Add mujoco/experimental and move USD work there.
PiperOrigin-RevId: 740730698 Change-Id: If9c68798cda502d6d7632906a034437e2557802e
This commit is contained in:
Google DeepMind
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Copybara-Service
Copybara-Service
parent
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commit
644b42bee3
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// Copyright 2025 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include "test/experimental/usd/plugins/mjcf/fixture.h"
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#include <string>
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#include <gmock/gmock.h>
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#include <gtest/gtest.h>
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#include <absl/log/check.h>
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#include <pxr/usd/sdf/assetPath.h>
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#include <pxr/usd/sdf/declareHandles.h>
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#include <pxr/usd/sdf/fileFormat.h>
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#include <pxr/usd/sdf/path.h>
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#include <pxr/usd/usd/common.h>
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#include <pxr/usd/usd/modelAPI.h>
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#include <pxr/usd/usd/stage.h>
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#include <pxr/usd/usdGeom/mesh.h>
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#include <pxr/usd/usdGeom/primvarsAPI.h>
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namespace mujoco {
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using pxr::SdfPath;
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pxr::SdfLayerRefPtr LoadLayer(const std::string& xml) {
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auto layer = pxr::SdfLayer::CreateAnonymous(
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"test_layer", pxr::SdfFileFormat::FindByExtension("xml"));
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layer->ImportFromString(xml);
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EXPECT_THAT(layer, testing::NotNull());
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return layer;
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}
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template <>
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void ExpectAttributeEqual<pxr::SdfAssetPath>(pxr::UsdStageRefPtr stage,
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const char* path,
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const pxr::SdfAssetPath& value) {
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auto attr = stage->GetAttributeAtPath(pxr::SdfPath(path));
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EXPECT_TRUE(attr.IsValid());
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pxr::SdfAssetPath attr_value;
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attr.Get(&attr_value);
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EXPECT_EQ(attr_value.GetAssetPath(), value.GetAssetPath());
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}
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void ExpectAttributeHasConnection(pxr::UsdStageRefPtr stage, const char* path,
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const char* connection_path) {
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auto attr = stage->GetAttributeAtPath(SdfPath(path));
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EXPECT_TRUE(attr.IsValid());
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pxr::SdfPathVector sources;
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attr.GetConnections(&sources);
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EXPECT_EQ(sources.size(), 1);
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EXPECT_EQ(sources[0], SdfPath(connection_path));
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}
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//
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} // namespace mujoco
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// Copyright 2025 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef MUJOCO_TEST_EXPERIMENTAL_USD_PLUGINS_MJCF_FIXTURE_H_
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#define MUJOCO_TEST_EXPERIMENTAL_USD_PLUGINS_MJCF_FIXTURE_H_
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#include <string>
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#include <gtest/gtest.h>
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#include "test/fixture.h"
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#include <pxr/usd/sdf/assetPath.h>
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#include <pxr/usd/sdf/declareHandles.h>
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#include <pxr/usd/sdf/path.h>
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#include <pxr/usd/usd/common.h>
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#include <pxr/usd/usd/modelAPI.h>
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#include <pxr/usd/usd/stage.h>
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#define EXPECT_PRIM_VALID(stage, path) \
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EXPECT_TRUE((stage)->GetPrimAtPath(SdfPath(path)).IsValid());
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#define EXPECT_PRIM_KIND(stage, path, kind) \
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{ \
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pxr::TfToken prim_kind; \
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pxr::UsdModelAPI::Get(stage, SdfPath(path)).GetKind(&prim_kind); \
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EXPECT_EQ(kind, prim_kind); \
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}
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namespace mujoco {
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pxr::SdfLayerRefPtr LoadLayer(const std::string& xml);
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template <typename T>
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void ExpectAttributeEqual(pxr::UsdStageRefPtr stage, const char* path,
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const T& value) {
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auto attr = stage->GetAttributeAtPath(pxr::SdfPath(path));
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EXPECT_TRUE(attr.IsValid());
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T attr_value;
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attr.Get(&attr_value);
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EXPECT_EQ(attr_value, value);
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}
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// Specialization for SdfAssetPath, so that we can compare only the asset path
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// and not care about whatever the resolved path is.
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// Otherwise the default operator== would fail because it tests for equality of
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// the asset path AND the resolved path.
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template <>
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void ExpectAttributeEqual<pxr::SdfAssetPath>(pxr::UsdStageRefPtr stage,
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const char* path,
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const pxr::SdfAssetPath& value);
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void ExpectAttributeHasConnection(pxr::UsdStageRefPtr stage, const char* path,
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const char* connection_path);
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using MjcfSdfFileFormatPluginTest = MujocoTest;
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} // namespace mujoco
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#endif // MUJOCO_TEST_EXPERIMENTAL_USD_PLUGINS_MJCF_FIXTURE_H_
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@@ -0,0 +1,387 @@
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// Copyright 2025 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include <string>
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#include <vector>
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#include <gmock/gmock.h>
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#include <gtest/gtest.h>
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#include <absl/strings/string_view.h>
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#include "test/experimental/usd/plugins/mjcf/fixture.h"
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#include "test/fixture.h"
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#include <pxr/base/gf/vec2f.h>
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#include <pxr/base/gf/vec3f.h>
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#include <pxr/base/tf/staticData.h>
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#include <pxr/base/tf/staticTokens.h>
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#include <pxr/base/tf/token.h>
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#include <pxr/base/vt/array.h>
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#include <pxr/pxr.h>
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#include <pxr/usd/kind/registry.h>
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#include <pxr/usd/sdf/assetPath.h>
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#include <pxr/usd/sdf/declareHandles.h>
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#include <pxr/usd/sdf/fileFormat.h>
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#include <pxr/usd/sdf/path.h>
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#include <pxr/usd/usd/common.h>
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#include <pxr/usd/usd/modelAPI.h>
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#include <pxr/usd/usd/prim.h>
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#include <pxr/usd/usd/stage.h>
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#include <pxr/usd/usdGeom/mesh.h>
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#include <pxr/usd/usdGeom/primvar.h>
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#include <pxr/usd/usdGeom/primvarsAPI.h>
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PXR_NAMESPACE_OPEN_SCOPE
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// clang-format off
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TF_DEFINE_PRIVATE_TOKENS(_tokens,
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(st)
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);
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// clang-format on
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PXR_NAMESPACE_CLOSE_SCOPE
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namespace mujoco {
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namespace {
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using pxr::SdfPath;
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static const char* kMaterialsPath =
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"experimental/usd/plugins/mjcf/testdata/materials.xml";
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static const char* kMeshObjPath =
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"experimental/usd/plugins/mjcf/testdata/mesh_obj.xml";
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TEST_F(MjcfSdfFileFormatPluginTest, TestClassAuthored) {
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static constexpr char kXml[] = R"(
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<mujoco model="test">
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<default>
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<default class="test">
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</default>
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</default>
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<worldbody>
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<body name="test_body" pos="0 0 0">
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<geom class="test" type="sphere" size="2 2 2"/>
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</body>
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</worldbody>
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</mujoco>
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)";
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pxr::SdfLayerRefPtr layer = LoadLayer(kXml);
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auto stage = pxr::UsdStage::Open(layer);
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EXPECT_PRIM_VALID(stage, "/__class__");
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EXPECT_PRIM_VALID(stage, "/__class__/test");
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}
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TEST_F(MjcfSdfFileFormatPluginTest, TestBasicMeshSources) {
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static constexpr char kXml[] = R"(
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<mujoco model="mesh test">
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<asset>
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<mesh name="tetrahedron" vertex="0 0 0 1 0 0 0 1 0 0 0 1"/>
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</asset>
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<worldbody>
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<body name="test_body">
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<geom type="mesh" mesh="tetrahedron"/>
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</body>
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</worldbody>
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</mujoco>
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)";
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pxr::SdfLayerRefPtr layer = LoadLayer(kXml);
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auto stage = pxr::UsdStage::Open(layer);
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EXPECT_PRIM_VALID(stage, "/mesh_test");
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EXPECT_PRIM_VALID(stage, "/mesh_test/test_body/test_body/tetrahedron");
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EXPECT_PRIM_VALID(stage, "/mesh_test/test_body/test_body/tetrahedron/Mesh");
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}
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TEST_F(MjcfSdfFileFormatPluginTest, TestMaterials) {
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const std::string xml_path = GetTestDataFilePath(kMaterialsPath);
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auto stage = pxr::UsdStage::Open(xml_path);
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EXPECT_THAT(stage, testing::NotNull());
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EXPECT_PRIM_VALID(stage, "/mesh_test");
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EXPECT_PRIM_VALID(stage, "/mesh_test/Materials");
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EXPECT_PRIM_VALID(stage, "/mesh_test/Materials/material_red");
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EXPECT_PRIM_VALID(stage, "/mesh_test/Materials/material_red/PreviewSurface");
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ExpectAttributeEqual(
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stage,
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"/mesh_test/Materials/material_red/PreviewSurface.inputs:diffuseColor",
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pxr::GfVec3f(0.8, 0, 0));
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EXPECT_PRIM_VALID(stage, "/mesh_test/Materials/material_texture");
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EXPECT_PRIM_VALID(stage,
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"/mesh_test/Materials/material_texture/PreviewSurface");
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EXPECT_PRIM_VALID(stage, "/mesh_test/Materials/material_texture/uvmap");
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EXPECT_PRIM_VALID(stage, "/mesh_test/Materials/material_texture/texture");
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ExpectAttributeHasConnection(
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stage,
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"/mesh_test/Materials/material_texture/"
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"PreviewSurface.inputs:diffuseColor",
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"/mesh_test/Materials/material_texture/texture.outputs:rgb");
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ExpectAttributeEqual(
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stage, "/mesh_test/Materials/material_texture/texture.inputs:file",
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pxr::SdfAssetPath("textures/cube.png"));
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}
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TEST_F(MjcfSdfFileFormatPluginTest, TestFaceVaryingMeshSourcesSimpleMjcfMesh) {
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static constexpr char kXml[] = R"(
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<mujoco model="mesh test">
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<asset>
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<mesh
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name="tetrahedron"
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face="0 3 2 0 1 3 0 2 1 1 2 3"
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vertex="0 1 0 0 0 0 1 0 1 1 0 -1"
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normal="1 0 0 0 1 0 0 0 1 -1 0 0"
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texcoord="0.5 0.5 0 0.5 1 1 1 0"/>
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</asset>
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<worldbody>
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<body name="test_body">
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<geom type="mesh" mesh="tetrahedron"/>
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</body>
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</worldbody>
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</mujoco>
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)";
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pxr::SdfLayerRefPtr layer = LoadLayer(kXml);
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auto stage = pxr::UsdStage::Open(layer);
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auto mesh = pxr::UsdGeomMesh::Get(
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stage, SdfPath("/mesh_test/test_body/test_body/tetrahedron/Mesh"));
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ASSERT_TRUE(mesh);
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pxr::VtArray<int> face_vertex_counts;
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mesh.GetFaceVertexCountsAttr().Get(&face_vertex_counts);
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EXPECT_EQ(face_vertex_counts.size(), 4);
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EXPECT_EQ(face_vertex_counts, pxr::VtArray<int>({3, 3, 3, 3}));
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pxr::VtArray<int> face_vertex_indices;
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mesh.GetFaceVertexIndicesAttr().Get(&face_vertex_indices);
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EXPECT_EQ(face_vertex_indices.size(), 12);
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EXPECT_EQ(face_vertex_indices,
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pxr::VtArray<int>({0, 3, 2, 0, 1, 3, 0, 2, 1, 1, 2, 3}));
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pxr::VtArray<pxr::GfVec3f> normals;
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mesh.GetNormalsAttr().Get(&normals);
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EXPECT_EQ(normals.size(), face_vertex_indices.size());
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// We can't directly check the normals values because they are altered by
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// Mujoco's compiling step. So we at least check that normals with the same
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// original index are the same.
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for (int i = 0; i < face_vertex_indices.size(); ++i) {
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for (int j = i + 1; j < face_vertex_indices.size(); ++j) {
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if (face_vertex_indices[i] == face_vertex_indices[j]) {
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EXPECT_EQ(normals[i], normals[j]);
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}
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}
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}
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auto primvars_api = pxr::UsdGeomPrimvarsAPI(mesh.GetPrim());
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pxr::VtArray<pxr::GfVec2f> texcoords;
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EXPECT_TRUE(primvars_api.HasPrimvar(pxr::_tokens->st));
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auto primvar_st = primvars_api.GetPrimvar(pxr::_tokens->st);
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primvar_st.Get(&texcoords);
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EXPECT_EQ(texcoords.size(), face_vertex_indices.size());
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// Check the faceVarying texcoords against the manually indexed source
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// texcoords.
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pxr::VtArray<pxr::GfVec2f> source_texcoords{
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{0.5, 0.5}, {0, 0.5}, {1, 0}, {1, 1}};
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for (int i = 0; i < face_vertex_indices.size(); ++i) {
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EXPECT_EQ(texcoords[i], source_texcoords[face_vertex_indices[i]]);
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}
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}
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TEST_F(MjcfSdfFileFormatPluginTest,
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TestFaceVaryingMeshSourcesObjWithIndexedNormals) {
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const std::string xml_path = GetTestDataFilePath(kMeshObjPath);
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auto stage = pxr::UsdStage::Open(xml_path);
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EXPECT_THAT(stage, testing::NotNull());
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auto mesh = pxr::UsdGeomMesh::Get(
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stage, SdfPath("/mesh_test/test_body/test_body/mesh/Mesh"));
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ASSERT_TRUE(mesh);
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pxr::VtArray<int> face_vertex_counts;
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mesh.GetFaceVertexCountsAttr().Get(&face_vertex_counts);
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EXPECT_EQ(face_vertex_counts.size(), 4);
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EXPECT_EQ(face_vertex_counts, pxr::VtArray<int>({3, 3, 3, 3}));
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pxr::VtArray<int> face_vertex_indices;
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mesh.GetFaceVertexIndicesAttr().Get(&face_vertex_indices);
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EXPECT_EQ(face_vertex_indices.size(), 12);
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EXPECT_EQ(face_vertex_indices,
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pxr::VtArray<int>({0, 3, 2, 0, 1, 3, 0, 2, 1, 1, 2, 3}));
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pxr::VtArray<pxr::GfVec3f> normals;
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mesh.GetNormalsAttr().Get(&normals);
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EXPECT_EQ(normals.size(), face_vertex_indices.size());
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// We can't directly check the normals values because they are altered by
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// Mujoco's compiling step.
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// We also can't access the normals indexing data, and can't use the vertex
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// indexing data here because they are separate.
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// So we check that the first half of the normals are the same, then the
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// second half, as set in the OBJ file.
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pxr::GfVec3f first_half_normal = normals[0];
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pxr::GfVec3f second_half_normal = normals[face_vertex_indices.size() / 2];
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EXPECT_NE(first_half_normal, second_half_normal);
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int i = 0;
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for (; i < face_vertex_indices.size() / 2; ++i) {
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EXPECT_EQ(normals[i], first_half_normal);
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}
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for (; i < face_vertex_indices.size(); ++i) {
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EXPECT_EQ(normals[i], second_half_normal);
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}
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auto primvars_api = pxr::UsdGeomPrimvarsAPI(mesh.GetPrim());
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pxr::VtArray<pxr::GfVec2f> texcoords;
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EXPECT_TRUE(primvars_api.HasPrimvar(pxr::_tokens->st));
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auto primvar_st = primvars_api.GetPrimvar(pxr::_tokens->st);
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primvar_st.Get(&texcoords);
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EXPECT_EQ(texcoords.size(), face_vertex_indices.size());
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// Check the faceVarying texcoords against the manually indexed source
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// texcoords.
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// NOTE: For OBJ we must use different indices for the texcoords than for the
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// vertices!
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std::vector<int> source_face_texcoord_indices{0, 1, 2, 1, 2, 3,
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2, 3, 0, 3, 0, 1};
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pxr::VtArray<pxr::GfVec2f> source_texcoords{
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{0.5, 0.5}, {0, 0.5}, {1, 0}, {1, 1}};
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// NOTE: The v component of the texcoords is flipped when Mujoco loads the
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// OBJ.
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for (auto& uv : source_texcoords) {
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uv[1] = 1 - uv[1];
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}
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for (int i = 0; i < source_face_texcoord_indices.size(); ++i) {
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EXPECT_EQ(texcoords[i], source_texcoords[source_face_texcoord_indices[i]]);
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}
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}
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TEST_F(MjcfSdfFileFormatPluginTest, TestBody) {
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static constexpr char kXml[] = R"(
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<mujoco model="body test">
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<asset>
|
||||
<mesh name="tetrahedron" vertex="0 0 0 1 0 0 0 1 0 0 0 1"/>
|
||||
</asset>
|
||||
<worldbody>
|
||||
<body name="test_body" pos="0 1 0">
|
||||
<joint type="free" />
|
||||
<frame pos="0 0 1">
|
||||
<frame pos="0 0 1">
|
||||
<body name="test_body_2" pos="1 0 0">
|
||||
<geom type="mesh" mesh="tetrahedron"/>
|
||||
</body>
|
||||
</frame>
|
||||
</frame>
|
||||
</body>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
)";
|
||||
|
||||
pxr::SdfLayerRefPtr layer = LoadLayer(kXml);
|
||||
|
||||
auto stage = pxr::UsdStage::Open(layer);
|
||||
EXPECT_PRIM_VALID(stage, "/body_test");
|
||||
EXPECT_PRIM_VALID(stage, "/body_test/test_body");
|
||||
EXPECT_PRIM_VALID(stage, "/body_test/test_body/test_body");
|
||||
EXPECT_PRIM_VALID(stage, "/body_test/test_body/test_body_2");
|
||||
}
|
||||
|
||||
TEST_F(MjcfSdfFileFormatPluginTest, TestBasicParenting) {
|
||||
static constexpr char kXml[] = R"(
|
||||
<mujoco model="test">
|
||||
<worldbody>
|
||||
<body name="root" pos="0 1 0">
|
||||
<body name="root/body_1" pos="1 0 0" />
|
||||
<body name="root/body_2" pos="1 0 0">
|
||||
<body name="root/body_3" pos="1 0 0" />
|
||||
</body>
|
||||
</body>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
)";
|
||||
|
||||
pxr::SdfLayerRefPtr layer = LoadLayer(kXml);
|
||||
|
||||
auto stage = pxr::UsdStage::Open(layer);
|
||||
EXPECT_PRIM_VALID(stage, "/test/root");
|
||||
EXPECT_PRIM_VALID(stage, "/test/root/root");
|
||||
EXPECT_PRIM_VALID(stage, "/test/root/root_body_1");
|
||||
EXPECT_PRIM_VALID(stage, "/test/root/root_body_2");
|
||||
EXPECT_PRIM_VALID(stage, "/test/root/root_body_3");
|
||||
}
|
||||
|
||||
TEST_F(MjcfSdfFileFormatPluginTest, TestJointsDoNotAffectParenting) {
|
||||
static constexpr char kXml[] = R"(
|
||||
<mujoco model="test">
|
||||
<asset>
|
||||
<mesh name="tetrahedron" vertex="0 0 0 1 0 0 0 1 0 0 0 1"/>
|
||||
</asset>
|
||||
<worldbody>
|
||||
<body name="root" pos="0 1 0">
|
||||
<joint type="free" />
|
||||
<geom type="mesh" mesh="tetrahedron"/>
|
||||
<body name="middle">
|
||||
<body name="tet">
|
||||
<joint type="hinge" />
|
||||
<geom type="mesh" mesh="tetrahedron"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
)";
|
||||
|
||||
pxr::SdfLayerRefPtr layer = LoadLayer(kXml);
|
||||
|
||||
auto stage = pxr::UsdStage::Open(layer);
|
||||
EXPECT_PRIM_VALID(stage, "/test/root");
|
||||
EXPECT_PRIM_VALID(stage, "/test/root/root");
|
||||
EXPECT_PRIM_VALID(stage, "/test/root/middle");
|
||||
EXPECT_PRIM_VALID(stage, "/test/root/tet");
|
||||
}
|
||||
|
||||
TEST_F(MjcfSdfFileFormatPluginTest, TestKindAuthoring) {
|
||||
static constexpr char kXml[] = R"(
|
||||
<mujoco model="test">
|
||||
<asset>
|
||||
<mesh name="tetrahedron" vertex="0 0 0 1 0 0 0 1 0 0 0 1"/>
|
||||
</asset>
|
||||
<worldbody>
|
||||
<body name="root" pos="0 1 0">
|
||||
<joint type="free" />
|
||||
<geom type="mesh" mesh="tetrahedron"/>
|
||||
<body name="middle">
|
||||
<body name="tet">
|
||||
<joint type="hinge" />
|
||||
<geom type="mesh" mesh="tetrahedron"/>
|
||||
</body>
|
||||
</body>
|
||||
</body>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
)";
|
||||
|
||||
pxr::SdfLayerRefPtr layer = LoadLayer(kXml);
|
||||
|
||||
auto stage = pxr::UsdStage::Open(layer);
|
||||
EXPECT_PRIM_KIND(stage, "/test", pxr::KindTokens->group);
|
||||
EXPECT_PRIM_KIND(stage, "/test/root", pxr::KindTokens->component);
|
||||
EXPECT_PRIM_KIND(stage, "/test/root/root", pxr::KindTokens->subcomponent);
|
||||
EXPECT_PRIM_KIND(stage, "/test/root/middle", pxr::KindTokens->subcomponent);
|
||||
EXPECT_PRIM_KIND(stage, "/test/root/tet", pxr::KindTokens->subcomponent);
|
||||
}
|
||||
|
||||
} // namespace
|
||||
} // namespace mujoco
|
||||
@@ -0,0 +1,15 @@
|
||||
<mujoco model="mesh test">
|
||||
<asset>
|
||||
<texture name="texture" file="textures/cube.png" type="2d" />
|
||||
<material name="material_red" rgba="0.8 0 0 1" />
|
||||
<material name="material_texture" texture="texture" />
|
||||
<mesh name="tetrahedron" vertex="0 0 0 1 0 0 0 1 0 0 0 1"/>
|
||||
</asset>
|
||||
<worldbody>
|
||||
<body name="test_body">
|
||||
<geom material="material_red" type="mesh" mesh="tetrahedron"/>
|
||||
<geom material="material_texture" type="mesh" mesh="tetrahedron"/>
|
||||
</body>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
|
||||
@@ -0,0 +1,10 @@
|
||||
<mujoco model="mesh test">
|
||||
<asset>
|
||||
<mesh name="mesh" file="meshes/tetrahedron.obj"/>
|
||||
</asset>
|
||||
<worldbody>
|
||||
<body name="test_body">
|
||||
<geom type="mesh" mesh="mesh"/>
|
||||
</body>
|
||||
</worldbody>
|
||||
</mujoco>
|
||||
@@ -0,0 +1,16 @@
|
||||
v 0 1 0
|
||||
v 0 0 0
|
||||
v 1 0 1
|
||||
v 1 0 -1
|
||||
vn 1 0 0
|
||||
vn -1 0 0
|
||||
vt 0.5 0.5
|
||||
vt 0 0.5
|
||||
vt 1 1
|
||||
vt 1 0
|
||||
|
||||
f 1/1/1 4/2/1 3/3/1
|
||||
f 1/2/1 2/3/1 4/4/1
|
||||
f 1/3/2 3/4/2 2/1/2
|
||||
f 2/4/2 3/1/2 4/2/2
|
||||
|
||||
Binary file not shown.
|
After Width: | Height: | Size: 6.7 KiB |
Reference in New Issue
Block a user