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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
test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
+42 -42
View File
@@ -18,13 +18,13 @@
#include <gmock/gmock.h>
#include <gtest/gtest.h>
#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/meshCollisionAPI.h>
#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 "test/experimental/usd/test_utils.h"
#include "test/fixture.h"
#include <pxr/base/gf/quatf.h>
@@ -1531,7 +1531,7 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestMassAPIDensity) {
ExpectAttributeEqual(stage, "/test/body/box.physics:density", 1234.0f);
}
TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsTransmission) {
TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsActuator) {
static constexpr char xml[] = R"(
<mujoco model="test">
<worldbody>
@@ -1569,51 +1569,51 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsTransmission) {
)";
auto stage = OpenStageWithPhysics(xml);
EXPECT_PRIM_VALID(stage, "/test/Transmissions/general");
EXPECT_PRIM_IS_A(stage, "/test/Transmissions/general",
pxr::MjcPhysicsTransmission);
EXPECT_REL_HAS_TARGET(stage, "/test/Transmissions/general.mjc:target",
EXPECT_PRIM_VALID(stage, "/test/Actuators/general");
EXPECT_PRIM_IS_A(stage, "/test/Actuators/general",
pxr::MjcPhysicsActuator);
EXPECT_REL_HAS_TARGET(stage, "/test/Actuators/general.mjc:target",
"/test/body/site");
EXPECT_REL_HAS_TARGET(stage, "/test/Transmissions/general.mjc:refSite",
EXPECT_REL_HAS_TARGET(stage, "/test/Actuators/general.mjc:refSite",
"/test/body/ref");
ExpectAttributeEqual(stage, "/test/Transmissions/general.mjc:group", 123);
ExpectAttributeEqual(stage, "/test/Transmissions/general.mjc:ctrlLimited",
ExpectAttributeEqual(stage, "/test/Actuators/general.mjc:group", 123);
ExpectAttributeEqual(stage, "/test/Actuators/general.mjc:ctrlLimited",
pxr::MjcPhysicsTokens->true_);
ExpectAttributeEqual(stage, "/test/Transmissions/general.mjc:ctrlRange:min",
ExpectAttributeEqual(stage, "/test/Actuators/general.mjc:ctrlRange:min",
0.0);
ExpectAttributeEqual(stage, "/test/Transmissions/general.mjc:ctrlRange:max",
ExpectAttributeEqual(stage, "/test/Actuators/general.mjc:ctrlRange:max",
1.0);
ExpectAttributeEqual(stage, "/test/Transmissions/general.mjc:forceLimited",
ExpectAttributeEqual(stage, "/test/Actuators/general.mjc:forceLimited",
pxr::MjcPhysicsTokens->true_);
ExpectAttributeEqual(stage, "/test/Transmissions/general.mjc:forceRange:min",
ExpectAttributeEqual(stage, "/test/Actuators/general.mjc:forceRange:min",
2.0);
ExpectAttributeEqual(stage, "/test/Transmissions/general.mjc:forceRange:max",
ExpectAttributeEqual(stage, "/test/Actuators/general.mjc:forceRange:max",
3.0);
ExpectAttributeEqual(stage, "/test/Transmissions/general.mjc:actLimited",
ExpectAttributeEqual(stage, "/test/Actuators/general.mjc:actLimited",
pxr::MjcPhysicsTokens->false_);
ExpectAttributeEqual(stage, "/test/Transmissions/general.mjc:actRange:min",
ExpectAttributeEqual(stage, "/test/Actuators/general.mjc:actRange:min",
4.0);
ExpectAttributeEqual(stage, "/test/Transmissions/general.mjc:actRange:max",
ExpectAttributeEqual(stage, "/test/Actuators/general.mjc:actRange:max",
5.0);
ExpectAttributeEqual(stage, "/test/Transmissions/general.mjc:lengthRange:min",
ExpectAttributeEqual(stage, "/test/Actuators/general.mjc:lengthRange:min",
6.0);
ExpectAttributeEqual(stage, "/test/Transmissions/general.mjc:lengthRange:max",
ExpectAttributeEqual(stage, "/test/Actuators/general.mjc:lengthRange:max",
7.0);
ExpectAttributeEqual(stage, "/test/Transmissions/general.mjc:actDim", 1);
ExpectAttributeEqual(stage, "/test/Transmissions/general.mjc:dynType",
ExpectAttributeEqual(stage, "/test/Actuators/general.mjc:actDim", 1);
ExpectAttributeEqual(stage, "/test/Actuators/general.mjc:dynType",
MjcPhysicsTokens->filter);
ExpectAttributeEqual(stage, "/test/Transmissions/general.mjc:gainType",
ExpectAttributeEqual(stage, "/test/Actuators/general.mjc:gainType",
MjcPhysicsTokens->user);
ExpectAttributeEqual(stage, "/test/Transmissions/general.mjc:biasType",
ExpectAttributeEqual(stage, "/test/Actuators/general.mjc:biasType",
MjcPhysicsTokens->user);
ExpectAttributeEqual(stage, "/test/Transmissions/general.mjc:actEarly", true);
ExpectAttributeEqual(stage, "/test/Transmissions/general.mjc:gear",
ExpectAttributeEqual(stage, "/test/Actuators/general.mjc:actEarly", true);
ExpectAttributeEqual(stage, "/test/Actuators/general.mjc:gear",
pxr::VtDoubleArray{{1, 2, 3, 4, 5, 6}});
ExpectAttributeEqual(stage, "/test/Transmissions/general.mjc:dynPrm",
ExpectAttributeEqual(stage, "/test/Actuators/general.mjc:dynPrm",
pxr::VtDoubleArray{{0, 1, 2, 3, 4, 5, 6, 7, 8, 9}});
ExpectAttributeEqual(stage, "/test/Transmissions/general.mjc:gainPrm",
ExpectAttributeEqual(stage, "/test/Actuators/general.mjc:gainPrm",
pxr::VtDoubleArray{{0, 1, 2, 3, 4, 5, 6, 7, 8, 9}});
ExpectAttributeEqual(stage, "/test/Transmissions/general.mjc:biasPrm",
ExpectAttributeEqual(stage, "/test/Actuators/general.mjc:biasPrm",
pxr::VtDoubleArray{{0, 1, 2, 3, 4, 5, 6, 7, 8, 9}});
}
@@ -1638,10 +1638,10 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsJointActuator) {
)";
auto stage = OpenStageWithPhysics(xml);
EXPECT_PRIM_VALID(stage, "/test/Transmissions/general");
EXPECT_PRIM_IS_A(stage, "/test/Transmissions/general",
pxr::MjcPhysicsTransmission);
EXPECT_REL_HAS_TARGET(stage, "/test/Transmissions/general.mjc:target",
EXPECT_PRIM_VALID(stage, "/test/Actuators/general");
EXPECT_PRIM_IS_A(stage, "/test/Actuators/general",
pxr::MjcPhysicsActuator);
EXPECT_REL_HAS_TARGET(stage, "/test/Actuators/general.mjc:target",
"/test/axle/rod/rod_hinge");
}
@@ -1663,10 +1663,10 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsBodyActuator) {
)";
auto stage = OpenStageWithPhysics(xml);
EXPECT_PRIM_VALID(stage, "/test/Transmissions/general");
EXPECT_PRIM_IS_A(stage, "/test/Transmissions/general",
pxr::MjcPhysicsTransmission);
EXPECT_REL_HAS_TARGET(stage, "/test/Transmissions/general.mjc:target",
EXPECT_PRIM_VALID(stage, "/test/Actuators/general");
EXPECT_PRIM_IS_A(stage, "/test/Actuators/general",
pxr::MjcPhysicsActuator);
EXPECT_REL_HAS_TARGET(stage, "/test/Actuators/general.mjc:target",
"/test/body");
}
@@ -1692,14 +1692,14 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsSliderCrankActuator) {
)";
auto stage = OpenStageWithPhysics(xml);
EXPECT_PRIM_VALID(stage, "/test/Transmissions/general");
EXPECT_PRIM_IS_A(stage, "/test/Transmissions/general",
pxr::MjcPhysicsTransmission);
EXPECT_REL_HAS_TARGET(stage, "/test/Transmissions/general.mjc:target",
EXPECT_PRIM_VALID(stage, "/test/Actuators/general");
EXPECT_PRIM_IS_A(stage, "/test/Actuators/general",
pxr::MjcPhysicsActuator);
EXPECT_REL_HAS_TARGET(stage, "/test/Actuators/general.mjc:target",
"/test/body/crank");
EXPECT_REL_HAS_TARGET(stage, "/test/Transmissions/general.mjc:sliderSite",
EXPECT_REL_HAS_TARGET(stage, "/test/Actuators/general.mjc:sliderSite",
"/test/body/slider");
ExpectAttributeEqual(stage, "/test/Transmissions/general.mjc:crankLength",
ExpectAttributeEqual(stage, "/test/Actuators/general.mjc:crankLength",
1.23);
}
test/xml/testdata/simple_hinge.usda
Vendored
+2 -2
View File
@@ -65,8 +65,8 @@ def Xform "World"
}
}
def Scope "Transmissions" {
def MjcTransmission "HingeActuator" {
def Scope "Actuators" {
def MjcActuator "HingeActuator" {
rel mjc:target = </World/Axle/Rod/HingeJoint>
}
}