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Fix wrong extent authoring for Cube.

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PiperOrigin-RevId: 779230125
Change-Id: I96c3d5daa7a760cd87a714a14ea74a15faf3d7db
This commit is contained in:
Robin Alazard
2025-07-04 10:38:41 -07:00
committed by Copybara-Service
parent 21a852504c
commit e69b6cc5f3
2 changed files with 35 additions and 28 deletions
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src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
+32 -27
View File
@@ -337,8 +337,8 @@ class ModelWriter {
}
void WriteMesh(const mjsMesh *mesh, const pxr::SdfPath &parent_path) {
auto name = GetAvailablePrimName(*mjs_getName(mesh->element), pxr::UsdGeomTokens->Mesh,
parent_path);
auto name = GetAvailablePrimName(*mjs_getName(mesh->element),
pxr::UsdGeomTokens->Mesh, parent_path);
pxr::SdfPath subcomponent_path =
CreatePrimSpec(data_, parent_path, name, pxr::UsdGeomTokens->Xform);
pxr::SdfPath mesh_path =
@@ -967,44 +967,50 @@ class ModelWriter {
pxr::SdfPath qpos_attr_path =
CreateAttributeSpec(data_, keyframe_path, MjcPhysicsTokens->mjcQpos,
pxr::SdfValueTypeNames->DoubleArray);
set_attribute_data(qpos_attr_path,
pxr::VtDoubleArray(keyframe->qpos->begin(),
keyframe->qpos->end()), keyframe);
set_attribute_data(
qpos_attr_path,
pxr::VtDoubleArray(keyframe->qpos->begin(), keyframe->qpos->end()),
keyframe);
pxr::SdfPath qvel_attr_path =
CreateAttributeSpec(data_, keyframe_path, MjcPhysicsTokens->mjcQvel,
pxr::SdfValueTypeNames->DoubleArray);
set_attribute_data(qvel_attr_path,
pxr::VtDoubleArray(keyframe->qvel->begin(),
keyframe->qvel->end()), keyframe);
set_attribute_data(
qvel_attr_path,
pxr::VtDoubleArray(keyframe->qvel->begin(), keyframe->qvel->end()),
keyframe);
pxr::SdfPath act_attr_path =
CreateAttributeSpec(data_, keyframe_path, MjcPhysicsTokens->mjcAct,
pxr::SdfValueTypeNames->DoubleArray);
set_attribute_data(act_attr_path,
pxr::VtDoubleArray(keyframe->act->begin(),
keyframe->act->end()), keyframe);
set_attribute_data(
act_attr_path,
pxr::VtDoubleArray(keyframe->act->begin(), keyframe->act->end()),
keyframe);
pxr::SdfPath ctrl_attr_path =
CreateAttributeSpec(data_, keyframe_path, MjcPhysicsTokens->mjcCtrl,
pxr::SdfValueTypeNames->DoubleArray);
set_attribute_data(ctrl_attr_path,
pxr::VtDoubleArray(keyframe->ctrl->begin(),
keyframe->ctrl->end()), keyframe);
set_attribute_data(
ctrl_attr_path,
pxr::VtDoubleArray(keyframe->ctrl->begin(), keyframe->ctrl->end()),
keyframe);
pxr::SdfPath mpos_attr_path =
CreateAttributeSpec(data_, keyframe_path, MjcPhysicsTokens->mjcMpos,
pxr::SdfValueTypeNames->DoubleArray);
set_attribute_data(mpos_attr_path,
pxr::VtDoubleArray(keyframe->mpos->begin(),
keyframe->mpos->end()), keyframe);
set_attribute_data(
mpos_attr_path,
pxr::VtDoubleArray(keyframe->mpos->begin(), keyframe->mpos->end()),
keyframe);
pxr::SdfPath mquat_attr_path =
CreateAttributeSpec(data_, keyframe_path, MjcPhysicsTokens->mjcMquat,
pxr::SdfValueTypeNames->DoubleArray);
set_attribute_data(mquat_attr_path,
pxr::VtDoubleArray(keyframe->mquat->begin(),
keyframe->mquat->end()), keyframe);
set_attribute_data(
mquat_attr_path,
pxr::VtDoubleArray(keyframe->mquat->begin(), keyframe->mquat->end()),
keyframe);
}
}
@@ -1235,23 +1241,22 @@ class ModelWriter {
const pxr::SdfPath &body_path) {
pxr::SdfPath box_path =
CreatePrimSpec(data_, body_path, name, pxr::UsdGeomTokens->Cube);
// MuJoCo uses half sizes.
// MuJoCo uses half sizes. Always set size to 2 (and correspondingly extent
// from -1 to 1), and let scale determine the actual size.
pxr::SdfPath size_attr_path =
CreateAttributeSpec(data_, box_path, pxr::UsdGeomTokens->size,
pxr::SdfValueTypeNames->Double);
pxr::GfVec3f scale(static_cast<float>(size[0]), static_cast<float>(size[1]),
static_cast<float>(size[2]));
SetAttributeDefault(data_, size_attr_path, 2.0);
pxr::SdfPath extent_attr_path =
CreateAttributeSpec(data_, box_path, pxr::UsdGeomTokens->extent,
pxr::SdfValueTypeNames->Float3Array);
SetAttributeDefault(data_, extent_attr_path,
pxr::VtArray<pxr::GfVec3f>({
pxr::GfVec3f(-size[0], -size[1], -size[2]),
pxr::GfVec3f(size[0], size[1], size[2]),
}));
pxr::VtArray<pxr::GfVec3f>(
{pxr::GfVec3f(-1, -1, -1), pxr::GfVec3f(1, 1, 1)}));
pxr::GfVec3f scale(static_cast<float>(size[0]), static_cast<float>(size[1]),
static_cast<float>(size[2]));
WriteScaleXformOp(box_path, scale);
WriteXformOpOrder(box_path,
pxr::VtArray<pxr::TfToken>{kTokens->xformOpScale});
test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
+3 -1
View File
@@ -619,8 +619,10 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestGeomsPrims) {
EXPECT_PRIM_VALID(stage, "/test/box_geom");
EXPECT_PRIM_IS_A(stage, "/test/box_geom", pxr::UsdGeomCube);
// Box is a special case, it uses a UsdGeomCube and scales it with
// xformOp:scale. The radius is always set to 2.
// xformOp:scale. The radius is always set to 2 and the extent from -1 to 1.
ExpectAttributeEqual(stage, "/test/box_geom.size", 2.0);
ExpectAttributeEqual(stage, "/test/box_geom.extent",
pxr::VtArray<pxr::GfVec3f>({{-1, -1, -1}, {1, 1, 1}}));
ExpectAttributeEqual(stage, "/test/box_geom.xformOp:scale",
pxr::GfVec3f(10.0, 20.0, 30.0));
// Sphere