Implementation:Google deepmind Mujoco USD Tendon
| Knowledge Sources | |
|---|---|
| Domains | USD, Physics Schema |
| Last Updated | 2026-02-15 04:00 GMT |
Overview
Implements the MjcPhysicsTendon USD typed schema for representing MuJoCo tendons as USD prims.
Description
tendon.cpp provides the USD schema implementation for MjcPhysicsTendon, a typed schema derived from UsdTyped that maps MuJoCo tendon entities to the Universal Scene Description framework. The file registers the schema with the TfType system under the alias "MjcTendon", implements the standard USD typed schema interface (Get, Define, _GetSchemaKind, _GetStaticTfType, _IsTypedSchema, _GetTfType), and provides attribute accessors for tendon-specific properties such as damping, stiffness, limited range, and routing.
Usage
Used during MuJoCo-to-USD model export to represent tendon elements on the USD stage. Each MuJoCo tendon (fixed or spatial) is authored as an MjcTendon prim with its properties preserved as USD attributes.
Code Reference
Source Location
- Repository: Google_deepmind_Mujoco
- File: src/experimental/usd/mjcPhysics/tendon.cpp
- Lines: 1-434
Key Functions
TF_REGISTRY_FUNCTION(TfType); // Registers MjcPhysicsTendon with alias "MjcTendon"
MjcPhysicsTendon::Get(const UsdStagePtr& stage, const SdfPath& path);
MjcPhysicsTendon::Define(const UsdStagePtr& stage, const SdfPath& path);
UsdSchemaKind MjcPhysicsTendon::_GetSchemaKind() const;
Import
#include <mujoco/experimental/usd/mjcPhysics/tendon.h>
I/O Contract
Inputs
| Name | Type | Required | Description |
|---|---|---|---|
| stage | UsdStagePtr | Yes | USD stage for getting or defining tendon prims |
| path | SdfPath | Yes | USD path for the tendon prim |
Outputs
| Name | Type | Description |
|---|---|---|
| MjcPhysicsTendon | MjcPhysicsTendon | USD typed prim representing a MuJoCo tendon |