Sam Haves
f5df466ee5
PiperOrigin-RevId: 784197335 Change-Id: I8eb155b7942209f372487f8268ad76310cf510ac
57 lines
2.0 KiB
C++
57 lines
2.0 KiB
C++
// Copyright 2025 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef MUJOCO_SRC_EXPERIMENTAL_USD_KINEMATIC_TREE_H_
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#define MUJOCO_SRC_EXPERIMENTAL_USD_KINEMATIC_TREE_H_
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#include <memory>
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#include <vector>
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#include <pxr/usd/sdf/path.h>
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#include <pxr/usd/usdPhysics/joint.h>
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namespace mujoco {
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namespace usd {
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// A struct to represent a node in the kinematic tree.
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// Using a struct with a vector of children preserves the order of bodies,
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// which is important for things like keyframes and policy compatibility.
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struct Node {
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pxr::SdfPath body_path;
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pxr::SdfPath physics_scene;
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std::vector<pxr::SdfPath> actuators;
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std::vector<pxr::SdfPath> joints;
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std::vector<pxr::SdfPath> visual_gprims;
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std::vector<pxr::SdfPath> colliders;
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std::vector<pxr::SdfPath> sites;
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std::vector<pxr::SdfPath> keyframes;
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std::vector<std::unique_ptr<Node>> children;
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};
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// A kinematic edge represents a joint.
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using JointVec = std::vector<pxr::UsdPhysicsJoint>;
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// Builds a single kinematic tree from a list of directed edges.
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// The DFS order of bodies in the tree is determined by the order of bodies in
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// `all_body_paths`.
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// All bodies, including static and floating-base bodies, are organized under a
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// single world root. An empty 'from' path in an edge represents the world body.
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// Returns the root of the kinematic tree, or `nullptr` for invalid structures.
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std::unique_ptr<Node> BuildKinematicTree(const pxr::UsdStageRefPtr stage);
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} // namespace usd
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} // namespace mujoco
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#endif // MUJOCO_SRC_EXPERIMENTAL_USD_KINEMATIC_TREE_H_
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