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Support joint actuator authoring in Mjcf SdfFileFormat plugin.

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PiperOrigin-RevId: 776202325
Change-Id: I8503dd98c1b64502550b879e70039ae568517508
This commit is contained in:
Sam Haves
2025-06-26 10:54:39 -07:00
committed by Copybara-Service
parent 21bae3a388
commit 1e319aebed
2 changed files with 34 additions and 0 deletions
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src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
+9
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@@ -171,6 +171,7 @@ class ModelWriter {
: spec_(spec), model_(model), data_(data), class_path_("/Bad_Path") {
body_paths_ = std::vector<pxr::SdfPath>(model->nbody);
site_paths_ = std::vector<pxr::SdfPath>(model->nsite);
joint_paths_ = std::vector<pxr::SdfPath>(model->njnt);
}
~ModelWriter() { mj_deleteModel(model_); }
@@ -221,6 +222,8 @@ class ModelWriter {
std::vector<pxr::SdfPath> body_paths_;
// Mapping from Mujoco site id to SdfPath.
std::vector<pxr::SdfPath> site_paths_;
// Mapping from Mujoco joint id to SdfPath.
std::vector<pxr::SdfPath> joint_paths_;
// Mapping from mesh names to Mesh prim path.
std::unordered_map<std::string, pxr::SdfPath> mesh_paths_;
// Whether to write physics data.
@@ -935,6 +938,9 @@ class ModelWriter {
actuator->trntype == mjtTrn::mjTRN_SLIDERCRANK) {
int site_id = mj_name2id(model_, mjOBJ_SITE, actuator->target->c_str());
transmission_path = site_paths_[site_id];
} else if (actuator->trntype == mjtTrn::mjTRN_JOINT) {
int joint_id = mj_name2id(model_, mjOBJ_JOINT, actuator->target->c_str());
transmission_path = joint_paths_[joint_id];
} else {
TF_WARN(UnsupportedActuatorTypeError,
"Unsupported actuator type for actuator %d",
@@ -1711,6 +1717,9 @@ class ModelWriter {
}
}
}
if (joint_id >= 0) {
joint_paths_[joint_id] = joint_path;
}
}
void WriteCamera(mjsCamera *spec_cam, const mjsBody *body) {