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Fix authoring type mismatch for geoms sizes attributes.

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Fixes wrong sizes being displayed in usdview.
Also introduce a new test to ensure we catch as many of those kinds of errors as possible in the future.

PiperOrigin-RevId: 764388588
Change-Id: Id3c878edd054fe5272c42c9f960c65c850655559
This commit is contained in:
Robin Alazard
2025-05-28 13:19:06 -07:00
committed by Copybara-Service
parent 287f46b220
commit fc69ef1084
4 changed files with 91 additions and 13 deletions
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src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
+13 -13
View File
@@ -820,7 +820,7 @@ class ModelWriter {
// MuJoCo uses half sizes.
pxr::SdfPath size_attr_path =
CreateAttributeSpec(data_, box_path, pxr::UsdGeomTokens->size,
pxr::SdfValueTypeNames->Float);
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);
@@ -857,14 +857,14 @@ class ModelWriter {
pxr::SdfPath radius_attr_path =
CreateAttributeSpec(data_, capsule_path, pxr::UsdGeomTokens->radius,
pxr::SdfValueTypeNames->Float);
SetAttributeDefault(data_, radius_attr_path, size[0]);
pxr::SdfValueTypeNames->Double);
SetAttributeDefault(data_, radius_attr_path, (double)size[0]);
pxr::SdfPath height_attr_path =
CreateAttributeSpec(data_, capsule_path, pxr::UsdGeomTokens->height,
pxr::SdfValueTypeNames->Float);
pxr::SdfValueTypeNames->Double);
// MuJoCo uses half sizes.
SetAttributeDefault(data_, height_attr_path, size[1] * 2);
SetAttributeDefault(data_, height_attr_path, (double)(size[1] * 2));
return capsule_path;
}
@@ -885,14 +885,14 @@ class ModelWriter {
pxr::SdfPath radius_attr_path =
CreateAttributeSpec(data_, cylinder_path, pxr::UsdGeomTokens->radius,
pxr::SdfValueTypeNames->Float);
SetAttributeDefault(data_, radius_attr_path, size[0]);
pxr::SdfValueTypeNames->Double);
SetAttributeDefault(data_, radius_attr_path, (double)size[0]);
pxr::SdfPath height_attr_path =
CreateAttributeSpec(data_, cylinder_path, pxr::UsdGeomTokens->height,
pxr::SdfValueTypeNames->Float);
pxr::SdfValueTypeNames->Double);
// MuJoCo uses half sizes.
SetAttributeDefault(data_, height_attr_path, size[1] * 2);
SetAttributeDefault(data_, height_attr_path, (double)(size[1] * 2));
return cylinder_path;
}
@@ -917,8 +917,8 @@ class ModelWriter {
pxr::SdfPath radius_attr_path =
CreateAttributeSpec(data_, ellipsoid_path, pxr::UsdGeomTokens->radius,
pxr::SdfValueTypeNames->Float);
SetAttributeDefault(data_, radius_attr_path, 1.0f);
pxr::SdfValueTypeNames->Double);
SetAttributeDefault(data_, radius_attr_path, 1.0);
WriteScaleXformOp(ellipsoid_path, scale);
WriteXformOpOrder(ellipsoid_path,
@@ -943,8 +943,8 @@ class ModelWriter {
pxr::SdfPath radius_attr_path =
CreateAttributeSpec(data_, sphere_path, pxr::UsdGeomTokens->radius,
pxr::SdfValueTypeNames->Float);
SetAttributeDefault(data_, radius_attr_path, size[0]);
pxr::SdfValueTypeNames->Double);
SetAttributeDefault(data_, radius_attr_path, (double)size[0]);
return sphere_path;
}