Add mujoco/experimental and move USD work there.

PiperOrigin-RevId: 740730698 Change-Id: If9c68798cda502d6d7632906a034437e2557802e
2025-03-26 05:35:54 -07:00
parent 5c955b8fe2
commit 644b42bee3
14 changed files with 2228 additions and 0 deletions
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+// 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.
+
+#ifndef MUJOCO_SRC_EXPERIMENTAL_USD_PLUGINS_MJCF_UTILS_H_
+#define MUJOCO_SRC_EXPERIMENTAL_USD_PLUGINS_MJCF_UTILS_H_
+
+#include <type_traits>
+
+#include <pxr/base/tf/token.h>
+#include <pxr/imaging/hd/primTypeIndex.h>
+#include <pxr/usd/sdf/abstractData.h>
+#include <pxr/usd/sdf/path.h>
+#include <pxr/usd/sdf/schema.h>
+#include <pxr/usd/sdf/types.h>
+#include <pxr/usd/sdf/valueTypeName.h>
+
+namespace mujoco {
+namespace usd {
+
+// Create a prim spec and append it as a child of parent_path.
+pxr::SdfPath CreatePrimSpec(
+    pxr::SdfAbstractDataRefPtr& data, const pxr::SdfPath& parent_path,
+    const pxr::TfToken& name, const pxr::TfToken& type = pxr::TfToken(),
+    pxr::SdfSpecifier specifier = pxr::SdfSpecifier::SdfSpecifierDef);
+
+// Create an attribute spec and append it as a child of parent_path.
+// By default the attribute will be varying.
+pxr::SdfPath CreateAttributeSpec(
+    pxr::SdfAbstractDataRefPtr& data, const pxr::SdfPath& prim_path,
+    const pxr::TfToken& name, const pxr::SdfValueTypeName& type_name,
+    pxr::SdfVariability variability = pxr::SdfVariabilityVarying);
+
+// Create a relationship spec and append it as a child of prim_path.
+pxr::SdfPath CreateRelationshipSpec(
+    pxr::SdfAbstractDataRefPtr& data, const pxr::SdfPath& prim_path,
+    const pxr::TfToken& relationship_name,
+    const pxr::SdfPath& relationship_path,
+    pxr::SdfVariability variability = pxr::SdfVariabilityVarying);
+
+pxr::SdfPath CreateClassSpec(pxr::SdfAbstractDataRefPtr& data,
+                             const pxr::SdfPath& prim_path,
+                             const pxr::TfToken& class_name);
+
+void AddAttributeConnection(pxr::SdfAbstractDataRefPtr& data,
+                            const pxr::SdfPath& attribute_path,
+                            const pxr::SdfPath& target_attribute_path);
+
+void AddPrimReference(pxr::SdfAbstractDataRefPtr& data,
+                      const pxr::SdfPath& prim_path,
+                      const pxr::SdfPath& referenced_prim_path);
+
+void AddPrimInherit(pxr::SdfAbstractDataRefPtr& data,
+                    const pxr::SdfPath& prim_path,
+                    const pxr::SdfPath& class_path);
+
+void ApplyApiSchema(pxr::SdfAbstractDataRefPtr& data,
+                    const pxr::SdfPath& prim_path,
+                    const pxr::TfToken& schema_name);
+
+void SetPrimKind(pxr::SdfAbstractDataRefPtr& data,
+                 const pxr::SdfPath& prim_path, pxr::TfToken kind);
+
+// Set the value specified by key on any field at field_path.
+template <typename T>
+void SetField(pxr::SdfAbstractDataRefPtr& data, const pxr::SdfPath& field_path,
+              const pxr::TfToken key, T&& value) {
+  using Deduced = typename std::remove_reference_t<T>;
+  const auto typed_val = pxr::SdfAbstractDataConstTypedValue<Deduced>(&value);
+  const pxr::SdfAbstractDataConstValue& untyped_val = typed_val;
+
+  data->Set(field_path, key, untyped_val);
+}
+
+// Set the value specified by key on an attribute spec at attribute_path.
+template <typename T>
+void SetAttribute(pxr::SdfAbstractDataRefPtr& data,
+                  const pxr::SdfPath& attribute_path, const pxr::TfToken key,
+                  T&& value) {
+  SetField(data, attribute_path, key, value);
+}
+
+// Set the value specified by key on a prim spec at prim_path.
+template <typename T>
+void SetPrimMetadata(pxr::SdfAbstractDataRefPtr& data,
+                     const pxr::SdfPath& prim_path, const pxr::TfToken key,
+                     T&& value) {
+  SetAttribute(data, prim_path, key, value);
+}
+
+// Set the value specified by key on an attribute spec at attribute_path.
+template <typename T>
+void SetAttributeMetadata(pxr::SdfAbstractDataRefPtr& data,
+                          const pxr::SdfPath& attribute_path,
+                          const pxr::TfToken key, T&& value) {
+  SetAttribute(data, attribute_path, key, value);
+}
+
+// Set the default value on an attribute spec at attribute_path.
+template <typename T>
+void SetAttributeDefault(pxr::SdfAbstractDataRefPtr& data,
+                         const pxr::SdfPath& attribute_path,
+                         T&& default_value) {
+  SetAttribute(data, attribute_path, pxr::SdfFieldKeys->Default, default_value);
+}
+
+// Set the value specified by key on the root layer.
+template <typename T>
+void SetLayerMetadata(pxr::SdfAbstractDataRefPtr& data, const pxr::TfToken& key,
+                      T&& value) {
+  SetAttribute(data, pxr::SdfPath::AbsoluteRootPath(), key, value);
+}
+
+}  // namespace usd
+}  // namespace mujoco
+
+#endif  // MUJOCO_SRC_EXPERIMENTAL_USD_PLUGINS_MJCF_UTILS_H_