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Add support mjcf emissive layer materials

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Mujoco supports emission as a constant coefficient, and emissive, an rgb texture. This cl supports the rgb emissive texture for usd.

PiperOrigin-RevId: 775236677
Change-Id: I0e2ce1d9f68d79b6e9d2c28eecab22b2692f061c
This commit is contained in:
Google DeepMind
2025-06-24 08:05:08 -07:00
committed by Copybara-Service
parent a0614fff1f
commit 78df2ae7fa
4 changed files with 33 additions and 0 deletions
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src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
+21
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@@ -91,6 +91,7 @@ TF_DEFINE_PRIVATE_TOKENS(kTokens,
((inputsWrapS, "inputs:wrapS"))
((inputsWrapT, "inputs:wrapT"))
((inputsDiffuseColor, "inputs:diffuseColor"))
((inputsEmissiveColor, "inputs:emissiveColor"))
((outputsRgb, "outputs:rgb"))
((outputsR, "outputs:r"))
((outputsG, "outputs:g"))
@@ -794,6 +795,26 @@ class ModelWriter {
}
}
// Connect an emissive texture if specified.
if (mjTEXROLE_EMISSIVE < textures.size()) {
std::string emissive_texture_name = textures[mjTEXROLE_EMISSIVE];
mjsTexture *emissive_texture = mjs_asTexture(
mjs_findElement(spec_, mjOBJ_TEXTURE, emissive_texture_name.c_str()));
if (emissive_texture) {
pxr::SdfPath emissive_attr = CreateAttributeSpec(
data_, preview_surface_shader_path, kTokens->inputsEmissiveColor,
pxr::SdfValueTypeNames->Color3f);
const std::vector<pxr::SdfPath> emissive_map_output_attrs =
AddTextureShader(material_path, emissive_texture->file->c_str(),
pxr::TfToken("emissive"), uvmap_st_output_attr,
{kTokens->outputsRgb});
if (emissive_map_output_attrs.size() == 1) {
AddAttributeConnection(data_, emissive_attr,
emissive_map_output_attrs[0]);
}
}
}
pxr::SdfPath diffuse_color_attr = CreateAttributeSpec(
data_, preview_surface_shader_path, kTokens->inputsDiffuseColor,
pxr::SdfValueTypeNames->Color3f);