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Add support for tendons to mjcPhysics.

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PiperOrigin-RevId: 822230926
Change-Id: I232a9fbfb473186ac742d210458ff0221a561126
This commit is contained in:
Sam Haves
2025-10-21 12:29:06 -07:00
committed by Copybara-Service
parent ac2cd5dfd6
commit 160b9480f9
10 changed files with 1980 additions and 19 deletions
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include/mujoco/experimental/usd/mjcPhysics/tokens.h
+85 -18
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@@ -65,8 +65,10 @@ struct MjcPhysicsTokensType {
/// MjcPhysicsActuator::GetMjcActLimitedAttr(), Fallback value for
/// MjcPhysicsActuator::GetMjcCtrlLimitedAttr(), Fallback value for
/// MjcPhysicsActuator::GetMjcForceLimitedAttr(), Fallback value for
/// MjcPhysicsJointAPI::GetMjcActuatorfrclimitedAttr(), This token represents
/// the auto constraint Jacobian and matrices computed from it.
/// MjcPhysicsJointAPI::GetMjcActuatorfrclimitedAttr(), Fallback value for
/// MjcPhysicsTendon::GetActuatorFrcLimitedAttr(), Fallback value for
/// MjcPhysicsTendon::GetLimitedAttr(), This token represents the auto
/// constraint Jacobian and matrices computed from it.
const TfToken auto_;
/// \brief "cg"
///
@@ -106,7 +108,9 @@ struct MjcPhysicsTokensType {
/// value for MjcPhysicsActuator::GetMjcActLimitedAttr(), Possible value for
/// MjcPhysicsActuator::GetMjcCtrlLimitedAttr(), Possible value for
/// MjcPhysicsActuator::GetMjcForceLimitedAttr(), Possible value for
/// MjcPhysicsJointAPI::GetMjcActuatorfrclimitedAttr()
/// MjcPhysicsJointAPI::GetMjcActuatorfrclimitedAttr(), Possible value for
/// MjcPhysicsTendon::GetActuatorFrcLimitedAttr(), Possible value for
/// MjcPhysicsTendon::GetLimitedAttr()
const TfToken false_;
/// \brief "filter"
///
@@ -118,7 +122,8 @@ struct MjcPhysicsTokensType {
const TfToken filterexact;
/// \brief "fixed"
///
/// Fallback value for MjcPhysicsActuator::GetMjcGainTypeAttr()
/// Fallback value for MjcPhysicsActuator::GetMjcGainTypeAttr(), Possible
/// value for MjcPhysicsTendon::GetTypeAttr()
const TfToken fixed;
/// \brief "implicit"
///
@@ -164,15 +169,15 @@ struct MjcPhysicsTokensType {
const TfToken mjcActRangeMin;
/// \brief "mjc:actuatorfrclimited"
///
/// MjcPhysicsJointAPI
/// MjcPhysicsJointAPI, MjcPhysicsTendon
const TfToken mjcActuatorfrclimited;
/// \brief "mjc:actuatorfrcrange:max"
///
/// MjcPhysicsJointAPI
/// MjcPhysicsJointAPI, MjcPhysicsTendon
const TfToken mjcActuatorfrcrangeMax;
/// \brief "mjc:actuatorfrcrange:min"
///
/// MjcPhysicsJointAPI
/// MjcPhysicsJointAPI, MjcPhysicsTendon
const TfToken mjcActuatorfrcrangeMin;
/// \brief "mjc:actuatorgravcomp"
///
@@ -180,7 +185,7 @@ struct MjcPhysicsTokensType {
const TfToken mjcActuatorgravcomp;
/// \brief "mjc:armature"
///
/// MjcPhysicsJointAPI
/// MjcPhysicsJointAPI, MjcPhysicsTendon
const TfToken mjcArmature;
/// \brief "mjc:biasPrm"
///
@@ -272,7 +277,7 @@ struct MjcPhysicsTokensType {
const TfToken mjcCtrlRangeMin;
/// \brief "mjc:damping"
///
/// MjcPhysicsJointAPI
/// MjcPhysicsJointAPI, MjcPhysicsTendon
const TfToken mjcDamping;
/// \brief "mjc:dynPrm"
///
@@ -392,7 +397,7 @@ struct MjcPhysicsTokensType {
const TfToken mjcForceRangeMin;
/// \brief "mjc:frictionloss"
///
/// MjcPhysicsJointAPI
/// MjcPhysicsJointAPI, MjcPhysicsTendon
const TfToken mjcFrictionloss;
/// \brief "mjc:gainPrm"
///
@@ -413,7 +418,7 @@ struct MjcPhysicsTokensType {
/// \brief "mjc:group"
///
/// MjcPhysicsSiteAPI, MjcPhysicsImageableAPI, MjcPhysicsCollisionAPI,
/// MjcPhysicsActuator, MjcPhysicsJointAPI
/// MjcPhysicsActuator, MjcPhysicsJointAPI, MjcPhysicsTendon
const TfToken mjcGroup;
/// \brief "mjc:inertia"
///
@@ -435,9 +440,13 @@ struct MjcPhysicsTokensType {
///
/// MjcPhysicsActuator
const TfToken mjcLengthRangeMin;
/// \brief "mjc:limited"
///
/// MjcPhysicsTendon
const TfToken mjcLimited;
/// \brief "mjc:margin"
///
/// MjcPhysicsCollisionAPI, MjcPhysicsJointAPI
/// MjcPhysicsCollisionAPI, MjcPhysicsJointAPI, MjcPhysicsTendon
const TfToken mjcMargin;
/// \brief "mjc:maxhullvert"
///
@@ -551,6 +560,22 @@ struct MjcPhysicsTokensType {
///
/// MjcPhysicsSceneAPI
const TfToken mjcOptionWind;
/// \brief "mjc:path"
///
/// MjcPhysicsTendon
const TfToken mjcPath;
/// \brief "mjc:path:coef"
///
/// MjcPhysicsTendon
const TfToken mjcPathCoef;
/// \brief "mjc:path:divisors"
///
/// MjcPhysicsTendon
const TfToken mjcPathDivisors;
/// \brief "mjc:path:segments"
///
/// MjcPhysicsTendon
const TfToken mjcPathSegments;
/// \brief "mjc:priority"
///
/// MjcPhysicsCollisionAPI
@@ -563,6 +588,14 @@ struct MjcPhysicsTokensType {
///
/// MjcPhysicsKeyframe
const TfToken mjcQvel;
/// \brief "mjc:range:max"
///
/// MjcPhysicsTendon
const TfToken mjcRangeMax;
/// \brief "mjc:range:min"
///
/// MjcPhysicsTendon
const TfToken mjcRangeMin;
/// \brief "mjc:ref"
///
/// MjcPhysicsJointAPI
@@ -571,6 +604,10 @@ struct MjcPhysicsTokensType {
///
/// MjcPhysicsActuator
const TfToken mjcRefSite;
/// \brief "mjc:rgba"
///
/// MjcPhysicsTendon
const TfToken mjcRgba;
/// \brief "mjc:rollingfriction"
///
/// MjcPhysicsMaterialAPI
@@ -579,6 +616,14 @@ struct MjcPhysicsTokensType {
///
/// MjcPhysicsCollisionAPI
const TfToken mjcShellinertia;
/// \brief "mjc:sideSites"
///
/// MjcPhysicsTendon
const TfToken mjcSideSites;
/// \brief "mjc:sideSites:indices"
///
/// MjcPhysicsTendon
const TfToken mjcSideSitesIndices;
/// \brief "mjc:sliderSite"
///
/// MjcPhysicsActuator
@@ -589,11 +634,11 @@ struct MjcPhysicsTokensType {
const TfToken mjcSolimp;
/// \brief "mjc:solimpfriction"
///
/// MjcPhysicsJointAPI
/// MjcPhysicsJointAPI, MjcPhysicsTendon
const TfToken mjcSolimpfriction;
/// \brief "mjc:solimplimit"
///
/// MjcPhysicsJointAPI
/// MjcPhysicsJointAPI, MjcPhysicsTendon
const TfToken mjcSolimplimit;
/// \brief "mjc:solmix"
///
@@ -605,23 +650,27 @@ struct MjcPhysicsTokensType {
const TfToken mjcSolref;
/// \brief "mjc:solreffriction"
///
/// MjcPhysicsJointAPI
/// MjcPhysicsJointAPI, MjcPhysicsTendon
const TfToken mjcSolreffriction;
/// \brief "mjc:solreflimit"
///
/// MjcPhysicsJointAPI
/// MjcPhysicsJointAPI, MjcPhysicsTendon
const TfToken mjcSolreflimit;
/// \brief "mjc:springdamper"
///
/// MjcPhysicsJointAPI
const TfToken mjcSpringdamper;
/// \brief "mjc:springlength"
///
/// MjcPhysicsTendon
const TfToken mjcSpringlength;
/// \brief "mjc:springref"
///
/// MjcPhysicsJointAPI
const TfToken mjcSpringref;
/// \brief "mjc:stiffness"
///
/// MjcPhysicsJointAPI
/// MjcPhysicsJointAPI, MjcPhysicsTendon
const TfToken mjcStiffness;
/// \brief "mjc:target"
///
@@ -631,6 +680,14 @@ struct MjcPhysicsTokensType {
///
/// MjcPhysicsMaterialAPI
const TfToken mjcTorsionalfriction;
/// \brief "mjc:type"
///
/// MjcPhysicsTendon
const TfToken mjcType;
/// \brief "mjc:width"
///
/// MjcPhysicsTendon
const TfToken mjcWidth;
/// \brief "muscle"
///
/// Possible value for MjcPhysicsActuator::GetMjcBiasTypeAttr(), Possible
@@ -675,13 +732,19 @@ struct MjcPhysicsTokensType {
/// Possible value for MjcPhysicsSceneAPI::GetJacobianAttr(), This token
/// represents the sparse constraint Jacobian and matrices computed from it.
const TfToken sparse;
/// \brief "spatial"
///
/// Fallback value for MjcPhysicsTendon::GetTypeAttr()
const TfToken spatial;
/// \brief "true"
///
/// Possible value for MjcPhysicsSceneAPI::GetInertiaFromGeomAttr(), Possible
/// value for MjcPhysicsActuator::GetMjcActLimitedAttr(), Possible value for
/// MjcPhysicsActuator::GetMjcCtrlLimitedAttr(), Possible value for
/// MjcPhysicsActuator::GetMjcForceLimitedAttr(), Possible value for
/// MjcPhysicsJointAPI::GetMjcActuatorfrclimitedAttr()
/// MjcPhysicsJointAPI::GetMjcActuatorfrclimitedAttr(), Possible value for
/// MjcPhysicsTendon::GetActuatorFrcLimitedAttr(), Possible value for
/// MjcPhysicsTendon::GetLimitedAttr()
const TfToken true_;
/// \brief "user"
///
@@ -725,6 +788,10 @@ struct MjcPhysicsTokensType {
///
/// Schema identifier and family for MjcPhysicsSiteAPI
const TfToken MjcSiteAPI;
/// \brief "MjcTendon"
///
/// Schema identifier and family for MjcPhysicsTendon
const TfToken MjcTendon;
/// A vector of all of the tokens listed above.
const std::vector<TfToken> allTokens;
};