Add equalityJointAPI to mjcPhysics.
PiperOrigin-RevId: 860081702 Change-Id: Ifd961dcb2a8e0f5d885e9e9dadc0153b03cb5f4d
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Sam Haves
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Copybara-Service
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// Copyright 2025 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef MJCPHYSICS_GENERATED_EQUALITYJOINTAPI_H
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#define MJCPHYSICS_GENERATED_EQUALITYJOINTAPI_H
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/// \file mjcPhysics/equalityJointAPI.h
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#include <mujoco/experimental/usd/mjcPhysics/api.h>
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#include <mujoco/experimental/usd/mjcPhysics/tokens.h>
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#include <pxr/base/gf/matrix4d.h>
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#include <pxr/base/gf/vec3d.h>
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#include <pxr/base/gf/vec3f.h>
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#include <pxr/base/tf/token.h>
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#include <pxr/base/tf/type.h>
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#include <pxr/base/vt/value.h>
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#include <pxr/pxr.h>
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#include <pxr/usd/usd/apiSchemaBase.h>
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#include <pxr/usd/usd/prim.h>
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#include <pxr/usd/usd/stage.h>
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PXR_NAMESPACE_OPEN_SCOPE
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class SdfAssetPath;
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// -------------------------------------------------------------------------- //
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// MJCEQUALITYJOINTAPI //
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// -------------------------------------------------------------------------- //
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/// \class MjcPhysicsEqualityJointAPI
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///
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/// API providing extension attributes to represent equality/joint constraints.
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/// This API is applied to a joint prim which acts as the constrained joint
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/// (joint1 in MuJoCo terminology). The target relationship points to another
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/// joint prim which is the reference joint (joint2 in MuJoCo terminology). The
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/// constrained joint's position or angle is constrained to be a quartic
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/// polynomial of the reference joint's position or angle. Only scalar joint
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/// types (slide and hinge) can be used.
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///
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class MjcPhysicsEqualityJointAPI : public UsdAPISchemaBase {
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public:
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/// Compile time constant representing what kind of schema this class is.
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///
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/// \sa UsdSchemaKind
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static const UsdSchemaKind schemaKind = UsdSchemaKind::SingleApplyAPI;
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/// Construct a MjcPhysicsEqualityJointAPI on UsdPrim \p prim .
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/// Equivalent to MjcPhysicsEqualityJointAPI::Get(prim.GetStage(),
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/// prim.GetPath()) for a \em valid \p prim, but will not immediately throw an
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/// error for an invalid \p prim
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explicit MjcPhysicsEqualityJointAPI(const UsdPrim& prim = UsdPrim())
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: UsdAPISchemaBase(prim) {}
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/// Construct a MjcPhysicsEqualityJointAPI on the prim held by \p schemaObj .
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/// Should be preferred over MjcPhysicsEqualityJointAPI(schemaObj.GetPrim()),
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/// as it preserves SchemaBase state.
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explicit MjcPhysicsEqualityJointAPI(const UsdSchemaBase& schemaObj)
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: UsdAPISchemaBase(schemaObj) {}
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/// Destructor.
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MJCPHYSICS_API
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virtual ~MjcPhysicsEqualityJointAPI();
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/// Return a vector of names of all pre-declared attributes for this schema
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/// class and all its ancestor classes. Does not include attributes that
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/// may be authored by custom/extended methods of the schemas involved.
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MJCPHYSICS_API
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static const TfTokenVector& GetSchemaAttributeNames(
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bool includeInherited = true);
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/// Return a MjcPhysicsEqualityJointAPI holding the prim adhering to this
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/// schema at \p path on \p stage. If no prim exists at \p path on
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/// \p stage, or if the prim at that path does not adhere to this schema,
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/// return an invalid schema object. This is shorthand for the following:
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///
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/// \code
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/// MjcPhysicsEqualityJointAPI(stage->GetPrimAtPath(path));
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/// \endcode
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///
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MJCPHYSICS_API
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static MjcPhysicsEqualityJointAPI Get(const UsdStagePtr& stage,
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const SdfPath& path);
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/// Returns true if this <b>single-apply</b> API schema can be applied to
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/// the given \p prim. If this schema can not be a applied to the prim,
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/// this returns false and, if provided, populates \p whyNot with the
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/// reason it can not be applied.
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///
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/// Note that if CanApply returns false, that does not necessarily imply
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/// that calling Apply will fail. Callers are expected to call CanApply
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/// before calling Apply if they want to ensure that it is valid to
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/// apply a schema.
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///
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/// \sa UsdPrim::GetAppliedSchemas()
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/// \sa UsdPrim::HasAPI()
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/// \sa UsdPrim::CanApplyAPI()
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/// \sa UsdPrim::ApplyAPI()
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/// \sa UsdPrim::RemoveAPI()
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///
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MJCPHYSICS_API
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static bool CanApply(const UsdPrim& prim, std::string* whyNot = nullptr);
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/// Applies this <b>single-apply</b> API schema to the given \p prim.
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/// This information is stored by adding "MjcEqualityJointAPI" to the
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/// token-valued, listOp metadata \em apiSchemas on the prim.
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///
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/// \return A valid MjcPhysicsEqualityJointAPI object is returned upon
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/// success. An invalid (or empty) MjcPhysicsEqualityJointAPI object is
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/// returned upon failure. See \ref UsdPrim::ApplyAPI() for conditions
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/// resulting in failure.
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///
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/// \sa UsdPrim::GetAppliedSchemas()
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/// \sa UsdPrim::HasAPI()
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/// \sa UsdPrim::CanApplyAPI()
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/// \sa UsdPrim::ApplyAPI()
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/// \sa UsdPrim::RemoveAPI()
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///
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MJCPHYSICS_API
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static MjcPhysicsEqualityJointAPI Apply(const UsdPrim& prim);
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protected:
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/// Returns the kind of schema this class belongs to.
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///
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/// \sa UsdSchemaKind
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MJCPHYSICS_API
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UsdSchemaKind _GetSchemaKind() const override;
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private:
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// needs to invoke _GetStaticTfType.
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friend class UsdSchemaRegistry;
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MJCPHYSICS_API
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static const TfType& _GetStaticTfType();
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static bool _IsTypedSchema();
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// override SchemaBase virtuals.
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MJCPHYSICS_API
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const TfType& _GetTfType() const override;
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public:
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// --------------------------------------------------------------------- //
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// POLYCOEF
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// --------------------------------------------------------------------- //
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/// Coefficients a0 through a4 of the quartic polynomial. If the joint values
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/// of the constrained joint and reference joint are respectively y and x, and
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/// their reference positions (corresponding to the joint values in the
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/// initial model configuration) are y0 and x0, the constraint is: y = y0 + a0
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/// + a1*(x-x0) + a2*(x-x0)^2 + a3*(x-x0)^3 + a4*(x-x0)^4. Omitting the target
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/// joint (joint2) is equivalent to setting x = x0, in which case the
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/// constraint is y = y0 + a0. The default [0, 1, 0, 0, 0] creates a simple
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/// 1:1 mimic constraint where y tracks x with the same offset from their
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/// references.
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///
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/// | ||
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/// | -- | -- |
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/// | Declaration | `uniform double[] mjc:polycoef = [0, 1, 0, 0, 0]` |
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/// | C++ Type | VtArray<double> |
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/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->DoubleArray |
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/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
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MJCPHYSICS_API
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UsdAttribute GetPolycoefAttr() const;
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/// See GetPolycoefAttr(), and also
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/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
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/// If specified, author \p defaultValue as the attribute's default,
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/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
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/// the default for \p writeSparsely is \c false.
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MJCPHYSICS_API
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UsdAttribute CreatePolycoefAttr(VtValue const& defaultValue = VtValue(),
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bool writeSparsely = false) const;
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public:
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// ===================================================================== //
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// Feel free to add custom code below this line, it will be preserved by
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// the code generator.
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//
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// Just remember to:
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// - Close the class declaration with };
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// - Close the namespace with PXR_NAMESPACE_CLOSE_SCOPE
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// - Close the include guard with #endif
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// ===================================================================== //
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// --(BEGIN CUSTOM CODE)--
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};
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PXR_NAMESPACE_CLOSE_SCOPE
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#endif
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@@ -580,6 +580,10 @@ struct MjcPhysicsTokensType {
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///
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/// MjcPhysicsTendon
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const TfToken mjcPathSegments;
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/// \brief "mjc:polycoef"
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///
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/// MjcPhysicsEqualityJointAPI
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const TfToken mjcPolycoef;
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/// \brief "mjc:priority"
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///
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/// MjcPhysicsCollisionAPI
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@@ -772,6 +776,10 @@ struct MjcPhysicsTokensType {
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///
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/// Schema identifier and family for MjcPhysicsEqualityAPI
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const TfToken MjcEqualityAPI;
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/// \brief "MjcEqualityJointAPI"
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///
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/// Schema identifier and family for MjcPhysicsEqualityJointAPI
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const TfToken MjcEqualityJointAPI;
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/// \brief "MjcEqualityWeldAPI"
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///
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/// Schema identifier and family for MjcPhysicsEqualityWeldAPI
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