chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Add group support to mjcPhysics equivalents for sites, geoms, actuators, and joints.

Browse Source 
PiperOrigin-RevId: 781945497
Change-Id: I5c409f05e6bae33c181a51c273f260daea6004fc
This commit is contained in:
Sam Haves
2025-07-11 05:36:35 -07:00
committed by Copybara-Service
parent bbb265da4a
commit 3473e4e451
14 changed files with 234 additions and 24 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/experimental/usd/mjcPhysics/jointAPI.cpp
+12
View File
@@ -74,6 +74,17 @@ const TfType &MjcPhysicsJointAPI::_GetTfType() const {
return _GetStaticTfType();
}
UsdAttribute MjcPhysicsJointAPI::GetGroupAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcGroup);
}
UsdAttribute MjcPhysicsJointAPI::CreateGroupAttr(VtValue const &defaultValue,
bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcGroup, SdfValueTypeNames->Int,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsJointAPI::GetMjcSpringdamperAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcSpringdamper);
}
@@ -265,6 +276,7 @@ static inline TfTokenVector _ConcatenateAttributeNames(
const TfTokenVector &MjcPhysicsJointAPI::GetSchemaAttributeNames(
bool includeInherited) {
static TfTokenVector localNames = {
MjcPhysicsTokens->mjcGroup,
MjcPhysicsTokens->mjcSpringdamper,
MjcPhysicsTokens->mjcSolreflimit,
MjcPhysicsTokens->mjcSolimplimit,