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Write new Mujoco-specific JointAPI data to USD.

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PiperOrigin-RevId: 778035661
Change-Id: I945aa38fc58973023d78ab0ab5fad7783d23e1ef
This commit is contained in:
Robin Alazard
2025-07-01 07:34:19 -07:00
committed by Copybara-Service
parent 862436f9b3
commit 9dc67b50cd
2 changed files with 144 additions and 7 deletions
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src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
+77 -4
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@@ -557,13 +557,13 @@ class ModelWriter {
MjcPhysicsTokens->mjcOptionMagnetic, magnetic);
pxr::VtArray<double> o_solref(spec_->option.o_solref,
spec_->option.o_solref + 2);
spec_->option.o_solref + mjNREF);
WriteUniformAttribute(physics_scene_path,
pxr::SdfValueTypeNames->DoubleArray,
MjcPhysicsTokens->mjcOptionO_solref, o_solref);
pxr::VtArray<double> o_solimp(spec_->option.o_solimp,
spec_->option.o_solimp + 5);
spec_->option.o_solimp + mjNIMP);
WriteUniformAttribute(physics_scene_path,
pxr::SdfValueTypeNames->DoubleArray,
MjcPhysicsTokens->mjcOptionO_solimp, o_solimp);
@@ -1716,6 +1716,80 @@ class ModelWriter {
upper_limit);
}
}
// Finally write the mjcPhysicsJointAPI attributes.
ApplyApiSchema(data_, joint_path, MjcPhysicsTokens->PhysicsJointsAPI);
WriteUniformAttribute(
joint_path, pxr::SdfValueTypeNames->DoubleArray,
MjcPhysicsTokens->mjcSpringdamper,
pxr::VtArray<double>(joint->springdamper, joint->springdamper + 2));
WriteUniformAttribute(joint_path, pxr::SdfValueTypeNames->DoubleArray,
MjcPhysicsTokens->mjcSolreflimit,
pxr::VtArray<double>(joint->solref_limit,
joint->solref_limit + mjNREF));
WriteUniformAttribute(joint_path, pxr::SdfValueTypeNames->DoubleArray,
MjcPhysicsTokens->mjcSolimplimit,
pxr::VtArray<double>(joint->solimp_limit,
joint->solimp_limit + mjNIMP));
WriteUniformAttribute(
joint_path, pxr::SdfValueTypeNames->DoubleArray,
MjcPhysicsTokens->mjcSolreffriction,
pxr::VtArray<double>(joint->solref_friction,
joint->solref_friction + mjNREF));
WriteUniformAttribute(
joint_path, pxr::SdfValueTypeNames->DoubleArray,
MjcPhysicsTokens->mjcSolimpfriction,
pxr::VtArray<double>(joint->solimp_friction,
joint->solimp_friction + mjNIMP));
WriteUniformAttribute(joint_path, pxr::SdfValueTypeNames->Double,
MjcPhysicsTokens->mjcStiffness, joint->stiffness);
WriteUniformAttribute(joint_path, pxr::SdfValueTypeNames->Double,
MjcPhysicsTokens->mjcActuatorfrcrangeMin,
joint->actfrcrange[0]);
WriteUniformAttribute(joint_path, pxr::SdfValueTypeNames->Double,
MjcPhysicsTokens->mjcActuatorfrcrangeMax,
joint->actfrcrange[1]);
pxr::TfToken actuatorfrclimited_token = MjcPhysicsTokens->auto_;
if (joint->actfrclimited == mjLIMITED_TRUE) {
actuatorfrclimited_token = MjcPhysicsTokens->true_;
} else if (joint->actfrclimited == mjLIMITED_FALSE) {
actuatorfrclimited_token = MjcPhysicsTokens->false_;
}
WriteUniformAttribute(joint_path, pxr::SdfValueTypeNames->Token,
MjcPhysicsTokens->mjcActuatorfrclimited,
actuatorfrclimited_token);
WriteUniformAttribute(joint_path, pxr::SdfValueTypeNames->Bool,
MjcPhysicsTokens->mjcActuatorgravcomp,
static_cast<bool>(joint->actgravcomp));
WriteUniformAttribute(joint_path, pxr::SdfValueTypeNames->Double,
MjcPhysicsTokens->mjcMargin, joint->margin);
WriteUniformAttribute(joint_path, pxr::SdfValueTypeNames->Double,
MjcPhysicsTokens->mjcRef, joint->ref);
WriteUniformAttribute(joint_path, pxr::SdfValueTypeNames->Double,
MjcPhysicsTokens->mjcSpringref, joint->springref);
WriteUniformAttribute(joint_path, pxr::SdfValueTypeNames->Double,
MjcPhysicsTokens->mjcArmature, joint->armature);
WriteUniformAttribute(joint_path, pxr::SdfValueTypeNames->Double,
MjcPhysicsTokens->mjcDamping, joint->damping);
WriteUniformAttribute(joint_path, pxr::SdfValueTypeNames->Double,
MjcPhysicsTokens->mjcFrictionloss,
joint->frictionloss);
}
if (joint_id >= 0) {
joint_paths_[joint_id] = joint_path;
@@ -1824,8 +1898,7 @@ class ModelWriter {
// 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);
int parent_parent_id = mjs_getId(mjs_getParent(parent->element)->element);
if (parent_parent_id == kWorldIndex) {
ApplyApiSchema(data_, parent_path,
pxr::UsdPhysicsTokens->PhysicsArticulationRootAPI);