Move headers from src/experimental/usd to include/experimental/usd
PiperOrigin-RevId: 775269423 Change-Id: Ifca6c3ead32b9fb3f02784ed38a9efae300be410
This commit is contained in:
Sam Haves
committed by
Copybara-Service
Copybara-Service
parent
78df2ae7fa
commit
9089059517
@@ -0,0 +1,41 @@
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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 MUJOCO_SRC_EXPERIMENTAL_USD_LAYER_SINK_H_
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#define MUJOCO_SRC_EXPERIMENTAL_USD_LAYER_SINK_H_
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#include <vector>
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#include <mujoco/mujoco.h>
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#include <pxr/usd/sdf/path.h>
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#include <pxr/usd/usd/common.h>
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namespace mujoco {
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namespace usd {
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// A sink for writing pose data to an SDF layer.
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// Opinions will be authored on the edit target layer for the
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// passed stage argument.
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class LayerSink {
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public:
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explicit LayerSink(pxr::UsdStageRefPtr stage);
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void Update(const mjData* const data, std::vector<pxr::SdfPath> body_paths_);
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private:
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pxr::UsdStageRefPtr stage_;
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};
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} // namespace usd
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} // namespace mujoco
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#endif // MUJOCO_SRC_EXPERIMENTAL_USD_LAYER_SINK_H_
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@@ -0,0 +1,811 @@
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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_ACTUATORAPI_H
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#define MJCPHYSICS_GENERATED_ACTUATORAPI_H
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/// \file mjcPhysics/actuatorAPI.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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// PHYSICSACTUATORAPI //
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// -------------------------------------------------------------------------- //
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/// \class MjcPhysicsActuatorAPI
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///
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/// API describing a Mujoco actuator.
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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 MjcPhysicsActuatorAPI : 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 MjcPhysicsActuatorAPI on UsdPrim \p prim .
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/// Equivalent to MjcPhysicsActuatorAPI::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 MjcPhysicsActuatorAPI(const UsdPrim &prim = UsdPrim())
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: UsdAPISchemaBase(prim) {}
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/// Construct a MjcPhysicsActuatorAPI on the prim held by \p schemaObj .
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/// Should be preferred over MjcPhysicsActuatorAPI(schemaObj.GetPrim()),
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/// as it preserves SchemaBase state.
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explicit MjcPhysicsActuatorAPI(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 ~MjcPhysicsActuatorAPI();
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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 MjcPhysicsActuatorAPI 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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/// MjcPhysicsActuatorAPI(stage->GetPrimAtPath(path));
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/// \endcode
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///
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MJCPHYSICS_API
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static MjcPhysicsActuatorAPI Get(const UsdStagePtr &stage,
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const SdfPath &path);
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/// Returns true if this <b>single-apply</b> API schema can be applied to
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/// the given \p prim. If this schema can not be a applied to the prim,
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/// this returns false and, if provided, populates \p whyNot with the
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/// reason it can not be applied.
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///
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/// Note that if CanApply returns false, that does not necessarily imply
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/// that calling Apply will fail. Callers are expected to call CanApply
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/// before calling Apply if they want to ensure that it is valid to
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/// apply a schema.
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///
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/// \sa UsdPrim::GetAppliedSchemas()
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/// \sa UsdPrim::HasAPI()
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/// \sa UsdPrim::CanApplyAPI()
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/// \sa UsdPrim::ApplyAPI()
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/// \sa UsdPrim::RemoveAPI()
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///
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MJCPHYSICS_API
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static bool CanApply(const UsdPrim &prim, std::string *whyNot = nullptr);
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/// Applies this <b>single-apply</b> API schema to the given \p prim.
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/// This information is stored by adding "PhysicsActuatorAPI" 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 MjcPhysicsActuatorAPI object is returned upon success.
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/// An invalid (or empty) MjcPhysicsActuatorAPI 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 MjcPhysicsActuatorAPI 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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// MJCCTRLLIMITED
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// --------------------------------------------------------------------- //
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/// If true, the control input to this actuator is automatically clamped to
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/// ctrlrange at runtime. If false, control input clamping is disabled. If
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/// 'auto' and autolimits is set in compiler, control clamping will
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/// automatically be set to true if ctrlrange is defined without explicitly
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/// setting this attribute to 'true'. Note that control input clamping can
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/// also be globally disabled with the clampctrl attribute of option/flag.
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///
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/// | ||
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/// | -- | -- |
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/// | Declaration | `uniform token mjc:ctrlLimited = "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 GetMjcCtrlLimitedAttr() const;
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/// See GetMjcCtrlLimitedAttr(), 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 CreateMjcCtrlLimitedAttr(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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// MJCFORCELIMITED
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// --------------------------------------------------------------------- //
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/// If true, the force output of this actuator is automatically clamped to
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/// forcerange at runtime. If false, force clamping is disabled. If 'auto' and
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/// autolimits is set in compiler, force clamping will automatically be set to
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/// true if forcerange is defined without explicitly setting this attribute to
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/// 'true'.
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///
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/// | ||
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/// | -- | -- |
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/// | Declaration | `uniform token mjc:forceLimited = "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 GetMjcForceLimitedAttr() const;
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/// See GetMjcForceLimitedAttr(), 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 CreateMjcForceLimitedAttr(
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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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// MJCACTLIMITED
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// --------------------------------------------------------------------- //
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/// If true, the internal state (activation) associated with this actuator is
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/// automatically clamped to actrange at runtime. If false, activation
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/// clamping is disabled. If 'auto' and autolimits is set in compiler,
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/// activation clamping will automatically be set to true if actrange is
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/// defined without explicitly setting this attribute to 'true'. See the
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/// Activation clamping section for more details.
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///
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/// | ||
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/// | -- | -- |
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/// | Declaration | `uniform token mjc:actLimited = "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 GetMjcActLimitedAttr() const;
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/// See GetMjcActLimitedAttr(), 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 CreateMjcActLimitedAttr(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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// MJCCTRLRANGEMIN
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// --------------------------------------------------------------------- //
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/// Minimum range for clamping the control input. The first value must be
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/// smaller than the second value. Setting this attribute without specifying
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/// ctrllimited is an error if autolimits is 'false' in compiler.
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///
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/// | ||
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/// | -- | -- |
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/// | Declaration | `uniform double mjc:ctrlRange: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 GetMjcCtrlRangeMinAttr() const;
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/// See GetMjcCtrlRangeMinAttr(), 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 CreateMjcCtrlRangeMinAttr(
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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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// MJCCTRLRANGEMAX
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// --------------------------------------------------------------------- //
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/// Maximum range for clamping the control input. The first value must be
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/// smaller than the second value. Setting this attribute without specifying
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/// ctrllimited is an error if autolimits is 'false' in compiler.
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///
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/// | ||
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/// | -- | -- |
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/// | Declaration | `uniform double mjc:ctrlRange: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 GetMjcCtrlRangeMaxAttr() const;
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/// See GetMjcCtrlRangeMaxAttr(), 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 CreateMjcCtrlRangeMaxAttr(
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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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// MJCFORCERANGEMIN
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// --------------------------------------------------------------------- //
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/// Minimum range for clamping the force output. The first value must be no
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/// greater than the second value. Setting this attribute without specifying
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/// forcelimited is an error if autolimits is 'false' in compiler.
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///
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/// | ||
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/// | -- | -- |
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/// | Declaration | `uniform double mjc:forceRange: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 GetMjcForceRangeMinAttr() const;
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/// See GetMjcForceRangeMinAttr(), 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 CreateMjcForceRangeMinAttr(
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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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// MJCFORCERANGEMAX
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// --------------------------------------------------------------------- //
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/// Maximum range for clamping the force output. The first value must be no
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/// greater than the second value. Setting this attribute without specifying
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/// forcelimited is an error if autolimits is 'false' in compiler.
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///
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/// | ||
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/// | -- | -- |
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/// | Declaration | `uniform double mjc:forceRange: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 GetMjcForceRangeMaxAttr() const;
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/// See GetMjcForceRangeMaxAttr(), 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 CreateMjcForceRangeMaxAttr(
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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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// MJCACTRANGEMIN
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// --------------------------------------------------------------------- //
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/// Minimum range for clamping the activation state. The first value must be
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/// no greater than the second value. See the Activation clamping section for
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/// more details. Setting this attribute without specifying actlimited is an
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/// error if autolimits is 'false' in compiler.
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///
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/// | ||
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/// | -- | -- |
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/// | Declaration | `uniform double mjc:actRange: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 GetMjcActRangeMinAttr() const;
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/// See GetMjcActRangeMinAttr(), 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 CreateMjcActRangeMinAttr(VtValue const &defaultValue = VtValue(),
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bool writeSparsely = false) const;
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||||
public:
|
||||
// --------------------------------------------------------------------- //
|
||||
// MJCACTRANGEMAX
|
||||
// --------------------------------------------------------------------- //
|
||||
/// Maximum range for clamping the activation state. The first value must be
|
||||
/// no greater than the second value. See the Activation clamping section for
|
||||
/// more details. Setting this attribute without specifying actlimited is an
|
||||
/// error if autolimits is 'false' in compiler.
|
||||
///
|
||||
/// | ||
|
||||
/// | -- | -- |
|
||||
/// | Declaration | `uniform double mjc:actRange:max = 0` |
|
||||
/// | C++ Type | double |
|
||||
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
|
||||
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
|
||||
MJCPHYSICS_API
|
||||
UsdAttribute GetMjcActRangeMaxAttr() const;
|
||||
|
||||
/// See GetMjcActRangeMaxAttr(), 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 CreateMjcActRangeMaxAttr(VtValue const &defaultValue = VtValue(),
|
||||
bool writeSparsely = false) const;
|
||||
|
||||
public:
|
||||
// --------------------------------------------------------------------- //
|
||||
// MJCLENGTHRANGEMIN
|
||||
// --------------------------------------------------------------------- //
|
||||
/// Minimum range of feasible lengths of the actuator’s transmission.
|
||||
///
|
||||
/// | ||
|
||||
/// | -- | -- |
|
||||
/// | Declaration | `uniform double mjc:lengthRange:min = 0` |
|
||||
/// | C++ Type | double |
|
||||
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
|
||||
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
|
||||
MJCPHYSICS_API
|
||||
UsdAttribute GetMjcLengthRangeMinAttr() const;
|
||||
|
||||
/// See GetMjcLengthRangeMinAttr(), 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 CreateMjcLengthRangeMinAttr(
|
||||
VtValue const &defaultValue = VtValue(),
|
||||
bool writeSparsely = false) const;
|
||||
|
||||
public:
|
||||
// --------------------------------------------------------------------- //
|
||||
// MJCLENGTHRANGEMAX
|
||||
// --------------------------------------------------------------------- //
|
||||
/// Maximum range of feasible lengths of the actuator’s transmission.
|
||||
///
|
||||
/// | ||
|
||||
/// | -- | -- |
|
||||
/// | Declaration | `uniform double mjc:lengthRange:max = 0` |
|
||||
/// | C++ Type | double |
|
||||
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
|
||||
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
|
||||
MJCPHYSICS_API
|
||||
UsdAttribute GetMjcLengthRangeMaxAttr() const;
|
||||
|
||||
/// See GetMjcLengthRangeMaxAttr(), 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 CreateMjcLengthRangeMaxAttr(
|
||||
VtValue const &defaultValue = VtValue(),
|
||||
bool writeSparsely = false) const;
|
||||
|
||||
public:
|
||||
// --------------------------------------------------------------------- //
|
||||
// MJCGEAR
|
||||
// --------------------------------------------------------------------- //
|
||||
/// This attribute scales the length (and consequently moment arms, velocity
|
||||
/// and force) of the actuator, for all transmission types. It is different
|
||||
/// from the gain in the force generation mechanism, because the gain only
|
||||
/// scales the force output and does not affect the length, moment arms and
|
||||
/// velocity. For actuators with scalar transmission, only the first element
|
||||
/// of this vector is used. The remaining elements are needed for joint,
|
||||
/// jointinparent and site transmissions where this attribute is used to
|
||||
/// specify 3D force and torque axes.
|
||||
///
|
||||
/// | ||
|
||||
/// | -- | -- |
|
||||
/// | Declaration | `uniform double[] mjc:gear = [1, 0, 0, 0, 0, 0]` |
|
||||
/// | C++ Type | VtArray<double> |
|
||||
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->DoubleArray |
|
||||
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
|
||||
MJCPHYSICS_API
|
||||
UsdAttribute GetMjcGearAttr() const;
|
||||
|
||||
/// See GetMjcGearAttr(), 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 CreateMjcGearAttr(VtValue const &defaultValue = VtValue(),
|
||||
bool writeSparsely = false) const;
|
||||
|
||||
public:
|
||||
// --------------------------------------------------------------------- //
|
||||
// MJCCRANKLENGTH
|
||||
// --------------------------------------------------------------------- //
|
||||
/// Used only for the slider-crank transmission type. Specifies the length of
|
||||
/// the connecting rod. The compiler expects this value to be positive when a
|
||||
/// slider-crank transmission is present.
|
||||
///
|
||||
/// | ||
|
||||
/// | -- | -- |
|
||||
/// | Declaration | `uniform double mjc:crankLength = 0` |
|
||||
/// | C++ Type | double |
|
||||
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
|
||||
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
|
||||
MJCPHYSICS_API
|
||||
UsdAttribute GetMjcCrankLengthAttr() const;
|
||||
|
||||
/// See GetMjcCrankLengthAttr(), 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 CreateMjcCrankLengthAttr(VtValue const &defaultValue = VtValue(),
|
||||
bool writeSparsely = false) const;
|
||||
|
||||
public:
|
||||
// --------------------------------------------------------------------- //
|
||||
// MJCJOINTINPARENT
|
||||
// --------------------------------------------------------------------- //
|
||||
/// If true and applied to ball and free joints, the 3d rotation axis given by
|
||||
/// gear is defined in the parent frame (which is the world frame for free
|
||||
/// joints) rather than the child frame.
|
||||
///
|
||||
/// | ||
|
||||
/// | -- | -- |
|
||||
/// | Declaration | `uniform bool mjc:jointInParent = 0` |
|
||||
/// | C++ Type | bool |
|
||||
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
|
||||
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
|
||||
MJCPHYSICS_API
|
||||
UsdAttribute GetMjcJointInParentAttr() const;
|
||||
|
||||
/// See GetMjcJointInParentAttr(), 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 CreateMjcJointInParentAttr(
|
||||
VtValue const &defaultValue = VtValue(),
|
||||
bool writeSparsely = false) const;
|
||||
|
||||
public:
|
||||
// --------------------------------------------------------------------- //
|
||||
// MJCACTDIM
|
||||
// --------------------------------------------------------------------- //
|
||||
/// Dimension of the activation state. The default value of -1 instructs the
|
||||
/// compiler to set the dimension according to the dyntype. Values larger than
|
||||
/// 1 are only allowed for user-defined activation dynamics, as native types
|
||||
/// require dimensions of only 0 or 1. For activation dimensions bigger than
|
||||
/// 1, the last element is used to generate force.
|
||||
///
|
||||
/// | ||
|
||||
/// | -- | -- |
|
||||
/// | Declaration | `uniform int mjc:actDim = -1` |
|
||||
/// | C++ Type | int |
|
||||
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
|
||||
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
|
||||
MJCPHYSICS_API
|
||||
UsdAttribute GetMjcActDimAttr() const;
|
||||
|
||||
/// See GetMjcActDimAttr(), 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 CreateMjcActDimAttr(VtValue const &defaultValue = VtValue(),
|
||||
bool writeSparsely = false) const;
|
||||
|
||||
public:
|
||||
// --------------------------------------------------------------------- //
|
||||
// MJCDYNTYPE
|
||||
// --------------------------------------------------------------------- //
|
||||
/// Activation dynamics type for the actuator. The available dynamics types
|
||||
/// were already described in the Actuation model section.
|
||||
///
|
||||
/// | ||
|
||||
/// | -- | -- |
|
||||
/// | Declaration | `uniform token mjc:dynType = "none"` |
|
||||
/// | C++ Type | TfToken |
|
||||
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Token |
|
||||
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
|
||||
/// | \ref MjcPhysicsTokens "Allowed Values" | none, integrator, filter,
|
||||
/// filterexact, muscle, user |
|
||||
MJCPHYSICS_API
|
||||
UsdAttribute GetMjcDynTypeAttr() const;
|
||||
|
||||
/// See GetMjcDynTypeAttr(), 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 CreateMjcDynTypeAttr(VtValue const &defaultValue = VtValue(),
|
||||
bool writeSparsely = false) const;
|
||||
|
||||
public:
|
||||
// --------------------------------------------------------------------- //
|
||||
// MJCGAINTYPE
|
||||
// --------------------------------------------------------------------- //
|
||||
/// The gain and bias together determine the output of the force generation
|
||||
/// mechanism, which is currently assumed to be affine.
|
||||
///
|
||||
/// | ||
|
||||
/// | -- | -- |
|
||||
/// | Declaration | `uniform token mjc:gainType = "fixed"` |
|
||||
/// | C++ Type | TfToken |
|
||||
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Token |
|
||||
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
|
||||
/// | \ref MjcPhysicsTokens "Allowed Values" | fixed, affine, muscle, user |
|
||||
MJCPHYSICS_API
|
||||
UsdAttribute GetMjcGainTypeAttr() const;
|
||||
|
||||
/// See GetMjcGainTypeAttr(), 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 CreateMjcGainTypeAttr(VtValue const &defaultValue = VtValue(),
|
||||
bool writeSparsely = false) const;
|
||||
|
||||
public:
|
||||
// --------------------------------------------------------------------- //
|
||||
// MJCBIASTYPE
|
||||
// --------------------------------------------------------------------- //
|
||||
/// The gain and bias together determine the output of the force generation
|
||||
/// mechanism, which is currently assumed to be affine.
|
||||
///
|
||||
/// | ||
|
||||
/// | -- | -- |
|
||||
/// | Declaration | `uniform token mjc:biasType = "none"` |
|
||||
/// | C++ Type | TfToken |
|
||||
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Token |
|
||||
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
|
||||
/// | \ref MjcPhysicsTokens "Allowed Values" | none, affine, muscle, user |
|
||||
MJCPHYSICS_API
|
||||
UsdAttribute GetMjcBiasTypeAttr() const;
|
||||
|
||||
/// See GetMjcBiasTypeAttr(), 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 CreateMjcBiasTypeAttr(VtValue const &defaultValue = VtValue(),
|
||||
bool writeSparsely = false) const;
|
||||
|
||||
public:
|
||||
// --------------------------------------------------------------------- //
|
||||
// MJCDYNPRM
|
||||
// --------------------------------------------------------------------- //
|
||||
/// Activation dynamics parameters. The built-in activation types (except for
|
||||
/// muscle) use only the first parameter, but we provide additional parameters
|
||||
/// in case user callbacks implement a more elaborate model. The length of
|
||||
/// this array is not enforced by the parser, so the user can enter as many
|
||||
/// parameters as needed. These defaults are not compatible with muscle
|
||||
/// actuators.
|
||||
///
|
||||
/// | ||
|
||||
/// | -- | -- |
|
||||
/// | Declaration | `uniform double[] mjc:dynPrm = [1, 0, 0, 0, 0, 0, 0, 0, 0,
|
||||
/// 0]` | | C++ Type | VtArray<double> | | \ref Usd_Datatypes "Usd Type" |
|
||||
/// SdfValueTypeNames->DoubleArray | | \ref SdfVariability "Variability" |
|
||||
/// SdfVariabilityUniform |
|
||||
MJCPHYSICS_API
|
||||
UsdAttribute GetMjcDynPrmAttr() const;
|
||||
|
||||
/// See GetMjcDynPrmAttr(), 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 CreateMjcDynPrmAttr(VtValue const &defaultValue = VtValue(),
|
||||
bool writeSparsely = false) const;
|
||||
|
||||
public:
|
||||
// --------------------------------------------------------------------- //
|
||||
// MJCGAINPRM
|
||||
// --------------------------------------------------------------------- //
|
||||
/// Gain parameters. The built-in gain types (except for muscle) use only the
|
||||
/// first parameter, but we provide additional parameters in case user
|
||||
/// callbacks implement a more elaborate model. The length of this array is
|
||||
/// not enforced by the parser, so the user can enter as many parameters as
|
||||
/// needed. These defaults are not compatible with muscle actuators.
|
||||
///
|
||||
/// | ||
|
||||
/// | -- | -- |
|
||||
/// | Declaration | `uniform double[] mjc:gainPrm = [1, 0, 0, 0, 0, 0, 0, 0,
|
||||
/// 0, 0]` | | C++ Type | VtArray<double> | | \ref Usd_Datatypes "Usd Type" |
|
||||
/// SdfValueTypeNames->DoubleArray | | \ref SdfVariability "Variability" |
|
||||
/// SdfVariabilityUniform |
|
||||
MJCPHYSICS_API
|
||||
UsdAttribute GetMjcGainPrmAttr() const;
|
||||
|
||||
/// See GetMjcGainPrmAttr(), 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 CreateMjcGainPrmAttr(VtValue const &defaultValue = VtValue(),
|
||||
bool writeSparsely = false) const;
|
||||
|
||||
public:
|
||||
// --------------------------------------------------------------------- //
|
||||
// MJCBIASPRM
|
||||
// --------------------------------------------------------------------- //
|
||||
/// Bias parameters. The affine bias type uses three parameters. The length of
|
||||
/// this array is not enforced by the parser, so the user can enter as many
|
||||
/// parameters as needed. These defaults are not compatible with muscle
|
||||
/// actuators.
|
||||
///
|
||||
/// | ||
|
||||
/// | -- | -- |
|
||||
/// | Declaration | `uniform double[] mjc:biasPrm = [0, 0, 0, 0, 0, 0, 0, 0,
|
||||
/// 0, 0]` | | C++ Type | VtArray<double> | | \ref Usd_Datatypes "Usd Type" |
|
||||
/// SdfValueTypeNames->DoubleArray | | \ref SdfVariability "Variability" |
|
||||
/// SdfVariabilityUniform |
|
||||
MJCPHYSICS_API
|
||||
UsdAttribute GetMjcBiasPrmAttr() const;
|
||||
|
||||
/// See GetMjcBiasPrmAttr(), 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 CreateMjcBiasPrmAttr(VtValue const &defaultValue = VtValue(),
|
||||
bool writeSparsely = false) const;
|
||||
|
||||
public:
|
||||
// --------------------------------------------------------------------- //
|
||||
// MJCACTEARLY
|
||||
// --------------------------------------------------------------------- //
|
||||
/// If true, force computation will use the next value of the activation
|
||||
/// variable rather than the current one. Setting this flag reduces the delay
|
||||
/// between the control and accelerations by one time-step.
|
||||
///
|
||||
/// | ||
|
||||
/// | -- | -- |
|
||||
/// | Declaration | `uniform bool mjc:actEarly = 0` |
|
||||
/// | C++ Type | bool |
|
||||
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
|
||||
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
|
||||
MJCPHYSICS_API
|
||||
UsdAttribute GetMjcActEarlyAttr() const;
|
||||
|
||||
/// See GetMjcActEarlyAttr(), 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 CreateMjcActEarlyAttr(VtValue const &defaultValue = VtValue(),
|
||||
bool writeSparsely = false) const;
|
||||
|
||||
public:
|
||||
// --------------------------------------------------------------------- //
|
||||
// MJCREFSITE
|
||||
// --------------------------------------------------------------------- //
|
||||
/// When applied to a site, measure the translation and rotation w.r.t the
|
||||
/// frame of the refsite. In this case the actuator does have length and
|
||||
/// position actuators can be used to directly control an end effector, see
|
||||
/// refsite.xml example model. As above, the length is the dot product of the
|
||||
/// gear vector and the frame difference. So gear='0 1 0 0 0 0' means
|
||||
/// 'Y-offset of site in the refsite frame', while gear='0 0 0 0 0 1' means
|
||||
/// rotation 'Z- rotation of site in the refsite frame'. It is recommended to
|
||||
/// use a normalized gear vector with nonzeros in only the first 3 or the last
|
||||
/// 3 elements of gear, so the actuator length will be in either length units
|
||||
/// or radians, respectively. As with ball joints (see joint above), for
|
||||
/// rotations which exceed a total angle of pi will wrap around, so tighter
|
||||
/// limits are recommended.
|
||||
///
|
||||
MJCPHYSICS_API
|
||||
UsdRelationship GetMjcRefSiteRel() const;
|
||||
|
||||
/// See GetMjcRefSiteRel(), and also
|
||||
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create
|
||||
MJCPHYSICS_API
|
||||
UsdRelationship CreateMjcRefSiteRel() const;
|
||||
|
||||
public:
|
||||
// --------------------------------------------------------------------- //
|
||||
// MJCSLIDERSITE
|
||||
// --------------------------------------------------------------------- //
|
||||
/// Used only for the slider-crank transmission type. The target site is the
|
||||
/// pin joining the slider and the connecting rod. The slider moves along the
|
||||
/// z-axis of the slidersite frame. Therefore the site should be oriented as
|
||||
/// needed when it is defined in the kinematic tree; its orientation cannot be
|
||||
/// changed in the actuator definition.
|
||||
///
|
||||
MJCPHYSICS_API
|
||||
UsdRelationship GetMjcSliderSiteRel() const;
|
||||
|
||||
/// See GetMjcSliderSiteRel(), and also
|
||||
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create
|
||||
MJCPHYSICS_API
|
||||
UsdRelationship CreateMjcSliderSiteRel() 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
|
||||
@@ -0,0 +1,42 @@
|
||||
// Copyright 2025 DeepMind Technologies Limited
|
||||
//
|
||||
// Licensed under the Apache License, Version 2.0 (the "License");
|
||||
// you may not use this file except in compliance with the License.
|
||||
// You may obtain a copy of the License at
|
||||
//
|
||||
// http://www.apache.org/licenses/LICENSE-2.0
|
||||
//
|
||||
// Unless required by applicable law or agreed to in writing, software
|
||||
// distributed under the License is distributed on an "AS IS" BASIS,
|
||||
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
// See the License for the specific language governing permissions and
|
||||
// limitations under the License.
|
||||
|
||||
#ifndef MJCPHYSICS_API_H
|
||||
#define MJCPHYSICS_API_H
|
||||
|
||||
#include "pxr/base/arch/export.h"
|
||||
|
||||
#if defined(PXR_STATIC)
|
||||
#define MJCPHYSICS_API
|
||||
#define MJCPHYSICS_API_TEMPLATE_CLASS(...)
|
||||
#define MJCPHYSICS_API_TEMPLATE_STRUCT(...)
|
||||
#define MJCPHYSICS_LOCAL
|
||||
#else
|
||||
#if defined(MJCPHYSICS_EXPORTS)
|
||||
#define MJCPHYSICS_API ARCH_EXPORT
|
||||
#define MJCPHYSICS_API_TEMPLATE_CLASS(...) \
|
||||
ARCH_EXPORT_TEMPLATE(class, __VA_ARGS__)
|
||||
#define MJCPHYSICS_API_TEMPLATE_STRUCT(...) \
|
||||
ARCH_EXPORT_TEMPLATE(struct, __VA_ARGS__)
|
||||
#else
|
||||
#define MJCPHYSICS_API ARCH_IMPORT
|
||||
#define MJCPHYSICS_API_TEMPLATE_CLASS(...) \
|
||||
ARCH_IMPORT_TEMPLATE(class, __VA_ARGS__)
|
||||
#define MJCPHYSICS_API_TEMPLATE_STRUCT(...) \
|
||||
ARCH_IMPORT_TEMPLATE(struct, __VA_ARGS__)
|
||||
#endif
|
||||
#define MJCPHYSICS_LOCAL ARCH_HIDDEN
|
||||
#endif
|
||||
|
||||
#endif
|
||||
@@ -0,0 +1,185 @@
|
||||
// Copyright 2025 DeepMind Technologies Limited
|
||||
//
|
||||
// Licensed under the Apache License, Version 2.0 (the "License");
|
||||
// you may not use this file except in compliance with the License.
|
||||
// You may obtain a copy of the License at
|
||||
//
|
||||
// http://www.apache.org/licenses/LICENSE-2.0
|
||||
//
|
||||
// Unless required by applicable law or agreed to in writing, software
|
||||
// distributed under the License is distributed on an "AS IS" BASIS,
|
||||
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
// See the License for the specific language governing permissions and
|
||||
// limitations under the License.
|
||||
|
||||
#ifndef MJCPHYSICS_GENERATED_COLLISIONAPI_H
|
||||
#define MJCPHYSICS_GENERATED_COLLISIONAPI_H
|
||||
|
||||
/// \file mjcPhysics/collisionAPI.h
|
||||
|
||||
#include <mujoco/experimental/usd/mjcPhysics/api.h>
|
||||
#include <mujoco/experimental/usd/mjcPhysics/tokens.h>
|
||||
#include "pxr/base/gf/matrix4d.h"
|
||||
#include "pxr/base/gf/vec3d.h"
|
||||
#include "pxr/base/gf/vec3f.h"
|
||||
#include "pxr/base/tf/token.h"
|
||||
#include "pxr/base/tf/type.h"
|
||||
#include "pxr/base/vt/value.h"
|
||||
#include "pxr/pxr.h"
|
||||
#include "pxr/usd/usd/apiSchemaBase.h"
|
||||
#include "pxr/usd/usd/prim.h"
|
||||
#include "pxr/usd/usd/stage.h"
|
||||
|
||||
PXR_NAMESPACE_OPEN_SCOPE
|
||||
|
||||
class SdfAssetPath;
|
||||
|
||||
// -------------------------------------------------------------------------- //
|
||||
// COLLISIONAPI //
|
||||
// -------------------------------------------------------------------------- //
|
||||
|
||||
/// \class MjcPhysicsCollisionAPI
|
||||
///
|
||||
/// API describing a Mujoco collider.
|
||||
///
|
||||
class MjcPhysicsCollisionAPI : public UsdAPISchemaBase {
|
||||
public:
|
||||
/// Compile time constant representing what kind of schema this class is.
|
||||
///
|
||||
/// \sa UsdSchemaKind
|
||||
static const UsdSchemaKind schemaKind = UsdSchemaKind::SingleApplyAPI;
|
||||
|
||||
/// Construct a MjcPhysicsCollisionAPI on UsdPrim \p prim .
|
||||
/// Equivalent to MjcPhysicsCollisionAPI::Get(prim.GetStage(), prim.GetPath())
|
||||
/// for a \em valid \p prim, but will not immediately throw an error for
|
||||
/// an invalid \p prim
|
||||
explicit MjcPhysicsCollisionAPI(const UsdPrim &prim = UsdPrim())
|
||||
: UsdAPISchemaBase(prim) {}
|
||||
|
||||
/// Construct a MjcPhysicsCollisionAPI on the prim held by \p schemaObj .
|
||||
/// Should be preferred over MjcPhysicsCollisionAPI(schemaObj.GetPrim()),
|
||||
/// as it preserves SchemaBase state.
|
||||
explicit MjcPhysicsCollisionAPI(const UsdSchemaBase &schemaObj)
|
||||
: UsdAPISchemaBase(schemaObj) {}
|
||||
|
||||
/// Destructor.
|
||||
MJCPHYSICS_API
|
||||
virtual ~MjcPhysicsCollisionAPI();
|
||||
|
||||
/// Return a vector of names of all pre-declared attributes for this schema
|
||||
/// class and all its ancestor classes. Does not include attributes that
|
||||
/// may be authored by custom/extended methods of the schemas involved.
|
||||
MJCPHYSICS_API
|
||||
static const TfTokenVector &GetSchemaAttributeNames(
|
||||
bool includeInherited = true);
|
||||
|
||||
/// Return a MjcPhysicsCollisionAPI holding the prim adhering to this
|
||||
/// schema at \p path on \p stage. If no prim exists at \p path on
|
||||
/// \p stage, or if the prim at that path does not adhere to this schema,
|
||||
/// return an invalid schema object. This is shorthand for the following:
|
||||
///
|
||||
/// \code
|
||||
/// MjcPhysicsCollisionAPI(stage->GetPrimAtPath(path));
|
||||
/// \endcode
|
||||
///
|
||||
MJCPHYSICS_API
|
||||
static MjcPhysicsCollisionAPI Get(const UsdStagePtr &stage,
|
||||
const SdfPath &path);
|
||||
|
||||
/// Returns true if this <b>single-apply</b> API schema can be applied to
|
||||
/// the given \p prim. If this schema can not be a applied to the prim,
|
||||
/// this returns false and, if provided, populates \p whyNot with the
|
||||
/// reason it can not be applied.
|
||||
///
|
||||
/// Note that if CanApply returns false, that does not necessarily imply
|
||||
/// that calling Apply will fail. Callers are expected to call CanApply
|
||||
/// before calling Apply if they want to ensure that it is valid to
|
||||
/// apply a schema.
|
||||
///
|
||||
/// \sa UsdPrim::GetAppliedSchemas()
|
||||
/// \sa UsdPrim::HasAPI()
|
||||
/// \sa UsdPrim::CanApplyAPI()
|
||||
/// \sa UsdPrim::ApplyAPI()
|
||||
/// \sa UsdPrim::RemoveAPI()
|
||||
///
|
||||
MJCPHYSICS_API
|
||||
static bool CanApply(const UsdPrim &prim, std::string *whyNot = nullptr);
|
||||
|
||||
/// Applies this <b>single-apply</b> API schema to the given \p prim.
|
||||
/// This information is stored by adding "CollisionAPI" to the
|
||||
/// token-valued, listOp metadata \em apiSchemas on the prim.
|
||||
///
|
||||
/// \return A valid MjcPhysicsCollisionAPI object is returned upon success.
|
||||
/// An invalid (or empty) MjcPhysicsCollisionAPI object is returned upon
|
||||
/// failure. See \ref UsdPrim::ApplyAPI() for conditions
|
||||
/// resulting in failure.
|
||||
///
|
||||
/// \sa UsdPrim::GetAppliedSchemas()
|
||||
/// \sa UsdPrim::HasAPI()
|
||||
/// \sa UsdPrim::CanApplyAPI()
|
||||
/// \sa UsdPrim::ApplyAPI()
|
||||
/// \sa UsdPrim::RemoveAPI()
|
||||
///
|
||||
MJCPHYSICS_API
|
||||
static MjcPhysicsCollisionAPI Apply(const UsdPrim &prim);
|
||||
|
||||
protected:
|
||||
/// Returns the kind of schema this class belongs to.
|
||||
///
|
||||
/// \sa UsdSchemaKind
|
||||
MJCPHYSICS_API
|
||||
UsdSchemaKind _GetSchemaKind() const override;
|
||||
|
||||
private:
|
||||
// needs to invoke _GetStaticTfType.
|
||||
friend class UsdSchemaRegistry;
|
||||
MJCPHYSICS_API
|
||||
static const TfType &_GetStaticTfType();
|
||||
|
||||
static bool _IsTypedSchema();
|
||||
|
||||
// override SchemaBase virtuals.
|
||||
MJCPHYSICS_API
|
||||
const TfType &_GetTfType() const override;
|
||||
|
||||
public:
|
||||
// --------------------------------------------------------------------- //
|
||||
// SHELLINERTIA
|
||||
// --------------------------------------------------------------------- //
|
||||
/// Enables handling of the inertia assuming mass is concentrated on the
|
||||
/// surface.
|
||||
///
|
||||
/// | ||
|
||||
/// | -- | -- |
|
||||
/// | Declaration | `uniform bool mjc:shellinertia = 0` |
|
||||
/// | C++ Type | bool |
|
||||
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
|
||||
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
|
||||
MJCPHYSICS_API
|
||||
UsdAttribute GetShellInertiaAttr() const;
|
||||
|
||||
/// See GetShellInertiaAttr(), 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 CreateShellInertiaAttr(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
|
||||
@@ -0,0 +1,191 @@
|
||||
// Copyright 2025 DeepMind Technologies Limited
|
||||
//
|
||||
// Licensed under the Apache License, Version 2.0 (the "License");
|
||||
// you may not use this file except in compliance with the License.
|
||||
// You may obtain a copy of the License at
|
||||
//
|
||||
// http://www.apache.org/licenses/LICENSE-2.0
|
||||
//
|
||||
// Unless required by applicable law or agreed to in writing, software
|
||||
// distributed under the License is distributed on an "AS IS" BASIS,
|
||||
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
// See the License for the specific language governing permissions and
|
||||
// limitations under the License.
|
||||
|
||||
#ifndef MJCPHYSICS_GENERATED_MESHCOLLISIONAPI_H
|
||||
#define MJCPHYSICS_GENERATED_MESHCOLLISIONAPI_H
|
||||
|
||||
/// \file mjcPhysics/meshCollisionAPI.h
|
||||
|
||||
#include <mujoco/experimental/usd/mjcPhysics/api.h>
|
||||
#include <mujoco/experimental/usd/mjcPhysics/tokens.h>
|
||||
#include "pxr/base/gf/matrix4d.h"
|
||||
#include "pxr/base/gf/vec3d.h"
|
||||
#include "pxr/base/gf/vec3f.h"
|
||||
#include "pxr/base/tf/token.h"
|
||||
#include "pxr/base/tf/type.h"
|
||||
#include "pxr/base/vt/value.h"
|
||||
#include "pxr/pxr.h"
|
||||
#include "pxr/usd/usd/apiSchemaBase.h"
|
||||
#include "pxr/usd/usd/prim.h"
|
||||
#include "pxr/usd/usd/stage.h"
|
||||
|
||||
PXR_NAMESPACE_OPEN_SCOPE
|
||||
|
||||
class SdfAssetPath;
|
||||
|
||||
// -------------------------------------------------------------------------- //
|
||||
// MESHCOLLISIONAPI //
|
||||
// -------------------------------------------------------------------------- //
|
||||
|
||||
/// \class MjcPhysicsMeshCollisionAPI
|
||||
///
|
||||
/// API describing a Mujoco collider.
|
||||
///
|
||||
/// For any described attribute \em Fallback \em Value or \em Allowed \em Values
|
||||
/// below that are text/tokens, the actual token is published and defined in
|
||||
/// \ref MjcPhysicsTokens. So to set an attribute to the value "rightHanded",
|
||||
/// use MjcPhysicsTokens->rightHanded as the value.
|
||||
///
|
||||
class MjcPhysicsMeshCollisionAPI : public UsdAPISchemaBase {
|
||||
public:
|
||||
/// Compile time constant representing what kind of schema this class is.
|
||||
///
|
||||
/// \sa UsdSchemaKind
|
||||
static const UsdSchemaKind schemaKind = UsdSchemaKind::SingleApplyAPI;
|
||||
|
||||
/// Construct a MjcPhysicsMeshCollisionAPI on UsdPrim \p prim .
|
||||
/// Equivalent to MjcPhysicsMeshCollisionAPI::Get(prim.GetStage(),
|
||||
/// prim.GetPath()) for a \em valid \p prim, but will not immediately throw an
|
||||
/// error for an invalid \p prim
|
||||
explicit MjcPhysicsMeshCollisionAPI(const UsdPrim &prim = UsdPrim())
|
||||
: UsdAPISchemaBase(prim) {}
|
||||
|
||||
/// Construct a MjcPhysicsMeshCollisionAPI on the prim held by \p schemaObj .
|
||||
/// Should be preferred over MjcPhysicsMeshCollisionAPI(schemaObj.GetPrim()),
|
||||
/// as it preserves SchemaBase state.
|
||||
explicit MjcPhysicsMeshCollisionAPI(const UsdSchemaBase &schemaObj)
|
||||
: UsdAPISchemaBase(schemaObj) {}
|
||||
|
||||
/// Destructor.
|
||||
MJCPHYSICS_API
|
||||
virtual ~MjcPhysicsMeshCollisionAPI();
|
||||
|
||||
/// Return a vector of names of all pre-declared attributes for this schema
|
||||
/// class and all its ancestor classes. Does not include attributes that
|
||||
/// may be authored by custom/extended methods of the schemas involved.
|
||||
MJCPHYSICS_API
|
||||
static const TfTokenVector &GetSchemaAttributeNames(
|
||||
bool includeInherited = true);
|
||||
|
||||
/// Return a MjcPhysicsMeshCollisionAPI holding the prim adhering to this
|
||||
/// schema at \p path on \p stage. If no prim exists at \p path on
|
||||
/// \p stage, or if the prim at that path does not adhere to this schema,
|
||||
/// return an invalid schema object. This is shorthand for the following:
|
||||
///
|
||||
/// \code
|
||||
/// MjcPhysicsMeshCollisionAPI(stage->GetPrimAtPath(path));
|
||||
/// \endcode
|
||||
///
|
||||
MJCPHYSICS_API
|
||||
static MjcPhysicsMeshCollisionAPI Get(const UsdStagePtr &stage,
|
||||
const SdfPath &path);
|
||||
|
||||
/// Returns true if this <b>single-apply</b> API schema can be applied to
|
||||
/// the given \p prim. If this schema can not be a applied to the prim,
|
||||
/// this returns false and, if provided, populates \p whyNot with the
|
||||
/// reason it can not be applied.
|
||||
///
|
||||
/// Note that if CanApply returns false, that does not necessarily imply
|
||||
/// that calling Apply will fail. Callers are expected to call CanApply
|
||||
/// before calling Apply if they want to ensure that it is valid to
|
||||
/// apply a schema.
|
||||
///
|
||||
/// \sa UsdPrim::GetAppliedSchemas()
|
||||
/// \sa UsdPrim::HasAPI()
|
||||
/// \sa UsdPrim::CanApplyAPI()
|
||||
/// \sa UsdPrim::ApplyAPI()
|
||||
/// \sa UsdPrim::RemoveAPI()
|
||||
///
|
||||
MJCPHYSICS_API
|
||||
static bool CanApply(const UsdPrim &prim, std::string *whyNot = nullptr);
|
||||
|
||||
/// Applies this <b>single-apply</b> API schema to the given \p prim.
|
||||
/// This information is stored by adding "MeshCollisionAPI" to the
|
||||
/// token-valued, listOp metadata \em apiSchemas on the prim.
|
||||
///
|
||||
/// \return A valid MjcPhysicsMeshCollisionAPI object is returned upon
|
||||
/// success. An invalid (or empty) MjcPhysicsMeshCollisionAPI object is
|
||||
/// returned upon failure. See \ref UsdPrim::ApplyAPI() for conditions
|
||||
/// resulting in failure.
|
||||
///
|
||||
/// \sa UsdPrim::GetAppliedSchemas()
|
||||
/// \sa UsdPrim::HasAPI()
|
||||
/// \sa UsdPrim::CanApplyAPI()
|
||||
/// \sa UsdPrim::ApplyAPI()
|
||||
/// \sa UsdPrim::RemoveAPI()
|
||||
///
|
||||
MJCPHYSICS_API
|
||||
static MjcPhysicsMeshCollisionAPI Apply(const UsdPrim &prim);
|
||||
|
||||
protected:
|
||||
/// Returns the kind of schema this class belongs to.
|
||||
///
|
||||
/// \sa UsdSchemaKind
|
||||
MJCPHYSICS_API
|
||||
UsdSchemaKind _GetSchemaKind() const override;
|
||||
|
||||
private:
|
||||
// needs to invoke _GetStaticTfType.
|
||||
friend class UsdSchemaRegistry;
|
||||
MJCPHYSICS_API
|
||||
static const TfType &_GetStaticTfType();
|
||||
|
||||
static bool _IsTypedSchema();
|
||||
|
||||
// override SchemaBase virtuals.
|
||||
MJCPHYSICS_API
|
||||
const TfType &_GetTfType() const override;
|
||||
|
||||
public:
|
||||
// --------------------------------------------------------------------- //
|
||||
// INERTIA
|
||||
// --------------------------------------------------------------------- //
|
||||
/// Controls how a mesh is used when mass and inertia are inferred from
|
||||
/// geometry.
|
||||
///
|
||||
/// | ||
|
||||
/// | -- | -- |
|
||||
/// | Declaration | `uniform token mjc:inertia = "legacy"` |
|
||||
/// | C++ Type | TfToken |
|
||||
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Token |
|
||||
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
|
||||
/// | \ref MjcPhysicsTokens "Allowed Values" | legacy, convex, exact, shell |
|
||||
MJCPHYSICS_API
|
||||
UsdAttribute GetInertiaAttr() const;
|
||||
|
||||
/// See GetInertiaAttr(), 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 CreateInertiaAttr(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
|
||||
File diff suppressed because it is too large
Load Diff
@@ -0,0 +1,158 @@
|
||||
// Copyright 2025 DeepMind Technologies Limited
|
||||
//
|
||||
// Licensed under the Apache License, Version 2.0 (the "License");
|
||||
// you may not use this file except in compliance with the License.
|
||||
// You may obtain a copy of the License at
|
||||
//
|
||||
// http://www.apache.org/licenses/LICENSE-2.0
|
||||
//
|
||||
// Unless required by applicable law or agreed to in writing, software
|
||||
// distributed under the License is distributed on an "AS IS" BASIS,
|
||||
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
// See the License for the specific language governing permissions and
|
||||
// limitations under the License.
|
||||
|
||||
#ifndef MJCPHYSICS_GENERATED_SITEAPI_H
|
||||
#define MJCPHYSICS_GENERATED_SITEAPI_H
|
||||
|
||||
/// \file mjcPhysics/siteAPI.h
|
||||
|
||||
#include <mujoco/experimental/usd/mjcPhysics/api.h>
|
||||
#include "pxr/base/gf/matrix4d.h"
|
||||
#include "pxr/base/gf/vec3d.h"
|
||||
#include "pxr/base/gf/vec3f.h"
|
||||
#include "pxr/base/tf/token.h"
|
||||
#include "pxr/base/tf/type.h"
|
||||
#include "pxr/base/vt/value.h"
|
||||
#include "pxr/pxr.h"
|
||||
#include "pxr/usd/usd/apiSchemaBase.h"
|
||||
#include "pxr/usd/usd/prim.h"
|
||||
#include "pxr/usd/usd/stage.h"
|
||||
|
||||
PXR_NAMESPACE_OPEN_SCOPE
|
||||
|
||||
class SdfAssetPath;
|
||||
|
||||
// -------------------------------------------------------------------------- //
|
||||
// SITEAPI //
|
||||
// -------------------------------------------------------------------------- //
|
||||
|
||||
/// \class MjcPhysicsSiteAPI
|
||||
///
|
||||
/// API describing a Mujoco site.
|
||||
///
|
||||
class MjcPhysicsSiteAPI : public UsdAPISchemaBase {
|
||||
public:
|
||||
/// Compile time constant representing what kind of schema this class is.
|
||||
///
|
||||
/// \sa UsdSchemaKind
|
||||
static const UsdSchemaKind schemaKind = UsdSchemaKind::SingleApplyAPI;
|
||||
|
||||
/// Construct a MjcPhysicsSiteAPI on UsdPrim \p prim .
|
||||
/// Equivalent to MjcPhysicsSiteAPI::Get(prim.GetStage(), prim.GetPath())
|
||||
/// for a \em valid \p prim, but will not immediately throw an error for
|
||||
/// an invalid \p prim
|
||||
explicit MjcPhysicsSiteAPI(const UsdPrim &prim = UsdPrim())
|
||||
: UsdAPISchemaBase(prim) {}
|
||||
|
||||
/// Construct a MjcPhysicsSiteAPI on the prim held by \p schemaObj .
|
||||
/// Should be preferred over MjcPhysicsSiteAPI(schemaObj.GetPrim()),
|
||||
/// as it preserves SchemaBase state.
|
||||
explicit MjcPhysicsSiteAPI(const UsdSchemaBase &schemaObj)
|
||||
: UsdAPISchemaBase(schemaObj) {}
|
||||
|
||||
/// Destructor.
|
||||
MJCPHYSICS_API
|
||||
virtual ~MjcPhysicsSiteAPI();
|
||||
|
||||
/// Return a vector of names of all pre-declared attributes for this schema
|
||||
/// class and all its ancestor classes. Does not include attributes that
|
||||
/// may be authored by custom/extended methods of the schemas involved.
|
||||
MJCPHYSICS_API
|
||||
static const TfTokenVector &GetSchemaAttributeNames(
|
||||
bool includeInherited = true);
|
||||
|
||||
/// Return a MjcPhysicsSiteAPI holding the prim adhering to this
|
||||
/// schema at \p path on \p stage. If no prim exists at \p path on
|
||||
/// \p stage, or if the prim at that path does not adhere to this schema,
|
||||
/// return an invalid schema object. This is shorthand for the following:
|
||||
///
|
||||
/// \code
|
||||
/// MjcPhysicsSiteAPI(stage->GetPrimAtPath(path));
|
||||
/// \endcode
|
||||
///
|
||||
MJCPHYSICS_API
|
||||
static MjcPhysicsSiteAPI Get(const UsdStagePtr &stage, const SdfPath &path);
|
||||
|
||||
/// Returns true if this <b>single-apply</b> API schema can be applied to
|
||||
/// the given \p prim. If this schema can not be a applied to the prim,
|
||||
/// this returns false and, if provided, populates \p whyNot with the
|
||||
/// reason it can not be applied.
|
||||
///
|
||||
/// Note that if CanApply returns false, that does not necessarily imply
|
||||
/// that calling Apply will fail. Callers are expected to call CanApply
|
||||
/// before calling Apply if they want to ensure that it is valid to
|
||||
/// apply a schema.
|
||||
///
|
||||
/// \sa UsdPrim::GetAppliedSchemas()
|
||||
/// \sa UsdPrim::HasAPI()
|
||||
/// \sa UsdPrim::CanApplyAPI()
|
||||
/// \sa UsdPrim::ApplyAPI()
|
||||
/// \sa UsdPrim::RemoveAPI()
|
||||
///
|
||||
MJCPHYSICS_API
|
||||
static bool CanApply(const UsdPrim &prim, std::string *whyNot = nullptr);
|
||||
|
||||
/// Applies this <b>single-apply</b> API schema to the given \p prim.
|
||||
/// This information is stored by adding "SiteAPI" to the
|
||||
/// token-valued, listOp metadata \em apiSchemas on the prim.
|
||||
///
|
||||
/// \return A valid MjcPhysicsSiteAPI object is returned upon success.
|
||||
/// An invalid (or empty) MjcPhysicsSiteAPI object is returned upon
|
||||
/// failure. See \ref UsdPrim::ApplyAPI() for conditions
|
||||
/// resulting in failure.
|
||||
///
|
||||
/// \sa UsdPrim::GetAppliedSchemas()
|
||||
/// \sa UsdPrim::HasAPI()
|
||||
/// \sa UsdPrim::CanApplyAPI()
|
||||
/// \sa UsdPrim::ApplyAPI()
|
||||
/// \sa UsdPrim::RemoveAPI()
|
||||
///
|
||||
MJCPHYSICS_API
|
||||
static MjcPhysicsSiteAPI Apply(const UsdPrim &prim);
|
||||
|
||||
protected:
|
||||
/// Returns the kind of schema this class belongs to.
|
||||
///
|
||||
/// \sa UsdSchemaKind
|
||||
MJCPHYSICS_API
|
||||
UsdSchemaKind _GetSchemaKind() const override;
|
||||
|
||||
private:
|
||||
// needs to invoke _GetStaticTfType.
|
||||
friend class UsdSchemaRegistry;
|
||||
MJCPHYSICS_API
|
||||
static const TfType &_GetStaticTfType();
|
||||
|
||||
static bool _IsTypedSchema();
|
||||
|
||||
// override SchemaBase virtuals.
|
||||
MJCPHYSICS_API
|
||||
const TfType &_GetTfType() const override;
|
||||
|
||||
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
|
||||
@@ -0,0 +1,517 @@
|
||||
// Copyright 2025 DeepMind Technologies Limited
|
||||
//
|
||||
// Licensed under the Apache License, Version 2.0 (the "License");
|
||||
// you may not use this file except in compliance with the License.
|
||||
// You may obtain a copy of the License at
|
||||
//
|
||||
// http://www.apache.org/licenses/LICENSE-2.0
|
||||
//
|
||||
// Unless required by applicable law or agreed to in writing, software
|
||||
// distributed under the License is distributed on an "AS IS" BASIS,
|
||||
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
// See the License for the specific language governing permissions and
|
||||
// limitations under the License.
|
||||
|
||||
#ifndef MJCPHYSICS_TOKENS_H
|
||||
#define MJCPHYSICS_TOKENS_H
|
||||
|
||||
/// \file mjcPhysics/tokens.h
|
||||
|
||||
// XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX
|
||||
//
|
||||
// This is an automatically generated file (by usdGenSchema.py).
|
||||
// Do not hand-edit!
|
||||
//
|
||||
// XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX
|
||||
|
||||
#include <vector>
|
||||
|
||||
#include <mujoco/experimental/usd/mjcPhysics/api.h>
|
||||
#include "pxr/base/tf/staticData.h"
|
||||
#include "pxr/base/tf/token.h"
|
||||
#include "pxr/pxr.h"
|
||||
|
||||
PXR_NAMESPACE_OPEN_SCOPE
|
||||
|
||||
/// \class MjcPhysicsTokensType
|
||||
///
|
||||
/// \link MjcPhysicsTokens \endlink provides static, efficient
|
||||
/// \link TfToken TfTokens\endlink for use in all public USD API.
|
||||
///
|
||||
/// These tokens are auto-generated from the module's schema, representing
|
||||
/// property names, for when you need to fetch an attribute or relationship
|
||||
/// directly by name, e.g. UsdPrim::GetAttribute(), in the most efficient
|
||||
/// manner, and allow the compiler to verify that you spelled the name
|
||||
/// correctly.
|
||||
///
|
||||
/// MjcPhysicsTokens also contains all of the \em allowedTokens values
|
||||
/// declared for schema builtin attributes of 'token' scene description type.
|
||||
/// Use MjcPhysicsTokens like so:
|
||||
///
|
||||
/// \code
|
||||
/// gprim.GetMyTokenValuedAttr().Set(MjcPhysicsTokens->affine);
|
||||
/// \endcode
|
||||
struct MjcPhysicsTokensType {
|
||||
MJCPHYSICS_API MjcPhysicsTokensType();
|
||||
/// \brief "affine"
|
||||
///
|
||||
/// Possible value for MjcPhysicsActuatorAPI::GetMjcBiasTypeAttr(), Possible
|
||||
/// value for MjcPhysicsActuatorAPI::GetMjcGainTypeAttr()
|
||||
const TfToken affine;
|
||||
/// \brief "auto"
|
||||
///
|
||||
/// Fallback value for MjcPhysicsSceneAPI::GetJacobianAttr(), Fallback value
|
||||
/// for MjcPhysicsActuatorAPI::GetMjcActLimitedAttr(), Fallback value for
|
||||
/// MjcPhysicsActuatorAPI::GetMjcCtrlLimitedAttr(), Fallback value for
|
||||
/// MjcPhysicsActuatorAPI::GetMjcForceLimitedAttr(), This token represents
|
||||
/// the auto constraint Jacobian and matrices computed from it.
|
||||
const TfToken auto_;
|
||||
/// \brief "cg"
|
||||
///
|
||||
/// Possible value for MjcPhysicsSceneAPI::GetSolverAttr(), This token
|
||||
/// represents the CG constraint solver algorithm.
|
||||
const TfToken cg;
|
||||
/// \brief "convex"
|
||||
///
|
||||
/// Possible value for MjcPhysicsMeshCollisionAPI::GetInertiaAttr()
|
||||
const TfToken convex;
|
||||
/// \brief "dense"
|
||||
///
|
||||
/// Possible value for MjcPhysicsSceneAPI::GetJacobianAttr(), This token
|
||||
/// represents the dense constraint Jacobian and matrices computed from it.
|
||||
const TfToken dense;
|
||||
/// \brief "elliptic"
|
||||
///
|
||||
/// Possible value for MjcPhysicsSceneAPI::GetConeAttr(), This token
|
||||
/// represents the elliptic contact friction cone type.
|
||||
const TfToken elliptic;
|
||||
/// \brief "euler"
|
||||
///
|
||||
/// Fallback value for MjcPhysicsSceneAPI::GetIntegratorAttr(), This token
|
||||
/// represents the Euler numerical integrator.
|
||||
const TfToken euler;
|
||||
/// \brief "exact"
|
||||
///
|
||||
/// Possible value for MjcPhysicsMeshCollisionAPI::GetInertiaAttr()
|
||||
const TfToken exact;
|
||||
/// \brief "false"
|
||||
///
|
||||
/// Possible value for MjcPhysicsActuatorAPI::GetMjcActLimitedAttr(), Possible
|
||||
/// value for MjcPhysicsActuatorAPI::GetMjcCtrlLimitedAttr(), Possible value
|
||||
/// for MjcPhysicsActuatorAPI::GetMjcForceLimitedAttr()
|
||||
const TfToken false_;
|
||||
/// \brief "filter"
|
||||
///
|
||||
/// Possible value for MjcPhysicsActuatorAPI::GetMjcDynTypeAttr()
|
||||
const TfToken filter;
|
||||
/// \brief "filterexact"
|
||||
///
|
||||
/// Possible value for MjcPhysicsActuatorAPI::GetMjcDynTypeAttr()
|
||||
const TfToken filterexact;
|
||||
/// \brief "fixed"
|
||||
///
|
||||
/// Fallback value for MjcPhysicsActuatorAPI::GetMjcGainTypeAttr()
|
||||
const TfToken fixed;
|
||||
/// \brief "implicit"
|
||||
///
|
||||
/// Possible value for MjcPhysicsSceneAPI::GetIntegratorAttr(), This token
|
||||
/// represents the implicit numerical integrator.
|
||||
const TfToken implicit;
|
||||
/// \brief "implicitfast"
|
||||
///
|
||||
/// Possible value for MjcPhysicsSceneAPI::GetIntegratorAttr(), This token
|
||||
/// represents the implicitfast numerical integrator.
|
||||
const TfToken implicitfast;
|
||||
/// \brief "integrator"
|
||||
///
|
||||
/// Possible value for MjcPhysicsActuatorAPI::GetMjcDynTypeAttr()
|
||||
const TfToken integrator;
|
||||
/// \brief "legacy"
|
||||
///
|
||||
/// Fallback value for MjcPhysicsMeshCollisionAPI::GetInertiaAttr()
|
||||
const TfToken legacy;
|
||||
/// \brief "mjc:actDim"
|
||||
///
|
||||
/// MjcPhysicsActuatorAPI
|
||||
const TfToken mjcActDim;
|
||||
/// \brief "mjc:actEarly"
|
||||
///
|
||||
/// MjcPhysicsActuatorAPI
|
||||
const TfToken mjcActEarly;
|
||||
/// \brief "mjc:actLimited"
|
||||
///
|
||||
/// MjcPhysicsActuatorAPI
|
||||
const TfToken mjcActLimited;
|
||||
/// \brief "mjc:actRange:max"
|
||||
///
|
||||
/// MjcPhysicsActuatorAPI
|
||||
const TfToken mjcActRangeMax;
|
||||
/// \brief "mjc:actRange:min"
|
||||
///
|
||||
/// MjcPhysicsActuatorAPI
|
||||
const TfToken mjcActRangeMin;
|
||||
/// \brief "mjc:biasPrm"
|
||||
///
|
||||
/// MjcPhysicsActuatorAPI
|
||||
const TfToken mjcBiasPrm;
|
||||
/// \brief "mjc:biasType"
|
||||
///
|
||||
/// MjcPhysicsActuatorAPI
|
||||
const TfToken mjcBiasType;
|
||||
/// \brief "mjc:crankLength"
|
||||
///
|
||||
/// MjcPhysicsActuatorAPI
|
||||
const TfToken mjcCrankLength;
|
||||
/// \brief "mjc:ctrlLimited"
|
||||
///
|
||||
/// MjcPhysicsActuatorAPI
|
||||
const TfToken mjcCtrlLimited;
|
||||
/// \brief "mjc:ctrlRange:max"
|
||||
///
|
||||
/// MjcPhysicsActuatorAPI
|
||||
const TfToken mjcCtrlRangeMax;
|
||||
/// \brief "mjc:ctrlRange:min"
|
||||
///
|
||||
/// MjcPhysicsActuatorAPI
|
||||
const TfToken mjcCtrlRangeMin;
|
||||
/// \brief "mjc:dynPrm"
|
||||
///
|
||||
/// MjcPhysicsActuatorAPI
|
||||
const TfToken mjcDynPrm;
|
||||
/// \brief "mjc:dynType"
|
||||
///
|
||||
/// MjcPhysicsActuatorAPI
|
||||
const TfToken mjcDynType;
|
||||
/// \brief "mjc:flag:actuation"
|
||||
///
|
||||
/// MjcPhysicsSceneAPI
|
||||
const TfToken mjcFlagActuation;
|
||||
/// \brief "mjc:flag:autoreset"
|
||||
///
|
||||
/// MjcPhysicsSceneAPI
|
||||
const TfToken mjcFlagAutoreset;
|
||||
/// \brief "mjc:flag:clampctrl"
|
||||
///
|
||||
/// MjcPhysicsSceneAPI
|
||||
const TfToken mjcFlagClampctrl;
|
||||
/// \brief "mjc:flag:constraint"
|
||||
///
|
||||
/// MjcPhysicsSceneAPI
|
||||
const TfToken mjcFlagConstraint;
|
||||
/// \brief "mjc:flag:contact"
|
||||
///
|
||||
/// MjcPhysicsSceneAPI
|
||||
const TfToken mjcFlagContact;
|
||||
/// \brief "mjc:flag:energy"
|
||||
///
|
||||
/// MjcPhysicsSceneAPI
|
||||
const TfToken mjcFlagEnergy;
|
||||
/// \brief "mjc:flag:equality"
|
||||
///
|
||||
/// MjcPhysicsSceneAPI
|
||||
const TfToken mjcFlagEquality;
|
||||
/// \brief "mjc:flag:eulerdamp"
|
||||
///
|
||||
/// MjcPhysicsSceneAPI
|
||||
const TfToken mjcFlagEulerdamp;
|
||||
/// \brief "mjc:flag:filterparent"
|
||||
///
|
||||
/// MjcPhysicsSceneAPI
|
||||
const TfToken mjcFlagFilterparent;
|
||||
/// \brief "mjc:flag:frictionloss"
|
||||
///
|
||||
/// MjcPhysicsSceneAPI
|
||||
const TfToken mjcFlagFrictionloss;
|
||||
/// \brief "mjc:flag:fwdinv"
|
||||
///
|
||||
/// MjcPhysicsSceneAPI
|
||||
const TfToken mjcFlagFwdinv;
|
||||
/// \brief "mjc:flag:gravity"
|
||||
///
|
||||
/// MjcPhysicsSceneAPI
|
||||
const TfToken mjcFlagGravity;
|
||||
/// \brief "mjc:flag:invdiscrete"
|
||||
///
|
||||
/// MjcPhysicsSceneAPI
|
||||
const TfToken mjcFlagInvdiscrete;
|
||||
/// \brief "mjc:flag:island"
|
||||
///
|
||||
/// MjcPhysicsSceneAPI
|
||||
const TfToken mjcFlagIsland;
|
||||
/// \brief "mjc:flag:limit"
|
||||
///
|
||||
/// MjcPhysicsSceneAPI
|
||||
const TfToken mjcFlagLimit;
|
||||
/// \brief "mjc:flag:midphase"
|
||||
///
|
||||
/// MjcPhysicsSceneAPI
|
||||
const TfToken mjcFlagMidphase;
|
||||
/// \brief "mjc:flag:multiccd"
|
||||
///
|
||||
/// MjcPhysicsSceneAPI
|
||||
const TfToken mjcFlagMulticcd;
|
||||
/// \brief "mjc:flag:nativeccd"
|
||||
///
|
||||
/// MjcPhysicsSceneAPI
|
||||
const TfToken mjcFlagNativeccd;
|
||||
/// \brief "mjc:flag:override"
|
||||
///
|
||||
/// MjcPhysicsSceneAPI
|
||||
const TfToken mjcFlagOverride;
|
||||
/// \brief "mjc:flag:passive"
|
||||
///
|
||||
/// MjcPhysicsSceneAPI
|
||||
const TfToken mjcFlagPassive;
|
||||
/// \brief "mjc:flag:refsafe"
|
||||
///
|
||||
/// MjcPhysicsSceneAPI
|
||||
const TfToken mjcFlagRefsafe;
|
||||
/// \brief "mjc:flag:sensor"
|
||||
///
|
||||
/// MjcPhysicsSceneAPI
|
||||
const TfToken mjcFlagSensor;
|
||||
/// \brief "mjc:flag:warmstart"
|
||||
///
|
||||
/// MjcPhysicsSceneAPI
|
||||
const TfToken mjcFlagWarmstart;
|
||||
/// \brief "mjc:forceLimited"
|
||||
///
|
||||
/// MjcPhysicsActuatorAPI
|
||||
const TfToken mjcForceLimited;
|
||||
/// \brief "mjc:forceRange:max"
|
||||
///
|
||||
/// MjcPhysicsActuatorAPI
|
||||
const TfToken mjcForceRangeMax;
|
||||
/// \brief "mjc:forceRange:min"
|
||||
///
|
||||
/// MjcPhysicsActuatorAPI
|
||||
const TfToken mjcForceRangeMin;
|
||||
/// \brief "mjc:gainPrm"
|
||||
///
|
||||
/// MjcPhysicsActuatorAPI
|
||||
const TfToken mjcGainPrm;
|
||||
/// \brief "mjc:gainType"
|
||||
///
|
||||
/// MjcPhysicsActuatorAPI
|
||||
const TfToken mjcGainType;
|
||||
/// \brief "mjc:gear"
|
||||
///
|
||||
/// MjcPhysicsActuatorAPI
|
||||
const TfToken mjcGear;
|
||||
/// \brief "mjc:inertia"
|
||||
///
|
||||
/// MjcPhysicsMeshCollisionAPI
|
||||
const TfToken mjcInertia;
|
||||
/// \brief "mjc:jointInParent"
|
||||
///
|
||||
/// MjcPhysicsActuatorAPI
|
||||
const TfToken mjcJointInParent;
|
||||
/// \brief "mjc:lengthRange:max"
|
||||
///
|
||||
/// MjcPhysicsActuatorAPI
|
||||
const TfToken mjcLengthRangeMax;
|
||||
/// \brief "mjc:lengthRange:min"
|
||||
///
|
||||
/// MjcPhysicsActuatorAPI
|
||||
const TfToken mjcLengthRangeMin;
|
||||
/// \brief "mjc:option:actuatorgroupdisable"
|
||||
///
|
||||
/// MjcPhysicsSceneAPI
|
||||
const TfToken mjcOptionActuatorgroupdisable;
|
||||
/// \brief "mjc:option:apirate"
|
||||
///
|
||||
/// MjcPhysicsSceneAPI
|
||||
const TfToken mjcOptionApirate;
|
||||
/// \brief "mjc:option:ccd_iterations"
|
||||
///
|
||||
/// MjcPhysicsSceneAPI
|
||||
const TfToken mjcOptionCcd_iterations;
|
||||
/// \brief "mjc:option:ccd_tolerance"
|
||||
///
|
||||
/// MjcPhysicsSceneAPI
|
||||
const TfToken mjcOptionCcd_tolerance;
|
||||
/// \brief "mjc:option:cone"
|
||||
///
|
||||
/// MjcPhysicsSceneAPI
|
||||
const TfToken mjcOptionCone;
|
||||
/// \brief "mjc:option:density"
|
||||
///
|
||||
/// MjcPhysicsSceneAPI
|
||||
const TfToken mjcOptionDensity;
|
||||
/// \brief "mjc:option:impratio"
|
||||
///
|
||||
/// MjcPhysicsSceneAPI
|
||||
const TfToken mjcOptionImpratio;
|
||||
/// \brief "mjc:option:integrator"
|
||||
///
|
||||
/// MjcPhysicsSceneAPI
|
||||
const TfToken mjcOptionIntegrator;
|
||||
/// \brief "mjc:option:iterations"
|
||||
///
|
||||
/// MjcPhysicsSceneAPI
|
||||
const TfToken mjcOptionIterations;
|
||||
/// \brief "mjc:option:jacobian"
|
||||
///
|
||||
/// MjcPhysicsSceneAPI
|
||||
const TfToken mjcOptionJacobian;
|
||||
/// \brief "mjc:option:ls_iterations"
|
||||
///
|
||||
/// MjcPhysicsSceneAPI
|
||||
const TfToken mjcOptionLs_iterations;
|
||||
/// \brief "mjc:option:ls_tolerance"
|
||||
///
|
||||
/// MjcPhysicsSceneAPI
|
||||
const TfToken mjcOptionLs_tolerance;
|
||||
/// \brief "mjc:option:magnetic"
|
||||
///
|
||||
/// MjcPhysicsSceneAPI
|
||||
const TfToken mjcOptionMagnetic;
|
||||
/// \brief "mjc:option:noslip_iterations"
|
||||
///
|
||||
/// MjcPhysicsSceneAPI
|
||||
const TfToken mjcOptionNoslip_iterations;
|
||||
/// \brief "mjc:option:noslip_tolerance"
|
||||
///
|
||||
/// MjcPhysicsSceneAPI
|
||||
const TfToken mjcOptionNoslip_tolerance;
|
||||
/// \brief "mjc:option:o_friction"
|
||||
///
|
||||
/// MjcPhysicsSceneAPI
|
||||
const TfToken mjcOptionO_friction;
|
||||
/// \brief "mjc:option:o_margin"
|
||||
///
|
||||
/// MjcPhysicsSceneAPI
|
||||
const TfToken mjcOptionO_margin;
|
||||
/// \brief "mjc:option:o_solimp"
|
||||
///
|
||||
/// MjcPhysicsSceneAPI
|
||||
const TfToken mjcOptionO_solimp;
|
||||
/// \brief "mjc:option:o_solref"
|
||||
///
|
||||
/// MjcPhysicsSceneAPI
|
||||
const TfToken mjcOptionO_solref;
|
||||
/// \brief "mjc:option:sdf_initpoints"
|
||||
///
|
||||
/// MjcPhysicsSceneAPI
|
||||
const TfToken mjcOptionSdf_initpoints;
|
||||
/// \brief "mjc:option:sdf_iterations"
|
||||
///
|
||||
/// MjcPhysicsSceneAPI
|
||||
const TfToken mjcOptionSdf_iterations;
|
||||
/// \brief "mjc:option:solver"
|
||||
///
|
||||
/// MjcPhysicsSceneAPI
|
||||
const TfToken mjcOptionSolver;
|
||||
/// \brief "mjc:option:timestep"
|
||||
///
|
||||
/// MjcPhysicsSceneAPI
|
||||
const TfToken mjcOptionTimestep;
|
||||
/// \brief "mjc:option:tolerance"
|
||||
///
|
||||
/// MjcPhysicsSceneAPI
|
||||
const TfToken mjcOptionTolerance;
|
||||
/// \brief "mjc:option:viscosity"
|
||||
///
|
||||
/// MjcPhysicsSceneAPI
|
||||
const TfToken mjcOptionViscosity;
|
||||
/// \brief "mjc:option:wind"
|
||||
///
|
||||
/// MjcPhysicsSceneAPI
|
||||
const TfToken mjcOptionWind;
|
||||
/// \brief "mjc:refSite"
|
||||
///
|
||||
/// MjcPhysicsActuatorAPI
|
||||
const TfToken mjcRefSite;
|
||||
/// \brief "mjc:shellinertia"
|
||||
///
|
||||
/// MjcPhysicsCollisionAPI
|
||||
const TfToken mjcShellinertia;
|
||||
/// \brief "mjc:sliderSite"
|
||||
///
|
||||
/// MjcPhysicsActuatorAPI
|
||||
const TfToken mjcSliderSite;
|
||||
/// \brief "muscle"
|
||||
///
|
||||
/// Possible value for MjcPhysicsActuatorAPI::GetMjcBiasTypeAttr(), Possible
|
||||
/// value for MjcPhysicsActuatorAPI::GetMjcDynTypeAttr(), Possible value for
|
||||
/// MjcPhysicsActuatorAPI::GetMjcGainTypeAttr()
|
||||
const TfToken muscle;
|
||||
/// \brief "newton"
|
||||
///
|
||||
/// Fallback value for MjcPhysicsSceneAPI::GetSolverAttr(), This token
|
||||
/// represents the Newton constraint solver algorithm.
|
||||
const TfToken newton;
|
||||
/// \brief "none"
|
||||
///
|
||||
/// Fallback value for MjcPhysicsActuatorAPI::GetMjcBiasTypeAttr(), Fallback
|
||||
/// value for MjcPhysicsActuatorAPI::GetMjcDynTypeAttr()
|
||||
const TfToken none;
|
||||
/// \brief "pgs"
|
||||
///
|
||||
/// Possible value for MjcPhysicsSceneAPI::GetSolverAttr(), This token
|
||||
/// represents the PGS constraint solver algorithm.
|
||||
const TfToken pgs;
|
||||
/// \brief "pyramidal"
|
||||
///
|
||||
/// Fallback value for MjcPhysicsSceneAPI::GetConeAttr(), This token
|
||||
/// represents the pyramidal contact friction cone type.
|
||||
const TfToken pyramidal;
|
||||
/// \brief "rk4"
|
||||
///
|
||||
/// Possible value for MjcPhysicsSceneAPI::GetIntegratorAttr(), This token
|
||||
/// represents the RK4 numerical integrator.
|
||||
const TfToken rk4;
|
||||
/// \brief "shell"
|
||||
///
|
||||
/// Possible value for MjcPhysicsMeshCollisionAPI::GetInertiaAttr()
|
||||
const TfToken shell;
|
||||
/// \brief "sparse"
|
||||
///
|
||||
/// Possible value for MjcPhysicsSceneAPI::GetJacobianAttr(), This token
|
||||
/// represents the sparse constraint Jacobian and matrices computed from it.
|
||||
const TfToken sparse;
|
||||
/// \brief "true"
|
||||
///
|
||||
/// Possible value for MjcPhysicsActuatorAPI::GetMjcActLimitedAttr(), Possible
|
||||
/// value for MjcPhysicsActuatorAPI::GetMjcCtrlLimitedAttr(), Possible value
|
||||
/// for MjcPhysicsActuatorAPI::GetMjcForceLimitedAttr()
|
||||
const TfToken true_;
|
||||
/// \brief "user"
|
||||
///
|
||||
/// Possible value for MjcPhysicsActuatorAPI::GetMjcBiasTypeAttr(), Possible
|
||||
/// value for MjcPhysicsActuatorAPI::GetMjcDynTypeAttr(), Possible value for
|
||||
/// MjcPhysicsActuatorAPI::GetMjcGainTypeAttr()
|
||||
const TfToken user;
|
||||
/// \brief "CollisionAPI"
|
||||
///
|
||||
/// Schema identifer and family for MjcPhysicsCollisionAPI
|
||||
const TfToken CollisionAPI;
|
||||
/// \brief "MeshCollisionAPI"
|
||||
///
|
||||
/// Schema identifer and family for MjcPhysicsMeshCollisionAPI
|
||||
const TfToken MeshCollisionAPI;
|
||||
/// \brief "PhysicsActuatorAPI"
|
||||
///
|
||||
/// Schema identifer and family for MjcPhysicsActuatorAPI
|
||||
const TfToken PhysicsActuatorAPI;
|
||||
/// \brief "SceneAPI"
|
||||
///
|
||||
/// Schema identifer and family for MjcPhysicsSceneAPI
|
||||
const TfToken SceneAPI;
|
||||
/// \brief "SiteAPI"
|
||||
///
|
||||
/// Schema identifer and family for MjcPhysicsSiteAPI
|
||||
const TfToken SiteAPI;
|
||||
/// A vector of all of the tokens listed above.
|
||||
const std::vector<TfToken> allTokens;
|
||||
};
|
||||
|
||||
/// \var MjcPhysicsTokens
|
||||
///
|
||||
/// A global variable with static, efficient \link TfToken TfTokens\endlink
|
||||
/// for use in all public USD API. \sa MjcPhysicsTokensType
|
||||
extern MJCPHYSICS_API TfStaticData<MjcPhysicsTokensType> MjcPhysicsTokens;
|
||||
|
||||
PXR_NAMESPACE_CLOSE_SCOPE
|
||||
|
||||
#endif
|
||||
@@ -0,0 +1,35 @@
|
||||
// Copyright 2025 DeepMind Technologies Limited
|
||||
//
|
||||
// Licensed under the Apache License, Version 2.0 (the "License");
|
||||
// you may not use this file except in compliance with the License.
|
||||
// You may obtain a copy of the License at
|
||||
//
|
||||
// http://www.apache.org/licenses/LICENSE-2.0
|
||||
//
|
||||
// Unless required by applicable law or agreed to in writing, software
|
||||
// distributed under the License is distributed on an "AS IS" BASIS,
|
||||
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
// See the License for the specific language governing permissions and
|
||||
// limitations under the License.
|
||||
|
||||
#ifndef MUJOCO_SRC_EXPERIMENTAL_USD_UTILS_H_
|
||||
#define MUJOCO_SRC_EXPERIMENTAL_USD_UTILS_H_
|
||||
|
||||
#include <mujoco/mujoco.h>
|
||||
#include <pxr/usd/sdf/path.h>
|
||||
|
||||
namespace mujoco {
|
||||
namespace usd {
|
||||
|
||||
// Sets a user value on an mjsElement with the key "usd_primpath".
|
||||
void SetUsdPrimPathUserValue(mjsElement* element,
|
||||
const pxr::SdfPath& prim_path);
|
||||
|
||||
// Gets the user value associated with the key "usd_primpath" from an
|
||||
// mjsElement. Returns empty pxr::SdfPath() if the value is not found.
|
||||
pxr::SdfPath GetUsdPrimPathUserValue(mjsElement* element);
|
||||
|
||||
} // namespace usd
|
||||
} // namespace mujoco
|
||||
|
||||
#endif // MUJOCO_SRC_EXPERIMENTAL_USD_UTILS_H_
|
||||
@@ -0,0 +1,52 @@
|
||||
// Copyright 2025 DeepMind Technologies Limited
|
||||
//
|
||||
// Licensed under the Apache License, Version 2.0 (the "License");
|
||||
// you may not use this file except in compliance with the License.
|
||||
// You may obtain a copy of the License at
|
||||
//
|
||||
// http://www.apache.org/licenses/LICENSE-2.0
|
||||
//
|
||||
// Unless required by applicable law or agreed to in writing, software
|
||||
// distributed under the License is distributed on an "AS IS" BASIS,
|
||||
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||||
// See the License for the specific language governing permissions and
|
||||
// limitations under the License.
|
||||
|
||||
#ifndef MUJOCO_SRC_EXPERIMENTAL_USD_WRITER_H_
|
||||
#define MUJOCO_SRC_EXPERIMENTAL_USD_WRITER_H_
|
||||
|
||||
#include <functional>
|
||||
#include <vector>
|
||||
|
||||
#include <mujoco/mujoco.h>
|
||||
#include <pxr/usd/sdf/path.h>
|
||||
#include <pxr/usd/usd/common.h>
|
||||
|
||||
namespace mujoco {
|
||||
namespace usd {
|
||||
using PoseSinkFn =
|
||||
std::function<void(const mjData* const, std::vector<pxr::SdfPath>)>;
|
||||
|
||||
class Writer {
|
||||
public:
|
||||
Writer(pxr::UsdStageRefPtr stage, mjSpec* spec, mjModel_* model);
|
||||
~Writer();
|
||||
Writer(const Writer&) = delete;
|
||||
Writer& operator=(const Writer&) = delete;
|
||||
|
||||
void Update(const mjData* const data);
|
||||
void AddSink(PoseSinkFn sink_fn);
|
||||
|
||||
private:
|
||||
void BuildMjUsdMapping();
|
||||
|
||||
pxr::UsdStageRefPtr stage_;
|
||||
std::vector<pxr::SdfPath> body_id_to_path_;
|
||||
mjSpec* spec_ = nullptr;
|
||||
mjModel_* model_ = nullptr;
|
||||
std::vector<PoseSinkFn> pose_sinks_;
|
||||
};
|
||||
} // namespace usd
|
||||
} // namespace mujoco
|
||||
|
||||
#endif // MUJOCO_SRC_EXPERIMENTAL_USD_WRITER_H_
|
||||
Reference in New Issue
Block a user