c2820941aa
Convert UsdPhysicsRevoluteJoint from degres to radians if compiler option is set.
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PiperOrigin-RevId: 784574716
Change-Id: I58f65816edb782fcb41bbc721f7bed5a27741639
2025-07-18 07:18:17 -07:00
46b713ef2d
Remove pedantic designated initializers in USD parsing.
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PiperOrigin-RevId: 784544836
Change-Id: Ie36136b2a0b8105ccb4a4679883120638ec80699
2025-07-18 05:10:12 -07:00
e92ce30732
Account for scale authored on UsdMesh prims.
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PiperOrigin-RevId: 784231423
Change-Id: I82b363c6c40940982ebeb0b1949e0e1e8f92199d
2025-07-17 10:29:31 -07:00
c597434fc9
When UsdCollisionAPI is applied but collisionEnabled is false, treat it as a visual gprim.
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PiperOrigin-RevId: 784219782
Change-Id: If87e1cd7e1cc10b27a3d432585466e3aece71d26
2025-07-17 09:59:37 -07:00
f5df466ee5
Add support for visual gprims to USD parsing.
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PiperOrigin-RevId: 784197335
Change-Id: I8eb155b7942209f372487f8268ad76310cf510ac
2025-07-17 08:51:50 -07:00
2e13c64308
Simplify parsing from USD stage to kinematic tree for mjSpec population.
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Summary of changes:
- Move stage parsing from usd_to_mjspec to kinematic_tree
- A Node now has lists of paths for prims that we support parsing.
- When parsing the stage, we create a list of all the Nodes that we will place in our tree.
- Removed the need for expensive SdfPath maps and sorting of bodies in favor of indexed integer arrays.
- Simplifies usd_to_mjspec parsing as we can process each node and it's owned prims one at a time.
PiperOrigin-RevId: 784187799
Change-Id: I4907cfa1137014af21c45b10fa29ac53a49b6dac
2025-07-17 08:20:10 -07:00
3cc8d7f58a
Fix typo in mjcPhysics MjcMaterialAPI
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PiperOrigin-RevId: 783750052
Change-Id: Ib829ae7ead7a33572e94ee0fe221da778b623f10
2025-07-16 07:31:09 -07:00
6144a508b5
In Mujoco USD interop, only consider dynamic friction when writing to and parsing from USD.
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PiperOrigin-RevId: 783741987
Change-Id: I23c47a6e95c160c5c7d5c513e268c79e4236e2e4
2025-07-16 07:00:18 -07:00
b99d9e8f12
Fix inherit range pulling from act early attribute when parsing USD to MjSpec.
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PiperOrigin-RevId: 783735573
Change-Id: I988f16cd16e47caa84a30009c36a932ec3672429
2025-07-16 06:35:10 -07:00
ac0701d582
Add mujoco compiler settings to MjcSceneAPI in mjcPhysics.
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PiperOrigin-RevId: 783729333
Change-Id: Ic1c3e4fb47a901de4eebdc2e987d276f4202d9ed
2025-07-16 06:09:36 -07:00
cdf5bcb693
Add inheritrange attribute to mjcPhysics MjcActuator
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PiperOrigin-RevId: 783363012
Change-Id: I7d0476aae70c3acc3ed4808a8741b7eb12948dba
2025-07-15 09:30:16 -07:00
e441868dad
Add missing attributes to MjcCollisionAPI USD schema.
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PiperOrigin-RevId: 783006362
Change-Id: I02d51190d62bb9460863025cd16360427afc70c4
2025-07-14 12:47:24 -07:00
92bcbeb5d3
Add support for UsdPhysicsMaterialAPI and create MjcMaterialAPI for missing attributes.
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PiperOrigin-RevId: 782942169
Change-Id: I344b5e47d1d63c9d4e50173cb6a96d0af177ec9e
2025-07-14 09:53:13 -07:00
11e695b4c2
Rename MjcTransmission to MjcActuator in mjcPhysics schema.
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PiperOrigin-RevId: 782352356
Change-Id: I4b74e3131b0fed925c506742c22038231f848909
2025-07-12 09:39:01 -07:00
3473e4e451
Add group support to mjcPhysics equivalents for sites, geoms, actuators, and joints.
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PiperOrigin-RevId: 781945497
Change-Id: I5c409f05e6bae33c181a51c273f260daea6004fc
2025-07-11 05:37:41 -07:00
723960a1f3
Fix plane size
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Mujoco uses half-sizes so we must divide USD sizes by 2.
Also added a test for geom primitive sizes.
PiperOrigin-RevId: 781595650
Change-Id: If8a84dd942905c367590eafffac61cc23b1c407d
2025-07-10 10:45:43 -07:00
1f8f3a5004
Add capsule axis rotation for USD->MJ.
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PiperOrigin-RevId: 781546484
Change-Id: Ie6613de8faac406664ca22cb246fe7db2a728317
2025-07-10 08:32:07 -07:00
1bb6391d9c
Replace SetRotateInto with pxr::GfRotation(from, to) constructor directly
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Also remove duplicate line with no effect
PiperOrigin-RevId: 781540954
Change-Id: I1e161c2ed0b6e3209697c9551ad30e3371e44865
2025-07-10 08:14:32 -07:00
fbea72d767
Remove MjcActuatorAPI in favor of typed MjcTransmission.
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PiperOrigin-RevId: 781498554
Change-Id: Ib6ce5038645f6ca08638a9d316b0347dc121bc62
2025-07-10 05:58:58 -07:00
7e57a6bc30
Add missing actuatorgroupdisable default to mjcPhysics schema.
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PiperOrigin-RevId: 781487140
Change-Id: I7b0ff3a015e0c6b229e5409455a648f6d2399617
2025-07-10 05:15:27 -07:00
e7212d86bc
Add maxhullvert attribute to mjcPhysics MeshCollisionAPI.
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PiperOrigin-RevId: 781482346
Change-Id: I0d53f9ad99ac842629243b0375907b2f91bd3b61
2025-07-10 04:59:18 -07:00
270017f9ba
Spurious formatting errors for gravity attr authoring in Mjcf SdfFileFormat plugin.
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PiperOrigin-RevId: 781175798
Change-Id: Ic3b3a14280c051859db7c38af0e271a1878acdb8
2025-07-09 13:02:19 -07:00
9d64ed9575
Remove leftover MJ_USD_TARGET_NAME include directories call from USD CMake.
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PiperOrigin-RevId: 781023625
Change-Id: Id75cb94c0eafc27c47a275d3cf4280020ed0c17a
2025-07-09 06:33:55 -07:00
14972d2490
Add mj_loadUSD function. Change simulate to use that instead of manual spec compilation.
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PiperOrigin-RevId: 780608874
Change-Id: I333238c756fe76b371518a7cdf9452b93da3540a
2025-07-08 10:04:08 -07:00
e507e31922
Fix schema naming in mjcPhysics to avoid collisions.
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PiperOrigin-RevId: 780537076
Change-Id: I4ea24162ba20d6aae10207491f9aae2250808576
2025-07-08 06:27:30 -07:00
1742ba510c
Swap out apostrophe for single quote in mjcPhysics actuator lengthRange docs.
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PiperOrigin-RevId: 780051495
Change-Id: Ib56a012ded364740564b879456a9e0570b5a0d7a
2025-07-07 04:27:49 -07:00
2c4fed07d2
Add missing source files to mj_usd target.
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PiperOrigin-RevId: 779244207
Change-Id: I3a913f8add82838a1d7371f84b4f03f271a1897b
2025-07-04 11:46:48 -07:00
be3c3ef8a9
Add missing gravity attribute authoring to Mjcf SdfFileFormat plugin.
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PiperOrigin-RevId: 779239797
Change-Id: I039b1089e5b436498d14df384c1aee830fd4b48a
2025-07-04 11:25:49 -07:00
e69b6cc5f3
Fix wrong extent authoring for Cube.
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PiperOrigin-RevId: 779230125
Change-Id: I96c3d5daa7a760cd87a714a14ea74a15faf3d7db
2025-07-04 10:39:32 -07:00
21a852504c
Make sure we never apply the ArticulationRoot API more than once.
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PiperOrigin-RevId: 779185190
Change-Id: If441d0e2ba24191883839977b46864db2b4b8204
2025-07-04 07:36:05 -07:00
85ad1eec91
Rework USD scene traversal, ensure DFS order of bodies is respected, remove implicit welding of non-jointed nested bodies
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PiperOrigin-RevId: 779121640
Change-Id: Ic3281ac10ce51975cd681e9342b2fffd5f24376f
2025-07-04 03:25:49 -07:00
594e17074a
Replace name attribute with setters and getters in the C API of mjSpec.
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PiperOrigin-RevId: 778816015
Change-Id: Ieffb7a5bce37e887ff009f9a02d2434435e79ca1
2025-07-03 02:30:56 -07:00
d2840ce665
Add missing files to mjusd cmake.
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PiperOrigin-RevId: 778800306
Change-Id: I1bd5766108c59fb05a6a2c6c8b3207476aca60ea
2025-07-03 01:27:12 -07:00
1d613b9b9a
Add support for mjcPhysics keyframes to USD interop.
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PiperOrigin-RevId: 778552679
Change-Id: I04026599f7a2836e3fe1cf0d553bcc86a5795f98
2025-07-02 10:17:41 -07:00
072b327430
Fix the parsing of USD scenes that use ResetXformStack
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Also add a new test for it
PiperOrigin-RevId: 778114814
Change-Id: Ib019768ac45ecf7ec6d437199a3d1427557b2f06
2025-07-01 11:07:07 -07:00
50de1b3c2c
Read new Mujoco-specific JointAPI when converting USD.
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PiperOrigin-RevId: 778037519
Change-Id: Idd81dc5dc14e2dfb40ba7db4404fd09f9ff50a9f
2025-07-01 07:40:23 -07:00
9dc67b50cd
Write new Mujoco-specific JointAPI data to USD.
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PiperOrigin-RevId: 778035661
Change-Id: I945aa38fc58973023d78ab0ab5fad7783d23e1ef
2025-07-01 07:35:34 -07:00
862436f9b3
Add JointAPI schema in mjcPhysics.
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PiperOrigin-RevId: 778030981
Change-Id: I22a4bf2a550fb78e47bef0ff171b10ce5912887e
2025-07-01 07:22:05 -07:00
106df98946
Create Keyframe schema in mjcPhysics.
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PiperOrigin-RevId: 777568003
Change-Id: I036fd54e2926c138f9ca8de87040b263b8427df3
2025-06-30 07:48:48 -07:00
e80a62c6d5
Allow loading USD files into simulate.
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PiperOrigin-RevId: 776584803
Change-Id: I66a5277b3752d69ba5d44ed419204951edb18d41
2025-06-27 07:59:21 -07:00
931ea6938c
Add parsing tests for joints.
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Also remove the not properly supported SphericalJoint (ball joint).
PiperOrigin-RevId: 776550199
Change-Id: I863dfa89c4cb564cf453e57c19df563ddade92b8
2025-06-27 06:01:19 -07:00
8f6a13aa8f
Add support for displayColor/Opacity (convert to rgba)
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PiperOrigin-RevId: 776488857
Change-Id: I34713748ac553b5fdfad736801cdaa7dc2b7f1b0
2025-06-27 02:16:49 -07:00
24789f8fe5
Apply articulation API to the correct body when converting to USD.
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PiperOrigin-RevId: 776206773
Change-Id: I84b5687a9900b42fd208124414ac98feaaa9f8c4
2025-06-26 11:07:11 -07:00
1e319aebed
Support joint actuator authoring in Mjcf SdfFileFormat plugin.
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PiperOrigin-RevId: 776202325
Change-Id: I8503dd98c1b64502550b879e70039ae568517508
2025-06-26 10:55:49 -07:00
afc35451a0
Expose ability to go from USD stage to MjSpec.
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PiperOrigin-RevId: 776184388
Change-Id: I0325b347c9896183d148a196897e1e5d0c4bbde2
2025-06-26 10:09:55 -07:00
672746f509
Use brackets for USD schema code.
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PiperOrigin-RevId: 776157077
Change-Id: Id8c55a98dc695348430a99ca59ec509a6db26403
2025-06-26 08:54:55 -07:00
3441e0aa03
mj_usd plugin: add joints export.
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Note that ball joint is missing, will come later.
PiperOrigin-RevId: 776057523
Change-Id: I8d13c3ea9e7f3d894af73a4640eb93202f8a2a03
2025-06-26 03:02:17 -07:00
da831f5d3e
Add support for separate occlusion, roughness and metallic textures
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PiperOrigin-RevId: 775632047
Change-Id: I40ba0b3d4ecb0c0a03534b8d93f85d279febbc9c
2025-06-25 04:37:19 -07:00
81d16b7ccc
Add some comments to the material construction code
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Grouped similar lines together, since they have become separated.
PiperOrigin-RevId: 775595031
Change-Id: Id75e87e07eb2e6b745698a57ea048daaff34f35c
2025-06-25 02:22:42 -07:00
9089059517
Move headers from src/experimental/usd to include/experimental/usd
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PiperOrigin-RevId: 775269423
Change-Id: Ifca6c3ead32b9fb3f02784ed38a9efae300be410
2025-06-24 09:33:26 -07:00
Sam Haves