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Add basic support for geom rgba.

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Adds primvar:displayColor/primvar:displayOpacity to the geom prim if its rgba attribute differs from the default (0.5, 0.5, 0.5, 1.0).  This sets the color and opacity directly on the prim with no need for an external material, making it consistent with how rgba is used in mujoco.

PiperOrigin-RevId: 751013128
Change-Id: I059943ec5b266e62c3696d9a0ac4f2033db9e07f
This commit is contained in:
Google DeepMind
2025-04-24 08:58:05 -07:00
committed by Copybara-Service
parent 8df3614781
commit d3bc0544d3
3 changed files with 77 additions and 0 deletions
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test/experimental/usd/plugins/mjcf/fixture.h
+7
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@@ -60,6 +60,13 @@
.Get(&prim_purpose); \
EXPECT_EQ(prim_purpose, purpose); \
}
#define EXPECT_ATTRIBUTE_HAS_VALUE(stage, path) \
EXPECT_TRUE((stage)->GetAttributeAtPath(SdfPath(path)).HasValue());
#define EXPECT_ATTRIBUTE_HAS_NO_VALUE(stage, path) \
EXPECT_FALSE((stage)->GetAttributeAtPath(SdfPath(path)).HasValue());
namespace mujoco {
pxr::SdfLayerRefPtr LoadLayer(
test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
+47
View File
@@ -140,6 +140,53 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestMaterials) {
pxr::SdfAssetPath("textures/cube.png"));
}
TEST_F(MjcfSdfFileFormatPluginTest, TestGeomRgba) {
static constexpr char kXml[] = R"(
<mujoco model="test">
<worldbody>
<geom type="sphere" name="sphere_red" size="1" rgba="1 0 0 1"/>
<geom type="sphere" name="sphere_default" size="1"/>
<geom type="sphere" name="sphere_also_default" size="1" rgba="0.5 0.5 0.5 1"/>
<geom type="sphere" name="sphere_almost_default" size="1" rgba="0.5 0.5 0.5 0.9"/>
</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");
// There's no mechanism in Mujoco to specify whether an attribute was set
// explicitly or not. We do the same as Mujoco does, which is to compare with
// the default value.
// Which explains why not setting rgba is the same as setting it to the
// default value of (0.5, 0.5, 0.5, 1).
EXPECT_PRIM_VALID(stage, "/test/sphere_default");
EXPECT_ATTRIBUTE_HAS_NO_VALUE(stage,
"/test/sphere_default.primvars:displayColor");
EXPECT_ATTRIBUTE_HAS_NO_VALUE(stage,
"/test/sphere_default.primvars:displayOpacity");
EXPECT_PRIM_VALID(stage, "/test/sphere_also_default");
EXPECT_ATTRIBUTE_HAS_NO_VALUE(
stage, "/test/sphere_also_default.primvars:displayColor");
EXPECT_ATTRIBUTE_HAS_NO_VALUE(
stage, "/test/sphere_also_default.primvars:displayOpacity");
EXPECT_PRIM_VALID(stage, "/test/sphere_almost_default");
ExpectAttributeEqual(stage,
"/test/sphere_almost_default.primvars:displayColor",
pxr::VtArray<pxr::GfVec3f>{{0.5, 0.5, 0.5}});
ExpectAttributeEqual(stage,
"/test/sphere_almost_default.primvars:displayOpacity",
pxr::VtArray<float>{0.9});
}
TEST_F(MjcfSdfFileFormatPluginTest, TestFaceVaryingMeshSourcesSimpleMjcfMesh) {
static constexpr char kXml[] = R"(
<mujoco model="mesh test">