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Fix namespacing in USD schema.

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PiperOrigin-RevId: 759632714
Change-Id: I666ca0e5b7f264f63eae0bbb39f0403654fb1c56
This commit is contained in:
Sam Haves
2025-05-16 08:53:16 -07:00
committed by Copybara-Service
parent df09980258
commit 178fb49c2b
6 changed files with 563 additions and 567 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/experimental/usd/mjcPhysics/generatedSchema.usda
+118 -118
View File
@@ -7,214 +7,214 @@ class "SceneAPI" (
doc = "API providing global simulation options for Mujoco."
)
{
uniform int[] mjc:physics:actuatorgroupdisable (
uniform bool mjc:flag:actuation = 1 (
displayName = "Actuation Forces Toggle"
doc = "Enables all standard computations related to actuator forces, including actuator dynamics."
)
uniform bool mjc:flag:autoreset = 1 (
displayName = "Automatic Simulation Reset Toggle"
doc = "Enables the automatic resetting of the simulation state when numerical issues are detected."
)
uniform bool mjc:flag:clampctrl = 1 (
displayName = "Control Input Clamping Toggle"
doc = "Enables the clamping of control inputs to all actuators, according to actuator-specific attributes."
)
uniform bool mjc:flag:constraint = 1 (
displayName = "Constraint Solver Toggle"
doc = "Enables constraint solver."
)
uniform bool mjc:flag:contact = 1 (
displayName = "Contact Constraints and Collision Detection Toggle"
doc = "Enables collision detection and all standard computations related to contact constraints."
)
uniform bool mjc:flag:energy = 0 (
displayName = "Energy Computation Toggle"
doc = "Enables the computation of potential and kinetic energy (mjData.energy[0,1])."
)
uniform bool mjc:flag:equality = 1 (
displayName = "Equality Constraints Toggle"
doc = "Enables all standard computations related to equality constraints."
)
uniform bool mjc:flag:eulerdamp = 1 (
displayName = "Euler Integrator Damping Toggle"
doc = "Enables implicit integration with respect to joint damping in the Euler integrator."
)
uniform bool mjc:flag:filterparent = 1 (
displayName = "Parent-Child Contact Filtering Toggle"
doc = "Enables the filtering of contact pairs where the two geoms belong to a parent and child body."
)
uniform bool mjc:flag:frictionloss = 1 (
displayName = "Friction Loss Constraints Toggle"
doc = "Enables all standard computations related to friction loss constraints."
)
uniform bool mjc:flag:fwdinv = 0 (
displayName = "Forward/Inverse Dynamics Comparison Toggle"
doc = "Enables the automatic comparison of forward and inverse dynamics."
)
uniform bool mjc:flag:gravity = 1 (
displayName = "Gravity Toggle"
doc = "Enables the application of gravitational acceleration as defined in mjOption."
)
uniform bool mjc:flag:invdiscrete = 0 (
displayName = "Discrete-Time Inverse Dynamics Toggle"
doc = "Enables discrete-time inverse dynamics with mj_inverse for integrators other than RK4."
)
uniform bool mjc:flag:island = 0 (
displayName = "Constraint Island Discovery Toggle"
doc = "Enables the discovery of constraint islands."
)
uniform bool mjc:flag:limit = 1 (
displayName = "Joint and Tendon Limit Constraints Toggle"
doc = "Enables all standard computations related to joint and tendon limit constraints."
)
uniform bool mjc:flag:midphase = 1 (
displayName = "Mid-Phase Collision Filtering Toggle"
doc = "Enables mid-phase collision filtering using a static AABB bounding volume hierarchy (BVH)."
)
uniform bool mjc:flag:multiccd = 0 (
displayName = "Multiple Contact Collision Detection (CCD) Toggle"
doc = "Enables multiple-contact collision detection for geom pairs using a general-purpose convex-convex collider."
)
uniform bool mjc:flag:nativeccd = 1 (
displayName = "Native Convex Collision Detection Toggle"
doc = "Enables the native convex collision detection pipeline instead of using the libccd library."
)
uniform bool mjc:flag:override = 0 (
displayName = "Contact Override Mechanism Toggle"
doc = "Enables the contact override mechanism."
)
uniform bool mjc:flag:passive = 1 (
displayName = "Passive Forces Toggle"
doc = "Enables the simulation of joint and tendon spring-dampers, fluid dynamics forces, and custom passive forces."
)
uniform bool mjc:flag:refsafe = 1 (
displayName = "Solver Reference Safety Mechanism Toggle"
doc = "Enables a safety mechanism that prevents instabilities due to solref[0] being too small compared to the simulation timestep."
)
uniform bool mjc:flag:sensor = 1 (
displayName = "Sensor Computations Toggle"
doc = "Enables all computations related to sensors."
)
uniform bool mjc:flag:warmstart = 1 (
displayName = "Solver Warm-Starting Toggle"
doc = "Enables warm-starting of the constraint solver, using the solution from the previous time step to initialize the iterative optimization."
)
uniform int[] mjc:option:actuatorgroupdisable (
displayName = "Actuator Group Disable"
doc = "List of actuator groups to disable."
)
uniform double mjc:physics:apirate = 100 (
uniform double mjc:option:apirate = 100 (
displayName = "ApiRate"
doc = """Determines the rate (in Hz) at which an external API allows
the update function to be executed."""
)
uniform int mjc:physics:ccd_iterations = 50 (
uniform int mjc:option:ccd_iterations = 50 (
displayName = "CCD Iterations"
doc = "Maximum number of iterations of the algorithm used for convex collisions."
)
uniform double mjc:physics:ccd_tolerance = 0.000001 (
uniform double mjc:option:ccd_tolerance = 0.000001 (
displayName = "CCD Tolerance"
doc = """Tolerance threshold used for early termination of the convex
collision algorithm."""
)
uniform token mjc:physics:cone = "pyramidal" (
uniform token mjc:option:cone = "pyramidal" (
allowedTokens = ["pyramidal", "elliptic"]
displayName = "Friction Cone Type"
doc = "The type of contact friction cone."
)
uniform double mjc:physics:density = 0 (
uniform double mjc:option:density = 0 (
displayName = "Density"
doc = "Density of medium."
)
uniform bool mjc:physics:flag:actuation = 1 (
displayName = "Actuation Forces Toggle"
doc = "Enables all standard computations related to actuator forces, including actuator dynamics."
)
uniform bool mjc:physics:flag:autoreset = 1 (
displayName = "Automatic Simulation Reset Toggle"
doc = "Enables the automatic resetting of the simulation state when numerical issues are detected."
)
uniform bool mjc:physics:flag:clampctrl = 1 (
displayName = "Control Input Clamping Toggle"
doc = "Enables the clamping of control inputs to all actuators, according to actuator-specific attributes."
)
uniform bool mjc:physics:flag:constraint = 1 (
displayName = "Constraint Solver Toggle"
doc = "Enables constraint solver."
)
uniform bool mjc:physics:flag:contact = 1 (
displayName = "Contact Constraints and Collision Detection Toggle"
doc = "Enables collision detection and all standard computations related to contact constraints."
)
uniform bool mjc:physics:flag:energy = 0 (
displayName = "Energy Computation Toggle"
doc = "Enables the computation of potential and kinetic energy (mjData.energy[0,1])."
)
uniform bool mjc:physics:flag:equality = 1 (
displayName = "Equality Constraints Toggle"
doc = "Enables all standard computations related to equality constraints."
)
uniform bool mjc:physics:flag:eulerdamp = 1 (
displayName = "Euler Integrator Damping Toggle"
doc = "Enables implicit integration with respect to joint damping in the Euler integrator."
)
uniform bool mjc:physics:flag:filterparent = 1 (
displayName = "Parent-Child Contact Filtering Toggle"
doc = "Enables the filtering of contact pairs where the two geoms belong to a parent and child body."
)
uniform bool mjc:physics:flag:frictionloss = 1 (
displayName = "Friction Loss Constraints Toggle"
doc = "Enables all standard computations related to friction loss constraints."
)
uniform bool mjc:physics:flag:fwdinv = 0 (
displayName = "Forward/Inverse Dynamics Comparison Toggle"
doc = "Enables the automatic comparison of forward and inverse dynamics."
)
uniform bool mjc:physics:flag:gravity = 1 (
displayName = "Gravity Toggle"
doc = "Enables the application of gravitational acceleration as defined in mjOption."
)
uniform bool mjc:physics:flag:invdiscrete = 0 (
displayName = "Discrete-Time Inverse Dynamics Toggle"
doc = "Enables discrete-time inverse dynamics with mj_inverse for integrators other than RK4."
)
uniform bool mjc:physics:flag:island = 0 (
displayName = "Constraint Island Discovery Toggle"
doc = "Enables the discovery of constraint islands."
)
uniform bool mjc:physics:flag:limit = 1 (
displayName = "Joint and Tendon Limit Constraints Toggle"
doc = "Enables all standard computations related to joint and tendon limit constraints."
)
uniform bool mjc:physics:flag:midphase = 1 (
displayName = "Mid-Phase Collision Filtering Toggle"
doc = "Enables mid-phase collision filtering using a static AABB bounding volume hierarchy (BVH)."
)
uniform bool mjc:physics:flag:multiccd = 0 (
displayName = "Multiple Contact Collision Detection (CCD) Toggle"
doc = "Enables multiple-contact collision detection for geom pairs using a general-purpose convex-convex collider."
)
uniform bool mjc:physics:flag:nativeccd = 1 (
displayName = "Native Convex Collision Detection Toggle"
doc = "Enables the native convex collision detection pipeline instead of using the libccd library."
)
uniform bool mjc:physics:flag:override = 0 (
displayName = "Contact Override Mechanism Toggle"
doc = "Enables the contact override mechanism."
)
uniform bool mjc:physics:flag:passive = 1 (
displayName = "Passive Forces Toggle"
doc = "Enables the simulation of joint and tendon spring-dampers, fluid dynamics forces, and custom passive forces."
)
uniform bool mjc:physics:flag:refsafe = 1 (
displayName = "Solver Reference Safety Mechanism Toggle"
doc = "Enables a safety mechanism that prevents instabilities due to solref[0] being too small compared to the simulation timestep."
)
uniform bool mjc:physics:flag:sensor = 1 (
displayName = "Sensor Computations Toggle"
doc = "Enables all computations related to sensors."
)
uniform bool mjc:physics:flag:warmstart = 1 (
displayName = "Solver Warm-Starting Toggle"
doc = "Enables warm-starting of the constraint solver, using the solution from the previous time step to initialize the iterative optimization."
)
uniform double mjc:physics:impratio = 1 (
uniform double mjc:option:impratio = 1 (
displayName = "Impedance Ratio"
doc = """Ratio of frictional-to-normal constraint impedance for elliptic
friction cones."""
)
uniform token mjc:physics:integrator = "euler" (
uniform token mjc:option:integrator = "euler" (
allowedTokens = ["euler", "rk4", "implicit", "implicitfast"]
displayName = "Integrator"
doc = "Numerical integrator to be used."
)
uniform int mjc:physics:iterations = 100 (
uniform int mjc:option:iterations = 100 (
displayName = "Solver Iterations"
doc = "Maximum number of iterations of the constraint solver."
)
uniform token mjc:physics:jacobian = "auto" (
uniform token mjc:option:jacobian = "auto" (
allowedTokens = ["auto", "dense", "sparse"]
displayName = "Jacobian Type"
doc = "The type of constraint Jacobian and matrices computed from it."
)
uniform int mjc:physics:ls_iterations = 50 (
uniform int mjc:option:ls_iterations = 50 (
displayName = "Linesearch Iterations"
doc = """Maximum number of linesearch iterations performed by CG/Newton
constraint solvers."""
)
uniform double mjc:physics:ls_tolerance = 0.01 (
uniform double mjc:option:ls_tolerance = 0.01 (
displayName = "Linesearch Tolerance"
doc = "Tolerance threshold used for early termination of the linesearch algorithm."
)
uniform double3 mjc:physics:magnetic = (0, -0.5, 0) (
uniform double3 mjc:option:magnetic = (0, -0.5, 0) (
displayName = "Magnetic Flux"
doc = "Global magnetic flux."
)
uniform int mjc:physics:noslip_iterations = 0 (
uniform int mjc:option:noslip_iterations = 0 (
displayName = "Noslip Iterations"
doc = "Maximum number of iterations of the Noslip solver."
)
uniform double mjc:physics:noslip_tolerance = 0.000001 (
uniform double mjc:option:noslip_tolerance = 0.000001 (
displayName = "Noslip Tolerance"
doc = "Tolerance threshold used for early termination of the Noslip solver."
)
uniform double[] mjc:physics:o_friction = [1, 1, 0.005, 0.0001, 0.0001] (
uniform double[] mjc:option:o_friction = [1, 1, 0.005, 0.0001, 0.0001] (
displayName = "Contact Override Friction"
doc = """Replaces the friction parameter of all active contact pairs when
Contact override is enabled."""
)
uniform double mjc:physics:o_margin = 0 (
uniform double mjc:option:o_margin = 0 (
displayName = "Contact Override Margin"
doc = """Replaces the margin parameter of all active contact pairs when
Contact override is enabled."""
)
uniform double[] mjc:physics:o_solimp = [0.9, 0.95, 0.001, 0.5, 2] (
uniform double[] mjc:option:o_solimp = [0.9, 0.95, 0.001, 0.5, 2] (
displayName = "Contact Override SolImp"
doc = """Replaces the solimp parameter of all active contact pairs when
Contact override is enabled."""
)
uniform double[] mjc:physics:o_solref = [0.02, 1] (
uniform double[] mjc:option:o_solref = [0.02, 1] (
displayName = "Contact Override SolRef"
doc = """Replaces the solref parameter of all active contact pairs when
Contact override is enabled."""
)
uniform int mjc:physics:sdf_initpoints = 40 (
uniform int mjc:option:sdf_initpoints = 40 (
displayName = "SDF Initial Points"
doc = """Number of starting points used for finding contacts with Signed
Distance Field collisions."""
)
uniform int mjc:physics:sdf_iterations = 10 (
uniform int mjc:option:sdf_iterations = 10 (
displayName = "SDF Iterations"
doc = """Number of iterations used for Signed Distance Field collisions
(per initial point)."""
)
uniform token mjc:physics:solver = "newton" (
uniform token mjc:option:solver = "newton" (
allowedTokens = ["pgs", "cg", "newton"]
displayName = "Solver"
doc = "Constraint solver algorithm to be used."
)
uniform double mjc:physics:timestep = 0.002 (
uniform double mjc:option:timestep = 0.002 (
displayName = "Timestep"
doc = "Controls the timestep in seconds used by MuJoCo."
)
uniform double mjc:physics:tolerance = 1e-8 (
uniform double mjc:option:tolerance = 1e-8 (
displayName = "Solver Tolerance"
doc = """Tolerance threshold used for early termination of the iterative
solver."""
)
uniform double mjc:physics:viscosity = 0 (
uniform double mjc:option:viscosity = 0 (
displayName = "Viscosity"
doc = "Viscosity of medium."
)
uniform double3 mjc:physics:wind = (0, 0, 0) (
uniform double3 mjc:option:wind = (0, 0, 0) (
displayName = "Wind Velocity"
doc = "Velocity vector of medium (i.e. wind)."
)
src/experimental/usd/mjcPhysics/sceneAPI.cpp
+147 -147
View File
@@ -75,543 +75,543 @@ const TfType &MjcPhysicsSceneAPI::_GetTfType() const {
}
UsdAttribute MjcPhysicsSceneAPI::GetTimestepAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsTimestep);
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionTimestep);
}
UsdAttribute MjcPhysicsSceneAPI::CreateTimestepAttr(VtValue const &defaultValue,
bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcPhysicsTimestep, SdfValueTypeNames->Double,
MjcPhysicsTokens->mjcOptionTimestep, SdfValueTypeNames->Double,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsSceneAPI::GetApiRateAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsApirate);
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionApirate);
}
UsdAttribute MjcPhysicsSceneAPI::CreateApiRateAttr(VtValue const &defaultValue,
bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcPhysicsApirate, SdfValueTypeNames->Double,
MjcPhysicsTokens->mjcOptionApirate, SdfValueTypeNames->Double,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsSceneAPI::GetImpRatioAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsImpratio);
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionImpratio);
}
UsdAttribute MjcPhysicsSceneAPI::CreateImpRatioAttr(VtValue const &defaultValue,
bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcPhysicsImpratio, SdfValueTypeNames->Double,
MjcPhysicsTokens->mjcOptionImpratio, SdfValueTypeNames->Double,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsSceneAPI::GetWindAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsWind);
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionWind);
}
UsdAttribute MjcPhysicsSceneAPI::CreateWindAttr(VtValue const &defaultValue,
bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcPhysicsWind, SdfValueTypeNames->Double3,
MjcPhysicsTokens->mjcOptionWind, SdfValueTypeNames->Double3,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsSceneAPI::GetMagneticAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsMagnetic);
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionMagnetic);
}
UsdAttribute MjcPhysicsSceneAPI::CreateMagneticAttr(VtValue const &defaultValue,
bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcPhysicsMagnetic, SdfValueTypeNames->Double3,
MjcPhysicsTokens->mjcOptionMagnetic, SdfValueTypeNames->Double3,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsSceneAPI::GetDensityAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsDensity);
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionDensity);
}
UsdAttribute MjcPhysicsSceneAPI::CreateDensityAttr(VtValue const &defaultValue,
bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcPhysicsDensity, SdfValueTypeNames->Double,
MjcPhysicsTokens->mjcOptionDensity, SdfValueTypeNames->Double,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsSceneAPI::GetViscosityAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsViscosity);
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionViscosity);
}
UsdAttribute MjcPhysicsSceneAPI::CreateViscosityAttr(
VtValue const &defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcPhysicsViscosity, SdfValueTypeNames->Double,
MjcPhysicsTokens->mjcOptionViscosity, SdfValueTypeNames->Double,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsSceneAPI::GetOMarginAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsO_margin);
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionO_margin);
}
UsdAttribute MjcPhysicsSceneAPI::CreateOMarginAttr(VtValue const &defaultValue,
bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcPhysicsO_margin, SdfValueTypeNames->Double,
MjcPhysicsTokens->mjcOptionO_margin, SdfValueTypeNames->Double,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsSceneAPI::GetOSolRefAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsO_solref);
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionO_solref);
}
UsdAttribute MjcPhysicsSceneAPI::CreateOSolRefAttr(VtValue const &defaultValue,
bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcPhysicsO_solref, SdfValueTypeNames->DoubleArray,
MjcPhysicsTokens->mjcOptionO_solref, SdfValueTypeNames->DoubleArray,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsSceneAPI::GetOSolImpAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsO_solimp);
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionO_solimp);
}
UsdAttribute MjcPhysicsSceneAPI::CreateOSolImpAttr(VtValue const &defaultValue,
bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcPhysicsO_solimp, SdfValueTypeNames->DoubleArray,
MjcPhysicsTokens->mjcOptionO_solimp, SdfValueTypeNames->DoubleArray,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsSceneAPI::GetOFrictionAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsO_friction);
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionO_friction);
}
UsdAttribute MjcPhysicsSceneAPI::CreateOFrictionAttr(
VtValue const &defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcPhysicsO_friction, SdfValueTypeNames->DoubleArray,
MjcPhysicsTokens->mjcOptionO_friction, SdfValueTypeNames->DoubleArray,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsSceneAPI::GetIntegratorAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsIntegrator);
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionIntegrator);
}
UsdAttribute MjcPhysicsSceneAPI::CreateIntegratorAttr(
VtValue const &defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcPhysicsIntegrator, SdfValueTypeNames->Token,
MjcPhysicsTokens->mjcOptionIntegrator, SdfValueTypeNames->Token,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsSceneAPI::GetConeAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsCone);
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionCone);
}
UsdAttribute MjcPhysicsSceneAPI::CreateConeAttr(VtValue const &defaultValue,
bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcPhysicsCone, SdfValueTypeNames->Token,
MjcPhysicsTokens->mjcOptionCone, SdfValueTypeNames->Token,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsSceneAPI::GetJacobianAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsJacobian);
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionJacobian);
}
UsdAttribute MjcPhysicsSceneAPI::CreateJacobianAttr(VtValue const &defaultValue,
bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcPhysicsJacobian, SdfValueTypeNames->Token,
MjcPhysicsTokens->mjcOptionJacobian, SdfValueTypeNames->Token,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsSceneAPI::GetSolverAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsSolver);
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionSolver);
}
UsdAttribute MjcPhysicsSceneAPI::CreateSolverAttr(VtValue const &defaultValue,
bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcPhysicsSolver, SdfValueTypeNames->Token,
MjcPhysicsTokens->mjcOptionSolver, SdfValueTypeNames->Token,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsSceneAPI::GetIterationsAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsIterations);
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionIterations);
}
UsdAttribute MjcPhysicsSceneAPI::CreateIterationsAttr(
VtValue const &defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcPhysicsIterations, SdfValueTypeNames->Int,
MjcPhysicsTokens->mjcOptionIterations, SdfValueTypeNames->Int,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsSceneAPI::GetToleranceAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsTolerance);
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionTolerance);
}
UsdAttribute MjcPhysicsSceneAPI::CreateToleranceAttr(
VtValue const &defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcPhysicsTolerance, SdfValueTypeNames->Double,
MjcPhysicsTokens->mjcOptionTolerance, SdfValueTypeNames->Double,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsSceneAPI::GetLSIterationsAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsLs_iterations);
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionLs_iterations);
}
UsdAttribute MjcPhysicsSceneAPI::CreateLSIterationsAttr(
VtValue const &defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcPhysicsLs_iterations, SdfValueTypeNames->Int,
MjcPhysicsTokens->mjcOptionLs_iterations, SdfValueTypeNames->Int,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsSceneAPI::GetLSToleranceAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsLs_tolerance);
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionLs_tolerance);
}
UsdAttribute MjcPhysicsSceneAPI::CreateLSToleranceAttr(
VtValue const &defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcPhysicsLs_tolerance, SdfValueTypeNames->Double,
MjcPhysicsTokens->mjcOptionLs_tolerance, SdfValueTypeNames->Double,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsSceneAPI::GetNoslipIterationsAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsNoslip_iterations);
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionNoslip_iterations);
}
UsdAttribute MjcPhysicsSceneAPI::CreateNoslipIterationsAttr(
VtValue const &defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcPhysicsNoslip_iterations, SdfValueTypeNames->Int,
MjcPhysicsTokens->mjcOptionNoslip_iterations, SdfValueTypeNames->Int,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsSceneAPI::GetNoslipToleranceAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsNoslip_tolerance);
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionNoslip_tolerance);
}
UsdAttribute MjcPhysicsSceneAPI::CreateNoslipToleranceAttr(
VtValue const &defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcPhysicsNoslip_tolerance, SdfValueTypeNames->Double,
MjcPhysicsTokens->mjcOptionNoslip_tolerance, SdfValueTypeNames->Double,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsSceneAPI::GetCCDIterationsAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsCcd_iterations);
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionCcd_iterations);
}
UsdAttribute MjcPhysicsSceneAPI::CreateCCDIterationsAttr(
VtValue const &defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcPhysicsCcd_iterations, SdfValueTypeNames->Int,
MjcPhysicsTokens->mjcOptionCcd_iterations, SdfValueTypeNames->Int,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsSceneAPI::GetCCDToleranceAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsCcd_tolerance);
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionCcd_tolerance);
}
UsdAttribute MjcPhysicsSceneAPI::CreateCCDToleranceAttr(
VtValue const &defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcPhysicsCcd_tolerance, SdfValueTypeNames->Double,
MjcPhysicsTokens->mjcOptionCcd_tolerance, SdfValueTypeNames->Double,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsSceneAPI::GetSDFIterationsAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsSdf_iterations);
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionSdf_iterations);
}
UsdAttribute MjcPhysicsSceneAPI::CreateSDFIterationsAttr(
VtValue const &defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcPhysicsSdf_iterations, SdfValueTypeNames->Int,
MjcPhysicsTokens->mjcOptionSdf_iterations, SdfValueTypeNames->Int,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsSceneAPI::GetSDFInitPointsAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsSdf_initpoints);
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcOptionSdf_initpoints);
}
UsdAttribute MjcPhysicsSceneAPI::CreateSDFInitPointsAttr(
VtValue const &defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcPhysicsSdf_initpoints, SdfValueTypeNames->Int,
MjcPhysicsTokens->mjcOptionSdf_initpoints, SdfValueTypeNames->Int,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsSceneAPI::GetActuatorGroupDisableAttr() const {
return GetPrim().GetAttribute(
MjcPhysicsTokens->mjcPhysicsActuatorgroupdisable);
MjcPhysicsTokens->mjcOptionActuatorgroupdisable);
}
UsdAttribute MjcPhysicsSceneAPI::CreateActuatorGroupDisableAttr(
VtValue const &defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcPhysicsActuatorgroupdisable,
MjcPhysicsTokens->mjcOptionActuatorgroupdisable,
SdfValueTypeNames->IntArray,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsSceneAPI::GetConstraintFlagAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsFlagConstraint);
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcFlagConstraint);
}
UsdAttribute MjcPhysicsSceneAPI::CreateConstraintFlagAttr(
VtValue const &defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcPhysicsFlagConstraint, SdfValueTypeNames->Bool,
MjcPhysicsTokens->mjcFlagConstraint, SdfValueTypeNames->Bool,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsSceneAPI::GetEqualityFlagAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsFlagEquality);
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcFlagEquality);
}
UsdAttribute MjcPhysicsSceneAPI::CreateEqualityFlagAttr(
VtValue const &defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcPhysicsFlagEquality, SdfValueTypeNames->Bool,
MjcPhysicsTokens->mjcFlagEquality, SdfValueTypeNames->Bool,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsSceneAPI::GetFrictionLossFlagAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsFlagFrictionloss);
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcFlagFrictionloss);
}
UsdAttribute MjcPhysicsSceneAPI::CreateFrictionLossFlagAttr(
VtValue const &defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcPhysicsFlagFrictionloss, SdfValueTypeNames->Bool,
MjcPhysicsTokens->mjcFlagFrictionloss, SdfValueTypeNames->Bool,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsSceneAPI::GetLimitFlagAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsFlagLimit);
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcFlagLimit);
}
UsdAttribute MjcPhysicsSceneAPI::CreateLimitFlagAttr(
VtValue const &defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcPhysicsFlagLimit, SdfValueTypeNames->Bool,
MjcPhysicsTokens->mjcFlagLimit, SdfValueTypeNames->Bool,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsSceneAPI::GetContactFlagAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsFlagContact);
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcFlagContact);
}
UsdAttribute MjcPhysicsSceneAPI::CreateContactFlagAttr(
VtValue const &defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcPhysicsFlagContact, SdfValueTypeNames->Bool,
MjcPhysicsTokens->mjcFlagContact, SdfValueTypeNames->Bool,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsSceneAPI::GetPassiveFlagAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsFlagPassive);
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcFlagPassive);
}
UsdAttribute MjcPhysicsSceneAPI::CreatePassiveFlagAttr(
VtValue const &defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcPhysicsFlagPassive, SdfValueTypeNames->Bool,
MjcPhysicsTokens->mjcFlagPassive, SdfValueTypeNames->Bool,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsSceneAPI::GetGravityFlagAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsFlagGravity);
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcFlagGravity);
}
UsdAttribute MjcPhysicsSceneAPI::CreateGravityFlagAttr(
VtValue const &defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcPhysicsFlagGravity, SdfValueTypeNames->Bool,
MjcPhysicsTokens->mjcFlagGravity, SdfValueTypeNames->Bool,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsSceneAPI::GetClampCtrlFlagAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsFlagClampctrl);
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcFlagClampctrl);
}
UsdAttribute MjcPhysicsSceneAPI::CreateClampCtrlFlagAttr(
VtValue const &defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcPhysicsFlagClampctrl, SdfValueTypeNames->Bool,
MjcPhysicsTokens->mjcFlagClampctrl, SdfValueTypeNames->Bool,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsSceneAPI::GetWarmStartFlagAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsFlagWarmstart);
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcFlagWarmstart);
}
UsdAttribute MjcPhysicsSceneAPI::CreateWarmStartFlagAttr(
VtValue const &defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcPhysicsFlagWarmstart, SdfValueTypeNames->Bool,
MjcPhysicsTokens->mjcFlagWarmstart, SdfValueTypeNames->Bool,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsSceneAPI::GetFilterParentFlagAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsFlagFilterparent);
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcFlagFilterparent);
}
UsdAttribute MjcPhysicsSceneAPI::CreateFilterParentFlagAttr(
VtValue const &defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcPhysicsFlagFilterparent, SdfValueTypeNames->Bool,
MjcPhysicsTokens->mjcFlagFilterparent, SdfValueTypeNames->Bool,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsSceneAPI::GetActuationFlagAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsFlagActuation);
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcFlagActuation);
}
UsdAttribute MjcPhysicsSceneAPI::CreateActuationFlagAttr(
VtValue const &defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcPhysicsFlagActuation, SdfValueTypeNames->Bool,
MjcPhysicsTokens->mjcFlagActuation, SdfValueTypeNames->Bool,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsSceneAPI::GetRefSafeFlagAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsFlagRefsafe);
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcFlagRefsafe);
}
UsdAttribute MjcPhysicsSceneAPI::CreateRefSafeFlagAttr(
VtValue const &defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcPhysicsFlagRefsafe, SdfValueTypeNames->Bool,
MjcPhysicsTokens->mjcFlagRefsafe, SdfValueTypeNames->Bool,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsSceneAPI::GetSensorFlagAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsFlagSensor);
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcFlagSensor);
}
UsdAttribute MjcPhysicsSceneAPI::CreateSensorFlagAttr(
VtValue const &defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcPhysicsFlagSensor, SdfValueTypeNames->Bool,
MjcPhysicsTokens->mjcFlagSensor, SdfValueTypeNames->Bool,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsSceneAPI::GetMidPhaseFlagAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsFlagMidphase);
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcFlagMidphase);
}
UsdAttribute MjcPhysicsSceneAPI::CreateMidPhaseFlagAttr(
VtValue const &defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcPhysicsFlagMidphase, SdfValueTypeNames->Bool,
MjcPhysicsTokens->mjcFlagMidphase, SdfValueTypeNames->Bool,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsSceneAPI::GetNativeCCDFlagAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsFlagNativeccd);
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcFlagNativeccd);
}
UsdAttribute MjcPhysicsSceneAPI::CreateNativeCCDFlagAttr(
VtValue const &defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcPhysicsFlagNativeccd, SdfValueTypeNames->Bool,
MjcPhysicsTokens->mjcFlagNativeccd, SdfValueTypeNames->Bool,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsSceneAPI::GetEulerDampFlagAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsFlagEulerdamp);
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcFlagEulerdamp);
}
UsdAttribute MjcPhysicsSceneAPI::CreateEulerDampFlagAttr(
VtValue const &defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcPhysicsFlagEulerdamp, SdfValueTypeNames->Bool,
MjcPhysicsTokens->mjcFlagEulerdamp, SdfValueTypeNames->Bool,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsSceneAPI::GetAutoResetFlagAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsFlagAutoreset);
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcFlagAutoreset);
}
UsdAttribute MjcPhysicsSceneAPI::CreateAutoResetFlagAttr(
VtValue const &defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcPhysicsFlagAutoreset, SdfValueTypeNames->Bool,
MjcPhysicsTokens->mjcFlagAutoreset, SdfValueTypeNames->Bool,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsSceneAPI::GetOverrideFlagAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsFlagOverride);
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcFlagOverride);
}
UsdAttribute MjcPhysicsSceneAPI::CreateOverrideFlagAttr(
VtValue const &defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcPhysicsFlagOverride, SdfValueTypeNames->Bool,
MjcPhysicsTokens->mjcFlagOverride, SdfValueTypeNames->Bool,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsSceneAPI::GetEnergyFlagAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsFlagEnergy);
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcFlagEnergy);
}
UsdAttribute MjcPhysicsSceneAPI::CreateEnergyFlagAttr(
VtValue const &defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcPhysicsFlagEnergy, SdfValueTypeNames->Bool,
MjcPhysicsTokens->mjcFlagEnergy, SdfValueTypeNames->Bool,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsSceneAPI::GetFwdinvFlagAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsFlagFwdinv);
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcFlagFwdinv);
}
UsdAttribute MjcPhysicsSceneAPI::CreateFwdinvFlagAttr(
VtValue const &defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcPhysicsFlagFwdinv, SdfValueTypeNames->Bool,
MjcPhysicsTokens->mjcFlagFwdinv, SdfValueTypeNames->Bool,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsSceneAPI::GetInvDiscreteFlagAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsFlagInvdiscrete);
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcFlagInvdiscrete);
}
UsdAttribute MjcPhysicsSceneAPI::CreateInvDiscreteFlagAttr(
VtValue const &defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcPhysicsFlagInvdiscrete, SdfValueTypeNames->Bool,
MjcPhysicsTokens->mjcFlagInvdiscrete, SdfValueTypeNames->Bool,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsSceneAPI::GetMultiCCDFlagAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsFlagMulticcd);
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcFlagMulticcd);
}
UsdAttribute MjcPhysicsSceneAPI::CreateMultiCCDFlagAttr(
VtValue const &defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcPhysicsFlagMulticcd, SdfValueTypeNames->Bool,
MjcPhysicsTokens->mjcFlagMulticcd, SdfValueTypeNames->Bool,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsSceneAPI::GetIslandFlagAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcPhysicsFlagIsland);
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcFlagIsland);
}
UsdAttribute MjcPhysicsSceneAPI::CreateIslandFlagAttr(
VtValue const &defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcPhysicsFlagIsland, SdfValueTypeNames->Bool,
MjcPhysicsTokens->mjcFlagIsland, SdfValueTypeNames->Bool,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
}
@@ -630,55 +630,55 @@ static inline TfTokenVector _ConcatenateAttributeNames(
const TfTokenVector &MjcPhysicsSceneAPI::GetSchemaAttributeNames(
bool includeInherited) {
static TfTokenVector localNames = {
MjcPhysicsTokens->mjcPhysicsTimestep,
MjcPhysicsTokens->mjcPhysicsApirate,
MjcPhysicsTokens->mjcPhysicsImpratio,
MjcPhysicsTokens->mjcPhysicsWind,
MjcPhysicsTokens->mjcPhysicsMagnetic,
MjcPhysicsTokens->mjcPhysicsDensity,
MjcPhysicsTokens->mjcPhysicsViscosity,
MjcPhysicsTokens->mjcPhysicsO_margin,
MjcPhysicsTokens->mjcPhysicsO_solref,
MjcPhysicsTokens->mjcPhysicsO_solimp,
MjcPhysicsTokens->mjcPhysicsO_friction,
MjcPhysicsTokens->mjcPhysicsIntegrator,
MjcPhysicsTokens->mjcPhysicsCone,
MjcPhysicsTokens->mjcPhysicsJacobian,
MjcPhysicsTokens->mjcPhysicsSolver,
MjcPhysicsTokens->mjcPhysicsIterations,
MjcPhysicsTokens->mjcPhysicsTolerance,
MjcPhysicsTokens->mjcPhysicsLs_iterations,
MjcPhysicsTokens->mjcPhysicsLs_tolerance,
MjcPhysicsTokens->mjcPhysicsNoslip_iterations,
MjcPhysicsTokens->mjcPhysicsNoslip_tolerance,
MjcPhysicsTokens->mjcPhysicsCcd_iterations,
MjcPhysicsTokens->mjcPhysicsCcd_tolerance,
MjcPhysicsTokens->mjcPhysicsSdf_iterations,
MjcPhysicsTokens->mjcPhysicsSdf_initpoints,
MjcPhysicsTokens->mjcPhysicsActuatorgroupdisable,
MjcPhysicsTokens->mjcPhysicsFlagConstraint,
MjcPhysicsTokens->mjcPhysicsFlagEquality,
MjcPhysicsTokens->mjcPhysicsFlagFrictionloss,
MjcPhysicsTokens->mjcPhysicsFlagLimit,
MjcPhysicsTokens->mjcPhysicsFlagContact,
MjcPhysicsTokens->mjcPhysicsFlagPassive,
MjcPhysicsTokens->mjcPhysicsFlagGravity,
MjcPhysicsTokens->mjcPhysicsFlagClampctrl,
MjcPhysicsTokens->mjcPhysicsFlagWarmstart,
MjcPhysicsTokens->mjcPhysicsFlagFilterparent,
MjcPhysicsTokens->mjcPhysicsFlagActuation,
MjcPhysicsTokens->mjcPhysicsFlagRefsafe,
MjcPhysicsTokens->mjcPhysicsFlagSensor,
MjcPhysicsTokens->mjcPhysicsFlagMidphase,
MjcPhysicsTokens->mjcPhysicsFlagNativeccd,
MjcPhysicsTokens->mjcPhysicsFlagEulerdamp,
MjcPhysicsTokens->mjcPhysicsFlagAutoreset,
MjcPhysicsTokens->mjcPhysicsFlagOverride,
MjcPhysicsTokens->mjcPhysicsFlagEnergy,
MjcPhysicsTokens->mjcPhysicsFlagFwdinv,
MjcPhysicsTokens->mjcPhysicsFlagInvdiscrete,
MjcPhysicsTokens->mjcPhysicsFlagMulticcd,
MjcPhysicsTokens->mjcPhysicsFlagIsland,
MjcPhysicsTokens->mjcOptionTimestep,
MjcPhysicsTokens->mjcOptionApirate,
MjcPhysicsTokens->mjcOptionImpratio,
MjcPhysicsTokens->mjcOptionWind,
MjcPhysicsTokens->mjcOptionMagnetic,
MjcPhysicsTokens->mjcOptionDensity,
MjcPhysicsTokens->mjcOptionViscosity,
MjcPhysicsTokens->mjcOptionO_margin,
MjcPhysicsTokens->mjcOptionO_solref,
MjcPhysicsTokens->mjcOptionO_solimp,
MjcPhysicsTokens->mjcOptionO_friction,
MjcPhysicsTokens->mjcOptionIntegrator,
MjcPhysicsTokens->mjcOptionCone,
MjcPhysicsTokens->mjcOptionJacobian,
MjcPhysicsTokens->mjcOptionSolver,
MjcPhysicsTokens->mjcOptionIterations,
MjcPhysicsTokens->mjcOptionTolerance,
MjcPhysicsTokens->mjcOptionLs_iterations,
MjcPhysicsTokens->mjcOptionLs_tolerance,
MjcPhysicsTokens->mjcOptionNoslip_iterations,
MjcPhysicsTokens->mjcOptionNoslip_tolerance,
MjcPhysicsTokens->mjcOptionCcd_iterations,
MjcPhysicsTokens->mjcOptionCcd_tolerance,
MjcPhysicsTokens->mjcOptionSdf_iterations,
MjcPhysicsTokens->mjcOptionSdf_initpoints,
MjcPhysicsTokens->mjcOptionActuatorgroupdisable,
MjcPhysicsTokens->mjcFlagConstraint,
MjcPhysicsTokens->mjcFlagEquality,
MjcPhysicsTokens->mjcFlagFrictionloss,
MjcPhysicsTokens->mjcFlagLimit,
MjcPhysicsTokens->mjcFlagContact,
MjcPhysicsTokens->mjcFlagPassive,
MjcPhysicsTokens->mjcFlagGravity,
MjcPhysicsTokens->mjcFlagClampctrl,
MjcPhysicsTokens->mjcFlagWarmstart,
MjcPhysicsTokens->mjcFlagFilterparent,
MjcPhysicsTokens->mjcFlagActuation,
MjcPhysicsTokens->mjcFlagRefsafe,
MjcPhysicsTokens->mjcFlagSensor,
MjcPhysicsTokens->mjcFlagMidphase,
MjcPhysicsTokens->mjcFlagNativeccd,
MjcPhysicsTokens->mjcFlagEulerdamp,
MjcPhysicsTokens->mjcFlagAutoreset,
MjcPhysicsTokens->mjcFlagOverride,
MjcPhysicsTokens->mjcFlagEnergy,
MjcPhysicsTokens->mjcFlagFwdinv,
MjcPhysicsTokens->mjcFlagInvdiscrete,
MjcPhysicsTokens->mjcFlagMulticcd,
MjcPhysicsTokens->mjcFlagIsland,
};
static TfTokenVector allNames = _ConcatenateAttributeNames(
UsdAPISchemaBase::GetSchemaAttributeNames(true), localNames);
src/experimental/usd/mjcPhysics/sceneAPI.h
+52 -52
View File
@@ -154,7 +154,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double mjc:physics:timestep = 0.002` |
/// | Declaration | `uniform double mjc:option:timestep = 0.002` |
/// | C++ Type | double |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -179,7 +179,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double mjc:physics:apirate = 100` |
/// | Declaration | `uniform double mjc:option:apirate = 100` |
/// | C++ Type | double |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -204,7 +204,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double mjc:physics:impratio = 1` |
/// | Declaration | `uniform double mjc:option:impratio = 1` |
/// | C++ Type | double |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -228,7 +228,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double3 mjc:physics:wind = (0, 0, 0)` |
/// | Declaration | `uniform double3 mjc:option:wind = (0, 0, 0)` |
/// | C++ Type | GfVec3d |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double3 |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -252,7 +252,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double3 mjc:physics:magnetic = (0, -0.5, 0)` |
/// | Declaration | `uniform double3 mjc:option:magnetic = (0, -0.5, 0)` |
/// | C++ Type | GfVec3d |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double3 |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -276,7 +276,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double mjc:physics:density = 0` |
/// | Declaration | `uniform double mjc:option:density = 0` |
/// | C++ Type | double |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -300,7 +300,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double mjc:physics:viscosity = 0` |
/// | Declaration | `uniform double mjc:option:viscosity = 0` |
/// | C++ Type | double |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -325,7 +325,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double mjc:physics:o_margin = 0` |
/// | Declaration | `uniform double mjc:option:o_margin = 0` |
/// | C++ Type | double |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -350,7 +350,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double[] mjc:physics:o_solref = [0.02, 1]` |
/// | Declaration | `uniform double[] mjc:option:o_solref = [0.02, 1]` |
/// | C++ Type | VtArray<double> |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->DoubleArray |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -375,10 +375,10 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double[] mjc:physics:o_solimp = [0.9, 0.95,
/// 0.001, 0.5, 2]` | | C++ Type | VtArray<double> | | \ref Usd_Datatypes "Usd
/// Type" | SdfValueTypeNames->DoubleArray | | \ref SdfVariability
/// "Variability" | SdfVariabilityUniform |
/// | Declaration | `uniform double[] mjc:option:o_solimp = [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 GetOSolImpAttr() const;
@@ -400,7 +400,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double[] mjc:physics:o_friction = [1, 1, 0.005,
/// | Declaration | `uniform double[] mjc:option:o_friction = [1, 1, 0.005,
/// 0.0001, 0.0001]` | | C++ Type | VtArray<double> | | \ref Usd_Datatypes
/// "Usd Type" | SdfValueTypeNames->DoubleArray | | \ref SdfVariability
/// "Variability" | SdfVariabilityUniform |
@@ -424,7 +424,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform token mjc:physics:integrator = "euler"` |
/// | Declaration | `uniform token mjc:option:integrator = "euler"` |
/// | C++ Type | TfToken |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Token |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -450,7 +450,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform token mjc:physics:cone = "pyramidal"` |
/// | Declaration | `uniform token mjc:option:cone = "pyramidal"` |
/// | C++ Type | TfToken |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Token |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -475,7 +475,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform token mjc:physics:jacobian = "auto"` |
/// | Declaration | `uniform token mjc:option:jacobian = "auto"` |
/// | C++ Type | TfToken |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Token |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -500,7 +500,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform token mjc:physics:solver = "newton"` |
/// | Declaration | `uniform token mjc:option:solver = "newton"` |
/// | C++ Type | TfToken |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Token |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -525,7 +525,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform int mjc:physics:iterations = 100` |
/// | Declaration | `uniform int mjc:option:iterations = 100` |
/// | C++ Type | int |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -550,7 +550,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double mjc:physics:tolerance = 1e-8` |
/// | Declaration | `uniform double mjc:option:tolerance = 1e-8` |
/// | C++ Type | double |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -575,7 +575,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform int mjc:physics:ls_iterations = 50` |
/// | Declaration | `uniform int mjc:option:ls_iterations = 50` |
/// | C++ Type | int |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -600,7 +600,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double mjc:physics:ls_tolerance = 0.01` |
/// | Declaration | `uniform double mjc:option:ls_tolerance = 0.01` |
/// | C++ Type | double |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -624,7 +624,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform int mjc:physics:noslip_iterations = 0` |
/// | Declaration | `uniform int mjc:option:noslip_iterations = 0` |
/// | C++ Type | int |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -649,7 +649,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double mjc:physics:noslip_tolerance = 0.000001` |
/// | Declaration | `uniform double mjc:option:noslip_tolerance = 0.000001` |
/// | C++ Type | double |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -674,7 +674,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform int mjc:physics:ccd_iterations = 50` |
/// | Declaration | `uniform int mjc:option:ccd_iterations = 50` |
/// | C++ Type | int |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -699,7 +699,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double mjc:physics:ccd_tolerance = 0.000001` |
/// | Declaration | `uniform double mjc:option:ccd_tolerance = 0.000001` |
/// | C++ Type | double |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -724,7 +724,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform int mjc:physics:sdf_iterations = 10` |
/// | Declaration | `uniform int mjc:option:sdf_iterations = 10` |
/// | C++ Type | int |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -749,7 +749,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform int mjc:physics:sdf_initpoints = 40` |
/// | Declaration | `uniform int mjc:option:sdf_initpoints = 40` |
/// | C++ Type | int |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -773,7 +773,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform int[] mjc:physics:actuatorgroupdisable` |
/// | Declaration | `uniform int[] mjc:option:actuatorgroupdisable` |
/// | C++ Type | VtArray<int> |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->IntArray |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -798,7 +798,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform bool mjc:physics:flag:constraint = 1` |
/// | Declaration | `uniform bool mjc:flag:constraint = 1` |
/// | C++ Type | bool |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -822,7 +822,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform bool mjc:physics:flag:equality = 1` |
/// | Declaration | `uniform bool mjc:flag:equality = 1` |
/// | C++ Type | bool |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -846,7 +846,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform bool mjc:physics:flag:frictionloss = 1` |
/// | Declaration | `uniform bool mjc:flag:frictionloss = 1` |
/// | C++ Type | bool |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -872,7 +872,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform bool mjc:physics:flag:limit = 1` |
/// | Declaration | `uniform bool mjc:flag:limit = 1` |
/// | C++ Type | bool |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -897,7 +897,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform bool mjc:physics:flag:contact = 1` |
/// | Declaration | `uniform bool mjc:flag:contact = 1` |
/// | C++ Type | bool |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -922,7 +922,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform bool mjc:physics:flag:passive = 1` |
/// | Declaration | `uniform bool mjc:flag:passive = 1` |
/// | C++ Type | bool |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -947,7 +947,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform bool mjc:physics:flag:gravity = 1` |
/// | Declaration | `uniform bool mjc:flag:gravity = 1` |
/// | C++ Type | bool |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -972,7 +972,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform bool mjc:physics:flag:clampctrl = 1` |
/// | Declaration | `uniform bool mjc:flag:clampctrl = 1` |
/// | C++ Type | bool |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -997,7 +997,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform bool mjc:physics:flag:warmstart = 1` |
/// | Declaration | `uniform bool mjc:flag:warmstart = 1` |
/// | C++ Type | bool |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -1022,7 +1022,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform bool mjc:physics:flag:filterparent = 1` |
/// | Declaration | `uniform bool mjc:flag:filterparent = 1` |
/// | C++ Type | bool |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -1048,7 +1048,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform bool mjc:physics:flag:actuation = 1` |
/// | Declaration | `uniform bool mjc:flag:actuation = 1` |
/// | C++ Type | bool |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -1073,7 +1073,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform bool mjc:physics:flag:refsafe = 1` |
/// | Declaration | `uniform bool mjc:flag:refsafe = 1` |
/// | C++ Type | bool |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -1097,7 +1097,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform bool mjc:physics:flag:sensor = 1` |
/// | Declaration | `uniform bool mjc:flag:sensor = 1` |
/// | C++ Type | bool |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -1122,7 +1122,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform bool mjc:physics:flag:midphase = 1` |
/// | Declaration | `uniform bool mjc:flag:midphase = 1` |
/// | C++ Type | bool |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -1147,7 +1147,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform bool mjc:physics:flag:nativeccd = 1` |
/// | Declaration | `uniform bool mjc:flag:nativeccd = 1` |
/// | C++ Type | bool |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -1172,7 +1172,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform bool mjc:physics:flag:eulerdamp = 1` |
/// | Declaration | `uniform bool mjc:flag:eulerdamp = 1` |
/// | C++ Type | bool |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -1197,7 +1197,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform bool mjc:physics:flag:autoreset = 1` |
/// | Declaration | `uniform bool mjc:flag:autoreset = 1` |
/// | C++ Type | bool |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -1221,7 +1221,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform bool mjc:physics:flag:override = 0` |
/// | Declaration | `uniform bool mjc:flag:override = 0` |
/// | C++ Type | bool |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -1246,7 +1246,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform bool mjc:physics:flag:energy = 0` |
/// | Declaration | `uniform bool mjc:flag:energy = 0` |
/// | C++ Type | bool |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -1270,7 +1270,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform bool mjc:physics:flag:fwdinv = 0` |
/// | Declaration | `uniform bool mjc:flag:fwdinv = 0` |
/// | C++ Type | bool |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -1295,7 +1295,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform bool mjc:physics:flag:invdiscrete = 0` |
/// | Declaration | `uniform bool mjc:flag:invdiscrete = 0` |
/// | C++ Type | bool |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -1321,7 +1321,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform bool mjc:physics:flag:multiccd = 0` |
/// | Declaration | `uniform bool mjc:flag:multiccd = 0` |
/// | C++ Type | bool |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
@@ -1345,7 +1345,7 @@ class MjcPhysicsSceneAPI : public UsdAPISchemaBase {
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform bool mjc:physics:flag:island = 0` |
/// | Declaration | `uniform bool mjc:flag:island = 0` |
/// | C++ Type | bool |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
src/experimental/usd/mjcPhysics/schema.usda
+49 -49
View File
@@ -99,7 +99,7 @@ class "SceneAPI"
inherits = </APISchemaBase>
)
{
uniform double mjc:physics:timestep = 0.002 (
uniform double mjc:option:timestep = 0.002 (
customData = {
string apiName = "Timestep"
}
@@ -107,7 +107,7 @@ class "SceneAPI"
doc = """Controls the timestep in seconds used by MuJoCo."""
)
uniform double mjc:physics:apirate = 100 (
uniform double mjc:option:apirate = 100 (
customData = {
string apiName = "ApiRate"
}
@@ -116,7 +116,7 @@ class "SceneAPI"
the update function to be executed."""
)
uniform double mjc:physics:impratio = 1.0 (
uniform double mjc:option:impratio = 1.0 (
customData = {
string apiName = "ImpRatio"
}
@@ -125,7 +125,7 @@ class "SceneAPI"
friction cones."""
)
uniform double3 mjc:physics:wind = (0.0, 0.0, 0.0) (
uniform double3 mjc:option:wind = (0.0, 0.0, 0.0) (
customData = {
string apiName = "Wind"
}
@@ -133,7 +133,7 @@ class "SceneAPI"
doc = """Velocity vector of medium (i.e. wind)."""
)
uniform double3 mjc:physics:magnetic = (0.0, -0.5, 0.0) (
uniform double3 mjc:option:magnetic = (0.0, -0.5, 0.0) (
customData = {
string apiName = "Magnetic"
}
@@ -141,7 +141,7 @@ class "SceneAPI"
doc = """Global magnetic flux."""
)
uniform double mjc:physics:density = 0.0 (
uniform double mjc:option:density = 0.0 (
customData = {
string apiName = "Density"
}
@@ -149,7 +149,7 @@ class "SceneAPI"
doc = """Density of medium."""
)
uniform double mjc:physics:viscosity = 0.0 (
uniform double mjc:option:viscosity = 0.0 (
customData = {
string apiName = "Viscosity"
}
@@ -157,7 +157,7 @@ class "SceneAPI"
doc = """Viscosity of medium."""
)
uniform double mjc:physics:o_margin = 0.0 (
uniform double mjc:option:o_margin = 0.0 (
customData = {
string apiName = "OMargin"
}
@@ -166,7 +166,7 @@ class "SceneAPI"
Contact override is enabled."""
)
uniform double[] mjc:physics:o_solref = [0.02, 1.0] (
uniform double[] mjc:option:o_solref = [0.02, 1.0] (
customData = {
string apiName = "OSolRef"
}
@@ -175,7 +175,7 @@ class "SceneAPI"
Contact override is enabled."""
)
uniform double[] mjc:physics:o_solimp = [0.9, 0.95, 0.001, 0.5, 2.0] (
uniform double[] mjc:option:o_solimp = [0.9, 0.95, 0.001, 0.5, 2.0] (
customData = {
string apiName = "OSolImp"
}
@@ -184,7 +184,7 @@ class "SceneAPI"
Contact override is enabled."""
)
uniform double[] mjc:physics:o_friction = [1.0, 1.0, 0.005, 0.0001, 0.0001] (
uniform double[] mjc:option:o_friction = [1.0, 1.0, 0.005, 0.0001, 0.0001] (
customData = {
string apiName = "OFriction"
}
@@ -193,7 +193,7 @@ class "SceneAPI"
Contact override is enabled."""
)
uniform token mjc:physics:integrator = "euler" (
uniform token mjc:option:integrator = "euler" (
allowedTokens = ["euler", "rk4", "implicit", "implicitfast"]
customData = {
string apiName = "Integrator"
@@ -202,7 +202,7 @@ class "SceneAPI"
doc = """Numerical integrator to be used."""
)
uniform token mjc:physics:cone = "pyramidal" (
uniform token mjc:option:cone = "pyramidal" (
allowedTokens = ["pyramidal", "elliptic"]
customData = {
string apiName = "Cone"
@@ -211,7 +211,7 @@ class "SceneAPI"
doc = """The type of contact friction cone."""
)
uniform token mjc:physics:jacobian = "auto" (
uniform token mjc:option:jacobian = "auto" (
allowedTokens = ["auto", "dense", "sparse"]
customData = {
string apiName = "Jacobian"
@@ -220,7 +220,7 @@ class "SceneAPI"
doc = """The type of constraint Jacobian and matrices computed from it."""
)
uniform token mjc:physics:solver = "newton" (
uniform token mjc:option:solver = "newton" (
allowedTokens = ["pgs", "cg", "newton"]
customData = {
string apiName = "Solver"
@@ -229,7 +229,7 @@ class "SceneAPI"
doc = """Constraint solver algorithm to be used."""
)
uniform int mjc:physics:iterations = 100 (
uniform int mjc:option:iterations = 100 (
customData = {
string apiName = "Iterations"
}
@@ -237,7 +237,7 @@ class "SceneAPI"
doc = """Maximum number of iterations of the constraint solver."""
)
uniform double mjc:physics:tolerance = 1e-08 (
uniform double mjc:option:tolerance = 1e-08 (
customData = {
string apiName = "Tolerance"
}
@@ -246,7 +246,7 @@ class "SceneAPI"
solver."""
)
uniform int mjc:physics:ls_iterations = 50 (
uniform int mjc:option:ls_iterations = 50 (
customData = {
string apiName = "LSIterations"
}
@@ -255,7 +255,7 @@ class "SceneAPI"
constraint solvers."""
)
uniform double mjc:physics:ls_tolerance = 0.01 (
uniform double mjc:option:ls_tolerance = 0.01 (
customData = {
string apiName = "LSTolerance"
}
@@ -263,7 +263,7 @@ class "SceneAPI"
doc = """Tolerance threshold used for early termination of the linesearch algorithm."""
)
uniform int mjc:physics:noslip_iterations = 0 (
uniform int mjc:option:noslip_iterations = 0 (
customData = {
string apiName = "NoslipIterations"
}
@@ -271,7 +271,7 @@ class "SceneAPI"
doc = """Maximum number of iterations of the Noslip solver."""
)
uniform double mjc:physics:noslip_tolerance = 1e-06 (
uniform double mjc:option:noslip_tolerance = 1e-06 (
customData = {
string apiName = "NoslipTolerance"
}
@@ -279,7 +279,7 @@ class "SceneAPI"
doc = """Tolerance threshold used for early termination of the Noslip solver."""
)
uniform int mjc:physics:ccd_iterations = 50 (
uniform int mjc:option:ccd_iterations = 50 (
customData = {
string apiName = "CCDIterations"
}
@@ -287,7 +287,7 @@ class "SceneAPI"
doc = """Maximum number of iterations of the algorithm used for convex collisions."""
)
uniform double mjc:physics:ccd_tolerance = 1e-06 (
uniform double mjc:option:ccd_tolerance = 1e-06 (
customData = {
string apiName = "CCDTolerance"
}
@@ -296,7 +296,7 @@ class "SceneAPI"
collision algorithm."""
)
uniform int mjc:physics:sdf_iterations = 10 (
uniform int mjc:option:sdf_iterations = 10 (
customData = {
string apiName = "SDFIterations"
}
@@ -305,7 +305,7 @@ class "SceneAPI"
(per initial point)."""
)
uniform int mjc:physics:sdf_initpoints = 40 (
uniform int mjc:option:sdf_initpoints = 40 (
customData = {
string apiName = "SDFInitPoints"
}
@@ -314,7 +314,7 @@ class "SceneAPI"
Distance Field collisions."""
)
uniform int[] mjc:physics:actuatorgroupdisable (
uniform int[] mjc:option:actuatorgroupdisable (
customData = {
string apiName = "ActuatorGroupDisable"
}
@@ -322,7 +322,7 @@ class "SceneAPI"
doc = """List of actuator groups to disable."""
)
uniform bool mjc:physics:flag:constraint = True (
uniform bool mjc:flag:constraint = True (
customData = {
string apiName = "ConstraintFlag"
}
@@ -330,7 +330,7 @@ class "SceneAPI"
doc = """Enables constraint solver."""
)
uniform bool mjc:physics:flag:equality = True (
uniform bool mjc:flag:equality = True (
customData = {
string apiName = "EqualityFlag"
}
@@ -338,7 +338,7 @@ class "SceneAPI"
doc = """Enables all standard computations related to equality constraints."""
)
uniform bool mjc:physics:flag:frictionloss = True (
uniform bool mjc:flag:frictionloss = True (
customData = {
string apiName = "FrictionLossFlag"
}
@@ -346,7 +346,7 @@ class "SceneAPI"
doc = """Enables all standard computations related to friction loss constraints."""
)
uniform bool mjc:physics:flag:limit = True (
uniform bool mjc:flag:limit = True (
customData = {
string apiName = "LimitFlag"
}
@@ -354,7 +354,7 @@ class "SceneAPI"
doc = """Enables all standard computations related to joint and tendon limit constraints."""
)
uniform bool mjc:physics:flag:contact = True (
uniform bool mjc:flag:contact = True (
customData = {
string apiName = "ContactFlag"
}
@@ -362,7 +362,7 @@ class "SceneAPI"
doc = """Enables collision detection and all standard computations related to contact constraints."""
)
uniform bool mjc:physics:flag:passive = True (
uniform bool mjc:flag:passive = True (
customData = {
string apiName = "PassiveFlag"
}
@@ -370,7 +370,7 @@ class "SceneAPI"
doc = """Enables the simulation of joint and tendon spring-dampers, fluid dynamics forces, and custom passive forces."""
)
uniform bool mjc:physics:flag:gravity = True (
uniform bool mjc:flag:gravity = True (
customData = {
string apiName = "GravityFlag"
}
@@ -378,7 +378,7 @@ class "SceneAPI"
doc = """Enables the application of gravitational acceleration as defined in mjOption."""
)
uniform bool mjc:physics:flag:clampctrl = True (
uniform bool mjc:flag:clampctrl = True (
customData = {
string apiName = "ClampCtrlFlag"
}
@@ -386,7 +386,7 @@ class "SceneAPI"
doc = """Enables the clamping of control inputs to all actuators, according to actuator-specific attributes."""
)
uniform bool mjc:physics:flag:warmstart = True (
uniform bool mjc:flag:warmstart = True (
customData = {
string apiName = "WarmStartFlag"
}
@@ -394,7 +394,7 @@ class "SceneAPI"
doc = """Enables warm-starting of the constraint solver, using the solution from the previous time step to initialize the iterative optimization."""
)
uniform bool mjc:physics:flag:filterparent = True (
uniform bool mjc:flag:filterparent = True (
customData = {
string apiName = "FilterParentFlag"
}
@@ -402,7 +402,7 @@ class "SceneAPI"
doc = """Enables the filtering of contact pairs where the two geoms belong to a parent and child body."""
)
uniform bool mjc:physics:flag:actuation = True (
uniform bool mjc:flag:actuation = True (
customData = {
string apiName = "ActuationFlag"
}
@@ -410,7 +410,7 @@ class "SceneAPI"
doc = """Enables all standard computations related to actuator forces, including actuator dynamics."""
)
uniform bool mjc:physics:flag:refsafe = True (
uniform bool mjc:flag:refsafe = True (
customData = {
string apiName = "RefSafeFlag"
}
@@ -418,7 +418,7 @@ class "SceneAPI"
doc = """Enables a safety mechanism that prevents instabilities due to solref[0] being too small compared to the simulation timestep."""
)
uniform bool mjc:physics:flag:sensor = True (
uniform bool mjc:flag:sensor = True (
customData = {
string apiName = "SensorFlag"
}
@@ -426,7 +426,7 @@ class "SceneAPI"
doc = """Enables all computations related to sensors."""
)
uniform bool mjc:physics:flag:midphase = True (
uniform bool mjc:flag:midphase = True (
customData = {
string apiName = "MidPhaseFlag"
}
@@ -434,7 +434,7 @@ class "SceneAPI"
doc = """Enables mid-phase collision filtering using a static AABB bounding volume hierarchy (BVH)."""
)
uniform bool mjc:physics:flag:nativeccd = True (
uniform bool mjc:flag:nativeccd = True (
customData = {
string apiName = "NativeCCDFlag"
}
@@ -442,7 +442,7 @@ class "SceneAPI"
doc = """Enables the native convex collision detection pipeline instead of using the libccd library."""
)
uniform bool mjc:physics:flag:eulerdamp = True (
uniform bool mjc:flag:eulerdamp = True (
customData = {
string apiName = "EulerDampFlag"
}
@@ -450,7 +450,7 @@ class "SceneAPI"
doc = """Enables implicit integration with respect to joint damping in the Euler integrator."""
)
uniform bool mjc:physics:flag:autoreset = True (
uniform bool mjc:flag:autoreset = True (
customData = {
string apiName = "AutoResetFlag"
}
@@ -458,7 +458,7 @@ class "SceneAPI"
doc = """Enables the automatic resetting of the simulation state when numerical issues are detected."""
)
uniform bool mjc:physics:flag:override = False (
uniform bool mjc:flag:override = False (
customData = {
string apiName = "OverrideFlag"
}
@@ -466,7 +466,7 @@ class "SceneAPI"
doc = """Enables the contact override mechanism."""
)
uniform bool mjc:physics:flag:energy = False (
uniform bool mjc:flag:energy = False (
customData = {
string apiName = "EnergyFlag"
}
@@ -474,7 +474,7 @@ class "SceneAPI"
doc = """Enables the computation of potential and kinetic energy (mjData.energy[0,1])."""
)
uniform bool mjc:physics:flag:fwdinv = False (
uniform bool mjc:flag:fwdinv = False (
customData = {
string apiName = "FwdinvFlag"
}
@@ -482,7 +482,7 @@ class "SceneAPI"
doc = """Enables the automatic comparison of forward and inverse dynamics."""
)
uniform bool mjc:physics:flag:invdiscrete = False (
uniform bool mjc:flag:invdiscrete = False (
customData = {
string apiName = "InvDiscreteFlag"
}
@@ -490,7 +490,7 @@ class "SceneAPI"
doc = """Enables discrete-time inverse dynamics with mj_inverse for integrators other than RK4."""
)
uniform bool mjc:physics:flag:multiccd = False (
uniform bool mjc:flag:multiccd = False (
customData = {
string apiName = "MultiCCDFlag"
}
@@ -498,7 +498,7 @@ class "SceneAPI"
doc = """Enables multiple-contact collision detection for geom pairs using a general-purpose convex-convex collider."""
)
uniform bool mjc:physics:flag:island = False (
uniform bool mjc:flag:island = False (
customData = {
string apiName = "IslandFlag"
}
src/experimental/usd/mjcPhysics/tokens.cpp
+99 -103
View File
@@ -24,62 +24,58 @@ MjcPhysicsTokensType::MjcPhysicsTokensType()
euler("euler", TfToken::Immortal),
implicit("implicit", TfToken::Immortal),
implicitfast("implicitfast", TfToken::Immortal),
mjcPhysicsActuatorgroupdisable("mjc:physics:actuatorgroupdisable",
TfToken::Immortal),
mjcPhysicsApirate("mjc:physics:apirate", TfToken::Immortal),
mjcPhysicsCcd_iterations("mjc:physics:ccd_iterations", TfToken::Immortal),
mjcPhysicsCcd_tolerance("mjc:physics:ccd_tolerance", TfToken::Immortal),
mjcPhysicsCone("mjc:physics:cone", TfToken::Immortal),
mjcPhysicsDensity("mjc:physics:density", TfToken::Immortal),
mjcPhysicsFlagActuation("mjc:physics:flag:actuation", TfToken::Immortal),
mjcPhysicsFlagAutoreset("mjc:physics:flag:autoreset", TfToken::Immortal),
mjcPhysicsFlagClampctrl("mjc:physics:flag:clampctrl", TfToken::Immortal),
mjcPhysicsFlagConstraint("mjc:physics:flag:constraint",
TfToken::Immortal),
mjcPhysicsFlagContact("mjc:physics:flag:contact", TfToken::Immortal),
mjcPhysicsFlagEnergy("mjc:physics:flag:energy", TfToken::Immortal),
mjcPhysicsFlagEquality("mjc:physics:flag:equality", TfToken::Immortal),
mjcPhysicsFlagEulerdamp("mjc:physics:flag:eulerdamp", TfToken::Immortal),
mjcPhysicsFlagFilterparent("mjc:physics:flag:filterparent",
mjcFlagActuation("mjc:flag:actuation", TfToken::Immortal),
mjcFlagAutoreset("mjc:flag:autoreset", TfToken::Immortal),
mjcFlagClampctrl("mjc:flag:clampctrl", TfToken::Immortal),
mjcFlagConstraint("mjc:flag:constraint", TfToken::Immortal),
mjcFlagContact("mjc:flag:contact", TfToken::Immortal),
mjcFlagEnergy("mjc:flag:energy", TfToken::Immortal),
mjcFlagEquality("mjc:flag:equality", TfToken::Immortal),
mjcFlagEulerdamp("mjc:flag:eulerdamp", TfToken::Immortal),
mjcFlagFilterparent("mjc:flag:filterparent", TfToken::Immortal),
mjcFlagFrictionloss("mjc:flag:frictionloss", TfToken::Immortal),
mjcFlagFwdinv("mjc:flag:fwdinv", TfToken::Immortal),
mjcFlagGravity("mjc:flag:gravity", TfToken::Immortal),
mjcFlagInvdiscrete("mjc:flag:invdiscrete", TfToken::Immortal),
mjcFlagIsland("mjc:flag:island", TfToken::Immortal),
mjcFlagLimit("mjc:flag:limit", TfToken::Immortal),
mjcFlagMidphase("mjc:flag:midphase", TfToken::Immortal),
mjcFlagMulticcd("mjc:flag:multiccd", TfToken::Immortal),
mjcFlagNativeccd("mjc:flag:nativeccd", TfToken::Immortal),
mjcFlagOverride("mjc:flag:override", TfToken::Immortal),
mjcFlagPassive("mjc:flag:passive", TfToken::Immortal),
mjcFlagRefsafe("mjc:flag:refsafe", TfToken::Immortal),
mjcFlagSensor("mjc:flag:sensor", TfToken::Immortal),
mjcFlagWarmstart("mjc:flag:warmstart", TfToken::Immortal),
mjcOptionActuatorgroupdisable("mjc:option:actuatorgroupdisable",
TfToken::Immortal),
mjcOptionApirate("mjc:option:apirate", TfToken::Immortal),
mjcOptionCcd_iterations("mjc:option:ccd_iterations", TfToken::Immortal),
mjcOptionCcd_tolerance("mjc:option:ccd_tolerance", TfToken::Immortal),
mjcOptionCone("mjc:option:cone", TfToken::Immortal),
mjcOptionDensity("mjc:option:density", TfToken::Immortal),
mjcOptionImpratio("mjc:option:impratio", TfToken::Immortal),
mjcOptionIntegrator("mjc:option:integrator", TfToken::Immortal),
mjcOptionIterations("mjc:option:iterations", TfToken::Immortal),
mjcOptionJacobian("mjc:option:jacobian", TfToken::Immortal),
mjcOptionLs_iterations("mjc:option:ls_iterations", TfToken::Immortal),
mjcOptionLs_tolerance("mjc:option:ls_tolerance", TfToken::Immortal),
mjcOptionMagnetic("mjc:option:magnetic", TfToken::Immortal),
mjcOptionNoslip_iterations("mjc:option:noslip_iterations",
TfToken::Immortal),
mjcPhysicsFlagFrictionloss("mjc:physics:flag:frictionloss",
TfToken::Immortal),
mjcPhysicsFlagFwdinv("mjc:physics:flag:fwdinv", TfToken::Immortal),
mjcPhysicsFlagGravity("mjc:physics:flag:gravity", TfToken::Immortal),
mjcPhysicsFlagInvdiscrete("mjc:physics:flag:invdiscrete",
mjcOptionNoslip_tolerance("mjc:option:noslip_tolerance",
TfToken::Immortal),
mjcPhysicsFlagIsland("mjc:physics:flag:island", TfToken::Immortal),
mjcPhysicsFlagLimit("mjc:physics:flag:limit", TfToken::Immortal),
mjcPhysicsFlagMidphase("mjc:physics:flag:midphase", TfToken::Immortal),
mjcPhysicsFlagMulticcd("mjc:physics:flag:multiccd", TfToken::Immortal),
mjcPhysicsFlagNativeccd("mjc:physics:flag:nativeccd", TfToken::Immortal),
mjcPhysicsFlagOverride("mjc:physics:flag:override", TfToken::Immortal),
mjcPhysicsFlagPassive("mjc:physics:flag:passive", TfToken::Immortal),
mjcPhysicsFlagRefsafe("mjc:physics:flag:refsafe", TfToken::Immortal),
mjcPhysicsFlagSensor("mjc:physics:flag:sensor", TfToken::Immortal),
mjcPhysicsFlagWarmstart("mjc:physics:flag:warmstart", TfToken::Immortal),
mjcPhysicsImpratio("mjc:physics:impratio", TfToken::Immortal),
mjcPhysicsIntegrator("mjc:physics:integrator", TfToken::Immortal),
mjcPhysicsIterations("mjc:physics:iterations", TfToken::Immortal),
mjcPhysicsJacobian("mjc:physics:jacobian", TfToken::Immortal),
mjcPhysicsLs_iterations("mjc:physics:ls_iterations", TfToken::Immortal),
mjcPhysicsLs_tolerance("mjc:physics:ls_tolerance", TfToken::Immortal),
mjcPhysicsMagnetic("mjc:physics:magnetic", TfToken::Immortal),
mjcPhysicsNoslip_iterations("mjc:physics:noslip_iterations",
TfToken::Immortal),
mjcPhysicsNoslip_tolerance("mjc:physics:noslip_tolerance",
TfToken::Immortal),
mjcPhysicsO_friction("mjc:physics:o_friction", TfToken::Immortal),
mjcPhysicsO_margin("mjc:physics:o_margin", TfToken::Immortal),
mjcPhysicsO_solimp("mjc:physics:o_solimp", TfToken::Immortal),
mjcPhysicsO_solref("mjc:physics:o_solref", TfToken::Immortal),
mjcPhysicsSdf_initpoints("mjc:physics:sdf_initpoints", TfToken::Immortal),
mjcPhysicsSdf_iterations("mjc:physics:sdf_iterations", TfToken::Immortal),
mjcPhysicsSolver("mjc:physics:solver", TfToken::Immortal),
mjcPhysicsTimestep("mjc:physics:timestep", TfToken::Immortal),
mjcPhysicsTolerance("mjc:physics:tolerance", TfToken::Immortal),
mjcPhysicsViscosity("mjc:physics:viscosity", TfToken::Immortal),
mjcPhysicsWind("mjc:physics:wind", TfToken::Immortal),
mjcOptionO_friction("mjc:option:o_friction", TfToken::Immortal),
mjcOptionO_margin("mjc:option:o_margin", TfToken::Immortal),
mjcOptionO_solimp("mjc:option:o_solimp", TfToken::Immortal),
mjcOptionO_solref("mjc:option:o_solref", TfToken::Immortal),
mjcOptionSdf_initpoints("mjc:option:sdf_initpoints", TfToken::Immortal),
mjcOptionSdf_iterations("mjc:option:sdf_iterations", TfToken::Immortal),
mjcOptionSolver("mjc:option:solver", TfToken::Immortal),
mjcOptionTimestep("mjc:option:timestep", TfToken::Immortal),
mjcOptionTolerance("mjc:option:tolerance", TfToken::Immortal),
mjcOptionViscosity("mjc:option:viscosity", TfToken::Immortal),
mjcOptionWind("mjc:option:wind", TfToken::Immortal),
newton("newton", TfToken::Immortal),
pgs("pgs", TfToken::Immortal),
pyramidal("pyramidal", TfToken::Immortal),
@@ -94,55 +90,55 @@ MjcPhysicsTokensType::MjcPhysicsTokensType()
euler,
implicit,
implicitfast,
mjcPhysicsActuatorgroupdisable,
mjcPhysicsApirate,
mjcPhysicsCcd_iterations,
mjcPhysicsCcd_tolerance,
mjcPhysicsCone,
mjcPhysicsDensity,
mjcPhysicsFlagActuation,
mjcPhysicsFlagAutoreset,
mjcPhysicsFlagClampctrl,
mjcPhysicsFlagConstraint,
mjcPhysicsFlagContact,
mjcPhysicsFlagEnergy,
mjcPhysicsFlagEquality,
mjcPhysicsFlagEulerdamp,
mjcPhysicsFlagFilterparent,
mjcPhysicsFlagFrictionloss,
mjcPhysicsFlagFwdinv,
mjcPhysicsFlagGravity,
mjcPhysicsFlagInvdiscrete,
mjcPhysicsFlagIsland,
mjcPhysicsFlagLimit,
mjcPhysicsFlagMidphase,
mjcPhysicsFlagMulticcd,
mjcPhysicsFlagNativeccd,
mjcPhysicsFlagOverride,
mjcPhysicsFlagPassive,
mjcPhysicsFlagRefsafe,
mjcPhysicsFlagSensor,
mjcPhysicsFlagWarmstart,
mjcPhysicsImpratio,
mjcPhysicsIntegrator,
mjcPhysicsIterations,
mjcPhysicsJacobian,
mjcPhysicsLs_iterations,
mjcPhysicsLs_tolerance,
mjcPhysicsMagnetic,
mjcPhysicsNoslip_iterations,
mjcPhysicsNoslip_tolerance,
mjcPhysicsO_friction,
mjcPhysicsO_margin,
mjcPhysicsO_solimp,
mjcPhysicsO_solref,
mjcPhysicsSdf_initpoints,
mjcPhysicsSdf_iterations,
mjcPhysicsSolver,
mjcPhysicsTimestep,
mjcPhysicsTolerance,
mjcPhysicsViscosity,
mjcPhysicsWind,
mjcFlagActuation,
mjcFlagAutoreset,
mjcFlagClampctrl,
mjcFlagConstraint,
mjcFlagContact,
mjcFlagEnergy,
mjcFlagEquality,
mjcFlagEulerdamp,
mjcFlagFilterparent,
mjcFlagFrictionloss,
mjcFlagFwdinv,
mjcFlagGravity,
mjcFlagInvdiscrete,
mjcFlagIsland,
mjcFlagLimit,
mjcFlagMidphase,
mjcFlagMulticcd,
mjcFlagNativeccd,
mjcFlagOverride,
mjcFlagPassive,
mjcFlagRefsafe,
mjcFlagSensor,
mjcFlagWarmstart,
mjcOptionActuatorgroupdisable,
mjcOptionApirate,
mjcOptionCcd_iterations,
mjcOptionCcd_tolerance,
mjcOptionCone,
mjcOptionDensity,
mjcOptionImpratio,
mjcOptionIntegrator,
mjcOptionIterations,
mjcOptionJacobian,
mjcOptionLs_iterations,
mjcOptionLs_tolerance,
mjcOptionMagnetic,
mjcOptionNoslip_iterations,
mjcOptionNoslip_tolerance,
mjcOptionO_friction,
mjcOptionO_margin,
mjcOptionO_solimp,
mjcOptionO_solref,
mjcOptionSdf_initpoints,
mjcOptionSdf_iterations,
mjcOptionSolver,
mjcOptionTimestep,
mjcOptionTolerance,
mjcOptionViscosity,
mjcOptionWind,
newton,
pgs,
pyramidal,
src/experimental/usd/mjcPhysics/tokens.h
+98 -98
View File
@@ -88,202 +88,202 @@ struct MjcPhysicsTokensType {
/// Possible value for MjcPhysicsSceneAPI::GetIntegratorAttr(), This token
/// represents the implicitfast numerical integrator.
const TfToken implicitfast;
/// \brief "mjc:physics:actuatorgroupdisable"
/// \brief "mjc:flag:actuation"
///
/// MjcPhysicsSceneAPI
const TfToken mjcPhysicsActuatorgroupdisable;
/// \brief "mjc:physics:apirate"
const TfToken mjcFlagActuation;
/// \brief "mjc:flag:autoreset"
///
/// MjcPhysicsSceneAPI
const TfToken mjcPhysicsApirate;
/// \brief "mjc:physics:ccd_iterations"
const TfToken mjcFlagAutoreset;
/// \brief "mjc:flag:clampctrl"
///
/// MjcPhysicsSceneAPI
const TfToken mjcPhysicsCcd_iterations;
/// \brief "mjc:physics:ccd_tolerance"
const TfToken mjcFlagClampctrl;
/// \brief "mjc:flag:constraint"
///
/// MjcPhysicsSceneAPI
const TfToken mjcPhysicsCcd_tolerance;
/// \brief "mjc:physics:cone"
const TfToken mjcFlagConstraint;
/// \brief "mjc:flag:contact"
///
/// MjcPhysicsSceneAPI
const TfToken mjcPhysicsCone;
/// \brief "mjc:physics:density"
const TfToken mjcFlagContact;
/// \brief "mjc:flag:energy"
///
/// MjcPhysicsSceneAPI
const TfToken mjcPhysicsDensity;
/// \brief "mjc:physics:flag:actuation"
const TfToken mjcFlagEnergy;
/// \brief "mjc:flag:equality"
///
/// MjcPhysicsSceneAPI
const TfToken mjcPhysicsFlagActuation;
/// \brief "mjc:physics:flag:autoreset"
const TfToken mjcFlagEquality;
/// \brief "mjc:flag:eulerdamp"
///
/// MjcPhysicsSceneAPI
const TfToken mjcPhysicsFlagAutoreset;
/// \brief "mjc:physics:flag:clampctrl"
const TfToken mjcFlagEulerdamp;
/// \brief "mjc:flag:filterparent"
///
/// MjcPhysicsSceneAPI
const TfToken mjcPhysicsFlagClampctrl;
/// \brief "mjc:physics:flag:constraint"
const TfToken mjcFlagFilterparent;
/// \brief "mjc:flag:frictionloss"
///
/// MjcPhysicsSceneAPI
const TfToken mjcPhysicsFlagConstraint;
/// \brief "mjc:physics:flag:contact"
const TfToken mjcFlagFrictionloss;
/// \brief "mjc:flag:fwdinv"
///
/// MjcPhysicsSceneAPI
const TfToken mjcPhysicsFlagContact;
/// \brief "mjc:physics:flag:energy"
const TfToken mjcFlagFwdinv;
/// \brief "mjc:flag:gravity"
///
/// MjcPhysicsSceneAPI
const TfToken mjcPhysicsFlagEnergy;
/// \brief "mjc:physics:flag:equality"
const TfToken mjcFlagGravity;
/// \brief "mjc:flag:invdiscrete"
///
/// MjcPhysicsSceneAPI
const TfToken mjcPhysicsFlagEquality;
/// \brief "mjc:physics:flag:eulerdamp"
const TfToken mjcFlagInvdiscrete;
/// \brief "mjc:flag:island"
///
/// MjcPhysicsSceneAPI
const TfToken mjcPhysicsFlagEulerdamp;
/// \brief "mjc:physics:flag:filterparent"
const TfToken mjcFlagIsland;
/// \brief "mjc:flag:limit"
///
/// MjcPhysicsSceneAPI
const TfToken mjcPhysicsFlagFilterparent;
/// \brief "mjc:physics:flag:frictionloss"
const TfToken mjcFlagLimit;
/// \brief "mjc:flag:midphase"
///
/// MjcPhysicsSceneAPI
const TfToken mjcPhysicsFlagFrictionloss;
/// \brief "mjc:physics:flag:fwdinv"
const TfToken mjcFlagMidphase;
/// \brief "mjc:flag:multiccd"
///
/// MjcPhysicsSceneAPI
const TfToken mjcPhysicsFlagFwdinv;
/// \brief "mjc:physics:flag:gravity"
const TfToken mjcFlagMulticcd;
/// \brief "mjc:flag:nativeccd"
///
/// MjcPhysicsSceneAPI
const TfToken mjcPhysicsFlagGravity;
/// \brief "mjc:physics:flag:invdiscrete"
const TfToken mjcFlagNativeccd;
/// \brief "mjc:flag:override"
///
/// MjcPhysicsSceneAPI
const TfToken mjcPhysicsFlagInvdiscrete;
/// \brief "mjc:physics:flag:island"
const TfToken mjcFlagOverride;
/// \brief "mjc:flag:passive"
///
/// MjcPhysicsSceneAPI
const TfToken mjcPhysicsFlagIsland;
/// \brief "mjc:physics:flag:limit"
const TfToken mjcFlagPassive;
/// \brief "mjc:flag:refsafe"
///
/// MjcPhysicsSceneAPI
const TfToken mjcPhysicsFlagLimit;
/// \brief "mjc:physics:flag:midphase"
const TfToken mjcFlagRefsafe;
/// \brief "mjc:flag:sensor"
///
/// MjcPhysicsSceneAPI
const TfToken mjcPhysicsFlagMidphase;
/// \brief "mjc:physics:flag:multiccd"
const TfToken mjcFlagSensor;
/// \brief "mjc:flag:warmstart"
///
/// MjcPhysicsSceneAPI
const TfToken mjcPhysicsFlagMulticcd;
/// \brief "mjc:physics:flag:nativeccd"
const TfToken mjcFlagWarmstart;
/// \brief "mjc:option:actuatorgroupdisable"
///
/// MjcPhysicsSceneAPI
const TfToken mjcPhysicsFlagNativeccd;
/// \brief "mjc:physics:flag:override"
const TfToken mjcOptionActuatorgroupdisable;
/// \brief "mjc:option:apirate"
///
/// MjcPhysicsSceneAPI
const TfToken mjcPhysicsFlagOverride;
/// \brief "mjc:physics:flag:passive"
const TfToken mjcOptionApirate;
/// \brief "mjc:option:ccd_iterations"
///
/// MjcPhysicsSceneAPI
const TfToken mjcPhysicsFlagPassive;
/// \brief "mjc:physics:flag:refsafe"
const TfToken mjcOptionCcd_iterations;
/// \brief "mjc:option:ccd_tolerance"
///
/// MjcPhysicsSceneAPI
const TfToken mjcPhysicsFlagRefsafe;
/// \brief "mjc:physics:flag:sensor"
const TfToken mjcOptionCcd_tolerance;
/// \brief "mjc:option:cone"
///
/// MjcPhysicsSceneAPI
const TfToken mjcPhysicsFlagSensor;
/// \brief "mjc:physics:flag:warmstart"
const TfToken mjcOptionCone;
/// \brief "mjc:option:density"
///
/// MjcPhysicsSceneAPI
const TfToken mjcPhysicsFlagWarmstart;
/// \brief "mjc:physics:impratio"
const TfToken mjcOptionDensity;
/// \brief "mjc:option:impratio"
///
/// MjcPhysicsSceneAPI
const TfToken mjcPhysicsImpratio;
/// \brief "mjc:physics:integrator"
const TfToken mjcOptionImpratio;
/// \brief "mjc:option:integrator"
///
/// MjcPhysicsSceneAPI
const TfToken mjcPhysicsIntegrator;
/// \brief "mjc:physics:iterations"
const TfToken mjcOptionIntegrator;
/// \brief "mjc:option:iterations"
///
/// MjcPhysicsSceneAPI
const TfToken mjcPhysicsIterations;
/// \brief "mjc:physics:jacobian"
const TfToken mjcOptionIterations;
/// \brief "mjc:option:jacobian"
///
/// MjcPhysicsSceneAPI
const TfToken mjcPhysicsJacobian;
/// \brief "mjc:physics:ls_iterations"
const TfToken mjcOptionJacobian;
/// \brief "mjc:option:ls_iterations"
///
/// MjcPhysicsSceneAPI
const TfToken mjcPhysicsLs_iterations;
/// \brief "mjc:physics:ls_tolerance"
const TfToken mjcOptionLs_iterations;
/// \brief "mjc:option:ls_tolerance"
///
/// MjcPhysicsSceneAPI
const TfToken mjcPhysicsLs_tolerance;
/// \brief "mjc:physics:magnetic"
const TfToken mjcOptionLs_tolerance;
/// \brief "mjc:option:magnetic"
///
/// MjcPhysicsSceneAPI
const TfToken mjcPhysicsMagnetic;
/// \brief "mjc:physics:noslip_iterations"
const TfToken mjcOptionMagnetic;
/// \brief "mjc:option:noslip_iterations"
///
/// MjcPhysicsSceneAPI
const TfToken mjcPhysicsNoslip_iterations;
/// \brief "mjc:physics:noslip_tolerance"
const TfToken mjcOptionNoslip_iterations;
/// \brief "mjc:option:noslip_tolerance"
///
/// MjcPhysicsSceneAPI
const TfToken mjcPhysicsNoslip_tolerance;
/// \brief "mjc:physics:o_friction"
const TfToken mjcOptionNoslip_tolerance;
/// \brief "mjc:option:o_friction"
///
/// MjcPhysicsSceneAPI
const TfToken mjcPhysicsO_friction;
/// \brief "mjc:physics:o_margin"
const TfToken mjcOptionO_friction;
/// \brief "mjc:option:o_margin"
///
/// MjcPhysicsSceneAPI
const TfToken mjcPhysicsO_margin;
/// \brief "mjc:physics:o_solimp"
const TfToken mjcOptionO_margin;
/// \brief "mjc:option:o_solimp"
///
/// MjcPhysicsSceneAPI
const TfToken mjcPhysicsO_solimp;
/// \brief "mjc:physics:o_solref"
const TfToken mjcOptionO_solimp;
/// \brief "mjc:option:o_solref"
///
/// MjcPhysicsSceneAPI
const TfToken mjcPhysicsO_solref;
/// \brief "mjc:physics:sdf_initpoints"
const TfToken mjcOptionO_solref;
/// \brief "mjc:option:sdf_initpoints"
///
/// MjcPhysicsSceneAPI
const TfToken mjcPhysicsSdf_initpoints;
/// \brief "mjc:physics:sdf_iterations"
const TfToken mjcOptionSdf_initpoints;
/// \brief "mjc:option:sdf_iterations"
///
/// MjcPhysicsSceneAPI
const TfToken mjcPhysicsSdf_iterations;
/// \brief "mjc:physics:solver"
const TfToken mjcOptionSdf_iterations;
/// \brief "mjc:option:solver"
///
/// MjcPhysicsSceneAPI
const TfToken mjcPhysicsSolver;
/// \brief "mjc:physics:timestep"
const TfToken mjcOptionSolver;
/// \brief "mjc:option:timestep"
///
/// MjcPhysicsSceneAPI
const TfToken mjcPhysicsTimestep;
/// \brief "mjc:physics:tolerance"
const TfToken mjcOptionTimestep;
/// \brief "mjc:option:tolerance"
///
/// MjcPhysicsSceneAPI
const TfToken mjcPhysicsTolerance;
/// \brief "mjc:physics:viscosity"
const TfToken mjcOptionTolerance;
/// \brief "mjc:option:viscosity"
///
/// MjcPhysicsSceneAPI
const TfToken mjcPhysicsViscosity;
/// \brief "mjc:physics:wind"
const TfToken mjcOptionViscosity;
/// \brief "mjc:option:wind"
///
/// MjcPhysicsSceneAPI
const TfToken mjcPhysicsWind;
const TfToken mjcOptionWind;
/// \brief "newton"
///
/// Fallback value for MjcPhysicsSceneAPI::GetSolverAttr(), This token