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Initial support for writing UsdPhysics data starting with UsdPhysicsRigidbodyAPI support.

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The SDF_FORMAT_ARGS `usdMjcfToggleUsdPhysics` is introduced to toggle writing UsdPhysics or not when converting. Off by default

PiperOrigin-RevId: 746467942
Change-Id: I26cb9a4c4ae2eef96163dab967a74f14940a2a6d
This commit is contained in:
Google DeepMind
2025-04-11 08:18:11 -07:00
committed by Copybara-Service
parent 006c18b1d8
commit 8e7457d7c6
7 changed files with 122 additions and 15 deletions
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test/experimental/usd/plugins/mjcf/fixture.cc
+4 -2
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@@ -32,9 +32,11 @@ namespace mujoco {
using pxr::SdfPath;
pxr::SdfLayerRefPtr LoadLayer(const std::string& xml) {
pxr::SdfLayerRefPtr LoadLayer(
const std::string& xml,
const pxr::SdfFileFormat::FileFormatArguments& args) {
auto layer = pxr::SdfLayer::CreateAnonymous(
"test_layer", pxr::SdfFileFormat::FindByExtension("xml"));
"test_layer", pxr::SdfFileFormat::FindByExtension("xml"), args);
layer->ImportFromString(xml);
EXPECT_THAT(layer, testing::NotNull());
return layer;
test/experimental/usd/plugins/mjcf/fixture.h
+14 -1
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@@ -21,6 +21,7 @@
#include "test/fixture.h"
#include <pxr/usd/sdf/assetPath.h>
#include <pxr/usd/sdf/declareHandles.h>
#include <pxr/usd/sdf/fileFormat.h>
#include <pxr/usd/sdf/path.h>
#include <pxr/usd/usd/common.h>
#include <pxr/usd/usd/modelAPI.h>
@@ -34,6 +35,16 @@
EXPECT_TRUE((stage)->GetPrimAtPath(SdfPath(path)).IsA<type>()); \
}
#define EXPECT_PRIM_API_APPLIED(stage, path, api) \
{ \
EXPECT_TRUE((stage)->GetPrimAtPath(SdfPath(path)).HasAPI<api>()); \
}
#define EXPECT_PRIM_API_NOT_APPLIED(stage, path, api) \
{ \
EXPECT_FALSE((stage)->GetPrimAtPath(SdfPath(path)).HasAPI<api>()); \
}
#define EXPECT_PRIM_KIND(stage, path, kind) \
{ \
pxr::TfToken prim_kind; \
@@ -51,7 +62,9 @@
}
namespace mujoco {
pxr::SdfLayerRefPtr LoadLayer(const std::string& xml);
pxr::SdfLayerRefPtr LoadLayer(
const std::string& xml,
const pxr::SdfFileFormat::FileFormatArguments& args = {});
template <typename T>
void ExpectAttributeEqual(pxr::UsdStageRefPtr stage, const char* path,
test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
+67
View File
@@ -44,6 +44,7 @@
#include <pxr/usd/usdGeom/primvarsAPI.h>
#include <pxr/usd/usdGeom/sphere.h>
#include <pxr/usd/usdGeom/tokens.h>
#include <pxr/usd/usdPhysics/rigidBodyAPI.h>
PXR_NAMESPACE_OPEN_SCOPE
// clang-format off
@@ -434,6 +435,72 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestSitePrimsPurpose) {
EXPECT_PRIM_PURPOSE(stage, "/test/ball/ball/ellipsoid_site",
pxr::UsdGeomTokens->guide);
}
TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsToggleSdfFormatArg) {
std::string xml_path = GetTestDataFilePath(kMeshObjPath);
// 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",
pxr::UsdPhysicsRigidBodyAPI);
// Then test that the physics flag enables physics.
std::string xml_path_physics_flag =
xml_path + ":SDF_FORMAT_ARGS:usdMjcfToggleUsdPhysics=true";
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",
pxr::UsdPhysicsRigidBodyAPI);
}
TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsRigidBody) {
static constexpr char kXml[] = R"(
<mujoco model="physics_test">
<worldbody>
<body name="test_body" pos="0 0 0">
<geom name="test_geom" type="sphere" size="1"/>
<body name="test_body_2" pos="2 0 0">
<geom name="test_geom_2" type="sphere" size="1"/>
</body>
</body>
</worldbody>
</mujoco>
)";
pxr::SdfFileFormat::FileFormatArguments args;
args["usdMjcfToggleUsdPhysics"] = "true";
pxr::SdfLayerRefPtr layer = LoadLayer(kXml, args);
auto stage = pxr::UsdStage::Open(layer);
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",
pxr::UsdPhysicsRigidBodyAPI);
EXPECT_PRIM_API_APPLIED(stage, "/physics_test/test_body/test_body_2",
pxr::UsdPhysicsRigidBodyAPI);
// Geoms should not have RigidBodyAPI applied either.
EXPECT_PRIM_API_NOT_APPLIED(stage,
"/physics_test/test_body/test_body/test_geom",
pxr::UsdPhysicsRigidBodyAPI);
EXPECT_PRIM_API_NOT_APPLIED(stage,
"/physics_test/test_body/test_body_2/test_geom_2",
pxr::UsdPhysicsRigidBodyAPI);
}
} // namespace
} // namespace mujoco