Add MjcPhysicsSceneAPI support.
Still missing compiler settings but will follow up in a future CL. Tried to add full coverage for testing setting of attributes to non-default values. PiperOrigin-RevId: 761636862 Change-Id: Id4b9486645b2600931556cdcb8dc71f28ec309cd
This commit is contained in:
Sam Haves
committed by
Copybara-Service
Copybara-Service
parent
bf1f8081c1
commit
62a9d5b98d
@@ -0,0 +1,190 @@
|
||||
// Copyright 2025 DeepMind Technologies Limited
|
||||
//
|
||||
// Licensed under the Apache License, Version 2.0 (the "License");
|
||||
// you may not use this file except in compliance with the License.
|
||||
// You may obtain a copy of the License at
|
||||
//
|
||||
// http://www.apache.org/licenses/LICENSE-2.0
|
||||
//
|
||||
// Unless required by applicable law or agreed to in writing, software
|
||||
// distributed under the License is distributed on an "AS IS" BASIS,
|
||||
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
// See the License for the specific language governing permissions and
|
||||
// limitations under the License.
|
||||
|
||||
#include <gmock/gmock.h>
|
||||
#include <gtest/gtest.h>
|
||||
#include <mujoco/mujoco.h>
|
||||
#include "src/experimental/usd/mjcPhysics/sceneAPI.h"
|
||||
#include "test/fixture.h"
|
||||
#include <pxr/base/gf/vec3d.h>
|
||||
#include <pxr/base/vt/types.h>
|
||||
#include <pxr/usd/sdf/path.h>
|
||||
#include <pxr/usd/usd/common.h>
|
||||
#include <pxr/usd/usd/stage.h>
|
||||
#include <pxr/usd/usdPhysics/scene.h>
|
||||
|
||||
namespace mujoco {
|
||||
namespace {
|
||||
|
||||
using pxr::SdfPath;
|
||||
using MjcPhysicsSceneTest = MujocoTest;
|
||||
using testing::NotNull;
|
||||
|
||||
// clang-format off
|
||||
#define EXPECT_TYPE_USD_FALLBACK_EQ_MODEL_DEFAULT(type, usd_attr, mjc_attr) \
|
||||
{ \
|
||||
type value; \
|
||||
mjc_phys_scene.Get##usd_attr##Attr().Get(&value); \
|
||||
EXPECT_EQ((mjtNum)value, default_model->opt.mjc_attr); \
|
||||
}
|
||||
|
||||
|
||||
#define EXPECT_REAL_USD_FALLBACK_EQ_MODEL_DEFAULT(usd_attr, mjc_attr) \
|
||||
EXPECT_TYPE_USD_FALLBACK_EQ_MODEL_DEFAULT(double, usd_attr, mjc_attr)
|
||||
|
||||
#define EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(usd_attr, mjc_flag) \
|
||||
{ \
|
||||
bool flag; \
|
||||
mjc_phys_scene.Get##usd_attr##Attr().Get(&flag); \
|
||||
EXPECT_NE(flag, default_model->opt.disableflags & (mjc_flag)); \
|
||||
}
|
||||
|
||||
#define EXPECT_ENABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(usd_attr, mjc_flag) \
|
||||
{ \
|
||||
bool flag; \
|
||||
mjc_phys_scene.Get##usd_attr##Attr().Get(&flag); \
|
||||
EXPECT_EQ(flag, default_model->opt.enableflags & (mjc_flag)); \
|
||||
}
|
||||
|
||||
|
||||
#define EXPECT_INT_USD_FALLBACK_EQ_MODEL_DEFAULT(usd_attr, mjc_attr) \
|
||||
EXPECT_TYPE_USD_FALLBACK_EQ_MODEL_DEFAULT(int, usd_attr, mjc_attr)
|
||||
|
||||
#define EXPECT_VEC3_USD_FALLBACK_EQ_MODEL_DEFAULT(usd_attr, mjc_attr) \
|
||||
{ \
|
||||
pxr::GfVec3d value; \
|
||||
mjc_phys_scene.Get##usd_attr##Attr().Get(&value); \
|
||||
EXPECT_EQ(value[0], default_model->opt.mjc_attr[0]); \
|
||||
EXPECT_EQ(value[1], default_model->opt.mjc_attr[1]); \
|
||||
EXPECT_EQ(value[2], default_model->opt.mjc_attr[2]); \
|
||||
}
|
||||
|
||||
#define EXPECT_TYPE_ARR_USD_FALLBACK_EQ_MODEL_DEFAULT(type, usd_attr, mjc_attr)\
|
||||
{ \
|
||||
pxr::Vt##type##Array mjc_attr; \
|
||||
mjc_phys_scene.Get##usd_attr##Attr().Get(&mjc_attr); \
|
||||
EXPECT_THAT( \
|
||||
mjc_attr, \
|
||||
testing::ElementsAreArray(default_model->opt.mjc_attr) \
|
||||
); \
|
||||
}
|
||||
|
||||
#define EXPECT_REAL_ARR_USD_FALLBACK_EQ_MODEL_DEFAULT(usd_attr, mjc_attr)\
|
||||
EXPECT_TYPE_ARR_USD_FALLBACK_EQ_MODEL_DEFAULT(Double, usd_attr, mjc_attr)
|
||||
|
||||
#define EXPECT_INT_ARR_USD_FALLBACK_EQ_MODEL_DEFAULT(usd_attr, mjc_attr)\
|
||||
EXPECT_TYPE_ARR_USD_FALLBACK_EQ_MODEL_DEFAULT(Int, usd_attr, mjc_attr)
|
||||
// clang-format on
|
||||
|
||||
TEST_F(MjcPhysicsSceneTest, TestDefaults) {
|
||||
auto stage = pxr::UsdStage::CreateInMemory();
|
||||
|
||||
auto physics_scene =
|
||||
pxr::UsdPhysicsScene::Define(stage, SdfPath("/World/PhysicsScene"));
|
||||
|
||||
auto mjc_phys_scene = pxr::MjcPhysicsSceneAPI::Apply(physics_scene.GetPrim());
|
||||
|
||||
mjSpec* empty_spec = mj_makeSpec();
|
||||
mjModel* default_model = mj_compile(empty_spec, nullptr);
|
||||
EXPECT_THAT(default_model, NotNull());
|
||||
|
||||
// Check that all the USD schema fallback values are the same
|
||||
// as the model defaults.
|
||||
// If this test is failing due to an update of defaults in Mujoco you need to
|
||||
// update mjcPhysics/schema.usda.
|
||||
EXPECT_REAL_USD_FALLBACK_EQ_MODEL_DEFAULT(Timestep, timestep);
|
||||
EXPECT_REAL_USD_FALLBACK_EQ_MODEL_DEFAULT(ApiRate, apirate);
|
||||
EXPECT_REAL_USD_FALLBACK_EQ_MODEL_DEFAULT(ImpRatio, impratio);
|
||||
|
||||
EXPECT_VEC3_USD_FALLBACK_EQ_MODEL_DEFAULT(Wind, wind);
|
||||
EXPECT_VEC3_USD_FALLBACK_EQ_MODEL_DEFAULT(Magnetic, magnetic);
|
||||
|
||||
EXPECT_REAL_USD_FALLBACK_EQ_MODEL_DEFAULT(Density, density);
|
||||
EXPECT_REAL_USD_FALLBACK_EQ_MODEL_DEFAULT(Viscosity, viscosity);
|
||||
|
||||
EXPECT_REAL_USD_FALLBACK_EQ_MODEL_DEFAULT(OMargin, o_margin);
|
||||
EXPECT_REAL_ARR_USD_FALLBACK_EQ_MODEL_DEFAULT(OSolRef, o_solref);
|
||||
EXPECT_REAL_ARR_USD_FALLBACK_EQ_MODEL_DEFAULT(OSolImp, o_solimp);
|
||||
EXPECT_REAL_ARR_USD_FALLBACK_EQ_MODEL_DEFAULT(OFriction, o_friction);
|
||||
|
||||
EXPECT_INT_USD_FALLBACK_EQ_MODEL_DEFAULT(Iterations, iterations);
|
||||
EXPECT_REAL_USD_FALLBACK_EQ_MODEL_DEFAULT(Tolerance, tolerance);
|
||||
EXPECT_INT_USD_FALLBACK_EQ_MODEL_DEFAULT(LSIterations, ls_iterations);
|
||||
EXPECT_REAL_USD_FALLBACK_EQ_MODEL_DEFAULT(LSTolerance, ls_tolerance);
|
||||
EXPECT_INT_USD_FALLBACK_EQ_MODEL_DEFAULT(NoslipIterations, noslip_iterations);
|
||||
EXPECT_REAL_USD_FALLBACK_EQ_MODEL_DEFAULT(NoslipTolerance, noslip_tolerance);
|
||||
EXPECT_INT_USD_FALLBACK_EQ_MODEL_DEFAULT(CCDIterations, ccd_iterations);
|
||||
EXPECT_REAL_USD_FALLBACK_EQ_MODEL_DEFAULT(CCDTolerance, ccd_tolerance);
|
||||
EXPECT_INT_USD_FALLBACK_EQ_MODEL_DEFAULT(SDFIterations, sdf_iterations);
|
||||
EXPECT_INT_USD_FALLBACK_EQ_MODEL_DEFAULT(SDFInitPoints, sdf_initpoints);
|
||||
|
||||
// We store the actuator disable groups as an array of integers, but the
|
||||
// model stores it as a bitmask.
|
||||
pxr::VtIntArray actuator_group_disable;
|
||||
mjc_phys_scene.GetActuatorGroupDisableAttr().Get(&actuator_group_disable);
|
||||
int bitmask = 0;
|
||||
for (int ind : actuator_group_disable) {
|
||||
bitmask |= 1 << ind;
|
||||
}
|
||||
EXPECT_EQ(default_model->opt.disableactuator, bitmask);
|
||||
|
||||
EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(ConstraintFlag,
|
||||
mjDSBL_CONSTRAINT);
|
||||
EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(EqualityFlag,
|
||||
mjDSBL_EQUALITY);
|
||||
EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(FrictionLossFlag,
|
||||
mjDSBL_FRICTIONLOSS);
|
||||
EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(LimitFlag, mjDSBL_LIMIT);
|
||||
EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(ContactFlag,
|
||||
mjDSBL_CONTACT);
|
||||
EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(PassiveFlag,
|
||||
mjDSBL_PASSIVE);
|
||||
EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(GravityFlag,
|
||||
mjDSBL_GRAVITY);
|
||||
EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(ClampCtrlFlag,
|
||||
mjDSBL_CLAMPCTRL);
|
||||
EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(WarmStartFlag,
|
||||
mjDSBL_WARMSTART);
|
||||
EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(FilterParentFlag,
|
||||
mjDSBL_FILTERPARENT);
|
||||
EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(ActuationFlag,
|
||||
mjDSBL_ACTUATION);
|
||||
EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(RefSafeFlag,
|
||||
mjDSBL_REFSAFE);
|
||||
EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(SensorFlag, mjDSBL_SENSOR);
|
||||
EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(MidPhaseFlag,
|
||||
mjDSBL_MIDPHASE);
|
||||
EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(NativeCCDFlag,
|
||||
mjDSBL_NATIVECCD);
|
||||
EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(EulerDampFlag,
|
||||
mjDSBL_EULERDAMP);
|
||||
EXPECT_DISABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(AutoResetFlag,
|
||||
mjDSBL_AUTORESET);
|
||||
|
||||
EXPECT_ENABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(OverrideFlag,
|
||||
mjENBL_OVERRIDE);
|
||||
EXPECT_ENABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(EnergyFlag, mjENBL_ENERGY);
|
||||
EXPECT_ENABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(FwdinvFlag, mjENBL_FWDINV);
|
||||
EXPECT_ENABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(InvDiscreteFlag,
|
||||
mjENBL_INVDISCRETE);
|
||||
EXPECT_ENABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(MultiCCDFlag,
|
||||
mjENBL_MULTICCD);
|
||||
EXPECT_ENABLE_FLAG_USD_FALLBACK_EQ_MODEL_DEFAULT(IslandFlag, mjENBL_ISLAND);
|
||||
|
||||
mj_deleteModel(default_model);
|
||||
mj_deleteSpec(empty_spec);
|
||||
}
|
||||
|
||||
} // namespace
|
||||
} // namespace mujoco
|
||||
@@ -19,9 +19,11 @@
|
||||
#include <gtest/gtest.h>
|
||||
#include "src/experimental/usd/mjcPhysics/sceneAPI.h"
|
||||
#include "src/experimental/usd/mjcPhysics/siteAPI.h"
|
||||
#include "src/experimental/usd/mjcPhysics/tokens.h"
|
||||
#include "test/experimental/usd/test_utils.h"
|
||||
#include "test/fixture.h"
|
||||
#include <pxr/base/gf/vec2f.h>
|
||||
#include <pxr/base/gf/vec3d.h>
|
||||
#include <pxr/base/gf/vec3f.h>
|
||||
#include <pxr/base/tf/staticData.h>
|
||||
#include <pxr/base/tf/staticTokens.h>
|
||||
@@ -49,6 +51,7 @@
|
||||
#include <pxr/usd/usdPhysics/collisionAPI.h>
|
||||
#include <pxr/usd/usdPhysics/meshCollisionAPI.h>
|
||||
#include <pxr/usd/usdPhysics/rigidBodyAPI.h>
|
||||
#include <pxr/usd/usdPhysics/scene.h>
|
||||
#include <pxr/usd/usdPhysics/tokens.h>
|
||||
|
||||
PXR_NAMESPACE_OPEN_SCOPE
|
||||
@@ -63,6 +66,8 @@ namespace mujoco {
|
||||
namespace usd {
|
||||
namespace {
|
||||
|
||||
using pxr::MjcPhysicsSiteAPI;
|
||||
using pxr::MjcPhysicsTokens;
|
||||
using pxr::SdfPath;
|
||||
using MjcfSdfFileFormatPluginTest = MujocoTest;
|
||||
|
||||
@@ -499,6 +504,417 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestGeomsPrims) {
|
||||
pxr::GfVec3f(10.0, 20.0, 30.0));
|
||||
}
|
||||
|
||||
static const pxr::SdfPath kPhysicsScenePrimPath("/test/PhysicsScene");
|
||||
|
||||
TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimTimestep) {
|
||||
auto stage = pxr::UsdStage::Open(LoadLayer(R"(
|
||||
<mujoco model="test">
|
||||
<option timestep="0.005"> </option>
|
||||
</mujoco>
|
||||
)"));
|
||||
|
||||
ExpectAttributeEqual(
|
||||
stage,
|
||||
kPhysicsScenePrimPath.AppendProperty(MjcPhysicsTokens->mjcOptionTimestep),
|
||||
0.005);
|
||||
}
|
||||
|
||||
TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimCone) {
|
||||
auto stage = pxr::UsdStage::Open(LoadLayer(R"(
|
||||
<mujoco model="test">
|
||||
<option cone="elliptic"> </option>
|
||||
</mujoco>
|
||||
)"));
|
||||
|
||||
ExpectAttributeEqual(
|
||||
stage,
|
||||
kPhysicsScenePrimPath.AppendProperty(MjcPhysicsTokens->mjcOptionCone),
|
||||
MjcPhysicsTokens->elliptic);
|
||||
}
|
||||
|
||||
TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimWind) {
|
||||
auto stage = pxr::UsdStage::Open(LoadLayer(R"(
|
||||
<mujoco model="test">
|
||||
<option wind="1 2 3"> </option>
|
||||
</mujoco>
|
||||
)"));
|
||||
|
||||
ExpectAttributeEqual(
|
||||
stage,
|
||||
kPhysicsScenePrimPath.AppendProperty(MjcPhysicsTokens->mjcOptionWind),
|
||||
pxr::GfVec3d(1, 2, 3));
|
||||
}
|
||||
|
||||
TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimApirate) {
|
||||
auto stage = pxr::UsdStage::Open(LoadLayer(R"(
|
||||
<mujoco model="test">
|
||||
<option apirate="1.2"> </option>
|
||||
</mujoco>
|
||||
)"));
|
||||
|
||||
ExpectAttributeEqual(
|
||||
stage,
|
||||
kPhysicsScenePrimPath.AppendProperty(MjcPhysicsTokens->mjcOptionApirate),
|
||||
1.2);
|
||||
}
|
||||
|
||||
TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimImpratio) {
|
||||
auto stage = pxr::UsdStage::Open(LoadLayer(R"(
|
||||
<mujoco model="test">
|
||||
<option impratio="0.8"> </option>
|
||||
</mujoco>
|
||||
)"));
|
||||
|
||||
ExpectAttributeEqual(
|
||||
stage,
|
||||
kPhysicsScenePrimPath.AppendProperty(MjcPhysicsTokens->mjcOptionImpratio),
|
||||
0.8);
|
||||
}
|
||||
|
||||
TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimMagnetic) {
|
||||
auto stage = pxr::UsdStage::Open(LoadLayer(R"(
|
||||
<mujoco model="test">
|
||||
<option magnetic="1 2 3"> </option>
|
||||
</mujoco>
|
||||
)"));
|
||||
|
||||
ExpectAttributeEqual(
|
||||
stage,
|
||||
kPhysicsScenePrimPath.AppendProperty(MjcPhysicsTokens->mjcOptionMagnetic),
|
||||
pxr::GfVec3d(1, 2, 3));
|
||||
}
|
||||
|
||||
TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimDensity) {
|
||||
auto stage = pxr::UsdStage::Open(LoadLayer(R"(
|
||||
<mujoco model="test">
|
||||
<option density="1.2"> </option>
|
||||
</mujoco>
|
||||
)"));
|
||||
|
||||
ExpectAttributeEqual(
|
||||
stage,
|
||||
kPhysicsScenePrimPath.AppendProperty(MjcPhysicsTokens->mjcOptionDensity),
|
||||
1.2);
|
||||
}
|
||||
|
||||
TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimViscosity) {
|
||||
auto stage = pxr::UsdStage::Open(LoadLayer(R"(
|
||||
<mujoco model="test">
|
||||
<option viscosity="0.8"> </option>
|
||||
</mujoco>
|
||||
)"));
|
||||
|
||||
ExpectAttributeEqual(stage,
|
||||
kPhysicsScenePrimPath.AppendProperty(
|
||||
MjcPhysicsTokens->mjcOptionViscosity),
|
||||
0.8);
|
||||
}
|
||||
|
||||
TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimO_margin) {
|
||||
auto stage = pxr::UsdStage::Open(LoadLayer(R"(
|
||||
<mujoco model="test">
|
||||
<option o_margin="0.001"> </option>
|
||||
</mujoco>
|
||||
)"));
|
||||
|
||||
ExpectAttributeEqual(
|
||||
stage,
|
||||
kPhysicsScenePrimPath.AppendProperty(MjcPhysicsTokens->mjcOptionO_margin),
|
||||
0.001);
|
||||
}
|
||||
|
||||
TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimO_solref) {
|
||||
auto stage = pxr::UsdStage::Open(LoadLayer(R"(
|
||||
<mujoco model="test">
|
||||
<option o_solref="0.1 0.2"> </option>
|
||||
</mujoco>
|
||||
)"));
|
||||
|
||||
ExpectAttributeEqual(
|
||||
stage,
|
||||
kPhysicsScenePrimPath.AppendProperty(MjcPhysicsTokens->mjcOptionO_solref),
|
||||
pxr::VtArray<double>({0.1, 0.2}));
|
||||
}
|
||||
|
||||
TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimO_solimp) {
|
||||
auto stage = pxr::UsdStage::Open(LoadLayer(R"(
|
||||
<mujoco model="test">
|
||||
<option o_solimp="0.1 0.2 0.3 0.4 0.5"> </option>
|
||||
</mujoco>
|
||||
)"));
|
||||
|
||||
ExpectAttributeEqual(
|
||||
stage,
|
||||
kPhysicsScenePrimPath.AppendProperty(MjcPhysicsTokens->mjcOptionO_solimp),
|
||||
pxr::VtArray<double>({0.1, 0.2, 0.3, 0.4, 0.5}));
|
||||
}
|
||||
|
||||
TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimTolerance) {
|
||||
auto stage = pxr::UsdStage::Open(LoadLayer(R"(
|
||||
<mujoco model="test">
|
||||
<option tolerance="0.0012"> </option>
|
||||
</mujoco>
|
||||
)"));
|
||||
|
||||
ExpectAttributeEqual(stage,
|
||||
kPhysicsScenePrimPath.AppendProperty(
|
||||
MjcPhysicsTokens->mjcOptionTolerance),
|
||||
0.0012);
|
||||
}
|
||||
|
||||
TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimLSTolerance) {
|
||||
auto stage = pxr::UsdStage::Open(LoadLayer(R"(
|
||||
<mujoco model="test">
|
||||
<option ls_tolerance="0.0034"> </option>
|
||||
</mujoco>
|
||||
)"));
|
||||
|
||||
ExpectAttributeEqual(stage,
|
||||
kPhysicsScenePrimPath.AppendProperty(
|
||||
MjcPhysicsTokens->mjcOptionLs_tolerance),
|
||||
0.0034);
|
||||
}
|
||||
|
||||
TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimNoslipTolerance) {
|
||||
auto stage = pxr::UsdStage::Open(LoadLayer(R"(
|
||||
<mujoco model="test">
|
||||
<option noslip_tolerance="0.0056"> </option>
|
||||
</mujoco>
|
||||
)"));
|
||||
|
||||
ExpectAttributeEqual(stage,
|
||||
kPhysicsScenePrimPath.AppendProperty(
|
||||
MjcPhysicsTokens->mjcOptionNoslip_tolerance),
|
||||
0.0056);
|
||||
}
|
||||
|
||||
TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimCCDTolerance) {
|
||||
auto stage = pxr::UsdStage::Open(LoadLayer(R"(
|
||||
<mujoco model="test">
|
||||
<option ccd_tolerance="0.0078"> </option>
|
||||
</mujoco>
|
||||
)"));
|
||||
|
||||
ExpectAttributeEqual(stage,
|
||||
kPhysicsScenePrimPath.AppendProperty(
|
||||
MjcPhysicsTokens->mjcOptionCcd_tolerance),
|
||||
0.0078);
|
||||
}
|
||||
|
||||
TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimOFriction) {
|
||||
auto stage = pxr::UsdStage::Open(LoadLayer(R"(
|
||||
<mujoco model="test">
|
||||
<option o_friction="0.1 0.2 0.3 0.4 0.5"> </option>
|
||||
</mujoco>
|
||||
)"));
|
||||
|
||||
ExpectAttributeEqual(stage,
|
||||
kPhysicsScenePrimPath.AppendProperty(
|
||||
MjcPhysicsTokens->mjcOptionO_friction),
|
||||
pxr::VtArray<double>({0.1, 0.2, 0.3, 0.4, 0.5}));
|
||||
}
|
||||
|
||||
TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimIntegrator) {
|
||||
auto stage = pxr::UsdStage::Open(LoadLayer(R"(
|
||||
<mujoco model="test">
|
||||
<option integrator="RK4"> </option>
|
||||
</mujoco>
|
||||
)"));
|
||||
|
||||
ExpectAttributeEqual(stage,
|
||||
kPhysicsScenePrimPath.AppendProperty(
|
||||
MjcPhysicsTokens->mjcOptionIntegrator),
|
||||
MjcPhysicsTokens->rk4);
|
||||
}
|
||||
|
||||
TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimJacobian) {
|
||||
auto stage = pxr::UsdStage::Open(LoadLayer(R"(
|
||||
<mujoco model="test">
|
||||
<option jacobian="sparse"> </option>
|
||||
</mujoco>
|
||||
)"));
|
||||
|
||||
ExpectAttributeEqual(
|
||||
stage,
|
||||
kPhysicsScenePrimPath.AppendProperty(MjcPhysicsTokens->mjcOptionJacobian),
|
||||
MjcPhysicsTokens->sparse);
|
||||
}
|
||||
|
||||
TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimSolver) {
|
||||
auto stage = pxr::UsdStage::Open(LoadLayer(R"(
|
||||
<mujoco model="test">
|
||||
<option solver="CG"> </option>
|
||||
</mujoco>
|
||||
)"));
|
||||
|
||||
ExpectAttributeEqual(
|
||||
stage,
|
||||
kPhysicsScenePrimPath.AppendProperty(MjcPhysicsTokens->mjcOptionSolver),
|
||||
MjcPhysicsTokens->cg);
|
||||
}
|
||||
|
||||
TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimIterations) {
|
||||
auto stage = pxr::UsdStage::Open(LoadLayer(R"(
|
||||
<mujoco model="test">
|
||||
<option iterations="10"> </option>
|
||||
</mujoco>
|
||||
)"));
|
||||
|
||||
ExpectAttributeEqual(stage,
|
||||
kPhysicsScenePrimPath.AppendProperty(
|
||||
MjcPhysicsTokens->mjcOptionIterations),
|
||||
10);
|
||||
}
|
||||
|
||||
TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimLSIterations) {
|
||||
auto stage = pxr::UsdStage::Open(LoadLayer(R"(
|
||||
<mujoco model="test">
|
||||
<option ls_iterations="20"> </option>
|
||||
</mujoco>
|
||||
)"));
|
||||
|
||||
ExpectAttributeEqual(stage,
|
||||
kPhysicsScenePrimPath.AppendProperty(
|
||||
MjcPhysicsTokens->mjcOptionLs_iterations),
|
||||
20);
|
||||
}
|
||||
|
||||
TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimNoslipIterations) {
|
||||
auto stage = pxr::UsdStage::Open(LoadLayer(R"(
|
||||
<mujoco model="test">
|
||||
<option noslip_iterations="30"> </option>
|
||||
</mujoco>
|
||||
)"));
|
||||
|
||||
ExpectAttributeEqual(stage,
|
||||
kPhysicsScenePrimPath.AppendProperty(
|
||||
MjcPhysicsTokens->mjcOptionNoslip_iterations),
|
||||
30);
|
||||
}
|
||||
|
||||
TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimCCDIterations) {
|
||||
auto stage = pxr::UsdStage::Open(LoadLayer(R"(
|
||||
<mujoco model="test">
|
||||
<option ccd_iterations="40"> </option>
|
||||
</mujoco>
|
||||
)"));
|
||||
|
||||
ExpectAttributeEqual(stage,
|
||||
kPhysicsScenePrimPath.AppendProperty(
|
||||
MjcPhysicsTokens->mjcOptionCcd_iterations),
|
||||
40);
|
||||
}
|
||||
|
||||
TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimSDFInitPoints) {
|
||||
auto stage = pxr::UsdStage::Open(LoadLayer(R"(
|
||||
<mujoco model="test">
|
||||
<option sdf_initpoints="50"> </option>
|
||||
</mujoco>
|
||||
)"));
|
||||
|
||||
ExpectAttributeEqual(stage,
|
||||
kPhysicsScenePrimPath.AppendProperty(
|
||||
MjcPhysicsTokens->mjcOptionSdf_initpoints),
|
||||
50);
|
||||
}
|
||||
|
||||
TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimSDFIterations) {
|
||||
auto stage = pxr::UsdStage::Open(LoadLayer(R"(
|
||||
<mujoco model="test">
|
||||
<option sdf_iterations="60"> </option>
|
||||
</mujoco>
|
||||
)"));
|
||||
|
||||
ExpectAttributeEqual(stage,
|
||||
kPhysicsScenePrimPath.AppendProperty(
|
||||
MjcPhysicsTokens->mjcOptionSdf_iterations),
|
||||
60);
|
||||
}
|
||||
|
||||
TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimDisableFlags) {
|
||||
auto stage = pxr::UsdStage::Open(LoadLayer(R"(
|
||||
<mujoco model="test">
|
||||
<option>
|
||||
<flag
|
||||
constraint="disable"
|
||||
equality="disable"
|
||||
frictionloss="disable"
|
||||
limit="disable"
|
||||
contact="disable"
|
||||
passive="disable"
|
||||
gravity="disable"
|
||||
clampctrl="disable"
|
||||
warmstart="disable"
|
||||
filterparent="disable"
|
||||
actuation="disable"
|
||||
refsafe="disable"
|
||||
sensor="disable"
|
||||
midphase="disable"
|
||||
nativeccd="disable"
|
||||
eulerdamp="disable"
|
||||
autoreset="disable"
|
||||
/>
|
||||
</option>
|
||||
</mujoco>
|
||||
)"));
|
||||
|
||||
const std::vector<pxr::TfToken> kFlags = {
|
||||
MjcPhysicsTokens->mjcFlagConstraint,
|
||||
MjcPhysicsTokens->mjcFlagEquality,
|
||||
MjcPhysicsTokens->mjcFlagFrictionloss,
|
||||
MjcPhysicsTokens->mjcFlagLimit,
|
||||
MjcPhysicsTokens->mjcFlagContact,
|
||||
MjcPhysicsTokens->mjcFlagPassive,
|
||||
MjcPhysicsTokens->mjcFlagGravity,
|
||||
MjcPhysicsTokens->mjcFlagClampctrl,
|
||||
MjcPhysicsTokens->mjcFlagWarmstart,
|
||||
MjcPhysicsTokens->mjcFlagFilterparent,
|
||||
MjcPhysicsTokens->mjcFlagActuation,
|
||||
MjcPhysicsTokens->mjcFlagRefsafe,
|
||||
MjcPhysicsTokens->mjcFlagSensor,
|
||||
MjcPhysicsTokens->mjcFlagMidphase,
|
||||
MjcPhysicsTokens->mjcFlagNativeccd,
|
||||
MjcPhysicsTokens->mjcFlagEulerdamp,
|
||||
MjcPhysicsTokens->mjcFlagAutoreset,
|
||||
};
|
||||
for (const auto& flag : kFlags) {
|
||||
ExpectAttributeEqual(stage, kPhysicsScenePrimPath.AppendProperty(flag),
|
||||
false);
|
||||
}
|
||||
}
|
||||
|
||||
TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimEnableFlags) {
|
||||
auto stage = pxr::UsdStage::Open(LoadLayer(R"(
|
||||
<mujoco model="test">
|
||||
<option>
|
||||
<flag
|
||||
override="enable"
|
||||
energy="enable"
|
||||
fwdinv="enable"
|
||||
invdiscrete="enable"
|
||||
multiccd="enable"
|
||||
island="enable"
|
||||
/>
|
||||
</option>
|
||||
</mujoco>
|
||||
)"));
|
||||
|
||||
// clang-format off
|
||||
const std::vector<pxr::TfToken> kFlags = {
|
||||
MjcPhysicsTokens->mjcFlagOverride,
|
||||
MjcPhysicsTokens->mjcFlagEnergy,
|
||||
MjcPhysicsTokens->mjcFlagFwdinv,
|
||||
MjcPhysicsTokens->mjcFlagInvdiscrete,
|
||||
MjcPhysicsTokens->mjcFlagMulticcd,
|
||||
MjcPhysicsTokens->mjcFlagIsland,
|
||||
};
|
||||
// clang-format on
|
||||
for (const auto& flag : kFlags) {
|
||||
ExpectAttributeEqual(stage, kPhysicsScenePrimPath.AppendProperty(flag),
|
||||
true);
|
||||
}
|
||||
}
|
||||
|
||||
static constexpr char kSiteXml[] = R"(
|
||||
<mujoco model="test">
|
||||
<worldbody>
|
||||
@@ -520,28 +936,28 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestSitePrimsAuthored) {
|
||||
auto stage = pxr::UsdStage::Open(layer);
|
||||
EXPECT_PRIM_VALID(stage, "/test/box_site");
|
||||
EXPECT_PRIM_IS_A(stage, "/test/box_site", pxr::UsdGeomCube);
|
||||
EXPECT_PRIM_API_APPLIED(stage, "/test/box_site", pxr::MjcPhysicsSiteAPI);
|
||||
EXPECT_PRIM_API_APPLIED(stage, "/test/box_site", MjcPhysicsSiteAPI);
|
||||
|
||||
EXPECT_PRIM_VALID(stage, "/test/ball/ball/sphere_site");
|
||||
EXPECT_PRIM_IS_A(stage, "/test/ball/ball/sphere_site", pxr::UsdGeomSphere);
|
||||
EXPECT_PRIM_API_APPLIED(stage, "/test/ball/ball/sphere_site",
|
||||
pxr::MjcPhysicsSiteAPI);
|
||||
MjcPhysicsSiteAPI);
|
||||
|
||||
EXPECT_PRIM_VALID(stage, "/test/ball/ball/capsule_site");
|
||||
EXPECT_PRIM_IS_A(stage, "/test/ball/ball/capsule_site", pxr::UsdGeomCapsule);
|
||||
EXPECT_PRIM_API_APPLIED(stage, "/test/ball/ball/capsule_site",
|
||||
pxr::MjcPhysicsSiteAPI);
|
||||
MjcPhysicsSiteAPI);
|
||||
|
||||
EXPECT_PRIM_VALID(stage, "/test/ball/ball/cylinder_site");
|
||||
EXPECT_PRIM_IS_A(stage, "/test/ball/ball/cylinder_site",
|
||||
pxr::UsdGeomCylinder);
|
||||
EXPECT_PRIM_API_APPLIED(stage, "/test/ball/ball/cylinder_site",
|
||||
pxr::MjcPhysicsSiteAPI);
|
||||
MjcPhysicsSiteAPI);
|
||||
|
||||
EXPECT_PRIM_VALID(stage, "/test/ball/ball/ellipsoid_site");
|
||||
EXPECT_PRIM_IS_A(stage, "/test/ball/ball/ellipsoid_site", pxr::UsdGeomSphere);
|
||||
EXPECT_PRIM_API_APPLIED(stage, "/test/ball/ball/ellipsoid_site",
|
||||
pxr::MjcPhysicsSiteAPI);
|
||||
MjcPhysicsSiteAPI);
|
||||
}
|
||||
|
||||
TEST_F(MjcfSdfFileFormatPluginTest, TestSitePrimsPurpose) {
|
||||
|
||||
@@ -44,9 +44,9 @@ pxr::SdfLayerRefPtr LoadLayer(
|
||||
|
||||
template <>
|
||||
void ExpectAttributeEqual<pxr::SdfAssetPath>(pxr::UsdStageRefPtr stage,
|
||||
const char* path,
|
||||
pxr::SdfPath path,
|
||||
const pxr::SdfAssetPath& value) {
|
||||
auto attr = stage->GetAttributeAtPath(pxr::SdfPath(path));
|
||||
auto attr = stage->GetAttributeAtPath(path);
|
||||
EXPECT_TRUE(attr.IsValid());
|
||||
pxr::SdfAssetPath attr_value;
|
||||
attr.Get(&attr_value);
|
||||
|
||||
@@ -74,7 +74,7 @@ pxr::SdfLayerRefPtr LoadLayer(
|
||||
const pxr::SdfFileFormat::FileFormatArguments& args = {});
|
||||
|
||||
template <typename T>
|
||||
void ExpectAttributeEqual(pxr::UsdStageRefPtr stage, const char* path,
|
||||
void ExpectAttributeEqual(pxr::UsdStageRefPtr stage, pxr::SdfPath path,
|
||||
const T& value) {
|
||||
auto attr = stage->GetAttributeAtPath(pxr::SdfPath(path));
|
||||
EXPECT_TRUE(attr.IsValid()) << "Attribute " << path << " is not valid";
|
||||
@@ -84,13 +84,19 @@ void ExpectAttributeEqual(pxr::UsdStageRefPtr stage, const char* path,
|
||||
<< attr_value << ". Expected: " << value;
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
void ExpectAttributeEqual(pxr::UsdStageRefPtr stage, const char* path,
|
||||
const T& value) {
|
||||
ExpectAttributeEqual(stage, pxr::SdfPath(path), value);
|
||||
}
|
||||
|
||||
// Specialization for SdfAssetPath, so that we can compare only the asset path
|
||||
// and not care about whatever the resolved path is.
|
||||
// Otherwise the default operator== would fail because it tests for equality of
|
||||
// the asset path AND the resolved path.
|
||||
template <>
|
||||
void ExpectAttributeEqual<pxr::SdfAssetPath>(pxr::UsdStageRefPtr stage,
|
||||
const char* path,
|
||||
pxr::SdfPath,
|
||||
const pxr::SdfAssetPath& value);
|
||||
|
||||
void ExpectAttributeHasConnection(pxr::UsdStageRefPtr stage, const char* path,
|
||||
|
||||
Reference in New Issue
Block a user