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Add support for actuators to Mujoco USD interop.

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PiperOrigin-RevId: 764740692
Change-Id: Ib045653fee840087bc3891ee7e770bdaac08548c
This commit is contained in:
Sam Haves
2025-05-29 08:28:52 -07:00
committed by Copybara-Service
parent 6b919162d1
commit b2e8589e7a
10 changed files with 1952 additions and 6 deletions
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test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
+123
View File
@@ -17,6 +17,7 @@
#include <gmock/gmock.h>
#include <gtest/gtest.h>
#include "src/experimental/usd/mjcPhysics/actuatorAPI.h"
#include "src/experimental/usd/mjcPhysics/collisionAPI.h"
#include "src/experimental/usd/mjcPhysics/meshCollisionAPI.h"
#include "src/experimental/usd/mjcPhysics/sceneAPI.h"
@@ -31,6 +32,7 @@
#include <pxr/base/tf/staticTokens.h>
#include <pxr/base/tf/token.h>
#include <pxr/base/vt/array.h>
#include <pxr/base/vt/types.h>
#include <pxr/pxr.h>
#include <pxr/usd/kind/registry.h>
#include <pxr/usd/sdf/assetPath.h>
@@ -1320,6 +1322,127 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestMassAPIDensity) {
ExpectAttributeEqual(stage, "/test/body/box.physics:density", 1234.0f);
}
TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsActuatorGeneral) {
static constexpr char xml[] = R"(
<mujoco model="test">
<worldbody>
<body name="body">
<geom name="box" type="box" size=".05 .05 .05" density="1234"/>
<site name="site"/>
<site name="ref"/>
</body>
</worldbody>
<actuator>
<general
name="general"
site="site"
refsite="ref"
ctrllimited="true"
ctrlrange="0 1"
forcelimited="true"
forcerange="2 3"
actlimited="false"
actrange="4 5"
lengthrange="6 7"
actdim="1"
actearly="true"
dyntype="filter"
gaintype="user"
biastype="user"
gear="1 2 3 4 5 6"
dynprm="0 1 2 3 4 5 6 7 8 9"
gainprm="0 1 2 3 4 5 6 7 8 9"
biasprm="0 1 2 3 4 5 6 7 8 9"
/>
</actuator>
</mujoco>
)";
auto stage = OpenStageWithPhysics(xml);
EXPECT_PRIM_API_APPLIED(stage, "/test/body/site", pxr::MjcPhysicsActuatorAPI);
EXPECT_REL_HAS_TARGET(stage, "/test/body/site.mjc:refSite", "/test/body/ref");
ExpectAttributeEqual(stage, "/test/body/site.mjc:ctrlLimited",
pxr::MjcPhysicsTokens->true_);
ExpectAttributeEqual(stage, "/test/body/site.mjc:ctrlRange:min", 0.0);
ExpectAttributeEqual(stage, "/test/body/site.mjc:ctrlRange:max", 1.0);
ExpectAttributeEqual(stage, "/test/body/site.mjc:forceLimited",
pxr::MjcPhysicsTokens->true_);
ExpectAttributeEqual(stage, "/test/body/site.mjc:forceRange:min", 2.0);
ExpectAttributeEqual(stage, "/test/body/site.mjc:forceRange:max", 3.0);
ExpectAttributeEqual(stage, "/test/body/site.mjc:actLimited",
pxr::MjcPhysicsTokens->false_);
ExpectAttributeEqual(stage, "/test/body/site.mjc:actRange:min", 4.0);
ExpectAttributeEqual(stage, "/test/body/site.mjc:actRange:max", 5.0);
ExpectAttributeEqual(stage, "/test/body/site.mjc:lengthRange:min", 6.0);
ExpectAttributeEqual(stage, "/test/body/site.mjc:lengthRange:max", 7.0);
ExpectAttributeEqual(stage, "/test/body/site.mjc:actDim", 1);
ExpectAttributeEqual(stage, "/test/body/site.mjc:dynType",
MjcPhysicsTokens->filter);
ExpectAttributeEqual(stage, "/test/body/site.mjc:gainType",
MjcPhysicsTokens->user);
ExpectAttributeEqual(stage, "/test/body/site.mjc:biasType",
MjcPhysicsTokens->user);
ExpectAttributeEqual(stage, "/test/body/site.mjc:actEarly", true);
ExpectAttributeEqual(stage, "/test/body/site.mjc:gear",
pxr::VtDoubleArray{{1, 2, 3, 4, 5, 6}});
ExpectAttributeEqual(stage, "/test/body/site.mjc:dynPrm",
pxr::VtDoubleArray{{0, 1, 2, 3, 4, 5, 6, 7, 8, 9}});
ExpectAttributeEqual(stage, "/test/body/site.mjc:gainPrm",
pxr::VtDoubleArray{{0, 1, 2, 3, 4, 5, 6, 7, 8, 9}});
ExpectAttributeEqual(stage, "/test/body/site.mjc:biasPrm",
pxr::VtDoubleArray{{0, 1, 2, 3, 4, 5, 6, 7, 8, 9}});
}
TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsBodyActuator) {
static constexpr char xml[] = R"(
<mujoco model="test">
<worldbody>
<body name="body">
<geom name="box" type="box" size=".05 .05 .05" density="1234"/>
</body>
</worldbody>
<actuator>
<general
name="general"
body="body"
/>
</actuator>
</mujoco>
)";
auto stage = OpenStageWithPhysics(xml);
EXPECT_PRIM_API_APPLIED(stage, "/test/body", pxr::MjcPhysicsActuatorAPI);
}
TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsSliderCrankActuator) {
static constexpr char xml[] = R"(
<mujoco model="test">
<worldbody>
<body name="body">
<geom name="box" type="box" size=".05 .05 .05" density="1234"/>
<site name="crank"/>
<site name="slider"/>
</body>
</worldbody>
<actuator>
<general
name="general"
cranksite="crank"
slidersite="slider"
cranklength="1.23"
/>
</actuator>
</mujoco>
)";
auto stage = OpenStageWithPhysics(xml);
EXPECT_PRIM_API_APPLIED(stage, "/test/body/crank",
pxr::MjcPhysicsActuatorAPI);
EXPECT_REL_HAS_TARGET(stage, "/test/body/crank.mjc:sliderSite",
"/test/body/slider");
ExpectAttributeEqual(stage, "/test/body/crank.mjc:crankLength", 1.23);
}
} // namespace
} // namespace usd
} // namespace mujoco
test/experimental/usd/test_utils.h
+8
View File
@@ -66,6 +66,14 @@
#define EXPECT_ATTRIBUTE_HAS_NO_VALUE(stage, path) \
EXPECT_FALSE((stage)->GetAttributeAtPath(SdfPath(path)).HasValue());
#define EXPECT_REL_HAS_TARGET(stage, path, target_path) \
{ \
pxr::SdfPathVector targets; \
(stage)->GetRelationshipAtPath(SdfPath(path)).GetTargets(&targets); \
EXPECT_TRUE(std::find(targets.begin(), targets.end(), \
SdfPath(target_path)) != targets.end()); \
}
namespace mujoco {
namespace usd {