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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
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src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
+24 -24
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@@ -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));
}
}