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Remove MjcActuatorAPI in favor of typed MjcTransmission.

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PiperOrigin-RevId: 781498554
Change-Id: Ib6ce5038645f6ca08638a9d316b0347dc121bc62
This commit is contained in:
Sam Haves
2025-07-10 05:58:08 -07:00
committed by Copybara-Service
parent 2d69610abd
commit fbea72d767
12 changed files with 437 additions and 321 deletions
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include/mujoco/experimental/usd/mjcPhysics/tokens.h
+61 -53
View File
@@ -55,15 +55,15 @@ struct MjcPhysicsTokensType {
MJCPHYSICS_API MjcPhysicsTokensType();
/// \brief "affine"
///
/// Possible value for MjcPhysicsActuatorAPI::GetMjcBiasTypeAttr(), Possible
/// value for MjcPhysicsActuatorAPI::GetMjcGainTypeAttr()
/// Possible value for MjcPhysicsTransmission::GetMjcBiasTypeAttr(), Possible
/// value for MjcPhysicsTransmission::GetMjcGainTypeAttr()
const TfToken affine;
/// \brief "auto"
///
/// Fallback value for MjcPhysicsSceneAPI::GetJacobianAttr(), Fallback value
/// for MjcPhysicsActuatorAPI::GetMjcActLimitedAttr(), Fallback value for
/// MjcPhysicsActuatorAPI::GetMjcCtrlLimitedAttr(), Fallback value for
/// MjcPhysicsActuatorAPI::GetMjcForceLimitedAttr(), Fallback value for
/// for MjcPhysicsTransmission::GetMjcActLimitedAttr(), Fallback value for
/// MjcPhysicsTransmission::GetMjcCtrlLimitedAttr(), Fallback value for
/// MjcPhysicsTransmission::GetMjcForceLimitedAttr(), Fallback value for
/// MjcPhysicsJointAPI::GetMjcActuatorfrclimitedAttr(), This token represents
/// the auto constraint Jacobian and matrices computed from it.
const TfToken auto_;
@@ -97,22 +97,22 @@ struct MjcPhysicsTokensType {
const TfToken exact;
/// \brief "false"
///
/// Possible value for MjcPhysicsActuatorAPI::GetMjcActLimitedAttr(), Possible
/// value for MjcPhysicsActuatorAPI::GetMjcCtrlLimitedAttr(), Possible value
/// for MjcPhysicsActuatorAPI::GetMjcForceLimitedAttr(), Possible value for
/// MjcPhysicsJointAPI::GetMjcActuatorfrclimitedAttr()
/// Possible value for MjcPhysicsTransmission::GetMjcActLimitedAttr(),
/// Possible value for MjcPhysicsTransmission::GetMjcCtrlLimitedAttr(),
/// Possible value for MjcPhysicsTransmission::GetMjcForceLimitedAttr(),
/// Possible value for MjcPhysicsJointAPI::GetMjcActuatorfrclimitedAttr()
const TfToken false_;
/// \brief "filter"
///
/// Possible value for MjcPhysicsActuatorAPI::GetMjcDynTypeAttr()
/// Possible value for MjcPhysicsTransmission::GetMjcDynTypeAttr()
const TfToken filter;
/// \brief "filterexact"
///
/// Possible value for MjcPhysicsActuatorAPI::GetMjcDynTypeAttr()
/// Possible value for MjcPhysicsTransmission::GetMjcDynTypeAttr()
const TfToken filterexact;
/// \brief "fixed"
///
/// Fallback value for MjcPhysicsActuatorAPI::GetMjcGainTypeAttr()
/// Fallback value for MjcPhysicsTransmission::GetMjcGainTypeAttr()
const TfToken fixed;
/// \brief "implicit"
///
@@ -126,7 +126,7 @@ struct MjcPhysicsTokensType {
const TfToken implicitfast;
/// \brief "integrator"
///
/// Possible value for MjcPhysicsActuatorAPI::GetMjcDynTypeAttr()
/// Possible value for MjcPhysicsTransmission::GetMjcDynTypeAttr()
const TfToken integrator;
/// \brief "legacy"
///
@@ -138,23 +138,23 @@ struct MjcPhysicsTokensType {
const TfToken mjcAct;
/// \brief "mjc:actDim"
///
/// MjcPhysicsActuatorAPI
/// MjcPhysicsTransmission
const TfToken mjcActDim;
/// \brief "mjc:actEarly"
///
/// MjcPhysicsActuatorAPI
/// MjcPhysicsTransmission
const TfToken mjcActEarly;
/// \brief "mjc:actLimited"
///
/// MjcPhysicsActuatorAPI
/// MjcPhysicsTransmission
const TfToken mjcActLimited;
/// \brief "mjc:actRange:max"
///
/// MjcPhysicsActuatorAPI
/// MjcPhysicsTransmission
const TfToken mjcActRangeMax;
/// \brief "mjc:actRange:min"
///
/// MjcPhysicsActuatorAPI
/// MjcPhysicsTransmission
const TfToken mjcActRangeMin;
/// \brief "mjc:actuatorfrclimited"
///
@@ -178,15 +178,15 @@ struct MjcPhysicsTokensType {
const TfToken mjcArmature;
/// \brief "mjc:biasPrm"
///
/// MjcPhysicsActuatorAPI
/// MjcPhysicsTransmission
const TfToken mjcBiasPrm;
/// \brief "mjc:biasType"
///
/// MjcPhysicsActuatorAPI
/// MjcPhysicsTransmission
const TfToken mjcBiasType;
/// \brief "mjc:crankLength"
///
/// MjcPhysicsActuatorAPI
/// MjcPhysicsTransmission
const TfToken mjcCrankLength;
/// \brief "mjc:ctrl"
///
@@ -194,15 +194,15 @@ struct MjcPhysicsTokensType {
const TfToken mjcCtrl;
/// \brief "mjc:ctrlLimited"
///
/// MjcPhysicsActuatorAPI
/// MjcPhysicsTransmission
const TfToken mjcCtrlLimited;
/// \brief "mjc:ctrlRange:max"
///
/// MjcPhysicsActuatorAPI
/// MjcPhysicsTransmission
const TfToken mjcCtrlRangeMax;
/// \brief "mjc:ctrlRange:min"
///
/// MjcPhysicsActuatorAPI
/// MjcPhysicsTransmission
const TfToken mjcCtrlRangeMin;
/// \brief "mjc:damping"
///
@@ -210,11 +210,11 @@ struct MjcPhysicsTokensType {
const TfToken mjcDamping;
/// \brief "mjc:dynPrm"
///
/// MjcPhysicsActuatorAPI
/// MjcPhysicsTransmission
const TfToken mjcDynPrm;
/// \brief "mjc:dynType"
///
/// MjcPhysicsActuatorAPI
/// MjcPhysicsTransmission
const TfToken mjcDynType;
/// \brief "mjc:flag:actuation"
///
@@ -310,15 +310,15 @@ struct MjcPhysicsTokensType {
const TfToken mjcFlagWarmstart;
/// \brief "mjc:forceLimited"
///
/// MjcPhysicsActuatorAPI
/// MjcPhysicsTransmission
const TfToken mjcForceLimited;
/// \brief "mjc:forceRange:max"
///
/// MjcPhysicsActuatorAPI
/// MjcPhysicsTransmission
const TfToken mjcForceRangeMax;
/// \brief "mjc:forceRange:min"
///
/// MjcPhysicsActuatorAPI
/// MjcPhysicsTransmission
const TfToken mjcForceRangeMin;
/// \brief "mjc:frictionloss"
///
@@ -326,31 +326,35 @@ struct MjcPhysicsTokensType {
const TfToken mjcFrictionloss;
/// \brief "mjc:gainPrm"
///
/// MjcPhysicsActuatorAPI
/// MjcPhysicsTransmission
const TfToken mjcGainPrm;
/// \brief "mjc:gainType"
///
/// MjcPhysicsActuatorAPI
/// MjcPhysicsTransmission
const TfToken mjcGainType;
/// \brief "mjc:gear"
///
/// MjcPhysicsActuatorAPI
/// MjcPhysicsTransmission
const TfToken mjcGear;
/// \brief "mjc:group"
///
/// MjcPhysicsTransmission
const TfToken mjcGroup;
/// \brief "mjc:inertia"
///
/// MjcPhysicsMeshCollisionAPI
const TfToken mjcInertia;
/// \brief "mjc:jointInParent"
///
/// MjcPhysicsActuatorAPI
/// MjcPhysicsTransmission
const TfToken mjcJointInParent;
/// \brief "mjc:lengthRange:max"
///
/// MjcPhysicsActuatorAPI
/// MjcPhysicsTransmission
const TfToken mjcLengthRangeMax;
/// \brief "mjc:lengthRange:min"
///
/// MjcPhysicsActuatorAPI
/// MjcPhysicsTransmission
const TfToken mjcLengthRangeMin;
/// \brief "mjc:margin"
///
@@ -486,7 +490,7 @@ struct MjcPhysicsTokensType {
const TfToken mjcRef;
/// \brief "mjc:refSite"
///
/// MjcPhysicsActuatorAPI
/// MjcPhysicsTransmission
const TfToken mjcRefSite;
/// \brief "mjc:shellinertia"
///
@@ -494,7 +498,7 @@ struct MjcPhysicsTokensType {
const TfToken mjcShellinertia;
/// \brief "mjc:sliderSite"
///
/// MjcPhysicsActuatorAPI
/// MjcPhysicsTransmission
const TfToken mjcSliderSite;
/// \brief "mjc:solimpfriction"
///
@@ -524,11 +528,15 @@ struct MjcPhysicsTokensType {
///
/// MjcPhysicsJointAPI
const TfToken mjcStiffness;
/// \brief "mjc:target"
///
/// MjcPhysicsTransmission
const TfToken mjcTarget;
/// \brief "muscle"
///
/// Possible value for MjcPhysicsActuatorAPI::GetMjcBiasTypeAttr(), Possible
/// value for MjcPhysicsActuatorAPI::GetMjcDynTypeAttr(), Possible value for
/// MjcPhysicsActuatorAPI::GetMjcGainTypeAttr()
/// Possible value for MjcPhysicsTransmission::GetMjcBiasTypeAttr(), Possible
/// value for MjcPhysicsTransmission::GetMjcDynTypeAttr(), Possible value for
/// MjcPhysicsTransmission::GetMjcGainTypeAttr()
const TfToken muscle;
/// \brief "newton"
///
@@ -537,8 +545,8 @@ struct MjcPhysicsTokensType {
const TfToken newton;
/// \brief "none"
///
/// Fallback value for MjcPhysicsActuatorAPI::GetMjcBiasTypeAttr(), Fallback
/// value for MjcPhysicsActuatorAPI::GetMjcDynTypeAttr()
/// Fallback value for MjcPhysicsTransmission::GetMjcBiasTypeAttr(), Fallback
/// value for MjcPhysicsTransmission::GetMjcDynTypeAttr()
const TfToken none;
/// \brief "pgs"
///
@@ -566,21 +574,17 @@ struct MjcPhysicsTokensType {
const TfToken sparse;
/// \brief "true"
///
/// Possible value for MjcPhysicsActuatorAPI::GetMjcActLimitedAttr(), Possible
/// value for MjcPhysicsActuatorAPI::GetMjcCtrlLimitedAttr(), Possible value
/// for MjcPhysicsActuatorAPI::GetMjcForceLimitedAttr(), Possible value for
/// MjcPhysicsJointAPI::GetMjcActuatorfrclimitedAttr()
/// Possible value for MjcPhysicsTransmission::GetMjcActLimitedAttr(),
/// Possible value for MjcPhysicsTransmission::GetMjcCtrlLimitedAttr(),
/// Possible value for MjcPhysicsTransmission::GetMjcForceLimitedAttr(),
/// Possible value for MjcPhysicsJointAPI::GetMjcActuatorfrclimitedAttr()
const TfToken true_;
/// \brief "user"
///
/// Possible value for MjcPhysicsActuatorAPI::GetMjcBiasTypeAttr(), Possible
/// value for MjcPhysicsActuatorAPI::GetMjcDynTypeAttr(), Possible value for
/// MjcPhysicsActuatorAPI::GetMjcGainTypeAttr()
/// Possible value for MjcPhysicsTransmission::GetMjcBiasTypeAttr(), Possible
/// value for MjcPhysicsTransmission::GetMjcDynTypeAttr(), Possible value for
/// MjcPhysicsTransmission::GetMjcGainTypeAttr()
const TfToken user;
/// \brief "MjcActuatorAPI"
///
/// Schema identifier and family for MjcPhysicsActuatorAPI
const TfToken MjcActuatorAPI;
/// \brief "MjcCollisionAPI"
///
/// Schema identifier and family for MjcPhysicsCollisionAPI
@@ -605,6 +609,10 @@ struct MjcPhysicsTokensType {
///
/// Schema identifier and family for MjcPhysicsSiteAPI
const TfToken MjcSiteAPI;
/// \brief "MjcTransmission"
///
/// Schema identifier and family for MjcPhysicsTransmission
const TfToken MjcTransmission;
/// A vector of all of the tokens listed above.
const std::vector<TfToken> allTokens;
};
include/mujoco/experimental/usd/mjcPhysics/actuatorAPI.h → include/mujoco/experimental/usd/mjcPhysics/transmission.h
+82 -54
View File
@@ -12,10 +12,10 @@
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef MJCPHYSICS_GENERATED_ACTUATORAPI_H
#define MJCPHYSICS_GENERATED_ACTUATORAPI_H
#ifndef MJCPHYSICS_GENERATED_TRANSMISSION_H
#define MJCPHYSICS_GENERATED_TRANSMISSION_H
/// \file mjcPhysics/actuatorAPI.h
/// \file mjcPhysics/transmission.h
#include <mujoco/experimental/usd/mjcPhysics/api.h>
#include <mujoco/experimental/usd/mjcPhysics/tokens.h>
@@ -26,50 +26,51 @@
#include <pxr/base/tf/type.h>
#include <pxr/base/vt/value.h>
#include <pxr/pxr.h>
#include <pxr/usd/usd/apiSchemaBase.h>
#include <pxr/usd/usd/prim.h>
#include <pxr/usd/usd/stage.h>
#include <pxr/usd/usd/typed.h>
PXR_NAMESPACE_OPEN_SCOPE
class SdfAssetPath;
// -------------------------------------------------------------------------- //
// MJCACTUATORAPI //
// MJCTRANSMISSION //
// -------------------------------------------------------------------------- //
/// \class MjcPhysicsActuatorAPI
/// \class MjcPhysicsTransmission
///
/// API describing a Mujoco actuator.
/// Known as actuator in MuJoCo, this prim represents force transmission to
/// joints, bodies, or sites.
///
/// 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
/// \ref MjcPhysicsTokens. So to set an attribute to the value "rightHanded",
/// use MjcPhysicsTokens->rightHanded as the value.
///
class MjcPhysicsActuatorAPI : public UsdAPISchemaBase {
class MjcPhysicsTransmission : public UsdTyped {
public:
/// Compile time constant representing what kind of schema this class is.
///
/// \sa UsdSchemaKind
static const UsdSchemaKind schemaKind = UsdSchemaKind::SingleApplyAPI;
static const UsdSchemaKind schemaKind = UsdSchemaKind::ConcreteTyped;
/// Construct a MjcPhysicsActuatorAPI on UsdPrim \p prim .
/// Equivalent to MjcPhysicsActuatorAPI::Get(prim.GetStage(), prim.GetPath())
/// Construct a MjcPhysicsTransmission on UsdPrim \p prim .
/// Equivalent to MjcPhysicsTransmission::Get(prim.GetStage(), prim.GetPath())
/// for a \em valid \p prim, but will not immediately throw an error for
/// an invalid \p prim
explicit MjcPhysicsActuatorAPI(const UsdPrim &prim = UsdPrim())
: UsdAPISchemaBase(prim) {}
explicit MjcPhysicsTransmission(const UsdPrim &prim = UsdPrim())
: UsdTyped(prim) {}
/// Construct a MjcPhysicsActuatorAPI on the prim held by \p schemaObj .
/// Should be preferred over MjcPhysicsActuatorAPI(schemaObj.GetPrim()),
/// Construct a MjcPhysicsTransmission on the prim held by \p schemaObj .
/// Should be preferred over MjcPhysicsTransmission(schemaObj.GetPrim()),
/// as it preserves SchemaBase state.
explicit MjcPhysicsActuatorAPI(const UsdSchemaBase &schemaObj)
: UsdAPISchemaBase(schemaObj) {}
explicit MjcPhysicsTransmission(const UsdSchemaBase &schemaObj)
: UsdTyped(schemaObj) {}
/// Destructor.
MJCPHYSICS_API
virtual ~MjcPhysicsActuatorAPI();
virtual ~MjcPhysicsTransmission();
/// Return a vector of names of all pre-declared attributes for this schema
/// class and all its ancestor classes. Does not include attributes that
@@ -78,55 +79,44 @@ class MjcPhysicsActuatorAPI : public UsdAPISchemaBase {
static const TfTokenVector &GetSchemaAttributeNames(
bool includeInherited = true);
/// Return a MjcPhysicsActuatorAPI holding the prim adhering to this
/// Return a MjcPhysicsTransmission holding the prim adhering to this
/// schema at \p path on \p stage. If no prim exists at \p path on
/// \p stage, or if the prim at that path does not adhere to this schema,
/// return an invalid schema object. This is shorthand for the following:
///
/// \code
/// MjcPhysicsActuatorAPI(stage->GetPrimAtPath(path));
/// MjcPhysicsTransmission(stage->GetPrimAtPath(path));
/// \endcode
///
MJCPHYSICS_API
static MjcPhysicsActuatorAPI Get(const UsdStagePtr &stage,
const SdfPath &path);
static MjcPhysicsTransmission Get(const UsdStagePtr &stage,
const SdfPath &path);
/// Returns true if this <b>single-apply</b> API schema can be applied to
/// the given \p prim. If this schema can not be a applied to the prim,
/// this returns false and, if provided, populates \p whyNot with the
/// reason it can not be applied.
/// Attempt to ensure a \a UsdPrim adhering to this schema at \p path
/// is defined (according to UsdPrim::IsDefined()) on this stage.
///
/// Note that if CanApply returns false, that does not necessarily imply
/// that calling Apply will fail. Callers are expected to call CanApply
/// before calling Apply if they want to ensure that it is valid to
/// apply a schema.
/// If a prim adhering to this schema at \p path is already defined on this
/// stage, return that prim. Otherwise author an \a SdfPrimSpec with
/// \a specifier == \a SdfSpecifierDef and this schema's prim type name for
/// the prim at \p path at the current EditTarget. Author \a SdfPrimSpec s
/// with \p specifier == \a SdfSpecifierDef and empty typeName at the
/// current EditTarget for any nonexistent, or existing but not \a Defined
/// ancestors.
///
/// \sa UsdPrim::GetAppliedSchemas()
/// \sa UsdPrim::HasAPI()
/// \sa UsdPrim::CanApplyAPI()
/// \sa UsdPrim::ApplyAPI()
/// \sa UsdPrim::RemoveAPI()
/// The given \a path must be an absolute prim path that does not contain
/// any variant selections.
///
/// If it is impossible to author any of the necessary PrimSpecs, (for
/// example, in case \a path cannot map to the current UsdEditTarget's
/// namespace) issue an error and return an invalid \a UsdPrim.
///
/// Note that this method may return a defined prim whose typeName does not
/// specify this schema class, in case a stronger typeName opinion overrides
/// the opinion at the current EditTarget.
///
MJCPHYSICS_API
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 "MjcActuatorAPI" to the
/// token-valued, listOp metadata \em apiSchemas on the prim.
///
/// \return A valid MjcPhysicsActuatorAPI object is returned upon success.
/// An invalid (or empty) MjcPhysicsActuatorAPI object is returned upon
/// failure. See \ref UsdPrim::ApplyAPI() for conditions
/// resulting in failure.
///
/// \sa UsdPrim::GetAppliedSchemas()
/// \sa UsdPrim::HasAPI()
/// \sa UsdPrim::CanApplyAPI()
/// \sa UsdPrim::ApplyAPI()
/// \sa UsdPrim::RemoveAPI()
///
MJCPHYSICS_API
static MjcPhysicsActuatorAPI Apply(const UsdPrim &prim);
static MjcPhysicsTransmission Define(const UsdStagePtr &stage,
const SdfPath &path);
protected:
/// Returns the kind of schema this class belongs to.
@@ -147,6 +137,30 @@ class MjcPhysicsActuatorAPI : public UsdAPISchemaBase {
MJCPHYSICS_API
const TfType &_GetTfType() const override;
public:
// --------------------------------------------------------------------- //
// GROUP
// --------------------------------------------------------------------- //
/// Integer MuJoCo group to which the transmission belongs.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform int mjc:group = 0` |
/// | C++ Type | int |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetGroupAttr() const;
/// See GetGroupAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateGroupAttr(VtValue const &defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// MJCCTRLLIMITED
@@ -750,6 +764,20 @@ class MjcPhysicsActuatorAPI : public UsdAPISchemaBase {
UsdAttribute CreateMjcActEarlyAttr(VtValue const &defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// MJCTARGET
// --------------------------------------------------------------------- //
/// Actuator transmission target.
///
MJCPHYSICS_API
UsdRelationship GetMjcTargetRel() const;
/// See GetMjcTargetRel(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create
MJCPHYSICS_API
UsdRelationship CreateMjcTargetRel() const;
public:
// --------------------------------------------------------------------- //
// MJCREFSITE