Add mjPhysics schemas, starting with MjcPhysicsSceneAPI and MjcPhysicsSiteAPI
PiperOrigin-RevId: 757710745 Change-Id: Ia920abecdf8c6a05f61dd0fd3a8e6bc001ccc7d0
This commit is contained in:
Sam Haves
committed by
Copybara-Service
Copybara-Service
parent
85dd78d6f3
commit
af088adaee
@@ -0,0 +1,524 @@
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#usda 1.0
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(
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subLayers = [
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@usd/schema.usda@,
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]
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)
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over "GLOBAL" (
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customData = {
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string libraryName = "mujocoPhysics"
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string libraryPath = "."
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bool useLiteralIdentifier = 0
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dictionary libraryTokens = {
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dictionary euler = {
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string doc = """
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This token represents the Euler numerical integrator.
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"""
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}
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dictionary rk4 = {
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string doc = """
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This token represents the RK4 numerical integrator.
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"""
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}
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dictionary implicit = {
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string doc = """
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This token represents the implicit numerical integrator.
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"""
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}
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dictionary implicitfast = {
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string doc = """
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This token represents the implicitfast numerical integrator.
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"""
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}
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dictionary pyramidal = {
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string doc = """
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This token represents the pyramidal contact friction cone type.
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"""
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}
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dictionary elliptic = {
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string doc = """
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This token represents the elliptic contact friction cone type.
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"""
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}
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dictionary dense = {
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string doc = """
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This token represents the dense constraint Jacobian and matrices
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computed from it.
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"""
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}
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dictionary sparse = {
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string doc = """
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This token represents the sparse constraint Jacobian and matrices
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computed from it.
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"""
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}
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dictionary auto = {
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string doc = """
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This token represents the auto constraint Jacobian and matrices
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computed from it.
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"""
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}
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dictionary pgs = {
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string doc = """
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This token represents the PGS constraint solver algorithm.
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"""
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}
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dictionary cg = {
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string doc = """
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This token represents the CG constraint solver algorithm.
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"""
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}
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dictionary newton = {
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string doc = """
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This token represents the Newton constraint solver algorithm.
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"""
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}
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}
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}
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)
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{
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}
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class "MjcPhysicsSceneAPI"
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(
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customData = {
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string className = "SceneAPI"
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}
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doc = """API providing global simulation options for Mujoco."""
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inherits = </APISchemaBase>
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)
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{
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uniform double mjc:physics:timestep = 0.002 (
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customData = {
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string apiName = "Timestep"
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}
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displayName = "Timestep"
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doc = """Controls the timestep in seconds used by MuJoCo."""
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)
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uniform double mjc:physics:apirate = 100 (
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customData = {
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string apiName = "ApiRate"
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}
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displayName = "ApiRate"
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doc = """Determines the rate (in Hz) at which an external API allows
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the update function to be executed."""
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)
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uniform double mjc:physics:impratio = 1.0 (
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customData = {
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string apiName = "ImpRatio"
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}
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displayName = "Impedance Ratio"
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doc = """Ratio of frictional-to-normal constraint impedance for elliptic
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friction cones."""
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)
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uniform double3 mjc:physics:wind = (0.0, 0.0, 0.0) (
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customData = {
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string apiName = "Wind"
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}
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displayName = "Wind Velocity"
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doc = """Velocity vector of medium (i.e. wind)."""
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)
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uniform double3 mjc:physics:magnetic = (0.0, -0.5, 0.0) (
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customData = {
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string apiName = "Magnetic"
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}
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displayName = "Magnetic Flux"
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doc = """Global magnetic flux."""
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)
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uniform double mjc:physics:density = 0.0 (
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customData = {
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string apiName = "Density"
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}
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displayName = "Density"
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doc = """Density of medium."""
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)
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uniform double mjc:physics:viscosity = 0.0 (
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customData = {
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string apiName = "Viscosity"
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}
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displayName = "Viscosity"
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doc = """Viscosity of medium."""
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)
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uniform double mjc:physics:o_margin = 0.0 (
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customData = {
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string apiName = "OMargin"
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}
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displayName = "Contact Override Margin"
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doc = """Replaces the margin parameter of all active contact pairs when
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Contact override is enabled."""
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)
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uniform double[] mjc:physics:o_solref = [0.02, 1.0] (
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customData = {
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string apiName = "OSolRef"
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}
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displayName = "Contact Override SolRef"
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doc = """Replaces the solref parameter of all active contact pairs when
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Contact override is enabled."""
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)
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uniform double[] mjc:physics:o_solimp = [0.9, 0.95, 0.001, 0.5, 2.0] (
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customData = {
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string apiName = "OSolImp"
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}
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displayName = "Contact Override SolImp"
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doc = """Replaces the solimp parameter of all active contact pairs when
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Contact override is enabled."""
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)
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uniform double[] mjc:physics:o_friction = [1.0, 1.0, 0.005, 0.0001, 0.0001] (
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customData = {
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string apiName = "OFriction"
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}
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displayName = "Contact Override Friction"
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doc = """Replaces the friction parameter of all active contact pairs when
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Contact override is enabled."""
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)
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uniform token mjc:physics:integrator = "euler" (
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allowedTokens = ["euler", "rk4", "implicit", "implicitfast"]
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customData = {
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string apiName = "Integrator"
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}
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displayName = "Integrator"
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doc = """Numerical integrator to be used."""
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)
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uniform token mjc:physics:cone = "pyramidal" (
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allowedTokens = ["pyramidal", "elliptic"]
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customData = {
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string apiName = "Cone"
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}
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displayName = "Friction Cone Type"
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doc = """The type of contact friction cone."""
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)
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uniform token mjc:physics:jacobian = "auto" (
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allowedTokens = ["auto", "dense", "sparse"]
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customData = {
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string apiName = "Jacobian"
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}
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displayName = "Jacobian Type"
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doc = """The type of constraint Jacobian and matrices computed from it."""
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)
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uniform token mjc:physics:solver = "newton" (
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allowedTokens = ["pgs", "cg", "newton"]
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customData = {
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string apiName = "Solver"
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}
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displayName = "Solver"
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doc = """Constraint solver algorithm to be used."""
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)
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uniform int mjc:physics:iterations = 100 (
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customData = {
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string apiName = "Iterations"
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}
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displayName = "Solver Iterations"
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doc = """Maximum number of iterations of the constraint solver."""
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)
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uniform double mjc:physics:tolerance = 1e-08 (
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customData = {
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string apiName = "Tolerance"
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}
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displayName = "Solver Tolerance"
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doc = """Tolerance threshold used for early termination of the iterative
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solver."""
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)
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uniform int mjc:physics:ls_iterations = 50 (
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customData = {
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string apiName = "LSIterations"
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}
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displayName = "Linesearch Iterations"
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doc = """Maximum number of linesearch iterations performed by CG/Newton
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constraint solvers."""
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)
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uniform double mjc:physics:ls_tolerance = 0.01 (
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customData = {
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string apiName = "LSTolerance"
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}
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displayName = "Linesearch Tolerance"
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doc = """Tolerance threshold used for early termination of the linesearch algorithm."""
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)
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uniform int mjc:physics:noslip_iterations = 0 (
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customData = {
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string apiName = "NoslipIterations"
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}
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displayName = "Noslip Iterations"
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doc = """Maximum number of iterations of the Noslip solver."""
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)
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uniform double mjc:physics:noslip_tolerance = 1e-06 (
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customData = {
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string apiName = "NoslipTolerance"
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}
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displayName = "Noslip Tolerance"
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doc = """Tolerance threshold used for early termination of the Noslip solver."""
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)
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uniform int mjc:physics:ccd_iterations = 50 (
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customData = {
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string apiName = "CCDIterations"
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}
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displayName = "CCD Iterations"
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doc = """Maximum number of iterations of the algorithm used for convex collisions."""
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)
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uniform double mjc:physics:ccd_tolerance = 1e-06 (
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customData = {
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string apiName = "CCDTolerance"
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}
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displayName = "CCD Tolerance"
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doc = """Tolerance threshold used for early termination of the convex
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collision algorithm."""
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)
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uniform int mjc:physics:sdf_iterations = 10 (
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customData = {
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string apiName = "SDFIterations"
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}
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displayName = "SDF Iterations"
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doc = """Number of iterations used for Signed Distance Field collisions
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(per initial point)."""
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)
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uniform int mjc:physics:sdf_initpoints = 40 (
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customData = {
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string apiName = "SDFInitPoints"
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}
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displayName = "SDF Initial Points"
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doc = """Number of starting points used for finding contacts with Signed
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Distance Field collisions."""
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)
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uniform int[] mjc:physics:actuatorgroupdisable (
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customData = {
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string apiName = "ActuatorGroupDisable"
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}
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displayName = "Actuator Group Disable"
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doc = """List of actuator groups to disable."""
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)
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uniform bool mjc:physics:flag:constraint = True (
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customData = {
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string apiName = "ConstraintFlag"
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}
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displayName = "Constraint Solver Toggle"
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doc = """Enables constraint solver."""
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)
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uniform bool mjc:physics:flag:equality = True (
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customData = {
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string apiName = "EqualityFlag"
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}
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displayName = "Equality Constraints Toggle"
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doc = """Enables all standard computations related to equality constraints."""
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)
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uniform bool mjc:physics:flag:frictionloss = True (
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customData = {
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string apiName = "FrictionLossFlag"
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}
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displayName = "Friction Loss Constraints Toggle"
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doc = """Enables all standard computations related to friction loss constraints."""
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)
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uniform bool mjc:physics:flag:limit = True (
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customData = {
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string apiName = "LimitFlag"
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}
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displayName = "Joint and Tendon Limit Constraints Toggle"
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doc = """Enables all standard computations related to joint and tendon limit constraints."""
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)
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uniform bool mjc:physics:flag:contact = True (
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customData = {
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string apiName = "ContactFlag"
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}
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displayName = "Contact Constraints and Collision Detection Toggle"
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doc = """Enables collision detection and all standard computations related to contact constraints."""
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)
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uniform bool mjc:physics:flag:passive = True (
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customData = {
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string apiName = "PassiveFlag"
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}
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displayName = "Passive Forces Toggle"
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doc = """Enables the simulation of joint and tendon spring-dampers, fluid dynamics forces, and custom passive forces."""
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)
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uniform bool mjc:physics:flag:gravity = True (
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customData = {
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string apiName = "GravityFlag"
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}
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displayName = "Gravity Toggle"
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doc = """Enables the application of gravitational acceleration as defined in mjOption."""
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)
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uniform bool mjc:physics:flag:clampctrl = True (
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customData = {
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string apiName = "ClampCtrlFlag"
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}
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displayName = "Control Input Clamping Toggle"
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doc = """Enables the clamping of control inputs to all actuators, according to actuator-specific attributes."""
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)
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uniform bool mjc:physics:flag:warmstart = True (
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customData = {
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string apiName = "WarmStartFlag"
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}
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displayName = "Solver Warm-Starting Toggle"
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doc = """Enables warm-starting of the constraint solver, using the solution from the previous time step to initialize the iterative optimization."""
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)
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uniform bool mjc:physics:flag:filterparent = True (
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customData = {
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string apiName = "FilterParentFlag"
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}
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displayName = "Parent-Child Contact Filtering Toggle"
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doc = """Enables the filtering of contact pairs where the two geoms belong to a parent and child body."""
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)
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uniform bool mjc:physics:flag:actuation = True (
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customData = {
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string apiName = "ActuationFlag"
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}
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displayName = "Actuation Forces Toggle"
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doc = """Enables all standard computations related to actuator forces, including actuator dynamics."""
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)
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uniform bool mjc:physics:flag:refsafe = True (
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customData = {
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string apiName = "RefSafeFlag"
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}
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displayName = "Solver Reference Safety Mechanism Toggle"
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doc = """Enables a safety mechanism that prevents instabilities due to solref[0] being too small compared to the simulation timestep."""
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)
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uniform bool mjc:physics:flag:sensor = True (
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customData = {
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string apiName = "SensorFlag"
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}
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displayName = "Sensor Computations Toggle"
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doc = """Enables all computations related to sensors."""
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)
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uniform bool mjc:physics:flag:midphase = True (
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customData = {
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string apiName = "MidPhaseFlag"
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}
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displayName = "Mid-Phase Collision Filtering Toggle"
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doc = """Enables mid-phase collision filtering using a static AABB bounding volume hierarchy (BVH)."""
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)
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uniform bool mjc:physics:flag:nativeccd = True (
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customData = {
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string apiName = "NativeCCDFlag"
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}
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displayName = "Native Convex Collision Detection Toggle"
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doc = """Enables the native convex collision detection pipeline instead of using the libccd library."""
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)
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uniform bool mjc:physics:flag:eulerdamp = True (
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customData = {
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string apiName = "EulerDampFlag"
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}
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displayName = "Euler Integrator Damping Toggle"
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doc = """Enables implicit integration with respect to joint damping in the Euler integrator."""
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)
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uniform bool mjc:physics:flag:autoreset = True (
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customData = {
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string apiName = "AutoResetFlag"
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}
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displayName = "Automatic Simulation Reset Toggle"
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doc = """Enables the automatic resetting of the simulation state when numerical issues are detected."""
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)
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uniform bool mjc:physics:flag:override = False (
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customData = {
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string apiName = "OverrideFlag"
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}
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displayName = "Contact Override Mechanism Toggle"
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doc = """Enables the contact override mechanism."""
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)
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uniform bool mjc:physics:flag:energy = False (
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customData = {
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string apiName = "EnergyFlag"
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}
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displayName = "Energy Computation Toggle"
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doc = """Enables the computation of potential and kinetic energy (mjData.energy[0,1])."""
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)
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uniform bool mjc:physics:flag:fwdinv = False (
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customData = {
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string apiName = "FwdinvFlag"
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}
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displayName = "Forward/Inverse Dynamics Comparison Toggle"
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doc = """Enables the automatic comparison of forward and inverse dynamics."""
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)
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uniform bool mjc:physics:flag:invdiscrete = False (
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customData = {
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string apiName = "InvDiscreteFlag"
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}
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displayName = "Discrete-Time Inverse Dynamics Toggle"
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doc = """Enables discrete-time inverse dynamics with mj_inverse for integrators other than RK4."""
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)
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uniform bool mjc:physics:flag:multiccd = False (
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customData = {
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string apiName = "MultiCCDFlag"
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}
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displayName = "Multiple Contact Collision Detection (CCD) Toggle"
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doc = """Enables multiple-contact collision detection for geom pairs using a general-purpose convex-convex collider."""
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)
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uniform bool mjc:physics:flag:island = False (
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customData = {
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string apiName = "IslandFlag"
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}
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displayName = "Constraint Island Discovery Toggle"
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doc = """Enables the discovery of constraint islands."""
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)
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}
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class "MjcSiteAPI"
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(
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customData = {
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string className = "SiteAPI"
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}
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doc = """API describing a Mujoco site."""
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inherits = </APISchemaBase>
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)
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{}
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Reference in New Issue
Block a user