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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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src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
+9 -9
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@@ -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,