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Create Keyframe schema in mjcPhysics.

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PiperOrigin-RevId: 777568003
Change-Id: I036fd54e2926c138f9ca8de87040b263b8427df3
This commit is contained in:
Sam Haves
2025-06-30 07:47:47 -07:00
committed by Copybara-Service
parent 1c98dfd86e
commit 106df98946
7 changed files with 590 additions and 8 deletions
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src/experimental/usd/mjcPhysics/generatedSchema.usda
+24
View File
@@ -331,3 +331,27 @@ class "PhysicsActuatorAPI" (
)
}
class Keyframe "Keyframe" (
doc = "Represents time independent keyframe values."
)
{
double[] mjc:act (
doc = "Vector of actuator activations, copied into mjData.act when the simulation state is set to this keyframe."
)
double[] mjc:ctrl (
doc = "Vector of controls, copied into mjData.ctrl when the simulation state is set to this keyframe."
)
double[] mjc:mpos (
doc = "Vector of mocap body positions, copied into mjData.mocap_pos when the simulation state is set to this keyframe."
)
double[] mjc:mquat (
doc = "Vector of mocap body quaternions, copied into mjData.mocap_quat when the simulation state is set to this keyframe."
)
double[] mjc:qpos (
doc = "Vector of joint positions, copied into mjData.qpos when the simulation state is set to this keyframe."
)
double[] mjc:qvel (
doc = "Vector of joint velocities, copied into mjData.qvel when the simulation state is set to this keyframe."
)
}
src/experimental/usd/mjcPhysics/keyframe.cpp
+185
View File
@@ -0,0 +1,185 @@
// 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.
#include <mujoco/experimental/usd/mjcPhysics/keyframe.h>
#include <pxr/usd/sdf/assetPath.h>
#include <pxr/usd/sdf/types.h>
#include <pxr/usd/usd/schemaRegistry.h>
#include <pxr/usd/usd/typed.h>
PXR_NAMESPACE_OPEN_SCOPE
// Register the schema with the TfType system.
TF_REGISTRY_FUNCTION(TfType) {
TfType::Define<MjcPhysicsKeyframe, TfType::Bases<UsdTyped> >();
// Register the usd prim typename as an alias under UsdSchemaBase. This
// enables one to call
// TfType::Find<UsdSchemaBase>().FindDerivedByName("Keyframe")
// to find TfType<MjcPhysicsKeyframe>, which is how IsA queries are
// answered.
TfType::AddAlias<UsdSchemaBase, MjcPhysicsKeyframe>("Keyframe");
}
/* virtual */
MjcPhysicsKeyframe::~MjcPhysicsKeyframe() {}
/* static */
MjcPhysicsKeyframe MjcPhysicsKeyframe::Get(const UsdStagePtr &stage,
const SdfPath &path) {
if (!stage) {
TF_CODING_ERROR("Invalid stage");
return MjcPhysicsKeyframe();
}
return MjcPhysicsKeyframe(stage->GetPrimAtPath(path));
}
/* static */
MjcPhysicsKeyframe MjcPhysicsKeyframe::Define(const UsdStagePtr &stage,
const SdfPath &path) {
static TfToken usdPrimTypeName("Keyframe");
if (!stage) {
TF_CODING_ERROR("Invalid stage");
return MjcPhysicsKeyframe();
}
return MjcPhysicsKeyframe(stage->DefinePrim(path, usdPrimTypeName));
}
/* virtual */
UsdSchemaKind MjcPhysicsKeyframe::_GetSchemaKind() const {
return MjcPhysicsKeyframe::schemaKind;
}
/* static */
const TfType &MjcPhysicsKeyframe::_GetStaticTfType() {
static TfType tfType = TfType::Find<MjcPhysicsKeyframe>();
return tfType;
}
/* static */
bool MjcPhysicsKeyframe::_IsTypedSchema() {
static bool isTyped = _GetStaticTfType().IsA<UsdTyped>();
return isTyped;
}
/* virtual */
const TfType &MjcPhysicsKeyframe::_GetTfType() const {
return _GetStaticTfType();
}
UsdAttribute MjcPhysicsKeyframe::GetMjcQposAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcQpos);
}
UsdAttribute MjcPhysicsKeyframe::CreateMjcQposAttr(VtValue const &defaultValue,
bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcQpos, SdfValueTypeNames->DoubleArray,
/* custom = */ false, SdfVariabilityVarying, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsKeyframe::GetMjcQvelAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcQvel);
}
UsdAttribute MjcPhysicsKeyframe::CreateMjcQvelAttr(VtValue const &defaultValue,
bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcQvel, SdfValueTypeNames->DoubleArray,
/* custom = */ false, SdfVariabilityVarying, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsKeyframe::GetMjcActAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcAct);
}
UsdAttribute MjcPhysicsKeyframe::CreateMjcActAttr(VtValue const &defaultValue,
bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcAct, SdfValueTypeNames->DoubleArray,
/* custom = */ false, SdfVariabilityVarying, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsKeyframe::GetMjcCtrlAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcCtrl);
}
UsdAttribute MjcPhysicsKeyframe::CreateMjcCtrlAttr(VtValue const &defaultValue,
bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcCtrl, SdfValueTypeNames->DoubleArray,
/* custom = */ false, SdfVariabilityVarying, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsKeyframe::GetMjcMposAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcMpos);
}
UsdAttribute MjcPhysicsKeyframe::CreateMjcMposAttr(VtValue const &defaultValue,
bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcMpos, SdfValueTypeNames->DoubleArray,
/* custom = */ false, SdfVariabilityVarying, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsKeyframe::GetMjcMquatAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcMquat);
}
UsdAttribute MjcPhysicsKeyframe::CreateMjcMquatAttr(VtValue const &defaultValue,
bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcMquat, SdfValueTypeNames->DoubleArray,
/* custom = */ false, SdfVariabilityVarying, defaultValue, writeSparsely);
}
namespace {
static inline TfTokenVector _ConcatenateAttributeNames(
const TfTokenVector &left, const TfTokenVector &right) {
TfTokenVector result;
result.reserve(left.size() + right.size());
result.insert(result.end(), left.begin(), left.end());
result.insert(result.end(), right.begin(), right.end());
return result;
}
} // namespace
/*static*/
const TfTokenVector &MjcPhysicsKeyframe::GetSchemaAttributeNames(
bool includeInherited) {
static TfTokenVector localNames = {
MjcPhysicsTokens->mjcQpos, MjcPhysicsTokens->mjcQvel,
MjcPhysicsTokens->mjcAct, MjcPhysicsTokens->mjcCtrl,
MjcPhysicsTokens->mjcMpos, MjcPhysicsTokens->mjcMquat,
};
static TfTokenVector allNames = _ConcatenateAttributeNames(
UsdTyped::GetSchemaAttributeNames(true), localNames);
if (includeInherited)
return allNames;
else
return localNames;
}
PXR_NAMESPACE_CLOSE_SCOPE
// ===================================================================== //
// Feel free to add custom code below this line. It will be preserved by
// the code generator.
//
// Just remember to wrap code in the appropriate delimiters:
// 'PXR_NAMESPACE_OPEN_SCOPE', 'PXR_NAMESPACE_CLOSE_SCOPE'.
// ===================================================================== //
// --(BEGIN CUSTOM CODE)--
src/experimental/usd/mjcPhysics/plugInfo.json
+10 -3
View File
@@ -1,6 +1,3 @@
#Portions of this file auto - generated by usdGenSchema.
#Edits will survive regeneration except for comments and
#changes to types with autoGenerated = true.
{
"Plugins": [
{
@@ -26,6 +23,16 @@
],
"schemaKind": "singleApplyAPI"
},
"MjcPhysicsKeyframe": {
"alias": {
"UsdSchemaBase": "Keyframe"
},
"autoGenerated": true,
"bases": [
"UsdTyped"
],
"schemaKind": "concreteTyped"
},
"MjcPhysicsMeshCollisionAPI": {
"alias": {
"UsdSchemaBase": "MeshCollisionAPI"
src/experimental/usd/mjcPhysics/schema.usda
+32
View File
@@ -663,3 +663,35 @@ class "PhysicsActuatorAPI"
}
class Keyframe "Keyframe"
(
doc = """Represents time independent keyframe values."""
inherits = </Typed>
)
{
double[] mjc:qpos (
doc = "Vector of joint positions, copied into mjData.qpos when the simulation state is set to this keyframe."
)
double[] mjc:qvel (
doc = "Vector of joint velocities, copied into mjData.qvel when the simulation state is set to this keyframe."
)
double[] mjc:act (
doc = "Vector of actuator activations, copied into mjData.act when the simulation state is set to this keyframe."
)
double[] mjc:ctrl (
doc = "Vector of controls, copied into mjData.ctrl when the simulation state is set to this keyframe."
)
double[] mjc:mpos (
doc = "Vector of mocap body positions, copied into mjData.mocap_pos when the simulation state is set to this keyframe."
)
double[] mjc:mquat (
doc = "Vector of mocap body quaternions, copied into mjData.mocap_quat when the simulation state is set to this keyframe."
)
}
src/experimental/usd/mjcPhysics/tokens.cpp
+14
View File
@@ -33,6 +33,7 @@ MjcPhysicsTokensType::MjcPhysicsTokensType()
implicitfast("implicitfast", TfToken::Immortal),
integrator("integrator", TfToken::Immortal),
legacy("legacy", TfToken::Immortal),
mjcAct("mjc:act", TfToken::Immortal),
mjcActDim("mjc:actDim", TfToken::Immortal),
mjcActEarly("mjc:actEarly", TfToken::Immortal),
mjcActLimited("mjc:actLimited", TfToken::Immortal),
@@ -41,6 +42,7 @@ MjcPhysicsTokensType::MjcPhysicsTokensType()
mjcBiasPrm("mjc:biasPrm", TfToken::Immortal),
mjcBiasType("mjc:biasType", TfToken::Immortal),
mjcCrankLength("mjc:crankLength", TfToken::Immortal),
mjcCtrl("mjc:ctrl", TfToken::Immortal),
mjcCtrlLimited("mjc:ctrlLimited", TfToken::Immortal),
mjcCtrlRangeMax("mjc:ctrlRange:max", TfToken::Immortal),
mjcCtrlRangeMin("mjc:ctrlRange:min", TfToken::Immortal),
@@ -79,6 +81,8 @@ MjcPhysicsTokensType::MjcPhysicsTokensType()
mjcJointInParent("mjc:jointInParent", TfToken::Immortal),
mjcLengthRangeMax("mjc:lengthRange:max", TfToken::Immortal),
mjcLengthRangeMin("mjc:lengthRange:min", TfToken::Immortal),
mjcMpos("mjc:mpos", TfToken::Immortal),
mjcMquat("mjc:mquat", TfToken::Immortal),
mjcOptionActuatorgroupdisable("mjc:option:actuatorgroupdisable",
TfToken::Immortal),
mjcOptionApirate("mjc:option:apirate", TfToken::Immortal),
@@ -108,6 +112,8 @@ MjcPhysicsTokensType::MjcPhysicsTokensType()
mjcOptionTolerance("mjc:option:tolerance", TfToken::Immortal),
mjcOptionViscosity("mjc:option:viscosity", TfToken::Immortal),
mjcOptionWind("mjc:option:wind", TfToken::Immortal),
mjcQpos("mjc:qpos", TfToken::Immortal),
mjcQvel("mjc:qvel", TfToken::Immortal),
mjcRefSite("mjc:refSite", TfToken::Immortal),
mjcShellinertia("mjc:shellinertia", TfToken::Immortal),
mjcSliderSite("mjc:sliderSite", TfToken::Immortal),
@@ -122,6 +128,7 @@ MjcPhysicsTokensType::MjcPhysicsTokensType()
true_("true", TfToken::Immortal),
user("user", TfToken::Immortal),
CollisionAPI("CollisionAPI", TfToken::Immortal),
Keyframe("Keyframe", TfToken::Immortal),
MeshCollisionAPI("MeshCollisionAPI", TfToken::Immortal),
PhysicsActuatorAPI("PhysicsActuatorAPI", TfToken::Immortal),
SceneAPI("SceneAPI", TfToken::Immortal),
@@ -142,6 +149,7 @@ MjcPhysicsTokensType::MjcPhysicsTokensType()
implicitfast,
integrator,
legacy,
mjcAct,
mjcActDim,
mjcActEarly,
mjcActLimited,
@@ -150,6 +158,7 @@ MjcPhysicsTokensType::MjcPhysicsTokensType()
mjcBiasPrm,
mjcBiasType,
mjcCrankLength,
mjcCtrl,
mjcCtrlLimited,
mjcCtrlRangeMax,
mjcCtrlRangeMin,
@@ -188,6 +197,8 @@ MjcPhysicsTokensType::MjcPhysicsTokensType()
mjcJointInParent,
mjcLengthRangeMax,
mjcLengthRangeMin,
mjcMpos,
mjcMquat,
mjcOptionActuatorgroupdisable,
mjcOptionApirate,
mjcOptionCcd_iterations,
@@ -214,6 +225,8 @@ MjcPhysicsTokensType::MjcPhysicsTokensType()
mjcOptionTolerance,
mjcOptionViscosity,
mjcOptionWind,
mjcQpos,
mjcQvel,
mjcRefSite,
mjcShellinertia,
mjcSliderSite,
@@ -228,6 +241,7 @@ MjcPhysicsTokensType::MjcPhysicsTokensType()
true_,
user,
CollisionAPI,
Keyframe,
MeshCollisionAPI,
PhysicsActuatorAPI,
SceneAPI,