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Add MjcPhysicsSiteAPI support and testing.

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PiperOrigin-RevId: 759124593
Change-Id: Ic2fa2a00f8384f432ee2eef95c80f5c180aa4ca9
This commit is contained in:
Sam Haves
2025-05-15 06:37:10 -07:00
committed by Copybara-Service
parent 7ba507323d
commit 81442e06a0
3 changed files with 114 additions and 0 deletions
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src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
+3
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@@ -21,6 +21,7 @@
#include <vector>
#include <mujoco/mujoco.h>
#include "third_party/mujoco/src/experimental/usd/mjcPhysics/tokens.h"
#include "mjcf/utils.h"
#include <pxr/base/arch/attributes.h>
#include <pxr/base/gf/matrix4d.h>
@@ -834,6 +835,8 @@ class ModelWriter {
pxr::SdfPath site_path = WriteSiteGeom(site, body_path);
SetPrimPurpose(data_, site_path, pxr::UsdGeomTokens->guide);
ApplyApiSchema(data_, site_path, pxr::MjcPhysicsTokens->SiteAPI);
int site_id = mjs_getId(site->element);
auto transform = MujocoPosQuatToTransform(&model_->site_pos[3 * site_id],
&model_->site_quat[4 * site_id]);
test/experimental/usd/mjcPhysics/mjc_site_api_test.cc
+96
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@@ -0,0 +1,96 @@
// Copyright 2025 DeepMind Technologies Limited
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include <gmock/gmock.h>
#include <gtest/gtest.h>
#include <mujoco/experimental/usd.h>
#include <mujoco/mujoco.h>
#include "src/experimental/usd/mjcPhysics/siteAPI.h"
#include "test/fixture.h"
#include <pxr/base/tf/token.h>
#include <pxr/usd/sdf/path.h>
#include <pxr/usd/usd/common.h>
#include <pxr/usd/usd/stage.h>
#include <pxr/usd/usdGeom/capsule.h>
#include <pxr/usd/usdGeom/cube.h>
#include <pxr/usd/usdGeom/cylinder.h>
#include <pxr/usd/usdGeom/sphere.h>
#include <pxr/usd/usdGeom/xform.h>
#include <pxr/usd/usdPhysics/collisionAPI.h>
#include <pxr/usd/usdPhysics/rigidBodyAPI.h>
#define EXPECT_SITE_TYPE(spec, site_path, expected_type) \
{ \
mjsElement* site_element = \
mjs_findElement(spec, mjOBJ_SITE, site_path.GetString().c_str()); \
EXPECT_THAT(site_element, NotNull()); \
mjsSite* site = mjs_asSite(site_element); \
EXPECT_EQ(site->type, expected_type); \
}
namespace mujoco {
namespace {
using pxr::MjcPhysicsSiteAPI;
using pxr::SdfPath;
using MjcSiteApiTest = MujocoTest;
using testing::NotNull;
TEST_F(MjcSiteApiTest, TestApply) {
auto stage = pxr::UsdStage::CreateInMemory();
auto test_body_path = SdfPath("/World/TestBody");
auto body = pxr::UsdGeomXform::Define(stage, test_body_path);
pxr::UsdPhysicsRigidBodyAPI::Apply(body.GetPrim());
auto test_collider_path =
test_body_path.AppendChild(pxr::TfToken("Collider"));
auto collider = pxr::UsdGeomSphere::Define(stage, test_collider_path);
pxr::UsdPhysicsCollisionAPI::Apply(collider.GetPrim());
auto test_sphere_site_path =
test_body_path.AppendChild(pxr::TfToken("SphereSite"));
auto test_cylinder_site_path =
test_body_path.AppendChild(pxr::TfToken("CylinderSite"));
auto test_capsule_site_path =
test_body_path.AppendChild(pxr::TfToken("CapsuleSite"));
auto test_box_site_path = test_body_path.AppendChild(pxr::TfToken("BoxSite"));
auto sphere = pxr::UsdGeomSphere::Define(stage, test_sphere_site_path);
MjcPhysicsSiteAPI::Apply(sphere.GetPrim());
auto cylinder = pxr::UsdGeomCylinder::Define(stage, test_cylinder_site_path);
MjcPhysicsSiteAPI::Apply(cylinder.GetPrim());
auto capsule = pxr::UsdGeomCapsule::Define(stage, test_capsule_site_path);
MjcPhysicsSiteAPI::Apply(capsule.GetPrim());
auto box = pxr::UsdGeomCube::Define(stage, test_box_site_path);
MjcPhysicsSiteAPI::Apply(box.GetPrim());
mjSpec* spec = mj_parseUSDStage(stage);
mjModel* default_model = mj_compile(spec, nullptr);
EXPECT_THAT(default_model, NotNull()) << mjs_getError(spec);
EXPECT_SITE_TYPE(spec, test_sphere_site_path, mjGEOM_SPHERE);
EXPECT_SITE_TYPE(spec, test_cylinder_site_path, mjGEOM_CYLINDER);
EXPECT_SITE_TYPE(spec, test_capsule_site_path, mjGEOM_CAPSULE);
EXPECT_SITE_TYPE(spec, test_box_site_path, mjGEOM_BOX);
mj_deleteModel(default_model);
mj_deleteSpec(spec);
}
} // namespace
} // namespace mujoco
test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
+15
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@@ -17,6 +17,8 @@
#include <gmock/gmock.h>
#include <gtest/gtest.h>
#include "src/experimental/usd/mjcPhysics/sceneAPI.h"
#include "src/experimental/usd/mjcPhysics/siteAPI.h"
#include "test/experimental/usd/test_utils.h"
#include "test/fixture.h"
#include <pxr/base/gf/vec2f.h>
@@ -518,15 +520,28 @@ 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", pxr::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",
pxr::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",
pxr::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",
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",
pxr::MjcPhysicsSiteAPI);
}
TEST_F(MjcfSdfFileFormatPluginTest, TestSitePrimsPurpose) {