Update MjcfExporter

Multiverse-Framework · Aug 20, 2024 · 0f9933b · 0f9933b
1 parent 0557d9c
commit 0f9933b
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Showing 2 changed files with 7 additions and 5 deletions.
diff --git a/multiverse/modules/multiverse_parser/src/multiverse_parser/exporter/mjcf_exporter.py b/multiverse/modules/multiverse_parser/src/multiverse_parser/exporter/mjcf_exporter.py
@@ -288,13 +288,13 @@ def _build_config(self):
 
         default = ET.SubElement(self.root, "default")
         default_visual = ET.SubElement(default, "default")
-        default_visual.set("class", "visual")
+        default_visual.set("class", f"{self.factory.config.model_name}_visual")
         default_visual_geom = ET.SubElement(default_visual, "geom")
         default_visual_geom.set("contype", "0")
         default_visual_geom.set("conaffinity", "0")
 
         default_collision = ET.SubElement(default, "default")
-        default_collision.set("class", "collision")
+        default_collision.set("class", f"{self.factory.config.model_name}_collision")
         default_collision_geom = ET.SubElement(default_collision, "geom")
         default_collision_geom.set(
             "rgba",
@@ -496,6 +496,8 @@ def _build_body(self, body_name: str, parent_body_name: str) -> None:
         else:
             if parent_body_name == "worldbody":
                 mujoco_body_api = get_mujoco_body_api(xform_prim=xform_prim)
+                if not self.factory.config.fixed_base and self.factory.config.with_physics:
+                    ET.SubElement(body, "freejoint")
             else:
                 parent_body_builder = world_builder.get_body_builder(parent_body_name)
                 parent_xform_prim = parent_body_builder.xform.GetPrim()
@@ -546,9 +548,9 @@ def _build_geom(self, geom_builder: GeomBuilder, body: ET.Element) -> None:
                 geom.set("rgba", " ".join(map(str, rgba)))
 
         if gprim_prim.GetPrim().HasAPI(UsdPhysics.CollisionAPI):
-            geom.set("class", "collision")
+            geom.set("class", f"{self.factory.config.model_name}_collision")
         else:
-            geom.set("class", "visual")
+            geom.set("class", f"{self.factory.config.model_name}_visual")
 
     def _build_composite(self, points_builder: PointsBuilder, body: ET.Element) -> None:
         mujoco_composite_api = get_mujoco_composite_api(points_builder=points_builder)

diff --git a/multiverse/modules/multiverse_parser/src/multiverse_parser/factory/factory.py b/multiverse/modules/multiverse_parser/src/multiverse_parser/factory/factory.py
@@ -217,7 +217,7 @@ def import_mesh(self,
         process = subprocess.Popen(cmd)
         process.wait()
 
-        if mesh_file_path == self.source_file_path:
+        if mesh_file_path == self.source_file_path and os.path.exists(mesh_file_path_clone):
             os.remove(mesh_file_path_clone)
 
         fix_texture_path(usd_mesh_file_path=tmp_usd_mesh_file_path)