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Make MJCF SdfFileFormat plugin create hierarchy reflecting MJCF instead of sibling rigidbodies.

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PiperOrigin-RevId: 762117447
Change-Id: Id13f7a4f4e383a0c9e670e5272836f2fb1099830
This commit is contained in:
Sam Haves
2025-05-22 14:03:52 -07:00
committed by Copybara-Service
parent 74cc904edc
commit 76ddc30072
2 changed files with 117 additions and 171 deletions
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test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
+92 -117
View File
@@ -48,6 +48,7 @@
#include <pxr/usd/usdGeom/primvarsAPI.h>
#include <pxr/usd/usdGeom/sphere.h>
#include <pxr/usd/usdGeom/tokens.h>
#include <pxr/usd/usdPhysics/articulationRootAPI.h>
#include <pxr/usd/usdPhysics/collisionAPI.h>
#include <pxr/usd/usdPhysics/meshCollisionAPI.h>
#include <pxr/usd/usdPhysics/rigidBodyAPI.h>
@@ -116,8 +117,8 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestBasicMeshSources) {
auto stage = pxr::UsdStage::Open(layer);
EXPECT_PRIM_VALID(stage, "/mesh_test");
EXPECT_PRIM_VALID(stage, "/mesh_test/test_body/test_body/tetrahedron");
EXPECT_PRIM_VALID(stage, "/mesh_test/test_body/test_body/tetrahedron/Mesh");
EXPECT_PRIM_VALID(stage, "/mesh_test/test_body/tetrahedron");
EXPECT_PRIM_VALID(stage, "/mesh_test/test_body/tetrahedron/Mesh");
}
TEST_F(MjcfSdfFileFormatPluginTest, TestMaterials) {
@@ -222,7 +223,7 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestFaceVaryingMeshSourcesSimpleMjcfMesh) {
auto stage = pxr::UsdStage::Open(layer);
auto mesh = pxr::UsdGeomMesh::Get(
stage, SdfPath("/mesh_test/test_body/test_body/tetrahedron/Mesh"));
stage, SdfPath("/mesh_test/test_body/tetrahedron/Mesh"));
ASSERT_TRUE(mesh);
pxr::VtArray<int> face_vertex_counts;
mesh.GetFaceVertexCountsAttr().Get(&face_vertex_counts);
@@ -273,8 +274,8 @@ TEST_F(MjcfSdfFileFormatPluginTest,
auto stage = pxr::UsdStage::Open(xml_path);
EXPECT_THAT(stage, testing::NotNull());
auto mesh = pxr::UsdGeomMesh::Get(
stage, SdfPath("/mesh_test/test_body/test_body/mesh/Mesh"));
auto mesh =
pxr::UsdGeomMesh::Get(stage, SdfPath("/mesh_test/test_body/mesh/Mesh"));
ASSERT_TRUE(mesh);
pxr::VtArray<int> face_vertex_counts;
mesh.GetFaceVertexCountsAttr().Get(&face_vertex_counts);
@@ -357,9 +358,9 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestBody) {
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");
}
@@ -381,10 +382,9 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestBasicParenting) {
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");
EXPECT_PRIM_VALID(stage, "/test/root/root_body_2/root_body_3");
}
TEST_F(MjcfSdfFileFormatPluginTest, TestJointsDoNotAffectParenting) {
@@ -412,9 +412,8 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestJointsDoNotAffectParenting) {
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");
EXPECT_PRIM_VALID(stage, "/test/root/middle/tet");
}
TEST_F(MjcfSdfFileFormatPluginTest, TestKindAuthoring) {
@@ -443,9 +442,9 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestKindAuthoring) {
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);
EXPECT_PRIM_KIND(stage, "/test/root/middle/tet",
pxr::KindTokens->subcomponent);
}
TEST_F(MjcfSdfFileFormatPluginTest, TestGeomsPrims) {
@@ -936,28 +935,23 @@ 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", 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",
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",
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",
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",
MjcPhysicsSiteAPI);
EXPECT_PRIM_API_APPLIED(stage, "/test/box_site", pxr::MjcPhysicsSiteAPI);
EXPECT_PRIM_VALID(stage, "/test/ball/sphere_site");
EXPECT_PRIM_IS_A(stage, "/test/ball/sphere_site", pxr::UsdGeomSphere);
EXPECT_PRIM_API_APPLIED(stage, "/test/ball/sphere_site",
pxr::MjcPhysicsSiteAPI);
EXPECT_PRIM_VALID(stage, "/test/ball/capsule_site");
EXPECT_PRIM_IS_A(stage, "/test/ball/capsule_site", pxr::UsdGeomCapsule);
EXPECT_PRIM_API_APPLIED(stage, "/test/ball/capsule_site",
pxr::MjcPhysicsSiteAPI);
EXPECT_PRIM_VALID(stage, "/test/ball/cylinder_site");
EXPECT_PRIM_IS_A(stage, "/test/ball/cylinder_site", pxr::UsdGeomCylinder);
EXPECT_PRIM_API_APPLIED(stage, "/test/ball/cylinder_site",
pxr::MjcPhysicsSiteAPI);
EXPECT_PRIM_VALID(stage, "/test/ball/ellipsoid_site");
EXPECT_PRIM_IS_A(stage, "/test/ball/ellipsoid_site", pxr::UsdGeomSphere);
EXPECT_PRIM_API_APPLIED(stage, "/test/ball/ellipsoid_site",
pxr::MjcPhysicsSiteAPI);
}
TEST_F(MjcfSdfFileFormatPluginTest, TestSitePrimsPurpose) {
@@ -965,13 +959,13 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestSitePrimsPurpose) {
auto stage = pxr::UsdStage::Open(layer);
EXPECT_PRIM_PURPOSE(stage, "/test/box_site", pxr::UsdGeomTokens->guide);
EXPECT_PRIM_PURPOSE(stage, "/test/ball/ball/sphere_site",
EXPECT_PRIM_PURPOSE(stage, "/test/ball/sphere_site",
pxr::UsdGeomTokens->guide);
EXPECT_PRIM_PURPOSE(stage, "/test/ball/ball/capsule_site",
EXPECT_PRIM_PURPOSE(stage, "/test/ball/capsule_site",
pxr::UsdGeomTokens->guide);
EXPECT_PRIM_PURPOSE(stage, "/test/ball/ball/cylinder_site",
EXPECT_PRIM_PURPOSE(stage, "/test/ball/cylinder_site",
pxr::UsdGeomTokens->guide);
EXPECT_PRIM_PURPOSE(stage, "/test/ball/ball/ellipsoid_site",
EXPECT_PRIM_PURPOSE(stage, "/test/ball/ellipsoid_site",
pxr::UsdGeomTokens->guide);
}
@@ -981,9 +975,8 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsToggleSdfFormatArg) {
// Test that the default is no physics.
auto stage_no_physics = pxr::UsdStage::Open(xml_path);
EXPECT_THAT(stage_no_physics, testing::NotNull());
EXPECT_PRIM_VALID(stage_no_physics, "/mesh_test/test_body/test_body");
EXPECT_PRIM_API_NOT_APPLIED(stage_no_physics,
"/mesh_test/test_body/test_body",
EXPECT_PRIM_VALID(stage_no_physics, "/mesh_test/test_body");
EXPECT_PRIM_API_NOT_APPLIED(stage_no_physics, "/mesh_test/test_body",
pxr::UsdPhysicsRigidBodyAPI);
// Then test that the physics flag enables physics.
@@ -992,8 +985,8 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsToggleSdfFormatArg) {
auto stage_with_physics = pxr::UsdStage::Open(xml_path_physics_flag);
EXPECT_THAT(stage_with_physics, testing::NotNull());
EXPECT_PRIM_VALID(stage_with_physics, "/mesh_test/test_body/test_body");
EXPECT_PRIM_API_APPLIED(stage_with_physics, "/mesh_test/test_body/test_body",
EXPECT_PRIM_VALID(stage_with_physics, "/mesh_test/test_body");
EXPECT_PRIM_API_APPLIED(stage_with_physics, "/mesh_test/test_body",
pxr::UsdPhysicsRigidBodyAPI);
}
@@ -1019,23 +1012,21 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsRigidBody) {
EXPECT_THAT(stage, testing::NotNull());
EXPECT_PRIM_VALID(stage, "/physics_test");
EXPECT_PRIM_VALID(stage, "/physics_test/test_body");
EXPECT_PRIM_VALID(stage, "/physics_test/test_body/test_body");
// USD does not allow nested rigidbodies so we put them as siblings to the
// first body in the hierarchy.
EXPECT_PRIM_VALID(stage, "/physics_test/test_body/test_body_2");
// The parent containing the body should not have the RigidBodyAPI applied.
EXPECT_PRIM_API_NOT_APPLIED(stage, "/physics_test/test_body",
pxr::UsdPhysicsRigidBodyAPI);
EXPECT_PRIM_API_APPLIED(stage, "/physics_test/test_body/test_body",
EXPECT_PRIM_API_APPLIED(stage, "/physics_test/test_body",
pxr::UsdPhysicsRigidBodyAPI);
EXPECT_PRIM_API_APPLIED(stage, "/physics_test/test_body",
pxr::UsdPhysicsArticulationRootAPI);
EXPECT_PRIM_API_APPLIED(stage, "/physics_test/test_body/test_body_2",
pxr::UsdPhysicsRigidBodyAPI);
// Only the root body should have the articulation API applied.
EXPECT_PRIM_API_NOT_APPLIED(stage, "/physics_test/test_body/test_body_2",
pxr::UsdPhysicsArticulationRootAPI);
// Geoms should not have RigidBodyAPI applied either.
EXPECT_PRIM_API_NOT_APPLIED(stage,
"/physics_test/test_body/test_body/test_geom",
EXPECT_PRIM_API_NOT_APPLIED(stage, "/physics_test/test_body/test_geom",
pxr::UsdPhysicsRigidBodyAPI);
EXPECT_PRIM_API_NOT_APPLIED(stage,
"/physics_test/test_body/test_body_2/test_geom_2",
@@ -1093,22 +1084,22 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsColliders) {
//
// ground [collider]
//
// body_0/body_0 [rigidbody]
// body_0/body_0/body_0_col [collider]
// body_0 [rigidbody]
// body_0/body_0_col [collider]
//
// body_0/body_0_0 [rigidbody] <-- USD reparents nested rigid bodies
// body_0/body_0/body_0_0/body_0_0_col [collider]
// body_0/body_0_0 [rigidbody]
// body_0/body_0_0/body_0_0_col [collider]
//
// body_1/body_1 [rigidbody]
// body_1/body_1/body_1_col_0 [collider]
// body_1/body_1/body_1_col_1 [collider]
// body_1 [rigidbody]
// body_1/body_1_col_0 [collider]
// body_1/body_1_col_1 [collider]
//
// body_2/body_2 [rigidbody]
// body_2/body_2/body_2_nocol []
// body_2 [rigidbody]
// body_2/body_2_nocol []
//
// body_3/body_3 [rigidbody]
// body_3/body_3/body_3_col [] <-- Intermediate prim for mesh instancing
// body_3/body_3/body_3_col/Mesh [collider, mesh collider]
// body_3 [rigidbody]
// body_3/body_3_col [] <-- Intermediate prim for mesh instancing
// body_3/body_3_col/Mesh [collider, mesh collider]
// ground [collider] (Static collider)
EXPECT_PRIM_VALID(stage, "/test/ground");
@@ -1116,19 +1107,6 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsColliders) {
pxr::UsdPhysicsRigidBodyAPI);
EXPECT_PRIM_API_APPLIED(stage, "/test/ground", pxr::UsdPhysicsCollisionAPI);
// body_0/body_0 [rigidbody]
EXPECT_PRIM_VALID(stage, "/test/body_0/body_0");
EXPECT_PRIM_API_APPLIED(stage, "/test/body_0/body_0",
pxr::UsdPhysicsRigidBodyAPI);
EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_0/body_0",
pxr::UsdPhysicsCollisionAPI);
// body_0/body_0/body_0_col [collider]
EXPECT_PRIM_VALID(stage, "/test/body_0/body_0/body_0_col");
EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_0/body_0/body_0_col",
pxr::UsdPhysicsRigidBodyAPI);
EXPECT_PRIM_API_APPLIED(stage, "/test/body_0/body_0/body_0_col",
pxr::UsdPhysicsCollisionAPI);
// body_0/body_0_0 [rigidbody] (Nested body - reparented)
EXPECT_PRIM_VALID(stage, "/test/body_0/body_0_0");
EXPECT_PRIM_API_APPLIED(stage, "/test/body_0/body_0_0",
@@ -1142,61 +1120,58 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsColliders) {
EXPECT_PRIM_API_APPLIED(stage, "/test/body_0/body_0_0/body_0_0_col",
pxr::UsdPhysicsCollisionAPI);
// body_1/body_1 [rigidbody]
EXPECT_PRIM_VALID(stage, "/test/body_1/body_1");
EXPECT_PRIM_API_APPLIED(stage, "/test/body_1/body_1",
pxr::UsdPhysicsRigidBodyAPI);
EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_1/body_1",
// body_1 [rigidbody]
EXPECT_PRIM_VALID(stage, "/test/body_1");
EXPECT_PRIM_API_APPLIED(stage, "/test/body_1", pxr::UsdPhysicsRigidBodyAPI);
EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_1",
pxr::UsdPhysicsCollisionAPI);
// body_1/body_1/body_1_col_0 [collider]
EXPECT_PRIM_VALID(stage, "/test/body_1/body_1/body_1_col_0");
EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_1/body_1/body_1_col_0",
// body_1/body_1_col_0 [collider]
EXPECT_PRIM_VALID(stage, "/test/body_1/body_1_col_0");
EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_1/body_1_col_0",
pxr::UsdPhysicsRigidBodyAPI);
EXPECT_PRIM_API_APPLIED(stage, "/test/body_1/body_1/body_1_col_0",
EXPECT_PRIM_API_APPLIED(stage, "/test/body_1/body_1_col_0",
pxr::UsdPhysicsCollisionAPI);
// body_1/body_1/body_1_col_1 [collider]
EXPECT_PRIM_VALID(stage, "/test/body_1/body_1/body_1_col_1");
EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_1/body_1/body_1_col_1",
// body_1/body_1_col_1 [collider]
EXPECT_PRIM_VALID(stage, "/test/body_1/body_1_col_1");
EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_1/body_1_col_1",
pxr::UsdPhysicsRigidBodyAPI);
EXPECT_PRIM_API_APPLIED(stage, "/test/body_1/body_1/body_1_col_1",
EXPECT_PRIM_API_APPLIED(stage, "/test/body_1/body_1_col_1",
pxr::UsdPhysicsCollisionAPI);
// body_2/body_2 [rigidbody]
EXPECT_PRIM_VALID(stage, "/test/body_2/body_2");
EXPECT_PRIM_API_APPLIED(stage, "/test/body_2/body_2",
pxr::UsdPhysicsRigidBodyAPI);
EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_2/body_2",
// body_2 [rigidbody]
EXPECT_PRIM_VALID(stage, "/test/body_2");
EXPECT_PRIM_API_APPLIED(stage, "/test/body_2", pxr::UsdPhysicsRigidBodyAPI);
EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_2",
pxr::UsdPhysicsCollisionAPI);
// body_2/body_2/body_2_nocol [] (No physics APIs applied)
EXPECT_PRIM_VALID(stage, "/test/body_2/body_2/body_2_nocol");
EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_2/body_2/body_2_nocol",
// body_2/body_2_nocol [] (No physics APIs applied)
EXPECT_PRIM_VALID(stage, "/test/body_2/body_2_nocol");
EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_2/body_2_nocol",
pxr::UsdPhysicsRigidBodyAPI);
EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_2/body_2/body_2_nocol",
EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_2/body_2_nocol",
pxr::UsdPhysicsCollisionAPI);
// body_3/body_3 [rigidbody]
EXPECT_PRIM_VALID(stage, "/test/body_3/body_3");
EXPECT_PRIM_API_APPLIED(stage, "/test/body_3/body_3",
pxr::UsdPhysicsRigidBodyAPI);
EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_3/body_3",
// body_3 [rigidbody]
EXPECT_PRIM_VALID(stage, "/test/body_3");
EXPECT_PRIM_API_APPLIED(stage, "/test/body_3", pxr::UsdPhysicsRigidBodyAPI);
EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_3",
pxr::UsdPhysicsCollisionAPI);
// body_3/body_3/body_3_col [] (Intermediate prim for mesh instancing)
EXPECT_PRIM_VALID(stage, "/test/body_3/body_3/body_3_col");
EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_3/body_3/body_3_col",
// body_3/body_3_col [] (Intermediate prim for mesh instancing)
EXPECT_PRIM_VALID(stage, "/test/body_3/body_3_col");
EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_3/body_3_col",
pxr::UsdPhysicsRigidBodyAPI);
EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_3/body_3/body_3_col",
EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_3/body_3_col",
pxr::UsdPhysicsCollisionAPI);
// body_3/body_3/body_3_col/Mesh [collider, mesh collider]
EXPECT_PRIM_VALID(stage, "/test/body_3/body_3/body_3_col/Mesh");
EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_3/body_3/body_3_col/Mesh",
// body_3/body_3_col/Mesh [collider, mesh collider]
EXPECT_PRIM_VALID(stage, "/test/body_3/body_3_col/Mesh");
EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_3/body_3_col/Mesh",
pxr::UsdPhysicsRigidBodyAPI);
EXPECT_PRIM_API_APPLIED(stage, "/test/body_3/body_3/body_3_col/Mesh",
EXPECT_PRIM_API_APPLIED(stage, "/test/body_3/body_3_col/Mesh",
pxr::UsdPhysicsCollisionAPI);
EXPECT_PRIM_API_APPLIED(stage, "/test/body_3/body_3/body_3_col/Mesh",
EXPECT_PRIM_API_APPLIED(stage, "/test/body_3/body_3_col/Mesh",
pxr::UsdPhysicsMeshCollisionAPI);
ExpectAttributeEqual(
stage, "/test/body_3/body_3/body_3_col/Mesh.physics:approximation",
pxr::UsdPhysicsTokens->convexHull);
ExpectAttributeEqual(stage,
"/test/body_3/body_3_col/Mesh.physics:approximation",
pxr::UsdPhysicsTokens->convexHull);
}
} // namespace