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Make sure we never apply the ArticulationRoot API more than once.

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PiperOrigin-RevId: 779185190
Change-Id: If441d0e2ba24191883839977b46864db2b4b8204
This commit is contained in:
Robin Alazard
2025-07-04 07:34:39 -07:00
committed by Copybara-Service
parent 85ad1eec91
commit 21a852504c
2 changed files with 50 additions and 1 deletions
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src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
+8 -1
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@@ -18,6 +18,7 @@
#include <cstddef>
#include <string>
#include <unordered_map>
#include <unordered_set>
#include <utility>
#include <vector>
@@ -231,6 +232,8 @@ class ModelWriter {
std::vector<pxr::SdfPath> joint_paths_;
// Mapping from mesh names to Mesh prim path.
std::unordered_map<std::string, pxr::SdfPath> mesh_paths_;
// Set of body ids that have had the articulation root API applied.
std::unordered_set<int> articulation_roots_;
// Whether to write physics data.
bool write_physics_ = false;
@@ -1998,9 +2001,13 @@ class ModelWriter {
// then we need to apply the articulation root API.
if (parent_id != kWorldIndex) {
int parent_parent_id = mjs_getId(mjs_getParent(parent->element)->element);
if (parent_parent_id == kWorldIndex) {
// We guard against applying the API more than once, which can happen when
// there are multiple children.
if (parent_parent_id == kWorldIndex &&
articulation_roots_.find(parent_id) == articulation_roots_.end()) {
ApplyApiSchema(data_, parent_path,
pxr::UsdPhysicsTokens->PhysicsArticulationRootAPI);
articulation_roots_.insert(parent_id);
}
}
test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
+42
View File
@@ -12,6 +12,7 @@
// See the License for the specific language governing permissions and
// limitations under the License.
#include <algorithm>
#include <string>
#include <vector>
@@ -41,6 +42,7 @@
#include <pxr/usd/sdf/assetPath.h>
#include <pxr/usd/sdf/declareHandles.h>
#include <pxr/usd/sdf/fileFormat.h>
#include <pxr/usd/sdf/listOp.h>
#include <pxr/usd/sdf/path.h>
#include <pxr/usd/sdf/schema.h>
#include <pxr/usd/usd/common.h>
@@ -49,6 +51,7 @@
#include <pxr/usd/usd/primRange.h> // IWYU pragma: keep, used for TraverseAll
#include <pxr/usd/usd/stage.h>
#include <pxr/usd/usd/timeCode.h>
#include <pxr/usd/usd/tokens.h>
#include <pxr/usd/usdGeom/capsule.h>
#include <pxr/usd/usdGeom/cube.h>
#include <pxr/usd/usdGeom/cylinder.h>
@@ -1131,6 +1134,45 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsToggleSdfFormatArg) {
pxr::UsdPhysicsRigidBodyAPI);
}
TEST_F(MjcfSdfFileFormatPluginTest, TestArticulationRootAppliedOnce) {
static constexpr char kXml[] = R"(
<mujoco model="physics_test">
<worldbody>
<body name="parent" pos="0 0 0">
<geom name="parent_geom" type="sphere" size="1"/>
<body name="child_1" pos="1 0 0">
<geom name="child_1_geom" type="sphere" size="1"/>
</body>
<body name="child_2" pos="2 0 0">
<geom name="child_2_geom" type="sphere" size="1"/>
</body>
</body>
</worldbody>
</mujoco>
)";
pxr::SdfFileFormat::FileFormatArguments args;
args["usdMjcfToggleUsdPhysics"] = "true";
pxr::SdfLayerRefPtr layer = LoadLayer(kXml, args);
// This test is particular in the sense that the authoring mistake, which is
// made on the SdfLayer level, would disappear when we access the COMPOSED
// stage because duplicates are removed. So we need to check the SdfLayer
// directly to see the problem.
auto primSpec = layer->GetPrimAtPath(pxr::SdfPath("/physics_test/parent"));
EXPECT_TRUE(primSpec);
pxr::VtValue apiSchemasValue = primSpec->GetInfo(pxr::UsdTokens->apiSchemas);
const pxr::SdfTokenListOp& listOp =
apiSchemasValue.UncheckedGet<pxr::SdfTokenListOp>();
const pxr::SdfTokenListOp::ItemVector& prependedItems =
listOp.GetPrependedItems();
int count = std::count(prependedItems.begin(), prependedItems.end(),
pxr::UsdPhysicsTokens->PhysicsArticulationRootAPI);
EXPECT_EQ(count, 1);
}
TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsRigidBody) {
static constexpr char kXml[] = R"(
<mujoco model="physics_test">