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Add group support to mjcPhysics equivalents for sites, geoms, actuators, and joints.

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PiperOrigin-RevId: 781945497
Change-Id: I5c409f05e6bae33c181a51c273f260daea6004fc
This commit is contained in:
Sam Haves
2025-07-11 05:36:35 -07:00
committed by Copybara-Service
parent bbb265da4a
commit 3473e4e451
14 changed files with 234 additions and 24 deletions
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test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
+14 -5
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@@ -1097,10 +1097,10 @@ static constexpr char kSiteXml[] = R"(
<worldbody>
<site type="box" name="box_site"/>
<body name="ball">
<site type="sphere" name="sphere_site"/>
<site type="capsule" name="capsule_site"/>
<site type="cylinder" name="cylinder_site"/>
<site type="ellipsoid" name="ellipsoid_site"/>
<site type="sphere" name="sphere_site" group="1"/>
<site type="capsule" name="capsule_site" group="2"/>
<site type="cylinder" name="cylinder_site" group="3"/>
<site type="ellipsoid" name="ellipsoid_site" group="4"/>
<geom type="sphere" size="1 1 1"/>
</body>
</worldbody>
@@ -1130,6 +1130,12 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestSitePrimsAuthored) {
EXPECT_PRIM_IS_A(stage, "/test/ball/ellipsoid_site", pxr::UsdGeomSphere);
EXPECT_PRIM_API_APPLIED(stage, "/test/ball/ellipsoid_site",
pxr::MjcPhysicsSiteAPI);
ExpectAttributeEqual(stage, "/test/box_site.mjc:group", 0);
ExpectAttributeEqual(stage, "/test/ball/sphere_site.mjc:group", 1);
ExpectAttributeEqual(stage, "/test/ball/capsule_site.mjc:group", 2);
ExpectAttributeEqual(stage, "/test/ball/cylinder_site.mjc:group", 3);
ExpectAttributeEqual(stage, "/test/ball/ellipsoid_site.mjc:group", 4);
}
TEST_F(MjcfSdfFileFormatPluginTest, TestSitePrimsPurpose) {
@@ -1538,6 +1544,7 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsTransmission) {
<actuator>
<general
name="general"
group="123"
site="site"
refsite="ref"
ctrllimited="true"
@@ -1569,6 +1576,7 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsTransmission) {
"/test/body/site");
EXPECT_REL_HAS_TARGET(stage, "/test/Transmissions/general.mjc:refSite",
"/test/body/ref");
ExpectAttributeEqual(stage, "/test/Transmissions/general.mjc:group", 123);
ExpectAttributeEqual(stage, "/test/Transmissions/general.mjc:ctrlLimited",
pxr::MjcPhysicsTokens->true_);
ExpectAttributeEqual(stage, "/test/Transmissions/general.mjc:ctrlRange:min",
@@ -1702,6 +1710,7 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsJointAPI) {
<body name="parent">
<body name="child">
<joint name="my_joint" type="hinge"
group="4"
springdamper="1 2"
solreflimit="0.1 0.2"
solimplimit="0.3 0.4 0.5 0.6 0.7"
@@ -1729,6 +1738,7 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsJointAPI) {
const SdfPath joint_path("/test/parent/child/my_joint");
EXPECT_PRIM_API_APPLIED(stage, joint_path, pxr::MjcPhysicsJointAPI);
ExpectAttributeEqual(stage, "/test/parent/child/my_joint.mjc:group", 4);
ExpectAttributeEqual(stage, "/test/parent/child/my_joint.mjc:springdamper",
pxr::VtArray<double>({1, 2}));
ExpectAttributeEqual(stage, "/test/parent/child/my_joint.mjc:solreflimit",
@@ -2129,7 +2139,6 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsKeyframe) {
ExpectAttributeEqual(stage, "/test/Keyframes/Keyframe.mjc:qpos",
pxr::VtDoubleArray({3}), pxr::UsdTimeCode(2.0));
}
} // namespace
} // namespace usd
} // namespace mujoco