Sam Haves
f2461f9ce6
Previously on MSVC we used DllMain to register plugins, you cannot have multiple definitions of DllMain in a single unit so you would get errors if you tried to register two plugins. This modifies the implementation to insert a function pointer into the C runtime initialization instead. PiperOrigin-RevId: 896612678 Change-Id: I07732147b955d741c836acff6da986db0e9b9eff
2471 lines
85 KiB
C++
2471 lines
85 KiB
C++
// Copyright 2025 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include <algorithm>
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#include <cmath>
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#include <cstddef>
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#include <map>
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#include <memory>
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#include <numbers>
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#include <optional>
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#include <string>
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#include <string_view>
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#include <vector>
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#include <mujoco/experimental/usd/mjcPhysics/actuator.h>
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#include <mujoco/experimental/usd/mjcPhysics/collisionAPI.h>
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#include <mujoco/experimental/usd/mjcPhysics/equalityAPI.h>
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#include <mujoco/experimental/usd/mjcPhysics/equalityConnectAPI.h>
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#include <mujoco/experimental/usd/mjcPhysics/equalityJointAPI.h>
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#include <mujoco/experimental/usd/mjcPhysics/equalityWeldAPI.h>
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#include <mujoco/experimental/usd/mjcPhysics/imageableAPI.h>
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#include <mujoco/experimental/usd/mjcPhysics/jointAPI.h>
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#include <mujoco/experimental/usd/mjcPhysics/keyframe.h>
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#include <mujoco/experimental/usd/mjcPhysics/materialAPI.h>
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#include <mujoco/experimental/usd/mjcPhysics/meshCollisionAPI.h>
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#include <mujoco/experimental/usd/mjcPhysics/sceneAPI.h>
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#include <mujoco/experimental/usd/mjcPhysics/siteAPI.h>
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#include <mujoco/experimental/usd/mjcPhysics/tendon.h>
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#include <mujoco/experimental/usd/mjcPhysics/tokens.h>
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#include <mujoco/mujoco.h>
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#include "kinematic_tree.h"
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#include "material_parsing.h"
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#include <pxr/base/gf/declare.h>
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#include <pxr/base/gf/matrix4d.h>
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#include <pxr/base/gf/matrix4f.h>
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#include <pxr/base/gf/rotation.h>
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#include <pxr/base/gf/vec3d.h>
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#include <pxr/base/tf/token.h>
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#include <pxr/base/vt/types.h>
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#include <pxr/usd/sdf/path.h>
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#include <pxr/usd/usd/common.h>
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#include <pxr/usd/usd/prim.h>
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#include <pxr/usd/usd/primFlags.h>
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#include <pxr/usd/usd/primRange.h>
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#include <pxr/usd/usd/stage.h>
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#include <pxr/usd/usdGeom/capsule.h>
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#include <pxr/usd/usdGeom/cube.h>
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#include <pxr/usd/usdGeom/cylinder.h>
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#include <pxr/usd/usdGeom/gprim.h>
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#include <pxr/usd/usdGeom/mesh.h>
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#include <pxr/usd/usdGeom/metrics.h>
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#include <pxr/usd/usdGeom/plane.h>
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#include <pxr/usd/usdGeom/primvar.h>
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#include <pxr/usd/usdGeom/primvarsAPI.h>
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#include <pxr/usd/usdGeom/sphere.h>
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#include <pxr/usd/usdGeom/tokens.h>
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#include <pxr/usd/usdGeom/xformCache.h>
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#include <pxr/usd/usdPhysics/collisionAPI.h>
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#include <pxr/usd/usdPhysics/filteredPairsAPI.h>
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#include <pxr/usd/usdPhysics/fixedJoint.h>
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#include <pxr/usd/usdPhysics/joint.h>
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#include <pxr/usd/usdPhysics/massAPI.h>
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#include <pxr/usd/usdPhysics/materialAPI.h>
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#include <pxr/usd/usdPhysics/prismaticJoint.h>
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#include <pxr/usd/usdPhysics/revoluteJoint.h>
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#include <pxr/usd/usdPhysics/rigidBodyAPI.h>
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#include <pxr/usd/usdPhysics/scene.h>
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#include <pxr/usd/usdPhysics/sphericalJoint.h>
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#include <pxr/usd/usdShade/material.h>
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#include <pxr/usd/usdShade/materialBindingAPI.h>
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using pxr::MjcPhysicsTokens;
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using pxr::TfToken;
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struct UsdCaches {
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pxr::UsdGeomXformCache xform_cache;
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pxr::UsdShadeMaterialBindingAPI::BindingsCache bindings_cache;
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pxr::UsdShadeMaterialBindingAPI::CollectionQueryCache collection_query_cache;
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std::map<pxr::SdfPath, mjsMaterial*> parsed_materials;
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};
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constexpr const char* kUsdPrimPathKey = "usd_primpath";
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void SetUsdPrimPathUserValue(mjsElement* element,
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const pxr::SdfPath& prim_path) {
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// The value is a pointer to a newly allocated SdfPath, which will be deleted
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// when the mjsElement is deleted.
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const pxr::SdfPath* usd_primpath = new pxr::SdfPath(prim_path);
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mjs_setUserValueWithCleanup(
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element, kUsdPrimPathKey, usd_primpath,
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[](const void* data) { delete static_cast<const pxr::SdfPath*>(data); });
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}
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pxr::SdfPath GetUsdPrimPathUserValue(mjsElement* element) {
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const void* user_data = mjs_getUserValue(element, kUsdPrimPathKey);
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if (user_data) {
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return *static_cast<const pxr::SdfPath*>(user_data);
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}
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return pxr::SdfPath();
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}
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void SetDoubleArrFromGfVec3d(double* to, const pxr::GfVec3d& from) {
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to[0] = from[0];
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to[1] = from[1];
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to[2] = from[2];
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}
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void SetMjtNumArrFromGfVec3d(mjtNum* to, const pxr::GfVec3d& from) {
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to[0] = from[0];
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to[1] = from[1];
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to[2] = from[2];
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}
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void SetDoubleArrFromGfQuatd(double* to, const pxr::GfQuatd& from) {
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// pxr::GfQuatd uses wxyz stored as a real and an imaginary component.
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to[0] = from.GetReal();
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to[1] = from.GetImaginary()[0];
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to[2] = from.GetImaginary()[1];
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to[3] = from.GetImaginary()[2];
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}
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template <typename T>
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void SetLocalPoseFromPrim(const pxr::UsdPrim& prim,
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const pxr::UsdPrim& parent_prim, T* element,
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pxr::UsdGeomXformCache& xform_cache) {
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pxr::GfMatrix4d xform = xform_cache.GetLocalToWorldTransform(prim);
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pxr::GfMatrix4d parent_xform =
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xform_cache.GetLocalToWorldTransform(parent_prim);
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pxr::GfMatrix4d relative_xform = xform * parent_xform.GetInverse();
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pxr::GfVec3d translation = relative_xform.ExtractTranslation();
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pxr::GfQuatd rotation =
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relative_xform.RemoveScaleShear().ExtractRotationQuat();
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SetDoubleArrFromGfVec3d(element->pos, translation);
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SetDoubleArrFromGfQuatd(element->quat, rotation);
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}
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pxr::GfVec3d GetScale(const pxr::GfMatrix4d& matrix) {
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pxr::GfMatrix4d rotation;
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pxr::GfVec3d scale;
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pxr::GfMatrix4d u;
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pxr::GfVec3d translation;
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pxr::GfMatrix4d p;
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if (!matrix.Factor(&rotation, &scale, &u, &translation, &p)) {
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// In the event that we could not factorize, return the identity.
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mju_error("Could not factorise matrix.");
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return pxr::GfVec3d(1, 1, 1);
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}
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return scale;
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}
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bool IsUniformScale(const pxr::GfVec3d& scale) {
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static const double epsilon = 1e-6;
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return fabs(scale[0] - scale[1]) < epsilon &&
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fabs(scale[1] - scale[2]) < epsilon;
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}
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template <typename T>
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bool MaybeParseGeomPrimitive(const pxr::UsdPrim& prim, T* element,
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pxr::UsdGeomXformCache& xform_cache) {
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auto world_xform = xform_cache.GetLocalToWorldTransform(prim);
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auto scale = GetScale(world_xform);
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if (prim.IsA<pxr::UsdGeomSphere>()) {
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double radius;
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if (!pxr::UsdGeomSphere(prim).GetRadiusAttr().Get<double>(&radius)) {
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mju_error("Could not get sphere radius attr.");
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return false;
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}
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// If scale is uniform (or *very close*) then create a sphere, otherwise
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// this is an ellipsoid.
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if (IsUniformScale(scale)) {
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element->type = mjGEOM_SPHERE;
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element->size[0] = scale[0] * radius;
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element->size[1] = scale[0] * radius;
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element->size[2] = scale[0] * radius;
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} else {
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element->type = mjGEOM_ELLIPSOID;
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element->size[0] = scale[0] * radius;
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element->size[1] = scale[1] * radius;
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element->size[2] = scale[2] * radius;
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}
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} else if (prim.IsA<pxr::UsdGeomCylinder>()) {
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auto cylinder = pxr::UsdGeomCylinder(prim);
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element->type = mjGEOM_CYLINDER;
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double radius;
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if (!cylinder.GetRadiusAttr().Get<double>(&radius)) {
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mju_error("Could not get cylinder radius attr.");
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return false;
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}
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double height;
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if (!cylinder.GetHeightAttr().Get<double>(&height)) {
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mju_error("Could not get cylinder height attr.");
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return false;
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}
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element->size[0] = scale[0] * radius;
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element->size[1] = scale[1] * height / 2.0f;
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element->size[2] = 0;
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} else if (prim.IsA<pxr::UsdGeomCapsule>()) {
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auto capsule = pxr::UsdGeomCapsule(prim);
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element->type = mjGEOM_CAPSULE;
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double radius;
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if (!capsule.GetRadiusAttr().Get<double>(&radius)) {
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mju_error("Could not get capsule radius attr.");
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return false;
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}
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double height;
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if (!capsule.GetHeightAttr().Get<double>(&height)) {
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mju_error("Could not get capsule height attr.");
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return false;
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}
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element->size[0] = scale[0] * radius;
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element->size[1] = scale[1] * height / 2.0f;
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element->size[2] = 0;
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TfToken axis;
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capsule.GetAxisAttr().Get(&axis);
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// Mujoco (and USD) capsules are aligned with Z by default.
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// When USD axis is X or Y, we apply a rotation to align with the Z axis.
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pxr::GfQuatd axis_rot(1.0);
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if (axis == pxr::UsdGeomTokens->x) {
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axis_rot = pxr::GfRotation(pxr::GfVec3d::XAxis(), pxr::GfVec3d::ZAxis())
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.GetQuat();
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} else if (axis == pxr::UsdGeomTokens->y) {
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axis_rot = pxr::GfRotation(pxr::GfVec3d::YAxis(), pxr::GfVec3d::ZAxis())
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.GetQuat();
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}
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pxr::GfQuatd current_rot(element->quat[0], element->quat[1],
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element->quat[2], element->quat[3]);
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pxr::GfQuatd new_rot = current_rot * axis_rot;
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SetDoubleArrFromGfQuatd(element->quat, new_rot);
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} else if (prim.IsA<pxr::UsdGeomCube>()) {
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element->type = mjGEOM_BOX;
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auto cube = pxr::UsdGeomCube(prim);
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double size;
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if (!cube.GetSizeAttr().Get<double>(&size)) {
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mju_error("Could not get cube size attr.");
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return false;
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}
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// MuJoCo uses half-length for box size.
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size = size / 2;
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element->size[0] = scale[0] * size;
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element->size[1] = scale[1] * size;
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element->size[2] = scale[2] * size;
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} else if (prim.IsA<pxr::UsdGeomPlane>()) {
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element->type = mjGEOM_PLANE;
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pxr::UsdGeomPlane plane(prim);
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TfToken axis;
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if (!plane.GetAxisAttr().Get(&axis)) {
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mju_error("Could not get plane axis attr.");
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return false;
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}
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if (axis != pxr::UsdGeomTokens->z) {
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mju_error("Only z-axis planes are supported.");
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return false;
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}
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double length;
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if (!plane.GetLengthAttr().Get(&length)) {
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mju_error("Could not get plane length attr.");
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return false;
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}
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double width;
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if (!plane.GetWidthAttr().Get(&width)) {
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mju_error("Could not get plane width attr.");
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return false;
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}
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// MuJoCo uses half-length for plane size.
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width = width / 2;
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length = length / 2;
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// Plane geoms in mjc are always infinite. Scale is used for visualization.
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element->size[0] = scale[0] * width;
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element->size[1] = scale[1] * length;
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element->size[2] = scale[2];
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} else {
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return false;
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}
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return true;
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}
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mjsMesh* ParseUsdMesh(mjSpec* spec, const pxr::UsdPrim& prim, mjsGeom* geom,
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pxr::UsdGeomXformCache& xform_cache) {
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if (!prim.IsA<pxr::UsdGeomMesh>()) {
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return nullptr;
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}
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mjsMesh* mesh = mjs_addMesh(spec, nullptr);
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SetUsdPrimPathUserValue(mesh->element, prim.GetPath());
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geom->type = mjGEOM_MESH;
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pxr::UsdGeomMesh usd_mesh(prim);
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std::vector<float> uservert;
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std::vector<int> userface;
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pxr::VtVec3fArray points;
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usd_mesh.GetPointsAttr().Get(&points);
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pxr::VtVec2fArray uvs;
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pxr::VtIntArray uv_indices;
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std::vector<float> texcoord;
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std::vector<int> userfacetexcoord;
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pxr::UsdGeomPrimvarsAPI primvarsAPI(prim);
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pxr::UsdGeomPrimvar st_primvar =
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primvarsAPI.FindPrimvarWithInheritance(pxr::TfToken("st"));
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uservert.reserve(points.size() * 3);
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for (const auto& pt : points) {
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uservert.push_back(pt[0]);
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uservert.push_back(pt[1]);
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uservert.push_back(pt[2]);
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}
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bool has_uvs = st_primvar.HasAuthoredValue();
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bool face_varying_uvs = has_uvs && st_primvar.GetInterpolation() ==
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pxr::UsdGeomTokens->faceVarying;
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bool st_indexed = st_primvar.IsIndexed();
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if (has_uvs) {
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pxr::VtVec2fArray uvs;
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st_primvar.Get(&uvs);
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if (st_indexed) {
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st_primvar.GetIndices(&uv_indices);
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}
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// If the UVs do not vary per point per face, then we need to compute the
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// effective uv array taking indexing into account as we do not support UV
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// indexing in mujoco.
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if (!face_varying_uvs && st_primvar.IsIndexed()) {
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texcoord.reserve(uv_indices.size() * 2);
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for (const auto& idx : uv_indices) {
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auto uv = uvs[idx];
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texcoord.push_back(uv[0]);
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// USD origin is bottom left, MuJoCo is top left.
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texcoord.push_back(1.0f - uv[1]);
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}
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} else {
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texcoord.reserve(uvs.size() * 2);
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for (const auto& uv : uvs) {
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texcoord.push_back(uv[0]);
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// USD origin is bottom left, MuJoCo is top left.
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texcoord.push_back(1.0f - uv[1]);
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}
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}
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mjs_setFloat(mesh->usertexcoord, texcoord.data(), texcoord.size());
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}
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pxr::VtIntArray indices;
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usd_mesh.GetFaceVertexIndicesAttr().Get(&indices);
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pxr::VtIntArray counts;
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usd_mesh.GetFaceVertexCountsAttr().Get(&counts);
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userface.reserve(indices.size());
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int vtx_idx = 0;
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for (int count : counts) {
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int k = 1;
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// If the prim is a triangle create a triangle fan rooted
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// at the first index.
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while (k < count - 1) {
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userface.push_back(indices[vtx_idx]);
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userface.push_back(indices[vtx_idx + k]);
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userface.push_back(indices[vtx_idx + k + 1]);
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// If the UVs vary per face, then we need to compute the effective
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// index array after we've created the triangle fan for non triangular
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// faces.
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if (face_varying_uvs) {
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userfacetexcoord.push_back(st_indexed ? uv_indices[vtx_idx] : vtx_idx);
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userfacetexcoord.push_back(st_indexed ? uv_indices[vtx_idx + k]
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: vtx_idx + k);
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userfacetexcoord.push_back(st_indexed ? uv_indices[vtx_idx + k + 1]
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: vtx_idx + k + 1);
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}
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k++;
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}
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vtx_idx += count;
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}
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auto world_xform = xform_cache.GetLocalToWorldTransform(prim);
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auto scale = GetScale(world_xform);
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mesh->scale[0] = scale[0];
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mesh->scale[1] = scale[1];
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mesh->scale[2] = scale[2];
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std::string mesh_name = usd_mesh.GetPath().GetAsString();
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mjs_setName(mesh->element, mesh_name.c_str());
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mjs_setFloat(mesh->uservert, uservert.data(), uservert.size());
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mjs_setInt(mesh->userface, userface.data(), userface.size());
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if (face_varying_uvs) {
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mjs_setInt(mesh->userfacetexcoord, userfacetexcoord.data(),
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userfacetexcoord.size());
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}
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mjs_setString(geom->meshname, mesh_name.c_str());
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return mesh;
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}
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void SetGravityAttributes(
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mjSpec* spec, const pxr::UsdStageRefPtr stage,
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std::optional<pxr::GfVec3f> gravity_direction = std::nullopt,
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std::optional<float> gravity_magnitude = std::nullopt) {
|
|
// Parse gravity and gravity direction.
|
|
if (!gravity_direction.has_value()) {
|
|
TfToken up_axis = pxr::UsdGeomGetStageUpAxis(stage);
|
|
if (up_axis == pxr::UsdGeomTokens->y) {
|
|
gravity_direction = pxr::GfVec3f(0, -1, 0);
|
|
} else if (up_axis == pxr::UsdGeomTokens->z) {
|
|
gravity_direction = pxr::GfVec3f(0, 0, -1);
|
|
} else {
|
|
mju_error("Invalid stage up axis token %s", up_axis.GetString().c_str());
|
|
}
|
|
}
|
|
|
|
if (!gravity_magnitude.has_value()) {
|
|
gravity_magnitude = 9.81f / pxr::UsdGeomGetStageMetersPerUnit(stage);
|
|
}
|
|
|
|
pxr::GfVec3f gravity = gravity_direction.value() * gravity_magnitude.value();
|
|
|
|
spec->option.gravity[0] = gravity[0];
|
|
spec->option.gravity[1] = gravity[1];
|
|
spec->option.gravity[2] = gravity[2];
|
|
}
|
|
|
|
void ParseUsdPhysicsScene(mjSpec* spec,
|
|
const pxr::UsdPhysicsScene& physics_scene) {
|
|
std::optional<pxr::GfVec3f> gravity_direction = std::nullopt;
|
|
std::optional<float> gravity_magnitude = std::nullopt;
|
|
auto stage = physics_scene.GetPrim().GetStage();
|
|
|
|
// Parse gravity and gravity direction.
|
|
auto gravity_direction_attr = physics_scene.GetGravityDirectionAttr();
|
|
if (gravity_direction_attr.HasAuthoredValue()) {
|
|
pxr::GfVec3f authored_gravity_dir;
|
|
gravity_direction_attr.Get(&authored_gravity_dir);
|
|
gravity_direction = authored_gravity_dir;
|
|
}
|
|
|
|
auto gravity_magnitude_attr = physics_scene.GetGravityMagnitudeAttr();
|
|
if (gravity_magnitude_attr.HasAuthoredValue()) {
|
|
float authored_gravity_magnitude;
|
|
gravity_magnitude_attr.Get(&authored_gravity_magnitude);
|
|
gravity_magnitude = authored_gravity_magnitude;
|
|
}
|
|
|
|
SetGravityAttributes(spec, stage, gravity_direction, gravity_magnitude);
|
|
|
|
// Early exit if theres no MjcPhysicsSceneAPI applied.
|
|
if (!physics_scene.GetPrim().HasAPI<pxr::MjcPhysicsSceneAPI>()) {
|
|
return;
|
|
}
|
|
auto mjc_physics_scene = pxr::MjcPhysicsSceneAPI(physics_scene.GetPrim());
|
|
|
|
double timestep;
|
|
mjc_physics_scene.GetTimestepAttr().Get(×tep);
|
|
spec->option.timestep = timestep;
|
|
|
|
double impratio;
|
|
mjc_physics_scene.GetImpRatioAttr().Get(&impratio);
|
|
spec->option.impratio = impratio;
|
|
|
|
double tolerance;
|
|
mjc_physics_scene.GetToleranceAttr().Get(&tolerance);
|
|
spec->option.tolerance = tolerance;
|
|
|
|
double ls_tolerance;
|
|
mjc_physics_scene.GetLSToleranceAttr().Get(&ls_tolerance);
|
|
spec->option.ls_tolerance = ls_tolerance;
|
|
|
|
double noslip_tolerance;
|
|
mjc_physics_scene.GetNoslipToleranceAttr().Get(&noslip_tolerance);
|
|
spec->option.noslip_tolerance = noslip_tolerance;
|
|
|
|
double ccd_tolerance;
|
|
mjc_physics_scene.GetCCDToleranceAttr().Get(&ccd_tolerance);
|
|
spec->option.ccd_tolerance = ccd_tolerance;
|
|
|
|
pxr::GfVec3d wind;
|
|
mjc_physics_scene.GetWindAttr().Get(&wind);
|
|
SetMjtNumArrFromGfVec3d(spec->option.wind, wind);
|
|
|
|
pxr::GfVec3d magnetic;
|
|
mjc_physics_scene.GetMagneticAttr().Get(&magnetic);
|
|
SetMjtNumArrFromGfVec3d(spec->option.magnetic, magnetic);
|
|
|
|
double density;
|
|
mjc_physics_scene.GetDensityAttr().Get(&density);
|
|
spec->option.density = density;
|
|
|
|
double viscosity;
|
|
mjc_physics_scene.GetViscosityAttr().Get(&viscosity);
|
|
spec->option.viscosity = viscosity;
|
|
|
|
double o_margin;
|
|
mjc_physics_scene.GetOMarginAttr().Get(&o_margin);
|
|
spec->option.o_margin = o_margin;
|
|
|
|
pxr::VtDoubleArray o_solref;
|
|
mjc_physics_scene.GetOSolRefAttr().Get(&o_solref);
|
|
if (o_solref.size() != mjNREF) {
|
|
mju_error("Invalid size for o_solref attribute: %zu expected %d",
|
|
o_solref.size(), mjNREF);
|
|
return;
|
|
}
|
|
for (int i = 0; i < mjNREF; ++i) {
|
|
spec->option.o_solref[i] = o_solref[i];
|
|
}
|
|
|
|
pxr::VtDoubleArray o_solimp;
|
|
mjc_physics_scene.GetOSolImpAttr().Get(&o_solimp);
|
|
if (o_solimp.size() != mjNIMP) {
|
|
mju_error("Invalid size for o_solimp attribute: %zu expected %d",
|
|
o_solimp.size(), mjNIMP);
|
|
return;
|
|
}
|
|
for (int i = 0; i < mjNIMP; ++i) {
|
|
spec->option.o_solimp[i] = o_solimp[i];
|
|
}
|
|
|
|
pxr::VtDoubleArray o_friction;
|
|
mjc_physics_scene.GetOFrictionAttr().Get(&o_friction);
|
|
if (o_friction.size() != 5) {
|
|
mju_error("Invalid size for o_friction attribute: %zu expected %d",
|
|
o_friction.size(), 5);
|
|
return;
|
|
}
|
|
for (int i = 0; i < 5; ++i) {
|
|
spec->option.o_friction[i] = o_friction[i];
|
|
}
|
|
|
|
TfToken integrator;
|
|
mjc_physics_scene.GetIntegratorAttr().Get(&integrator);
|
|
if (integrator == MjcPhysicsTokens->euler) {
|
|
spec->option.integrator = mjINT_EULER;
|
|
} else if (integrator == MjcPhysicsTokens->rk4) {
|
|
spec->option.integrator = mjINT_RK4;
|
|
} else if (integrator == MjcPhysicsTokens->implicit) {
|
|
spec->option.integrator = mjINT_IMPLICIT;
|
|
} else if (integrator == MjcPhysicsTokens->implicitfast) {
|
|
spec->option.integrator = mjINT_IMPLICITFAST;
|
|
}
|
|
|
|
TfToken cone;
|
|
mjc_physics_scene.GetConeAttr().Get(&cone);
|
|
if (cone == MjcPhysicsTokens->elliptic) {
|
|
spec->option.cone = mjCONE_ELLIPTIC;
|
|
} else if (cone == MjcPhysicsTokens->pyramidal) {
|
|
spec->option.cone = mjCONE_PYRAMIDAL;
|
|
}
|
|
|
|
TfToken jacobian;
|
|
mjc_physics_scene.GetJacobianAttr().Get(&jacobian);
|
|
if (jacobian == MjcPhysicsTokens->auto_) {
|
|
spec->option.jacobian = mjJAC_AUTO;
|
|
} else if (jacobian == MjcPhysicsTokens->dense) {
|
|
spec->option.jacobian = mjJAC_DENSE;
|
|
} else if (jacobian == MjcPhysicsTokens->sparse) {
|
|
spec->option.jacobian = mjJAC_SPARSE;
|
|
}
|
|
|
|
TfToken solver;
|
|
mjc_physics_scene.GetSolverAttr().Get(&solver);
|
|
if (solver == MjcPhysicsTokens->newton) {
|
|
spec->option.solver = mjSOL_NEWTON;
|
|
} else if (solver == MjcPhysicsTokens->cg) {
|
|
spec->option.solver = mjSOL_CG;
|
|
} else if (solver == MjcPhysicsTokens->pgs) {
|
|
spec->option.solver = mjSOL_PGS;
|
|
}
|
|
|
|
int iterations;
|
|
mjc_physics_scene.GetIterationsAttr().Get(&iterations);
|
|
spec->option.iterations = iterations;
|
|
|
|
int ls_iterations;
|
|
mjc_physics_scene.GetLSIterationsAttr().Get(&ls_iterations);
|
|
spec->option.ls_iterations = ls_iterations;
|
|
|
|
int noslip_iterations;
|
|
mjc_physics_scene.GetNoslipIterationsAttr().Get(&noslip_iterations);
|
|
spec->option.noslip_iterations = noslip_iterations;
|
|
|
|
int ccd_iterations;
|
|
mjc_physics_scene.GetCCDIterationsAttr().Get(&ccd_iterations);
|
|
spec->option.ccd_iterations = ccd_iterations;
|
|
|
|
int sdf_initpoints;
|
|
mjc_physics_scene.GetSDFInitPointsAttr().Get(&sdf_initpoints);
|
|
spec->option.sdf_initpoints = sdf_initpoints;
|
|
|
|
int sdf_iterations;
|
|
mjc_physics_scene.GetSDFIterationsAttr().Get(&sdf_iterations);
|
|
spec->option.sdf_iterations = sdf_iterations;
|
|
|
|
bool constraint_flag;
|
|
mjc_physics_scene.GetConstraintFlagAttr().Get(&constraint_flag);
|
|
spec->option.disableflags |= (!constraint_flag ? mjDSBL_CONSTRAINT : 0);
|
|
|
|
bool equality_flag;
|
|
mjc_physics_scene.GetEqualityFlagAttr().Get(&equality_flag);
|
|
spec->option.disableflags |= (!equality_flag ? mjDSBL_EQUALITY : 0);
|
|
|
|
bool frictionloss_flag;
|
|
mjc_physics_scene.GetFrictionLossFlagAttr().Get(&frictionloss_flag);
|
|
spec->option.disableflags |= (!frictionloss_flag ? mjDSBL_FRICTIONLOSS : 0);
|
|
|
|
bool limit_flag;
|
|
mjc_physics_scene.GetLimitFlagAttr().Get(&limit_flag);
|
|
spec->option.disableflags |= (!limit_flag ? mjDSBL_LIMIT : 0);
|
|
|
|
bool contact_flag;
|
|
mjc_physics_scene.GetContactFlagAttr().Get(&contact_flag);
|
|
spec->option.disableflags |= (!contact_flag ? mjDSBL_CONTACT : 0);
|
|
|
|
bool spring_flag;
|
|
mjc_physics_scene.GetSpringFlagAttr().Get(&spring_flag);
|
|
spec->option.disableflags |= (!spring_flag ? mjDSBL_SPRING : 0);
|
|
|
|
bool damper_flag;
|
|
mjc_physics_scene.GetDamperFlagAttr().Get(&damper_flag);
|
|
spec->option.disableflags |= (!damper_flag ? mjDSBL_DAMPER : 0);
|
|
|
|
bool gravity_flag;
|
|
mjc_physics_scene.GetGravityFlagAttr().Get(&gravity_flag);
|
|
spec->option.disableflags |= (!gravity_flag ? mjDSBL_GRAVITY : 0);
|
|
|
|
bool clampctrl_flag;
|
|
mjc_physics_scene.GetClampCtrlFlagAttr().Get(&clampctrl_flag);
|
|
spec->option.disableflags |= (!clampctrl_flag ? mjDSBL_CLAMPCTRL : 0);
|
|
|
|
bool warmstart_flag;
|
|
mjc_physics_scene.GetWarmStartFlagAttr().Get(&warmstart_flag);
|
|
spec->option.disableflags |= (!warmstart_flag ? mjDSBL_WARMSTART : 0);
|
|
|
|
bool filterparent_flag;
|
|
mjc_physics_scene.GetFilterParentFlagAttr().Get(&filterparent_flag);
|
|
spec->option.disableflags |= (!filterparent_flag ? mjDSBL_FILTERPARENT : 0);
|
|
|
|
bool actuation_flag;
|
|
mjc_physics_scene.GetActuationFlagAttr().Get(&actuation_flag);
|
|
spec->option.disableflags |= (!actuation_flag ? mjDSBL_ACTUATION : 0);
|
|
|
|
bool refsafe_flag;
|
|
mjc_physics_scene.GetRefSafeFlagAttr().Get(&refsafe_flag);
|
|
spec->option.disableflags |= (!refsafe_flag ? mjDSBL_REFSAFE : 0);
|
|
|
|
bool sensor_flag;
|
|
mjc_physics_scene.GetSensorFlagAttr().Get(&sensor_flag);
|
|
spec->option.disableflags |= (!sensor_flag ? mjDSBL_SENSOR : 0);
|
|
|
|
bool midphase_flag;
|
|
mjc_physics_scene.GetMidPhaseFlagAttr().Get(&midphase_flag);
|
|
spec->option.disableflags |= (!midphase_flag ? mjDSBL_MIDPHASE : 0);
|
|
|
|
bool nativeccd_flag;
|
|
mjc_physics_scene.GetNativeCCDFlagAttr().Get(&nativeccd_flag);
|
|
spec->option.disableflags |= (!nativeccd_flag ? mjDSBL_NATIVECCD : 0);
|
|
|
|
bool eulerdamp_flag;
|
|
mjc_physics_scene.GetEulerDampFlagAttr().Get(&eulerdamp_flag);
|
|
spec->option.disableflags |= (!eulerdamp_flag ? mjDSBL_EULERDAMP : 0);
|
|
|
|
bool autoreset_flag;
|
|
mjc_physics_scene.GetAutoResetFlagAttr().Get(&autoreset_flag);
|
|
spec->option.disableflags |= (!autoreset_flag ? mjDSBL_AUTORESET : 0);
|
|
|
|
bool island_flag;
|
|
mjc_physics_scene.GetIslandFlagAttr().Get(&island_flag);
|
|
spec->option.disableflags |= (!island_flag ? mjDSBL_ISLAND : 0);
|
|
|
|
bool override_flag;
|
|
mjc_physics_scene.GetOverrideFlagAttr().Get(&override_flag);
|
|
spec->option.enableflags |= (override_flag ? mjENBL_OVERRIDE : 0);
|
|
|
|
bool energy_flag;
|
|
mjc_physics_scene.GetEnergyFlagAttr().Get(&energy_flag);
|
|
spec->option.enableflags |= (energy_flag ? mjENBL_ENERGY : 0);
|
|
|
|
bool fwdinv_flag;
|
|
mjc_physics_scene.GetFwdinvFlagAttr().Get(&fwdinv_flag);
|
|
spec->option.enableflags |= (fwdinv_flag ? mjENBL_FWDINV : 0);
|
|
|
|
bool invdiscrete_flag;
|
|
mjc_physics_scene.GetInvDiscreteFlagAttr().Get(&invdiscrete_flag);
|
|
spec->option.enableflags |= (invdiscrete_flag ? mjENBL_INVDISCRETE : 0);
|
|
|
|
bool multiccd_flag;
|
|
mjc_physics_scene.GetMultiCCDFlagAttr().Get(&multiccd_flag);
|
|
spec->option.enableflags |= (multiccd_flag ? mjENBL_MULTICCD : 0);
|
|
|
|
// Compiler attributes
|
|
auto auto_limits_attr = mjc_physics_scene.GetAutoLimitsAttr();
|
|
if (auto_limits_attr.HasAuthoredValue()) {
|
|
bool autolimits;
|
|
auto_limits_attr.Get(&autolimits);
|
|
spec->compiler.autolimits = autolimits;
|
|
}
|
|
|
|
auto use_thread_attr = mjc_physics_scene.GetUseThreadAttr();
|
|
if (use_thread_attr.HasAuthoredValue()) {
|
|
bool use_thread;
|
|
use_thread_attr.Get(&use_thread);
|
|
spec->compiler.usethread = use_thread;
|
|
}
|
|
|
|
auto balance_inertia_attr = mjc_physics_scene.GetBalanceInertiaAttr();
|
|
if (balance_inertia_attr.HasAuthoredValue()) {
|
|
bool balanceinertia;
|
|
balance_inertia_attr.Get(&balanceinertia);
|
|
spec->compiler.balanceinertia = balanceinertia;
|
|
}
|
|
|
|
auto angle_attr = mjc_physics_scene.GetAngleAttr();
|
|
if (angle_attr.HasAuthoredValue()) {
|
|
pxr::TfToken angle;
|
|
angle_attr.Get(&angle);
|
|
spec->compiler.degree = angle == MjcPhysicsTokens->degree;
|
|
}
|
|
|
|
auto fit_aabb_attr = mjc_physics_scene.GetFitAABBAttr();
|
|
if (fit_aabb_attr.HasAuthoredValue()) {
|
|
bool fitaabb;
|
|
fit_aabb_attr.Get(&fitaabb);
|
|
spec->compiler.fitaabb = fitaabb;
|
|
}
|
|
|
|
auto fuse_static_attr = mjc_physics_scene.GetFuseStaticAttr();
|
|
if (fuse_static_attr.HasAuthoredValue()) {
|
|
bool fusestatic;
|
|
fuse_static_attr.Get(&fusestatic);
|
|
spec->compiler.fusestatic = fusestatic;
|
|
}
|
|
|
|
auto inertia_from_geom_attr = mjc_physics_scene.GetInertiaFromGeomAttr();
|
|
if (inertia_from_geom_attr.HasAuthoredValue()) {
|
|
pxr::TfToken inertiafromgeom;
|
|
inertia_from_geom_attr.Get(&inertiafromgeom);
|
|
if (inertiafromgeom == MjcPhysicsTokens->auto_) {
|
|
spec->compiler.inertiafromgeom = mjINERTIAFROMGEOM_AUTO;
|
|
} else if (inertiafromgeom == MjcPhysicsTokens->false_) {
|
|
spec->compiler.inertiafromgeom = mjINERTIAFROMGEOM_FALSE;
|
|
} else if (inertiafromgeom == MjcPhysicsTokens->true_) {
|
|
spec->compiler.inertiafromgeom = mjINERTIAFROMGEOM_TRUE;
|
|
} else {
|
|
mju_warning("Invalid inertiafromgeom token: %s",
|
|
inertiafromgeom.GetText());
|
|
}
|
|
}
|
|
|
|
auto align_free_attr = mjc_physics_scene.GetAlignFreeAttr();
|
|
if (align_free_attr.HasAuthoredValue()) {
|
|
bool alignfree;
|
|
align_free_attr.Get(&alignfree);
|
|
spec->compiler.alignfree = alignfree;
|
|
}
|
|
|
|
auto inertia_group_range_min_attr =
|
|
mjc_physics_scene.GetInertiaGroupRangeMinAttr();
|
|
auto inertia_group_range_max_attr =
|
|
mjc_physics_scene.GetInertiaGroupRangeMaxAttr();
|
|
if (inertia_group_range_min_attr.HasAuthoredValue() &&
|
|
inertia_group_range_max_attr.HasAuthoredValue()) {
|
|
int inertiagrouprangemin;
|
|
inertia_group_range_min_attr.Get(&inertiagrouprangemin);
|
|
int inertiagrouprangemax;
|
|
inertia_group_range_max_attr.Get(&inertiagrouprangemax);
|
|
spec->compiler.inertiagrouprange[0] = inertiagrouprangemin;
|
|
spec->compiler.inertiagrouprange[1] = inertiagrouprangemax;
|
|
} else if (inertia_group_range_min_attr.HasAuthoredValue() ||
|
|
inertia_group_range_max_attr.HasAuthoredValue()) {
|
|
mju_warning(
|
|
"Only one of inertiaGroupRangeMin and inertiaGroupRangeMax was "
|
|
"authored, ignoring both.");
|
|
}
|
|
|
|
auto save_inertial_attr = mjc_physics_scene.GetSaveInertialAttr();
|
|
if (save_inertial_attr.HasAuthoredValue()) {
|
|
bool saveinertial;
|
|
save_inertial_attr.Get(&saveinertial);
|
|
spec->compiler.saveinertial = saveinertial;
|
|
}
|
|
|
|
mjc_physics_scene.GetBoundMassAttr().Get(&spec->compiler.boundmass);
|
|
mjc_physics_scene.GetBoundInertiaAttr().Get(&spec->compiler.boundinertia);
|
|
mjc_physics_scene.GetSetTotalMassAttr().Get(&spec->compiler.settotalmass);
|
|
}
|
|
|
|
void ParseUsdPhysicsMassAPIForBody(mjsBody* body,
|
|
const pxr::UsdPhysicsMassAPI& mass_api) {
|
|
auto mass_attr = mass_api.GetMassAttr();
|
|
if (mass_attr.HasAuthoredValue()) {
|
|
float mass;
|
|
mass_attr.Get(&mass);
|
|
body->mass = mass;
|
|
}
|
|
|
|
auto com_attr = mass_api.GetCenterOfMassAttr();
|
|
if (com_attr.HasAuthoredValue()) {
|
|
pxr::GfVec3f com;
|
|
com_attr.Get(&com);
|
|
SetDoubleArrFromGfVec3d(body->ipos, com);
|
|
}
|
|
|
|
auto principle_axes_attr = mass_api.GetPrincipalAxesAttr();
|
|
if (principle_axes_attr.HasAuthoredValue()) {
|
|
pxr::GfQuatf principle_axes;
|
|
principle_axes_attr.Get(&principle_axes);
|
|
SetDoubleArrFromGfQuatd(body->iquat, principle_axes);
|
|
}
|
|
|
|
auto diag_inertia_attr = mass_api.GetDiagonalInertiaAttr();
|
|
if (diag_inertia_attr.HasAuthoredValue()) {
|
|
pxr::GfVec3f diag_inertia;
|
|
diag_inertia_attr.Get(&diag_inertia);
|
|
SetDoubleArrFromGfVec3d(body->inertia, diag_inertia);
|
|
}
|
|
}
|
|
|
|
void ParseUsdPhysicsMassAPIForGeom(mjsGeom* geom,
|
|
const pxr::UsdPhysicsMassAPI& mass_api) {
|
|
auto mass_attr = mass_api.GetMassAttr();
|
|
if (mass_attr.HasAuthoredValue()) {
|
|
float mass;
|
|
mass_attr.Get(&mass);
|
|
geom->mass = mass;
|
|
}
|
|
|
|
auto density_attr = mass_api.GetDensityAttr();
|
|
if (density_attr.HasAuthoredValue()) {
|
|
float density;
|
|
density_attr.Get(&density);
|
|
geom->density = density;
|
|
}
|
|
}
|
|
|
|
void ParseMjcPhysicsCollisionAPI(
|
|
mjsGeom* geom, const pxr::MjcPhysicsCollisionAPI& collision_api) {
|
|
auto shell_inertia_attr = collision_api.GetShellInertiaAttr();
|
|
if (shell_inertia_attr.HasAuthoredValue()) {
|
|
bool shell_inertia;
|
|
shell_inertia_attr.Get(&shell_inertia);
|
|
geom->typeinertia = shell_inertia ? mjtGeomInertia::mjINERTIA_SHELL
|
|
: mjtGeomInertia::mjINERTIA_VOLUME;
|
|
}
|
|
|
|
auto group_attr = collision_api.GetGroupAttr();
|
|
if (group_attr.HasAuthoredValue()) {
|
|
group_attr.Get(&geom->group);
|
|
}
|
|
|
|
auto priority_attr = collision_api.GetPriorityAttr();
|
|
if (priority_attr.HasAuthoredValue()) {
|
|
priority_attr.Get(&geom->priority);
|
|
}
|
|
|
|
auto condim_attr = collision_api.GetConDimAttr();
|
|
if (condim_attr.HasAuthoredValue()) {
|
|
condim_attr.Get(&geom->condim);
|
|
}
|
|
|
|
auto solmix_attr = collision_api.GetSolMixAttr();
|
|
if (solmix_attr.HasAuthoredValue()) {
|
|
solmix_attr.Get(&geom->solmix);
|
|
}
|
|
|
|
auto solref_attr = collision_api.GetSolRefAttr();
|
|
if (solref_attr.HasAuthoredValue()) {
|
|
pxr::VtDoubleArray solref;
|
|
solref_attr.Get(&solref);
|
|
if (solref.size() == mjNREF) {
|
|
for (int i = 0; i < mjNREF; ++i) {
|
|
geom->solref[i] = solref[i];
|
|
}
|
|
} else {
|
|
mju_warning(
|
|
"solref attribute for geom %s has incorrect size %zu, "
|
|
"expected %d.",
|
|
mjs_getName(geom->element)->c_str(), solref.size(), mjNREF);
|
|
}
|
|
}
|
|
|
|
auto solimp_attr = collision_api.GetSolImpAttr();
|
|
if (solimp_attr.HasAuthoredValue()) {
|
|
pxr::VtDoubleArray solimp;
|
|
solimp_attr.Get(&solimp);
|
|
if (solimp.size() == mjNIMP) {
|
|
for (int i = 0; i < mjNIMP; ++i) {
|
|
geom->solimp[i] = solimp[i];
|
|
}
|
|
} else {
|
|
mju_warning(
|
|
"solimp attribute for geom %s has incorrect size %zu, "
|
|
"expected %d.",
|
|
mjs_getName(geom->element)->c_str(), solimp.size(), mjNIMP);
|
|
}
|
|
}
|
|
|
|
auto margin_attr = collision_api.GetMarginAttr();
|
|
if (margin_attr.HasAuthoredValue()) {
|
|
margin_attr.Get(&geom->margin);
|
|
}
|
|
|
|
auto gap_attr = collision_api.GetGapAttr();
|
|
if (gap_attr.HasAuthoredValue()) {
|
|
gap_attr.Get(&geom->gap);
|
|
}
|
|
}
|
|
|
|
void ParseMjcPhysicsMeshCollisionAPI(
|
|
mjsMesh* mesh, const pxr::MjcPhysicsMeshCollisionAPI& mesh_collision_api) {
|
|
auto inertia_attr = mesh_collision_api.GetInertiaAttr();
|
|
if (inertia_attr.HasAuthoredValue()) {
|
|
pxr::TfToken inertia;
|
|
inertia_attr.Get(&inertia);
|
|
if (inertia == MjcPhysicsTokens->shell) {
|
|
mesh->inertia = mjtMeshInertia::mjMESH_INERTIA_SHELL;
|
|
} else if (inertia == MjcPhysicsTokens->exact) {
|
|
mesh->inertia = mjtMeshInertia::mjMESH_INERTIA_EXACT;
|
|
} else if (inertia == MjcPhysicsTokens->convex) {
|
|
mesh->inertia = mjtMeshInertia::mjMESH_INERTIA_CONVEX;
|
|
} else {
|
|
mesh->inertia = mjtMeshInertia::mjMESH_INERTIA_LEGACY;
|
|
}
|
|
}
|
|
|
|
auto maxhullvert_attr = mesh_collision_api.GetMaxHullVertAttr();
|
|
if (maxhullvert_attr.HasAuthoredValue()) {
|
|
maxhullvert_attr.Get(&mesh->maxhullvert);
|
|
}
|
|
}
|
|
|
|
void ParseMjcPhysicsTendon(mjSpec* spec, const pxr::MjcPhysicsTendon& tendon) {
|
|
pxr::UsdPrim prim = tendon.GetPrim();
|
|
pxr::UsdStageRefPtr stage = prim.GetStage();
|
|
mjsTendon* mj_tendon = mjs_addTendon(spec, nullptr);
|
|
mjs_setName(mj_tendon->element, prim.GetPath().GetAsString().c_str());
|
|
|
|
SetUsdPrimPathUserValue(mj_tendon->element, prim.GetPath());
|
|
|
|
pxr::TfToken type;
|
|
tendon.GetTypeAttr().Get(&type);
|
|
|
|
pxr::SdfPathVector wrap_targets;
|
|
tendon.GetMjcPathRel().GetTargets(&wrap_targets);
|
|
|
|
pxr::VtIntArray wrap_path_indices;
|
|
tendon.GetMjcPathIndicesAttr().Get(&wrap_path_indices);
|
|
|
|
auto n_targets = wrap_path_indices.empty() ? wrap_targets.size()
|
|
: wrap_path_indices.size();
|
|
|
|
pxr::SdfPathVector side_site_paths;
|
|
tendon.GetMjcSideSitesRel().GetTargets(&side_site_paths);
|
|
|
|
pxr::VtIntArray side_site_indices;
|
|
tendon.GetMjcSideSitesIndicesAttr().Get(&side_site_indices);
|
|
|
|
pxr::VtIntArray segments;
|
|
tendon.GetMjcPathSegmentsAttr().Get(&segments);
|
|
|
|
pxr::VtDoubleArray divisors;
|
|
tendon.GetMjcPathDivisorsAttr().Get(&divisors);
|
|
|
|
pxr::VtDoubleArray coefs;
|
|
tendon.GetMjcPathCoefAttr().Get(&coefs);
|
|
|
|
if (type == MjcPhysicsTokens->spatial) {
|
|
// Check that for N targets we have 0 or N elements in segments.
|
|
if (!segments.empty() && segments.size() != n_targets) {
|
|
mju_warning(
|
|
"Spatial tendon %s has %lu segments but %lu wrap targets, skipping.",
|
|
prim.GetPath().GetAsString().c_str(), segments.size(), n_targets);
|
|
return;
|
|
}
|
|
// Check that if we have >1 segments that the user has specified how much
|
|
// each segment contributes to the total segment length.
|
|
if (!segments.empty() && divisors.empty()) {
|
|
mju_warning(
|
|
"Spatial tendon %s has >1 segments (%d) but does not specify "
|
|
"divisors, skipping.",
|
|
prim.GetPath().GetAsString().c_str(),
|
|
*std::max_element(segments.begin(), segments.end()) + 1);
|
|
return;
|
|
}
|
|
// Check that if we side site indices that we have N of them.
|
|
if (!side_site_indices.empty() && side_site_indices.size() != n_targets) {
|
|
mju_warning(
|
|
"Spatial tendon %s has %lu sideSite indices but %lu wrap targets, "
|
|
"skipping.",
|
|
prim.GetPath().GetAsString().c_str(), side_site_indices.size(),
|
|
n_targets);
|
|
return;
|
|
}
|
|
|
|
if (!side_site_indices.empty() && side_site_paths.empty()) {
|
|
mju_warning(
|
|
"Spatial tendon %s has %lu sideSite indices but no side sites, "
|
|
"skipping.",
|
|
prim.GetPath().GetAsString().c_str(), side_site_indices.size());
|
|
return;
|
|
}
|
|
} else { // Fixed tendon.
|
|
// Check that for N targets we have 0 or N elements in coef:
|
|
if (!coefs.empty() && coefs.size() != n_targets) {
|
|
mju_warning(
|
|
"Spatial tendon %s has %lu coefs but %lu wrap targets, skipping.",
|
|
prim.GetPath().GetAsString().c_str(), coefs.size(), n_targets);
|
|
}
|
|
}
|
|
|
|
int last_segment = 0;
|
|
for (int i = 0; i < n_targets; ++i) {
|
|
auto index = wrap_path_indices.empty() ? i : wrap_path_indices[i];
|
|
auto wrap_target = wrap_targets[index];
|
|
auto wrap_prim = stage->GetPrimAtPath(wrap_target);
|
|
// Important to check site before Imageable here because some Imageable
|
|
// prims are sites.
|
|
|
|
if (!segments.empty()) {
|
|
int segment = segments[i];
|
|
if (segment >= divisors.size()) {
|
|
mju_warning(
|
|
"Tendon %s has at least %d segments but only %lu divisors, "
|
|
"skipping.",
|
|
prim.GetPath().GetAsString().c_str(), segment + 1, divisors.size());
|
|
return;
|
|
}
|
|
|
|
if (segment > last_segment) {
|
|
mjsWrap* pulley_wrap = mjs_wrapPulley(mj_tendon, divisors[segment]);
|
|
mjs_setString(pulley_wrap->info, ("Pulley between segments: " +
|
|
std::to_string(last_segment) +
|
|
" and " + std::to_string(segment))
|
|
.c_str());
|
|
}
|
|
last_segment = segment;
|
|
}
|
|
|
|
mjsWrap* wrap = nullptr;
|
|
if (wrap_prim.HasAPI<pxr::MjcPhysicsSiteAPI>()) {
|
|
wrap = mjs_wrapSite(mj_tendon, wrap_target.GetAsString().c_str());
|
|
} else if (wrap_prim.IsA<pxr::UsdPhysicsJoint>()) {
|
|
double coef = 1.0;
|
|
if (!coefs.empty()) {
|
|
coef = coefs[i];
|
|
}
|
|
wrap = mjs_wrapJoint(mj_tendon, wrap_target.GetAsString().c_str(), coef);
|
|
} else if (wrap_prim.IsA<pxr::UsdGeomImageable>()) {
|
|
std::string side_site_name = "";
|
|
if (!side_site_indices.empty()) {
|
|
int side_site_index = side_site_indices[i];
|
|
if (side_site_index > 0 && side_site_index >= side_site_paths.size()) {
|
|
mju_warning(
|
|
"Tendon %s has side site index %d but only %lu side sites, "
|
|
"skipping.",
|
|
prim.GetPath().GetAsString().c_str(), side_site_index,
|
|
side_site_paths.size());
|
|
return;
|
|
}
|
|
if (side_site_index >= 0) {
|
|
side_site_name = side_site_paths[side_site_index].GetAsString();
|
|
}
|
|
}
|
|
wrap = mjs_wrapGeom(mj_tendon, wrap_target.GetAsString().c_str(),
|
|
side_site_name.c_str());
|
|
} else {
|
|
mju_warning("Tendon %s has an invalid wrap target type, skipping.",
|
|
prim.GetPath().GetAsString().c_str());
|
|
return;
|
|
}
|
|
mjs_setString(wrap->info, ("Prim: " + wrap_target.GetAsString()).c_str());
|
|
}
|
|
|
|
auto group_attr = tendon.GetGroupAttr();
|
|
if (group_attr.HasAuthoredValue()) {
|
|
group_attr.Get(&mj_tendon->group);
|
|
}
|
|
|
|
auto limited_attr = tendon.GetLimitedAttr();
|
|
if (limited_attr.HasAuthoredValue()) {
|
|
pxr::TfToken limited;
|
|
limited_attr.Get(&limited);
|
|
if (limited == MjcPhysicsTokens->true_) {
|
|
mj_tendon->limited = mjLIMITED_TRUE;
|
|
} else if (limited == MjcPhysicsTokens->false_) {
|
|
mj_tendon->limited = mjLIMITED_FALSE;
|
|
} else {
|
|
mj_tendon->limited = mjLIMITED_AUTO;
|
|
}
|
|
}
|
|
|
|
auto actuatorfrclimited_attr = tendon.GetActuatorFrcLimitedAttr();
|
|
if (actuatorfrclimited_attr.HasAuthoredValue()) {
|
|
pxr::TfToken actuatorfrclimited;
|
|
actuatorfrclimited_attr.Get(&actuatorfrclimited);
|
|
if (actuatorfrclimited == MjcPhysicsTokens->true_) {
|
|
mj_tendon->actfrclimited = mjLIMITED_TRUE;
|
|
} else if (actuatorfrclimited == MjcPhysicsTokens->false_) {
|
|
mj_tendon->actfrclimited = mjLIMITED_FALSE;
|
|
} else {
|
|
mj_tendon->actfrclimited = mjLIMITED_AUTO;
|
|
}
|
|
}
|
|
|
|
auto range_min_attr = tendon.GetRangeMinAttr();
|
|
if (range_min_attr.HasAuthoredValue()) {
|
|
range_min_attr.Get(&mj_tendon->range[0]);
|
|
}
|
|
|
|
auto range_max_attr = tendon.GetRangeMaxAttr();
|
|
if (range_max_attr.HasAuthoredValue()) {
|
|
range_max_attr.Get(&mj_tendon->range[1]);
|
|
}
|
|
|
|
auto actuatorfrcrange_min_attr = tendon.GetActuatorFrcRangeMinAttr();
|
|
if (actuatorfrcrange_min_attr.HasAuthoredValue()) {
|
|
actuatorfrcrange_min_attr.Get(&mj_tendon->actfrcrange[0]);
|
|
}
|
|
|
|
auto actuatorfrcrange_max_attr = tendon.GetActuatorFrcRangeMaxAttr();
|
|
if (actuatorfrcrange_max_attr.HasAuthoredValue()) {
|
|
actuatorfrcrange_max_attr.Get(&mj_tendon->actfrcrange[1]);
|
|
}
|
|
|
|
auto solreflimit_attr = tendon.GetSolRefLimitAttr();
|
|
if (solreflimit_attr.HasAuthoredValue()) {
|
|
pxr::VtDoubleArray solreflimit;
|
|
solreflimit_attr.Get(&solreflimit);
|
|
if (solreflimit.size() == mjNREF) {
|
|
for (int i = 0; i < mjNREF; ++i) {
|
|
mj_tendon->solref_limit[i] = solreflimit[i];
|
|
}
|
|
} else {
|
|
mju_warning(
|
|
"solreflimit attribute for tendon %s has incorrect size %zu, "
|
|
"expected %d.",
|
|
prim.GetPath().GetAsString().c_str(), solreflimit.size(), mjNREF);
|
|
}
|
|
}
|
|
|
|
auto solimplimit_attr = tendon.GetSolImpLimitAttr();
|
|
if (solimplimit_attr.HasAuthoredValue()) {
|
|
pxr::VtDoubleArray solimplimit;
|
|
solimplimit_attr.Get(&solimplimit);
|
|
if (solimplimit.size() == mjNIMP) {
|
|
for (int i = 0; i < mjNIMP; ++i) {
|
|
mj_tendon->solimp_limit[i] = solimplimit[i];
|
|
}
|
|
} else {
|
|
mju_warning(
|
|
"solimplimit attribute for tendon %s has incorrect size %zu, "
|
|
"expected %d.",
|
|
prim.GetPath().GetAsString().c_str(), solimplimit.size(), mjNIMP);
|
|
}
|
|
}
|
|
|
|
auto solreffriction_attr = tendon.GetSolRefFrictionAttr();
|
|
if (solreffriction_attr.HasAuthoredValue()) {
|
|
pxr::VtDoubleArray solreffriction;
|
|
solreffriction_attr.Get(&solreffriction);
|
|
if (solreffriction.size() == mjNREF) {
|
|
for (int i = 0; i < mjNREF; ++i) {
|
|
mj_tendon->solref_friction[i] = solreffriction[i];
|
|
}
|
|
} else {
|
|
mju_warning(
|
|
"solreffriction attribute for tendon %s has incorrect size %zu, "
|
|
"expected %d.",
|
|
prim.GetPath().GetAsString().c_str(), solreffriction.size(), mjNREF);
|
|
}
|
|
}
|
|
|
|
auto solimpfriction_attr = tendon.GetSolImpFrictionAttr();
|
|
if (solimpfriction_attr.HasAuthoredValue()) {
|
|
pxr::VtDoubleArray solimpfriction;
|
|
solimpfriction_attr.Get(&solimpfriction);
|
|
if (solimpfriction.size() == mjNIMP) {
|
|
for (int i = 0; i < mjNIMP; ++i) {
|
|
mj_tendon->solimp_friction[i] = solimpfriction[i];
|
|
}
|
|
} else {
|
|
mju_warning(
|
|
"solimpfriction attribute for tendon %s has incorrect size %zu, "
|
|
"expected %d.",
|
|
prim.GetPath().GetAsString().c_str(), solimpfriction.size(), mjNIMP);
|
|
}
|
|
}
|
|
|
|
auto margin_attr = tendon.GetMarginAttr();
|
|
if (margin_attr.HasAuthoredValue()) {
|
|
margin_attr.Get(&mj_tendon->margin);
|
|
}
|
|
|
|
auto frictionloss_attr = tendon.GetFrictionLossAttr();
|
|
if (frictionloss_attr.HasAuthoredValue()) {
|
|
frictionloss_attr.Get(&mj_tendon->frictionloss);
|
|
}
|
|
|
|
auto width_attr = tendon.GetWidthAttr();
|
|
if (width_attr.HasAuthoredValue()) {
|
|
width_attr.Get(&mj_tendon->width);
|
|
}
|
|
|
|
auto rgba_attr = tendon.GetRgbaAttr();
|
|
if (rgba_attr.HasAuthoredValue()) {
|
|
pxr::GfVec4f rgba;
|
|
rgba_attr.Get(&rgba);
|
|
mj_tendon->rgba[0] = rgba[0];
|
|
mj_tendon->rgba[1] = rgba[1];
|
|
mj_tendon->rgba[2] = rgba[2];
|
|
mj_tendon->rgba[3] = rgba[3];
|
|
}
|
|
|
|
auto springlength_attr = tendon.GetSpringLengthAttr();
|
|
if (springlength_attr.HasAuthoredValue()) {
|
|
pxr::VtDoubleArray springlength;
|
|
springlength_attr.Get(&springlength);
|
|
if (springlength.size() == 1) {
|
|
mj_tendon->springlength[0] = springlength[0];
|
|
mj_tendon->springlength[1] = springlength[0];
|
|
} else if (springlength.size() == 2) {
|
|
mj_tendon->springlength[0] = springlength[0];
|
|
mj_tendon->springlength[1] = springlength[1];
|
|
} else {
|
|
mju_warning(
|
|
"springlength attribute for tendon %s has incorrect size %zu, "
|
|
"expected 1 or 2.",
|
|
prim.GetPath().GetAsString().c_str(), springlength.size());
|
|
}
|
|
}
|
|
|
|
auto stiffness_attr = tendon.GetStiffnessAttr();
|
|
if (stiffness_attr.HasAuthoredValue()) {
|
|
stiffness_attr.Get(&mj_tendon->stiffness[0]);
|
|
}
|
|
|
|
auto damping_attr = tendon.GetDampingAttr();
|
|
if (damping_attr.HasAuthoredValue()) {
|
|
damping_attr.Get(&mj_tendon->damping[0]);
|
|
}
|
|
|
|
auto armature_attr = tendon.GetArmatureAttr();
|
|
if (armature_attr.HasAuthoredValue()) {
|
|
armature_attr.Get(&mj_tendon->armature);
|
|
}
|
|
}
|
|
|
|
void ParseMjcPhysicsActuator(mjSpec* spec,
|
|
const pxr::MjcPhysicsActuator& tran) {
|
|
pxr::UsdPrim prim = tran.GetPrim();
|
|
mjsActuator* mj_act = mjs_addActuator(spec, nullptr);
|
|
mjs_setName(mj_act->element, prim.GetPath().GetAsString().c_str());
|
|
|
|
SetUsdPrimPathUserValue(mj_act->element, prim.GetPath());
|
|
|
|
auto group_attr = tran.GetGroupAttr();
|
|
if (group_attr.HasAuthoredValue()) {
|
|
group_attr.Get(&mj_act->group);
|
|
}
|
|
|
|
pxr::SdfPathVector targets;
|
|
tran.GetMjcTargetRel().GetTargets(&targets);
|
|
if (targets.empty()) {
|
|
mju_warning("Actuator %s has no target, skipping.",
|
|
prim.GetPath().GetAsString().c_str());
|
|
return;
|
|
}
|
|
if (targets.size() > 1) {
|
|
mju_warning("Actuator has more than one target, using the first.");
|
|
}
|
|
mjs_setString(mj_act->target, targets[0].GetAsString().c_str());
|
|
|
|
auto target_prim = prim.GetStage()->GetPrimAtPath(targets[0]);
|
|
bool slider_crank = tran.GetMjcSliderSiteRel().HasAuthoredTargets();
|
|
if (target_prim.IsA<pxr::UsdPhysicsJoint>()) {
|
|
mj_act->trntype = mjTRN_JOINT;
|
|
} else if (target_prim.HasAPI<pxr::UsdPhysicsRigidBodyAPI>()) {
|
|
mj_act->trntype = mjTRN_BODY;
|
|
} else if (target_prim.HasAPI<pxr::MjcPhysicsSiteAPI>()) {
|
|
mj_act->trntype = slider_crank ? mjTRN_SLIDERCRANK : mjTRN_SITE;
|
|
} else if (target_prim.IsA<pxr::MjcPhysicsTendon>()) {
|
|
mj_act->trntype = mjTRN_TENDON;
|
|
} else {
|
|
mju_warning("Actuator %s has an invalid target type, skipping.",
|
|
prim.GetPath().GetAsString().c_str());
|
|
return;
|
|
}
|
|
|
|
if (slider_crank) {
|
|
pxr::SdfPathVector slider_sites;
|
|
tran.GetMjcSliderSiteRel().GetTargets(&slider_sites);
|
|
if (slider_sites.size() > 1) {
|
|
mju_warning(
|
|
"Slider crank slider site relationship has more than one target, "
|
|
"using the first.");
|
|
}
|
|
mjs_setString(mj_act->slidersite, slider_sites[0].GetAsString().c_str());
|
|
}
|
|
|
|
auto setLimitedField = [](mjsActuator* mj_act,
|
|
const pxr::UsdAttribute& usd_attribute,
|
|
int* mj_limited_field) {
|
|
if (usd_attribute.HasAuthoredValue()) {
|
|
pxr::TfToken limited;
|
|
usd_attribute.Get(&limited);
|
|
if (limited == MjcPhysicsTokens->true_) {
|
|
*mj_limited_field = mjLIMITED_TRUE;
|
|
} else if (limited == MjcPhysicsTokens->false_) {
|
|
*mj_limited_field = mjLIMITED_FALSE;
|
|
} else if (limited == MjcPhysicsTokens->auto_) {
|
|
*mj_limited_field = mjLIMITED_AUTO;
|
|
}
|
|
}
|
|
};
|
|
|
|
setLimitedField(mj_act, tran.GetMjcCtrlLimitedAttr(), &mj_act->ctrllimited);
|
|
setLimitedField(mj_act, tran.GetMjcForceLimitedAttr(), &mj_act->forcelimited);
|
|
setLimitedField(mj_act, tran.GetMjcActLimitedAttr(), &mj_act->actlimited);
|
|
|
|
auto setRangeField =
|
|
[](mjsActuator* mj_act, const pxr::UsdAttribute& usd_min_attribute,
|
|
const pxr::UsdAttribute& usd_max_attribute, double* range) {
|
|
if (usd_min_attribute.HasAuthoredValue()) {
|
|
double range_min;
|
|
usd_min_attribute.Get(&range_min);
|
|
range[0] = range_min;
|
|
}
|
|
if (usd_max_attribute.HasAuthoredValue()) {
|
|
double range_max;
|
|
usd_max_attribute.Get(&range_max);
|
|
range[1] = range_max;
|
|
}
|
|
};
|
|
|
|
setRangeField(mj_act, tran.GetMjcCtrlRangeMinAttr(),
|
|
tran.GetMjcCtrlRangeMaxAttr(), mj_act->ctrlrange);
|
|
setRangeField(mj_act, tran.GetMjcForceRangeMinAttr(),
|
|
tran.GetMjcForceRangeMaxAttr(), mj_act->forcerange);
|
|
setRangeField(mj_act, tran.GetMjcActRangeMinAttr(),
|
|
tran.GetMjcActRangeMaxAttr(), mj_act->actrange);
|
|
setRangeField(mj_act, tran.GetMjcLengthRangeMinAttr(),
|
|
tran.GetMjcLengthRangeMaxAttr(), mj_act->lengthrange);
|
|
|
|
auto gear_attr = tran.GetMjcGearAttr();
|
|
if (gear_attr.HasAuthoredValue()) {
|
|
pxr::VtDoubleArray gear;
|
|
gear_attr.Get(&gear);
|
|
for (int i = 0; i < 6; ++i) {
|
|
mj_act->gear[i] = gear[i];
|
|
}
|
|
}
|
|
|
|
auto crank_length_attr = tran.GetMjcCrankLengthAttr();
|
|
if (crank_length_attr.HasAuthoredValue()) {
|
|
double crank_length;
|
|
crank_length_attr.Get(&crank_length);
|
|
mj_act->cranklength = crank_length;
|
|
}
|
|
|
|
auto dyn_type_attr = tran.GetMjcDynTypeAttr();
|
|
if (dyn_type_attr.HasAuthoredValue()) {
|
|
pxr::TfToken dyn_type;
|
|
dyn_type_attr.Get(&dyn_type);
|
|
if (dyn_type == MjcPhysicsTokens->none) {
|
|
mj_act->dyntype = mjtDyn::mjDYN_NONE;
|
|
} else if (dyn_type == MjcPhysicsTokens->integrator) {
|
|
mj_act->dyntype = mjtDyn::mjDYN_INTEGRATOR;
|
|
} else if (dyn_type == MjcPhysicsTokens->filter) {
|
|
mj_act->dyntype = mjtDyn::mjDYN_FILTER;
|
|
} else if (dyn_type == MjcPhysicsTokens->filterexact) {
|
|
mj_act->dyntype = mjtDyn::mjDYN_FILTEREXACT;
|
|
} else if (dyn_type == MjcPhysicsTokens->muscle) {
|
|
mj_act->dyntype = mjtDyn::mjDYN_MUSCLE;
|
|
} else if (dyn_type == MjcPhysicsTokens->user) {
|
|
mj_act->dyntype = mjtDyn::mjDYN_USER;
|
|
}
|
|
}
|
|
|
|
auto gain_type_attr = tran.GetMjcGainTypeAttr();
|
|
if (gain_type_attr.HasAuthoredValue()) {
|
|
pxr::TfToken gain_type;
|
|
gain_type_attr.Get(&gain_type);
|
|
if (gain_type == MjcPhysicsTokens->fixed) {
|
|
mj_act->gaintype = mjtGain::mjGAIN_FIXED;
|
|
} else if (gain_type == MjcPhysicsTokens->affine) {
|
|
mj_act->gaintype = mjtGain::mjGAIN_AFFINE;
|
|
} else if (gain_type == MjcPhysicsTokens->muscle) {
|
|
mj_act->gaintype = mjtGain::mjGAIN_MUSCLE;
|
|
} else if (gain_type == MjcPhysicsTokens->user) {
|
|
mj_act->gaintype = mjtGain::mjGAIN_USER;
|
|
}
|
|
}
|
|
|
|
auto biastype_attr = tran.GetMjcBiasTypeAttr();
|
|
if (biastype_attr.HasAuthoredValue()) {
|
|
pxr::TfToken biastype;
|
|
biastype_attr.Get(&biastype);
|
|
if (biastype == MjcPhysicsTokens->none) {
|
|
mj_act->biastype = mjtBias::mjBIAS_NONE;
|
|
} else if (biastype == MjcPhysicsTokens->affine) {
|
|
mj_act->biastype = mjtBias::mjBIAS_AFFINE;
|
|
} else if (biastype == MjcPhysicsTokens->muscle) {
|
|
mj_act->biastype = mjtBias::mjBIAS_MUSCLE;
|
|
} else if (biastype == MjcPhysicsTokens->user) {
|
|
mj_act->biastype = mjtBias::mjBIAS_USER;
|
|
}
|
|
}
|
|
|
|
auto setPrmField = [](mjsActuator* mj_act,
|
|
const pxr::UsdAttribute& usd_attribute, double* prm) {
|
|
if (usd_attribute.HasAuthoredValue()) {
|
|
pxr::VtDoubleArray usd_prm;
|
|
usd_attribute.Get(&usd_prm);
|
|
int n_elems = usd_prm.size() < 10 ? usd_prm.size() : 10;
|
|
for (int i = 0; i < n_elems; ++i) {
|
|
prm[i] = usd_prm[i];
|
|
}
|
|
}
|
|
};
|
|
|
|
setPrmField(mj_act, tran.GetMjcDynPrmAttr(), mj_act->dynprm);
|
|
setPrmField(mj_act, tran.GetMjcBiasPrmAttr(), mj_act->biasprm);
|
|
setPrmField(mj_act, tran.GetMjcGainPrmAttr(), mj_act->gainprm);
|
|
|
|
auto act_dim_attr = tran.GetMjcActDimAttr();
|
|
if (act_dim_attr.HasAuthoredValue()) {
|
|
int act_dim;
|
|
act_dim_attr.Get(&act_dim);
|
|
mj_act->actdim = act_dim;
|
|
}
|
|
|
|
auto act_early_attr = tran.GetMjcActEarlyAttr();
|
|
if (act_early_attr.HasAuthoredValue()) {
|
|
bool act_early;
|
|
act_early_attr.Get(&act_early);
|
|
mj_act->actearly = (int)act_early;
|
|
}
|
|
|
|
auto inherit_range_attr = tran.GetMjcInheritRangeAttr();
|
|
if (inherit_range_attr.HasAuthoredValue()) {
|
|
inherit_range_attr.Get(&mj_act->inheritrange);
|
|
}
|
|
|
|
auto ref_site_rel = tran.GetMjcRefSiteRel();
|
|
if (ref_site_rel.HasAuthoredTargets()) {
|
|
pxr::SdfPathVector targets;
|
|
ref_site_rel.GetTargets(&targets);
|
|
pxr::SdfPath first_path = targets[0];
|
|
mjs_setString(mj_act->refsite, first_path.GetString().c_str());
|
|
}
|
|
}
|
|
|
|
void ParseMjcPhysicsJointAPI(mjsJoint* mj_joint,
|
|
const pxr::MjcPhysicsJointAPI& joint_api) {
|
|
auto group_attr = joint_api.GetGroupAttr();
|
|
if (group_attr.HasAuthoredValue()) {
|
|
group_attr.Get(&mj_joint->group);
|
|
}
|
|
|
|
auto springdamper_attr = joint_api.GetMjcSpringdamperAttr();
|
|
if (springdamper_attr.HasAuthoredValue()) {
|
|
pxr::VtDoubleArray springdamper;
|
|
springdamper_attr.Get(&springdamper);
|
|
if (springdamper.size() == 2) {
|
|
mj_joint->springdamper[0] = springdamper[0];
|
|
mj_joint->springdamper[1] = springdamper[1];
|
|
} else {
|
|
mju_warning(
|
|
"springdamper attribute for joint %s has incorrect size %zu, "
|
|
"expected 2.",
|
|
mjs_getName(mj_joint->element)->c_str(), springdamper.size());
|
|
}
|
|
}
|
|
|
|
auto solreflimit_attr = joint_api.GetMjcSolreflimitAttr();
|
|
if (solreflimit_attr.HasAuthoredValue()) {
|
|
pxr::VtDoubleArray solreflimit;
|
|
solreflimit_attr.Get(&solreflimit);
|
|
if (solreflimit.size() == mjNREF) {
|
|
for (int i = 0; i < mjNREF; ++i) {
|
|
mj_joint->solref_limit[i] = solreflimit[i];
|
|
}
|
|
} else {
|
|
mju_warning(
|
|
"solreflimit attribute for joint %s has incorrect size %zu, "
|
|
"expected %d.",
|
|
mjs_getName(mj_joint->element)->c_str(), solreflimit.size(), mjNREF);
|
|
}
|
|
}
|
|
|
|
auto solimplimit_attr = joint_api.GetMjcSolimplimitAttr();
|
|
if (solimplimit_attr.HasAuthoredValue()) {
|
|
pxr::VtDoubleArray solimplimit;
|
|
solimplimit_attr.Get(&solimplimit);
|
|
if (solimplimit.size() == mjNIMP) {
|
|
for (int i = 0; i < mjNIMP; ++i) {
|
|
mj_joint->solimp_limit[i] = solimplimit[i];
|
|
}
|
|
} else {
|
|
mju_warning(
|
|
"solimplimit attribute for joint %s has incorrect size %zu, "
|
|
"expected %d.",
|
|
mjs_getName(mj_joint->element)->c_str(), solimplimit.size(), mjNIMP);
|
|
}
|
|
}
|
|
|
|
auto solreffriction_attr = joint_api.GetMjcSolreffrictionAttr();
|
|
if (solreffriction_attr.HasAuthoredValue()) {
|
|
pxr::VtDoubleArray solreffriction;
|
|
solreffriction_attr.Get(&solreffriction);
|
|
if (solreffriction.size() == mjNREF) {
|
|
for (int i = 0; i < mjNREF; ++i) {
|
|
mj_joint->solref_friction[i] = solreffriction[i];
|
|
}
|
|
} else {
|
|
mju_warning(
|
|
"solreffriction attribute for joint %s has incorrect size %zu, "
|
|
"expected %d.",
|
|
mjs_getName(mj_joint->element)->c_str(), solreffriction.size(),
|
|
mjNREF);
|
|
}
|
|
}
|
|
|
|
auto solimpfriction_attr = joint_api.GetMjcSolimpfrictionAttr();
|
|
if (solimpfriction_attr.HasAuthoredValue()) {
|
|
pxr::VtDoubleArray solimpfriction;
|
|
solimpfriction_attr.Get(&solimpfriction);
|
|
if (solimpfriction.size() == mjNIMP) {
|
|
for (int i = 0; i < mjNIMP; ++i) {
|
|
mj_joint->solimp_friction[i] = solimpfriction[i];
|
|
}
|
|
} else {
|
|
mju_warning(
|
|
"solimpfriction attribute for joint %s has incorrect size %zu, "
|
|
"expected %d.",
|
|
mjs_getName(mj_joint->element)->c_str(), solimpfriction.size(),
|
|
mjNIMP);
|
|
}
|
|
}
|
|
|
|
auto stiffness_attr = joint_api.GetMjcStiffnessAttr();
|
|
if (stiffness_attr.HasAuthoredValue()) {
|
|
double stiffness;
|
|
stiffness_attr.Get(&stiffness);
|
|
mj_joint->stiffness[0] = stiffness;
|
|
}
|
|
|
|
auto actuatorfrcrange_min_attr = joint_api.GetMjcActuatorfrcrangeMinAttr();
|
|
if (actuatorfrcrange_min_attr.HasAuthoredValue()) {
|
|
double min_val;
|
|
actuatorfrcrange_min_attr.Get(&min_val);
|
|
mj_joint->actfrcrange[0] = min_val;
|
|
}
|
|
auto actuatorfrcrange_max_attr = joint_api.GetMjcActuatorfrcrangeMaxAttr();
|
|
if (actuatorfrcrange_max_attr.HasAuthoredValue()) {
|
|
double max_val;
|
|
actuatorfrcrange_max_attr.Get(&max_val);
|
|
mj_joint->actfrcrange[1] = max_val;
|
|
}
|
|
|
|
auto actuatorfrclimited_attr = joint_api.GetMjcActuatorfrclimitedAttr();
|
|
if (actuatorfrclimited_attr.HasAuthoredValue()) {
|
|
pxr::TfToken limited;
|
|
actuatorfrclimited_attr.Get(&limited);
|
|
if (limited == MjcPhysicsTokens->true_) {
|
|
mj_joint->actfrclimited = mjLIMITED_TRUE;
|
|
} else if (limited == MjcPhysicsTokens->false_) {
|
|
mj_joint->actfrclimited = mjLIMITED_FALSE;
|
|
} else if (limited == MjcPhysicsTokens->auto_) {
|
|
mj_joint->actfrclimited = mjLIMITED_AUTO;
|
|
}
|
|
}
|
|
|
|
auto actuatorgravcomp_attr = joint_api.GetMjcActuatorgravcompAttr();
|
|
if (actuatorgravcomp_attr.HasAuthoredValue()) {
|
|
bool gravcomp;
|
|
actuatorgravcomp_attr.Get(&gravcomp);
|
|
mj_joint->actgravcomp = gravcomp;
|
|
}
|
|
|
|
auto margin_attr = joint_api.GetMjcMarginAttr();
|
|
if (margin_attr.HasAuthoredValue()) {
|
|
double margin;
|
|
margin_attr.Get(&margin);
|
|
mj_joint->margin = margin;
|
|
}
|
|
|
|
auto ref_attr = joint_api.GetMjcRefAttr();
|
|
if (ref_attr.HasAuthoredValue()) {
|
|
double ref;
|
|
ref_attr.Get(&ref);
|
|
mj_joint->ref = ref;
|
|
}
|
|
|
|
auto springref_attr = joint_api.GetMjcSpringrefAttr();
|
|
if (springref_attr.HasAuthoredValue()) {
|
|
double springref;
|
|
springref_attr.Get(&springref);
|
|
mj_joint->springref = springref;
|
|
}
|
|
|
|
auto armature_attr = joint_api.GetMjcArmatureAttr();
|
|
if (armature_attr.HasAuthoredValue()) {
|
|
double armature;
|
|
armature_attr.Get(&armature);
|
|
mj_joint->armature = armature;
|
|
}
|
|
|
|
auto damping_attr = joint_api.GetMjcDampingAttr();
|
|
if (damping_attr.HasAuthoredValue()) {
|
|
double damping;
|
|
damping_attr.Get(&damping);
|
|
mj_joint->damping[0] = damping;
|
|
}
|
|
|
|
auto frictionloss_attr = joint_api.GetMjcFrictionlossAttr();
|
|
if (frictionloss_attr.HasAuthoredValue()) {
|
|
double frictionloss;
|
|
frictionloss_attr.Get(&frictionloss);
|
|
mj_joint->frictionloss = frictionloss;
|
|
}
|
|
}
|
|
|
|
void ParseUsdPhysicsMaterialAPI(
|
|
mjsGeom* geom, const pxr::UsdPhysicsMaterialAPI& material_api) {
|
|
auto dynamic_friction_attr = material_api.GetDynamicFrictionAttr();
|
|
if (dynamic_friction_attr.HasAuthoredValue()) {
|
|
float dynamic_friction;
|
|
dynamic_friction_attr.Get(&dynamic_friction);
|
|
geom->friction[0] = dynamic_friction;
|
|
}
|
|
|
|
auto restitution_attr = material_api.GetRestitutionAttr();
|
|
if (restitution_attr.HasAuthoredValue()) {
|
|
mju_warning(
|
|
"Material %s is trying to set the resitution coefficient, to control "
|
|
"restitution in MuJoCo use the direct method of setting solref to "
|
|
"(-stiffness, -damping). See "
|
|
"https://mujoco.readthedocs.io/en/latest/modeling.html#restitution for "
|
|
"examples.",
|
|
material_api.GetPath().GetString().c_str());
|
|
}
|
|
|
|
auto density_attr = material_api.GetDensityAttr();
|
|
if (density_attr.HasAuthoredValue()) {
|
|
float density;
|
|
density_attr.Get(&density);
|
|
geom->density = density;
|
|
}
|
|
}
|
|
|
|
void ParseMjcPhysicsMaterialAPI(
|
|
mjsGeom* geom, const pxr::MjcPhysicsMaterialAPI& material_api) {
|
|
auto torsional_friction_attr = material_api.GetTorsionalFrictionAttr();
|
|
if (torsional_friction_attr.HasAuthoredValue()) {
|
|
torsional_friction_attr.Get(&geom->friction[1]);
|
|
}
|
|
|
|
auto rolling_friction_attr = material_api.GetRollingFrictionAttr();
|
|
if (rolling_friction_attr.HasAuthoredValue()) {
|
|
rolling_friction_attr.Get(&geom->friction[2]);
|
|
}
|
|
}
|
|
|
|
void ParseDisplayColorAndOpacity(const pxr::UsdPrim& prim, mjsGeom* geom) {
|
|
// Convert displayColor and displayOpacity to rgba.
|
|
// We want to support primvar inheritance, hence FindPrimvarWithInheritance.
|
|
pxr::UsdGeomPrimvarsAPI primvarsAPI(prim);
|
|
pxr::UsdGeomPrimvar displayColorPrimvar =
|
|
primvarsAPI.FindPrimvarWithInheritance(
|
|
pxr::UsdGeomTokens->primvarsDisplayColor);
|
|
pxr::UsdGeomPrimvar displayOpacityPrimvar =
|
|
primvarsAPI.FindPrimvarWithInheritance(
|
|
pxr::UsdGeomTokens->primvarsDisplayOpacity);
|
|
if (displayColorPrimvar.HasAuthoredValue()) {
|
|
pxr::VtArray<pxr::GfVec3f> display_color;
|
|
displayColorPrimvar.Get(&display_color);
|
|
if (!display_color.empty()) {
|
|
geom->rgba[0] = display_color[0][0];
|
|
geom->rgba[1] = display_color[0][1];
|
|
geom->rgba[2] = display_color[0][2];
|
|
}
|
|
}
|
|
if (displayOpacityPrimvar.HasAuthoredValue()) {
|
|
pxr::VtArray<float> display_opacity;
|
|
displayOpacityPrimvar.Get(&display_opacity);
|
|
if (!display_opacity.empty()) {
|
|
geom->rgba[3] = display_opacity[0];
|
|
}
|
|
}
|
|
}
|
|
|
|
void ParseUsdGeomGprim(mjSpec* spec, const pxr::UsdPrim& gprim,
|
|
const pxr::UsdPrim& body_prim, mjsBody* parent,
|
|
UsdCaches& caches) {
|
|
mjsGeom* geom = mjs_addGeom(parent, nullptr);
|
|
mjs_setName(geom->element, gprim.GetPath().GetAsString().c_str());
|
|
geom->contype = 0;
|
|
geom->conaffinity = 0;
|
|
|
|
SetUsdPrimPathUserValue(geom->element, gprim.GetPath());
|
|
|
|
ParseDisplayColorAndOpacity(gprim, geom);
|
|
SetLocalPoseFromPrim(gprim, body_prim, geom, caches.xform_cache);
|
|
if (!MaybeParseGeomPrimitive(gprim, geom, caches.xform_cache)) {
|
|
mjsMesh* mesh = ParseUsdMesh(spec, gprim, geom, caches.xform_cache);
|
|
if (mesh != nullptr && gprim.HasAPI<pxr::MjcPhysicsMeshCollisionAPI>()) {
|
|
ParseMjcPhysicsMeshCollisionAPI(mesh,
|
|
pxr::MjcPhysicsMeshCollisionAPI(gprim));
|
|
}
|
|
}
|
|
|
|
pxr::UsdShadeMaterial bound_material =
|
|
pxr::UsdShadeMaterialBindingAPI(gprim).ComputeBoundMaterial(
|
|
&caches.bindings_cache, &caches.collection_query_cache);
|
|
if (bound_material) {
|
|
pxr::SdfPath material_path = bound_material.GetPrim().GetPath();
|
|
mjsMaterial* material = nullptr;
|
|
if (auto iter = caches.parsed_materials.find(material_path);
|
|
iter != caches.parsed_materials.end()) {
|
|
material = iter->second;
|
|
} else {
|
|
material = ParseMaterial(spec, bound_material);
|
|
// ParseMaterial may return a nullptr if the material is not supported.
|
|
if (material) {
|
|
caches.parsed_materials[material_path] = material;
|
|
}
|
|
}
|
|
if (material) {
|
|
mjs_setString(geom->material, mjs_getName(material->element)->c_str());
|
|
}
|
|
}
|
|
|
|
if (gprim.HasAPI<pxr::MjcPhysicsImageableAPI>()) {
|
|
auto imageable_api = pxr::MjcPhysicsImageableAPI(gprim);
|
|
auto group_attr = imageable_api.GetGroupAttr();
|
|
if (group_attr.HasAuthoredValue()) {
|
|
group_attr.Get(&geom->group);
|
|
}
|
|
}
|
|
}
|
|
|
|
void ParseUsdPhysicsCollider(mjSpec* spec,
|
|
const pxr::UsdPhysicsCollisionAPI& collision_api,
|
|
const pxr::UsdPrim& body_prim, mjsBody* parent,
|
|
UsdCaches& caches) {
|
|
pxr::UsdPrim prim = collision_api.GetPrim();
|
|
// UsdPhysicsCollisionAPI can only be applied to gprim primitives.
|
|
if (!prim.IsA<pxr::UsdGeomGprim>()) {
|
|
mju_warning(
|
|
"UsdPhysicsCollisionAPI applied to a non-UsdGeomGprim prim: %s. "
|
|
"Skipping.",
|
|
prim.GetPath().GetAsString().c_str());
|
|
return;
|
|
}
|
|
|
|
mjsGeom* geom = mjs_addGeom(parent, nullptr);
|
|
mjs_setName(geom->element, prim.GetPath().GetAsString().c_str());
|
|
geom->contype = 1;
|
|
geom->conaffinity = 1;
|
|
|
|
SetUsdPrimPathUserValue(geom->element, prim.GetPath());
|
|
|
|
if (prim.HasAPI<pxr::MjcPhysicsCollisionAPI>()) {
|
|
ParseMjcPhysicsCollisionAPI(geom, pxr::MjcPhysicsCollisionAPI(prim));
|
|
}
|
|
|
|
pxr::UsdShadeMaterial bound_material =
|
|
pxr::UsdShadeMaterialBindingAPI(prim).ComputeBoundMaterial(
|
|
&caches.bindings_cache, &caches.collection_query_cache);
|
|
if (bound_material) {
|
|
pxr::UsdPrim bound_material_prim = bound_material.GetPrim();
|
|
if (bound_material_prim.HasAPI<pxr::UsdPhysicsMaterialAPI>() ||
|
|
bound_material_prim.HasAPI<pxr::MjcPhysicsMaterialAPI>()) {
|
|
ParseUsdPhysicsMaterialAPI(
|
|
geom, pxr::UsdPhysicsMaterialAPI(bound_material_prim));
|
|
ParseMjcPhysicsMaterialAPI(
|
|
geom, pxr::MjcPhysicsMaterialAPI(bound_material_prim));
|
|
}
|
|
pxr::SdfPath material_path = bound_material_prim.GetPath();
|
|
mjsMaterial* material = nullptr;
|
|
if (auto iter = caches.parsed_materials.find(material_path);
|
|
iter != caches.parsed_materials.end()) {
|
|
material = iter->second;
|
|
} else {
|
|
material = ParseMaterial(spec, bound_material);
|
|
// ParseMaterial may return a nullptr if the material is not supported.
|
|
if (material) {
|
|
caches.parsed_materials[material_path] = material;
|
|
}
|
|
}
|
|
if (material) {
|
|
mjs_setString(geom->material, mjs_getName(material->element)->c_str());
|
|
}
|
|
}
|
|
|
|
// Parse the Mass API after the physics material APIs since the density
|
|
// attribute from the Mass API is supposed to override the Material API
|
|
// density attribute. See
|
|
// https://openusd.org/dev/api/usd_physics_page_front.html
|
|
if (prim.HasAPI<pxr::UsdPhysicsMassAPI>()) {
|
|
ParseUsdPhysicsMassAPIForGeom(geom, pxr::UsdPhysicsMassAPI(prim));
|
|
}
|
|
|
|
ParseDisplayColorAndOpacity(prim, geom);
|
|
|
|
SetLocalPoseFromPrim(prim, body_prim, geom, caches.xform_cache);
|
|
|
|
if (!MaybeParseGeomPrimitive(prim, geom, caches.xform_cache)) {
|
|
mjsMesh* mesh = ParseUsdMesh(spec, prim, geom, caches.xform_cache);
|
|
if (mesh != nullptr && prim.HasAPI<pxr::MjcPhysicsMeshCollisionAPI>()) {
|
|
ParseMjcPhysicsMeshCollisionAPI(mesh,
|
|
pxr::MjcPhysicsMeshCollisionAPI(prim));
|
|
}
|
|
}
|
|
}
|
|
|
|
void ParseJointEnabled(mjsEquality* eq, const pxr::UsdPhysicsJoint& joint) {
|
|
bool jointEnabled = true;
|
|
joint.GetJointEnabledAttr().Get(&jointEnabled);
|
|
eq->active = jointEnabled ? 1 : 0;
|
|
}
|
|
|
|
void ParseMjcEqualityAPISolverParams(
|
|
mjsEquality* eq, const pxr::MjcPhysicsEqualityAPI& equality_api,
|
|
const pxr::UsdPrim& prim) {
|
|
auto solref_attr = equality_api.GetSolRefAttr();
|
|
if (solref_attr.HasAuthoredValue()) {
|
|
pxr::VtDoubleArray solref;
|
|
solref_attr.Get(&solref);
|
|
if (solref.size() == mjNREF) {
|
|
for (int i = 0; i < mjNREF; ++i) {
|
|
eq->solref[i] = solref[i];
|
|
}
|
|
} else {
|
|
mju_warning(
|
|
"solref attribute for equality %s has incorrect size "
|
|
"%zu, expected %d.",
|
|
prim.GetPath().GetAsString().c_str(), solref.size(), mjNREF);
|
|
}
|
|
}
|
|
|
|
auto solimp_attr = equality_api.GetSolImpAttr();
|
|
if (solimp_attr.HasAuthoredValue()) {
|
|
pxr::VtDoubleArray solimp;
|
|
solimp_attr.Get(&solimp);
|
|
if (solimp.size() == mjNIMP) {
|
|
for (int i = 0; i < mjNIMP; ++i) {
|
|
eq->solimp[i] = solimp[i];
|
|
}
|
|
} else {
|
|
mju_warning(
|
|
"solimp attribute for equality %s has incorrect size "
|
|
"%zu, expected %d.",
|
|
prim.GetPath().GetAsString().c_str(), solimp.size(), mjNIMP);
|
|
}
|
|
}
|
|
}
|
|
|
|
void ParseConstraint(mjSpec* spec, const pxr::UsdPrim& prim, mjsBody* body,
|
|
pxr::UsdGeomXformCache& xform_cache) {
|
|
if (prim.HasAPI<pxr::MjcPhysicsEqualityJointAPI>()) {
|
|
// Handle MjcPhysicsEqualityJointAPI on revolute/prismatic joints.
|
|
pxr::MjcPhysicsEqualityJointAPI eq_joint_api(prim);
|
|
mjsEquality* eq = mjs_addEquality(spec, nullptr);
|
|
eq->type = mjEQ_JOINT;
|
|
mjs_setName(eq->element, prim.GetPath().GetAsString().c_str());
|
|
SetUsdPrimPathUserValue(eq->element, prim.GetPath());
|
|
|
|
// The prim this API is applied to is the constrained joint (joint1).
|
|
eq->objtype = mjOBJ_JOINT;
|
|
mjs_setString(eq->name1, prim.GetPath().GetAsString().c_str());
|
|
|
|
// Get the target joint (joint2) from the MjcEqualityAPI target
|
|
// relationship.
|
|
pxr::MjcPhysicsEqualityAPI equality_api(prim);
|
|
pxr::UsdRelationship target_rel = equality_api.GetMjcTargetRel();
|
|
pxr::SdfPathVector targets;
|
|
target_rel.GetTargets(&targets);
|
|
if (!targets.empty()) {
|
|
mjs_setString(eq->name2, targets[0].GetAsString().c_str());
|
|
}
|
|
// If no target, name2 remains empty, meaning joint1 is fixed to a constant.
|
|
|
|
// Parse individual coefficient attributes for the quartic polynomial.
|
|
eq_joint_api.GetCoef0Attr().Get(&eq->data[0]);
|
|
eq_joint_api.GetCoef1Attr().Get(&eq->data[1]);
|
|
eq_joint_api.GetCoef2Attr().Get(&eq->data[2]);
|
|
eq_joint_api.GetCoef3Attr().Get(&eq->data[3]);
|
|
eq_joint_api.GetCoef4Attr().Get(&eq->data[4]);
|
|
|
|
pxr::UsdPhysicsJoint joint(prim);
|
|
ParseJointEnabled(eq, joint);
|
|
|
|
ParseMjcEqualityAPISolverParams(eq, equality_api, prim);
|
|
} else if (prim.IsA<pxr::UsdPhysicsFixedJoint>() ||
|
|
prim.IsA<pxr::UsdPhysicsSphericalJoint>()) {
|
|
// Handle fixed joints as weld constraints, spherical joints as connect constraints
|
|
pxr::UsdPhysicsJoint joint(prim);
|
|
// A fixed joint means the bodies are welded.
|
|
pxr::UsdRelationship body0_rel = joint.GetBody0Rel();
|
|
pxr::UsdRelationship body1_rel = joint.GetBody1Rel();
|
|
pxr::SdfPathVector targets0, targets1;
|
|
body0_rel.GetTargets(&targets0);
|
|
body1_rel.GetTargets(&targets1);
|
|
|
|
pxr::SdfPath body0_path;
|
|
if (!targets0.empty()) body0_path = targets0[0];
|
|
pxr::SdfPath body1_path;
|
|
if (!targets1.empty()) body1_path = targets1[0];
|
|
|
|
auto stage = prim.GetStage();
|
|
|
|
// Get the default prim path to identify the world body.
|
|
pxr::SdfPath default_prim_path;
|
|
if (stage->GetDefaultPrim().IsValid()) {
|
|
default_prim_path = stage->GetDefaultPrim().GetPath();
|
|
}
|
|
|
|
// Map default prim to world body (empty path means world in MuJoCo).
|
|
bool body0_is_world = body0_path.IsEmpty() || body0_path == default_prim_path;
|
|
bool body1_is_world = body1_path.IsEmpty() || body1_path == default_prim_path;
|
|
|
|
auto body0_prim = stage->GetPrimAtPath(body0_path);
|
|
auto body1_prim = stage->GetPrimAtPath(body1_path);
|
|
|
|
bool body0_is_site = false;
|
|
if (!body0_path.IsEmpty()) {
|
|
body0_is_site = body0_prim.HasAPI<pxr::MjcPhysicsSiteAPI>();
|
|
}
|
|
bool body1_is_site = false;
|
|
if (!body1_path.IsEmpty()) {
|
|
body1_is_site = body1_prim.HasAPI<pxr::MjcPhysicsSiteAPI>();
|
|
}
|
|
|
|
if (body0_is_site != body1_is_site) {
|
|
mju_warning(
|
|
"Weld constraint %s has mismatch between site and body targets, "
|
|
"skipping",
|
|
prim.GetPath().GetAsString().c_str());
|
|
return;
|
|
}
|
|
|
|
mjsEquality* eq = mjs_addEquality(spec, nullptr);
|
|
eq->type = mjEQ_WELD;
|
|
mjs_setName(eq->element, prim.GetPath().GetAsString().c_str());
|
|
SetUsdPrimPathUserValue(eq->element, prim.GetPath());
|
|
|
|
if (body0_is_site) {
|
|
mjs_setString(eq->name1, body0_path.GetAsString().c_str());
|
|
mjs_setString(eq->name2, body1_path.GetAsString().c_str());
|
|
eq->objtype = mjOBJ_SITE;
|
|
} else {
|
|
// For body welds, use "world" for the world body, otherwise use the USD path.
|
|
mjs_setString(eq->name1, body0_is_world ? "world" : body0_path.GetAsString().c_str());
|
|
mjs_setString(eq->name2, body1_is_world ? "world" : body1_path.GetAsString().c_str());
|
|
eq->objtype = mjOBJ_BODY;
|
|
}
|
|
|
|
// In USD, joints have a reference frame that is shared between the two
|
|
// connecting bodies. This reference frame is defined relative to both
|
|
// bodies, in localPos/Rot 0 and 1.
|
|
// In MuJoCo this is specified as an equality constraint, with the
|
|
// anchor point defined relative to body2 (USD body1) and
|
|
// the relpose attribute defines the position of the anchor relative to
|
|
// body1 (USD body0) and the orientation of body2 relative to body1.
|
|
|
|
// Concretely:
|
|
// anchor = localPos1
|
|
// relpose = (localPos0, localRot0 * localRot1.GetConjugate())
|
|
|
|
// relpose is float[7], pos(3) + quat(4)
|
|
// anchor is float[3], pos(3)
|
|
// in mjsEquality data: anchor 0-2, relpose 3-9.
|
|
|
|
auto body0_xform = xform_cache.GetLocalToWorldTransform(body0_prim);
|
|
auto body1_xform = xform_cache.GetLocalToWorldTransform(body1_prim);
|
|
|
|
pxr::GfVec3d body0_scale, body1_scale;
|
|
|
|
{
|
|
pxr::GfMatrix4d scale_orient, rot, persp;
|
|
pxr::GfVec3d translation;
|
|
if (!body0_xform.Factor(&scale_orient, &body0_scale, &rot, &translation,
|
|
&persp)) {
|
|
// unable to decompose, emit warning and set scale to identity
|
|
mju_warning("Unable to decompose matrix for body 0: %s.",
|
|
body0_path.GetAsString().c_str());
|
|
body0_scale = pxr::GfVec3f(1, 1, 1);
|
|
}
|
|
|
|
if (!body1_xform.Factor(&scale_orient, &body1_scale, &rot, &translation,
|
|
&persp)) {
|
|
// unable to decompose, emit warning and set scale to identity
|
|
mju_warning("Unable to decompose matrix for body 1: %s.",
|
|
body1_path.GetAsString().c_str());
|
|
body1_scale = pxr::GfVec3f(1, 1, 1);
|
|
}
|
|
}
|
|
|
|
pxr::GfVec3f localPos0;
|
|
joint.GetLocalPos0Attr().Get(&localPos0);
|
|
localPos0[0] *= body0_scale[0];
|
|
localPos0[1] *= body0_scale[1];
|
|
localPos0[2] *= body0_scale[2];
|
|
|
|
pxr::GfVec3f localPos1;
|
|
joint.GetLocalPos1Attr().Get(&localPos1);
|
|
localPos1[0] *= body1_scale[0];
|
|
localPos1[1] *= body1_scale[1];
|
|
localPos1[2] *= body1_scale[2];
|
|
|
|
pxr::GfQuatf localRot0, localRot1;
|
|
joint.GetLocalRot0Attr().Get(&localRot0);
|
|
joint.GetLocalRot1Attr().Get(&localRot1);
|
|
|
|
auto relpose_quat = localRot0 * localRot1.GetConjugate();
|
|
relpose_quat.Normalize();
|
|
|
|
if (prim.HasAPI<pxr::MjcPhysicsEqualityConnectAPI>()) {
|
|
eq->type = mjEQ_CONNECT;
|
|
eq->data[0] = localPos0[0];
|
|
eq->data[1] = localPos0[1];
|
|
eq->data[2] = localPos0[2];
|
|
|
|
pxr::MjcPhysicsEqualityAPI equality_api(prim);
|
|
ParseMjcEqualityAPISolverParams(eq, equality_api, prim);
|
|
} else {
|
|
eq->data[0] = localPos1[0];
|
|
eq->data[1] = localPos1[1];
|
|
eq->data[2] = localPos1[2];
|
|
|
|
bool has_relpose = joint.GetLocalPos0Attr().HasAuthoredValue() ||
|
|
joint.GetLocalRot0Attr().HasAuthoredValue() ||
|
|
joint.GetLocalRot1Attr().HasAuthoredValue();
|
|
|
|
if (has_relpose) {
|
|
eq->data[3] = localPos0[0];
|
|
eq->data[4] = localPos0[1];
|
|
eq->data[5] = localPos0[2];
|
|
eq->data[6] = relpose_quat.GetReal();
|
|
eq->data[7] = relpose_quat.GetImaginary()[0];
|
|
eq->data[8] = relpose_quat.GetImaginary()[1];
|
|
eq->data[9] = relpose_quat.GetImaginary()[2];
|
|
}
|
|
|
|
if (prim.HasAPI<pxr::MjcPhysicsEqualityWeldAPI>()) {
|
|
pxr::MjcPhysicsEqualityAPI equality_api(prim);
|
|
ParseMjcEqualityAPISolverParams(eq, equality_api, prim);
|
|
|
|
pxr::MjcPhysicsEqualityWeldAPI weld_api(prim);
|
|
float torque_scale;
|
|
if (weld_api.GetTorqueScaleAttr().Get(&torque_scale)) {
|
|
eq->data[10] = torque_scale;
|
|
}
|
|
}
|
|
}
|
|
|
|
ParseJointEnabled(eq, joint);
|
|
}
|
|
}
|
|
|
|
void ParseUsdPhysicsJoint(mjSpec* spec, const pxr::UsdPrim& prim, mjsBody* body,
|
|
pxr::UsdGeomXformCache& xform_cache) {
|
|
// A fixed joint means the bodies are welded.
|
|
if (prim.IsA<pxr::UsdPhysicsFixedJoint>()) {
|
|
// No joint needed for welded bodies.
|
|
return;
|
|
}
|
|
|
|
pxr::UsdPhysicsJoint joint(prim);
|
|
|
|
mjtJoint type;
|
|
if (prim.IsA<pxr::UsdPhysicsRevoluteJoint>()) {
|
|
type = mjJNT_HINGE;
|
|
} else if (prim.IsA<pxr::UsdPhysicsPrismaticJoint>()) {
|
|
type = mjJNT_SLIDE;
|
|
} else {
|
|
// Unsupported joint type.
|
|
mju_warning("Unsupported joint type for %s",
|
|
prim.GetPath().GetAsString().c_str());
|
|
return;
|
|
}
|
|
|
|
mjsJoint* mj_joint = mjs_addJoint(body, nullptr);
|
|
mj_joint->type = type;
|
|
mjs_setName(mj_joint->element, prim.GetPath().GetAsString().c_str());
|
|
|
|
SetUsdPrimPathUserValue(mj_joint->element, prim.GetPath());
|
|
|
|
if (prim.IsA<pxr::UsdPhysicsRevoluteJoint>()) {
|
|
pxr::UsdPhysicsRevoluteJoint revolute(prim);
|
|
TfToken axis;
|
|
revolute.GetAxisAttr().Get(&axis);
|
|
if (axis == pxr::UsdGeomTokens->x) {
|
|
mj_joint->axis[0] = 1;
|
|
mj_joint->axis[1] = 0;
|
|
mj_joint->axis[2] = 0;
|
|
} else if (axis == pxr::UsdGeomTokens->y) {
|
|
mj_joint->axis[0] = 0;
|
|
mj_joint->axis[1] = 1;
|
|
mj_joint->axis[2] = 0;
|
|
} else { // Z is default
|
|
mj_joint->axis[0] = 0;
|
|
mj_joint->axis[1] = 0;
|
|
mj_joint->axis[2] = 1;
|
|
}
|
|
|
|
float lower, upper;
|
|
if (revolute.GetLowerLimitAttr().Get(&lower) &&
|
|
revolute.GetUpperLimitAttr().Get(&upper)) {
|
|
mj_joint->limited = mjLIMITED_TRUE;
|
|
if (spec->compiler.degree) {
|
|
mj_joint->range[0] = lower;
|
|
mj_joint->range[1] = upper;
|
|
} else {
|
|
mj_joint->range[0] = lower * std::numbers::pi / 180.0;
|
|
mj_joint->range[1] = upper * std::numbers::pi / 180.0;
|
|
}
|
|
}
|
|
} else if (prim.IsA<pxr::UsdPhysicsPrismaticJoint>()) {
|
|
pxr::UsdPhysicsPrismaticJoint prismatic(prim);
|
|
TfToken axis;
|
|
prismatic.GetAxisAttr().Get(&axis);
|
|
if (axis == pxr::UsdGeomTokens->x) {
|
|
mj_joint->axis[0] = 1;
|
|
mj_joint->axis[1] = 0;
|
|
mj_joint->axis[2] = 0;
|
|
} else if (axis == pxr::UsdGeomTokens->y) {
|
|
mj_joint->axis[0] = 0;
|
|
mj_joint->axis[1] = 1;
|
|
mj_joint->axis[2] = 0;
|
|
} else { // Z is default
|
|
mj_joint->axis[0] = 0;
|
|
mj_joint->axis[1] = 0;
|
|
mj_joint->axis[2] = 1;
|
|
}
|
|
float lower, upper;
|
|
if (prismatic.GetLowerLimitAttr().Get(&lower) &&
|
|
prismatic.GetUpperLimitAttr().Get(&upper)) {
|
|
mj_joint->limited = mjLIMITED_TRUE;
|
|
mj_joint->range[0] = lower;
|
|
mj_joint->range[1] = upper;
|
|
}
|
|
}
|
|
|
|
// localPose1 is joint frame in child body (body1) coordinates.
|
|
pxr::GfVec3f localPos1;
|
|
joint.GetLocalPos1Attr().Get(&localPos1);
|
|
pxr::GfVec3d pos(localPos1);
|
|
|
|
pxr::GfQuatf localRot1;
|
|
joint.GetLocalRot1Attr().Get(&localRot1);
|
|
pxr::GfQuatd rot(localRot1);
|
|
|
|
SetDoubleArrFromGfVec3d(mj_joint->pos, pos);
|
|
|
|
// Transform joint axis by localPose1 rotation.
|
|
if (mj_joint->type == mjJNT_HINGE || mj_joint->type == mjJNT_SLIDE) {
|
|
pxr::GfVec3d axis_vec(mj_joint->axis[0], mj_joint->axis[1],
|
|
mj_joint->axis[2]);
|
|
pxr::GfVec3d rotated_axis = rot.Transform(axis_vec);
|
|
SetDoubleArrFromGfVec3d(mj_joint->axis, rotated_axis);
|
|
}
|
|
|
|
if (prim.HasAPI<pxr::MjcPhysicsJointAPI>()) {
|
|
ParseMjcPhysicsJointAPI(mj_joint, pxr::MjcPhysicsJointAPI(prim));
|
|
}
|
|
}
|
|
|
|
void ParseMjcPhysicsSite(mjSpec* spec, const pxr::MjcPhysicsSiteAPI& site_api,
|
|
const pxr::UsdPrim& parent_prim, mjsBody* parent,
|
|
pxr::UsdGeomXformCache& xform_cache) {
|
|
auto prim = site_api.GetPrim();
|
|
mjsSite* site = mjs_addSite(parent, 0);
|
|
mjs_setName(site->element,
|
|
site_api.GetPrim().GetPath().GetAsString().c_str());
|
|
SetLocalPoseFromPrim(site_api.GetPrim(), parent_prim, site, xform_cache);
|
|
|
|
SetUsdPrimPathUserValue(site->element, prim.GetPath());
|
|
|
|
auto group_attr = site_api.GetGroupAttr();
|
|
if (group_attr.HasAuthoredValue()) {
|
|
group_attr.Get(&site->group);
|
|
}
|
|
|
|
// Convert USD type to MuJoCo type.
|
|
if (!MaybeParseGeomPrimitive(prim, site, xform_cache)) {
|
|
mju_error("Prim with SiteAPI has unsupported typej %s",
|
|
prim.GetTypeName().GetString().c_str());
|
|
return;
|
|
}
|
|
}
|
|
|
|
void ParseMjcPhysicsKeyframe(mjSpec* spec,
|
|
const pxr::MjcPhysicsKeyframe& keyframe) {
|
|
auto prim = keyframe.GetPrim();
|
|
auto qpos_attr = keyframe.GetMjcQposAttr();
|
|
auto qvel_attr = keyframe.GetMjcQvelAttr();
|
|
auto act_attr = keyframe.GetMjcActAttr();
|
|
auto ctrl_attr = keyframe.GetMjcCtrlAttr();
|
|
auto mpos_attr = keyframe.GetMjcMposAttr();
|
|
auto mquat_attr = keyframe.GetMjcMquatAttr();
|
|
|
|
auto setKeyframeData = [](mjsKey* key, const pxr::UsdAttribute& attr,
|
|
std::vector<double>** key_data,
|
|
double* time = nullptr) {
|
|
if (attr.HasAuthoredValue()) {
|
|
pxr::VtDoubleArray data;
|
|
if (time == nullptr) {
|
|
attr.Get(&data);
|
|
} else {
|
|
attr.Get(&data, *time);
|
|
}
|
|
*key_data = new std::vector<double>(data.begin(), data.end());
|
|
}
|
|
};
|
|
|
|
size_t n_time_samples = 0;
|
|
if (qpos_attr.HasAuthoredValue()) {
|
|
n_time_samples = qpos_attr.GetNumTimeSamples();
|
|
}
|
|
|
|
if (n_time_samples == 0) {
|
|
// If no time samples, we create a single keyframe.
|
|
mjsKey* key = mjs_addKey(spec);
|
|
|
|
SetUsdPrimPathUserValue(key->element, prim.GetPath());
|
|
|
|
mjs_setName(key->element, prim.GetName().GetString().c_str());
|
|
setKeyframeData(key, qpos_attr, &key->qpos);
|
|
setKeyframeData(key, qvel_attr, &key->qvel);
|
|
setKeyframeData(key, act_attr, &key->act);
|
|
setKeyframeData(key, ctrl_attr, &key->ctrl);
|
|
setKeyframeData(key, mpos_attr, &key->mpos);
|
|
setKeyframeData(key, mquat_attr, &key->mquat);
|
|
} else {
|
|
// If time samples, we create a keyframe for each time sample.
|
|
std::vector<double> times;
|
|
qpos_attr.GetTimeSamples(×);
|
|
int keyframe_id = 0;
|
|
for (double time : times) {
|
|
mjsKey* key = mjs_addKey(spec);
|
|
|
|
SetUsdPrimPathUserValue(key->element, prim.GetPath());
|
|
|
|
std::string key_name =
|
|
prim.GetName().GetString() + "_" + std::to_string(keyframe_id++);
|
|
mjs_setName(key->element, key_name.c_str());
|
|
key->time = time;
|
|
setKeyframeData(key, qpos_attr, &key->qpos, &time);
|
|
setKeyframeData(key, qvel_attr, &key->qvel, &time);
|
|
setKeyframeData(key, act_attr, &key->act, &time);
|
|
setKeyframeData(key, ctrl_attr, &key->ctrl, &time);
|
|
setKeyframeData(key, mpos_attr, &key->mpos, &time);
|
|
setKeyframeData(key, mquat_attr, &key->mquat, &time);
|
|
}
|
|
}
|
|
}
|
|
|
|
void ParseUsdFilteredPairsAPI(mjSpec* spec, const pxr::UsdPrim& prim) {
|
|
pxr::SdfPathVector filtered_bodies;
|
|
pxr::UsdPhysicsFilteredPairsAPI(prim).GetFilteredPairsRel().GetTargets(&filtered_bodies);
|
|
for (const auto& filtered_body : filtered_bodies) {
|
|
mjsExclude* exclude = mjs_addExclude(spec);
|
|
mjs_setString(exclude->bodyname1, prim.GetPath().GetAsString().c_str());
|
|
mjs_setString(exclude->bodyname2, filtered_body.GetAsString().c_str());
|
|
}
|
|
}
|
|
|
|
mjsBody* ParseUsdPhysicsRigidbody(
|
|
mjSpec* spec, const pxr::UsdPhysicsRigidBodyAPI& rigidbody_api,
|
|
const pxr::UsdPrim& parent_prim, mjsBody* parent,
|
|
pxr::UsdGeomXformCache& xform_cache) {
|
|
pxr::UsdPrim prim = rigidbody_api.GetPrim();
|
|
mjsBody* body = mjs_addBody(parent, nullptr);
|
|
mjs_setName(body->element, prim.GetPath().GetAsString().c_str());
|
|
SetLocalPoseFromPrim(prim, parent_prim, body, xform_cache);
|
|
|
|
if (prim.HasAPI<pxr::UsdPhysicsMassAPI>()) {
|
|
ParseUsdPhysicsMassAPIForBody(body, pxr::UsdPhysicsMassAPI(prim));
|
|
}
|
|
|
|
// The value is a pointer to a newly allocated SdfPath, which will be deleted
|
|
// when the mjsElement is deleted.
|
|
const pxr::SdfPath* usd_primpath = new pxr::SdfPath(prim.GetPath());
|
|
mjs_setUserValueWithCleanup(
|
|
body->element, kUsdPrimPathKey, usd_primpath,
|
|
[](const void* data) { delete static_cast<const pxr::SdfPath*>(data); });
|
|
|
|
if (prim.HasAPI<pxr::UsdPhysicsFilteredPairsAPI>()) {
|
|
ParseUsdFilteredPairsAPI(spec, prim);
|
|
}
|
|
|
|
return body;
|
|
}
|
|
|
|
// There is no common base class for UsdPhysicsRigidBodyAPI and
|
|
// UsdPhysicsCollisionAPI so we need a templated function.
|
|
template <class T>
|
|
bool IsObjectInPhysicsScene(const T& object,
|
|
const pxr::UsdPhysicsScene& physics_scene) {
|
|
pxr::SdfPathVector sim_owners;
|
|
object.GetSimulationOwnerRel().GetTargets(&sim_owners);
|
|
for (const auto& sim_owner : sim_owners) {
|
|
if (physics_scene.GetPath() == sim_owner) {
|
|
return true;
|
|
}
|
|
}
|
|
return false;
|
|
};
|
|
|
|
// Helper type to store all the prims that belong to a body.
|
|
using BodyPrimMap = std::map<pxr::SdfPath, std::vector<pxr::SdfPath>>;
|
|
|
|
// Recursively traverses the kinematic tree, creating bodies, joints, and geoms
|
|
// in the mjSpec.
|
|
void PopulateSpecFromTree(pxr::UsdStageRefPtr stage, mjSpec* spec,
|
|
mjsBody* parent_mj_body, const Node* parent_node,
|
|
const Node* current_node, UsdCaches& caches) {
|
|
mjsBody* current_mj_body = nullptr;
|
|
|
|
if (!current_node->body_path.IsEmpty()) {
|
|
// This is *not* the world body.
|
|
pxr::SdfPath parent_body_path =
|
|
parent_node ? parent_node->body_path : pxr::SdfPath();
|
|
pxr::UsdPrim parent_prim_for_xform =
|
|
parent_body_path.IsEmpty() ? stage->GetPseudoRoot()
|
|
: stage->GetPrimAtPath(parent_body_path);
|
|
|
|
current_mj_body = ParseUsdPhysicsRigidbody(
|
|
spec, pxr::UsdPhysicsRigidBodyAPI::Get(stage, current_node->body_path),
|
|
parent_prim_for_xform, parent_mj_body, caches.xform_cache);
|
|
} else {
|
|
current_mj_body = mjs_findBody(spec, "world");
|
|
}
|
|
|
|
if (!current_node->joints.empty()) {
|
|
for (const auto& joint_path : current_node->joints) {
|
|
ParseUsdPhysicsJoint(spec, stage->GetPrimAtPath(joint_path),
|
|
current_mj_body, caches.xform_cache);
|
|
}
|
|
} else if (parent_mj_body == mjs_findBody(spec, "world")) {
|
|
// No joint to parent, and parent is world: this is a floating body.
|
|
mjsJoint* free_joint = mjs_addJoint(current_mj_body, nullptr);
|
|
free_joint->type = mjJNT_FREE;
|
|
}
|
|
|
|
for (const auto& constraint_path : current_node->constraints) {
|
|
ParseConstraint(spec, stage->GetPrimAtPath(constraint_path),
|
|
current_mj_body, caches.xform_cache);
|
|
}
|
|
|
|
pxr::UsdPrim body_prim_for_xform =
|
|
current_node->body_path.IsEmpty()
|
|
? stage->GetPseudoRoot()
|
|
: stage->GetPrimAtPath(current_node->body_path);
|
|
|
|
for (const auto& gprim_path : current_node->visual_gprims) {
|
|
auto gprim = stage->GetPrimAtPath(gprim_path);
|
|
ParseUsdGeomGprim(spec, gprim, body_prim_for_xform, current_mj_body,
|
|
caches);
|
|
}
|
|
|
|
for (const auto& collider_path : current_node->colliders) {
|
|
ParseUsdPhysicsCollider(
|
|
spec, pxr::UsdPhysicsCollisionAPI(stage->GetPrimAtPath(collider_path)),
|
|
body_prim_for_xform, current_mj_body, caches);
|
|
}
|
|
|
|
for (const auto& site_path : current_node->sites) {
|
|
ParseMjcPhysicsSite(
|
|
spec, pxr::MjcPhysicsSiteAPI(stage->GetPrimAtPath(site_path)),
|
|
body_prim_for_xform, current_mj_body, caches.xform_cache);
|
|
}
|
|
|
|
// Recurse through children.
|
|
for (const auto& child_node : current_node->children) {
|
|
PopulateSpecFromTree(stage, spec, current_mj_body, current_node,
|
|
child_node.get(), caches);
|
|
}
|
|
}
|
|
|
|
mjSpec* ParseStage(const pxr::UsdStageRefPtr stage) {
|
|
mjSpec* spec = mj_makeSpec();
|
|
|
|
std::unique_ptr<Node> root = BuildKinematicTree(stage);
|
|
|
|
// First parse the physics scene and other root elements such as keyframes
|
|
// and actuators.
|
|
if (!root->physics_scene.IsEmpty()) {
|
|
ParseUsdPhysicsScene(spec,
|
|
pxr::UsdPhysicsScene::Get(stage, root->physics_scene));
|
|
} else {
|
|
// If there is no physics scene we still need to infer the gravity vector
|
|
// from the stage up axis and units per meter metadata.
|
|
SetGravityAttributes(spec, stage);
|
|
}
|
|
|
|
if (!root->keyframes.empty()) {
|
|
for (const auto& keyframe : root->keyframes) {
|
|
ParseMjcPhysicsKeyframe(spec,
|
|
pxr::MjcPhysicsKeyframe::Get(stage, keyframe));
|
|
}
|
|
}
|
|
|
|
if (!root->actuators.empty()) {
|
|
for (const auto& actuator : root->actuators) {
|
|
ParseMjcPhysicsActuator(spec,
|
|
pxr::MjcPhysicsActuator::Get(stage, actuator));
|
|
}
|
|
}
|
|
|
|
if (!root->tendons.empty()) {
|
|
for (const auto& tendon : root->tendons) {
|
|
ParseMjcPhysicsTendon(spec, pxr::MjcPhysicsTendon::Get(stage, tendon));
|
|
}
|
|
}
|
|
|
|
// Set of caches to use for all queries when parsing.
|
|
UsdCaches caches;
|
|
// Then populate the kinematic tree.
|
|
PopulateSpecFromTree(stage, spec, /*parent_mj_body=*/nullptr,
|
|
/*parent_node=*/nullptr, root.get(), caches);
|
|
|
|
return spec;
|
|
}
|
|
|
|
namespace {
|
|
// load 2D
|
|
mjSpec* Decode(mjResource* resource, const mjVFS* vfs) {
|
|
auto stage = pxr::UsdStage::Open(resource->name);
|
|
return ParseStage(stage);
|
|
}
|
|
|
|
int CanDecode(const mjResource* resource) {
|
|
std::string_view name(resource->name);
|
|
return name.ends_with(".usd") || name.ends_with(".usda") ||
|
|
name.ends_with(".usdc") || name.ends_with(".usdz");
|
|
}
|
|
} // namespace
|
|
|
|
// clang-format off
|
|
mjPLUGIN_LIB_INIT(usd_decoder) {
|
|
mjpDecoder decoder;
|
|
mjp_defaultDecoder(&decoder);
|
|
decoder.content_type = "model/usd";
|
|
decoder.extension = ".usd|.usda|.usdc|.usdz";
|
|
decoder.decode = Decode;
|
|
decoder.can_decode = CanDecode;
|
|
mjp_registerDecoder(&decoder);
|
|
}
|