# SPDX-FileCopyrightText: Copyright (c) 2026 NVIDIA CORPORATION & AFFILIATES. All rights reserved. # SPDX-License-Identifier: Apache-2.0 # # Licensed under the Apache License, Version 2.0 (the "License"); # you may not use this file except in compliance with the License. # You may obtain a copy of the License at # # http://www.apache.org/licenses/LICENSE-2.0 # # Unless required by applicable law or agreed to in writing, software # distributed under the License is distributed on an "AS IS" BASIS, # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. # See the License for the specific language governing permissions and # limitations under the License. import omni.asset_validator import omni.capabilities as cap from pxr import Sdf, Usd, UsdGeom, UsdPhysics from ..utils import BaseRuleCheckerWCache @omni.asset_validator.register_rule("PhysicsJoints") @omni.asset_validator.register_requirements(cap.PhysicsJointsRequirements.JT_001, override=True) class PhysicsJointCapabilityChecker(omni.asset_validator.BaseRuleChecker): def CheckStage(self, stage: Usd.Stage) -> None: default_prim = stage.GetDefaultPrim() if not default_prim: self._AddFailedCheck("Stage has no default prim. Unable to validate.", at=stage) return rigid_body_path_list = [] joint_list = [] for prim in Usd.PrimRange(default_prim): if prim.HasAPI(UsdPhysics.RigidBodyAPI): rigid_body_path_list.append(prim.GetPath()) if prim.IsA(UsdPhysics.Joint): joint_list.append(prim) if len(rigid_body_path_list) == 0: return rigid_bodies_from_joint_set = set() for joint_prim in joint_list: joint = UsdPhysics.Joint(joint_prim) joint_body_0 = joint.GetBody0Rel().GetTargets() joint_body_1 = joint.GetBody1Rel().GetTargets() if joint_body_0: joint_body_0_path = joint_body_0[0] joint_body_0_prim = stage.GetPrimAtPath(joint_body_0_path) if joint_body_0_prim.IsA(UsdGeom.Mesh): rigid_bodies_from_joint_set.add(joint_body_0_path) rigid_bodies_from_joint_set.add(joint_body_0_prim.GetParent().GetPath()) else: rigid_bodies_from_joint_set.add(joint_body_0_path) if joint_body_1: joint_body_1_path = joint_body_1[0] joint_body_1_prim = stage.GetPrimAtPath(joint_body_1_path) if joint_body_1_prim.IsA(UsdGeom.Mesh): rigid_bodies_from_joint_set.add(joint_body_1_path) rigid_bodies_from_joint_set.add(joint_body_1_prim.GetParent().GetPath()) else: rigid_bodies_from_joint_set.add(joint_body_1_path) return all(body in rigid_bodies_from_joint_set for body in rigid_body_path_list) @omni.asset_validator.register_rule("PhysicsJoints") @omni.asset_validator.register_requirements( cap.PhysicsJointsRequirements.JT_002, cap.PhysicsJointsRequirements.JT_003, override=True ) class PhysicsJointChecker(omni.asset_validator.BaseRuleChecker): _JOINT_INVALID_PRIM_REL_REQUIREMENT = cap.PhysicsJointsRequirements.JT_002 _JOINT_MULTIPLE_PRIMS_REL_REQUIREMENT = cap.PhysicsJointsRequirements.JT_003 _JOINT_INVALID_PRIM_REL_MESSAGE = ( "Joint's Body{0} relationship points to a non-existent prim {1}, joint will not be parsed." ) _JOINT_MULTIPLE_PRIMS_REL_MESSAGE = ( "Joint prim does have a Body{0} relationship to multiple bodies and this is not supported." ) def CheckPrim(self, usd_prim: Usd.Prim): physics_joint = UsdPhysics.Joint(usd_prim) if not physics_joint: return # Check valid relationship prims rel0path = _get_rel(physics_joint.GetBody0Rel()) rel1path = _get_rel(physics_joint.GetBody1Rel()) # Check relationship validity if not _check_joint_rel(rel0path, usd_prim): self._AddFailedCheck( message=self._JOINT_INVALID_PRIM_REL_MESSAGE.format(0, rel0path), at=usd_prim, requirement=self._JOINT_INVALID_PRIM_REL_REQUIREMENT, ) if not _check_joint_rel(rel1path, usd_prim): self._AddFailedCheck( message=self._JOINT_INVALID_PRIM_REL_MESSAGE.format(1, rel1path), at=usd_prim, requirement=self._JOINT_INVALID_PRIM_REL_REQUIREMENT, ) # Check multiple relationship prims targets0 = physics_joint.GetBody0Rel().GetTargets() targets1 = physics_joint.GetBody1Rel().GetTargets() # Check relationship validity if len(targets0) > 1: self._AddFailedCheck( message=self._JOINT_MULTIPLE_PRIMS_REL_MESSAGE.format(0), at=usd_prim, requirement=self._JOINT_MULTIPLE_PRIMS_REL_REQUIREMENT, ) if len(targets1) > 1: self._AddFailedCheck( message=self._JOINT_MULTIPLE_PRIMS_REL_MESSAGE.format(1), at=usd_prim, requirement=self._JOINT_MULTIPLE_PRIMS_REL_REQUIREMENT, ) @omni.asset_validator.register_rule("PhysicsJoints") @omni.asset_validator.register_requirements( cap.PhysicsJointsRequirements.JT_ART_002, cap.PhysicsJointsRequirements.JT_ART_003, cap.PhysicsJointsRequirements.JT_ART_004, override=True, ) class ArticulationChecker(BaseRuleCheckerWCache): _NESTED_ARTICULATION_REQUIREMENT = cap.PhysicsJointsRequirements.JT_ART_002 _ARTICULATION_ON_STATIC_BODY_REQUIREMENT = cap.PhysicsJointsRequirements.JT_ART_003 _ARTICULATION_ON_KINEMATIC_BODY_REQUIREMENT = cap.PhysicsJointsRequirements.JT_ART_004 _NESTED_ARTICULATION_MESSAGE = "Nested ArticulationRootAPI not supported." _ARTICULATION_ON_STATIC_BODY_MESSAGE = "ArticulationRootAPI definition on a static rigid body is not allowed." _ARTICULATION_ON_KINEMATIC_BODY_MESSAGE = "ArticulationRootAPI definition on a kinematic rigid body is not allowed." def CheckPrim(self, usd_prim: Usd.Prim): art_api = UsdPhysics.ArticulationRootAPI(usd_prim) if not art_api: return # Check for nested articulation roots if self._is_under_articulation_root(usd_prim): self._AddFailedCheck( message=self._NESTED_ARTICULATION_MESSAGE, at=usd_prim, requirement=self._NESTED_ARTICULATION_REQUIREMENT, ) # Check rigid body static or kinematic errors rbo_api = UsdPhysics.RigidBodyAPI(usd_prim) if rbo_api: # Check if rigid body is enabled body_enabled = rbo_api.GetRigidBodyEnabledAttr().Get() if not body_enabled: self._AddFailedCheck( message=self._ARTICULATION_ON_STATIC_BODY_MESSAGE, at=usd_prim, requirement=self._ARTICULATION_ON_STATIC_BODY_REQUIREMENT, ) # Check if kinematic is enabled kinematic_enabled = rbo_api.GetKinematicEnabledAttr().Get() if kinematic_enabled: self._AddFailedCheck( message=self._ARTICULATION_ON_KINEMATIC_BODY_MESSAGE, at=usd_prim, requirement=self._ARTICULATION_ON_KINEMATIC_BODY_REQUIREMENT, ) def _get_rel(ref: Usd.Relationship) -> Sdf.Path: targets = ref.GetTargets() if not targets: return Sdf.Path() return targets[0] def _check_joint_rel(rel_path: Sdf.Path, joint_prim: Usd.Prim) -> bool: if rel_path == Sdf.Path(): return True rel_prim = joint_prim.GetStage().GetPrimAtPath(rel_path) return rel_prim.IsValid()