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Add missing attributes to MjcCollisionAPI USD schema.

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PiperOrigin-RevId: 783006362
Change-Id: I02d51190d62bb9460863025cd16360427afc70c4
This commit is contained in:
Sam Haves
2025-07-14 12:44:54 -07:00
committed by Copybara-Service
parent ef013a0633
commit e441868dad
9 changed files with 502 additions and 18 deletions
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src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
+38 -14
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@@ -761,8 +761,7 @@ class ModelWriter {
ApplyApiSchema(data_, material_path,
pxr::UsdPhysicsTokens->PhysicsMaterialAPI);
ApplyApiSchema(data_, material_path,
MjcPhysicsTokens->MjcMaterialAPI);
ApplyApiSchema(data_, material_path, MjcPhysicsTokens->MjcMaterialAPI);
mjsGeom *geom_default = mjs_getDefault(geom->element)->geom;
if (geom->friction[0] != geom_default->friction[0]) {
@@ -1094,8 +1093,7 @@ class ModelWriter {
}
}
void WriteActuator(mjsActuator *actuator,
const pxr::SdfPath &parent_path) {
void WriteActuator(mjsActuator *actuator, const pxr::SdfPath &parent_path) {
pxr::TfToken valid_name = GetValidPrimName(*mjs_getName(actuator->element));
pxr::SdfPath actuator_path = parent_path.AppendChild(valid_name);
if (!data_->HasSpec(actuator_path)) {
@@ -1121,9 +1119,8 @@ class ModelWriter {
return;
}
CreateRelationshipSpec(data_, actuator_path,
MjcPhysicsTokens->mjcTarget, target_path,
pxr::SdfVariabilityUniform);
CreateRelationshipSpec(data_, actuator_path, MjcPhysicsTokens->mjcTarget,
target_path, pxr::SdfVariabilityUniform);
WriteUniformAttribute(actuator_path, pxr::SdfValueTypeNames->Int,
MjcPhysicsTokens->mjcGroup, actuator->group);
@@ -1132,9 +1129,8 @@ class ModelWriter {
int refsite_id =
mj_name2id(model_, mjOBJ_SITE, actuator->refsite->c_str());
pxr::SdfPath refsite_path = site_paths_[refsite_id];
CreateRelationshipSpec(data_, actuator_path,
MjcPhysicsTokens->mjcRefSite, refsite_path,
pxr::SdfVariabilityUniform);
CreateRelationshipSpec(data_, actuator_path, MjcPhysicsTokens->mjcRefSite,
refsite_path, pxr::SdfVariabilityUniform);
}
if (!actuator->slidersite->empty()) {
@@ -1158,8 +1154,8 @@ class ModelWriter {
} else if (value == mjLIMITED_FALSE) {
limited_token = pxr::MjcPhysicsTokens->false_;
}
WriteUniformAttribute(actuator_path, pxr::SdfValueTypeNames->Token,
token, limited_token);
WriteUniformAttribute(actuator_path, pxr::SdfValueTypeNames->Token, token,
limited_token);
}
const std::vector<std::pair<pxr::TfToken, double>>
@@ -1248,8 +1244,8 @@ class ModelWriter {
void WriteActuators() {
pxr::SdfPath scope_path =
CreatePrimSpec(data_, body_paths_[kWorldIndex],
kTokens->actuatorsScope, pxr::UsdGeomTokens->Scope);
CreatePrimSpec(data_, body_paths_[kWorldIndex], kTokens->actuatorsScope,
pxr::UsdGeomTokens->Scope);
mjsActuator *actuator =
mjs_asActuator(mjs_firstElement(spec_, mjOBJ_ACTUATOR));
while (actuator) {
@@ -1570,6 +1566,34 @@ class ModelWriter {
MjcPhysicsTokens->mjcShellinertia,
geom->typeinertia == mjtGeomInertia::mjINERTIA_SHELL);
WriteUniformAttribute(geom_path, pxr::SdfValueTypeNames->Int,
MjcPhysicsTokens->mjcPriority, geom->priority);
WriteUniformAttribute(geom_path, pxr::SdfValueTypeNames->Int,
MjcPhysicsTokens->mjcCondim, geom->condim);
WriteUniformAttribute(geom_path, pxr::SdfValueTypeNames->Double,
MjcPhysicsTokens->mjcSolmix, geom->solmix);
WriteUniformAttribute(geom_path, pxr::SdfValueTypeNames->Double,
MjcPhysicsTokens->mjcSolmix, geom->solmix);
WriteUniformAttribute(
geom_path, pxr::SdfValueTypeNames->DoubleArray,
MjcPhysicsTokens->mjcSolref,
pxr::VtArray<double>(geom->solref, geom->solref + mjNREF));
WriteUniformAttribute(
geom_path, pxr::SdfValueTypeNames->DoubleArray,
MjcPhysicsTokens->mjcSolimp,
pxr::VtArray<double>(geom->solimp, geom->solimp + mjNIMP));
WriteUniformAttribute(geom_path, pxr::SdfValueTypeNames->Double,
MjcPhysicsTokens->mjcMargin, geom->margin);
WriteUniformAttribute(geom_path, pxr::SdfValueTypeNames->Double,
MjcPhysicsTokens->mjcGap, geom->gap);
if (geom->mass >= mjMINVAL || geom->density >= mjMINVAL) {
ApplyApiSchema(data_, geom_path, pxr::UsdPhysicsTokens->PhysicsMassAPI);
}