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Add mj_loadUSD function. Change simulate to use that instead of manual spec compilation.

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PiperOrigin-RevId: 780608874
Change-Id: I333238c756fe76b371518a7cdf9452b93da3540a
This commit is contained in:
Sam Haves
2025-07-08 10:03:02 -07:00
committed by Copybara-Service
parent e507e31922
commit 14972d2490
8 changed files with 121 additions and 48 deletions
Download Patch File Download Diff File Expand all files Collapse all files
CMakeLists.txt
+1
View File
@@ -202,6 +202,7 @@ if(MUJOCO_BUILD_EXAMPLES)
endif()
if(MUJOCO_WITH_USD)
target_compile_definitions(mujoco PUBLIC mjUSEUSD)
add_subdirectory(src/experimental/usd)
endif()
include/mujoco/experimental/usd/usd.h
+6
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@@ -18,6 +18,12 @@
#include <mujoco/mujoco.h>
#include <pxr/usd/usd/common.h>
// Given a USD file parse to a spec, then compile and return the low-level model.
//
// Particular care is taken for physics data to be lossless but visual
// data such as materials may be lossy.
MJAPI mjModel* mj_loadUSD(const char* filename, const mjVFS* vfs, char* error, int error_sz);
// Given a USD stage, this function will do a best effort conversion to
// mjSpec.
//
simulate/CMakeLists.txt
+1 -2
View File
@@ -177,7 +177,6 @@ if(SIMULATE_BUILD_EXECUTABLE)
if (MUJOCO_WITH_USD)
target_link_libraries(
simulate
mujoco::usd
mujoco::usd::mjcf
)
endif()
@@ -249,7 +248,7 @@ if(SIMULATE_BUILD_EXECUTABLE)
)
if (MUJOCO_WITH_USD)
target_compile_definitions(simulate PUBLIC SIMULATE_WITH_USD)
target_compile_definitions(simulate PUBLIC mjUSEUSD)
# Add support to RPATH for the samples.
target_add_rpath(
simulate/main.cc
+4 -31
View File
@@ -25,11 +25,8 @@
#include <string>
#include <thread>
#if defined(SIMULATE_WITH_USD)
#if defined(mjUSEUSD)
#include <mujoco/experimental/usd/usd.h>
#include <pxr/pxr.h>
#include <pxr/usd/usd/common.h>
#include <pxr/usd/usd/stage.h>
#endif
#include <mujoco/mujoco.h>
#include "glfw_adapter.h"
@@ -244,34 +241,10 @@ mjModel* LoadModel(const char* file, mj::Simulate& sim) {
if (!mnew) {
mju::strcpy_arr(loadError, "could not load binary model");
}
#if defined(SIMULATE_WITH_USD)
#if defined(mjUSEUSD)
} else if (extension == ".usda" || extension == ".usd" ||
extension == ".usdc" || extension == ".usdz" ) {
auto stage = pxr::UsdStage::Open(filename);
if (!stage) {
mju::strcpy_arr(loadError, "could not open USD stage");
} else {
mjSpec* spec = mj_parseUSDStage(stage);
if (!spec) {
mju::strcpy_arr(loadError, "could not parse USD stage to mjSpec");
} else {
mjModel* model = mj_compile(spec, nullptr);
if (!model) {
mju::strcpy_arr(loadError,
"could not compile USD parsed mjSpec to mjModel:\n");
mju::strcat_arr(loadError, mjs_getError(spec));
} else {
// handle compile warning
if (mjs_isWarning(spec)) {
mju::strcpy_arr(
loadError,
"warning while compiling USD parsed mjSpec to mjModel:\n");
mju::strcat_arr(loadError, mjs_getError(spec));
}
}
mnew = model;
}
}
mnew = mj_loadUSD(filename, nullptr, loadError, kErrorLength);
#endif
} else {
mnew = mj_loadXML(filename, nullptr, loadError, kErrorLength);
@@ -537,7 +510,7 @@ int main(int argc, char** argv) {
// scan for libraries in the plugin directory to load additional plugins
scanPluginLibraries();
#if defined(SIMULATE_WITH_USD)
#if defined(mjUSEUSD)
// If USD is used, print the version.
std::printf("OpenUSD version v%d.%02d\n", PXR_MINOR_VERSION, PXR_PATCH_VERSION);
#endif
src/experimental/usd/CMakeLists.txt
+4 -13
View File
@@ -16,7 +16,6 @@
# Plugin target names (used for library and plugInfo.json)
set(MJCF_PLUGIN_TARGET_NAME usdMjcf)
set(MJC_PHYSICS_PLUGIN_TARGET_NAME mjcPhysics)
set(MJ_USD_TARGET_NAME mj_usd)
# Installation directory for USD plugins
set(MJ_USD_INSTALL_DIR_LIB ${CMAKE_INSTALL_LIBDIR}/mujocoUsd)
@@ -187,14 +186,12 @@ set_target_properties(${MJC_PHYSICS_PLUGIN_TARGET_NAME} PROPERTIES
${DEFAULT_CXX_VISIBILITY_PROPS}
)
target_include_directories(${MJC_PHYSICS_PLUGIN_TARGET_NAME} PUBLIC
"${CMAKE_CURRENT_SOURCE_DIR}/mjcPhysics"
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/../../../include>
)
## mj_usd
add_library(${MJ_USD_TARGET_NAME} SHARED)
add_library(mujoco::usd ALIAS ${MJ_USD_TARGET_NAME})
target_sources(${MJ_USD_TARGET_NAME} PRIVATE
target_sources(mujoco PRIVATE
kinematic_tree.cc
kinematic_tree.h
layer_sink.cc
@@ -212,8 +209,6 @@ if (USD_DIR)
target_link_libraries(${MJC_PHYSICS_PLUGIN_TARGET_NAME} PRIVATE
${OPENUSD_CORE_LIBS}
mujoco
tinyxml2
)
target_link_libraries(${MJCF_PLUGIN_TARGET_NAME} PRIVATE
@@ -223,10 +218,8 @@ if (USD_DIR)
${MJC_PHYSICS_PLUGIN_TARGET_NAME}
)
target_link_libraries(${MJ_USD_TARGET_NAME} PUBLIC
target_link_libraries(mujoco PUBLIC
${OPENUSD_CORE_LIBS}
mujoco
tinyxml2
${MJC_PHYSICS_PLUGIN_TARGET_NAME}
)
elseif (HOUDINI_HFS_DIR)
@@ -237,11 +230,9 @@ elseif (HOUDINI_HFS_DIR)
# so we need to manually link all the required libraries.
configure_houdini_target(${MJC_PHYSICS_PLUGIN_TARGET_NAME} PRIVATE PRIVATE)
configure_houdini_target(${MJCF_PLUGIN_TARGET_NAME} PRIVATE PRIVATE)
configure_houdini_target(${MJ_USD_TARGET_NAME} PUBLIC PUBLIC)
# Re-add inter-plugin dependencies after Houdini-specific linking
target_link_libraries(${MJCF_PLUGIN_TARGET_NAME} PRIVATE ${MJC_PHYSICS_PLUGIN_TARGET_NAME})
target_link_libraries(${MJ_USD_TARGET_NAME} PUBLIC ${MJC_PHYSICS_PLUGIN_TARGET_NAME})
endif()
@@ -272,6 +263,6 @@ install(FILES
install(TARGETS
${MJCF_PLUGIN_TARGET_NAME}
${MJC_PHYSICS_PLUGIN_TARGET_NAME}
${MJ_USD_TARGET_NAME}
EXPORT ${PROJECT_NAME}
LIBRARY DESTINATION ${MJ_USD_INSTALL_DIR_LIB}
)
src/experimental/usd/layer_sink.cc
+1 -2
View File
@@ -41,8 +41,7 @@
PXR_NAMESPACE_OPEN_SCOPE
TF_DEFINE_PRIVATE_TOKENS(_layer_sink_tokens,
((xformOpTransform,
"xformOp:transform:mujoco"))(Xform));
((xformOpTransform, "xformOp:transform:mujoco")));
PXR_NAMESPACE_CLOSE_SCOPE
namespace {
src/xml/xml_api.cc
+33
View File
@@ -34,6 +34,10 @@
#include "xml/xml.h"
#include "xml/xml_native_reader.h"
#include "xml/xml_util.h"
#if defined(mjUSEUSD)
#include <mujoco/experimental/usd/usd.h>
#include <pxr/usd/usd/stage.h>
#endif
//---------------------------------- Globals -------------------------------------------------------
@@ -126,7 +130,36 @@ mjModel* mj_loadXML(const char* filename, const mjVFS* vfs,
return m;
}
#if defined(mjUSEUSD)
// parse USD file, compile it, and return low-level model.
// if vfs is not NULL, look up files in vfs before reading from disk
// error can be NULL; otherwise assumed to have size error_sz
mjModel* mj_loadUSD(const char* filename, const mjVFS* vfs, char* error, int error_sz) {
auto stage = pxr::UsdStage::Open(filename);
if (stage == nullptr) {
mjCopyError(error, "Failed to load USD stage from file.", error_sz);
return nullptr;
}
// Parse USD into mjSpec.
std::unique_ptr<mjSpec, std::function<void(mjSpec*)> > spec(
mj_parseUSDStage(stage),
[](mjSpec* s) {
mj_deleteSpec(s);
});
// Compile new model.
mjModel* m = mj_compile(spec.get(), vfs);
if (!m) {
mjCopyError(error, mjs_getError(spec.get()), error_sz);
return nullptr;
}
GetGlobalModel().Set(spec.release());
return m;
}
#endif
// update XML data structures with info from low-level model, save as MJCF
// returns 1 if successful, 0 otherwise
test/xml/testdata/simple_hinge.usda
Vendored
+71
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@@ -0,0 +1,71 @@
#usda 1.0
(
endTimeCode = 1
framesPerSecond = 24
metersPerUnit = 1
startTimeCode = 1
timeCodesPerSecond = 24
upAxis = "Y"
)
def Xform "World"
{
def Xform "Axle" (
prepend apiSchemas = ["PhysicsRigidBodyAPI", "PhysicsArticulationRootAPI"]
)
{
matrix4d xformOp:transform:set_initial_pos = ( (1, 0, 0, 0), (0, 0.9999197811020019, -0.012666150201413267, 0), (0, 0.012666150201413267, 0.9999197811020019, 0), (0, 0.012296309694647789, 0.970723032951355, 1) )
uniform token[] xformOpOrder = ["xformOp:transform:set_initial_pos"]
def Xform "Rod" (
prepend apiSchemas = ["PhysicsRigidBodyAPI"]
)
{
matrix4d xformOp:transform:set_initial_rod_pos = ( (1, 0, 0, 0), (0, 0.3255001489278845, 0.9455419890453967, 0), (0, -0.9455419890453967, 0.3255001489278845, 0), (0, 0.47277099452269833, -0.1627500744639423, 1) )
uniform token[] xformOpOrder = ["xformOp:transform:set_initial_rod_pos"]
def Cylinder "Geometry" (
prepend apiSchemas = ["PhysicsCollisionAPI"]
)
{
token axis = "Z"
float3[] extent = [(-0.01, -0.01, -0.5), (0.01, 0.01, 0.5)]
double height = 1
double radius = 0.01
matrix4d xformOp:transform = ( (1, 0, 0, 0), (0, 1, 0, 0), (0, 0, 1, 0), (0, 0, -0.03546595561524429, 1) )
uniform token[] xformOpOrder = ["xformOp:transform"]
}
def PhysicsRevoluteJoint "HingeJoint" (
prepend apiSchemas = ["PhysicsActuatorAPI"]
)
{
rel physics:body0 = </World/Axle>
rel physics:body1 = </World/Axle/Rod>
point3f physics:localPos0 = (0, 0, 0)
point3f physics:localPos1 = (0, 0, 0.5)
quatf physics:localRot0 = (0, 1, 0, 0)
quatf physics:localRot1 = (0, 1, 0, 0)
}
}
def Cylinder "Geometry" (
prepend apiSchemas = ["PhysicsCollisionAPI"]
)
{
token axis = "Z"
float3[] extent = [(-0.01, -0.01, -0.1), (0.01, 0.01, 0.1)]
double height = 0.2
double radius = 0.01
matrix4d xformOp:transform = ( (0, 0, -1, 0), (0, 1, -0, 0), (1, 0, -0, 0), (0, 0, -0, 1) )
uniform token[] xformOpOrder = ["xformOp:transform"]
}
def PhysicsFixedJoint "FixedJoint"
{
rel physics:body0 = None
rel physics:body1 = </World/Axle>
}
}
}