Implementation:Google deepmind Mujoco USD Actuator
| Knowledge Sources | |
|---|---|
| Domains | USD, Physics Schema |
| Last Updated | 2026-02-15 04:00 GMT |
Overview
Implements the MjcPhysicsActuator USD typed schema for representing MuJoCo actuators as USD prims.
Description
actuator.cpp provides the USD schema implementation for MjcPhysicsActuator, a typed schema derived from UsdTyped that maps MuJoCo actuator concepts to the Universal Scene Description framework. The file registers the schema with Pixar's TfType system under the alias "MjcActuator", implements the standard USD schema interface methods (Get, Define, _GetSchemaKind, _GetStaticTfType, _IsTypedSchema, _GetTfType), and provides attribute accessor methods for actuator-specific properties. This enables MuJoCo actuator data to be authored, queried, and exchanged through USD stages.
Usage
Used by the MuJoCo-to-USD conversion pipeline when exporting MuJoCo models to USD format. Each MuJoCo actuator is represented as an MjcActuator prim on the USD stage, with its properties (control range, activation, bias, dynamics) mapped to USD attributes.
Code Reference
Source Location
- Repository: Google_deepmind_Mujoco
- File: src/experimental/usd/mjcPhysics/actuator.cpp
- Lines: 1-419
Key Functions
TF_REGISTRY_FUNCTION(TfType); // Registers MjcPhysicsActuator with TfType
MjcPhysicsActuator::Get(const UsdStagePtr& stage, const SdfPath& path);
MjcPhysicsActuator::Define(const UsdStagePtr& stage, const SdfPath& path);
UsdSchemaKind MjcPhysicsActuator::_GetSchemaKind() const;
const TfType& MjcPhysicsActuator::_GetStaticTfType();
Import
#include <mujoco/experimental/usd/mjcPhysics/actuator.h>
I/O Contract
Inputs
| Name | Type | Required | Description |
|---|---|---|---|
| stage | UsdStagePtr | Yes | USD stage on which to get or define the actuator prim |
| path | SdfPath | Yes | USD path for the actuator prim |
Outputs
| Name | Type | Description |
|---|---|---|
| MjcPhysicsActuator | MjcPhysicsActuator | USD typed prim representing a MuJoCo actuator |