinj@gmail.com>
Date: Thu, 4 Jul 2024 16:25:44 -0500
Subject: [PATCH 24/24] Fixing formatting for USD scripts

---
 python/mujoco/usd/camera.py   |  3 +--
 python/mujoco/usd/demo.py     | 18 ++++++++----------
 python/mujoco/usd/exporter.py | 15 +++++----------
 python/mujoco/usd/objects.py  | 21 +++------------------
 python/mujoco/usd/shapes.py   |  2 +-
 python/mujoco/usd/utils.py    |  1 -
 6 files changed, 18 insertions(+), 42 deletions(-)

diff --git a/python/mujoco/usd/camera.py b/python/mujoco/usd/camera.py
index bb9d723f80..b1b23b149b 100644
--- a/python/mujoco/usd/camera.py
+++ b/python/mujoco/usd/camera.py
@@ -18,8 +18,7 @@
 from pxr import Usd
 from pxr import UsdGeom
 
-# import mujoco.usd.utils as utils_component
-import utils as utils_component
+import mujoco.usd.utils as utils_component
 
 class USDCamera:
   """Class that handles the cameras in the USD scene"""
diff --git a/python/mujoco/usd/demo.py b/python/mujoco/usd/demo.py
index ab5d6c7adc..1e66eb7609 100644
--- a/python/mujoco/usd/demo.py
+++ b/python/mujoco/usd/demo.py
@@ -1,14 +1,12 @@
 import argparse
-from tqdm import tqdm
 from pathlib import Path
 
 import mujoco
 
-# from mujoco.usd import exporter
-import exporter
+from mujoco.usd import exporter
 
 def generate_usd_trajectory(args):
-
+  """Generates a USD file given the user arguments"""
   # load a model to mujoco
   model_path = args.model_path
   m = mujoco.MjModel.from_xml_path(model_path)
@@ -19,7 +17,7 @@ def generate_usd_trajectory(args):
                              output_directory_name=Path(args.model_path).stem,
                              output_directory_root=args.output_directory_root,
                              camera_names=args.camera_names)
-    
+
   # step through the simulation for the given duration of time
   while d.time < args.duration:
     mujoco.mj_step(m, d)
@@ -32,7 +30,7 @@ def generate_usd_trajectory(args):
 
   parser = argparse.ArgumentParser()
 
-  parser.add_argument('--model_path', 
+  parser.add_argument('--model_path',
                       type=str,
                       required=True,
                       help='path to mjcf xml model')
@@ -47,20 +45,20 @@ def generate_usd_trajectory(args):
                       default=60,
                       help='frame rate of the generated video')
 
-  parser.add_argument('--output_directory_root', 
+  parser.add_argument('--output_directory_root',
                       type=str,
                       default="../usd_trajectories/",
                       help='location where to create usd files')
 
-  parser.add_argument('--camera_names', 
+  parser.add_argument('--camera_names',
                       type=str,
                       nargs='+',
                       help='cameras to include in usd')
 
-  parser.add_argument('--export_extension', 
+  parser.add_argument('--export_extension',
                       type=str,
                       default="usd",
-                      help='extension of exported file (can be usd, usda, or usdc)')
+                      help='extension of exported file (usd, usda, usdc)')
 
   args = parser.parse_args()
   generate_usd_trajectory(args)
diff --git a/python/mujoco/usd/exporter.py b/python/mujoco/usd/exporter.py
index 3ed8ae70ea..c576a58b2f 100644
--- a/python/mujoco/usd/exporter.py
+++ b/python/mujoco/usd/exporter.py
@@ -29,15 +29,10 @@
 
 import mujoco
 
-# import mujoco.usd.shapes as shapes_module
-# import mujoco.usd.objects as object_module
-# import mujoco.usd.lights as light_module
-# import mujoco.usd.camera as camera_module
-import shapes as shapes_module
-import objects as object_module
-import lights as light_module
-import camera as camera_module
-
+import mujoco.usd.shapes as shapes_module
+import mujoco.usd.objects as object_module
+import mujoco.usd.lights as light_module
+import mujoco.usd.camera as camera_module
 
 class USDExporter:
   """MuJoCo to USD exporter for porting scenes to external renderers."""
@@ -248,7 +243,7 @@ def _load_geom(self, geom: mujoco.MjvGeom):
     assert geom_name not in self.geom_names
 
     texture_file = (
-        self.texture_files[self.model.mat_texid[mujoco.mjNTEXMAT*geom.matid]]
+        self.texture_files[self.model.mat_texid[geom.matid][0]]
         if geom.matid != -1
         else None
     )
diff --git a/python/mujoco/usd/objects.py b/python/mujoco/usd/objects.py
index 42677bd7f6..2ffbae9730 100644
--- a/python/mujoco/usd/objects.py
+++ b/python/mujoco/usd/objects.py
@@ -27,11 +27,8 @@
 
 import mujoco
 
-# import mujoco.usd.utils as utils_component
-# import mujoco.usd.shapes as shapes_component
-import utils as utils_component
-import shapes as shapes_component
-
+import mujoco.usd.utils as utils_component
+import mujoco.usd.shapes as shapes_component
 
 class USDObject(ABC):
   """ Abstract interface for all USD objects including meshes and primitives.
@@ -366,21 +363,9 @@ def generate_primitive_mesh(self):
   def _get_uv_geometry(self):
     assert self.prim_mesh
 
-    x_scale, y_scale = self.geom.texrepeat
     mesh_texcoord = np.array(self.prim_mesh.triangle_uvs)
     mesh_facetexcoord = np.asarray(self.prim_mesh.triangles)
-
-    x_multiplier, y_multiplier = 1, 1
-    if self.geom.texuniform:
-      if "box" in self.mesh_config:
-        x_multiplier = self.mesh_config["box"]["width"]
-        y_multiplier = self.mesh_config["box"]["height"]
-      elif "sphere" in self.mesh_config:
-        x_multiplier = self.mesh_config["sphere"]["radius"]
-        y_multiplier = self.mesh_config["sphere"]["radius"]
-
-    mesh_texcoord[:, 0] *= x_scale * x_multiplier
-    mesh_texcoord[:, 1] *= y_scale * y_multiplier
+    # TODO(etom): bring back support for rescaling the texture coordinates.
 
     return mesh_texcoord, mesh_facetexcoord.flatten()
 
diff --git a/python/mujoco/usd/shapes.py b/python/mujoco/usd/shapes.py
index 51a6905fb3..dec9adae79 100644
--- a/python/mujoco/usd/shapes.py
+++ b/python/mujoco/usd/shapes.py
@@ -151,7 +151,7 @@ def mesh_generator(
     prim_mesh, mesh = None, None
 
     for shape, config in mesh_config.items():
-      
+
       if "name" in shape:
         continue
 
diff --git a/python/mujoco/usd/utils.py b/python/mujoco/usd/utils.py
index 1e42afa22f..507720bd44 100644
--- a/python/mujoco/usd/utils.py
+++ b/python/mujoco/usd/utils.py
@@ -14,7 +14,6 @@
 # ==============================================================================
 import numpy as np
 
-
 def create_transform_matrix(rotation_matrix, translation_vector):
   # Ensure rotation_matrix and translation_vector are NumPy arrays
   rotation_matrix = np.array(rotation_matrix)