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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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test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
+55 -31
View File
@@ -18,13 +18,13 @@
#include <gmock/gmock.h>
#include <gtest/gtest.h>
#include <mujoco/experimental/usd/mjcPhysics/actuatorAPI.h>
#include <mujoco/experimental/usd/mjcPhysics/collisionAPI.h>
#include <mujoco/experimental/usd/mjcPhysics/jointAPI.h>
#include <mujoco/experimental/usd/mjcPhysics/meshCollisionAPI.h>
#include <mujoco/experimental/usd/mjcPhysics/sceneAPI.h>
#include <mujoco/experimental/usd/mjcPhysics/siteAPI.h>
#include <mujoco/experimental/usd/mjcPhysics/tokens.h>
#include <mujoco/experimental/usd/mjcPhysics/transmission.h>
#include "test/experimental/usd/test_utils.h"
#include "test/fixture.h"
#include <pxr/base/gf/quatf.h>
@@ -1525,7 +1525,7 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestMassAPIDensity) {
ExpectAttributeEqual(stage, "/test/body/box.physics:density", 1234.0f);
}
TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsActuatorGeneral) {
TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsTransmission) {
static constexpr char xml[] = R"(
<mujoco model="test">
<worldbody>
@@ -1562,37 +1562,50 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsActuatorGeneral) {
)";
auto stage = OpenStageWithPhysics(xml);
EXPECT_PRIM_API_APPLIED(stage, "/test/body/site", pxr::MjcPhysicsActuatorAPI);
EXPECT_REL_HAS_TARGET(stage, "/test/body/site.mjc:refSite", "/test/body/ref");
ExpectAttributeEqual(stage, "/test/body/site.mjc:ctrlLimited",
EXPECT_PRIM_VALID(stage, "/test/Transmissions/general");
EXPECT_PRIM_IS_A(stage, "/test/Transmissions/general",
pxr::MjcPhysicsTransmission);
EXPECT_REL_HAS_TARGET(stage, "/test/Transmissions/general.mjc:target",
"/test/body/site");
EXPECT_REL_HAS_TARGET(stage, "/test/Transmissions/general.mjc:refSite",
"/test/body/ref");
ExpectAttributeEqual(stage, "/test/Transmissions/general.mjc:ctrlLimited",
pxr::MjcPhysicsTokens->true_);
ExpectAttributeEqual(stage, "/test/body/site.mjc:ctrlRange:min", 0.0);
ExpectAttributeEqual(stage, "/test/body/site.mjc:ctrlRange:max", 1.0);
ExpectAttributeEqual(stage, "/test/body/site.mjc:forceLimited",
ExpectAttributeEqual(stage, "/test/Transmissions/general.mjc:ctrlRange:min",
0.0);
ExpectAttributeEqual(stage, "/test/Transmissions/general.mjc:ctrlRange:max",
1.0);
ExpectAttributeEqual(stage, "/test/Transmissions/general.mjc:forceLimited",
pxr::MjcPhysicsTokens->true_);
ExpectAttributeEqual(stage, "/test/body/site.mjc:forceRange:min", 2.0);
ExpectAttributeEqual(stage, "/test/body/site.mjc:forceRange:max", 3.0);
ExpectAttributeEqual(stage, "/test/body/site.mjc:actLimited",
ExpectAttributeEqual(stage, "/test/Transmissions/general.mjc:forceRange:min",
2.0);
ExpectAttributeEqual(stage, "/test/Transmissions/general.mjc:forceRange:max",
3.0);
ExpectAttributeEqual(stage, "/test/Transmissions/general.mjc:actLimited",
pxr::MjcPhysicsTokens->false_);
ExpectAttributeEqual(stage, "/test/body/site.mjc:actRange:min", 4.0);
ExpectAttributeEqual(stage, "/test/body/site.mjc:actRange:max", 5.0);
ExpectAttributeEqual(stage, "/test/body/site.mjc:lengthRange:min", 6.0);
ExpectAttributeEqual(stage, "/test/body/site.mjc:lengthRange:max", 7.0);
ExpectAttributeEqual(stage, "/test/body/site.mjc:actDim", 1);
ExpectAttributeEqual(stage, "/test/body/site.mjc:dynType",
ExpectAttributeEqual(stage, "/test/Transmissions/general.mjc:actRange:min",
4.0);
ExpectAttributeEqual(stage, "/test/Transmissions/general.mjc:actRange:max",
5.0);
ExpectAttributeEqual(stage, "/test/Transmissions/general.mjc:lengthRange:min",
6.0);
ExpectAttributeEqual(stage, "/test/Transmissions/general.mjc:lengthRange:max",
7.0);
ExpectAttributeEqual(stage, "/test/Transmissions/general.mjc:actDim", 1);
ExpectAttributeEqual(stage, "/test/Transmissions/general.mjc:dynType",
MjcPhysicsTokens->filter);
ExpectAttributeEqual(stage, "/test/body/site.mjc:gainType",
ExpectAttributeEqual(stage, "/test/Transmissions/general.mjc:gainType",
MjcPhysicsTokens->user);
ExpectAttributeEqual(stage, "/test/body/site.mjc:biasType",
ExpectAttributeEqual(stage, "/test/Transmissions/general.mjc:biasType",
MjcPhysicsTokens->user);
ExpectAttributeEqual(stage, "/test/body/site.mjc:actEarly", true);
ExpectAttributeEqual(stage, "/test/body/site.mjc:gear",
ExpectAttributeEqual(stage, "/test/Transmissions/general.mjc:actEarly", true);
ExpectAttributeEqual(stage, "/test/Transmissions/general.mjc:gear",
pxr::VtDoubleArray{{1, 2, 3, 4, 5, 6}});
ExpectAttributeEqual(stage, "/test/body/site.mjc:dynPrm",
ExpectAttributeEqual(stage, "/test/Transmissions/general.mjc:dynPrm",
pxr::VtDoubleArray{{0, 1, 2, 3, 4, 5, 6, 7, 8, 9}});
ExpectAttributeEqual(stage, "/test/body/site.mjc:gainPrm",
ExpectAttributeEqual(stage, "/test/Transmissions/general.mjc:gainPrm",
pxr::VtDoubleArray{{0, 1, 2, 3, 4, 5, 6, 7, 8, 9}});
ExpectAttributeEqual(stage, "/test/body/site.mjc:biasPrm",
ExpectAttributeEqual(stage, "/test/Transmissions/general.mjc:biasPrm",
pxr::VtDoubleArray{{0, 1, 2, 3, 4, 5, 6, 7, 8, 9}});
}
@@ -1617,8 +1630,11 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsJointActuator) {
)";
auto stage = OpenStageWithPhysics(xml);
EXPECT_PRIM_API_APPLIED(stage, "/test/axle/rod/rod_hinge",
pxr::MjcPhysicsActuatorAPI);
EXPECT_PRIM_VALID(stage, "/test/Transmissions/general");
EXPECT_PRIM_IS_A(stage, "/test/Transmissions/general",
pxr::MjcPhysicsTransmission);
EXPECT_REL_HAS_TARGET(stage, "/test/Transmissions/general.mjc:target",
"/test/axle/rod/rod_hinge");
}
TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsBodyActuator) {
@@ -1639,7 +1655,11 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsBodyActuator) {
)";
auto stage = OpenStageWithPhysics(xml);
EXPECT_PRIM_API_APPLIED(stage, "/test/body", pxr::MjcPhysicsActuatorAPI);
EXPECT_PRIM_VALID(stage, "/test/Transmissions/general");
EXPECT_PRIM_IS_A(stage, "/test/Transmissions/general",
pxr::MjcPhysicsTransmission);
EXPECT_REL_HAS_TARGET(stage, "/test/Transmissions/general.mjc:target",
"/test/body");
}
TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsSliderCrankActuator) {
@@ -1664,11 +1684,15 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsSliderCrankActuator) {
)";
auto stage = OpenStageWithPhysics(xml);
EXPECT_PRIM_API_APPLIED(stage, "/test/body/crank",
pxr::MjcPhysicsActuatorAPI);
EXPECT_REL_HAS_TARGET(stage, "/test/body/crank.mjc:sliderSite",
EXPECT_PRIM_VALID(stage, "/test/Transmissions/general");
EXPECT_PRIM_IS_A(stage, "/test/Transmissions/general",
pxr::MjcPhysicsTransmission);
EXPECT_REL_HAS_TARGET(stage, "/test/Transmissions/general.mjc:target",
"/test/body/crank");
EXPECT_REL_HAS_TARGET(stage, "/test/Transmissions/general.mjc:sliderSite",
"/test/body/slider");
ExpectAttributeEqual(stage, "/test/body/crank.mjc:crankLength", 1.23);
ExpectAttributeEqual(stage, "/test/Transmissions/general.mjc:crankLength",
1.23);
}
TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsJointAPI) {
test/xml/testdata/simple_hinge.usda
Vendored
+7 -4
View File
@@ -36,10 +36,7 @@ def Xform "World"
uniform token[] xformOpOrder = ["xformOp:transform"]
}
def PhysicsRevoluteJoint "HingeJoint" (
prepend apiSchemas = ["PhysicsActuatorAPI"]
)
{
def PhysicsRevoluteJoint "HingeJoint" {
rel physics:body0 = </World/Axle>
rel physics:body1 = </World/Axle/Rod>
point3f physics:localPos0 = (0, 0, 0)
@@ -67,5 +64,11 @@ def Xform "World"
rel physics:body1 = </World/Axle>
}
}
def Scope "Transmissions" {
def MjcTransmission "HingeActuator" {
rel mjc:target = </World/Axle/Rod/HingeJoint>
}
}
}