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Remove physics schema authoring toggle from MJCF SdfFileFormat plugin.

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PiperOrigin-RevId: 789321573
Change-Id: Ib29bb426f8598a58f7b34c048b154fa8ada589ef
This commit is contained in:
Sam Haves
2025-07-31 07:05:41 -07:00
committed by Copybara-Service
parent 9f64338b37
commit 4c288c19ac
7 changed files with 158 additions and 237 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/experimental/usd/plugins/mjcf/mjcf_file_format.cc
+1 -9
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@@ -147,17 +147,9 @@ bool UsdMjcfFileFormat::CanRead(const std::string &filePath) const {
bool UsdMjcfFileFormat::ReadImpl(pxr::SdfLayer *layer, mjSpec *spec) const {
auto args = layer->GetFileFormatArguments();
bool toggleUsdPhysics = false;
const auto it =
args.find(UsdMjcfFileFormatTokens->ToggleUsdPhysicsArg.GetString());
if (it != args.end()) {
toggleUsdPhysics = pxr::TfUnstringify<bool>(it->second);
}
auto data = InitData(args);
auto success = mujoco::usd::WriteSpecToData(spec, data, toggleUsdPhysics);
auto success = mujoco::usd::WriteSpecToData(spec, data);
mj_deleteSpec(spec);
if (!success) {
return false;
src/experimental/usd/plugins/mjcf/mjcf_file_format.h
-1
View File
@@ -34,7 +34,6 @@ PXR_NAMESPACE_OPEN_SCOPE
((Id, "xml")) \
((Version, "1.0")) \
((Target, "usd")) \
((ToggleUsdPhysicsArg, "usdMjcfToggleUsdPhysics"))
// clang-format on
TF_DECLARE_PUBLIC_TOKENS(UsdMjcfFileFormatTokens, USD_MJCF_FILE_FORMAT_TOKENS);
src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
+58 -75
View File
@@ -182,10 +182,7 @@ class ModelWriter {
}
~ModelWriter() { mj_deleteModel(model_); }
void Write(bool write_physics) {
// Set working parameters.
write_physics_ = write_physics;
void Write() {
// Create top level class holder.
class_path_ = CreateClassSpec(data_, pxr::SdfPath::AbsoluteRootPath(),
pxr::TfToken("__class__"));
@@ -211,9 +208,7 @@ class ModelWriter {
WriteMeshes();
WriteMaterials();
WriteBodies();
if (write_physics_) {
WriteActuators();
}
WriteActuators();
WriteKeyframes();
}
@@ -236,8 +231,6 @@ class ModelWriter {
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;
// Given a name index and a parent prim path this returns a
// token such that appending it to the parent prim path does not
@@ -376,26 +369,23 @@ class ModelWriter {
pxr::UsdGeomTokens->Mesh);
mesh_paths_[*mjs_getName(mesh->element)] = subcomponent_path;
if (write_physics_) {
ApplyApiSchema(data_, mesh_path, MjcPhysicsTokens->MjcMeshCollisionAPI);
ApplyApiSchema(data_, mesh_path, MjcPhysicsTokens->MjcMeshCollisionAPI);
pxr::TfToken inertia = MjcPhysicsTokens->legacy;
if (mesh->inertia == mjtMeshInertia::mjMESH_INERTIA_EXACT) {
inertia = MjcPhysicsTokens->exact;
} else if (mesh->inertia == mjtMeshInertia::mjMESH_INERTIA_CONVEX) {
inertia = MjcPhysicsTokens->convex;
} else if (mesh->inertia == mjtMeshInertia::mjMESH_INERTIA_SHELL) {
inertia = MjcPhysicsTokens->shell;
}
WriteUniformAttribute(mesh_path, pxr::SdfValueTypeNames->Token,
MjcPhysicsTokens->mjcInertia, inertia);
WriteUniformAttribute(mesh_path, pxr::SdfValueTypeNames->Int,
MjcPhysicsTokens->mjcMaxhullvert,
mesh->maxhullvert);
pxr::TfToken inertia = MjcPhysicsTokens->legacy;
if (mesh->inertia == mjtMeshInertia::mjMESH_INERTIA_EXACT) {
inertia = MjcPhysicsTokens->exact;
} else if (mesh->inertia == mjtMeshInertia::mjMESH_INERTIA_CONVEX) {
inertia = MjcPhysicsTokens->convex;
} else if (mesh->inertia == mjtMeshInertia::mjMESH_INERTIA_SHELL) {
inertia = MjcPhysicsTokens->shell;
}
WriteUniformAttribute(mesh_path, pxr::SdfValueTypeNames->Token,
MjcPhysicsTokens->mjcInertia, inertia);
WriteUniformAttribute(mesh_path, pxr::SdfValueTypeNames->Int,
MjcPhysicsTokens->mjcMaxhullvert, mesh->maxhullvert);
// NOTE: The geometry data taken from the spec is the post-compilation
// data after it has been mjCMesh::Compile'd. So don't be surprised if
// things like user defined vertices have moved due to re-centering to
@@ -1652,16 +1642,15 @@ class ModelWriter {
MjcPhysicsTokens->mjcGroup, geom->group);
if (model_->geom_contype[geom_id] == 0 &&
model_->geom_conaffinity[geom_id] == 0) {
model_->geom_conaffinity[geom_id] == 0) {
// If the geom is purely visual, apply the imageable API.
ApplyApiSchema(data_, geom_path,
MjcPhysicsTokens->MjcImageableAPI);
ApplyApiSchema(data_, geom_path, MjcPhysicsTokens->MjcImageableAPI);
}
// Apply the physics schemas if we are writing physics and the
// geom participates in collisions.
if (write_physics_ && (model_->geom_contype[geom_id] != 0 ||
model_->geom_conaffinity[geom_id] != 0)) {
if (model_->geom_contype[geom_id] != 0 ||
model_->geom_conaffinity[geom_id] != 0) {
ApplyApiSchema(data_, geom_path,
pxr::UsdPhysicsTokens->PhysicsCollisionAPI);
ApplyApiSchema(data_, geom_path, MjcPhysicsTokens->MjcCollisionAPI);
@@ -1822,8 +1811,6 @@ class ModelWriter {
}
void WriteJoints(mjsBody *body) {
if (!write_physics_) return;
int body_id = mjs_getId(body->element);
if (body_id == kWorldIndex) return;
@@ -2224,50 +2211,47 @@ class ModelWriter {
}
}
// Apply the PhysicsRigidBodyAPI schema if we are writing physics.
if (write_physics_) {
// If the body had a mass specified then it must have either inertia or
// fullinertia specified per inertia element XML documentation.
// Therefore it is sufficient to check if the mass is non-zero to see if
// we should set inertial attributes on the body.
//
// Note that if the user has NOT specified any inertial properties then
// we don't want to pull values from the compiled model since coming back
// into Mujoco would take those values instead of computing them
// automatically from the subtree.
if (body->mass > 0) {
// User might have specified the inertia via fullinertia and the
// compiler has extracted all values properly. So leverage those
// instead of doing the computation ourselves here.
ApplyApiSchema(data_, body_path, pxr::UsdPhysicsTokens->PhysicsMassAPI);
WriteUniformAttribute(body_path, pxr::SdfValueTypeNames->Float,
pxr::UsdPhysicsTokens->physicsMass,
(float)model_->body_mass[body_id]);
// If the body had a mass specified then it must have either inertia or
// fullinertia specified per inertia element XML documentation.
// Therefore it is sufficient to check if the mass is non-zero to see if
// we should set inertial attributes on the body.
//
// Note that if the user has NOT specified any inertial properties then
// we don't want to pull values from the compiled model since coming back
// into Mujoco would take those values instead of computing them
// automatically from the subtree.
if (body->mass > 0) {
// User might have specified the inertia via fullinertia and the
// compiler has extracted all values properly. So leverage those
// instead of doing the computation ourselves here.
ApplyApiSchema(data_, body_path, pxr::UsdPhysicsTokens->PhysicsMassAPI);
WriteUniformAttribute(body_path, pxr::SdfValueTypeNames->Float,
pxr::UsdPhysicsTokens->physicsMass,
(float)model_->body_mass[body_id]);
mjtNum *body_ipos = &model_->body_ipos[body_id * 3];
pxr::GfVec3f inertial_pos(body_ipos[0], body_ipos[1], body_ipos[2]);
WriteUniformAttribute(body_path, pxr::SdfValueTypeNames->Point3f,
pxr::UsdPhysicsTokens->physicsCenterOfMass,
inertial_pos);
mjtNum *body_ipos = &model_->body_ipos[body_id * 3];
pxr::GfVec3f inertial_pos(body_ipos[0], body_ipos[1], body_ipos[2]);
WriteUniformAttribute(body_path, pxr::SdfValueTypeNames->Point3f,
pxr::UsdPhysicsTokens->physicsCenterOfMass,
inertial_pos);
mjtNum *body_iquat = &model_->body_iquat[body_id * 4];
pxr::GfQuatf inertial_frame(body_iquat[0], body_iquat[1], body_iquat[2],
body_iquat[3]);
WriteUniformAttribute(body_path, pxr::SdfValueTypeNames->Quatf,
pxr::UsdPhysicsTokens->physicsPrincipalAxes,
inertial_frame);
mjtNum *body_iquat = &model_->body_iquat[body_id * 4];
pxr::GfQuatf inertial_frame(body_iquat[0], body_iquat[1], body_iquat[2],
body_iquat[3]);
WriteUniformAttribute(body_path, pxr::SdfValueTypeNames->Quatf,
pxr::UsdPhysicsTokens->physicsPrincipalAxes,
inertial_frame);
mjtNum *inertia = &model_->body_inertia[body_id * 3];
pxr::GfVec3f diag_inertia(inertia[0], inertia[1], inertia[2]);
WriteUniformAttribute(body_path, pxr::SdfValueTypeNames->Float3,
pxr::UsdPhysicsTokens->physicsDiagonalInertia,
diag_inertia);
}
ApplyApiSchema(data_, body_path,
pxr::UsdPhysicsTokens->PhysicsRigidBodyAPI);
mjtNum *inertia = &model_->body_inertia[body_id * 3];
pxr::GfVec3f diag_inertia(inertia[0], inertia[1], inertia[2]);
WriteUniformAttribute(body_path, pxr::SdfValueTypeNames->Float3,
pxr::UsdPhysicsTokens->physicsDiagonalInertia,
diag_inertia);
}
ApplyApiSchema(data_, body_path,
pxr::UsdPhysicsTokens->PhysicsRigidBodyAPI);
// Create classes if necessary
mjsDefault *spec_default = mjs_getDefault(body->element);
@@ -2337,8 +2321,7 @@ class ModelWriter {
namespace mujoco {
namespace usd {
bool WriteSpecToData(mjSpec *spec, pxr::SdfAbstractDataRefPtr &data,
bool write_physics) {
bool WriteSpecToData(mjSpec *spec, pxr::SdfAbstractDataRefPtr &data) {
// Create pseudo root first.
data->CreateSpec(pxr::SdfPath::AbsoluteRootPath(),
pxr::SdfSpecTypePseudoRoot);
@@ -2349,7 +2332,7 @@ bool WriteSpecToData(mjSpec *spec, pxr::SdfAbstractDataRefPtr &data,
return false;
}
ModelWriter(spec, model, data).Write(write_physics);
ModelWriter(spec, model, data).Write();
return true;
}
src/experimental/usd/plugins/mjcf/mujoco_to_usd.h
+1 -3
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@@ -25,9 +25,7 @@ namespace usd {
// Args:
// spec: mjSpec built programmatically or via parsed XML.
// data: SdfAbstractDataRefPtr that will be written to.
// write_physics: Whether to write physics data.
bool WriteSpecToData(mjSpec* spec, pxr::SdfAbstractDataRefPtr& data,
bool write_physics);
bool WriteSpecToData(mjSpec* spec, pxr::SdfAbstractDataRefPtr& data);
} // namespace usd
} // namespace mujoco