Add support for tendons to mjcPhysics.
PiperOrigin-RevId: 822230926 Change-Id: I232a9fbfb473186ac742d210458ff0221a561126
This commit is contained in:
Sam Haves
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Copybara-Service
Copybara-Service
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@@ -0,0 +1,816 @@
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// Copyright 2025 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef MJCPHYSICS_GENERATED_TENDON_H
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#define MJCPHYSICS_GENERATED_TENDON_H
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/// \file mjcPhysics/tendon.h
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#include <mujoco/experimental/usd/mjcPhysics/api.h>
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#include <mujoco/experimental/usd/mjcPhysics/tokens.h>
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#include <pxr/base/gf/matrix4d.h>
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#include <pxr/base/gf/vec3d.h>
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#include <pxr/base/gf/vec3f.h>
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#include <pxr/base/tf/token.h>
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#include <pxr/base/tf/type.h>
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#include <pxr/base/vt/value.h>
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#include <pxr/pxr.h>
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#include <pxr/usd/usd/prim.h>
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#include <pxr/usd/usd/stage.h>
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#include <pxr/usd/usd/typed.h>
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PXR_NAMESPACE_OPEN_SCOPE
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class SdfAssetPath;
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// -------------------------------------------------------------------------- //
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// MJCTENDON //
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// -------------------------------------------------------------------------- //
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/// \class MjcPhysicsTendon
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///
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/// Type describing fixed and spatial tendons.
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///
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/// For any described attribute \em Fallback \em Value or \em Allowed \em Values
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/// below that are text/tokens, the actual token is published and defined in
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/// \ref MjcPhysicsTokens. So to set an attribute to the value "rightHanded",
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/// use MjcPhysicsTokens->rightHanded as the value.
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///
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class MjcPhysicsTendon : public UsdTyped {
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public:
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/// Compile time constant representing what kind of schema this class is.
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///
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/// \sa UsdSchemaKind
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static const UsdSchemaKind schemaKind = UsdSchemaKind::ConcreteTyped;
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/// Construct a MjcPhysicsTendon on UsdPrim \p prim .
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/// Equivalent to MjcPhysicsTendon::Get(prim.GetStage(), prim.GetPath())
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/// for a \em valid \p prim, but will not immediately throw an error for
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/// an invalid \p prim
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explicit MjcPhysicsTendon(const UsdPrim& prim = UsdPrim()) : UsdTyped(prim) {}
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/// Construct a MjcPhysicsTendon on the prim held by \p schemaObj .
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/// Should be preferred over MjcPhysicsTendon(schemaObj.GetPrim()),
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/// as it preserves SchemaBase state.
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explicit MjcPhysicsTendon(const UsdSchemaBase& schemaObj)
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: UsdTyped(schemaObj) {}
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/// Destructor.
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MJCPHYSICS_API
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virtual ~MjcPhysicsTendon();
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/// Return a vector of names of all pre-declared attributes for this schema
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/// class and all its ancestor classes. Does not include attributes that
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/// may be authored by custom/extended methods of the schemas involved.
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MJCPHYSICS_API
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static const TfTokenVector& GetSchemaAttributeNames(
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bool includeInherited = true);
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/// Return a MjcPhysicsTendon holding the prim adhering to this
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/// schema at \p path on \p stage. If no prim exists at \p path on
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/// \p stage, or if the prim at that path does not adhere to this schema,
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/// return an invalid schema object. This is shorthand for the following:
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///
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/// \code
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/// MjcPhysicsTendon(stage->GetPrimAtPath(path));
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/// \endcode
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///
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MJCPHYSICS_API
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static MjcPhysicsTendon Get(const UsdStagePtr& stage, const SdfPath& path);
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/// Attempt to ensure a \a UsdPrim adhering to this schema at \p path
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/// is defined (according to UsdPrim::IsDefined()) on this stage.
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///
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/// If a prim adhering to this schema at \p path is already defined on this
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/// stage, return that prim. Otherwise author an \a SdfPrimSpec with
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/// \a specifier == \a SdfSpecifierDef and this schema's prim type name for
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/// the prim at \p path at the current EditTarget. Author \a SdfPrimSpec s
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/// with \p specifier == \a SdfSpecifierDef and empty typeName at the
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/// current EditTarget for any nonexistent, or existing but not \a Defined
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/// ancestors.
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///
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/// The given \a path must be an absolute prim path that does not contain
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/// any variant selections.
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///
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/// If it is impossible to author any of the necessary PrimSpecs, (for
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/// example, in case \a path cannot map to the current UsdEditTarget's
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/// namespace) issue an error and return an invalid \a UsdPrim.
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///
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/// Note that this method may return a defined prim whose typeName does not
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/// specify this schema class, in case a stronger typeName opinion overrides
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/// the opinion at the current EditTarget.
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///
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MJCPHYSICS_API
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static MjcPhysicsTendon Define(const UsdStagePtr& stage, const SdfPath& path);
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protected:
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/// Returns the kind of schema this class belongs to.
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///
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/// \sa UsdSchemaKind
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MJCPHYSICS_API
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UsdSchemaKind _GetSchemaKind() const override;
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private:
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// needs to invoke _GetStaticTfType.
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friend class UsdSchemaRegistry;
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MJCPHYSICS_API
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static const TfType& _GetStaticTfType();
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static bool _IsTypedSchema();
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// override SchemaBase virtuals.
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MJCPHYSICS_API
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const TfType& _GetTfType() const override;
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public:
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// --------------------------------------------------------------------- //
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// TYPE
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// --------------------------------------------------------------------- //
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/// Type of tendon, valid values are 'spatial' and 'fixed'.
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///
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/// | ||
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/// | -- | -- |
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/// | Declaration | `uniform token mjc:type = "spatial"` |
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/// | C++ Type | TfToken |
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/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Token |
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/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
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/// | \ref MjcPhysicsTokens "Allowed Values" | spatial, fixed |
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MJCPHYSICS_API
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UsdAttribute GetTypeAttr() const;
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/// See GetTypeAttr(), and also
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/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
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/// If specified, author \p defaultValue as the attribute's default,
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/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
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/// the default for \p writeSparsely is \c false.
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MJCPHYSICS_API
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UsdAttribute CreateTypeAttr(VtValue const& defaultValue = VtValue(),
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bool writeSparsely = false) const;
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public:
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// --------------------------------------------------------------------- //
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// MJCSIDESITESINDICES
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// --------------------------------------------------------------------- //
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/// For spatial tendons, if mjc:sideSites has targets then index 'i' in this
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/// list represents the position in the relationship targets of mjc:sideSites
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/// that the geom at index 'i' in mjc:path uses as a side site. It is
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/// considered an authoring error to assign a side site to something other
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/// than a geom. Geoms that do not use a side site should use index value
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/// '-1'.
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///
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/// | ||
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/// | -- | -- |
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/// | Declaration | `uniform int[] mjc:sideSites:indices = []` |
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/// | C++ Type | VtArray<int> |
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/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->IntArray |
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/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
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MJCPHYSICS_API
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UsdAttribute GetMjcSideSitesIndicesAttr() const;
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/// See GetMjcSideSitesIndicesAttr(), and also
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/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
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/// If specified, author \p defaultValue as the attribute's default,
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/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
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/// the default for \p writeSparsely is \c false.
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MJCPHYSICS_API
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UsdAttribute CreateMjcSideSitesIndicesAttr(
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VtValue const& defaultValue = VtValue(),
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bool writeSparsely = false) const;
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public:
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// --------------------------------------------------------------------- //
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// MJCPATHSEGMENTS
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// --------------------------------------------------------------------- //
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/// For spatial tendons, this holds the index of the segment each tendon path
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/// wrap point belongs to.
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///
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/// | ||
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/// | -- | -- |
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/// | Declaration | `uniform int[] mjc:path:segments = []` |
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/// | C++ Type | VtArray<int> |
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/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->IntArray |
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/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
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MJCPHYSICS_API
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UsdAttribute GetMjcPathSegmentsAttr() const;
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/// See GetMjcPathSegmentsAttr(), and also
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/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
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/// If specified, author \p defaultValue as the attribute's default,
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/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
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/// the default for \p writeSparsely is \c false.
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MJCPHYSICS_API
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UsdAttribute CreateMjcPathSegmentsAttr(
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VtValue const& defaultValue = VtValue(),
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bool writeSparsely = false) const;
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public:
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// --------------------------------------------------------------------- //
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// MJCPATHDIVISORS
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// --------------------------------------------------------------------- //
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/// For spatial tendons, this represents an indexed array of divisors. A
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/// tendon path segments' length contribution to the overall tendon length is
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/// divided by its divisor.
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///
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/// | ||
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/// | -- | -- |
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/// | Declaration | `uniform double[] mjc:path:divisors = []` |
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/// | C++ Type | VtArray<double> |
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/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->DoubleArray |
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/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
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MJCPHYSICS_API
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UsdAttribute GetMjcPathDivisorsAttr() const;
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/// See GetMjcPathDivisorsAttr(), and also
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/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
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/// If specified, author \p defaultValue as the attribute's default,
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/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
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/// the default for \p writeSparsely is \c false.
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MJCPHYSICS_API
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UsdAttribute CreateMjcPathDivisorsAttr(
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VtValue const& defaultValue = VtValue(),
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bool writeSparsely = false) const;
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public:
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// --------------------------------------------------------------------- //
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// MJCPATHCOEF
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// --------------------------------------------------------------------- //
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/// For fixed tendons passing through joints this represents a multiplicative
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/// factor on the position or angle of the targeted joint.
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///
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/// | ||
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/// | -- | -- |
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/// | Declaration | `uniform double[] mjc:path:coef = []` |
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/// | C++ Type | VtArray<double> |
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/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->DoubleArray |
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/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
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MJCPHYSICS_API
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UsdAttribute GetMjcPathCoefAttr() const;
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/// See GetMjcPathCoefAttr(), and also
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/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
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/// If specified, author \p defaultValue as the attribute's default,
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/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
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/// the default for \p writeSparsely is \c false.
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MJCPHYSICS_API
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UsdAttribute CreateMjcPathCoefAttr(VtValue const& defaultValue = VtValue(),
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bool writeSparsely = false) const;
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public:
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// --------------------------------------------------------------------- //
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// GROUP
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// --------------------------------------------------------------------- //
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/// Integer MuJoCo group to which the tendon belongs.
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///
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/// | ||
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/// | -- | -- |
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/// | Declaration | `uniform int mjc:group = 0` |
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/// | C++ Type | int |
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/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
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/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
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MJCPHYSICS_API
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UsdAttribute GetGroupAttr() const;
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/// See GetGroupAttr(), and also
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/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
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/// If specified, author \p defaultValue as the attribute's default,
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/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
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/// the default for \p writeSparsely is \c false.
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MJCPHYSICS_API
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UsdAttribute CreateGroupAttr(VtValue const& defaultValue = VtValue(),
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bool writeSparsely = false) const;
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public:
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// --------------------------------------------------------------------- //
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// LIMITED
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// --------------------------------------------------------------------- //
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/// If true, the tendon length is limited to the range specified by
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/// mjc:range:min/max.
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///
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/// | ||
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/// | -- | -- |
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/// | Declaration | `uniform token mjc:limited = "auto"` |
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/// | C++ Type | TfToken |
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/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Token |
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/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
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/// | \ref MjcPhysicsTokens "Allowed Values" | auto, true, false |
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MJCPHYSICS_API
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UsdAttribute GetLimitedAttr() const;
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/// See GetLimitedAttr(), and also
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/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
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/// If specified, author \p defaultValue as the attribute's default,
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/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
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/// the default for \p writeSparsely is \c false.
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MJCPHYSICS_API
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UsdAttribute CreateLimitedAttr(VtValue const& defaultValue = VtValue(),
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bool writeSparsely = false) const;
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public:
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// --------------------------------------------------------------------- //
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// ACTUATORFRCLIMITED
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// --------------------------------------------------------------------- //
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/// This attribute specifies whether actuator forces acting on the tendon
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/// should be clamped. See Force limits for details. This attribute interacts
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/// with the actuatorfrcrange attribute. If this attribute is “false”,
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/// actuator force clamping is disabled. If it is “true”, actuator force
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/// clamping is enabled. If this attribute is “auto”, and autolimits is set in
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/// compiler, actuator force clamping will be enabled if actuatorfrcrange is
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/// defined.
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///
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/// | ||
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/// | -- | -- |
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/// | Declaration | `uniform token mjc:actuatorfrclimited = "auto"` |
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/// | C++ Type | TfToken |
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/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Token |
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/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
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/// | \ref MjcPhysicsTokens "Allowed Values" | false, true, auto |
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MJCPHYSICS_API
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UsdAttribute GetActuatorFrcLimitedAttr() const;
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/// See GetActuatorFrcLimitedAttr(), and also
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/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
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/// If specified, author \p defaultValue as the attribute's default,
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/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
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/// the default for \p writeSparsely is \c false.
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MJCPHYSICS_API
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UsdAttribute CreateActuatorFrcLimitedAttr(
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VtValue const& defaultValue = VtValue(),
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bool writeSparsely = false) const;
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public:
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// --------------------------------------------------------------------- //
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// RANGEMIN
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// --------------------------------------------------------------------- //
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/// Minimum allowed tendon length. Setting this attribute without specifying
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/// limited is an error, unless autolimits is set in compiler.
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///
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/// | ||
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/// | -- | -- |
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/// | Declaration | `uniform double mjc:range:min = 0` |
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/// | C++ Type | double |
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/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
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/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
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MJCPHYSICS_API
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UsdAttribute GetRangeMinAttr() const;
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/// See GetRangeMinAttr(), and also
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/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
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/// If specified, author \p defaultValue as the attribute's default,
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/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
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/// the default for \p writeSparsely is \c false.
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MJCPHYSICS_API
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UsdAttribute CreateRangeMinAttr(VtValue const& defaultValue = VtValue(),
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bool writeSparsely = false) const;
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public:
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// --------------------------------------------------------------------- //
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// RANGEMAX
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// --------------------------------------------------------------------- //
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/// Maximum allowed tendon length. Setting this attribute without specifying
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/// limited is an error, unless autolimits is set in compiler.
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///
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/// | ||
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/// | -- | -- |
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/// | Declaration | `uniform double mjc:range:max = 0` |
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/// | C++ Type | double |
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/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
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/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
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MJCPHYSICS_API
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UsdAttribute GetRangeMaxAttr() const;
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/// See GetRangeMaxAttr(), and also
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/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
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/// If specified, author \p defaultValue as the attribute's default,
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/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
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/// the default for \p writeSparsely is \c false.
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MJCPHYSICS_API
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UsdAttribute CreateRangeMaxAttr(VtValue const& defaultValue = VtValue(),
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bool writeSparsely = false) const;
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public:
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// --------------------------------------------------------------------- //
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// ACTUATORFRCRANGEMIN
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// --------------------------------------------------------------------- //
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/// Minimum range for clamping total actuator forces acting on this tendon.
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/// See Force limits for details. The compiler expects the lower bound to be
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/// nonpositive. Setting this attribute without specifying actuatorfrclimited
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/// is an error if compiler-autolimits is “false”.
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///
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/// | ||
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/// | -- | -- |
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/// | Declaration | `uniform double mjc:actuatorfrcrange:min = 0` |
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||||
/// | C++ Type | double |
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||||
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
|
||||
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
|
||||
MJCPHYSICS_API
|
||||
UsdAttribute GetActuatorFrcRangeMinAttr() const;
|
||||
|
||||
/// See GetActuatorFrcRangeMinAttr(), 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 CreateActuatorFrcRangeMinAttr(
|
||||
VtValue const& defaultValue = VtValue(),
|
||||
bool writeSparsely = false) const;
|
||||
|
||||
public:
|
||||
// --------------------------------------------------------------------- //
|
||||
// ACTUATORFRCRANGEMAX
|
||||
// --------------------------------------------------------------------- //
|
||||
/// Maximum range for clamping total actuator forces acting on this tendon.
|
||||
/// See Force limits for details. The compiler expects the upper bound to be
|
||||
/// nonnegative. Setting this attribute without specifying actuatorfrclimited
|
||||
/// is an error if compiler-autolimits is “false”.
|
||||
///
|
||||
/// | ||
|
||||
/// | -- | -- |
|
||||
/// | Declaration | `uniform double mjc:actuatorfrcrange:max = 0` |
|
||||
/// | C++ Type | double |
|
||||
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
|
||||
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
|
||||
MJCPHYSICS_API
|
||||
UsdAttribute GetActuatorFrcRangeMaxAttr() const;
|
||||
|
||||
/// See GetActuatorFrcRangeMaxAttr(), 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 CreateActuatorFrcRangeMaxAttr(
|
||||
VtValue const& defaultValue = VtValue(),
|
||||
bool writeSparsely = false) const;
|
||||
|
||||
public:
|
||||
// --------------------------------------------------------------------- //
|
||||
// SOLREFLIMIT
|
||||
// --------------------------------------------------------------------- //
|
||||
/// Constraint solver parameters for simulating tendon limits.
|
||||
///
|
||||
/// | ||
|
||||
/// | -- | -- |
|
||||
/// | Declaration | `uniform double[] mjc:solreflimit = [0.02, 1]` |
|
||||
/// | C++ Type | VtArray<double> |
|
||||
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->DoubleArray |
|
||||
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
|
||||
MJCPHYSICS_API
|
||||
UsdAttribute GetSolRefLimitAttr() const;
|
||||
|
||||
/// See GetSolRefLimitAttr(), 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 CreateSolRefLimitAttr(VtValue const& defaultValue = VtValue(),
|
||||
bool writeSparsely = false) const;
|
||||
|
||||
public:
|
||||
// --------------------------------------------------------------------- //
|
||||
// SOLIMPLIMIT
|
||||
// --------------------------------------------------------------------- //
|
||||
/// Constraint solver parameters for simulating tendon limits.
|
||||
///
|
||||
/// | ||
|
||||
/// | -- | -- |
|
||||
/// | Declaration | `uniform double[] mjc:solimplimit = [0.9, 0.95, 0.001,
|
||||
/// 0.5, 2]` | | C++ Type | VtArray<double> | | \ref Usd_Datatypes "Usd Type"
|
||||
/// | SdfValueTypeNames->DoubleArray | | \ref SdfVariability "Variability" |
|
||||
/// SdfVariabilityUniform |
|
||||
MJCPHYSICS_API
|
||||
UsdAttribute GetSolImpLimitAttr() const;
|
||||
|
||||
/// See GetSolImpLimitAttr(), 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 CreateSolImpLimitAttr(VtValue const& defaultValue = VtValue(),
|
||||
bool writeSparsely = false) const;
|
||||
|
||||
public:
|
||||
// --------------------------------------------------------------------- //
|
||||
// SOLREFFRICTION
|
||||
// --------------------------------------------------------------------- //
|
||||
/// Constraint solver parameters for simulating dry friction in the tendon.
|
||||
///
|
||||
/// | ||
|
||||
/// | -- | -- |
|
||||
/// | Declaration | `uniform double[] mjc:solreffriction = [0.02, 1]` |
|
||||
/// | C++ Type | VtArray<double> |
|
||||
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->DoubleArray |
|
||||
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
|
||||
MJCPHYSICS_API
|
||||
UsdAttribute GetSolRefFrictionAttr() const;
|
||||
|
||||
/// See GetSolRefFrictionAttr(), 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 CreateSolRefFrictionAttr(VtValue const& defaultValue = VtValue(),
|
||||
bool writeSparsely = false) const;
|
||||
|
||||
public:
|
||||
// --------------------------------------------------------------------- //
|
||||
// SOLIMPFRICTION
|
||||
// --------------------------------------------------------------------- //
|
||||
/// Constraint solver parameters for simulating dry friction in the tendon.
|
||||
///
|
||||
/// | ||
|
||||
/// | -- | -- |
|
||||
/// | Declaration | `uniform double[] mjc:solimpfriction = [0.9, 0.95, 0.001,
|
||||
/// 0.5, 2]` | | C++ Type | VtArray<double> | | \ref Usd_Datatypes "Usd Type"
|
||||
/// | SdfValueTypeNames->DoubleArray | | \ref SdfVariability "Variability" |
|
||||
/// SdfVariabilityUniform |
|
||||
MJCPHYSICS_API
|
||||
UsdAttribute GetSolImpFrictionAttr() const;
|
||||
|
||||
/// See GetSolImpFrictionAttr(), 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 CreateSolImpFrictionAttr(VtValue const& defaultValue = VtValue(),
|
||||
bool writeSparsely = false) const;
|
||||
|
||||
public:
|
||||
// --------------------------------------------------------------------- //
|
||||
// MARGIN
|
||||
// --------------------------------------------------------------------- //
|
||||
/// The limit constraint becomes active when the absolute value of the
|
||||
/// difference between the tendon length and either limit of the specified
|
||||
/// range falls below this margin. Similar to contacts, the margin parameter
|
||||
/// is subtracted from the difference between the range limit and the tendon
|
||||
/// length. The resulting constraint distance is always negative when the
|
||||
/// constraint is active. This quantity is used to compute constraint
|
||||
/// impedance as a function of distance.
|
||||
///
|
||||
/// | ||
|
||||
/// | -- | -- |
|
||||
/// | Declaration | `uniform double mjc:margin = 0` |
|
||||
/// | C++ Type | double |
|
||||
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
|
||||
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
|
||||
MJCPHYSICS_API
|
||||
UsdAttribute GetMarginAttr() const;
|
||||
|
||||
/// See GetMarginAttr(), 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 CreateMarginAttr(VtValue const& defaultValue = VtValue(),
|
||||
bool writeSparsely = false) const;
|
||||
|
||||
public:
|
||||
// --------------------------------------------------------------------- //
|
||||
// FRICTIONLOSS
|
||||
// --------------------------------------------------------------------- //
|
||||
/// Friction loss caused by dry friction. To enable friction loss, set this
|
||||
/// attribute to a positive value.
|
||||
///
|
||||
/// | ||
|
||||
/// | -- | -- |
|
||||
/// | Declaration | `uniform double mjc:frictionloss = 0` |
|
||||
/// | C++ Type | double |
|
||||
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
|
||||
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
|
||||
MJCPHYSICS_API
|
||||
UsdAttribute GetFrictionLossAttr() const;
|
||||
|
||||
/// See GetFrictionLossAttr(), 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 CreateFrictionLossAttr(VtValue const& defaultValue = VtValue(),
|
||||
bool writeSparsely = false) const;
|
||||
|
||||
public:
|
||||
// --------------------------------------------------------------------- //
|
||||
// WIDTH
|
||||
// --------------------------------------------------------------------- //
|
||||
/// Radius of the cross-section area of the spatial tendon, used for rendering
|
||||
/// in MuJoCo. Parts of the tendon that wrap around geom obstacles are
|
||||
/// rendered with reduced width.
|
||||
///
|
||||
/// | ||
|
||||
/// | -- | -- |
|
||||
/// | Declaration | `uniform double mjc:width = 0.003` |
|
||||
/// | C++ Type | double |
|
||||
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
|
||||
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
|
||||
MJCPHYSICS_API
|
||||
UsdAttribute GetWidthAttr() const;
|
||||
|
||||
/// See GetWidthAttr(), 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 CreateWidthAttr(VtValue const& defaultValue = VtValue(),
|
||||
bool writeSparsely = false) const;
|
||||
|
||||
public:
|
||||
// --------------------------------------------------------------------- //
|
||||
// RGBA
|
||||
// --------------------------------------------------------------------- //
|
||||
/// Color and transparency of the tendon in MuJoCo.
|
||||
///
|
||||
/// | ||
|
||||
/// | -- | -- |
|
||||
/// | Declaration | `uniform color4f mjc:rgba = (0.5, 0.5, 0.5, 1)` |
|
||||
/// | C++ Type | GfVec4f |
|
||||
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Color4f |
|
||||
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
|
||||
MJCPHYSICS_API
|
||||
UsdAttribute GetRgbaAttr() const;
|
||||
|
||||
/// See GetRgbaAttr(), 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 CreateRgbaAttr(VtValue const& defaultValue = VtValue(),
|
||||
bool writeSparsely = false) const;
|
||||
|
||||
public:
|
||||
// --------------------------------------------------------------------- //
|
||||
// SPRINGLENGTH
|
||||
// --------------------------------------------------------------------- //
|
||||
/// Spring resting position, can take either one or two values. If one value
|
||||
/// is given, it corresponds to the length of the tendon at rest. If it is -1,
|
||||
/// the tendon resting length is determined from the model reference
|
||||
/// configuration in mjModel.qpos0. Note that the default value of -1, which
|
||||
/// invokes the automatic length computation, was designed with spatial
|
||||
/// tendons in mind, which can only have nonegative length. In order to set
|
||||
/// the springlength of a fixed tendon to -1, use a nearby value like
|
||||
/// -0.99999. If two non-decreasing values are given, they define a dead-band
|
||||
/// range. If the tendon length is between the two values, the force is 0. If
|
||||
/// it is outside this range, the force behaves like a regular spring, with
|
||||
/// the rest-point corresponding to the nearest springlength value. A deadband
|
||||
/// can be used to define tendons whose limits are enforced by springs rather
|
||||
/// than constraints.
|
||||
///
|
||||
/// | ||
|
||||
/// | -- | -- |
|
||||
/// | Declaration | `uniform double[] mjc:springlength = [-1, -1]` |
|
||||
/// | C++ Type | VtArray<double> |
|
||||
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->DoubleArray |
|
||||
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
|
||||
MJCPHYSICS_API
|
||||
UsdAttribute GetSpringLengthAttr() const;
|
||||
|
||||
/// See GetSpringLengthAttr(), 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 CreateSpringLengthAttr(VtValue const& defaultValue = VtValue(),
|
||||
bool writeSparsely = false) const;
|
||||
|
||||
public:
|
||||
// --------------------------------------------------------------------- //
|
||||
// STIFFNESS
|
||||
// --------------------------------------------------------------------- //
|
||||
/// Stiffness coefficient. A positive value generates a spring force (linear
|
||||
/// in position) acting along the tendon.
|
||||
///
|
||||
/// | ||
|
||||
/// | -- | -- |
|
||||
/// | Declaration | `uniform double mjc:stiffness = 0` |
|
||||
/// | C++ Type | double |
|
||||
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
|
||||
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
|
||||
MJCPHYSICS_API
|
||||
UsdAttribute GetStiffnessAttr() const;
|
||||
|
||||
/// See GetStiffnessAttr(), 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 CreateStiffnessAttr(VtValue const& defaultValue = VtValue(),
|
||||
bool writeSparsely = false) const;
|
||||
|
||||
public:
|
||||
// --------------------------------------------------------------------- //
|
||||
// DAMPING
|
||||
// --------------------------------------------------------------------- //
|
||||
/// Damping coefficient. A positive value generates a damping force (linear in
|
||||
/// velocity) acting along the tendon. Unlike joint damping which is
|
||||
/// integrated implicitly by the Euler method, tendon damping is not
|
||||
/// integrated implicitly, thus joint damping should be used if possible.
|
||||
///
|
||||
/// | ||
|
||||
/// | -- | -- |
|
||||
/// | Declaration | `uniform double mjc:damping = 0` |
|
||||
/// | C++ Type | double |
|
||||
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
|
||||
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
|
||||
MJCPHYSICS_API
|
||||
UsdAttribute GetDampingAttr() const;
|
||||
|
||||
/// See GetDampingAttr(), 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 CreateDampingAttr(VtValue const& defaultValue = VtValue(),
|
||||
bool writeSparsely = false) const;
|
||||
|
||||
public:
|
||||
// --------------------------------------------------------------------- //
|
||||
// ARMATURE
|
||||
// --------------------------------------------------------------------- //
|
||||
/// Inertia associated with changes in tendon length.
|
||||
///
|
||||
/// | ||
|
||||
/// | -- | -- |
|
||||
/// | Declaration | `uniform double mjc:armature = 0` |
|
||||
/// | C++ Type | double |
|
||||
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
|
||||
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
|
||||
MJCPHYSICS_API
|
||||
UsdAttribute GetArmatureAttr() const;
|
||||
|
||||
/// See GetArmatureAttr(), 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 CreateArmatureAttr(VtValue const& defaultValue = VtValue(),
|
||||
bool writeSparsely = false) const;
|
||||
|
||||
public:
|
||||
// --------------------------------------------------------------------- //
|
||||
// MJCPATH
|
||||
// --------------------------------------------------------------------- //
|
||||
/// For spatial tendons, this describes a list of sites and geoms the tendon
|
||||
/// wraps. For fixed tendons, this is instead a list of joints.
|
||||
///
|
||||
MJCPHYSICS_API
|
||||
UsdRelationship GetMjcPathRel() const;
|
||||
|
||||
/// See GetMjcPathRel(), and also
|
||||
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create
|
||||
MJCPHYSICS_API
|
||||
UsdRelationship CreateMjcPathRel() const;
|
||||
|
||||
public:
|
||||
// --------------------------------------------------------------------- //
|
||||
// MJCSIDESITES
|
||||
// --------------------------------------------------------------------- //
|
||||
/// For spatial tendons, a geom wrapped by the tendon may specify which side
|
||||
/// of the geom the tendon wraps around via a site prim. This is a list of
|
||||
/// sites that are used as side sites in mjc:path.
|
||||
///
|
||||
MJCPHYSICS_API
|
||||
UsdRelationship GetMjcSideSitesRel() const;
|
||||
|
||||
/// See GetMjcSideSitesRel(), and also
|
||||
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create
|
||||
MJCPHYSICS_API
|
||||
UsdRelationship CreateMjcSideSitesRel() 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
|
||||
Reference in New Issue
Block a user