chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

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

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
+25 -54
View File
@@ -154,7 +154,6 @@ class ModelWriter {
ModelWriter(mjSpec *spec, mjModel *model, pxr::SdfAbstractDataRefPtr &data) ModelWriter(mjSpec *spec, mjModel *model, pxr::SdfAbstractDataRefPtr &data)
: spec_(spec), model_(model), data_(data), class_path_("/Bad_Path") { : spec_(spec), model_(model), data_(data), class_path_("/Bad_Path") {
body_paths_ = std::vector<pxr::SdfPath>(model->nbody); body_paths_ = std::vector<pxr::SdfPath>(model->nbody);
body_xforms_ = std::vector<pxr::GfMatrix4d>(model->nbody);
} }
~ModelWriter() { mj_deleteModel(model_); } ~ModelWriter() { mj_deleteModel(model_); }
@@ -165,7 +164,6 @@ class ModelWriter {
// Create the world body. // Create the world body.
body_paths_[kWorldIndex] = WriteWorldBody(kWorldIndex); body_paths_[kWorldIndex] = WriteWorldBody(kWorldIndex);
body_xforms_[kWorldIndex] = pxr::GfMatrix4d().SetIdentity();
SetLayerMetadata(data_, pxr::SdfFieldKeys->Documentation, SetLayerMetadata(data_, pxr::SdfFieldKeys->Documentation,
"Generated by mujoco model writer."); "Generated by mujoco model writer.");
@@ -198,8 +196,6 @@ class ModelWriter {
pxr::SdfPath class_path_; pxr::SdfPath class_path_;
// Mapping from Mujoco body id to SdfPath. // Mapping from Mujoco body id to SdfPath.
std::vector<pxr::SdfPath> body_paths_; std::vector<pxr::SdfPath> body_paths_;
// Mapping from Mujoco body id to world space transform.
std::vector<pxr::GfMatrix4d> body_xforms_;
// Mapping from mesh names to Mesh prim path. // Mapping from mesh names to Mesh prim path.
std::unordered_map<std::string, pxr::SdfPath> mesh_paths_; std::unordered_map<std::string, pxr::SdfPath> mesh_paths_;
@@ -248,44 +244,6 @@ class ModelWriter {
pxr::TfToken body_name; pxr::TfToken body_name;
}; };
pxr::SdfPath CreateParentIfNotExists(mjsBody *body,
const pxr::SdfPath &world_path,
pxr::SdfAbstractDataRefPtr &data) {
// To allow for easier scene authoring and modification, we want to
// place MJCF bodies belonging to the same kinematic chain under some
// identity parent Xform prim. This allows users to move the entire
// asset.
//
// We cannot simply recreate the MJCF kinematic tree structure
// because in USD it is assumed that children move rigidly with their
// parents. This is not true in MJCF if you have joints. We could perhaps
// use a more complex heuristic where we evaluate a common tree prefix
// in MJCF that is effectively welded together but for now we choose
// simplicity.
// In the trivial case where the parent of body is already the world
// body we want to create a parent xform of the same name.
// So if the MJCF has a child of the world body called "root" we will
// create a parent Xform at /World/root and the actual body will be
// created at /World/root/root.
mjsBody *last_parent = body;
mjsBody *parent = mjs_getParent(body->element);
while (mjs_getId(parent->element) != kWorldIndex) {
last_parent = parent;
parent = mjs_getParent(parent->element);
}
pxr::TfToken last_parent_name = GetValidPrimName(*last_parent->name);
pxr::SdfPath parent_xform_path = world_path.AppendChild(last_parent_name);
if (!data->HasSpec(parent_xform_path)) {
pxr::SdfPath prim_path = CreatePrimSpec(
data, world_path, last_parent_name, pxr::UsdGeomTokens->Xform);
SetPrimKind(data_, prim_path, pxr::KindTokens->component);
}
return parent_xform_path;
}
void WriteScaleXformOp(const pxr::SdfPath &prim_path, void WriteScaleXformOp(const pxr::SdfPath &prim_path,
const pxr::GfVec3f &scale) { const pxr::GfVec3f &scale) {
pxr::SdfPath scale_attr_path = pxr::SdfPath scale_attr_path =
@@ -1263,8 +1221,10 @@ class ModelWriter {
void WriteBody(mjsBody *body, bool write_physics) { void WriteBody(mjsBody *body, bool write_physics) {
int body_id = mjs_getId(body->element); int body_id = mjs_getId(body->element);
pxr::SdfPath parent_path = // This should be safe as we process parent bodies before children.
CreateParentIfNotExists(body, body_paths_[kWorldIndex], data_); mjsBody *parent = mjs_getParent(body->element);
int parent_id = mjs_getId(parent->element);
pxr::SdfPath parent_path = body_paths_[parent_id];
pxr::TfToken body_name = GetValidPrimName(*body->name); pxr::TfToken body_name = GetValidPrimName(*body->name);
// Create Xform prim for body. // Create Xform prim for body.
@@ -1272,12 +1232,25 @@ class ModelWriter {
pxr::UsdGeomTokens->Xform); pxr::UsdGeomTokens->Xform);
// The parent_path will be a component which makes the actual articulated // The parent_path will be a component which makes the actual articulated
// bodies subcomponents. // bodies subcomponents.
SetPrimKind(data_, body_path, pxr::KindTokens->subcomponent); auto kind = parent_id == kWorldIndex ? pxr::KindTokens->component
: pxr::KindTokens->subcomponent;
SetPrimKind(data_, body_path, kind);
// Apply the PhysicsRigidBodyAPI schema if we are writing physics. // Apply the PhysicsRigidBodyAPI schema if we are writing physics.
if (write_physics) { if (write_physics) {
ApplyApiSchema(data_, body_path, ApplyApiSchema(data_, body_path,
pxr::UsdPhysicsTokens->PhysicsRigidBodyAPI); pxr::UsdPhysicsTokens->PhysicsRigidBodyAPI);
// If the parent is not the world body, but is child of the world body
// then we need to apply the articulation root API.
if (parent_id != kWorldIndex) {
int parent_parent_id =
mjs_getId(mjs_getParent(parent->element)->element);
if (parent_parent_id == kWorldIndex) {
ApplyApiSchema(data_, parent_path,
pxr::UsdPhysicsTokens->PhysicsArticulationRootAPI);
}
}
} }
// Create classes if necessary // Create classes if necessary
@@ -1290,17 +1263,15 @@ class ModelWriter {
} }
// Create XformOp attribute for body transform. // Create XformOp attribute for body transform.
// Make sure to account for the parent since UsdPhysics doesn't support
// nested bodies! pxr::SdfPath xform_op_path =
auto parent_xform = body_xforms_[model_->body_parentid[body_id]]; CreateAttributeSpec(data_, body_path, kTokens->xformOpTransform,
pxr::SdfValueTypeNames->Matrix4d);
// mjModel will have all frames already accounted for so no need to worry // mjModel will have all frames already accounted for so no need to worry
// about them here. // about them here.
body_xforms_[body_id] = auto body_xform = MujocoPosQuatToTransform(&model_->body_pos[body_id * 3],
MujocoPosQuatToTransform(&model_->body_pos[body_id * 3], &model_->body_quat[body_id * 4]);
&model_->body_quat[body_id * 4]) * SetAttributeDefault(data_, xform_op_path, body_xform);
parent_xform;
WriteUniformAttribute(body_path, pxr::SdfValueTypeNames->Matrix4d,
kTokens->xformOpTransform, body_xforms_[body_id]);
// Create XformOpOrder attribute for body transform order. // Create XformOpOrder attribute for body transform order.
// For us this is simply the transform we authored above. // For us this is simply the transform we authored above.
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/primvarsAPI.h>
#include <pxr/usd/usdGeom/sphere.h> #include <pxr/usd/usdGeom/sphere.h>
#include <pxr/usd/usdGeom/tokens.h> #include <pxr/usd/usdGeom/tokens.h>
#include <pxr/usd/usdPhysics/articulationRootAPI.h>
#include <pxr/usd/usdPhysics/collisionAPI.h> #include <pxr/usd/usdPhysics/collisionAPI.h>
#include <pxr/usd/usdPhysics/meshCollisionAPI.h> #include <pxr/usd/usdPhysics/meshCollisionAPI.h>
#include <pxr/usd/usdPhysics/rigidBodyAPI.h> #include <pxr/usd/usdPhysics/rigidBodyAPI.h>
@@ -116,8 +117,8 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestBasicMeshSources) {
auto stage = pxr::UsdStage::Open(layer); auto stage = pxr::UsdStage::Open(layer);
EXPECT_PRIM_VALID(stage, "/mesh_test"); 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/tetrahedron");
EXPECT_PRIM_VALID(stage, "/mesh_test/test_body/test_body/tetrahedron/Mesh"); EXPECT_PRIM_VALID(stage, "/mesh_test/test_body/tetrahedron/Mesh");
} }
TEST_F(MjcfSdfFileFormatPluginTest, TestMaterials) { TEST_F(MjcfSdfFileFormatPluginTest, TestMaterials) {
@@ -222,7 +223,7 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestFaceVaryingMeshSourcesSimpleMjcfMesh) {
auto stage = pxr::UsdStage::Open(layer); auto stage = pxr::UsdStage::Open(layer);
auto mesh = pxr::UsdGeomMesh::Get( 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); ASSERT_TRUE(mesh);
pxr::VtArray<int> face_vertex_counts; pxr::VtArray<int> face_vertex_counts;
mesh.GetFaceVertexCountsAttr().Get(&face_vertex_counts); mesh.GetFaceVertexCountsAttr().Get(&face_vertex_counts);
@@ -273,8 +274,8 @@ TEST_F(MjcfSdfFileFormatPluginTest,
auto stage = pxr::UsdStage::Open(xml_path); auto stage = pxr::UsdStage::Open(xml_path);
EXPECT_THAT(stage, testing::NotNull()); EXPECT_THAT(stage, testing::NotNull());
auto mesh = pxr::UsdGeomMesh::Get( auto mesh =
stage, SdfPath("/mesh_test/test_body/test_body/mesh/Mesh")); pxr::UsdGeomMesh::Get(stage, SdfPath("/mesh_test/test_body/mesh/Mesh"));
ASSERT_TRUE(mesh); ASSERT_TRUE(mesh);
pxr::VtArray<int> face_vertex_counts; pxr::VtArray<int> face_vertex_counts;
mesh.GetFaceVertexCountsAttr().Get(&face_vertex_counts); mesh.GetFaceVertexCountsAttr().Get(&face_vertex_counts);
@@ -357,9 +358,9 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestBody) {
pxr::SdfLayerRefPtr layer = LoadLayer(kXml); pxr::SdfLayerRefPtr layer = LoadLayer(kXml);
auto stage = pxr::UsdStage::Open(layer); auto stage = pxr::UsdStage::Open(layer);
EXPECT_PRIM_VALID(stage, "/body_test"); EXPECT_PRIM_VALID(stage, "/body_test");
EXPECT_PRIM_VALID(stage, "/body_test/test_body"); 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"); 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); auto stage = pxr::UsdStage::Open(layer);
EXPECT_PRIM_VALID(stage, "/test/root"); 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_1");
EXPECT_PRIM_VALID(stage, "/test/root/root_body_2"); 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) { TEST_F(MjcfSdfFileFormatPluginTest, TestJointsDoNotAffectParenting) {
@@ -412,9 +412,8 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestJointsDoNotAffectParenting) {
auto stage = pxr::UsdStage::Open(layer); auto stage = pxr::UsdStage::Open(layer);
EXPECT_PRIM_VALID(stage, "/test/root"); 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/middle");
EXPECT_PRIM_VALID(stage, "/test/root/tet"); EXPECT_PRIM_VALID(stage, "/test/root/middle/tet");
} }
TEST_F(MjcfSdfFileFormatPluginTest, TestKindAuthoring) { TEST_F(MjcfSdfFileFormatPluginTest, TestKindAuthoring) {
@@ -443,9 +442,9 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestKindAuthoring) {
auto stage = pxr::UsdStage::Open(layer); auto stage = pxr::UsdStage::Open(layer);
EXPECT_PRIM_KIND(stage, "/test", pxr::KindTokens->group); EXPECT_PRIM_KIND(stage, "/test", pxr::KindTokens->group);
EXPECT_PRIM_KIND(stage, "/test/root", pxr::KindTokens->component); 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/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) { TEST_F(MjcfSdfFileFormatPluginTest, TestGeomsPrims) {
@@ -936,28 +935,23 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestSitePrimsAuthored) {
auto stage = pxr::UsdStage::Open(layer); auto stage = pxr::UsdStage::Open(layer);
EXPECT_PRIM_VALID(stage, "/test/box_site"); EXPECT_PRIM_VALID(stage, "/test/box_site");
EXPECT_PRIM_IS_A(stage, "/test/box_site", pxr::UsdGeomCube); EXPECT_PRIM_IS_A(stage, "/test/box_site", pxr::UsdGeomCube);
EXPECT_PRIM_API_APPLIED(stage, "/test/box_site", MjcPhysicsSiteAPI); EXPECT_PRIM_API_APPLIED(stage, "/test/box_site", pxr::MjcPhysicsSiteAPI);
EXPECT_PRIM_VALID(stage, "/test/ball/sphere_site");
EXPECT_PRIM_VALID(stage, "/test/ball/ball/sphere_site"); EXPECT_PRIM_IS_A(stage, "/test/ball/sphere_site", pxr::UsdGeomSphere);
EXPECT_PRIM_IS_A(stage, "/test/ball/ball/sphere_site", pxr::UsdGeomSphere); EXPECT_PRIM_API_APPLIED(stage, "/test/ball/sphere_site",
EXPECT_PRIM_API_APPLIED(stage, "/test/ball/ball/sphere_site", pxr::MjcPhysicsSiteAPI);
MjcPhysicsSiteAPI); EXPECT_PRIM_VALID(stage, "/test/ball/capsule_site");
EXPECT_PRIM_IS_A(stage, "/test/ball/capsule_site", pxr::UsdGeomCapsule);
EXPECT_PRIM_VALID(stage, "/test/ball/ball/capsule_site"); EXPECT_PRIM_API_APPLIED(stage, "/test/ball/capsule_site",
EXPECT_PRIM_IS_A(stage, "/test/ball/ball/capsule_site", pxr::UsdGeomCapsule); pxr::MjcPhysicsSiteAPI);
EXPECT_PRIM_API_APPLIED(stage, "/test/ball/ball/capsule_site", EXPECT_PRIM_VALID(stage, "/test/ball/cylinder_site");
MjcPhysicsSiteAPI); EXPECT_PRIM_IS_A(stage, "/test/ball/cylinder_site", pxr::UsdGeomCylinder);
EXPECT_PRIM_API_APPLIED(stage, "/test/ball/cylinder_site",
EXPECT_PRIM_VALID(stage, "/test/ball/ball/cylinder_site"); pxr::MjcPhysicsSiteAPI);
EXPECT_PRIM_IS_A(stage, "/test/ball/ball/cylinder_site", EXPECT_PRIM_VALID(stage, "/test/ball/ellipsoid_site");
pxr::UsdGeomCylinder); EXPECT_PRIM_IS_A(stage, "/test/ball/ellipsoid_site", pxr::UsdGeomSphere);
EXPECT_PRIM_API_APPLIED(stage, "/test/ball/ball/cylinder_site", EXPECT_PRIM_API_APPLIED(stage, "/test/ball/ellipsoid_site",
MjcPhysicsSiteAPI); pxr::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);
} }
TEST_F(MjcfSdfFileFormatPluginTest, TestSitePrimsPurpose) { TEST_F(MjcfSdfFileFormatPluginTest, TestSitePrimsPurpose) {
@@ -965,13 +959,13 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestSitePrimsPurpose) {
auto stage = pxr::UsdStage::Open(layer); auto stage = pxr::UsdStage::Open(layer);
EXPECT_PRIM_PURPOSE(stage, "/test/box_site", pxr::UsdGeomTokens->guide); 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); pxr::UsdGeomTokens->guide);
EXPECT_PRIM_PURPOSE(stage, "/test/ball/ball/capsule_site", EXPECT_PRIM_PURPOSE(stage, "/test/ball/capsule_site",
pxr::UsdGeomTokens->guide); pxr::UsdGeomTokens->guide);
EXPECT_PRIM_PURPOSE(stage, "/test/ball/ball/cylinder_site", EXPECT_PRIM_PURPOSE(stage, "/test/ball/cylinder_site",
pxr::UsdGeomTokens->guide); pxr::UsdGeomTokens->guide);
EXPECT_PRIM_PURPOSE(stage, "/test/ball/ball/ellipsoid_site", EXPECT_PRIM_PURPOSE(stage, "/test/ball/ellipsoid_site",
pxr::UsdGeomTokens->guide); pxr::UsdGeomTokens->guide);
} }
@@ -981,9 +975,8 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsToggleSdfFormatArg) {
// Test that the default is no physics. // Test that the default is no physics.
auto stage_no_physics = pxr::UsdStage::Open(xml_path); auto stage_no_physics = pxr::UsdStage::Open(xml_path);
EXPECT_THAT(stage_no_physics, testing::NotNull()); EXPECT_THAT(stage_no_physics, testing::NotNull());
EXPECT_PRIM_VALID(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, EXPECT_PRIM_API_NOT_APPLIED(stage_no_physics, "/mesh_test/test_body",
"/mesh_test/test_body/test_body",
pxr::UsdPhysicsRigidBodyAPI); pxr::UsdPhysicsRigidBodyAPI);
// Then test that the physics flag enables physics. // 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); auto stage_with_physics = pxr::UsdStage::Open(xml_path_physics_flag);
EXPECT_THAT(stage_with_physics, testing::NotNull()); EXPECT_THAT(stage_with_physics, testing::NotNull());
EXPECT_PRIM_VALID(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/test_body", EXPECT_PRIM_API_APPLIED(stage_with_physics, "/mesh_test/test_body",
pxr::UsdPhysicsRigidBodyAPI); pxr::UsdPhysicsRigidBodyAPI);
} }
@@ -1019,23 +1012,21 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsRigidBody) {
EXPECT_THAT(stage, testing::NotNull()); EXPECT_THAT(stage, testing::NotNull());
EXPECT_PRIM_VALID(stage, "/physics_test"); EXPECT_PRIM_VALID(stage, "/physics_test");
EXPECT_PRIM_VALID(stage, "/physics_test/test_body"); 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"); 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_APPLIED(stage, "/physics_test/test_body",
EXPECT_PRIM_API_NOT_APPLIED(stage, "/physics_test/test_body",
pxr::UsdPhysicsRigidBodyAPI);
EXPECT_PRIM_API_APPLIED(stage, "/physics_test/test_body/test_body",
pxr::UsdPhysicsRigidBodyAPI); 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", EXPECT_PRIM_API_APPLIED(stage, "/physics_test/test_body/test_body_2",
pxr::UsdPhysicsRigidBodyAPI); 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. // Geoms should not have RigidBodyAPI applied either.
EXPECT_PRIM_API_NOT_APPLIED(stage, EXPECT_PRIM_API_NOT_APPLIED(stage, "/physics_test/test_body/test_geom",
"/physics_test/test_body/test_body/test_geom",
pxr::UsdPhysicsRigidBodyAPI); pxr::UsdPhysicsRigidBodyAPI);
EXPECT_PRIM_API_NOT_APPLIED(stage, EXPECT_PRIM_API_NOT_APPLIED(stage,
"/physics_test/test_body/test_body_2/test_geom_2", "/physics_test/test_body/test_body_2/test_geom_2",
@@ -1093,22 +1084,22 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsColliders) {
// //
// ground [collider] // ground [collider]
// //
// body_0/body_0 [rigidbody] // body_0 [rigidbody]
// body_0/body_0/body_0_col [collider] // body_0/body_0_col [collider]
// //
// body_0/body_0_0 [rigidbody] <-- USD reparents nested rigid bodies // body_0/body_0_0 [rigidbody]
// body_0/body_0/body_0_0/body_0_0_col [collider] // body_0/body_0_0/body_0_0_col [collider]
// //
// body_1/body_1 [rigidbody] // body_1 [rigidbody]
// body_1/body_1/body_1_col_0 [collider] // body_1/body_1_col_0 [collider]
// body_1/body_1/body_1_col_1 [collider] // body_1/body_1_col_1 [collider]
// //
// body_2/body_2 [rigidbody] // body_2 [rigidbody]
// body_2/body_2/body_2_nocol [] // body_2/body_2_nocol []
// //
// body_3/body_3 [rigidbody] // body_3 [rigidbody]
// body_3/body_3/body_3_col [] <-- Intermediate prim for mesh instancing // body_3/body_3_col [] <-- Intermediate prim for mesh instancing
// body_3/body_3/body_3_col/Mesh [collider, mesh collider] // body_3/body_3_col/Mesh [collider, mesh collider]
// ground [collider] (Static collider) // ground [collider] (Static collider)
EXPECT_PRIM_VALID(stage, "/test/ground"); EXPECT_PRIM_VALID(stage, "/test/ground");
@@ -1116,19 +1107,6 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsColliders) {
pxr::UsdPhysicsRigidBodyAPI); pxr::UsdPhysicsRigidBodyAPI);
EXPECT_PRIM_API_APPLIED(stage, "/test/ground", pxr::UsdPhysicsCollisionAPI); 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) // body_0/body_0_0 [rigidbody] (Nested body - reparented)
EXPECT_PRIM_VALID(stage, "/test/body_0/body_0_0"); EXPECT_PRIM_VALID(stage, "/test/body_0/body_0_0");
EXPECT_PRIM_API_APPLIED(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", EXPECT_PRIM_API_APPLIED(stage, "/test/body_0/body_0_0/body_0_0_col",
pxr::UsdPhysicsCollisionAPI); pxr::UsdPhysicsCollisionAPI);
// body_1/body_1 [rigidbody] // body_1 [rigidbody]
EXPECT_PRIM_VALID(stage, "/test/body_1/body_1"); EXPECT_PRIM_VALID(stage, "/test/body_1");
EXPECT_PRIM_API_APPLIED(stage, "/test/body_1/body_1", EXPECT_PRIM_API_APPLIED(stage, "/test/body_1", pxr::UsdPhysicsRigidBodyAPI);
pxr::UsdPhysicsRigidBodyAPI); EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_1",
EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_1/body_1",
pxr::UsdPhysicsCollisionAPI); pxr::UsdPhysicsCollisionAPI);
// body_1/body_1/body_1_col_0 [collider] // body_1/body_1_col_0 [collider]
EXPECT_PRIM_VALID(stage, "/test/body_1/body_1/body_1_col_0"); EXPECT_PRIM_VALID(stage, "/test/body_1/body_1_col_0");
EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_1/body_1/body_1_col_0", EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_1/body_1_col_0",
pxr::UsdPhysicsRigidBodyAPI); 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); pxr::UsdPhysicsCollisionAPI);
// body_1/body_1/body_1_col_1 [collider] // body_1/body_1_col_1 [collider]
EXPECT_PRIM_VALID(stage, "/test/body_1/body_1/body_1_col_1"); EXPECT_PRIM_VALID(stage, "/test/body_1/body_1_col_1");
EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_1/body_1/body_1_col_1", EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_1/body_1_col_1",
pxr::UsdPhysicsRigidBodyAPI); 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); pxr::UsdPhysicsCollisionAPI);
// body_2/body_2 [rigidbody] // body_2 [rigidbody]
EXPECT_PRIM_VALID(stage, "/test/body_2/body_2"); EXPECT_PRIM_VALID(stage, "/test/body_2");
EXPECT_PRIM_API_APPLIED(stage, "/test/body_2/body_2", EXPECT_PRIM_API_APPLIED(stage, "/test/body_2", pxr::UsdPhysicsRigidBodyAPI);
pxr::UsdPhysicsRigidBodyAPI); EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_2",
EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_2/body_2",
pxr::UsdPhysicsCollisionAPI); pxr::UsdPhysicsCollisionAPI);
// body_2/body_2/body_2_nocol [] (No physics APIs applied) // body_2/body_2_nocol [] (No physics APIs applied)
EXPECT_PRIM_VALID(stage, "/test/body_2/body_2/body_2_nocol"); EXPECT_PRIM_VALID(stage, "/test/body_2/body_2_nocol");
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::UsdPhysicsRigidBodyAPI); 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); pxr::UsdPhysicsCollisionAPI);
// body_3/body_3 [rigidbody] // body_3 [rigidbody]
EXPECT_PRIM_VALID(stage, "/test/body_3/body_3"); EXPECT_PRIM_VALID(stage, "/test/body_3");
EXPECT_PRIM_API_APPLIED(stage, "/test/body_3/body_3", EXPECT_PRIM_API_APPLIED(stage, "/test/body_3", pxr::UsdPhysicsRigidBodyAPI);
pxr::UsdPhysicsRigidBodyAPI); EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_3",
EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_3/body_3",
pxr::UsdPhysicsCollisionAPI); pxr::UsdPhysicsCollisionAPI);
// body_3/body_3/body_3_col [] (Intermediate prim for mesh instancing) // body_3/body_3_col [] (Intermediate prim for mesh instancing)
EXPECT_PRIM_VALID(stage, "/test/body_3/body_3/body_3_col"); EXPECT_PRIM_VALID(stage, "/test/body_3/body_3_col");
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::UsdPhysicsRigidBodyAPI); 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); pxr::UsdPhysicsCollisionAPI);
// body_3/body_3/body_3_col/Mesh [collider, mesh collider] // body_3/body_3_col/Mesh [collider, mesh collider]
EXPECT_PRIM_VALID(stage, "/test/body_3/body_3/body_3_col/Mesh"); EXPECT_PRIM_VALID(stage, "/test/body_3/body_3_col/Mesh");
EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_3/body_3/body_3_col/Mesh", EXPECT_PRIM_API_NOT_APPLIED(stage, "/test/body_3/body_3_col/Mesh",
pxr::UsdPhysicsRigidBodyAPI); 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); 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); pxr::UsdPhysicsMeshCollisionAPI);
ExpectAttributeEqual( ExpectAttributeEqual(stage,
stage, "/test/body_3/body_3/body_3_col/Mesh.physics:approximation", "/test/body_3/body_3_col/Mesh.physics:approximation",
pxr::UsdPhysicsTokens->convexHull); pxr::UsdPhysicsTokens->convexHull);
} }
} // namespace } // namespace