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Fix schema naming in mjcPhysics to avoid collisions.

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PiperOrigin-RevId: 780537076
Change-Id: I4ea24162ba20d6aae10207491f9aae2250808576
This commit is contained in:
Sam Haves
2025-07-08 06:26:18 -07:00
committed by Copybara-Service
parent d464165e30
commit e507e31922
14 changed files with 99 additions and 83 deletions
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include/mujoco/experimental/usd/mjcPhysics/actuatorAPI.h
+2 -2
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@@ -35,7 +35,7 @@ PXR_NAMESPACE_OPEN_SCOPE
class SdfAssetPath;
// -------------------------------------------------------------------------- //
// PHYSICSACTUATORAPI //
// MJCACTUATORAPI //
// -------------------------------------------------------------------------- //
/// \class MjcPhysicsActuatorAPI
@@ -111,7 +111,7 @@ class MjcPhysicsActuatorAPI : public UsdAPISchemaBase {
static bool CanApply(const UsdPrim &prim, std::string *whyNot = nullptr);
/// Applies this <b>single-apply</b> API schema to the given \p prim.
/// This information is stored by adding "PhysicsActuatorAPI" to the
/// This information is stored by adding "MjcActuatorAPI" to the
/// token-valued, listOp metadata \em apiSchemas on the prim.
///
/// \return A valid MjcPhysicsActuatorAPI object is returned upon success.
include/mujoco/experimental/usd/mjcPhysics/collisionAPI.h
+2 -2
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@@ -35,7 +35,7 @@ PXR_NAMESPACE_OPEN_SCOPE
class SdfAssetPath;
// -------------------------------------------------------------------------- //
// COLLISIONAPI //
// MJCCOLLISIONAPI //
// -------------------------------------------------------------------------- //
/// \class MjcPhysicsCollisionAPI
@@ -106,7 +106,7 @@ class MjcPhysicsCollisionAPI : public UsdAPISchemaBase {
static bool CanApply(const UsdPrim &prim, std::string *whyNot = nullptr);
/// Applies this <b>single-apply</b> API schema to the given \p prim.
/// This information is stored by adding "CollisionAPI" to the
/// This information is stored by adding "MjcCollisionAPI" to the
/// token-valued, listOp metadata \em apiSchemas on the prim.
///
/// \return A valid MjcPhysicsCollisionAPI object is returned upon success.
include/mujoco/experimental/usd/mjcPhysics/jointAPI.h
+2 -2
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@@ -35,7 +35,7 @@ PXR_NAMESPACE_OPEN_SCOPE
class SdfAssetPath;
// -------------------------------------------------------------------------- //
// PHYSICSJOINTSAPI //
// MJCJOINTAPI //
// -------------------------------------------------------------------------- //
/// \class MjcPhysicsJointAPI
@@ -110,7 +110,7 @@ class MjcPhysicsJointAPI : public UsdAPISchemaBase {
static bool CanApply(const UsdPrim &prim, std::string *whyNot = nullptr);
/// Applies this <b>single-apply</b> API schema to the given \p prim.
/// This information is stored by adding "PhysicsJointsAPI" to the
/// This information is stored by adding "MjcJointAPI" to the
/// token-valued, listOp metadata \em apiSchemas on the prim.
///
/// \return A valid MjcPhysicsJointAPI object is returned upon success.
include/mujoco/experimental/usd/mjcPhysics/keyframe.h
+1 -1
View File
@@ -35,7 +35,7 @@ PXR_NAMESPACE_OPEN_SCOPE
class SdfAssetPath;
// -------------------------------------------------------------------------- //
// KEYFRAME //
// MJCKEYFRAME //
// -------------------------------------------------------------------------- //
/// \class MjcPhysicsKeyframe
include/mujoco/experimental/usd/mjcPhysics/meshCollisionAPI.h
+3 -3
View File
@@ -35,12 +35,12 @@ PXR_NAMESPACE_OPEN_SCOPE
class SdfAssetPath;
// -------------------------------------------------------------------------- //
// MESHCOLLISIONAPI //
// MJCMESHCOLLISIONAPI //
// -------------------------------------------------------------------------- //
/// \class MjcPhysicsMeshCollisionAPI
///
/// API describing a Mujoco collider.
/// API describing a Mujoco mesh collider.
///
/// For any described attribute \em Fallback \em Value or \em Allowed \em Values
/// below that are text/tokens, the actual token is published and defined in
@@ -111,7 +111,7 @@ class MjcPhysicsMeshCollisionAPI : public UsdAPISchemaBase {
static bool CanApply(const UsdPrim &prim, std::string *whyNot = nullptr);
/// Applies this <b>single-apply</b> API schema to the given \p prim.
/// This information is stored by adding "MeshCollisionAPI" to the
/// This information is stored by adding "MjcMeshCollisionAPI" to the
/// token-valued, listOp metadata \em apiSchemas on the prim.
///
/// \return A valid MjcPhysicsMeshCollisionAPI object is returned upon
include/mujoco/experimental/usd/mjcPhysics/sceneAPI.h
+2 -2
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@@ -35,7 +35,7 @@ PXR_NAMESPACE_OPEN_SCOPE
class SdfAssetPath;
// -------------------------------------------------------------------------- //
// SCENEAPI //
// MJCSCENEAPI //
// -------------------------------------------------------------------------- //
/// \class MjcPhysicsSceneAPI
@@ -110,7 +110,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
static bool CanApply(const UsdPrim &prim, std::string *whyNot = nullptr);
/// Applies this <b>single-apply</b> API schema to the given \p prim.
/// This information is stored by adding "SceneAPI" to the
/// This information is stored by adding "MjcSceneAPI" to the
/// token-valued, listOp metadata \em apiSchemas on the prim.
///
/// \return A valid MjcPhysicsSceneAPI object is returned upon success.
include/mujoco/experimental/usd/mjcPhysics/siteAPI.h
+2 -2
View File
@@ -34,7 +34,7 @@ PXR_NAMESPACE_OPEN_SCOPE
class SdfAssetPath;
// -------------------------------------------------------------------------- //
// SITEAPI //
// MJCSITEAPI //
// -------------------------------------------------------------------------- //
/// \class MjcPhysicsSiteAPI
@@ -104,7 +104,7 @@ class MjcPhysicsSiteAPI : public UsdAPISchemaBase {
static bool CanApply(const UsdPrim &prim, std::string *whyNot = nullptr);
/// Applies this <b>single-apply</b> API schema to the given \p prim.
/// This information is stored by adding "SiteAPI" to the
/// This information is stored by adding "MjcSiteAPI" to the
/// token-valued, listOp metadata \em apiSchemas on the prim.
///
/// \return A valid MjcPhysicsSiteAPI object is returned upon success.
include/mujoco/experimental/usd/mjcPhysics/tokens.h
+20 -20
View File
@@ -573,34 +573,34 @@ struct MjcPhysicsTokensType {
/// value for MjcPhysicsActuatorAPI::GetMjcDynTypeAttr(), Possible value for
/// MjcPhysicsActuatorAPI::GetMjcGainTypeAttr()
const TfToken user;
/// \brief "CollisionAPI"
///
/// Schema identifier and family for MjcPhysicsCollisionAPI
const TfToken CollisionAPI;
/// \brief "Keyframe"
///
/// Schema identifier and family for MjcPhysicsKeyframe
const TfToken Keyframe;
/// \brief "MeshCollisionAPI"
///
/// Schema identifier and family for MjcPhysicsMeshCollisionAPI
const TfToken MeshCollisionAPI;
/// \brief "PhysicsActuatorAPI"
/// \brief "MjcActuatorAPI"
///
/// Schema identifier and family for MjcPhysicsActuatorAPI
const TfToken PhysicsActuatorAPI;
/// \brief "PhysicsJointsAPI"
const TfToken MjcActuatorAPI;
/// \brief "MjcCollisionAPI"
///
/// Schema identifier and family for MjcPhysicsCollisionAPI
const TfToken MjcCollisionAPI;
/// \brief "MjcJointAPI"
///
/// Schema identifier and family for MjcPhysicsJointAPI
const TfToken PhysicsJointsAPI;
/// \brief "SceneAPI"
const TfToken MjcJointAPI;
/// \brief "MjcKeyframe"
///
/// Schema identifier and family for MjcPhysicsKeyframe
const TfToken MjcKeyframe;
/// \brief "MjcMeshCollisionAPI"
///
/// Schema identifier and family for MjcPhysicsMeshCollisionAPI
const TfToken MjcMeshCollisionAPI;
/// \brief "MjcSceneAPI"
///
/// Schema identifier and family for MjcPhysicsSceneAPI
const TfToken SceneAPI;
/// \brief "SiteAPI"
const TfToken MjcSceneAPI;
/// \brief "MjcSiteAPI"
///
/// Schema identifier and family for MjcPhysicsSiteAPI
const TfToken SiteAPI;
const TfToken MjcSiteAPI;
/// A vector of all of the tokens listed above.
const std::vector<TfToken> allTokens;
};
src/experimental/usd/mjcPhysics/generatedSchema.usda
+8 -8
View File
@@ -3,7 +3,7 @@
"WARNING: THIS FILE IS GENERATED BY usdGenSchema. DO NOT EDIT."
)
class "SceneAPI" (
class "MjcSceneAPI" (
doc = "API providing global simulation options for Mujoco."
)
{
@@ -220,13 +220,13 @@ class "SceneAPI" (
)
}
class "SiteAPI" (
class "MjcSiteAPI" (
doc = "API describing a Mujoco site."
)
{
}
class "CollisionAPI" (
class "MjcCollisionAPI" (
doc = "API describing a Mujoco collider."
)
{
@@ -236,8 +236,8 @@ class "CollisionAPI" (
)
}
class "MeshCollisionAPI" (
doc = "API describing a Mujoco collider."
class "MjcMeshCollisionAPI" (
doc = "API describing a Mujoco mesh collider."
)
{
uniform token mjc:inertia = "legacy" (
@@ -247,7 +247,7 @@ class "MeshCollisionAPI" (
)
}
class "PhysicsActuatorAPI" (
class "MjcActuatorAPI" (
doc = "API describing a Mujoco actuator."
)
{
@@ -331,7 +331,7 @@ class "PhysicsActuatorAPI" (
)
}
class Keyframe "Keyframe" (
class MjcKeyframe "MjcKeyframe" (
doc = "Represents time independent keyframe values."
)
{
@@ -355,7 +355,7 @@ class Keyframe "Keyframe" (
)
}
class "PhysicsJointsAPI" (
class "MjcJointAPI" (
doc = "API describing a Mujoco joint."
)
{
src/experimental/usd/mjcPhysics/keyframe.cpp
+3 -3
View File
@@ -27,10 +27,10 @@ TF_REGISTRY_FUNCTION(TfType) {
// Register the usd prim typename as an alias under UsdSchemaBase. This
// enables one to call
// TfType::Find<UsdSchemaBase>().FindDerivedByName("Keyframe")
// TfType::Find<UsdSchemaBase>().FindDerivedByName("MjcKeyframe")
// to find TfType<MjcPhysicsKeyframe>, which is how IsA queries are
// answered.
TfType::AddAlias<UsdSchemaBase, MjcPhysicsKeyframe>("Keyframe");
TfType::AddAlias<UsdSchemaBase, MjcPhysicsKeyframe>("MjcKeyframe");
}
/* virtual */
@@ -49,7 +49,7 @@ MjcPhysicsKeyframe MjcPhysicsKeyframe::Get(const UsdStagePtr &stage,
/* static */
MjcPhysicsKeyframe MjcPhysicsKeyframe::Define(const UsdStagePtr &stage,
const SdfPath &path) {
static TfToken usdPrimTypeName("Keyframe");
static TfToken usdPrimTypeName("MjcKeyframe");
if (!stage) {
TF_CODING_ERROR("Invalid stage");
return MjcPhysicsKeyframe();
src/experimental/usd/mjcPhysics/plugInfo.json
+7 -7
View File
@@ -5,7 +5,7 @@
"Types": {
"MjcPhysicsActuatorAPI": {
"alias": {
"UsdSchemaBase": "PhysicsActuatorAPI"
"UsdSchemaBase": "MjcActuatorAPI"
},
"autoGenerated": true,
"bases": [
@@ -15,7 +15,7 @@
},
"MjcPhysicsCollisionAPI": {
"alias": {
"UsdSchemaBase": "CollisionAPI"
"UsdSchemaBase": "MjcCollisionAPI"
},
"autoGenerated": true,
"bases": [
@@ -25,7 +25,7 @@
},
"MjcPhysicsJointAPI": {
"alias": {
"UsdSchemaBase": "PhysicsJointsAPI"
"UsdSchemaBase": "MjcJointAPI"
},
"autoGenerated": true,
"bases": [
@@ -35,7 +35,7 @@
},
"MjcPhysicsKeyframe": {
"alias": {
"UsdSchemaBase": "Keyframe"
"UsdSchemaBase": "MjcKeyframe"
},
"autoGenerated": true,
"bases": [
@@ -45,7 +45,7 @@
},
"MjcPhysicsMeshCollisionAPI": {
"alias": {
"UsdSchemaBase": "MeshCollisionAPI"
"UsdSchemaBase": "MjcMeshCollisionAPI"
},
"autoGenerated": true,
"bases": [
@@ -55,7 +55,7 @@
},
"MjcPhysicsSceneAPI": {
"alias": {
"UsdSchemaBase": "SceneAPI"
"UsdSchemaBase": "MjcSceneAPI"
},
"autoGenerated": true,
"bases": [
@@ -65,7 +65,7 @@
},
"MjcPhysicsSiteAPI": {
"alias": {
"UsdSchemaBase": "SiteAPI"
"UsdSchemaBase": "MjcSiteAPI"
},
"autoGenerated": true,
"bases": [
src/experimental/usd/mjcPhysics/schema.usda
+24 -8
View File
@@ -9,6 +9,7 @@ over "GLOBAL" (
customData = {
string libraryName = "mjcPhysics"
string libraryPath = "."
string libraryPrefix = "MjcPhysics"
bool useLiteralIdentifier = 0
dictionary libraryTokens = {
dictionary euler = {
@@ -92,8 +93,11 @@ over "GLOBAL" (
}
class "SceneAPI"
class "MjcSceneAPI"
(
customData = {
string className = "SceneAPI"
}
doc = """API providing global simulation options for Mujoco."""
inherits = </APISchemaBase>
@@ -507,16 +511,22 @@ class "SceneAPI"
)
}
class "SiteAPI"
class "MjcSiteAPI"
(
customData = {
string className = "SiteAPI"
}
doc = """API describing a Mujoco site."""
inherits = </APISchemaBase>
)
{}
class "CollisionAPI"
class "MjcCollisionAPI"
(
customData = {
string className = "CollisionAPI"
}
doc = """API describing a Mujoco collider."""
inherits = </APISchemaBase>
@@ -531,9 +541,12 @@ class "CollisionAPI"
)
}
class "MeshCollisionAPI"
class "MjcMeshCollisionAPI"
(
doc = """API describing a Mujoco collider."""
customData = {
string className = "MeshCollisionAPI"
}
doc = """API describing a Mujoco mesh collider."""
inherits = </APISchemaBase>
)
@@ -548,7 +561,7 @@ class "MeshCollisionAPI"
)
}
class "PhysicsActuatorAPI"
class "MjcActuatorAPI"
(
customData = {
string className = "ActuatorAPI"
@@ -663,8 +676,11 @@ class "PhysicsActuatorAPI"
}
class Keyframe "Keyframe"
class MjcKeyframe "MjcKeyframe"
(
customData = {
string className = "Keyframe"
}
doc = """Represents time independent keyframe values."""
inherits = </Typed>
@@ -695,7 +711,7 @@ class Keyframe "Keyframe"
)
}
class "PhysicsJointsAPI"
class "MjcJointAPI"
(
customData = {
string className = "JointAPI"
src/experimental/usd/mjcPhysics/tokens.cpp
+14 -14
View File
@@ -143,13 +143,13 @@ MjcPhysicsTokensType::MjcPhysicsTokensType()
sparse("sparse", TfToken::Immortal),
true_("true", TfToken::Immortal),
user("user", TfToken::Immortal),
CollisionAPI("CollisionAPI", TfToken::Immortal),
Keyframe("Keyframe", TfToken::Immortal),
MeshCollisionAPI("MeshCollisionAPI", TfToken::Immortal),
PhysicsActuatorAPI("PhysicsActuatorAPI", TfToken::Immortal),
PhysicsJointsAPI("PhysicsJointsAPI", TfToken::Immortal),
SceneAPI("SceneAPI", TfToken::Immortal),
SiteAPI("SiteAPI", TfToken::Immortal),
MjcActuatorAPI("MjcActuatorAPI", TfToken::Immortal),
MjcCollisionAPI("MjcCollisionAPI", TfToken::Immortal),
MjcJointAPI("MjcJointAPI", TfToken::Immortal),
MjcKeyframe("MjcKeyframe", TfToken::Immortal),
MjcMeshCollisionAPI("MjcMeshCollisionAPI", TfToken::Immortal),
MjcSceneAPI("MjcSceneAPI", TfToken::Immortal),
MjcSiteAPI("MjcSiteAPI", TfToken::Immortal),
allTokens({affine,
auto_,
cg,
@@ -273,13 +273,13 @@ MjcPhysicsTokensType::MjcPhysicsTokensType()
sparse,
true_,
user,
CollisionAPI,
Keyframe,
MeshCollisionAPI,
PhysicsActuatorAPI,
PhysicsJointsAPI,
SceneAPI,
SiteAPI}) {}
MjcActuatorAPI,
MjcCollisionAPI,
MjcJointAPI,
MjcKeyframe,
MjcMeshCollisionAPI,
MjcSceneAPI,
MjcSiteAPI}) {}
TfStaticData<MjcPhysicsTokensType> MjcPhysicsTokens;
src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
+9 -9
View File
@@ -347,7 +347,7 @@ class ModelWriter {
mesh_paths_[*mjs_getName(mesh->element)] = subcomponent_path;
if (write_physics_) {
ApplyApiSchema(data_, mesh_path, MjcPhysicsTokens->MeshCollisionAPI);
ApplyApiSchema(data_, mesh_path, MjcPhysicsTokens->MjcMeshCollisionAPI);
pxr::TfToken inertia = MjcPhysicsTokens->legacy;
if (mesh->inertia == mjtMeshInertia::mjMESH_INERTIA_EXACT) {
@@ -464,7 +464,7 @@ class ModelWriter {
data_, body_paths_[kWorldIndex], pxr::UsdPhysicsTokens->PhysicsScene,
pxr::UsdPhysicsTokens->PhysicsScene);
ApplyApiSchema(data_, physics_scene_path, MjcPhysicsTokens->SceneAPI);
ApplyApiSchema(data_, physics_scene_path, MjcPhysicsTokens->MjcSceneAPI);
const std::vector<std::pair<pxr::TfToken, double>>
option_double_attributes = {
@@ -955,11 +955,11 @@ class ModelWriter {
return;
}
const auto keyframe_name = pxr::TfToken(pxr::TfMakeValidIdentifier(
name.empty() ? MjcPhysicsTokens->Keyframe : name));
name.empty() ? MjcPhysicsTokens->MjcKeyframe : name));
pxr::SdfPath keyframe_path = parent_path.AppendChild(keyframe_name);
if (!data_->HasSpec(keyframe_path)) {
CreatePrimSpec(data_, parent_path, keyframe_name,
pxr::MjcPhysicsTokens->Keyframe);
pxr::MjcPhysicsTokens->MjcKeyframe);
}
auto set_attribute_data = [&](const pxr::SdfPath &attr_path,
const pxr::VtDoubleArray &value,
@@ -1029,7 +1029,7 @@ class ModelWriter {
mjsKey *keyframe = mjs_asKey(mjs_firstElement(spec_, mjOBJ_KEY));
while (keyframe) {
std::string keyframe_name = mjs_getName(keyframe->element)->empty()
? MjcPhysicsTokens->Keyframe
? kTokens->keyframe
: *mjs_getName(keyframe->element);
keyframes_map[keyframe_name].push_back(keyframe);
keyframe = mjs_asKey(mjs_nextElement(spec_, keyframe->element));
@@ -1063,7 +1063,7 @@ class ModelWriter {
}
ApplyApiSchema(data_, transmission_path,
MjcPhysicsTokens->PhysicsActuatorAPI);
MjcPhysicsTokens->MjcActuatorAPI);
if (!actuator->refsite->empty()) {
int refsite_id =
@@ -1438,7 +1438,7 @@ class ModelWriter {
pxr::SdfPath site_path = WriteSiteGeom(site, body_path);
SetPrimPurpose(data_, site_path, pxr::UsdGeomTokens->guide);
ApplyApiSchema(data_, site_path, MjcPhysicsTokens->SiteAPI);
ApplyApiSchema(data_, site_path, MjcPhysicsTokens->MjcSiteAPI);
int site_id = mjs_getId(site->element);
auto transform = MujocoPosQuatToTransform(&model_->site_pos[3 * site_id],
@@ -1491,7 +1491,7 @@ class ModelWriter {
model_->geom_conaffinity[geom_id] != 0)) {
ApplyApiSchema(data_, geom_path,
pxr::UsdPhysicsTokens->PhysicsCollisionAPI);
ApplyApiSchema(data_, geom_path, MjcPhysicsTokens->CollisionAPI);
ApplyApiSchema(data_, geom_path, MjcPhysicsTokens->MjcCollisionAPI);
WriteUniformAttribute(
geom_path, pxr::SdfValueTypeNames->Bool,
@@ -1834,7 +1834,7 @@ class ModelWriter {
}
// Finally write the mjcPhysicsJointAPI attributes.
ApplyApiSchema(data_, joint_path, MjcPhysicsTokens->PhysicsJointsAPI);
ApplyApiSchema(data_, joint_path, MjcPhysicsTokens->MjcJointAPI);
WriteUniformAttribute(
joint_path, pxr::SdfValueTypeNames->DoubleArray,