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Rename MjcTransmission to MjcActuator in mjcPhysics schema.

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PiperOrigin-RevId: 782352356
Change-Id: I4b74e3131b0fed925c506742c22038231f848909
This commit is contained in:
Sam Haves
2025-07-12 09:37:55 -07:00
committed by Copybara-Service
parent 3473e4e451
commit 11e695b4c2
12 changed files with 243 additions and 250 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/experimental/usd/CMakeLists.txt
+1 -1
View File
@@ -172,6 +172,7 @@ target_include_directories(${MJCF_PLUGIN_TARGET_NAME} PRIVATE
add_library(${MJC_PHYSICS_PLUGIN_TARGET_NAME} SHARED)
target_sources(${MJC_PHYSICS_PLUGIN_TARGET_NAME} PRIVATE
mjcPhysics/actuator.cpp
mjcPhysics/collisionAPI.cpp
mjcPhysics/jointAPI.cpp
mjcPhysics/keyframe.cpp
@@ -179,7 +180,6 @@ target_sources(${MJC_PHYSICS_PLUGIN_TARGET_NAME} PRIVATE
mjcPhysics/sceneAPI.cpp
mjcPhysics/siteAPI.cpp
mjcPhysics/tokens.cpp
mjcPhysics/transmission.cpp
)
set_target_properties(${MJC_PHYSICS_PLUGIN_TARGET_NAME} PROPERTIES
OUTPUT_NAME ${MJC_PHYSICS_PLUGIN_TARGET_NAME}
src/experimental/usd/mjcPhysics/transmission.cpp → src/experimental/usd/mjcPhysics/actuator.cpp
+76 -76
View File
@@ -12,7 +12,7 @@
// See the License for the specific language governing permissions and
// limitations under the License.
#include <mujoco/experimental/usd/mjcPhysics/transmission.h>
#include <mujoco/experimental/usd/mjcPhysics/actuator.h>
#include <pxr/usd/sdf/assetPath.h>
#include <pxr/usd/sdf/types.h>
@@ -23,338 +23,338 @@ PXR_NAMESPACE_OPEN_SCOPE
// Register the schema with the TfType system.
TF_REGISTRY_FUNCTION(TfType) {
TfType::Define<MjcPhysicsTransmission, TfType::Bases<UsdTyped> >();
TfType::Define<MjcPhysicsActuator, TfType::Bases<UsdTyped> >();
// Register the usd prim typename as an alias under UsdSchemaBase. This
// enables one to call
// TfType::Find<UsdSchemaBase>().FindDerivedByName("MjcTransmission")
// to find TfType<MjcPhysicsTransmission>, which is how IsA queries are
// TfType::Find<UsdSchemaBase>().FindDerivedByName("MjcActuator")
// to find TfType<MjcPhysicsActuator>, which is how IsA queries are
// answered.
TfType::AddAlias<UsdSchemaBase, MjcPhysicsTransmission>("MjcTransmission");
TfType::AddAlias<UsdSchemaBase, MjcPhysicsActuator>("MjcActuator");
}
/* virtual */
MjcPhysicsTransmission::~MjcPhysicsTransmission() {}
MjcPhysicsActuator::~MjcPhysicsActuator() {}
/* static */
MjcPhysicsTransmission MjcPhysicsTransmission::Get(const UsdStagePtr &stage,
const SdfPath &path) {
MjcPhysicsActuator MjcPhysicsActuator::Get(const UsdStagePtr &stage,
const SdfPath &path) {
if (!stage) {
TF_CODING_ERROR("Invalid stage");
return MjcPhysicsTransmission();
return MjcPhysicsActuator();
}
return MjcPhysicsTransmission(stage->GetPrimAtPath(path));
return MjcPhysicsActuator(stage->GetPrimAtPath(path));
}
/* static */
MjcPhysicsTransmission MjcPhysicsTransmission::Define(const UsdStagePtr &stage,
const SdfPath &path) {
static TfToken usdPrimTypeName("MjcTransmission");
MjcPhysicsActuator MjcPhysicsActuator::Define(const UsdStagePtr &stage,
const SdfPath &path) {
static TfToken usdPrimTypeName("MjcActuator");
if (!stage) {
TF_CODING_ERROR("Invalid stage");
return MjcPhysicsTransmission();
return MjcPhysicsActuator();
}
return MjcPhysicsTransmission(stage->DefinePrim(path, usdPrimTypeName));
return MjcPhysicsActuator(stage->DefinePrim(path, usdPrimTypeName));
}
/* virtual */
UsdSchemaKind MjcPhysicsTransmission::_GetSchemaKind() const {
return MjcPhysicsTransmission::schemaKind;
UsdSchemaKind MjcPhysicsActuator::_GetSchemaKind() const {
return MjcPhysicsActuator::schemaKind;
}
/* static */
const TfType &MjcPhysicsTransmission::_GetStaticTfType() {
static TfType tfType = TfType::Find<MjcPhysicsTransmission>();
const TfType &MjcPhysicsActuator::_GetStaticTfType() {
static TfType tfType = TfType::Find<MjcPhysicsActuator>();
return tfType;
}
/* static */
bool MjcPhysicsTransmission::_IsTypedSchema() {
bool MjcPhysicsActuator::_IsTypedSchema() {
static bool isTyped = _GetStaticTfType().IsA<UsdTyped>();
return isTyped;
}
/* virtual */
const TfType &MjcPhysicsTransmission::_GetTfType() const {
const TfType &MjcPhysicsActuator::_GetTfType() const {
return _GetStaticTfType();
}
UsdAttribute MjcPhysicsTransmission::GetGroupAttr() const {
UsdAttribute MjcPhysicsActuator::GetGroupAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcGroup);
}
UsdAttribute MjcPhysicsTransmission::CreateGroupAttr(
VtValue const &defaultValue, bool writeSparsely) const {
UsdAttribute MjcPhysicsActuator::CreateGroupAttr(VtValue const &defaultValue,
bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcGroup, SdfValueTypeNames->Int,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsTransmission::GetMjcCtrlLimitedAttr() const {
UsdAttribute MjcPhysicsActuator::GetMjcCtrlLimitedAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcCtrlLimited);
}
UsdAttribute MjcPhysicsTransmission::CreateMjcCtrlLimitedAttr(
UsdAttribute MjcPhysicsActuator::CreateMjcCtrlLimitedAttr(
VtValue const &defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcCtrlLimited, SdfValueTypeNames->Token,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsTransmission::GetMjcForceLimitedAttr() const {
UsdAttribute MjcPhysicsActuator::GetMjcForceLimitedAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcForceLimited);
}
UsdAttribute MjcPhysicsTransmission::CreateMjcForceLimitedAttr(
UsdAttribute MjcPhysicsActuator::CreateMjcForceLimitedAttr(
VtValue const &defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcForceLimited, SdfValueTypeNames->Token,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsTransmission::GetMjcActLimitedAttr() const {
UsdAttribute MjcPhysicsActuator::GetMjcActLimitedAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcActLimited);
}
UsdAttribute MjcPhysicsTransmission::CreateMjcActLimitedAttr(
UsdAttribute MjcPhysicsActuator::CreateMjcActLimitedAttr(
VtValue const &defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcActLimited, SdfValueTypeNames->Token,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsTransmission::GetMjcCtrlRangeMinAttr() const {
UsdAttribute MjcPhysicsActuator::GetMjcCtrlRangeMinAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcCtrlRangeMin);
}
UsdAttribute MjcPhysicsTransmission::CreateMjcCtrlRangeMinAttr(
UsdAttribute MjcPhysicsActuator::CreateMjcCtrlRangeMinAttr(
VtValue const &defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcCtrlRangeMin, SdfValueTypeNames->Double,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsTransmission::GetMjcCtrlRangeMaxAttr() const {
UsdAttribute MjcPhysicsActuator::GetMjcCtrlRangeMaxAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcCtrlRangeMax);
}
UsdAttribute MjcPhysicsTransmission::CreateMjcCtrlRangeMaxAttr(
UsdAttribute MjcPhysicsActuator::CreateMjcCtrlRangeMaxAttr(
VtValue const &defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcCtrlRangeMax, SdfValueTypeNames->Double,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsTransmission::GetMjcForceRangeMinAttr() const {
UsdAttribute MjcPhysicsActuator::GetMjcForceRangeMinAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcForceRangeMin);
}
UsdAttribute MjcPhysicsTransmission::CreateMjcForceRangeMinAttr(
UsdAttribute MjcPhysicsActuator::CreateMjcForceRangeMinAttr(
VtValue const &defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcForceRangeMin, SdfValueTypeNames->Double,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsTransmission::GetMjcForceRangeMaxAttr() const {
UsdAttribute MjcPhysicsActuator::GetMjcForceRangeMaxAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcForceRangeMax);
}
UsdAttribute MjcPhysicsTransmission::CreateMjcForceRangeMaxAttr(
UsdAttribute MjcPhysicsActuator::CreateMjcForceRangeMaxAttr(
VtValue const &defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcForceRangeMax, SdfValueTypeNames->Double,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsTransmission::GetMjcActRangeMinAttr() const {
UsdAttribute MjcPhysicsActuator::GetMjcActRangeMinAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcActRangeMin);
}
UsdAttribute MjcPhysicsTransmission::CreateMjcActRangeMinAttr(
UsdAttribute MjcPhysicsActuator::CreateMjcActRangeMinAttr(
VtValue const &defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcActRangeMin, SdfValueTypeNames->Double,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsTransmission::GetMjcActRangeMaxAttr() const {
UsdAttribute MjcPhysicsActuator::GetMjcActRangeMaxAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcActRangeMax);
}
UsdAttribute MjcPhysicsTransmission::CreateMjcActRangeMaxAttr(
UsdAttribute MjcPhysicsActuator::CreateMjcActRangeMaxAttr(
VtValue const &defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcActRangeMax, SdfValueTypeNames->Double,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsTransmission::GetMjcLengthRangeMinAttr() const {
UsdAttribute MjcPhysicsActuator::GetMjcLengthRangeMinAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcLengthRangeMin);
}
UsdAttribute MjcPhysicsTransmission::CreateMjcLengthRangeMinAttr(
UsdAttribute MjcPhysicsActuator::CreateMjcLengthRangeMinAttr(
VtValue const &defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcLengthRangeMin, SdfValueTypeNames->Double,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsTransmission::GetMjcLengthRangeMaxAttr() const {
UsdAttribute MjcPhysicsActuator::GetMjcLengthRangeMaxAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcLengthRangeMax);
}
UsdAttribute MjcPhysicsTransmission::CreateMjcLengthRangeMaxAttr(
UsdAttribute MjcPhysicsActuator::CreateMjcLengthRangeMaxAttr(
VtValue const &defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcLengthRangeMax, SdfValueTypeNames->Double,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsTransmission::GetMjcGearAttr() const {
UsdAttribute MjcPhysicsActuator::GetMjcGearAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcGear);
}
UsdAttribute MjcPhysicsTransmission::CreateMjcGearAttr(
VtValue const &defaultValue, bool writeSparsely) const {
UsdAttribute MjcPhysicsActuator::CreateMjcGearAttr(VtValue const &defaultValue,
bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcGear, SdfValueTypeNames->DoubleArray,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsTransmission::GetMjcCrankLengthAttr() const {
UsdAttribute MjcPhysicsActuator::GetMjcCrankLengthAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcCrankLength);
}
UsdAttribute MjcPhysicsTransmission::CreateMjcCrankLengthAttr(
UsdAttribute MjcPhysicsActuator::CreateMjcCrankLengthAttr(
VtValue const &defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcCrankLength, SdfValueTypeNames->Double,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsTransmission::GetMjcJointInParentAttr() const {
UsdAttribute MjcPhysicsActuator::GetMjcJointInParentAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcJointInParent);
}
UsdAttribute MjcPhysicsTransmission::CreateMjcJointInParentAttr(
UsdAttribute MjcPhysicsActuator::CreateMjcJointInParentAttr(
VtValue const &defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcJointInParent, SdfValueTypeNames->Bool,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsTransmission::GetMjcActDimAttr() const {
UsdAttribute MjcPhysicsActuator::GetMjcActDimAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcActDim);
}
UsdAttribute MjcPhysicsTransmission::CreateMjcActDimAttr(
UsdAttribute MjcPhysicsActuator::CreateMjcActDimAttr(
VtValue const &defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcActDim, SdfValueTypeNames->Int,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsTransmission::GetMjcDynTypeAttr() const {
UsdAttribute MjcPhysicsActuator::GetMjcDynTypeAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcDynType);
}
UsdAttribute MjcPhysicsTransmission::CreateMjcDynTypeAttr(
UsdAttribute MjcPhysicsActuator::CreateMjcDynTypeAttr(
VtValue const &defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcDynType, SdfValueTypeNames->Token,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsTransmission::GetMjcGainTypeAttr() const {
UsdAttribute MjcPhysicsActuator::GetMjcGainTypeAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcGainType);
}
UsdAttribute MjcPhysicsTransmission::CreateMjcGainTypeAttr(
UsdAttribute MjcPhysicsActuator::CreateMjcGainTypeAttr(
VtValue const &defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcGainType, SdfValueTypeNames->Token,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsTransmission::GetMjcBiasTypeAttr() const {
UsdAttribute MjcPhysicsActuator::GetMjcBiasTypeAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcBiasType);
}
UsdAttribute MjcPhysicsTransmission::CreateMjcBiasTypeAttr(
UsdAttribute MjcPhysicsActuator::CreateMjcBiasTypeAttr(
VtValue const &defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcBiasType, SdfValueTypeNames->Token,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsTransmission::GetMjcDynPrmAttr() const {
UsdAttribute MjcPhysicsActuator::GetMjcDynPrmAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcDynPrm);
}
UsdAttribute MjcPhysicsTransmission::CreateMjcDynPrmAttr(
UsdAttribute MjcPhysicsActuator::CreateMjcDynPrmAttr(
VtValue const &defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcDynPrm, SdfValueTypeNames->DoubleArray,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsTransmission::GetMjcGainPrmAttr() const {
UsdAttribute MjcPhysicsActuator::GetMjcGainPrmAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcGainPrm);
}
UsdAttribute MjcPhysicsTransmission::CreateMjcGainPrmAttr(
UsdAttribute MjcPhysicsActuator::CreateMjcGainPrmAttr(
VtValue const &defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcGainPrm, SdfValueTypeNames->DoubleArray,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsTransmission::GetMjcBiasPrmAttr() const {
UsdAttribute MjcPhysicsActuator::GetMjcBiasPrmAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcBiasPrm);
}
UsdAttribute MjcPhysicsTransmission::CreateMjcBiasPrmAttr(
UsdAttribute MjcPhysicsActuator::CreateMjcBiasPrmAttr(
VtValue const &defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcBiasPrm, SdfValueTypeNames->DoubleArray,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsTransmission::GetMjcActEarlyAttr() const {
UsdAttribute MjcPhysicsActuator::GetMjcActEarlyAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcActEarly);
}
UsdAttribute MjcPhysicsTransmission::CreateMjcActEarlyAttr(
UsdAttribute MjcPhysicsActuator::CreateMjcActEarlyAttr(
VtValue const &defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcActEarly, SdfValueTypeNames->Bool,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
}
UsdRelationship MjcPhysicsTransmission::GetMjcTargetRel() const {
UsdRelationship MjcPhysicsActuator::GetMjcTargetRel() const {
return GetPrim().GetRelationship(MjcPhysicsTokens->mjcTarget);
}
UsdRelationship MjcPhysicsTransmission::CreateMjcTargetRel() const {
UsdRelationship MjcPhysicsActuator::CreateMjcTargetRel() const {
return GetPrim().CreateRelationship(MjcPhysicsTokens->mjcTarget,
/* custom = */ false);
}
UsdRelationship MjcPhysicsTransmission::GetMjcRefSiteRel() const {
UsdRelationship MjcPhysicsActuator::GetMjcRefSiteRel() const {
return GetPrim().GetRelationship(MjcPhysicsTokens->mjcRefSite);
}
UsdRelationship MjcPhysicsTransmission::CreateMjcRefSiteRel() const {
UsdRelationship MjcPhysicsActuator::CreateMjcRefSiteRel() const {
return GetPrim().CreateRelationship(MjcPhysicsTokens->mjcRefSite,
/* custom = */ false);
}
UsdRelationship MjcPhysicsTransmission::GetMjcSliderSiteRel() const {
UsdRelationship MjcPhysicsActuator::GetMjcSliderSiteRel() const {
return GetPrim().GetRelationship(MjcPhysicsTokens->mjcSliderSite);
}
UsdRelationship MjcPhysicsTransmission::CreateMjcSliderSiteRel() const {
UsdRelationship MjcPhysicsActuator::CreateMjcSliderSiteRel() const {
return GetPrim().CreateRelationship(MjcPhysicsTokens->mjcSliderSite,
/* custom = */ false);
}
@@ -371,7 +371,7 @@ static inline TfTokenVector _ConcatenateAttributeNames(
} // namespace
/*static*/
const TfTokenVector &MjcPhysicsTransmission::GetSchemaAttributeNames(
const TfTokenVector &MjcPhysicsActuator::GetSchemaAttributeNames(
bool includeInherited) {
static TfTokenVector localNames = {
MjcPhysicsTokens->mjcGroup, MjcPhysicsTokens->mjcCtrlLimited,
src/experimental/usd/mjcPhysics/generatedSchema.usda
+1 -1
View File
@@ -259,7 +259,7 @@ class "MjcMeshCollisionAPI" (
)
}
class MjcTransmission "MjcTransmission" (
class MjcActuator "MjcActuator" (
doc = "Known as actuator in MuJoCo, this prim represents force transmission to joints, bodies, or sites."
)
{
src/experimental/usd/mjcPhysics/plugInfo.json
+10 -10
View File
@@ -3,6 +3,16 @@
{
"Info": {
"Types": {
"MjcPhysicsActuator": {
"alias": {
"UsdSchemaBase": "MjcActuator"
},
"autoGenerated": true,
"bases": [
"UsdTyped"
],
"schemaKind": "concreteTyped"
},
"MjcPhysicsCollisionAPI": {
"alias": {
"UsdSchemaBase": "MjcCollisionAPI"
@@ -62,16 +72,6 @@
"UsdAPISchemaBase"
],
"schemaKind": "singleApplyAPI"
},
"MjcPhysicsTransmission": {
"alias": {
"UsdSchemaBase": "MjcTransmission"
},
"autoGenerated": true,
"bases": [
"UsdTyped"
],
"schemaKind": "concreteTyped"
}
}
},
src/experimental/usd/mjcPhysics/schema.usda
+2 -2
View File
@@ -584,10 +584,10 @@ class "MjcMeshCollisionAPI"
)
}
class MjcTransmission "MjcTransmission"
class MjcActuator "MjcActuator"
(
customData = {
string className = "Transmission"
string className = "Actuator"
}
doc = """Known as actuator in MuJoCo, this prim represents force transmission to joints, bodies, or sites."""
src/experimental/usd/mjcPhysics/tokens.cpp
+3 -5
View File
@@ -146,14 +146,13 @@ MjcPhysicsTokensType::MjcPhysicsTokensType()
sparse("sparse", TfToken::Immortal),
true_("true", TfToken::Immortal),
user("user", TfToken::Immortal),
MjcActuator("MjcActuator", TfToken::Immortal),
MjcCollisionAPI("MjcCollisionAPI", TfToken::Immortal),
MjcImageableAPI("MjcImageableAPI", TfToken::Immortal),
MjcJointAPI("MjcJointAPI", TfToken::Immortal),
MjcKeyframe("MjcKeyframe", TfToken::Immortal),
MjcMeshCollisionAPI("MjcMeshCollisionAPI", TfToken::Immortal),
MjcSceneAPI("MjcSceneAPI", TfToken::Immortal),
MjcSiteAPI("MjcSiteAPI", TfToken::Immortal),
MjcTransmission("MjcTransmission", TfToken::Immortal),
allTokens({affine,
auto_,
cg,
@@ -280,14 +279,13 @@ MjcPhysicsTokensType::MjcPhysicsTokensType()
sparse,
true_,
user,
MjcActuator,
MjcCollisionAPI,
MjcImageableAPI,
MjcJointAPI,
MjcKeyframe,
MjcMeshCollisionAPI,
MjcSceneAPI,
MjcSiteAPI,
MjcTransmission}) {}
MjcSiteAPI}) {}
TfStaticData<MjcPhysicsTokensType> MjcPhysicsTokens;
src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
+24 -24
View File
@@ -86,7 +86,7 @@ TF_DEFINE_PRIVATE_TOKENS(kTokens,
((materialsScope, "Materials"))
((previewSurface, "PreviewSurface"))
((keyframesScope, "Keyframes"))
((transmissionsScope, "Transmissions"))
((actuatorsScope, "Actuators"))
((keyframe, "Keyframe"))
((surface, "PreviewSurface"))
((world, "World"))
@@ -211,7 +211,7 @@ class ModelWriter {
WriteMaterials();
WriteBodies();
if (write_physics_) {
WriteTransmissions();
WriteActuators();
}
WriteKeyframes();
}
@@ -1051,13 +1051,13 @@ class ModelWriter {
}
}
void WriteTransmission(mjsActuator *actuator,
void WriteActuator(mjsActuator *actuator,
const pxr::SdfPath &parent_path) {
pxr::TfToken valid_name = GetValidPrimName(*mjs_getName(actuator->element));
pxr::SdfPath transmission_path = parent_path.AppendChild(valid_name);
if (!data_->HasSpec(transmission_path)) {
pxr::SdfPath actuator_path = parent_path.AppendChild(valid_name);
if (!data_->HasSpec(actuator_path)) {
CreatePrimSpec(data_, parent_path, valid_name,
pxr::MjcPhysicsTokens->MjcTransmission);
pxr::MjcPhysicsTokens->MjcActuator);
}
pxr::SdfPath target_path;
@@ -1078,18 +1078,18 @@ class ModelWriter {
return;
}
CreateRelationshipSpec(data_, transmission_path,
CreateRelationshipSpec(data_, actuator_path,
MjcPhysicsTokens->mjcTarget, target_path,
pxr::SdfVariabilityUniform);
WriteUniformAttribute(transmission_path, pxr::SdfValueTypeNames->Int,
WriteUniformAttribute(actuator_path, pxr::SdfValueTypeNames->Int,
MjcPhysicsTokens->mjcGroup, actuator->group);
if (!actuator->refsite->empty()) {
int refsite_id =
mj_name2id(model_, mjOBJ_SITE, actuator->refsite->c_str());
pxr::SdfPath refsite_path = site_paths_[refsite_id];
CreateRelationshipSpec(data_, transmission_path,
CreateRelationshipSpec(data_, actuator_path,
MjcPhysicsTokens->mjcRefSite, refsite_path,
pxr::SdfVariabilityUniform);
}
@@ -1098,7 +1098,7 @@ class ModelWriter {
int slidersite_id =
mj_name2id(model_, mjOBJ_SITE, actuator->slidersite->c_str());
pxr::SdfPath slidersite_path = site_paths_[slidersite_id];
CreateRelationshipSpec(data_, transmission_path,
CreateRelationshipSpec(data_, actuator_path,
MjcPhysicsTokens->mjcSliderSite, slidersite_path,
pxr::SdfVariabilityUniform);
}
@@ -1115,7 +1115,7 @@ class ModelWriter {
} else if (value == mjLIMITED_FALSE) {
limited_token = pxr::MjcPhysicsTokens->false_;
}
WriteUniformAttribute(transmission_path, pxr::SdfValueTypeNames->Token,
WriteUniformAttribute(actuator_path, pxr::SdfValueTypeNames->Token,
token, limited_token);
}
@@ -1132,18 +1132,18 @@ class ModelWriter {
{MjcPhysicsTokens->mjcCrankLength, actuator->cranklength},
};
for (const auto &[token, value] : actuator_double_attributes) {
WriteUniformAttribute(transmission_path, pxr::SdfValueTypeNames->Double,
WriteUniformAttribute(actuator_path, pxr::SdfValueTypeNames->Double,
token, value);
}
WriteUniformAttribute(transmission_path, pxr::SdfValueTypeNames->Int,
WriteUniformAttribute(actuator_path, pxr::SdfValueTypeNames->Int,
MjcPhysicsTokens->mjcActDim, actuator->actdim);
WriteUniformAttribute(transmission_path, pxr::SdfValueTypeNames->Bool,
WriteUniformAttribute(actuator_path, pxr::SdfValueTypeNames->Bool,
MjcPhysicsTokens->mjcActEarly,
(bool)actuator->actearly);
WriteUniformAttribute(
transmission_path, pxr::SdfValueTypeNames->DoubleArray,
actuator_path, pxr::SdfValueTypeNames->DoubleArray,
MjcPhysicsTokens->mjcGear,
pxr::VtDoubleArray(actuator->gear, actuator->gear + 6));
@@ -1161,10 +1161,10 @@ class ModelWriter {
} else if (actuator->dyntype == mjtDyn::mjDYN_USER) {
dyn_type = MjcPhysicsTokens->user;
}
WriteUniformAttribute(transmission_path, pxr::SdfValueTypeNames->Token,
WriteUniformAttribute(actuator_path, pxr::SdfValueTypeNames->Token,
MjcPhysicsTokens->mjcDynType, dyn_type);
WriteUniformAttribute(
transmission_path, pxr::SdfValueTypeNames->DoubleArray,
actuator_path, pxr::SdfValueTypeNames->DoubleArray,
MjcPhysicsTokens->mjcDynPrm,
pxr::VtDoubleArray(actuator->dynprm, actuator->dynprm + 10));
@@ -1178,10 +1178,10 @@ class ModelWriter {
} else if (actuator->gaintype == mjtGain::mjGAIN_USER) {
gain_type = MjcPhysicsTokens->user;
}
WriteUniformAttribute(transmission_path, pxr::SdfValueTypeNames->Token,
WriteUniformAttribute(actuator_path, pxr::SdfValueTypeNames->Token,
MjcPhysicsTokens->mjcGainType, gain_type);
WriteUniformAttribute(
transmission_path, pxr::SdfValueTypeNames->DoubleArray,
actuator_path, pxr::SdfValueTypeNames->DoubleArray,
MjcPhysicsTokens->mjcGainPrm,
pxr::VtDoubleArray(actuator->gainprm, actuator->gainprm + 10));
@@ -1195,22 +1195,22 @@ class ModelWriter {
} else if (actuator->biastype == mjtBias::mjBIAS_USER) {
bias_type = MjcPhysicsTokens->user;
}
WriteUniformAttribute(transmission_path, pxr::SdfValueTypeNames->Token,
WriteUniformAttribute(actuator_path, pxr::SdfValueTypeNames->Token,
MjcPhysicsTokens->mjcBiasType, bias_type);
WriteUniformAttribute(
transmission_path, pxr::SdfValueTypeNames->DoubleArray,
actuator_path, pxr::SdfValueTypeNames->DoubleArray,
MjcPhysicsTokens->mjcBiasPrm,
pxr::VtDoubleArray(actuator->biasprm, actuator->biasprm + 10));
}
void WriteTransmissions() {
void WriteActuators() {
pxr::SdfPath scope_path =
CreatePrimSpec(data_, body_paths_[kWorldIndex],
kTokens->transmissionsScope, pxr::UsdGeomTokens->Scope);
kTokens->actuatorsScope, pxr::UsdGeomTokens->Scope);
mjsActuator *actuator =
mjs_asActuator(mjs_firstElement(spec_, mjOBJ_ACTUATOR));
while (actuator) {
WriteTransmission(actuator, scope_path);
WriteActuator(actuator, scope_path);
actuator = mjs_asActuator(mjs_nextElement(spec_, actuator->element));
}
}
src/experimental/usd/usd_to_mjspec.cc
+8 -8
View File
@@ -21,6 +21,7 @@
#include <utility>
#include <vector>
#include <mujoco/experimental/usd/mjcPhysics/actuator.h>
#include <mujoco/experimental/usd/mjcPhysics/collisionAPI.h>
#include <mujoco/experimental/usd/mjcPhysics/jointAPI.h>
#include <mujoco/experimental/usd/mjcPhysics/keyframe.h>
@@ -28,7 +29,6 @@
#include <mujoco/experimental/usd/mjcPhysics/sceneAPI.h>
#include <mujoco/experimental/usd/mjcPhysics/siteAPI.h>
#include <mujoco/experimental/usd/mjcPhysics/tokens.h>
#include <mujoco/experimental/usd/mjcPhysics/transmission.h>
#include <mujoco/experimental/usd/usd.h>
#include <mujoco/experimental/usd/utils.h>
#include <mujoco/mujoco.h>
@@ -600,8 +600,8 @@ void ParseMjcPhysicsMeshCollisionAPI(
}
}
void ParseMjcPhysicsTransmission(mjSpec* spec,
const pxr::MjcPhysicsTransmission& tran) {
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());
@@ -614,12 +614,12 @@ void ParseMjcPhysicsTransmission(mjSpec* spec,
pxr::SdfPathVector targets;
tran.GetMjcTargetRel().GetTargets(&targets);
if (targets.empty()) {
mju_warning("Transmission %s has no target, skipping.",
mju_warning("Actuator %s has no target, skipping.",
prim.GetPath().GetAsString().c_str());
return;
}
if (targets.size() > 1) {
mju_warning("Transmission has more than one target, using the first.");
mju_warning("Actuator has more than one target, using the first.");
}
mjs_setString(mj_act->target, targets[0].GetAsString().c_str());
@@ -632,7 +632,7 @@ void ParseMjcPhysicsTransmission(mjSpec* spec,
} else if (target_prim.HasAPI<pxr::MjcPhysicsSiteAPI>()) {
mj_act->trntype = slider_crank ? mjTRN_SLIDERCRANK : mjTRN_SITE;
} else {
mju_warning("Transmission %s has an invalid target type, skipping.",
mju_warning("Actuator %s has an invalid target type, skipping.",
prim.GetPath().GetAsString().c_str());
return;
}
@@ -1456,8 +1456,8 @@ mjSpec* mj_parseUSDStage(const pxr::UsdStageRefPtr stage) {
ParseMjcPhysicsKeyframe(spec, pxr::MjcPhysicsKeyframe(prim));
it.PruneChildren();
} else if (prim.IsA<pxr::MjcPhysicsTransmission>()) {
ParseMjcPhysicsTransmission(spec, pxr::MjcPhysicsTransmission(prim));
} else if (prim.IsA<pxr::MjcPhysicsActuator>()) {
ParseMjcPhysicsActuator(spec, pxr::MjcPhysicsActuator(prim));
it.PruneChildren();
}