Add group support to mjcPhysics equivalents for sites, geoms, actuators, and joints.
PiperOrigin-RevId: 781945497 Change-Id: I5c409f05e6bae33c181a51c273f260daea6004fc
This commit is contained in:
Sam Haves
committed by
Copybara-Service
Copybara-Service
parent
bbb265da4a
commit
3473e4e451
@@ -40,7 +40,7 @@ class SdfAssetPath;
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/// \class MjcPhysicsCollisionAPI
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///
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/// API describing a Mujoco collider.
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/// API describing a MuJoCo collider.
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///
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class MjcPhysicsCollisionAPI : public UsdAPISchemaBase {
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public:
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@@ -142,6 +142,30 @@ class MjcPhysicsCollisionAPI : public UsdAPISchemaBase {
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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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// GROUP
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// --------------------------------------------------------------------- //
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/// Integer MuJoCo group to which the collider belongs.
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///
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/// | ||
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/// | -- | -- |
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/// | Declaration | `uniform int mjc:group = 0` |
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/// | C++ Type | int |
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/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
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/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
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MJCPHYSICS_API
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UsdAttribute GetGroupAttr() const;
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/// See GetGroupAttr(), and also
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/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
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/// If specified, author \p defaultValue as the attribute's default,
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/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
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/// the default for \p writeSparsely is \c false.
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MJCPHYSICS_API
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UsdAttribute CreateGroupAttr(VtValue const &defaultValue = VtValue(),
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bool writeSparsely = false) const;
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public:
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// --------------------------------------------------------------------- //
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// SHELLINERTIA
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@@ -40,7 +40,7 @@ class SdfAssetPath;
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/// \class MjcPhysicsJointAPI
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///
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/// API describing a Mujoco joint.
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/// API describing a MuJoCo joint.
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///
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/// For any described attribute \em Fallback \em Value or \em Allowed \em Values
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/// below that are text/tokens, the actual token is published and defined in
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@@ -146,6 +146,30 @@ class MjcPhysicsJointAPI : public UsdAPISchemaBase {
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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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// GROUP
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// --------------------------------------------------------------------- //
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/// Integer MuJoCo group to which the joint belongs.
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///
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/// | ||
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/// | -- | -- |
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/// | Declaration | `uniform int mjc:group = 0` |
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/// | C++ Type | int |
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/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
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/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
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MJCPHYSICS_API
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UsdAttribute GetGroupAttr() const;
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/// See GetGroupAttr(), and also
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/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
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/// If specified, author \p defaultValue as the attribute's default,
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/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
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/// the default for \p writeSparsely is \c false.
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MJCPHYSICS_API
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UsdAttribute CreateGroupAttr(VtValue const &defaultValue = VtValue(),
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bool writeSparsely = false) const;
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public:
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// --------------------------------------------------------------------- //
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// MJCSPRINGDAMPER
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@@ -40,7 +40,7 @@ class SdfAssetPath;
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/// \class MjcPhysicsSceneAPI
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///
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/// API providing global simulation options for Mujoco.
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/// API providing global simulation options for MuJoCo.
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///
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/// For any described attribute \em Fallback \em Value or \em Allowed \em Values
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/// below that are text/tokens, the actual token is published and defined in
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@@ -18,6 +18,7 @@
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/// \file mjcPhysics/siteAPI.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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@@ -39,7 +40,7 @@ class SdfAssetPath;
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/// \class MjcPhysicsSiteAPI
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///
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/// API describing a Mujoco site.
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/// API describing a MuJoCo site.
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///
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class MjcPhysicsSiteAPI : public UsdAPISchemaBase {
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public:
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@@ -140,6 +141,30 @@ class MjcPhysicsSiteAPI : public UsdAPISchemaBase {
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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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// GROUP
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// --------------------------------------------------------------------- //
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/// Integer MuJoCo group to which the collider belongs.
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///
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/// | ||
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/// | -- | -- |
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/// | Declaration | `uniform int mjc:group = 0` |
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/// | C++ Type | int |
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/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
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/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
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MJCPHYSICS_API
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UsdAttribute GetGroupAttr() const;
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/// See GetGroupAttr(), and also
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/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
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/// If specified, author \p defaultValue as the attribute's default,
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/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
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/// the default for \p writeSparsely is \c false.
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MJCPHYSICS_API
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UsdAttribute CreateGroupAttr(VtValue const &defaultValue = VtValue(),
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bool writeSparsely = false) const;
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public:
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// ===================================================================== //
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// Feel free to add custom code below this line, it will be preserved by
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@@ -338,7 +338,8 @@ struct MjcPhysicsTokensType {
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const TfToken mjcGear;
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/// \brief "mjc:group"
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///
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/// MjcPhysicsTransmission
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/// MjcPhysicsSiteAPI, MjcPhysicsImageableAPI, MjcPhysicsCollisionAPI,
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/// MjcPhysicsTransmission, MjcPhysicsJointAPI
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const TfToken mjcGroup;
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/// \brief "mjc:inertia"
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///
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@@ -589,6 +590,10 @@ struct MjcPhysicsTokensType {
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///
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/// Schema identifier and family for MjcPhysicsCollisionAPI
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const TfToken MjcCollisionAPI;
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/// \brief "MjcImageableAPI"
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///
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/// Schema identifier and family for MjcPhysicsImageableAPI
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const TfToken MjcImageableAPI;
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/// \brief "MjcJointAPI"
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///
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/// Schema identifier and family for MjcPhysicsJointAPI
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