431f96572e
Remove unused mjOption.apirate.
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PiperOrigin-RevId: 815633571
Change-Id: Ib98f3eb2df47f96fa1fe6e987a3a0cd23a9479f6
2025-10-06 02:51:17 -07:00
b092563cab
Remove mjDSBL_PASSIVE, split it into mjDSBL_SPRING and mjDSBL_DAMPING.
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PiperOrigin-RevId: 800870384
Change-Id: I273e0ceec090901e2620febb67e57914928e94bb
2025-08-29 06:06:28 -07:00
4c288c19ac
Remove physics schema authoring toggle from MJCF SdfFileFormat plugin.
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PiperOrigin-RevId: 789321573
Change-Id: Ib29bb426f8598a58f7b34c048b154fa8ada589ef
2025-07-31 07:07:18 -07:00
b5368a3385
Add displayColor authoring to site geometry when converting MJCF to USD.
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PiperOrigin-RevId: 789311878
Change-Id: I70027cd5d8d02f4ee26043f3b9fb03311e38984b
2025-07-31 06:28:42 -07:00
541c56b46f
Create mjcPhysics ImageableAPI for visual, non physical visual entities.
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PiperOrigin-RevId: 786366034
Change-Id: Ifb72d2daf8f5963bb7007dda1685da94b456ff41
2025-07-23 11:48:17 -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
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
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
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
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
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
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
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
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
78df2ae7fa
Add support mjcf emissive layer materials
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Mujoco supports emission as a constant coefficient, and emissive, an rgb texture. This cl supports the rgb emissive texture for usd.
PiperOrigin-RevId: 775236677
Change-Id: I0e2ce1d9f68d79b6e9d2c28eecab22b2692f061c
2025-06-24 08:06:32 -07:00
ea949f1cee
Add support for ORM maps in mujoco file format plugin
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The ORM texture is a packed-channel map, with ambient occlusion in Red, roughness in Green, and metallic in Blue channel.
PiperOrigin-RevId: 772367369
Change-Id: I88a4dee2477daa1e3c0b00197bfbe2b276ba9937
2025-06-17 01:45:10 -07:00
bb1b2db3a9
Add support for normal maps in mujoco file format plugin
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PiperOrigin-RevId: 771992722
Change-Id: Ifeae9e12f1071018112e697402361caa84095ff2
2025-06-16 06:01:18 -07:00
b2e8589e7a
Add support for actuators to Mujoco USD interop.
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PiperOrigin-RevId: 764740692
Change-Id: Ib045653fee840087bc3891ee7e770bdaac08548c
2025-05-29 08:29:46 -07:00
fc69ef1084
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
2025-05-28 13:21:19 -07:00
441ca838a1
Add support for inertia and mass to Mujoco USD interop.
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PiperOrigin-RevId: 763737956
Change-Id: I6cdf267d76536a26aeb6327ce90165842e32bd8a
2025-05-27 04:58:09 -07:00
76ddc30072
Make MJCF SdfFileFormat plugin create hierarchy reflecting MJCF instead of sibling rigidbodies.
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PiperOrigin-RevId: 762117447
Change-Id: Id13f7a4f4e383a0c9e670e5272836f2fb1099830
2025-05-22 14:04:58 -07:00
62a9d5b98d
Add MjcPhysicsSceneAPI support.
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Still missing compiler settings but will follow up in a future CL. Tried to add full coverage for testing setting of attributes to non-default values.
PiperOrigin-RevId: 761636862
Change-Id: Id4b9486645b2600931556cdcb8dc71f28ec309cd
2025-05-21 13:03:46 -07:00
81442e06a0
Add MjcPhysicsSiteAPI support and testing.
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PiperOrigin-RevId: 759124593
Change-Id: Ic2fa2a00f8384f432ee2eef95c80f5c180aa4ca9
2025-05-15 06:38:03 -07:00
253abad210
Add MeshCollisionAPI to collider Meshes with convexHull approximation.
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PiperOrigin-RevId: 754014642
Change-Id: I44cff505a2b9b7120a38f8c896b2c6560ce51c43
2025-05-02 08:35:15 -07:00
ab63a7e824
Add CMakeLists for usdMjcf file format plugin.
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This adds an option MUJOCO_BUILD_USD_PLUGINS to the top level CMakeLists which allows us to build the usdMjcf file format plugin with the rest of mujoco.
In this first version, we allow building against either standalone USD or against Houdini (DCC) since it has it's own fork of USD. When building against standalone USD we also build the file format tests.
PiperOrigin-RevId: 753969974
Change-Id: If691eecbddf45d18b7c4ff76f7650999d42e99c5
2025-05-02 05:48:33 -07:00
02656532c2
Fix Mesh PhysicsCollisionAPI by accounting for how it's referenced/instanced.
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Because we introduce an additional parent scope when referencing a `Mesh` prim (required for instancing), we need to create an `over` prim that allows to actually operate on the to-be-referenced Mesh.
PiperOrigin-RevId: 753941355
Change-Id: I829be9e82fe650802afcbc46f4b2f4c81eb53bd1
2025-05-02 03:47:31 -07:00
bb07fa0c78
Move Mujoco USD test fixture out of MJCF plugin directory and rename to test_utils.
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PiperOrigin-RevId: 753183581
Change-Id: Iedd6594ac679ca026f8af29c647d18ae93003a53
2025-04-30 08:44:14 -07:00
177fce9fa1
Remove absl dep and custom MujocoTest from usd plugin tests.
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PiperOrigin-RevId: 753144576
Change-Id: I3d4fd470c698967a50b189b99c1bb808a9a80306
2025-04-30 06:34:52 -07:00
45d3fef2fc
Add initial support for colliders
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By default every geom is a collider unless contype=conaffinity=0.
PiperOrigin-RevId: 753108713
Change-Id: I0e1a81b254c41e9103c34f69696205ff5c0bd6dc
2025-04-30 04:15:39 -07:00
d657e628f0
Fix radius sizes of geom shapes
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PiperOrigin-RevId: 752750452
Change-Id: I2ac08ad4014718320f014ed8ba7cc3b87586f6c0
2025-04-29 08:44:50 -07:00
d3bc0544d3
Add basic support for geom rgba.
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Adds primvar:displayColor/primvar:displayOpacity to the geom prim if its rgba attribute differs from the default (0.5, 0.5, 0.5, 1.0). This sets the color and opacity directly on the prim with no need for an external material, making it consistent with how rgba is used in mujoco.
PiperOrigin-RevId: 751013128
Change-Id: I059943ec5b266e62c3696d9a0ac4f2033db9e07f
2025-04-24 08:59:02 -07:00
8df3614781
Add support for plane geometry.
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PiperOrigin-RevId: 750994019
Change-Id: Ia3b085bed5b8e2fcdb00ffc69dd5551a7fa3c30d
2025-04-24 07:54:56 -07:00
8e7457d7c6
Initial support for writing UsdPhysics data starting with UsdPhysicsRigidbodyAPI support.
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The SDF_FORMAT_ARGS `usdMjcfToggleUsdPhysics` is introduced to toggle writing UsdPhysics or not when converting. Off by default
PiperOrigin-RevId: 746467942
Change-Id: I26cb9a4c4ae2eef96163dab967a74f14940a2a6d
2025-04-11 08:19:11 -07:00
446a8f1742
Add basic site support to Mjcf SdfFileFormat plugin.
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We will still need to tag these with a custom API schema to ease round-tripping but that will follow creation of such a schema.
PiperOrigin-RevId: 746421793
Change-Id: I2df2209b4bc90d763718fb4bea8158b8598755c6
2025-04-11 05:28:03 -07:00
644b42bee3
Add mujoco/experimental and move USD work there.
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PiperOrigin-RevId: 740730698
Change-Id: If9c68798cda502d6d7632906a034437e2557802e
2025-03-26 05:37:45 -07:00
Yuval Tassa