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fix: os.path.join used for USD prim paths breaks on Windows #57

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fix: os.path.join used for USD prim paths breaks on Windows #57

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11 changes: 5 additions & 6 deletions exts/omni.ext.mobility_gen/omni/ext/mobility_gen/utils/occupancy_map_utils.py
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Original file line number Diff line number Diff line change
Expand Up @@ -94,7 +94,6 @@ async def occupancy_map_generate_from_prim_async(


# Compute bounds for occupancy map calculation using specified prim
prim_path = os.path.join(prim_path)
prim_path = stage.GetPrimAtPath(prim_path)

lower_bound, upper_bound, midpoint = prim_compute_bbox(prim_path)
Expand Down Expand Up @@ -211,7 +210,7 @@ def occupancy_map_add_to_stage(
Usd.ModelAPI(modelRoot).SetKind(Kind.Tokens.component)

# Add mesh
mesh = UsdGeom.Mesh.Define(stage, os.path.join(path, "mesh"))
mesh = UsdGeom.Mesh.Define(stage, f"{path}/mesh")
mesh.CreatePointsAttr([(x0, y0, z_offset), (x1, y0, z_offset), (x1, y1, z_offset), (x0, y1, z_offset)])
mesh.CreateFaceVertexCountsAttr([4])
mesh.CreateFaceVertexIndicesAttr([0,1,2,3])
Expand All @@ -224,18 +223,18 @@ def occupancy_map_add_to_stage(
texCoords.Set([(0, 0), (1, 0), (1,1), (0, 1)])

# Add material
material_path = os.path.join(path, "material")
material_path = f"{path}/material"
material = UsdShade.Material.Define(stage, material_path)
pbrShader = UsdShade.Shader.Define(stage, os.path.join(material_path, "shader"))
pbrShader = UsdShade.Shader.Define(stage, f"{material_path}/shader")
pbrShader.CreateIdAttr("UsdPreviewSurface")
pbrShader.CreateInput("roughness", Sdf.ValueTypeNames.Float).Set(1.0)
pbrShader.CreateInput("metallic", Sdf.ValueTypeNames.Float).Set(0.0)
material.CreateSurfaceOutput().ConnectToSource(pbrShader.ConnectableAPI(), "surface")

# Add texture to material
stReader = UsdShade.Shader.Define(stage, os.path.join(material_path, "st_reader"))
stReader = UsdShade.Shader.Define(stage, f"{material_path}/st_reader")
stReader.CreateIdAttr('UsdPrimvarReader_float2')
diffuseTextureSampler = UsdShade.Shader.Define(stage, os.path.join(material_path, "diffuse_texture"))
diffuseTextureSampler = UsdShade.Shader.Define(stage, f"{material_path}/diffuse_texture")
diffuseTextureSampler.CreateIdAttr('UsdUVTexture')
diffuseTextureSampler.CreateInput('file', Sdf.ValueTypeNames.Asset).Set(image_path)
diffuseTextureSampler.CreateInput("st", Sdf.ValueTypeNames.Float2).ConnectToSource(stReader.ConnectableAPI(), 'result')
Expand Down