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USD decoder improvements: Support actuators targeting tendons and improve side site index handling.

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Adds support for mjTRN_TENDON actuators in the USD decoder. Modifies the tendon path parsing to correctly handle side site indices, allowing -1 to signify no side site for a given path element.

PiperOrigin-RevId: 862755621
Change-Id: I18b13b160e3d1c27945d0972a69012d6307131e9
This commit is contained in:
Sam Haves
2026-01-29 08:50:04 -08:00
committed by Copybara-Service
parent d2efc0e154
commit f434578d30
1 changed files with 6 additions and 2 deletions
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plugin/usd_decoder/usd_decoder.cc
+6 -2
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@@ -1067,7 +1067,7 @@ void ParseMjcPhysicsTendon(mjSpec* spec, const pxr::MjcPhysicsTendon& tendon) {
std::string side_site_name = ""; std::string side_site_name = "";
if (!side_site_indices.empty()) { if (!side_site_indices.empty()) {
int side_site_index = side_site_indices[i]; int side_site_index = side_site_indices[i];
if (side_site_index >= side_site_paths.size()) { if (side_site_index > 0 && side_site_index >= side_site_paths.size()) {
mju_warning( mju_warning(
"Tendon %s has side site index %d but only %lu side sites, " "Tendon %s has side site index %d but only %lu side sites, "
"skipping.", "skipping.",
@@ -1075,7 +1075,9 @@ void ParseMjcPhysicsTendon(mjSpec* spec, const pxr::MjcPhysicsTendon& tendon) {
side_site_paths.size()); side_site_paths.size());
return; return;
} }
side_site_name = side_site_paths[side_site_index].GetAsString(); if (side_site_index >= 0) {
side_site_name = side_site_paths[side_site_index].GetAsString();
}
} }
wrap = mjs_wrapGeom(mj_tendon, wrap_target.GetAsString().c_str(), wrap = mjs_wrapGeom(mj_tendon, wrap_target.GetAsString().c_str(),
side_site_name.c_str()); side_site_name.c_str());
@@ -1294,6 +1296,8 @@ void ParseMjcPhysicsActuator(mjSpec* spec,
mj_act->trntype = mjTRN_BODY; mj_act->trntype = mjTRN_BODY;
} else if (target_prim.HasAPI<pxr::MjcPhysicsSiteAPI>()) { } else if (target_prim.HasAPI<pxr::MjcPhysicsSiteAPI>()) {
mj_act->trntype = slider_crank ? mjTRN_SLIDERCRANK : mjTRN_SITE; mj_act->trntype = slider_crank ? mjTRN_SLIDERCRANK : mjTRN_SITE;
} else if (target_prim.IsA<pxr::MjcPhysicsTendon>()) {
mj_act->trntype = mjTRN_TENDON;
} else { } else {
mju_warning("Actuator %s has an invalid target type, skipping.", mju_warning("Actuator %s has an invalid target type, skipping.",
prim.GetPath().GetAsString().c_str()); prim.GetPath().GetAsString().c_str());