chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Fix schema naming in mjcPhysics to avoid collisions.

Browse Source 
PiperOrigin-RevId: 780537076
Change-Id: I4ea24162ba20d6aae10207491f9aae2250808576
This commit is contained in:
Sam Haves
2025-07-08 06:26:18 -07:00
committed by Copybara-Service
parent d464165e30
commit e507e31922
14 changed files with 99 additions and 83 deletions
Download Patch File Download Diff File Expand all files Collapse all files
include/mujoco/experimental/usd/mjcPhysics/actuatorAPI.h
+2 -2
View File
@@ -35,7 +35,7 @@ PXR_NAMESPACE_OPEN_SCOPE
class SdfAssetPath;
// -------------------------------------------------------------------------- //
// PHYSICSACTUATORAPI //
// MJCACTUATORAPI //
// -------------------------------------------------------------------------- //
/// \class MjcPhysicsActuatorAPI
@@ -111,7 +111,7 @@ class MjcPhysicsActuatorAPI : public UsdAPISchemaBase {
static bool CanApply(const UsdPrim &prim, std::string *whyNot = nullptr);
/// Applies this <b>single-apply</b> API schema to the given \p prim.
/// This information is stored by adding "PhysicsActuatorAPI" to the
/// This information is stored by adding "MjcActuatorAPI" to the
/// token-valued, listOp metadata \em apiSchemas on the prim.
///
/// \return A valid MjcPhysicsActuatorAPI object is returned upon success.
include/mujoco/experimental/usd/mjcPhysics/collisionAPI.h
+2 -2
View File
@@ -35,7 +35,7 @@ PXR_NAMESPACE_OPEN_SCOPE
class SdfAssetPath;
// -------------------------------------------------------------------------- //
// COLLISIONAPI //
// MJCCOLLISIONAPI //
// -------------------------------------------------------------------------- //
/// \class MjcPhysicsCollisionAPI
@@ -106,7 +106,7 @@ class MjcPhysicsCollisionAPI : public UsdAPISchemaBase {
static bool CanApply(const UsdPrim &prim, std::string *whyNot = nullptr);
/// Applies this <b>single-apply</b> API schema to the given \p prim.
/// This information is stored by adding "CollisionAPI" to the
/// This information is stored by adding "MjcCollisionAPI" to the
/// token-valued, listOp metadata \em apiSchemas on the prim.
///
/// \return A valid MjcPhysicsCollisionAPI object is returned upon success.
include/mujoco/experimental/usd/mjcPhysics/jointAPI.h
+2 -2
View File
@@ -35,7 +35,7 @@ PXR_NAMESPACE_OPEN_SCOPE
class SdfAssetPath;
// -------------------------------------------------------------------------- //
// PHYSICSJOINTSAPI //
// MJCJOINTAPI //
// -------------------------------------------------------------------------- //
/// \class MjcPhysicsJointAPI
@@ -110,7 +110,7 @@ class MjcPhysicsJointAPI : public UsdAPISchemaBase {
static bool CanApply(const UsdPrim &prim, std::string *whyNot = nullptr);
/// Applies this <b>single-apply</b> API schema to the given \p prim.
/// This information is stored by adding "PhysicsJointsAPI" to the
/// This information is stored by adding "MjcJointAPI" to the
/// token-valued, listOp metadata \em apiSchemas on the prim.
///
/// \return A valid MjcPhysicsJointAPI object is returned upon success.
include/mujoco/experimental/usd/mjcPhysics/keyframe.h
+1 -1
View File
@@ -35,7 +35,7 @@ PXR_NAMESPACE_OPEN_SCOPE
class SdfAssetPath;
// -------------------------------------------------------------------------- //
// KEYFRAME //
// MJCKEYFRAME //
// -------------------------------------------------------------------------- //
/// \class MjcPhysicsKeyframe
include/mujoco/experimental/usd/mjcPhysics/meshCollisionAPI.h
+3 -3
View File
@@ -35,12 +35,12 @@ PXR_NAMESPACE_OPEN_SCOPE
class SdfAssetPath;
// -------------------------------------------------------------------------- //
// MESHCOLLISIONAPI //
// MJCMESHCOLLISIONAPI //
// -------------------------------------------------------------------------- //
/// \class MjcPhysicsMeshCollisionAPI
///
/// API describing a Mujoco collider.
/// API describing a Mujoco mesh collider.
///
/// For any described attribute \em Fallback \em Value or \em Allowed \em Values
/// below that are text/tokens, the actual token is published and defined in
@@ -111,7 +111,7 @@ class MjcPhysicsMeshCollisionAPI : public UsdAPISchemaBase {
static bool CanApply(const UsdPrim &prim, std::string *whyNot = nullptr);
/// Applies this <b>single-apply</b> API schema to the given \p prim.
/// This information is stored by adding "MeshCollisionAPI" to the
/// This information is stored by adding "MjcMeshCollisionAPI" to the
/// token-valued, listOp metadata \em apiSchemas on the prim.
///
/// \return A valid MjcPhysicsMeshCollisionAPI object is returned upon
include/mujoco/experimental/usd/mjcPhysics/sceneAPI.h
+2 -2
View File
@@ -35,7 +35,7 @@ PXR_NAMESPACE_OPEN_SCOPE
class SdfAssetPath;
// -------------------------------------------------------------------------- //
// SCENEAPI //
// MJCSCENEAPI //
// -------------------------------------------------------------------------- //
/// \class MjcPhysicsSceneAPI
@@ -110,7 +110,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
static bool CanApply(const UsdPrim &prim, std::string *whyNot = nullptr);
/// Applies this <b>single-apply</b> API schema to the given \p prim.
/// This information is stored by adding "SceneAPI" to the
/// This information is stored by adding "MjcSceneAPI" to the
/// token-valued, listOp metadata \em apiSchemas on the prim.
///
/// \return A valid MjcPhysicsSceneAPI object is returned upon success.
include/mujoco/experimental/usd/mjcPhysics/siteAPI.h
+2 -2
View File
@@ -34,7 +34,7 @@ PXR_NAMESPACE_OPEN_SCOPE
class SdfAssetPath;
// -------------------------------------------------------------------------- //
// SITEAPI //
// MJCSITEAPI //
// -------------------------------------------------------------------------- //
/// \class MjcPhysicsSiteAPI
@@ -104,7 +104,7 @@ class MjcPhysicsSiteAPI : public UsdAPISchemaBase {
static bool CanApply(const UsdPrim &prim, std::string *whyNot = nullptr);
/// Applies this <b>single-apply</b> API schema to the given \p prim.
/// This information is stored by adding "SiteAPI" to the
/// This information is stored by adding "MjcSiteAPI" to the
/// token-valued, listOp metadata \em apiSchemas on the prim.
///
/// \return A valid MjcPhysicsSiteAPI object is returned upon success.
include/mujoco/experimental/usd/mjcPhysics/tokens.h
+20 -20
View File
@@ -573,34 +573,34 @@ struct MjcPhysicsTokensType {
/// value for MjcPhysicsActuatorAPI::GetMjcDynTypeAttr(), Possible value for
/// MjcPhysicsActuatorAPI::GetMjcGainTypeAttr()
const TfToken user;
/// \brief "CollisionAPI"
///
/// Schema identifier and family for MjcPhysicsCollisionAPI
const TfToken CollisionAPI;
/// \brief "Keyframe"
///
/// Schema identifier and family for MjcPhysicsKeyframe
const TfToken Keyframe;
/// \brief "MeshCollisionAPI"
///
/// Schema identifier and family for MjcPhysicsMeshCollisionAPI
const TfToken MeshCollisionAPI;
/// \brief "PhysicsActuatorAPI"
/// \brief "MjcActuatorAPI"
///
/// Schema identifier and family for MjcPhysicsActuatorAPI
const TfToken PhysicsActuatorAPI;
/// \brief "PhysicsJointsAPI"
const TfToken MjcActuatorAPI;
/// \brief "MjcCollisionAPI"
///
/// Schema identifier and family for MjcPhysicsCollisionAPI
const TfToken MjcCollisionAPI;
/// \brief "MjcJointAPI"
///
/// Schema identifier and family for MjcPhysicsJointAPI
const TfToken PhysicsJointsAPI;
/// \brief "SceneAPI"
const TfToken MjcJointAPI;
/// \brief "MjcKeyframe"
///
/// Schema identifier and family for MjcPhysicsKeyframe
const TfToken MjcKeyframe;
/// \brief "MjcMeshCollisionAPI"
///
/// Schema identifier and family for MjcPhysicsMeshCollisionAPI
const TfToken MjcMeshCollisionAPI;
/// \brief "MjcSceneAPI"
///
/// Schema identifier and family for MjcPhysicsSceneAPI
const TfToken SceneAPI;
/// \brief "SiteAPI"
const TfToken MjcSceneAPI;
/// \brief "MjcSiteAPI"
///
/// Schema identifier and family for MjcPhysicsSiteAPI
const TfToken SiteAPI;
const TfToken MjcSiteAPI;
/// A vector of all of the tokens listed above.
const std::vector<TfToken> allTokens;
};