Add JointAPI schema in mjcPhysics.
PiperOrigin-RevId: 778030981 Change-Id: I22a4bf2a550fb78e47bef0ff171b10ce5912887e
This commit is contained in:
Robin Alazard
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Copybara-Service
Copybara-Service
parent
3db03dcce5
commit
862436f9b3
@@ -0,0 +1,303 @@
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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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#include <mujoco/experimental/usd/mjcPhysics/jointAPI.h>
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#include <pxr/usd/sdf/assetPath.h>
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#include <pxr/usd/sdf/types.h>
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#include <pxr/usd/usd/schemaRegistry.h>
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#include <pxr/usd/usd/typed.h>
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PXR_NAMESPACE_OPEN_SCOPE
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// Register the schema with the TfType system.
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TF_REGISTRY_FUNCTION(TfType) {
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TfType::Define<MjcPhysicsJointAPI, TfType::Bases<UsdAPISchemaBase> >();
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}
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/* virtual */
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MjcPhysicsJointAPI::~MjcPhysicsJointAPI() {}
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/* static */
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MjcPhysicsJointAPI MjcPhysicsJointAPI::Get(const UsdStagePtr &stage,
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const SdfPath &path) {
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if (!stage) {
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TF_CODING_ERROR("Invalid stage");
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return MjcPhysicsJointAPI();
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}
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return MjcPhysicsJointAPI(stage->GetPrimAtPath(path));
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}
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/* virtual */
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UsdSchemaKind MjcPhysicsJointAPI::_GetSchemaKind() const {
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return MjcPhysicsJointAPI::schemaKind;
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}
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/* static */
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bool MjcPhysicsJointAPI::CanApply(const UsdPrim &prim, std::string *whyNot) {
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return prim.CanApplyAPI<MjcPhysicsJointAPI>(whyNot);
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}
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/* static */
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MjcPhysicsJointAPI MjcPhysicsJointAPI::Apply(const UsdPrim &prim) {
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if (prim.ApplyAPI<MjcPhysicsJointAPI>()) {
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return MjcPhysicsJointAPI(prim);
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}
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return MjcPhysicsJointAPI();
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}
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/* static */
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const TfType &MjcPhysicsJointAPI::_GetStaticTfType() {
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static TfType tfType = TfType::Find<MjcPhysicsJointAPI>();
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return tfType;
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}
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/* static */
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bool MjcPhysicsJointAPI::_IsTypedSchema() {
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static bool isTyped = _GetStaticTfType().IsA<UsdTyped>();
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return isTyped;
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}
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/* virtual */
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const TfType &MjcPhysicsJointAPI::_GetTfType() const {
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return _GetStaticTfType();
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}
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UsdAttribute MjcPhysicsJointAPI::GetMjcSpringdamperAttr() const {
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return GetPrim().GetAttribute(MjcPhysicsTokens->mjcSpringdamper);
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}
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UsdAttribute MjcPhysicsJointAPI::CreateMjcSpringdamperAttr(
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VtValue const &defaultValue, bool writeSparsely) const {
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return UsdSchemaBase::_CreateAttr(
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MjcPhysicsTokens->mjcSpringdamper, SdfValueTypeNames->DoubleArray,
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/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
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}
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UsdAttribute MjcPhysicsJointAPI::GetMjcSolreflimitAttr() const {
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return GetPrim().GetAttribute(MjcPhysicsTokens->mjcSolreflimit);
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}
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UsdAttribute MjcPhysicsJointAPI::CreateMjcSolreflimitAttr(
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VtValue const &defaultValue, bool writeSparsely) const {
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return UsdSchemaBase::_CreateAttr(
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MjcPhysicsTokens->mjcSolreflimit, SdfValueTypeNames->DoubleArray,
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/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
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}
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UsdAttribute MjcPhysicsJointAPI::GetMjcSolimplimitAttr() const {
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return GetPrim().GetAttribute(MjcPhysicsTokens->mjcSolimplimit);
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}
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UsdAttribute MjcPhysicsJointAPI::CreateMjcSolimplimitAttr(
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VtValue const &defaultValue, bool writeSparsely) const {
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return UsdSchemaBase::_CreateAttr(
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MjcPhysicsTokens->mjcSolimplimit, SdfValueTypeNames->DoubleArray,
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/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
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}
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UsdAttribute MjcPhysicsJointAPI::GetMjcSolreffrictionAttr() const {
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return GetPrim().GetAttribute(MjcPhysicsTokens->mjcSolreffriction);
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}
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UsdAttribute MjcPhysicsJointAPI::CreateMjcSolreffrictionAttr(
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VtValue const &defaultValue, bool writeSparsely) const {
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return UsdSchemaBase::_CreateAttr(
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MjcPhysicsTokens->mjcSolreffriction, SdfValueTypeNames->DoubleArray,
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/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
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}
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UsdAttribute MjcPhysicsJointAPI::GetMjcSolimpfrictionAttr() const {
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return GetPrim().GetAttribute(MjcPhysicsTokens->mjcSolimpfriction);
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}
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UsdAttribute MjcPhysicsJointAPI::CreateMjcSolimpfrictionAttr(
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VtValue const &defaultValue, bool writeSparsely) const {
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return UsdSchemaBase::_CreateAttr(
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MjcPhysicsTokens->mjcSolimpfriction, SdfValueTypeNames->DoubleArray,
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/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
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}
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UsdAttribute MjcPhysicsJointAPI::GetMjcStiffnessAttr() const {
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return GetPrim().GetAttribute(MjcPhysicsTokens->mjcStiffness);
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}
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UsdAttribute MjcPhysicsJointAPI::CreateMjcStiffnessAttr(
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VtValue const &defaultValue, bool writeSparsely) const {
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return UsdSchemaBase::_CreateAttr(
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MjcPhysicsTokens->mjcStiffness, SdfValueTypeNames->Double,
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/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
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}
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UsdAttribute MjcPhysicsJointAPI::GetMjcActuatorfrcrangeMinAttr() const {
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return GetPrim().GetAttribute(MjcPhysicsTokens->mjcActuatorfrcrangeMin);
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}
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UsdAttribute MjcPhysicsJointAPI::CreateMjcActuatorfrcrangeMinAttr(
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VtValue const &defaultValue, bool writeSparsely) const {
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return UsdSchemaBase::_CreateAttr(
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MjcPhysicsTokens->mjcActuatorfrcrangeMin, SdfValueTypeNames->Double,
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/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
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}
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UsdAttribute MjcPhysicsJointAPI::GetMjcActuatorfrcrangeMaxAttr() const {
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return GetPrim().GetAttribute(MjcPhysicsTokens->mjcActuatorfrcrangeMax);
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}
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UsdAttribute MjcPhysicsJointAPI::CreateMjcActuatorfrcrangeMaxAttr(
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VtValue const &defaultValue, bool writeSparsely) const {
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return UsdSchemaBase::_CreateAttr(
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MjcPhysicsTokens->mjcActuatorfrcrangeMax, SdfValueTypeNames->Double,
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/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
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}
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UsdAttribute MjcPhysicsJointAPI::GetMjcActuatorfrclimitedAttr() const {
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return GetPrim().GetAttribute(MjcPhysicsTokens->mjcActuatorfrclimited);
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}
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UsdAttribute MjcPhysicsJointAPI::CreateMjcActuatorfrclimitedAttr(
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VtValue const &defaultValue, bool writeSparsely) const {
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return UsdSchemaBase::_CreateAttr(
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MjcPhysicsTokens->mjcActuatorfrclimited, SdfValueTypeNames->Token,
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/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
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}
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UsdAttribute MjcPhysicsJointAPI::GetMjcActuatorgravcompAttr() const {
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return GetPrim().GetAttribute(MjcPhysicsTokens->mjcActuatorgravcomp);
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}
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UsdAttribute MjcPhysicsJointAPI::CreateMjcActuatorgravcompAttr(
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VtValue const &defaultValue, bool writeSparsely) const {
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return UsdSchemaBase::_CreateAttr(
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MjcPhysicsTokens->mjcActuatorgravcomp, SdfValueTypeNames->Bool,
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/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
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}
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UsdAttribute MjcPhysicsJointAPI::GetMjcMarginAttr() const {
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return GetPrim().GetAttribute(MjcPhysicsTokens->mjcMargin);
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}
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UsdAttribute MjcPhysicsJointAPI::CreateMjcMarginAttr(
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VtValue const &defaultValue, bool writeSparsely) const {
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return UsdSchemaBase::_CreateAttr(
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MjcPhysicsTokens->mjcMargin, SdfValueTypeNames->Double,
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/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
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}
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UsdAttribute MjcPhysicsJointAPI::GetMjcRefAttr() const {
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return GetPrim().GetAttribute(MjcPhysicsTokens->mjcRef);
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}
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UsdAttribute MjcPhysicsJointAPI::CreateMjcRefAttr(VtValue const &defaultValue,
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bool writeSparsely) const {
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return UsdSchemaBase::_CreateAttr(
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MjcPhysicsTokens->mjcRef, SdfValueTypeNames->Double,
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/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
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}
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UsdAttribute MjcPhysicsJointAPI::GetMjcSpringrefAttr() const {
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return GetPrim().GetAttribute(MjcPhysicsTokens->mjcSpringref);
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}
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UsdAttribute MjcPhysicsJointAPI::CreateMjcSpringrefAttr(
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VtValue const &defaultValue, bool writeSparsely) const {
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return UsdSchemaBase::_CreateAttr(
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MjcPhysicsTokens->mjcSpringref, SdfValueTypeNames->Double,
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/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
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}
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UsdAttribute MjcPhysicsJointAPI::GetMjcArmatureAttr() const {
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return GetPrim().GetAttribute(MjcPhysicsTokens->mjcArmature);
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}
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UsdAttribute MjcPhysicsJointAPI::CreateMjcArmatureAttr(
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VtValue const &defaultValue, bool writeSparsely) const {
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return UsdSchemaBase::_CreateAttr(
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MjcPhysicsTokens->mjcArmature, SdfValueTypeNames->Double,
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/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
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}
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UsdAttribute MjcPhysicsJointAPI::GetMjcDampingAttr() const {
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return GetPrim().GetAttribute(MjcPhysicsTokens->mjcDamping);
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}
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UsdAttribute MjcPhysicsJointAPI::CreateMjcDampingAttr(
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VtValue const &defaultValue, bool writeSparsely) const {
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return UsdSchemaBase::_CreateAttr(
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MjcPhysicsTokens->mjcDamping, SdfValueTypeNames->Double,
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/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
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}
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UsdAttribute MjcPhysicsJointAPI::GetMjcFrictionlossAttr() const {
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return GetPrim().GetAttribute(MjcPhysicsTokens->mjcFrictionloss);
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}
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UsdAttribute MjcPhysicsJointAPI::CreateMjcFrictionlossAttr(
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VtValue const &defaultValue, bool writeSparsely) const {
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return UsdSchemaBase::_CreateAttr(
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MjcPhysicsTokens->mjcFrictionloss, SdfValueTypeNames->Double,
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/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
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}
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namespace {
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static inline TfTokenVector _ConcatenateAttributeNames(
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const TfTokenVector &left, const TfTokenVector &right) {
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TfTokenVector result;
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result.reserve(left.size() + right.size());
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result.insert(result.end(), left.begin(), left.end());
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result.insert(result.end(), right.begin(), right.end());
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return result;
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}
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} // namespace
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/*static*/
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const TfTokenVector &MjcPhysicsJointAPI::GetSchemaAttributeNames(
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bool includeInherited) {
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static TfTokenVector localNames = {
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MjcPhysicsTokens->mjcSpringdamper,
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MjcPhysicsTokens->mjcSolreflimit,
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MjcPhysicsTokens->mjcSolimplimit,
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MjcPhysicsTokens->mjcSolreffriction,
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MjcPhysicsTokens->mjcSolimpfriction,
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MjcPhysicsTokens->mjcStiffness,
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MjcPhysicsTokens->mjcActuatorfrcrangeMin,
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MjcPhysicsTokens->mjcActuatorfrcrangeMax,
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MjcPhysicsTokens->mjcActuatorfrclimited,
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MjcPhysicsTokens->mjcActuatorgravcomp,
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MjcPhysicsTokens->mjcMargin,
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MjcPhysicsTokens->mjcRef,
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MjcPhysicsTokens->mjcSpringref,
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MjcPhysicsTokens->mjcArmature,
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MjcPhysicsTokens->mjcDamping,
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MjcPhysicsTokens->mjcFrictionloss,
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};
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static TfTokenVector allNames = _ConcatenateAttributeNames(
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UsdAPISchemaBase::GetSchemaAttributeNames(true), localNames);
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if (includeInherited)
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return allNames;
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else
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return localNames;
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}
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PXR_NAMESPACE_CLOSE_SCOPE
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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 wrap code in the appropriate delimiters:
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// 'PXR_NAMESPACE_OPEN_SCOPE', 'PXR_NAMESPACE_CLOSE_SCOPE'.
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// ===================================================================== //
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// --(BEGIN CUSTOM CODE)--
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