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Add some autoformatting changes to mujoco_to_usd.cc

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PiperOrigin-RevId: 772032458
Change-Id: I94a80e7f7928b2956e76268c0d89fb862a228c41
This commit is contained in:
Google DeepMind
2025-06-16 08:13:51 -07:00
committed by Copybara-Service
parent bb1b2db3a9
commit 1f0e4891c2
1 changed files with 8 additions and 8 deletions
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src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
+8 -8
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@@ -819,22 +819,23 @@ class ModelWriter {
MjcPhysicsTokens->PhysicsActuatorAPI); MjcPhysicsTokens->PhysicsActuatorAPI);
if (!actuator->refsite->empty()) { if (!actuator->refsite->empty()) {
int refsite_id = mj_name2id(model_, mjOBJ_SITE, actuator->refsite->c_str()); int refsite_id =
mj_name2id(model_, mjOBJ_SITE, actuator->refsite->c_str());
pxr::SdfPath refsite_path = site_paths_[refsite_id]; pxr::SdfPath refsite_path = site_paths_[refsite_id];
CreateRelationshipSpec(data_, transmission_path, CreateRelationshipSpec(data_, transmission_path,
MjcPhysicsTokens->mjcRefSite, MjcPhysicsTokens->mjcRefSite, refsite_path,
refsite_path, pxr::SdfVariabilityUniform); pxr::SdfVariabilityUniform);
} }
if (!actuator->slidersite->empty()) { if (!actuator->slidersite->empty()) {
int slidersite_id = mj_name2id(model_, mjOBJ_SITE, actuator->slidersite->c_str()); int slidersite_id =
mj_name2id(model_, mjOBJ_SITE, actuator->slidersite->c_str());
pxr::SdfPath slidersite_path = site_paths_[slidersite_id]; pxr::SdfPath slidersite_path = site_paths_[slidersite_id];
CreateRelationshipSpec(data_, transmission_path, CreateRelationshipSpec(data_, transmission_path,
MjcPhysicsTokens->mjcSliderSite, MjcPhysicsTokens->mjcSliderSite, slidersite_path,
slidersite_path, pxr::SdfVariabilityUniform); pxr::SdfVariabilityUniform);
} }
const std::vector<std::pair<pxr::TfToken, int>> limited_attributes = { const std::vector<std::pair<pxr::TfToken, int>> limited_attributes = {
{MjcPhysicsTokens->mjcCtrlLimited, actuator->ctrllimited}, {MjcPhysicsTokens->mjcCtrlLimited, actuator->ctrllimited},
{MjcPhysicsTokens->mjcForceLimited, actuator->forcelimited}, {MjcPhysicsTokens->mjcForceLimited, actuator->forcelimited},
@@ -900,7 +901,6 @@ class ModelWriter {
MjcPhysicsTokens->mjcDynPrm, MjcPhysicsTokens->mjcDynPrm,
pxr::VtDoubleArray(actuator->dynprm, actuator->dynprm + 10)); pxr::VtDoubleArray(actuator->dynprm, actuator->dynprm + 10));
pxr::TfToken gain_type; pxr::TfToken gain_type;
if (actuator->gaintype == mjtGain::mjGAIN_FIXED) { if (actuator->gaintype == mjtGain::mjGAIN_FIXED) {
gain_type = MjcPhysicsTokens->fixed; gain_type = MjcPhysicsTokens->fixed;