Move headers from src/experimental/usd to include/experimental/usd
PiperOrigin-RevId: 775269423 Change-Id: Ifca6c3ead32b9fb3f02784ed38a9efae300be410
This commit is contained in:
Sam Haves
committed by
Copybara-Service
Copybara-Service
parent
78df2ae7fa
commit
9089059517
@@ -0,0 +1,41 @@
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// Copyright 2025 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef MUJOCO_SRC_EXPERIMENTAL_USD_LAYER_SINK_H_
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#define MUJOCO_SRC_EXPERIMENTAL_USD_LAYER_SINK_H_
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#include <vector>
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#include <mujoco/mujoco.h>
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#include <pxr/usd/sdf/path.h>
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#include <pxr/usd/usd/common.h>
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namespace mujoco {
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namespace usd {
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// A sink for writing pose data to an SDF layer.
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// Opinions will be authored on the edit target layer for the
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// passed stage argument.
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class LayerSink {
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public:
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explicit LayerSink(pxr::UsdStageRefPtr stage);
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void Update(const mjData* const data, std::vector<pxr::SdfPath> body_paths_);
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private:
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pxr::UsdStageRefPtr stage_;
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};
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} // namespace usd
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} // namespace mujoco
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#endif // MUJOCO_SRC_EXPERIMENTAL_USD_LAYER_SINK_H_
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+2
-2
@@ -17,8 +17,8 @@
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/// \file mjcPhysics/actuatorAPI.h
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#include "./api.h"
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#include "./tokens.h"
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#include <mujoco/experimental/usd/mjcPhysics/api.h>
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#include <mujoco/experimental/usd/mjcPhysics/tokens.h>
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#include "pxr/base/gf/matrix4d.h"
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#include "pxr/base/gf/vec3d.h"
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#include "pxr/base/gf/vec3f.h"
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+2
-2
@@ -17,8 +17,8 @@
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/// \file mjcPhysics/collisionAPI.h
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#include "./api.h"
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#include "./tokens.h"
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#include <mujoco/experimental/usd/mjcPhysics/api.h>
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#include <mujoco/experimental/usd/mjcPhysics/tokens.h>
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#include "pxr/base/gf/matrix4d.h"
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#include "pxr/base/gf/vec3d.h"
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#include "pxr/base/gf/vec3f.h"
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+2
-2
@@ -17,8 +17,8 @@
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/// \file mjcPhysics/meshCollisionAPI.h
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#include "./api.h"
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#include "./tokens.h"
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#include <mujoco/experimental/usd/mjcPhysics/api.h>
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#include <mujoco/experimental/usd/mjcPhysics/tokens.h>
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#include "pxr/base/gf/matrix4d.h"
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#include "pxr/base/gf/vec3d.h"
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#include "pxr/base/gf/vec3f.h"
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+2
-2
@@ -17,8 +17,8 @@
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/// \file mjcPhysics/sceneAPI.h
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#include "./api.h"
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#include "./tokens.h"
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#include <mujoco/experimental/usd/mjcPhysics/api.h>
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#include <mujoco/experimental/usd/mjcPhysics/tokens.h>
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#include "pxr/base/gf/matrix4d.h"
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#include "pxr/base/gf/vec3d.h"
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#include "pxr/base/gf/vec3f.h"
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+1
-1
@@ -17,7 +17,7 @@
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/// \file mjcPhysics/siteAPI.h
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#include "./api.h"
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#include <mujoco/experimental/usd/mjcPhysics/api.h>
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#include "pxr/base/gf/matrix4d.h"
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#include "pxr/base/gf/vec3d.h"
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#include "pxr/base/gf/vec3f.h"
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+1
-1
@@ -26,7 +26,7 @@
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#include <vector>
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#include "./api.h"
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#include <mujoco/experimental/usd/mjcPhysics/api.h>
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#include "pxr/base/tf/staticData.h"
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#include "pxr/base/tf/token.h"
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#include "pxr/pxr.h"
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@@ -0,0 +1,52 @@
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// Copyright 2025 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef MUJOCO_SRC_EXPERIMENTAL_USD_WRITER_H_
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#define MUJOCO_SRC_EXPERIMENTAL_USD_WRITER_H_
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#include <functional>
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#include <vector>
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#include <mujoco/mujoco.h>
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#include <pxr/usd/sdf/path.h>
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#include <pxr/usd/usd/common.h>
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namespace mujoco {
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namespace usd {
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using PoseSinkFn =
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std::function<void(const mjData* const, std::vector<pxr::SdfPath>)>;
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class Writer {
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public:
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Writer(pxr::UsdStageRefPtr stage, mjSpec* spec, mjModel_* model);
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~Writer();
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Writer(const Writer&) = delete;
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Writer& operator=(const Writer&) = delete;
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void Update(const mjData* const data);
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void AddSink(PoseSinkFn sink_fn);
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private:
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void BuildMjUsdMapping();
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pxr::UsdStageRefPtr stage_;
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std::vector<pxr::SdfPath> body_id_to_path_;
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mjSpec* spec_ = nullptr;
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mjModel_* model_ = nullptr;
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std::vector<PoseSinkFn> pose_sinks_;
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};
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} // namespace usd
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} // namespace mujoco
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#endif // MUJOCO_SRC_EXPERIMENTAL_USD_WRITER_H_
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@@ -12,7 +12,7 @@
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include "./actuatorAPI.h"
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#include <mujoco/experimental/usd/mjcPhysics/actuatorAPI.h>
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#include "pxr/usd/sdf/assetPath.h"
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#include "pxr/usd/sdf/types.h"
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@@ -12,7 +12,7 @@
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include "./collisionAPI.h"
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#include <mujoco/experimental/usd/mjcPhysics/collisionAPI.h>
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#include "pxr/usd/sdf/assetPath.h"
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#include "pxr/usd/sdf/types.h"
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@@ -12,7 +12,7 @@
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include "./meshCollisionAPI.h"
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#include <mujoco/experimental/usd/mjcPhysics/meshCollisionAPI.h>
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#include "pxr/usd/sdf/assetPath.h"
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#include "pxr/usd/sdf/types.h"
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@@ -12,7 +12,7 @@
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include "./sceneAPI.h"
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#include <mujoco/experimental/usd/mjcPhysics/sceneAPI.h>
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#include "pxr/usd/sdf/assetPath.h"
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#include "pxr/usd/sdf/types.h"
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@@ -12,7 +12,7 @@
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include "./siteAPI.h"
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#include <mujoco/experimental/usd/mjcPhysics/siteAPI.h>
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#include "pxr/usd/sdf/assetPath.h"
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#include "pxr/usd/sdf/types.h"
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@@ -12,7 +12,7 @@
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include "./tokens.h"
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#include <mujoco/experimental/usd/mjcPhysics/tokens.h>
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PXR_NAMESPACE_OPEN_SCOPE
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@@ -23,7 +23,7 @@
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#include <mujoco/mjspec.h>
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#include <mujoco/mujoco.h>
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#include "third_party/mujoco/src/experimental/usd/mjcPhysics/tokens.h"
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#include <mujoco/experimental/usd/mjcPhysics/tokens.h>
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#include "mjcf/utils.h"
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#include <pxr/base/arch/attributes.h>
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#include <pxr/base/gf/matrix4d.h>
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@@ -12,7 +12,7 @@
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include "third_party/mujoco/src/experimental/usd/utils.h"
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#include <mujoco/experimental/usd/utils.h>
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#include <mujoco/mujoco.h>
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#include <pxr/usd/sdf/path.h>
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@@ -14,8 +14,8 @@
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#include <gmock/gmock.h>
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#include <gtest/gtest.h>
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#include <mujoco/experimental/usd/mjcPhysics/sceneAPI.h>
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#include <mujoco/mujoco.h>
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#include "src/experimental/usd/mjcPhysics/sceneAPI.h"
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#include "test/fixture.h"
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#include <pxr/base/gf/vec3d.h>
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#include <pxr/base/vt/types.h>
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@@ -14,9 +14,9 @@
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#include <gmock/gmock.h>
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#include <gtest/gtest.h>
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#include <mujoco/experimental/usd.h>
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#include <mujoco/experimental/usd/mjcPhysics/siteAPI.h>
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#include <mujoco/experimental/usd/usd.h>
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#include <mujoco/mujoco.h>
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#include "src/experimental/usd/mjcPhysics/siteAPI.h"
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#include "test/fixture.h"
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#include <pxr/base/tf/token.h>
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#include <pxr/usd/sdf/path.h>
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@@ -17,12 +17,12 @@
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#include <gmock/gmock.h>
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#include <gtest/gtest.h>
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#include "src/experimental/usd/mjcPhysics/actuatorAPI.h"
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#include "src/experimental/usd/mjcPhysics/collisionAPI.h"
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#include "src/experimental/usd/mjcPhysics/meshCollisionAPI.h"
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#include "src/experimental/usd/mjcPhysics/sceneAPI.h"
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#include "src/experimental/usd/mjcPhysics/siteAPI.h"
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#include "src/experimental/usd/mjcPhysics/tokens.h"
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#include <mujoco/experimental/usd/mjcPhysics/actuatorAPI.h>
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#include <mujoco/experimental/usd/mjcPhysics/collisionAPI.h>
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#include <mujoco/experimental/usd/mjcPhysics/meshCollisionAPI.h>
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#include <mujoco/experimental/usd/mjcPhysics/sceneAPI.h>
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#include <mujoco/experimental/usd/mjcPhysics/siteAPI.h>
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#include <mujoco/experimental/usd/mjcPhysics/tokens.h>
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#include "test/experimental/usd/test_utils.h"
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#include "test/fixture.h"
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#include <pxr/base/gf/vec2f.h>
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