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Fix plane size

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Mujoco uses half-sizes so we must divide USD sizes by 2.
Also added a test for geom primitive sizes.

PiperOrigin-RevId: 781595650
Change-Id: If8a84dd942905c367590eafffac61cc23b1c407d
This commit is contained in:
Robin Alazard
2025-07-10 10:44:57 -07:00
committed by Copybara-Service
parent 58c95219dc
commit 723960a1f3
1 changed files with 34 additions and 43 deletions
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src/experimental/usd/usd_to_mjspec.cc
+34 -43
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@@ -126,16 +126,6 @@ bool IsUniformScale(const pxr::GfVec3d& scale) {
fabs(scale[1] - scale[2]) < epsilon;
}
template <typename T>
void SetScale(T* element, const pxr::GfMatrix4d& world_transform,
const pxr::GfVec3d& scale) {
pxr::GfVec3d transform_scale =
pxr::GfCompMult(GetScale(world_transform), scale);
element->size[0] = transform_scale[0];
element->size[1] = transform_scale[1];
element->size[2] = transform_scale[2];
}
template <typename T>
bool MaybeParseGeomPrimitive(const pxr::UsdPrim& prim, T* element,
pxr::UsdGeomXformCache& xform_cache) {
@@ -222,9 +212,41 @@ bool MaybeParseGeomPrimitive(const pxr::UsdPrim& prim, T* element,
return false;
}
// MuJoCo uses half-length for box size.
SetScale(element, xform_cache.GetLocalToWorldTransform(prim),
pxr::GfVec3d(size / 2));
size = size / 2;
element->size[0] = scale[0] * size;
element->size[1] = scale[1] * size;
element->size[2] = scale[2] * size;
} else if (prim.IsA<pxr::UsdGeomPlane>()) {
element->type = mjGEOM_PLANE;
pxr::UsdGeomPlane plane(prim);
TfToken axis;
if (!plane.GetAxisAttr().Get(&axis)) {
mju_error("Could not get plane axis attr.");
return false;
}
if (axis != pxr::UsdGeomTokens->z) {
mju_error("Only z-axis planes are supported.");
return false;
}
double length;
if (!plane.GetLengthAttr().Get(&length)) {
mju_error("Could not get plane length attr.");
return false;
}
double width;
if (!plane.GetWidthAttr().Get(&width)) {
mju_error("Could not get plane width attr.");
return false;
}
// MuJoCo uses half-length for plane size.
width = width / 2;
length = length / 2;
// Plane geoms in mjc are always infinite. Scale is used for visualization.
element->size[0] = scale[0] * width;
element->size[1] = scale[1] * length;
element->size[2] = scale[2];
} else {
return false;
}
@@ -1040,37 +1062,6 @@ void ParseUsdPhysicsCollider(mjSpec* spec,
mjs_setInt(mesh->userface, userface.data(), userface.size());
mjs_setString(geom->meshname, mesh_name.c_str());
} else if (prim.IsA<pxr::UsdGeomPlane>()) {
geom->type = mjGEOM_PLANE;
pxr::UsdGeomPlane plane(prim);
TfToken axis;
if (!plane.GetAxisAttr().Get(&axis)) {
mju_error("Could not get plane axis attr.");
return;
}
if (axis != pxr::UsdGeomTokens->z) {
mju_error("Only z-axis planes are supported.");
return;
}
// This block of code distributes the plane length and width along the
// scale as per the specification here:
// https://openusd.org/dev/api/class_usd_geom_plane.html#a89fa6076111984682db77fc8a4e57496.
double length;
if (!plane.GetLengthAttr().Get(&length)) {
mju_error("Could not get plane length attr.");
return;
}
double width;
if (!plane.GetWidthAttr().Get(&width)) {
mju_error("Could not get plane width attr.");
return;
}
// Plane geoms in mjc are always infinite. We set the scale here just
// for visualization.
SetScale(geom, xform_cache.GetLocalToWorldTransform(prim),
pxr::GfVec3d(width, length, 1));
}
}
}