Canonical USD example for MuJoCo Physics. This contains three items:

floor - a static floor centered at origin of sides 100m x 100m two_cubes - a standard example where 2 cubes have a hinge joint between them. two_cubes_scene - a scene made up of the floor at (0, 0, 0) and two_cubes at (0, 0, 30). PiperOrigin-RevId: 607809323 Change-Id: I9931d89441653ce7aaf5145ee42c71c0c8f9ffcb
2024-02-16 14:55:27 -08:00
parent 1b93226fb0
commit dbf7afaeaa
12 changed files with 288 additions and 0 deletions
@@ -0,0 +1,19 @@
+#usda 1.0
+(
+  defaultPrim = "root"
+  upAxis = "Z"
+)
+
+def Xform "root" () {
+  def "floor_geo" (
+    prepend references = [@./Floor_geo.usda@]
+  )
+  {
+
+  }
+  def "floor_collision" (
+    prepend references = [@./Floor_physics.usda@]
+  )
+  {
+  }
+}
@@ -0,0 +1,16 @@
+#usda 1.0
+(
+    defaultPrim = "root"
+    metersPerUnit = 1.0
+    upAxis = "Z"
+)
+
+def Cube "root" ()
+{
+  color3f[] primvars:displayColor = [(0.5, 0.5, 0.5)]
+  double size = 100
+  quatf xformOp:orient = (1, 0, 0, 0)
+  float3 xformOp:scale = (1, 1, 0.01)
+  double3 xformOp:translate = (0, 0, -0.5)
+  uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+}
@@ -0,0 +1,20 @@
+#usda 1.0
+(
+    defaultPrim = "root"
+    metersPerUnit = 1.0
+    upAxis = "Z"
+)
+
+def Cube "root" (
+    prepend apiSchemas = ["PhysicsCollisionAPI"]
+)
+{
+    double size = 100
+    bool physics:collisionEnabled = 1
+    double size = 1.0
+    quatf xformOp:orient = (1, 0, 0, 0)
+    float3 xformOp:scale = (1, 1, 0.01)
+    double3 xformOp:translate = (0, 0, -0.5)
+    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+    token visibility = "invisible"
+}
@@ -0,0 +1,27 @@
+#usda 1.0
+(
+    defaultPrim = "root"
+    upAxis = "Z"
+)
+
+def Xform "root"(
+    assetInfo = {
+        asset identifier = @./FirstCube.usda@
+        string name = "FirstCube"
+    }
+    kind = "component"
+    prepend apiSchemas = ["PhysicsRigidBodyAPI"]
+)
+{
+    def "FirstCube_geometry" (
+        prepend references = [@./FirstCube_geo.usda@]
+    )
+    {
+    }
+    def "FirstCube_collision" (
+        prepend references = [@./FirstCube_physics.usda@]
+    )
+    {
+    }
+}
+
@@ -0,0 +1,16 @@
+#usda 1.0
+(
+    defaultPrim = "root"
+    metersPerUnit = 1.0
+    upAxis = "Z"
+)
+
+def Cube "root" ()
+{
+    color3f[] primvars:displayColor = [(1.0, 0, 0)]
+    double size = 1.0
+    quatf xformOp:orient = (1, 0, 0, 0)
+    float3 xformOp:scale = (1.0, 1.0, 1.0)
+    double3 xformOp:translate = (0, 0, 0)
+    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+}
@@ -0,0 +1,23 @@
+#usda 1.0
+(
+    defaultPrim = "root"
+    metersPerUnit = 1.0
+    upAxis = "Z"
+    kilogramsPerUnit = 1.0
+)
+
+def Cube "root" (
+    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+)
+{
+    color3f[] primvars:displayColor = [(1.0, 1.0, 0)]
+    float physics:mass = 1
+    bool physics:collisionEnabled = 1
+    double size = 1.0
+    quatf xformOp:orient = (1, 0, 0, 0)
+    float3 xformOp:scale = (1.0, 1.0, 1.0)
+    double3 xformOp:translate = (0, 0, 0)
+    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+    token visibility = "invisible"
+}
+
@@ -0,0 +1,26 @@
+#usda 1.0
+(
+    defaultPrim = "root"
+    upAxis = "Z"
+)
+
+def Xform "root"(
+    assetInfo = {
+        asset identifier = @./SecondCube.usda@
+        string name = "SecondCube"
+    }
+    kind = "component"
+)
+{
+    def "SecondCube_geometry" (
+        prepend references = [@./SecondCube_geo.usda@]
+    )
+    {
+    }
+    def "SecondCube_collision" (
+        prepend references = [@./SecondCube_physics.usda@]
+    )
+    {
+    }
+}
+
@@ -0,0 +1,16 @@
+#usda 1.0
+(
+    defaultPrim = "root"
+    metersPerUnit = 1.0
+    upAxis = "Z"
+)
+
+def Cube "root" ()
+{
+    color3f[] primvars:displayColor = [(0, 0, 1)]
+    double size = 1.0
+    quatf xformOp:orient = (1, 0, 0, 0)
+    float3 xformOp:scale = (1.0, 1.0, 1.0)
+    double3 xformOp:translate = (0.0, 0, 0)
+    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+}
@@ -0,0 +1,23 @@
+#usda 1.0
+(
+    defaultPrim = "root"
+    metersPerUnit = 1.0
+    upAxis = "Z"
+    kilogramsPerUnit = 1.0
+)
+
+def Cube "root" (
+    prepend apiSchemas = ["PhysicsCollisionAPI", "PhysicsMassAPI"]
+)
+{
+    color3f[] primvars:displayColor = [(0, 1, 1)]
+    float physics:mass = 1
+    bool physics:collisionEnabled = 1
+    double size = 1.0
+    quatf xformOp:orient = (1, 0, 0, 0)
+    float3 xformOp:scale = (1.0, 1.0, 1.0)
+    double3 xformOp:translate = (0.0, 0, 0)
+    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+    token visibility = "invisible"
+}
+
@@ -0,0 +1,40 @@
+#usda 1.0
+# Two Cubes linked together with a single hinge joint at the top of the two
+# cubes.
+# USD Quaternions are WXYZ
+# X=Right, Y=Forward, Z=Up
+(
+    defaultPrim = "root"
+    upAxis = "Z"
+    metersPerUnit = 1.0
+    kilogramsPerUnit = 1.0
+    subLayers = [
+        @./TwoCubes_physics.usda@,
+    ]
+)
+
+def Xform "root"(
+    assetInfo = {
+        asset identifier = @./TwoCubes.usda@
+        string name = "TwoCubes"
+    }
+    kind = "component"
+)
+{
+    def "first_cube" (
+        prepend references = [@./FirstCube.usda@]
+    )
+    {
+    }
+
+    def "second_cube" (
+        prepend references = [@./SecondCube.usda@]
+    )
+    {
+        quatf xformOp:orient = (1, 0, 0, 0)
+        float3 xformOp:scale = (1.0, 1.0, 1.0)
+        double3 xformOp:translate = (1.0, 0, 0)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+    }
+}
+
@@ -0,0 +1,34 @@
+#usda 1.0
+(
+    defaultPrim = "root"
+    upAxis = "Z"
+    metersPerUnit = 1.0
+)
+over "root" {
+    def Scope "Joints"
+    {
+        def PhysicsJoint "two_cubes_joint" (
+            prepend apiSchemas = ["PhysicsLimitAPI", "PhysicsLimitAPI:transY", "PhysicsLimitAPI:transZ", "PhysicsLimitAPI:rotX", "PhysicsLimitAPI:rotY", "PhysicsDriveAPI:rotZ"]
+        )
+        {
+            rel physics:body0 = </root/first_cube>
+            rel physics:body1 = </root/second_cube>
+            float limit:rotX:physics:high = 0
+            float limit:rotX:physics:low = 0
+            float limit:rotY:physics:high = 0
+            float limit:rotY:physics:low = -2
+            float limit:rotZ:physics:high = 0
+            float limit:rotZ:physics:low = 0
+            float limit:transX:physics:high = 0
+            float limit:transX:physics:low = 0
+            float limit:transY:physics:high = 0
+            float limit:transY:physics:low = 0
+            float limit:transZ:physics:high = 0
+            float limit:transZ:physics:low = 0
+            point3f physics:localPos0 = (0, 1.0, 0)
+            point3f physics:localPos1 = (-0.5, 0, 0.5)
+            quatf physics:localRot0 = (1, 0, 0, 0)
+            quatf physics:localRot1 = (1, 0, 0, 0)
+        }
+    }
+}
@@ -0,0 +1,28 @@
+#usda 1.0
+(
+    defaultPrim = "root"
+    metersPerUnit = 1.0
+    upAxis = "Z"
+    kilogramsPerUnit = 1.0
+)
+
+def Xform "root"(
+    kind = "assembly"
+)
+{
+    def "Floor" (
+        prepend references = [@../floor/Floor.usda@]
+    )
+    {
+    }
+
+    def "TwoCubes" (
+        prepend references = [@../two_cubes/TwoCubes.usda@]
+    )
+    {
+        double3 xformOp:translate = (0, 0, 30.0)
+        quatf xformOp:orient = (1, 0, 0, 0)
+        float3 xformOp:scale = (1.0, 1.0, 1.0)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+    }
+}