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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
View File
@@ -171,6 +171,7 @@ class ModelWriter {
: spec_(spec), model_(model), data_(data), class_path_("/Bad_Path") { : spec_(spec), model_(model), data_(data), class_path_("/Bad_Path") {
body_paths_ = std::vector<pxr::SdfPath>(model->nbody); body_paths_ = std::vector<pxr::SdfPath>(model->nbody);
site_paths_ = std::vector<pxr::SdfPath>(model->nsite); site_paths_ = std::vector<pxr::SdfPath>(model->nsite);
joint_paths_ = std::vector<pxr::SdfPath>(model->njnt);
} }
~ModelWriter() { mj_deleteModel(model_); } ~ModelWriter() { mj_deleteModel(model_); }
@@ -221,6 +222,8 @@ class ModelWriter {
std::vector<pxr::SdfPath> body_paths_; std::vector<pxr::SdfPath> body_paths_;
// Mapping from Mujoco site id to SdfPath. // Mapping from Mujoco site id to SdfPath.
std::vector<pxr::SdfPath> site_paths_; 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. // Mapping from mesh names to Mesh prim path.
std::unordered_map<std::string, pxr::SdfPath> mesh_paths_; std::unordered_map<std::string, pxr::SdfPath> mesh_paths_;
// Whether to write physics data. // Whether to write physics data.
@@ -935,6 +938,9 @@ class ModelWriter {
actuator->trntype == mjtTrn::mjTRN_SLIDERCRANK) { actuator->trntype == mjtTrn::mjTRN_SLIDERCRANK) {
int site_id = mj_name2id(model_, mjOBJ_SITE, actuator->target->c_str()); int site_id = mj_name2id(model_, mjOBJ_SITE, actuator->target->c_str());
transmission_path = site_paths_[site_id]; 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 { } else {
TF_WARN(UnsupportedActuatorTypeError, TF_WARN(UnsupportedActuatorTypeError,
"Unsupported actuator type for actuator %d", "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) { void WriteCamera(mjsCamera *spec_cam, const mjsBody *body) {
test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
+25
View File
@@ -1503,6 +1503,31 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsActuatorGeneral) {
pxr::VtDoubleArray{{0, 1, 2, 3, 4, 5, 6, 7, 8, 9}}); pxr::VtDoubleArray{{0, 1, 2, 3, 4, 5, 6, 7, 8, 9}});
} }
TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsJointActuator) {
static constexpr char xml[] = R"(
<mujoco model="test">
<worldbody>
<body name="axle">
<body name="rod">
<joint name="rod_hinge" type="hinge"/>
<geom name="box" type="box" size=".05 .05 .05" density="1234"/>
</body>
</body>
</worldbody>
<actuator>
<general
name="general"
joint="rod_hinge"
/>
</actuator>
</mujoco>
)";
auto stage = OpenStageWithPhysics(xml);
EXPECT_PRIM_API_APPLIED(stage, "/test/axle/rod/rod_hinge",
pxr::MjcPhysicsActuatorAPI);
}
TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsBodyActuator) { TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsBodyActuator) {
static constexpr char xml[] = R"( static constexpr char xml[] = R"(
<mujoco model="test"> <mujoco model="test">