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Add displayColor authoring to site geometry when converting MJCF to USD.

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PiperOrigin-RevId: 789311878
Change-Id: I70027cd5d8d02f4ee26043f3b9fb03311e38984b
This commit is contained in:
Sam Haves
2025-07-31 06:27:29 -07:00
committed by Copybara-Service
parent 82cf27992d
commit b5368a3385
2 changed files with 50 additions and 22 deletions
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src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
+31 -22
View File
@@ -317,6 +317,34 @@ class ModelWriter {
SetAttributeDefault(data_, attr_path, value);
}
template <typename T>
void WriteColorAndOpacityAttributes(const pxr::SdfPath &prim_path,
const T &element) {
// If rgba is not the default (0.5, 0.5, 0.5, 1), then set the
// displayColor attribute.
// No effort is made to properly handle the interaction between rgba
// and the material if both are specified.
if (element->rgba[0] != 0.5f || element->rgba[1] != 0.5f ||
element->rgba[2] != 0.5f || element->rgba[3] != 1.0f) {
// Set the displayColor attribute.
pxr::SdfPath display_color_attr = CreateAttributeSpec(
data_, prim_path, pxr::UsdGeomTokens->primvarsDisplayColor,
pxr::SdfValueTypeNames->Color3fArray);
SetAttributeDefault(
data_, display_color_attr,
pxr::VtArray<pxr::GfVec3f>{
{element->rgba[0], element->rgba[1], element->rgba[2]}});
// Set the displayOpacity attribute, only if the opacity is not 1.
if (element->rgba[3] != 1.0f) {
pxr::SdfPath display_opacity_attr = CreateAttributeSpec(
data_, prim_path, pxr::UsdGeomTokens->primvarsDisplayOpacity,
pxr::SdfValueTypeNames->FloatArray);
SetAttributeDefault(data_, display_opacity_attr,
pxr::VtArray<float>{element->rgba[3]});
}
}
}
void PrependToXformOpOrder(const pxr::SdfPath &prim_path,
const pxr::VtArray<pxr::TfToken> &order) {
auto xform_op_order_path =
@@ -1573,6 +1601,8 @@ class ModelWriter {
WriteUniformAttribute(site_path, pxr::SdfValueTypeNames->Int,
MjcPhysicsTokens->mjcGroup, site->group);
WriteColorAndOpacityAttributes(site_path, site);
int site_id = mjs_getId(site->element);
auto transform = MujocoPosQuatToTransform(&model_->site_pos[3 * site_id],
&model_->site_quat[4 * site_id]);
@@ -1759,28 +1789,7 @@ class ModelWriter {
}
}
// If geom rgba is not the default (0.5, 0.5, 0.5, 1), then set the
// displayColor attribute.
// No effort is made to properly handle the interaction between geom rgba
// and the material if both are specified.
if (geom->rgba[0] != 0.5f || geom->rgba[1] != 0.5f ||
geom->rgba[2] != 0.5f || geom->rgba[3] != 1.0f) {
// Set the displayColor attribute.
pxr::SdfPath display_color_attr = CreateAttributeSpec(
data_, geom_path, pxr::UsdGeomTokens->primvarsDisplayColor,
pxr::SdfValueTypeNames->Color3fArray);
SetAttributeDefault(data_, display_color_attr,
pxr::VtArray<pxr::GfVec3f>{
{geom->rgba[0], geom->rgba[1], geom->rgba[2]}});
// Set the displayOpacity attribute, only if the opacity is not 1.
if (geom->rgba[3] != 1.0f) {
pxr::SdfPath display_opacity_attr = CreateAttributeSpec(
data_, geom_path, pxr::UsdGeomTokens->primvarsDisplayOpacity,
pxr::SdfValueTypeNames->FloatArray);
SetAttributeDefault(data_, display_opacity_attr,
pxr::VtArray<float>{geom->rgba[3]});
}
}
WriteColorAndOpacityAttributes(geom_path, geom);
if (body_id == kWorldIndex) {
SetPrimKind(data_, geom_path, pxr::KindTokens->component);
test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
+19
View File
@@ -350,6 +350,25 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestGeomRgba) {
pxr::VtArray<float>{0.9});
}
TEST_F(MjcfSdfFileFormatPluginTest, TestSiteRgba) {
static constexpr char kXml[] = R"(
<mujoco model="test">
<worldbody>
<site type="sphere" name="sphere_red" size="1" rgba="1 0 0 1"/>
</worldbody>
</mujoco>
)";
pxr::SdfLayerRefPtr layer = LoadLayer(kXml);
auto stage = pxr::UsdStage::Open(layer);
EXPECT_PRIM_VALID(stage, "/test/sphere_red");
ExpectAttributeEqual(stage, "/test/sphere_red.primvars:displayColor",
pxr::VtArray<pxr::GfVec3f>{{1, 0, 0}});
EXPECT_ATTRIBUTE_HAS_NO_VALUE(stage,
"/test/sphere_red.primvars:displayOpacity");
}
TEST_F(MjcfSdfFileFormatPluginTest, TestFaceVaryingMeshSourcesSimpleMjcfMesh) {
static constexpr char kXml[] = R"(
<mujoco model="mesh test">