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USD : Adopt newton-usd-schemas & deprecate MjcPhysics equivalents

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This commit is contained in:
Andrew Kaufman
2026-03-04 12:27:04 -08:00
parent facebe5aa1
commit 792f53c823
5 changed files with 457 additions and 105 deletions
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test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
+43 -12
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@@ -78,6 +78,9 @@ PXR_NAMESPACE_OPEN_SCOPE
// clang-format off
TF_DEFINE_PRIVATE_TOKENS(_tokens,
(st)
((newtonTimeStepsPerSecond, "newton:timeStepsPerSecond"))
((newtonMaxSolverIterations, "newton:maxSolverIterations"))
((newtonGravityEnabled, "newton:gravityEnabled"))
);
// clang-format on
PXR_NAMESPACE_CLOSE_SCOPE
@@ -159,12 +162,20 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsMaterials) {
4.0f);
ExpectAttributeEqual(stage,
"/physics_materials_test/PhysicsMaterials/"
"geom_with_friction.mjc:torsionalfriction",
5.0);
"geom_with_friction.newton:torsionalFriction",
5.0f);
ExpectAttributeEqual(stage,
"/physics_materials_test/PhysicsMaterials/"
"geom_with_friction.mjc:rollingfriction",
6.0);
"geom_with_friction.newton:rollingFriction",
6.0f);
EXPECT_ATTRIBUTE_HAS_NO_AUTHORED_VALUE(
stage,
"/physics_materials_test/PhysicsMaterials/"
"geom_with_friction.mjc:torsionalfriction");
EXPECT_ATTRIBUTE_HAS_NO_AUTHORED_VALUE(
stage,
"/physics_materials_test/PhysicsMaterials/"
"geom_with_friction.mjc:rollingfriction");
}
TEST_F(MjcfSdfFileFormatPluginTest, TestMaterials) {
@@ -692,10 +703,15 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimTimestep) {
</mujoco>
)");
// newton:timeStepsPerSecond = round(1/0.005) = 200
ExpectAttributeEqual(
stage,
kPhysicsScenePrimPath.AppendProperty(MjcPhysicsTokens->mjcOptionTimestep),
0.005);
kPhysicsScenePrimPath.AppendProperty(pxr::_tokens->newtonTimeStepsPerSecond),
200);
// deprecated mjc:option:timestep should not be authored
EXPECT_ATTRIBUTE_HAS_NO_AUTHORED_VALUE(
stage,
kPhysicsScenePrimPath.AppendProperty(MjcPhysicsTokens->mjcOptionTimestep));
}
TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimCone) {
@@ -928,8 +944,12 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimIterations) {
ExpectAttributeEqual(stage,
kPhysicsScenePrimPath.AppendProperty(
MjcPhysicsTokens->mjcOptionIterations),
pxr::_tokens->newtonMaxSolverIterations),
10);
EXPECT_ATTRIBUTE_HAS_NO_AUTHORED_VALUE(
stage,
kPhysicsScenePrimPath.AppendProperty(
MjcPhysicsTokens->mjcOptionIterations));
}
TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimLSIterations) {
@@ -1066,7 +1086,7 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimDisableFlags) {
MjcPhysicsTokens->mjcFlagContact,
MjcPhysicsTokens->mjcFlagSpring,
MjcPhysicsTokens->mjcFlagDamper,
MjcPhysicsTokens->mjcFlagGravity,
// mjc:flag:gravity is deprecated, now exported as newton:gravityEnabled
MjcPhysicsTokens->mjcFlagClampctrl,
MjcPhysicsTokens->mjcFlagWarmstart,
MjcPhysicsTokens->mjcFlagFilterparent,
@@ -1083,6 +1103,10 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimDisableFlags) {
ExpectAttributeEqual(stage, kPhysicsScenePrimPath.AppendProperty(flag),
false);
}
ExpectAttributeEqual(
stage,
kPhysicsScenePrimPath.AppendProperty(pxr::_tokens->newtonGravityEnabled),
false);
}
TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimEnableFlags) {
@@ -1472,8 +1496,12 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsCollisionAPI) {
pxr::VtArray<double>({0.1, 0.2}));
ExpectAttributeEqual(stage, "/test/body/box.mjc:solimp",
pxr::VtArray<double>({0.3, 0.4, 0.5, 0.6, 0.7}));
ExpectAttributeEqual(stage, "/test/body/box.mjc:margin", 0.8);
ExpectAttributeEqual(stage, "/test/body/box.mjc:gap", 0.9);
// margin and gap are now exported as Newton attributes
EXPECT_ATTRIBUTE_HAS_NO_AUTHORED_VALUE(stage, "/test/body/box.mjc:margin");
EXPECT_ATTRIBUTE_HAS_NO_AUTHORED_VALUE(stage, "/test/body/box.mjc:gap");
// newton:contactMargin = margin - gap = 0.8 - 0.9 = -0.1
ExpectAttributeEqual(stage, "/test/body/box.newton:contactMargin", -0.1f);
ExpectAttributeEqual(stage, "/test/body/box.newton:contactGap", 0.9f);
ExpectAttributeEqual(stage, "/test/body/box.mjc:shellinertia", true);
}
@@ -1508,8 +1536,11 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsMeshCollisionAPI) {
MjcPhysicsTokens->convex);
ExpectAttributeEqual(stage, "/test/body/tet_shell/Mesh.mjc:inertia",
MjcPhysicsTokens->shell);
ExpectAttributeEqual(stage, "/test/body/tet_max_vert/Mesh.mjc:maxhullvert",
12);
// mjc:maxhullvert deprecated, newton:maxHullVertices used instead
EXPECT_ATTRIBUTE_HAS_NO_AUTHORED_VALUE(
stage, "/test/body/tet_max_vert/Mesh.mjc:maxhullvert");
ExpectAttributeEqual(
stage, "/test/body/tet_max_vert/Mesh.newton:maxHullVertices", 12);
}
TEST_F(MjcfSdfFileFormatPluginTest, TestMassAPIApplied) {