Create Keyframe schema in mjcPhysics.

PiperOrigin-RevId: 777568003
Change-Id: I036fd54e2926c138f9ca8de87040b263b8427df3

include/mujoco/experimental/usd/mjcPhysics/keyframe.h

@@ -0,0 +1,292 @@
+// Copyright 2025 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef MJCPHYSICS_GENERATED_KEYFRAME_H
+#define MJCPHYSICS_GENERATED_KEYFRAME_H
+
+/// \file mjcPhysics/keyframe.h
+
+#include <mujoco/experimental/usd/mjcPhysics/api.h>
+#include <mujoco/experimental/usd/mjcPhysics/tokens.h>
+#include <pxr/base/gf/matrix4d.h>
+#include <pxr/base/gf/vec3d.h>
+#include <pxr/base/gf/vec3f.h>
+#include <pxr/base/tf/token.h>
+#include <pxr/base/tf/type.h>
+#include <pxr/base/vt/value.h>
+#include <pxr/pxr.h>
+#include <pxr/usd/usd/prim.h>
+#include <pxr/usd/usd/stage.h>
+#include <pxr/usd/usd/typed.h>
+
+PXR_NAMESPACE_OPEN_SCOPE
+
+class SdfAssetPath;
+
+// -------------------------------------------------------------------------- //
+// KEYFRAME                                                                   //
+// -------------------------------------------------------------------------- //
+
+/// \class MjcPhysicsKeyframe
+///
+/// Represents time independent keyframe values.
+///
+class MjcPhysicsKeyframe : public UsdTyped {
+ public:
+  /// Compile time constant representing what kind of schema this class is.
+  ///
+  /// \sa UsdSchemaKind
+  static const UsdSchemaKind schemaKind = UsdSchemaKind::ConcreteTyped;
+
+  /// Construct a MjcPhysicsKeyframe on UsdPrim \p prim .
+  /// Equivalent to MjcPhysicsKeyframe::Get(prim.GetStage(), prim.GetPath())
+  /// for a \em valid \p prim, but will not immediately throw an error for
+  /// an invalid \p prim
+  explicit MjcPhysicsKeyframe(const UsdPrim &prim = UsdPrim())
+      : UsdTyped(prim) {}
+
+  /// Construct a MjcPhysicsKeyframe on the prim held by \p schemaObj .
+  /// Should be preferred over MjcPhysicsKeyframe(schemaObj.GetPrim()),
+  /// as it preserves SchemaBase state.
+  explicit MjcPhysicsKeyframe(const UsdSchemaBase &schemaObj)
+      : UsdTyped(schemaObj) {}
+
+  /// Destructor.
+  MJCPHYSICS_API
+  virtual ~MjcPhysicsKeyframe();
+
+  /// Return a vector of names of all pre-declared attributes for this schema
+  /// class and all its ancestor classes.  Does not include attributes that
+  /// may be authored by custom/extended methods of the schemas involved.
+  MJCPHYSICS_API
+  static const TfTokenVector &GetSchemaAttributeNames(
+      bool includeInherited = true);
+
+  /// Return a MjcPhysicsKeyframe holding the prim adhering to this
+  /// schema at \p path on \p stage.  If no prim exists at \p path on
+  /// \p stage, or if the prim at that path does not adhere to this schema,
+  /// return an invalid schema object.  This is shorthand for the following:
+  ///
+  /// \code
+  /// MjcPhysicsKeyframe(stage->GetPrimAtPath(path));
+  /// \endcode
+  ///
+  MJCPHYSICS_API
+  static MjcPhysicsKeyframe Get(const UsdStagePtr &stage, const SdfPath &path);
+
+  /// Attempt to ensure a \a UsdPrim adhering to this schema at \p path
+  /// is defined (according to UsdPrim::IsDefined()) on this stage.
+  ///
+  /// If a prim adhering to this schema at \p path is already defined on this
+  /// stage, return that prim.  Otherwise author an \a SdfPrimSpec with
+  /// \a specifier == \a SdfSpecifierDef and this schema's prim type name for
+  /// the prim at \p path at the current EditTarget.  Author \a SdfPrimSpec s
+  /// with \p specifier == \a SdfSpecifierDef and empty typeName at the
+  /// current EditTarget for any nonexistent, or existing but not \a Defined
+  /// ancestors.
+  ///
+  /// The given \a path must be an absolute prim path that does not contain
+  /// any variant selections.
+  ///
+  /// If it is impossible to author any of the necessary PrimSpecs, (for
+  /// example, in case \a path cannot map to the current UsdEditTarget's
+  /// namespace) issue an error and return an invalid \a UsdPrim.
+  ///
+  /// Note that this method may return a defined prim whose typeName does not
+  /// specify this schema class, in case a stronger typeName opinion overrides
+  /// the opinion at the current EditTarget.
+  ///
+  MJCPHYSICS_API
+  static MjcPhysicsKeyframe Define(const UsdStagePtr &stage,
+                                   const SdfPath &path);
+
+ protected:
+  /// Returns the kind of schema this class belongs to.
+  ///
+  /// \sa UsdSchemaKind
+  MJCPHYSICS_API
+  UsdSchemaKind _GetSchemaKind() const override;
+
+ private:
+  // needs to invoke _GetStaticTfType.
+  friend class UsdSchemaRegistry;
+  MJCPHYSICS_API
+  static const TfType &_GetStaticTfType();
+
+  static bool _IsTypedSchema();
+
+  // override SchemaBase virtuals.
+  MJCPHYSICS_API
+  const TfType &_GetTfType() const override;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCQPOS
+  // --------------------------------------------------------------------- //
+  /// Vector of joint positions, copied into mjData.qpos when the simulation
+  /// state is set to this keyframe.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `double[] mjc:qpos` |
+  /// | C++ Type | VtArray<double> |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->DoubleArray |
+  MJCPHYSICS_API
+  UsdAttribute GetMjcQposAttr() const;
+
+  /// See GetMjcQposAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateMjcQposAttr(VtValue const &defaultValue = VtValue(),
+                                 bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCQVEL
+  // --------------------------------------------------------------------- //
+  /// Vector of joint velocities, copied into mjData.qvel when the simulation
+  /// state is set to this keyframe.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `double[] mjc:qvel` |
+  /// | C++ Type | VtArray<double> |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->DoubleArray |
+  MJCPHYSICS_API
+  UsdAttribute GetMjcQvelAttr() const;
+
+  /// See GetMjcQvelAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateMjcQvelAttr(VtValue const &defaultValue = VtValue(),
+                                 bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCACT
+  // --------------------------------------------------------------------- //
+  /// Vector of actuator activations, copied into mjData.act when the simulation
+  /// state is set to this keyframe.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `double[] mjc:act` |
+  /// | C++ Type | VtArray<double> |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->DoubleArray |
+  MJCPHYSICS_API
+  UsdAttribute GetMjcActAttr() const;
+
+  /// See GetMjcActAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateMjcActAttr(VtValue const &defaultValue = VtValue(),
+                                bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCCTRL
+  // --------------------------------------------------------------------- //
+  /// Vector of controls, copied into mjData.ctrl when the simulation state is
+  /// set to this keyframe.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `double[] mjc:ctrl` |
+  /// | C++ Type | VtArray<double> |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->DoubleArray |
+  MJCPHYSICS_API
+  UsdAttribute GetMjcCtrlAttr() const;
+
+  /// See GetMjcCtrlAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateMjcCtrlAttr(VtValue const &defaultValue = VtValue(),
+                                 bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCMPOS
+  // --------------------------------------------------------------------- //
+  /// Vector of mocap body positions, copied into mjData.mocap_pos when the
+  /// simulation state is set to this keyframe.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `double[] mjc:mpos` |
+  /// | C++ Type | VtArray<double> |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->DoubleArray |
+  MJCPHYSICS_API
+  UsdAttribute GetMjcMposAttr() const;
+
+  /// See GetMjcMposAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateMjcMposAttr(VtValue const &defaultValue = VtValue(),
+                                 bool writeSparsely = false) const;
+
+ public:
+  // --------------------------------------------------------------------- //
+  // MJCMQUAT
+  // --------------------------------------------------------------------- //
+  /// Vector of mocap body quaternions, copied into mjData.mocap_quat when the
+  /// simulation state is set to this keyframe.
+  ///
+  /// | ||
+  /// | -- | -- |
+  /// | Declaration | `double[] mjc:mquat` |
+  /// | C++ Type | VtArray<double> |
+  /// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->DoubleArray |
+  MJCPHYSICS_API
+  UsdAttribute GetMjcMquatAttr() const;
+
+  /// See GetMjcMquatAttr(), and also
+  /// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
+  /// If specified, author \p defaultValue as the attribute's default,
+  /// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
+  /// the default for \p writeSparsely is \c false.
+  MJCPHYSICS_API
+  UsdAttribute CreateMjcMquatAttr(VtValue const &defaultValue = VtValue(),
+                                  bool writeSparsely = false) const;
+
+ public:
+  // ===================================================================== //
+  // Feel free to add custom code below this line, it will be preserved by
+  // the code generator.
+  //
+  // Just remember to:
+  //  - Close the class declaration with };
+  //  - Close the namespace with PXR_NAMESPACE_CLOSE_SCOPE
+  //  - Close the include guard with #endif
+  // ===================================================================== //
+  // --(BEGIN CUSTOM CODE)--
+};
+
+PXR_NAMESPACE_CLOSE_SCOPE
+
+#endif

include/mujoco/experimental/usd/mjcPhysics/tokens.h

@@ -130,6 +130,10 @@ struct MjcPhysicsTokensType {
   ///
   /// Fallback value for MjcPhysicsMeshCollisionAPI::GetInertiaAttr()
   const TfToken legacy;
+  /// \brief "mjc:act"
+  ///
+  /// MjcPhysicsKeyframe
+  const TfToken mjcAct;
   /// \brief "mjc:actDim"
   ///
   /// MjcPhysicsActuatorAPI
@@ -162,6 +166,10 @@ struct MjcPhysicsTokensType {
   ///
   /// MjcPhysicsActuatorAPI
   const TfToken mjcCrankLength;
+  /// \brief "mjc:ctrl"
+  ///
+  /// MjcPhysicsKeyframe
+  const TfToken mjcCtrl;
   /// \brief "mjc:ctrlLimited"
   ///
   /// MjcPhysicsActuatorAPI
@@ -314,6 +322,14 @@ struct MjcPhysicsTokensType {
   ///
   /// MjcPhysicsActuatorAPI
   const TfToken mjcLengthRangeMin;
+  /// \brief "mjc:mpos"
+  ///
+  /// MjcPhysicsKeyframe
+  const TfToken mjcMpos;
+  /// \brief "mjc:mquat"
+  ///
+  /// MjcPhysicsKeyframe
+  const TfToken mjcMquat;
   /// \brief "mjc:option:actuatorgroupdisable"
   ///
   /// MjcPhysicsSceneAPI
@@ -418,6 +434,14 @@ struct MjcPhysicsTokensType {
   ///
   /// MjcPhysicsSceneAPI
   const TfToken mjcOptionWind;
+  /// \brief "mjc:qpos"
+  ///
+  /// MjcPhysicsKeyframe
+  const TfToken mjcQpos;
+  /// \brief "mjc:qvel"
+  ///
+  /// MjcPhysicsKeyframe
+  const TfToken mjcQvel;
   /// \brief "mjc:refSite"
   ///
   /// MjcPhysicsActuatorAPI
@@ -484,23 +508,27 @@ struct MjcPhysicsTokensType {
   const TfToken user;
   /// \brief "CollisionAPI"
   ///
-  /// Schema identifer and family for MjcPhysicsCollisionAPI
+  /// Schema identifier and family for MjcPhysicsCollisionAPI
   const TfToken CollisionAPI;
+  /// \brief "Keyframe"
+  ///
+  /// Schema identifier and family for MjcPhysicsKeyframe
+  const TfToken Keyframe;
   /// \brief "MeshCollisionAPI"
   ///
-  /// Schema identifer and family for MjcPhysicsMeshCollisionAPI
+  /// Schema identifier and family for MjcPhysicsMeshCollisionAPI
   const TfToken MeshCollisionAPI;
   /// \brief "PhysicsActuatorAPI"
   ///
-  /// Schema identifer and family for MjcPhysicsActuatorAPI
+  /// Schema identifier and family for MjcPhysicsActuatorAPI
   const TfToken PhysicsActuatorAPI;
   /// \brief "SceneAPI"
   ///
-  /// Schema identifer and family for MjcPhysicsSceneAPI
+  /// Schema identifier and family for MjcPhysicsSceneAPI
   const TfToken SceneAPI;
   /// \brief "SiteAPI"
   ///
-  /// Schema identifer and family for MjcPhysicsSiteAPI
+  /// Schema identifier and family for MjcPhysicsSiteAPI
   const TfToken SiteAPI;
   /// A vector of all of the tokens listed above.
   const std::vector<TfToken> allTokens;