chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions 4 Packages Projects Releases Wiki Activity

Remove MjcActuatorAPI in favor of typed MjcTransmission.

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
+27 -11
View File
@@ -86,6 +86,7 @@ TF_DEFINE_PRIVATE_TOKENS(kTokens,
((materialsScope, "Materials"))
((previewSurface, "PreviewSurface"))
((keyframesScope, "Keyframes"))
((transmissionsScope, "Transmissions"))
((keyframe, "Keyframe"))
((surface, "PreviewSurface"))
((world, "World"))
@@ -210,7 +211,7 @@ class ModelWriter {
WriteMaterials();
WriteBodies();
if (write_physics_) {
WriteActuators();
WriteTransmissions();
}
WriteKeyframes();
}
@@ -1050,27 +1051,39 @@ class ModelWriter {
}
}
void WriteActuator(mjsActuator *actuator) {
pxr::SdfPath transmission_path;
void WriteTransmission(mjsActuator *actuator,
const pxr::SdfPath &parent_path) {
pxr::TfToken valid_name = GetValidPrimName(*mjs_getName(actuator->element));
pxr::SdfPath transmission_path = parent_path.AppendChild(valid_name);
if (!data_->HasSpec(transmission_path)) {
CreatePrimSpec(data_, parent_path, valid_name,
pxr::MjcPhysicsTokens->MjcTransmission);
}
pxr::SdfPath target_path;
if (actuator->trntype == mjtTrn::mjTRN_BODY) {
int body_id = mj_name2id(model_, mjOBJ_BODY, actuator->target->c_str());
transmission_path = body_paths_[body_id];
target_path = body_paths_[body_id];
} else if (actuator->trntype == mjtTrn::mjTRN_SITE ||
actuator->trntype == mjtTrn::mjTRN_SLIDERCRANK) {
int site_id = mj_name2id(model_, mjOBJ_SITE, actuator->target->c_str());
transmission_path = site_paths_[site_id];
target_path = site_paths_[site_id];
} else if (actuator->trntype == mjtTrn::mjTRN_JOINT) {
int joint_id = mj_name2id(model_, mjOBJ_JOINT, actuator->target->c_str());
transmission_path = joint_paths_[joint_id];
target_path = joint_paths_[joint_id];
} else {
TF_WARN(UnsupportedActuatorTypeError,
"Unsupported actuator type for actuator %d",
"Unsupported transmission type for actuator %d",
mjs_getId(actuator->element));
return;
}
ApplyApiSchema(data_, transmission_path,
MjcPhysicsTokens->MjcActuatorAPI);
CreateRelationshipSpec(data_, transmission_path,
MjcPhysicsTokens->mjcTarget, target_path,
pxr::SdfVariabilityUniform);
WriteUniformAttribute(transmission_path, pxr::SdfValueTypeNames->Int,
MjcPhysicsTokens->mjcGroup, actuator->group);
if (!actuator->refsite->empty()) {
int refsite_id =
@@ -1190,11 +1203,14 @@ class ModelWriter {
pxr::VtDoubleArray(actuator->biasprm, actuator->biasprm + 10));
}
void WriteActuators() {
void WriteTransmissions() {
pxr::SdfPath scope_path =
CreatePrimSpec(data_, body_paths_[kWorldIndex],
kTokens->transmissionsScope, pxr::UsdGeomTokens->Scope);
mjsActuator *actuator =
mjs_asActuator(mjs_firstElement(spec_, mjOBJ_ACTUATOR));
while (actuator) {
WriteActuator(actuator);
WriteTransmission(actuator, scope_path);
actuator = mjs_asActuator(mjs_nextElement(spec_, actuator->element));
}
}