Add code generated files for mjcPhysics schema.
PiperOrigin-RevId: 757784741 Change-Id: Iacef6ef78c8e95ce51c5546562ad5b679f460deb
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Sam Haves
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Copybara-Service
Copybara-Service
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#usda 1.0
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(
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"WARNING: THIS FILE IS GENERATED BY usdGenSchema. DO NOT EDIT."
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)
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class "MjcPhysicsSceneAPI" (
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doc = "API providing global simulation options for Mujoco."
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)
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{
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uniform int[] mjc:physics:actuatorgroupdisable (
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displayName = "Actuator Group Disable"
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doc = "List of actuator groups to disable."
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)
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uniform double mjc:physics:apirate = 100 (
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displayName = "ApiRate"
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doc = """Determines the rate (in Hz) at which an external API allows
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the update function to be executed."""
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)
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uniform int mjc:physics:ccd_iterations = 50 (
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displayName = "CCD Iterations"
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doc = "Maximum number of iterations of the algorithm used for convex collisions."
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)
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uniform double mjc:physics:ccd_tolerance = 0.000001 (
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displayName = "CCD Tolerance"
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doc = """Tolerance threshold used for early termination of the convex
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collision algorithm."""
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)
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uniform token mjc:physics:cone = "pyramidal" (
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allowedTokens = ["pyramidal", "elliptic"]
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displayName = "Friction Cone Type"
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doc = "The type of contact friction cone."
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)
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uniform double mjc:physics:density = 0 (
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displayName = "Density"
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doc = "Density of medium."
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)
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uniform bool mjc:physics:flag:actuation = 1 (
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displayName = "Actuation Forces Toggle"
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doc = "Enables all standard computations related to actuator forces, including actuator dynamics."
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)
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uniform bool mjc:physics:flag:autoreset = 1 (
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displayName = "Automatic Simulation Reset Toggle"
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doc = "Enables the automatic resetting of the simulation state when numerical issues are detected."
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)
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uniform bool mjc:physics:flag:clampctrl = 1 (
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displayName = "Control Input Clamping Toggle"
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doc = "Enables the clamping of control inputs to all actuators, according to actuator-specific attributes."
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)
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uniform bool mjc:physics:flag:constraint = 1 (
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displayName = "Constraint Solver Toggle"
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doc = "Enables constraint solver."
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)
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uniform bool mjc:physics:flag:contact = 1 (
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displayName = "Contact Constraints and Collision Detection Toggle"
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doc = "Enables collision detection and all standard computations related to contact constraints."
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)
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uniform bool mjc:physics:flag:energy = 0 (
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displayName = "Energy Computation Toggle"
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doc = "Enables the computation of potential and kinetic energy (mjData.energy[0,1])."
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)
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uniform bool mjc:physics:flag:equality = 1 (
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displayName = "Equality Constraints Toggle"
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doc = "Enables all standard computations related to equality constraints."
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)
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uniform bool mjc:physics:flag:eulerdamp = 1 (
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displayName = "Euler Integrator Damping Toggle"
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doc = "Enables implicit integration with respect to joint damping in the Euler integrator."
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)
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uniform bool mjc:physics:flag:filterparent = 1 (
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displayName = "Parent-Child Contact Filtering Toggle"
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doc = "Enables the filtering of contact pairs where the two geoms belong to a parent and child body."
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)
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uniform bool mjc:physics:flag:frictionloss = 1 (
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displayName = "Friction Loss Constraints Toggle"
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doc = "Enables all standard computations related to friction loss constraints."
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)
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uniform bool mjc:physics:flag:fwdinv = 0 (
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displayName = "Forward/Inverse Dynamics Comparison Toggle"
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doc = "Enables the automatic comparison of forward and inverse dynamics."
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)
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uniform bool mjc:physics:flag:gravity = 1 (
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displayName = "Gravity Toggle"
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doc = "Enables the application of gravitational acceleration as defined in mjOption."
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)
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uniform bool mjc:physics:flag:invdiscrete = 0 (
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displayName = "Discrete-Time Inverse Dynamics Toggle"
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doc = "Enables discrete-time inverse dynamics with mj_inverse for integrators other than RK4."
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)
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uniform bool mjc:physics:flag:island = 0 (
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displayName = "Constraint Island Discovery Toggle"
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doc = "Enables the discovery of constraint islands."
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)
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uniform bool mjc:physics:flag:limit = 1 (
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displayName = "Joint and Tendon Limit Constraints Toggle"
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doc = "Enables all standard computations related to joint and tendon limit constraints."
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)
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uniform bool mjc:physics:flag:midphase = 1 (
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displayName = "Mid-Phase Collision Filtering Toggle"
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doc = "Enables mid-phase collision filtering using a static AABB bounding volume hierarchy (BVH)."
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)
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uniform bool mjc:physics:flag:multiccd = 0 (
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displayName = "Multiple Contact Collision Detection (CCD) Toggle"
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doc = "Enables multiple-contact collision detection for geom pairs using a general-purpose convex-convex collider."
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)
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uniform bool mjc:physics:flag:nativeccd = 1 (
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displayName = "Native Convex Collision Detection Toggle"
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doc = "Enables the native convex collision detection pipeline instead of using the libccd library."
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)
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uniform bool mjc:physics:flag:override = 0 (
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displayName = "Contact Override Mechanism Toggle"
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doc = "Enables the contact override mechanism."
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)
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uniform bool mjc:physics:flag:passive = 1 (
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displayName = "Passive Forces Toggle"
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doc = "Enables the simulation of joint and tendon spring-dampers, fluid dynamics forces, and custom passive forces."
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)
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uniform bool mjc:physics:flag:refsafe = 1 (
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displayName = "Solver Reference Safety Mechanism Toggle"
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doc = "Enables a safety mechanism that prevents instabilities due to solref[0] being too small compared to the simulation timestep."
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)
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uniform bool mjc:physics:flag:sensor = 1 (
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displayName = "Sensor Computations Toggle"
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doc = "Enables all computations related to sensors."
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)
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uniform bool mjc:physics:flag:warmstart = 1 (
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displayName = "Solver Warm-Starting Toggle"
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doc = "Enables warm-starting of the constraint solver, using the solution from the previous time step to initialize the iterative optimization."
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)
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uniform double mjc:physics:impratio = 1 (
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displayName = "Impedance Ratio"
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doc = """Ratio of frictional-to-normal constraint impedance for elliptic
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friction cones."""
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)
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uniform token mjc:physics:integrator = "euler" (
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allowedTokens = ["euler", "rk4", "implicit", "implicitfast"]
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displayName = "Integrator"
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doc = "Numerical integrator to be used."
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)
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uniform int mjc:physics:iterations = 100 (
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displayName = "Solver Iterations"
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doc = "Maximum number of iterations of the constraint solver."
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)
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uniform token mjc:physics:jacobian = "auto" (
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allowedTokens = ["auto", "dense", "sparse"]
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displayName = "Jacobian Type"
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doc = "The type of constraint Jacobian and matrices computed from it."
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)
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uniform int mjc:physics:ls_iterations = 50 (
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displayName = "Linesearch Iterations"
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doc = """Maximum number of linesearch iterations performed by CG/Newton
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constraint solvers."""
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)
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uniform double mjc:physics:ls_tolerance = 0.01 (
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displayName = "Linesearch Tolerance"
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doc = "Tolerance threshold used for early termination of the linesearch algorithm."
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)
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uniform double3 mjc:physics:magnetic = (0, -0.5, 0) (
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displayName = "Magnetic Flux"
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doc = "Global magnetic flux."
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)
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uniform int mjc:physics:noslip_iterations = 0 (
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displayName = "Noslip Iterations"
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doc = "Maximum number of iterations of the Noslip solver."
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)
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uniform double mjc:physics:noslip_tolerance = 0.000001 (
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displayName = "Noslip Tolerance"
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doc = "Tolerance threshold used for early termination of the Noslip solver."
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)
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uniform double[] mjc:physics:o_friction = [1, 1, 0.005, 0.0001, 0.0001] (
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displayName = "Contact Override Friction"
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doc = """Replaces the friction parameter of all active contact pairs when
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Contact override is enabled."""
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)
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uniform double mjc:physics:o_margin = 0 (
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displayName = "Contact Override Margin"
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doc = """Replaces the margin parameter of all active contact pairs when
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Contact override is enabled."""
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)
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uniform double[] mjc:physics:o_solimp = [0.9, 0.95, 0.001, 0.5, 2] (
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displayName = "Contact Override SolImp"
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doc = """Replaces the solimp parameter of all active contact pairs when
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Contact override is enabled."""
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)
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uniform double[] mjc:physics:o_solref = [0.02, 1] (
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displayName = "Contact Override SolRef"
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doc = """Replaces the solref parameter of all active contact pairs when
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Contact override is enabled."""
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)
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uniform int mjc:physics:sdf_initpoints = 40 (
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displayName = "SDF Initial Points"
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doc = """Number of starting points used for finding contacts with Signed
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Distance Field collisions."""
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)
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uniform int mjc:physics:sdf_iterations = 10 (
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displayName = "SDF Iterations"
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doc = """Number of iterations used for Signed Distance Field collisions
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(per initial point)."""
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)
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uniform token mjc:physics:solver = "newton" (
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allowedTokens = ["pgs", "cg", "newton"]
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displayName = "Solver"
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doc = "Constraint solver algorithm to be used."
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)
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uniform double mjc:physics:timestep = 0.002 (
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displayName = "Timestep"
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doc = "Controls the timestep in seconds used by MuJoCo."
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)
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uniform double mjc:physics:tolerance = 1e-8 (
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displayName = "Solver Tolerance"
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doc = """Tolerance threshold used for early termination of the iterative
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solver."""
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)
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uniform double mjc:physics:viscosity = 0 (
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displayName = "Viscosity"
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doc = "Viscosity of medium."
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)
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uniform double3 mjc:physics:wind = (0, 0, 0) (
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displayName = "Wind Velocity"
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doc = "Velocity vector of medium (i.e. wind)."
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)
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}
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class "MjcSiteAPI" (
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doc = "API describing a Mujoco site."
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)
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{
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}
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