Add JointAPI schema in mjcPhysics.
PiperOrigin-RevId: 778030981 Change-Id: I22a4bf2a550fb78e47bef0ff171b10ce5912887e
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Robin Alazard
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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_JOINTAPI_H
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#define MJCPHYSICS_GENERATED_JOINTAPI_H
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/// \file mjcPhysics/jointAPI.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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// PHYSICSJOINTSAPI //
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// -------------------------------------------------------------------------- //
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/// \class MjcPhysicsJointAPI
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///
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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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/// \ref MjcPhysicsTokens. So to set an attribute to the value "rightHanded",
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/// use MjcPhysicsTokens->rightHanded as the value.
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///
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class MjcPhysicsJointAPI : 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 MjcPhysicsJointAPI on UsdPrim \p prim .
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/// Equivalent to MjcPhysicsJointAPI::Get(prim.GetStage(), prim.GetPath())
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/// for a \em valid \p prim, but will not immediately throw an error for
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/// an invalid \p prim
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explicit MjcPhysicsJointAPI(const UsdPrim &prim = UsdPrim())
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: UsdAPISchemaBase(prim) {}
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/// Construct a MjcPhysicsJointAPI on the prim held by \p schemaObj .
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/// Should be preferred over MjcPhysicsJointAPI(schemaObj.GetPrim()),
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/// as it preserves SchemaBase state.
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explicit MjcPhysicsJointAPI(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 ~MjcPhysicsJointAPI();
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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 MjcPhysicsJointAPI 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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/// MjcPhysicsJointAPI(stage->GetPrimAtPath(path));
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/// \endcode
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///
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MJCPHYSICS_API
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static MjcPhysicsJointAPI Get(const UsdStagePtr &stage, 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 "PhysicsJointsAPI" 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 MjcPhysicsJointAPI object is returned upon success.
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/// An invalid (or empty) MjcPhysicsJointAPI object is returned upon
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/// 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 MjcPhysicsJointAPI 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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// MJCSPRINGDAMPER
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// --------------------------------------------------------------------- //
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/// When both numbers are positive, the compiler will override any stiffness
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/// and damping values specified with the attributes below, and will instead
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/// set them automatically so that the resulting mass-spring-damper for this
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/// joint has the desired time constant (first value) and damping ratio
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/// (second value). This is done by taking into account the joint inertia in
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/// the model reference configuration. Note that the format is the same as the
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/// solref parameter of the constraint solver.
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///
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/// | ||
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/// | -- | -- |
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/// | Declaration | `uniform double[] mjc:springdamper = [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 GetMjcSpringdamperAttr() const;
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/// See GetMjcSpringdamperAttr(), 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 CreateMjcSpringdamperAttr(
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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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// MJCSOLREFLIMIT
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// --------------------------------------------------------------------- //
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/// Constraint solver parameters for simulating joint limits.
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///
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/// | ||
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/// | -- | -- |
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/// | Declaration | `uniform double[] mjc:solreflimit = [0.02, 1]` |
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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 GetMjcSolreflimitAttr() const;
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/// See GetMjcSolreflimitAttr(), 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 CreateMjcSolreflimitAttr(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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// MJCSOLIMPLIMIT
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// --------------------------------------------------------------------- //
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/// Constraint solver parameters for simulating joint limits.
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///
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/// | ||
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/// | -- | -- |
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/// | Declaration | `uniform double[] mjc:solimplimit = [0.9, 0.95, 0.001,
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/// 0.5, 2]` | | C++ Type | VtArray<double> | | \ref Usd_Datatypes "Usd Type"
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/// | SdfValueTypeNames->DoubleArray | | \ref SdfVariability "Variability" |
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/// SdfVariabilityUniform |
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MJCPHYSICS_API
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UsdAttribute GetMjcSolimplimitAttr() const;
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/// See GetMjcSolimplimitAttr(), 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 CreateMjcSolimplimitAttr(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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// MJCSOLREFFRICTION
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// --------------------------------------------------------------------- //
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/// Constraint solver parameters for simulating dry friction.
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///
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/// | ||
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/// | -- | -- |
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/// | Declaration | `uniform double[] mjc:solreffriction = [0.02, 1]` |
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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 GetMjcSolreffrictionAttr() const;
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/// See GetMjcSolreffrictionAttr(), 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 CreateMjcSolreffrictionAttr(
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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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// MJCSOLIMPFRICTION
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// --------------------------------------------------------------------- //
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/// Constraint solver parameters for simulating dry friction.
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///
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/// | ||
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/// | -- | -- |
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/// | Declaration | `uniform double[] mjc:solimpfriction = [0.9, 0.95, 0.001,
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/// 0.5, 2]` | | C++ Type | VtArray<double> | | \ref Usd_Datatypes "Usd Type"
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/// | SdfValueTypeNames->DoubleArray | | \ref SdfVariability "Variability" |
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/// SdfVariabilityUniform |
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MJCPHYSICS_API
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UsdAttribute GetMjcSolimpfrictionAttr() const;
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/// See GetMjcSolimpfrictionAttr(), 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 CreateMjcSolimpfrictionAttr(
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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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// MJCSTIFFNESS
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// --------------------------------------------------------------------- //
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/// Joint stiffness. If this value is positive, a spring will be created with
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/// equilibrium position given by springref below. The spring force is
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/// computed along with the other passive forces.
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///
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/// | ||
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/// | -- | -- |
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/// | Declaration | `uniform double mjc:stiffness = 0` |
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/// | C++ Type | double |
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/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
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/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
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MJCPHYSICS_API
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UsdAttribute GetMjcStiffnessAttr() const;
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/// See GetMjcStiffnessAttr(), 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 CreateMjcStiffnessAttr(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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// MJCACTUATORFRCRANGEMIN
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// --------------------------------------------------------------------- //
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/// Minimum range for clamping total actuator forces acting on this joint. See
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/// Force limits for details. It is available only for scalar joints (hinge
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/// and slider) and ignored for ball and free joints. The compiler expects the
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/// first value to be smaller than the second value. Setting this attribute
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/// without specifying actuatorfrclimited is an error if compiler-autolimits
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/// is 'false'.
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///
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/// | ||
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/// | -- | -- |
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/// | Declaration | `uniform double mjc:actuatorfrcrange:min = 0` |
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/// | C++ Type | double |
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/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
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/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
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MJCPHYSICS_API
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UsdAttribute GetMjcActuatorfrcrangeMinAttr() const;
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/// See GetMjcActuatorfrcrangeMinAttr(), 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 CreateMjcActuatorfrcrangeMinAttr(
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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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// MJCACTUATORFRCRANGEMAX
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// --------------------------------------------------------------------- //
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/// Maximum range for clamping total actuator forces acting on this joint. See
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/// Force limits for details. It is available only for scalar joints (hinge
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/// and slider) and ignored for ball and free joints. The compiler expects the
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/// first value to be smaller than the second value. Setting this attribute
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/// without specifying actuatorfrclimited is an error if compiler-autolimits
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/// is 'false'.
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///
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/// | ||
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/// | -- | -- |
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/// | Declaration | `uniform double mjc:actuatorfrcrange:max = 0` |
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/// | C++ Type | double |
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/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
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/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
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MJCPHYSICS_API
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UsdAttribute GetMjcActuatorfrcrangeMaxAttr() const;
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/// See GetMjcActuatorfrcrangeMaxAttr(), 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 CreateMjcActuatorfrcrangeMaxAttr(
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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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// MJCACTUATORFRCLIMITED
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// --------------------------------------------------------------------- //
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/// This attribute specifies whether actuator forces acting on the joint
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/// should be clamped. See Force limits for details. It is available only for
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/// scalar joints (hinge and slider) and ignored for ball and free joints.
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/// This attribute interacts with the actuatorfrcrange attribute. If this
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/// attribute is 'false', actuator force clamping is disabled. If it is
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/// 'true', actuator force clamping is enabled. If this attribute is 'auto',
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/// and autolimits is set in compiler, actuator force clamping will be enabled
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/// if actuatorfrcrange is defined.
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///
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/// | ||
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/// | -- | -- |
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/// | Declaration | `uniform token mjc:actuatorfrclimited = "auto"` |
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/// | C++ Type | TfToken |
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/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Token |
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/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
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/// | \ref MjcPhysicsTokens "Allowed Values" | false, true, auto |
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MJCPHYSICS_API
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UsdAttribute GetMjcActuatorfrclimitedAttr() const;
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/// See GetMjcActuatorfrclimitedAttr(), 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 CreateMjcActuatorfrclimitedAttr(
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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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// MJCACTUATORGRAVCOMP
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// --------------------------------------------------------------------- //
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/// If this flag is enabled, gravity compensation applied to this joint is
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/// added to actuator forces (mjData.qfrc_actuator) rather than passive forces
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/// (mjData.qfrc_passive). Notionally, this means that gravity compensation is
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/// the result of a control system rather than natural buoyancy. In practice,
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/// enabling this flag is useful when joint-level actuator force clamping is
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/// used. In this case, the total actuation force applied on a joint,
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||||
/// including gravity compensation, is guaranteed to not exceed the specified
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||||
/// limits. See Force limits and actuatorfrcrange for more details on this
|
||||
/// type of force limit.
|
||||
///
|
||||
/// | ||
|
||||
/// | -- | -- |
|
||||
/// | Declaration | `uniform bool mjc:actuatorgravcomp = 0` |
|
||||
/// | C++ Type | bool |
|
||||
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
|
||||
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
|
||||
MJCPHYSICS_API
|
||||
UsdAttribute GetMjcActuatorgravcompAttr() const;
|
||||
|
||||
/// See GetMjcActuatorgravcompAttr(), and also
|
||||
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
|
||||
/// If specified, author \p defaultValue as the attribute's default,
|
||||
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
|
||||
/// the default for \p writeSparsely is \c false.
|
||||
MJCPHYSICS_API
|
||||
UsdAttribute CreateMjcActuatorgravcompAttr(
|
||||
VtValue const &defaultValue = VtValue(),
|
||||
bool writeSparsely = false) const;
|
||||
|
||||
public:
|
||||
// --------------------------------------------------------------------- //
|
||||
// MJCMARGIN
|
||||
// --------------------------------------------------------------------- //
|
||||
/// The distance threshold below which limits become active. Recall that the
|
||||
/// Constraint solver normally generates forces as soon as a constraint
|
||||
/// becomes active, even if the margin parameter makes that happen at a
|
||||
/// distance. This attribute together with solreflimit and solimplimit can be
|
||||
/// used to model a soft joint limit.
|
||||
///
|
||||
/// | ||
|
||||
/// | -- | -- |
|
||||
/// | Declaration | `uniform double mjc:margin = 0` |
|
||||
/// | C++ Type | double |
|
||||
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
|
||||
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
|
||||
MJCPHYSICS_API
|
||||
UsdAttribute GetMjcMarginAttr() const;
|
||||
|
||||
/// See GetMjcMarginAttr(), and also
|
||||
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
|
||||
/// If specified, author \p defaultValue as the attribute's default,
|
||||
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
|
||||
/// the default for \p writeSparsely is \c false.
|
||||
MJCPHYSICS_API
|
||||
UsdAttribute CreateMjcMarginAttr(VtValue const &defaultValue = VtValue(),
|
||||
bool writeSparsely = false) const;
|
||||
|
||||
public:
|
||||
// --------------------------------------------------------------------- //
|
||||
// MJCREF
|
||||
// --------------------------------------------------------------------- //
|
||||
/// The reference position or angle of the joint. This attribute is only used
|
||||
/// for slide and hinge joints. It defines the joint value corresponding to
|
||||
/// the initial model configuration. The amount of spatial transformation that
|
||||
/// the joint applies at runtime equals the current joint value stored in
|
||||
/// mjData.qpos minus this reference value stored in mjModel.qpos0. The
|
||||
/// meaning of these vectors was discussed in the Stand-alone section in the
|
||||
/// Overview chapter.
|
||||
///
|
||||
/// | ||
|
||||
/// | -- | -- |
|
||||
/// | Declaration | `uniform double mjc:ref = 0` |
|
||||
/// | C++ Type | double |
|
||||
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
|
||||
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
|
||||
MJCPHYSICS_API
|
||||
UsdAttribute GetMjcRefAttr() const;
|
||||
|
||||
/// See GetMjcRefAttr(), and also
|
||||
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
|
||||
/// If specified, author \p defaultValue as the attribute's default,
|
||||
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
|
||||
/// the default for \p writeSparsely is \c false.
|
||||
MJCPHYSICS_API
|
||||
UsdAttribute CreateMjcRefAttr(VtValue const &defaultValue = VtValue(),
|
||||
bool writeSparsely = false) const;
|
||||
|
||||
public:
|
||||
// --------------------------------------------------------------------- //
|
||||
// MJCSPRINGREF
|
||||
// --------------------------------------------------------------------- //
|
||||
/// The joint position or angle in which the joint spring (if any) achieves
|
||||
/// equilibrium. Similar to the vector mjModel.qpos0 which stores all joint
|
||||
/// reference values specified with the ref attribute above, all spring
|
||||
/// reference values specified with this attribute are stored in the vector
|
||||
/// mjModel.qpos_spring. The model configuration corresponding to
|
||||
/// mjModel.qpos_spring is also used to compute the spring reference lengths
|
||||
/// of all tendons, stored in mjModel.tendon_lengthspring. This is because
|
||||
/// tendons can also have springs.
|
||||
///
|
||||
/// | ||
|
||||
/// | -- | -- |
|
||||
/// | Declaration | `uniform double mjc:springref = 0` |
|
||||
/// | C++ Type | double |
|
||||
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
|
||||
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
|
||||
MJCPHYSICS_API
|
||||
UsdAttribute GetMjcSpringrefAttr() const;
|
||||
|
||||
/// See GetMjcSpringrefAttr(), and also
|
||||
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
|
||||
/// If specified, author \p defaultValue as the attribute's default,
|
||||
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
|
||||
/// the default for \p writeSparsely is \c false.
|
||||
MJCPHYSICS_API
|
||||
UsdAttribute CreateMjcSpringrefAttr(VtValue const &defaultValue = VtValue(),
|
||||
bool writeSparsely = false) const;
|
||||
|
||||
public:
|
||||
// --------------------------------------------------------------------- //
|
||||
// MJCARMATURE
|
||||
// --------------------------------------------------------------------- //
|
||||
/// Additional inertia associated with movement of the joint that is not due
|
||||
/// to body mass. This added inertia is usually due to a rotor (a.k.a
|
||||
/// armature) spinning faster than the joint itself due to a geared
|
||||
/// transmission. The value applies to all degrees of freedom created by this
|
||||
/// joint. Besides increasing the realism of joints with geared transmission,
|
||||
/// positive armature significantly improves simulation stability, even for
|
||||
/// small values, and is a recommended possible fix when encountering
|
||||
/// stability issues.
|
||||
///
|
||||
/// | ||
|
||||
/// | -- | -- |
|
||||
/// | Declaration | `uniform double mjc:armature = 0` |
|
||||
/// | C++ Type | double |
|
||||
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
|
||||
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
|
||||
MJCPHYSICS_API
|
||||
UsdAttribute GetMjcArmatureAttr() const;
|
||||
|
||||
/// See GetMjcArmatureAttr(), and also
|
||||
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
|
||||
/// If specified, author \p defaultValue as the attribute's default,
|
||||
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
|
||||
/// the default for \p writeSparsely is \c false.
|
||||
MJCPHYSICS_API
|
||||
UsdAttribute CreateMjcArmatureAttr(VtValue const &defaultValue = VtValue(),
|
||||
bool writeSparsely = false) const;
|
||||
|
||||
public:
|
||||
// --------------------------------------------------------------------- //
|
||||
// MJCDAMPING
|
||||
// --------------------------------------------------------------------- //
|
||||
/// Damping applied to all degrees of freedom created by this joint. Unlike
|
||||
/// friction loss which is computed by the constraint solver, damping is
|
||||
/// simply a force linear in velocity. It is included in the passive forces.
|
||||
/// Despite this simplicity, larger damping values can make numerical
|
||||
/// integrators unstable, which is why our Euler integrator handles damping
|
||||
/// implicitly. See Integration in the Computation chapter.
|
||||
///
|
||||
/// | ||
|
||||
/// | -- | -- |
|
||||
/// | Declaration | `uniform double mjc:damping = 0` |
|
||||
/// | C++ Type | double |
|
||||
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
|
||||
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
|
||||
MJCPHYSICS_API
|
||||
UsdAttribute GetMjcDampingAttr() const;
|
||||
|
||||
/// See GetMjcDampingAttr(), and also
|
||||
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
|
||||
/// If specified, author \p defaultValue as the attribute's default,
|
||||
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
|
||||
/// the default for \p writeSparsely is \c false.
|
||||
MJCPHYSICS_API
|
||||
UsdAttribute CreateMjcDampingAttr(VtValue const &defaultValue = VtValue(),
|
||||
bool writeSparsely = false) const;
|
||||
|
||||
public:
|
||||
// --------------------------------------------------------------------- //
|
||||
// MJCFRICTIONLOSS
|
||||
// --------------------------------------------------------------------- //
|
||||
/// Friction loss due to dry friction. This value is the same for all degrees
|
||||
/// of freedom created by this joint. Semantically friction loss does not make
|
||||
/// sense for free joints, but the compiler allows it. To enable friction
|
||||
/// loss, set this attribute to a positive value.
|
||||
///
|
||||
/// | ||
|
||||
/// | -- | -- |
|
||||
/// | Declaration | `uniform double mjc:frictionloss = 0` |
|
||||
/// | C++ Type | double |
|
||||
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
|
||||
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
|
||||
MJCPHYSICS_API
|
||||
UsdAttribute GetMjcFrictionlossAttr() const;
|
||||
|
||||
/// See GetMjcFrictionlossAttr(), and also
|
||||
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
|
||||
/// If specified, author \p defaultValue as the attribute's default,
|
||||
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
|
||||
/// the default for \p writeSparsely is \c false.
|
||||
MJCPHYSICS_API
|
||||
UsdAttribute CreateMjcFrictionlossAttr(
|
||||
VtValue const &defaultValue = VtValue(),
|
||||
bool writeSparsely = false) const;
|
||||
|
||||
public:
|
||||
// ===================================================================== //
|
||||
// Feel free to add custom code below this line, it will be preserved by
|
||||
// the code generator.
|
||||
//
|
||||
// Just remember to:
|
||||
// - Close the class declaration with };
|
||||
// - Close the namespace with PXR_NAMESPACE_CLOSE_SCOPE
|
||||
// - Close the include guard with #endif
|
||||
// ===================================================================== //
|
||||
// --(BEGIN CUSTOM CODE)--
|
||||
};
|
||||
|
||||
PXR_NAMESPACE_CLOSE_SCOPE
|
||||
|
||||
#endif
|
||||
@@ -63,7 +63,8 @@ struct MjcPhysicsTokensType {
|
||||
/// Fallback value for MjcPhysicsSceneAPI::GetJacobianAttr(), Fallback value
|
||||
/// for MjcPhysicsActuatorAPI::GetMjcActLimitedAttr(), Fallback value for
|
||||
/// MjcPhysicsActuatorAPI::GetMjcCtrlLimitedAttr(), Fallback value for
|
||||
/// MjcPhysicsActuatorAPI::GetMjcForceLimitedAttr(), This token represents
|
||||
/// MjcPhysicsActuatorAPI::GetMjcForceLimitedAttr(), Fallback value for
|
||||
/// MjcPhysicsJointAPI::GetMjcActuatorfrclimitedAttr(), This token represents
|
||||
/// the auto constraint Jacobian and matrices computed from it.
|
||||
const TfToken auto_;
|
||||
/// \brief "cg"
|
||||
@@ -98,7 +99,8 @@ struct MjcPhysicsTokensType {
|
||||
///
|
||||
/// Possible value for MjcPhysicsActuatorAPI::GetMjcActLimitedAttr(), Possible
|
||||
/// value for MjcPhysicsActuatorAPI::GetMjcCtrlLimitedAttr(), Possible value
|
||||
/// for MjcPhysicsActuatorAPI::GetMjcForceLimitedAttr()
|
||||
/// for MjcPhysicsActuatorAPI::GetMjcForceLimitedAttr(), Possible value for
|
||||
/// MjcPhysicsJointAPI::GetMjcActuatorfrclimitedAttr()
|
||||
const TfToken false_;
|
||||
/// \brief "filter"
|
||||
///
|
||||
@@ -154,6 +156,26 @@ struct MjcPhysicsTokensType {
|
||||
///
|
||||
/// MjcPhysicsActuatorAPI
|
||||
const TfToken mjcActRangeMin;
|
||||
/// \brief "mjc:actuatorfrclimited"
|
||||
///
|
||||
/// MjcPhysicsJointAPI
|
||||
const TfToken mjcActuatorfrclimited;
|
||||
/// \brief "mjc:actuatorfrcrange:max"
|
||||
///
|
||||
/// MjcPhysicsJointAPI
|
||||
const TfToken mjcActuatorfrcrangeMax;
|
||||
/// \brief "mjc:actuatorfrcrange:min"
|
||||
///
|
||||
/// MjcPhysicsJointAPI
|
||||
const TfToken mjcActuatorfrcrangeMin;
|
||||
/// \brief "mjc:actuatorgravcomp"
|
||||
///
|
||||
/// MjcPhysicsJointAPI
|
||||
const TfToken mjcActuatorgravcomp;
|
||||
/// \brief "mjc:armature"
|
||||
///
|
||||
/// MjcPhysicsJointAPI
|
||||
const TfToken mjcArmature;
|
||||
/// \brief "mjc:biasPrm"
|
||||
///
|
||||
/// MjcPhysicsActuatorAPI
|
||||
@@ -182,6 +204,10 @@ struct MjcPhysicsTokensType {
|
||||
///
|
||||
/// MjcPhysicsActuatorAPI
|
||||
const TfToken mjcCtrlRangeMin;
|
||||
/// \brief "mjc:damping"
|
||||
///
|
||||
/// MjcPhysicsJointAPI
|
||||
const TfToken mjcDamping;
|
||||
/// \brief "mjc:dynPrm"
|
||||
///
|
||||
/// MjcPhysicsActuatorAPI
|
||||
@@ -294,6 +320,10 @@ struct MjcPhysicsTokensType {
|
||||
///
|
||||
/// MjcPhysicsActuatorAPI
|
||||
const TfToken mjcForceRangeMin;
|
||||
/// \brief "mjc:frictionloss"
|
||||
///
|
||||
/// MjcPhysicsJointAPI
|
||||
const TfToken mjcFrictionloss;
|
||||
/// \brief "mjc:gainPrm"
|
||||
///
|
||||
/// MjcPhysicsActuatorAPI
|
||||
@@ -322,6 +352,10 @@ struct MjcPhysicsTokensType {
|
||||
///
|
||||
/// MjcPhysicsActuatorAPI
|
||||
const TfToken mjcLengthRangeMin;
|
||||
/// \brief "mjc:margin"
|
||||
///
|
||||
/// MjcPhysicsJointAPI
|
||||
const TfToken mjcMargin;
|
||||
/// \brief "mjc:mpos"
|
||||
///
|
||||
/// MjcPhysicsKeyframe
|
||||
@@ -442,6 +476,10 @@ struct MjcPhysicsTokensType {
|
||||
///
|
||||
/// MjcPhysicsKeyframe
|
||||
const TfToken mjcQvel;
|
||||
/// \brief "mjc:ref"
|
||||
///
|
||||
/// MjcPhysicsJointAPI
|
||||
const TfToken mjcRef;
|
||||
/// \brief "mjc:refSite"
|
||||
///
|
||||
/// MjcPhysicsActuatorAPI
|
||||
@@ -454,6 +492,34 @@ struct MjcPhysicsTokensType {
|
||||
///
|
||||
/// MjcPhysicsActuatorAPI
|
||||
const TfToken mjcSliderSite;
|
||||
/// \brief "mjc:solimpfriction"
|
||||
///
|
||||
/// MjcPhysicsJointAPI
|
||||
const TfToken mjcSolimpfriction;
|
||||
/// \brief "mjc:solimplimit"
|
||||
///
|
||||
/// MjcPhysicsJointAPI
|
||||
const TfToken mjcSolimplimit;
|
||||
/// \brief "mjc:solreffriction"
|
||||
///
|
||||
/// MjcPhysicsJointAPI
|
||||
const TfToken mjcSolreffriction;
|
||||
/// \brief "mjc:solreflimit"
|
||||
///
|
||||
/// MjcPhysicsJointAPI
|
||||
const TfToken mjcSolreflimit;
|
||||
/// \brief "mjc:springdamper"
|
||||
///
|
||||
/// MjcPhysicsJointAPI
|
||||
const TfToken mjcSpringdamper;
|
||||
/// \brief "mjc:springref"
|
||||
///
|
||||
/// MjcPhysicsJointAPI
|
||||
const TfToken mjcSpringref;
|
||||
/// \brief "mjc:stiffness"
|
||||
///
|
||||
/// MjcPhysicsJointAPI
|
||||
const TfToken mjcStiffness;
|
||||
/// \brief "muscle"
|
||||
///
|
||||
/// Possible value for MjcPhysicsActuatorAPI::GetMjcBiasTypeAttr(), Possible
|
||||
@@ -498,7 +564,8 @@ struct MjcPhysicsTokensType {
|
||||
///
|
||||
/// Possible value for MjcPhysicsActuatorAPI::GetMjcActLimitedAttr(), Possible
|
||||
/// value for MjcPhysicsActuatorAPI::GetMjcCtrlLimitedAttr(), Possible value
|
||||
/// for MjcPhysicsActuatorAPI::GetMjcForceLimitedAttr()
|
||||
/// for MjcPhysicsActuatorAPI::GetMjcForceLimitedAttr(), Possible value for
|
||||
/// MjcPhysicsJointAPI::GetMjcActuatorfrclimitedAttr()
|
||||
const TfToken true_;
|
||||
/// \brief "user"
|
||||
///
|
||||
@@ -522,6 +589,10 @@ struct MjcPhysicsTokensType {
|
||||
///
|
||||
/// Schema identifier and family for MjcPhysicsActuatorAPI
|
||||
const TfToken PhysicsActuatorAPI;
|
||||
/// \brief "PhysicsJointsAPI"
|
||||
///
|
||||
/// Schema identifier and family for MjcPhysicsJointAPI
|
||||
const TfToken PhysicsJointsAPI;
|
||||
/// \brief "SceneAPI"
|
||||
///
|
||||
/// Schema identifier and family for MjcPhysicsSceneAPI
|
||||
|
||||
Reference in New Issue
Block a user