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Add mujoco compiler settings to MjcSceneAPI in mjcPhysics.

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PiperOrigin-RevId: 783729333
Change-Id: Ic1c3e4fb47a901de4eebdc2e987d276f4202d9ed
This commit is contained in:
Sam Haves
2025-07-16 06:08:38 -07:00
committed by Copybara-Service
parent 5069534a5c
commit ac0701d582
9 changed files with 1091 additions and 30 deletions
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test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
+64 -24
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@@ -83,7 +83,6 @@ PXR_NAMESPACE_CLOSE_SCOPE
namespace mujoco {
namespace usd {
namespace {
using pxr::MjcPhysicsSiteAPI;
using pxr::MjcPhysicsTokens;
@@ -1628,8 +1627,7 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsActuator) {
auto stage = OpenStageWithPhysics(xml);
EXPECT_PRIM_VALID(stage, "/test/Actuators/general");
EXPECT_PRIM_IS_A(stage, "/test/Actuators/general",
pxr::MjcPhysicsActuator);
EXPECT_PRIM_IS_A(stage, "/test/Actuators/general", pxr::MjcPhysicsActuator);
EXPECT_REL_HAS_TARGET(stage, "/test/Actuators/general.mjc:target",
"/test/body/site");
EXPECT_REL_HAS_TARGET(stage, "/test/Actuators/general.mjc:refSite",
@@ -1637,10 +1635,8 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsActuator) {
ExpectAttributeEqual(stage, "/test/Actuators/general.mjc:group", 123);
ExpectAttributeEqual(stage, "/test/Actuators/general.mjc:ctrlLimited",
pxr::MjcPhysicsTokens->true_);
ExpectAttributeEqual(stage, "/test/Actuators/general.mjc:ctrlRange:min",
0.0);
ExpectAttributeEqual(stage, "/test/Actuators/general.mjc:ctrlRange:max",
1.0);
ExpectAttributeEqual(stage, "/test/Actuators/general.mjc:ctrlRange:min", 0.0);
ExpectAttributeEqual(stage, "/test/Actuators/general.mjc:ctrlRange:max", 1.0);
ExpectAttributeEqual(stage, "/test/Actuators/general.mjc:forceLimited",
pxr::MjcPhysicsTokens->true_);
ExpectAttributeEqual(stage, "/test/Actuators/general.mjc:forceRange:min",
@@ -1649,10 +1645,8 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsActuator) {
3.0);
ExpectAttributeEqual(stage, "/test/Actuators/general.mjc:actLimited",
pxr::MjcPhysicsTokens->false_);
ExpectAttributeEqual(stage, "/test/Actuators/general.mjc:actRange:min",
4.0);
ExpectAttributeEqual(stage, "/test/Actuators/general.mjc:actRange:max",
5.0);
ExpectAttributeEqual(stage, "/test/Actuators/general.mjc:actRange:min", 4.0);
ExpectAttributeEqual(stage, "/test/Actuators/general.mjc:actRange:max", 5.0);
ExpectAttributeEqual(stage, "/test/Actuators/general.mjc:lengthRange:min",
6.0);
ExpectAttributeEqual(stage, "/test/Actuators/general.mjc:lengthRange:max",
@@ -1696,12 +1690,10 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsPositionActuator) {
auto stage = OpenStageWithPhysics(xml);
EXPECT_PRIM_VALID(stage, "/test/Actuators/position");
EXPECT_PRIM_IS_A(stage, "/test/Actuators/position",
pxr::MjcPhysicsActuator);
EXPECT_PRIM_IS_A(stage, "/test/Actuators/position", pxr::MjcPhysicsActuator);
EXPECT_REL_HAS_TARGET(stage, "/test/Actuators/position.mjc:target",
"/test/body/hinge");
ExpectAttributeEqual(stage, "/test/Actuators/position.mjc:inheritRange",
1.0);
ExpectAttributeEqual(stage, "/test/Actuators/position.mjc:inheritRange", 1.0);
}
TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsJointActuator) {
@@ -1726,8 +1718,7 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsJointActuator) {
auto stage = OpenStageWithPhysics(xml);
EXPECT_PRIM_VALID(stage, "/test/Actuators/general");
EXPECT_PRIM_IS_A(stage, "/test/Actuators/general",
pxr::MjcPhysicsActuator);
EXPECT_PRIM_IS_A(stage, "/test/Actuators/general", pxr::MjcPhysicsActuator);
EXPECT_REL_HAS_TARGET(stage, "/test/Actuators/general.mjc:target",
"/test/axle/rod/rod_hinge");
}
@@ -1751,8 +1742,7 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsBodyActuator) {
auto stage = OpenStageWithPhysics(xml);
EXPECT_PRIM_VALID(stage, "/test/Actuators/general");
EXPECT_PRIM_IS_A(stage, "/test/Actuators/general",
pxr::MjcPhysicsActuator);
EXPECT_PRIM_IS_A(stage, "/test/Actuators/general", pxr::MjcPhysicsActuator);
EXPECT_REL_HAS_TARGET(stage, "/test/Actuators/general.mjc:target",
"/test/body");
}
@@ -1780,14 +1770,12 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsSliderCrankActuator) {
auto stage = OpenStageWithPhysics(xml);
EXPECT_PRIM_VALID(stage, "/test/Actuators/general");
EXPECT_PRIM_IS_A(stage, "/test/Actuators/general",
pxr::MjcPhysicsActuator);
EXPECT_PRIM_IS_A(stage, "/test/Actuators/general", pxr::MjcPhysicsActuator);
EXPECT_REL_HAS_TARGET(stage, "/test/Actuators/general.mjc:target",
"/test/body/crank");
EXPECT_REL_HAS_TARGET(stage, "/test/Actuators/general.mjc:sliderSite",
"/test/body/slider");
ExpectAttributeEqual(stage, "/test/Actuators/general.mjc:crankLength",
1.23);
ExpectAttributeEqual(stage, "/test/Actuators/general.mjc:crankLength", 1.23);
}
TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsJointAPI) {
@@ -2226,6 +2214,58 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsKeyframe) {
ExpectAttributeEqual(stage, "/test/Keyframes/Keyframe.mjc:qpos",
pxr::VtDoubleArray({3}), pxr::UsdTimeCode(2.0));
}
} // namespace
TEST_F(MjcfSdfFileFormatPluginTest, TestCompilerOptions) {
static constexpr char xml[] = R"(
<mujoco model="test">
<compiler
autolimits="true"
boundmass="1.2"
boundinertia="3.4"
settotalmass="5.6"
usethread="false"
balanceinertia="true"
angle="radian"
fitaabb="true"
fusestatic="true"
inertiafromgeom="true"
alignfree="true"
inertiagrouprange="1 6"
saveinertial="true"
/>
</mujoco>
)";
auto stage = OpenStageWithPhysics(xml);
EXPECT_PRIM_VALID(stage, "/test/PhysicsScene");
ExpectAttributeEqual(stage, "/test/PhysicsScene.mjc:compiler:autoLimits",
true);
ExpectAttributeEqual(stage, "/test/PhysicsScene.mjc:compiler:boundMass", 1.2);
ExpectAttributeEqual(stage, "/test/PhysicsScene.mjc:compiler:boundInertia",
3.4);
ExpectAttributeEqual(stage, "/test/PhysicsScene.mjc:compiler:setTotalMass",
5.6);
ExpectAttributeEqual(stage, "/test/PhysicsScene.mjc:compiler:useThread",
false);
ExpectAttributeEqual(stage, "/test/PhysicsScene.mjc:compiler:balanceInertia",
true);
ExpectAttributeEqual(stage, "/test/PhysicsScene.mjc:compiler:angle",
MjcPhysicsTokens->radian);
ExpectAttributeEqual(stage, "/test/PhysicsScene.mjc:compiler:fitAABB", true);
ExpectAttributeEqual(stage, "/test/PhysicsScene.mjc:compiler:fuseStatic",
true);
ExpectAttributeEqual(stage, "/test/PhysicsScene.mjc:compiler:inertiaFromGeom",
MjcPhysicsTokens->true_);
ExpectAttributeEqual(stage, "/test/PhysicsScene.mjc:compiler:alignFree",
true);
ExpectAttributeEqual(
stage, "/test/PhysicsScene.mjc:compiler:inertiaGroupRange:min", 1);
ExpectAttributeEqual(
stage, "/test/PhysicsScene.mjc:compiler:inertiaGroupRange:max", 6);
ExpectAttributeEqual(stage, "/test/PhysicsScene.mjc:compiler:saveInertial",
true);
}
} // namespace usd
} // namespace mujoco