Add MjcEqualityAPI as a base class for MuJoCo constraints and MjcEqualityWeldAPI for representing weld constraints.
This change introduces two new USD API schema: * MjcEqualityAPI - base API for representing MuJoCo equality constraints in USD, this will typically be applied to joints such as UsdPhysicsFixedJoint. * MjcEqualityWeldAPI - extends MjcEqualityAPI for MuJoCo's weld equality constraints with an attribute for torqueScale. The usd_decoder is updated to parse UsdPhysicsFixedJoints and convert the new schema attributes into the appropriate mjsEquality data fields. PiperOrigin-RevId: 856723634 Change-Id: I0982fd3168b643f8e91d87bb5ae5933e526b63a1
This commit is contained in:
Sam Haves
committed by
Copybara-Service
Copybara-Service
parent
d86acd7e12
commit
c08e1d9e6e
@@ -0,0 +1,222 @@
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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_EQUALITYAPI_H
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#define MJCPHYSICS_GENERATED_EQUALITYAPI_H
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/// \file mjcPhysics/equalityAPI.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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// MJCEQUALITYAPI //
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// -------------------------------------------------------------------------- //
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/// \class MjcPhysicsEqualityAPI
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///
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/// Base API for equality constraints.
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///
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class MjcPhysicsEqualityAPI : 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 MjcPhysicsEqualityAPI on UsdPrim \p prim .
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/// Equivalent to MjcPhysicsEqualityAPI::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 MjcPhysicsEqualityAPI(const UsdPrim& prim = UsdPrim())
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: UsdAPISchemaBase(prim) {}
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/// Construct a MjcPhysicsEqualityAPI on the prim held by \p schemaObj .
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/// Should be preferred over MjcPhysicsEqualityAPI(schemaObj.GetPrim()),
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/// as it preserves SchemaBase state.
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explicit MjcPhysicsEqualityAPI(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 ~MjcPhysicsEqualityAPI();
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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 MjcPhysicsEqualityAPI 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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/// MjcPhysicsEqualityAPI(stage->GetPrimAtPath(path));
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/// \endcode
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///
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MJCPHYSICS_API
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static MjcPhysicsEqualityAPI 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 "MjcEqualityAPI" 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 MjcPhysicsEqualityAPI object is returned upon success.
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/// An invalid (or empty) MjcPhysicsEqualityAPI 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 MjcPhysicsEqualityAPI 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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// SOLREF
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// --------------------------------------------------------------------- //
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/// Constraint solver parameter for equality constraint simulation.
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///
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/// | ||
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/// | -- | -- |
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/// | Declaration | `uniform double[] mjc:solref = [0.02, 1]` |
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/// | C++ Type | VtArray<double> |
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/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->DoubleArray |
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/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
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MJCPHYSICS_API
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UsdAttribute GetSolRefAttr() const;
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/// See GetSolRefAttr(), 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 CreateSolRefAttr(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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// SOLIMP
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// --------------------------------------------------------------------- //
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/// Constraint solver parameter for equality constraint simulation.
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///
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/// | ||
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/// | -- | -- |
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/// | Declaration | `uniform double[] mjc:solimp = [0.9, 0.95, 0.001, 0.5, 2]`
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/// | | C++ Type | VtArray<double> | | \ref Usd_Datatypes "Usd Type" |
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/// SdfValueTypeNames->DoubleArray | | \ref SdfVariability "Variability" |
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/// SdfVariabilityUniform |
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MJCPHYSICS_API
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UsdAttribute GetSolImpAttr() const;
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/// See GetSolImpAttr(), 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 CreateSolImpAttr(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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// MJCTARGET
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// --------------------------------------------------------------------- //
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/// Secondary target of the equality constraint.
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///
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MJCPHYSICS_API
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UsdRelationship GetMjcTargetRel() const;
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/// See GetMjcTargetRel(), and also
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/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create
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MJCPHYSICS_API
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UsdRelationship CreateMjcTargetRel() const;
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public:
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// ===================================================================== //
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// Feel free to add custom code below this line, it will be preserved by
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// the code generator.
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//
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// Just remember to:
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// - Close the class declaration with };
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// - Close the namespace with PXR_NAMESPACE_CLOSE_SCOPE
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// - Close the include guard with #endif
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// ===================================================================== //
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// --(BEGIN CUSTOM CODE)--
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};
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PXR_NAMESPACE_CLOSE_SCOPE
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#endif
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@@ -0,0 +1,187 @@
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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_EQUALITYWELDAPI_H
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#define MJCPHYSICS_GENERATED_EQUALITYWELDAPI_H
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/// \file mjcPhysics/equalityWeldAPI.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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// MJCEQUALITYWELDAPI //
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// -------------------------------------------------------------------------- //
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/// \class MjcPhysicsEqualityWeldAPI
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///
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/// API providing extension attributes to represent equality/weld constraints.
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///
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class MjcPhysicsEqualityWeldAPI : 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 MjcPhysicsEqualityWeldAPI on UsdPrim \p prim .
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/// Equivalent to MjcPhysicsEqualityWeldAPI::Get(prim.GetStage(),
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/// prim.GetPath()) for a \em valid \p prim, but will not immediately throw an
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/// error for an invalid \p prim
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explicit MjcPhysicsEqualityWeldAPI(const UsdPrim& prim = UsdPrim())
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: UsdAPISchemaBase(prim) {}
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/// Construct a MjcPhysicsEqualityWeldAPI on the prim held by \p schemaObj .
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/// Should be preferred over MjcPhysicsEqualityWeldAPI(schemaObj.GetPrim()),
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/// as it preserves SchemaBase state.
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explicit MjcPhysicsEqualityWeldAPI(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 ~MjcPhysicsEqualityWeldAPI();
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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 MjcPhysicsEqualityWeldAPI 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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/// MjcPhysicsEqualityWeldAPI(stage->GetPrimAtPath(path));
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/// \endcode
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///
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MJCPHYSICS_API
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static MjcPhysicsEqualityWeldAPI 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 "MjcEqualityWeldAPI" 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 MjcPhysicsEqualityWeldAPI object is returned upon success.
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/// An invalid (or empty) MjcPhysicsEqualityWeldAPI 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 MjcPhysicsEqualityWeldAPI 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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// TORQUESCALE
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// --------------------------------------------------------------------- //
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/// A constant that scales the angular residual (angular constraint
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/// violation). Notionally in units of torque/force = length. Intuitively this
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/// coefficient defines how much the weld “cares” about rotational
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/// displacements vs. translational displacements.
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///
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/// | ||
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/// | -- | -- |
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/// | Declaration | `uniform float mjc:torqueScale = 1` |
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/// | C++ Type | float |
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/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Float |
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/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
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MJCPHYSICS_API
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UsdAttribute GetTorqueScaleAttr() const;
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/// See GetTorqueScaleAttr(), 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 CreateTorqueScaleAttr(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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// Feel free to add custom code below this line, it will be preserved by
|
||||
// the code generator.
|
||||
//
|
||||
// Just remember to:
|
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// - Close the class declaration with };
|
||||
// - Close the namespace with PXR_NAMESPACE_CLOSE_SCOPE
|
||||
// - Close the include guard with #endif
|
||||
// ===================================================================== //
|
||||
// --(BEGIN CUSTOM CODE)--
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};
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PXR_NAMESPACE_CLOSE_SCOPE
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#endif
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@@ -634,7 +634,7 @@ struct MjcPhysicsTokensType {
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const TfToken mjcSliderSite;
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/// \brief "mjc:solimp"
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///
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/// MjcPhysicsCollisionAPI
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/// MjcPhysicsCollisionAPI, MjcPhysicsEqualityAPI
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const TfToken mjcSolimp;
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/// \brief "mjc:solimpfriction"
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///
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@@ -650,7 +650,7 @@ struct MjcPhysicsTokensType {
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const TfToken mjcSolmix;
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/// \brief "mjc:solref"
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///
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/// MjcPhysicsCollisionAPI
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/// MjcPhysicsCollisionAPI, MjcPhysicsEqualityAPI
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const TfToken mjcSolref;
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/// \brief "mjc:solreffriction"
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///
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@@ -678,8 +678,12 @@ struct MjcPhysicsTokensType {
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const TfToken mjcStiffness;
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/// \brief "mjc:target"
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///
|
||||
/// MjcPhysicsActuator
|
||||
/// MjcPhysicsActuator, MjcPhysicsEqualityAPI
|
||||
const TfToken mjcTarget;
|
||||
/// \brief "mjc:torqueScale"
|
||||
///
|
||||
/// MjcPhysicsEqualityWeldAPI
|
||||
const TfToken mjcTorqueScale;
|
||||
/// \brief "mjc:torsionalfriction"
|
||||
///
|
||||
/// MjcPhysicsMaterialAPI
|
||||
@@ -764,6 +768,14 @@ struct MjcPhysicsTokensType {
|
||||
///
|
||||
/// Schema identifier and family for MjcPhysicsCollisionAPI
|
||||
const TfToken MjcCollisionAPI;
|
||||
/// \brief "MjcEqualityAPI"
|
||||
///
|
||||
/// Schema identifier and family for MjcPhysicsEqualityAPI
|
||||
const TfToken MjcEqualityAPI;
|
||||
/// \brief "MjcEqualityWeldAPI"
|
||||
///
|
||||
/// Schema identifier and family for MjcPhysicsEqualityWeldAPI
|
||||
const TfToken MjcEqualityWeldAPI;
|
||||
/// \brief "MjcImageableAPI"
|
||||
///
|
||||
/// Schema identifier and family for MjcPhysicsImageableAPI
|
||||
|
||||
@@ -11,8 +11,6 @@
|
||||
# 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.
|
||||
find_package(pxr REQUIRED)
|
||||
|
||||
set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
|
||||
set(USD_DECODER_SRCS
|
||||
usd_decoder.cc
|
||||
@@ -20,7 +18,6 @@ set(USD_DECODER_SRCS
|
||||
kinematic_tree.h
|
||||
material_parsing.cc
|
||||
material_parsing.h
|
||||
utils.h
|
||||
)
|
||||
|
||||
add_library(usd_decoder_plugin SHARED ${USD_DECODER_SRCS})
|
||||
|
||||
@@ -212,6 +212,16 @@ std::unique_ptr<Node> BuildKinematicTree(const pxr::UsdStageRefPtr stage) {
|
||||
return nullptr;
|
||||
}
|
||||
|
||||
// If we encounter a joint that does not participate in articulation, we
|
||||
// should treat it as a constraint instead.
|
||||
// For example, a weld constraint is represented by a fixed joint.
|
||||
bool excluded_from_articulation;
|
||||
joint.GetExcludeFromArticulationAttr().Get(&excluded_from_articulation);
|
||||
if (excluded_from_articulation) {
|
||||
extraction.nodes[to_idx]->constraints.push_back(joint.GetPath());
|
||||
continue;
|
||||
}
|
||||
|
||||
children[from_idx][to_idx] = true;
|
||||
parent_joints[to_idx].push_back(joint.GetPath());
|
||||
// Now that we know all the bodies, we can assign joints to respective
|
||||
|
||||
@@ -28,6 +28,7 @@ struct Node {
|
||||
pxr::SdfPath body_path;
|
||||
pxr::SdfPath physics_scene;
|
||||
std::vector<pxr::SdfPath> actuators;
|
||||
std::vector<pxr::SdfPath> constraints;
|
||||
std::vector<pxr::SdfPath> joints;
|
||||
std::vector<pxr::SdfPath> visual_gprims;
|
||||
std::vector<pxr::SdfPath> colliders;
|
||||
|
||||
@@ -25,6 +25,8 @@
|
||||
|
||||
#include <mujoco/experimental/usd/mjcPhysics/actuator.h>
|
||||
#include <mujoco/experimental/usd/mjcPhysics/collisionAPI.h>
|
||||
#include <mujoco/experimental/usd/mjcPhysics/equalityAPI.h>
|
||||
#include <mujoco/experimental/usd/mjcPhysics/equalityWeldAPI.h>
|
||||
#include <mujoco/experimental/usd/mjcPhysics/imageableAPI.h>
|
||||
#include <mujoco/experimental/usd/mjcPhysics/jointAPI.h>
|
||||
#include <mujoco/experimental/usd/mjcPhysics/keyframe.h>
|
||||
@@ -39,6 +41,7 @@
|
||||
#include "material_parsing.h"
|
||||
#include <pxr/base/gf/declare.h>
|
||||
#include <pxr/base/gf/matrix4d.h>
|
||||
#include <pxr/base/gf/matrix4f.h>
|
||||
#include <pxr/base/gf/rotation.h>
|
||||
#include <pxr/base/gf/vec3d.h>
|
||||
#include <pxr/base/tf/token.h>
|
||||
@@ -1821,16 +1824,197 @@ void ParseUsdPhysicsCollider(mjSpec* spec,
|
||||
}
|
||||
}
|
||||
|
||||
void ParseConstraint(mjSpec* spec, const pxr::UsdPrim& prim, mjsBody* body,
|
||||
pxr::UsdGeomXformCache& xform_cache) {
|
||||
if (!prim.IsA<pxr::UsdPhysicsFixedJoint>()) {
|
||||
mju_warning("Constraint %s is not a fixed joint, skipping.",
|
||||
prim.GetPath().GetAsString().c_str());
|
||||
return;
|
||||
}
|
||||
pxr::UsdPhysicsJoint joint(prim);
|
||||
// A fixed joint means the bodies are welded.
|
||||
pxr::UsdRelationship body0_rel = joint.GetBody0Rel();
|
||||
pxr::UsdRelationship body1_rel = joint.GetBody1Rel();
|
||||
pxr::SdfPathVector targets0, targets1;
|
||||
body0_rel.GetTargets(&targets0);
|
||||
body1_rel.GetTargets(&targets1);
|
||||
|
||||
pxr::SdfPath body0_path;
|
||||
if (!targets0.empty()) body0_path = targets0[0];
|
||||
pxr::SdfPath body1_path;
|
||||
if (!targets1.empty()) body1_path = targets1[0];
|
||||
|
||||
auto stage = prim.GetStage();
|
||||
|
||||
auto body0_prim = stage->GetPrimAtPath(body0_path);
|
||||
auto body1_prim = stage->GetPrimAtPath(body1_path);
|
||||
|
||||
bool body0_is_site = false;
|
||||
if (!body0_path.IsEmpty()) {
|
||||
body0_is_site = body0_prim.HasAPI<pxr::MjcPhysicsSiteAPI>();
|
||||
}
|
||||
bool body1_is_site = false;
|
||||
if (!body1_path.IsEmpty()) {
|
||||
body1_is_site = body1_prim.HasAPI<pxr::MjcPhysicsSiteAPI>();
|
||||
}
|
||||
|
||||
if (body0_is_site != body1_is_site) {
|
||||
mju_warning(
|
||||
"Weld constraint %s has mismatch between site and body targets, "
|
||||
"skipping",
|
||||
prim.GetPath().GetAsString().c_str());
|
||||
return;
|
||||
}
|
||||
|
||||
mjsEquality* eq = mjs_addEquality(spec, nullptr);
|
||||
eq->type = mjEQ_WELD;
|
||||
mjs_setName(eq->element, prim.GetPath().GetAsString().c_str());
|
||||
SetUsdPrimPathUserValue(eq->element, prim.GetPath());
|
||||
|
||||
if (body0_is_site) {
|
||||
mjs_setString(eq->name1, body0_path.GetAsString().c_str());
|
||||
mjs_setString(eq->name2, body1_path.GetAsString().c_str());
|
||||
eq->objtype = mjOBJ_SITE;
|
||||
} else {
|
||||
mjs_setString(eq->name1, body0_path.GetAsString().c_str());
|
||||
mjs_setString(eq->name2, body1_path.GetAsString().c_str());
|
||||
eq->objtype = mjOBJ_BODY;
|
||||
}
|
||||
|
||||
// In USD, joints have a reference frame that is shared between the two
|
||||
// connecting bodies. This reference frame is defined relative to both
|
||||
// bodies, in localPos/Rot 0 and 1. A fixed joint removes all degrees of
|
||||
// freedom for the joint, ensuring the reference frame is fixed in place
|
||||
// This means the bodies should also be fixed, but relative to the joint
|
||||
// depending on their respective localPos/Rot.
|
||||
// In MuJoCo fixed joint frames are not explicitly defined relative to their
|
||||
// connecting bodies. Instead, we define a weld constraint providing the
|
||||
// weld point (anchor) relative to body 2 and then we specify the position
|
||||
// of body 2 relative to body 1.
|
||||
|
||||
// Here is the mapping of terms concretely:
|
||||
// T(bodyX) = transform of bodyX relative to joint frame (localPos/Rot).
|
||||
// anchor = localPos1 (position of the weld point relative to mjc body 2)
|
||||
// relpose = T(body0)*T(body1)^-1
|
||||
|
||||
// relpose is float[7], pos(3) + quat(4)
|
||||
// anchor is float[3], pos(3)
|
||||
// in mjsEquality data: anchor 0-2, relpose 3-9.
|
||||
|
||||
auto body0_xform = xform_cache.GetLocalToWorldTransform(body0_prim);
|
||||
auto body1_xform = xform_cache.GetLocalToWorldTransform(body1_prim);
|
||||
|
||||
pxr::GfVec3d body0_scale, body1_scale;
|
||||
|
||||
{
|
||||
pxr::GfMatrix4d scale_orient, rot, persp;
|
||||
pxr::GfVec3d translation;
|
||||
if (!body0_xform.Factor(&scale_orient, &body0_scale, &rot,
|
||||
&translation, &persp)) {
|
||||
// unable to decompose, emit warning and set scale to identity
|
||||
mju_warning(
|
||||
"Unable to decompose matrix for body 0: %s.",
|
||||
body0_path.GetAsString().c_str());
|
||||
body0_scale = pxr::GfVec3f(1, 1, 1);
|
||||
}
|
||||
|
||||
if (!body1_xform.Factor(&scale_orient, &body1_scale, &rot,
|
||||
&translation, &persp)) {
|
||||
// unable to decompose, emit warning and set scale to identity
|
||||
mju_warning(
|
||||
"Unable to decompose matrix for body 1: %s.",
|
||||
body1_path.GetAsString().c_str());
|
||||
body1_scale = pxr::GfVec3f(1, 1, 1);
|
||||
}
|
||||
}
|
||||
|
||||
pxr::GfVec3f localPos1;
|
||||
joint.GetLocalPos1Attr().Get(&localPos1);
|
||||
localPos1[0] *= body1_scale[0];
|
||||
localPos1[1] *= body1_scale[1];
|
||||
localPos1[2] *= body1_scale[2];
|
||||
pxr::GfQuatf localRot1;
|
||||
joint.GetLocalRot1Attr().Get(&localRot1);
|
||||
|
||||
pxr::GfVec3f localPos0;
|
||||
joint.GetLocalPos0Attr().Get(&localPos0);
|
||||
localPos0[0] *= body0_scale[0];
|
||||
localPos0[1] *= body0_scale[1];
|
||||
localPos0[2] *= body0_scale[2];
|
||||
pxr::GfQuatf localRot0;
|
||||
joint.GetLocalRot0Attr().Get(&localRot0);
|
||||
|
||||
auto relpose_quat = localRot0 * localRot1.GetConjugate();
|
||||
relpose_quat.Normalize();
|
||||
auto relpose_pos = localPos0 - relpose_quat.Transform(localPos1);
|
||||
|
||||
eq->data[0] = localPos1[0];
|
||||
eq->data[1] = localPos1[1];
|
||||
eq->data[2] = localPos1[2];
|
||||
eq->data[3] = relpose_pos[0];
|
||||
eq->data[4] = relpose_pos[1];
|
||||
eq->data[5] = relpose_pos[2];
|
||||
eq->data[6] = relpose_quat.GetReal();
|
||||
eq->data[7] = relpose_quat.GetImaginary()[0];
|
||||
eq->data[8] = relpose_quat.GetImaginary()[1];
|
||||
eq->data[9] = relpose_quat.GetImaginary()[2];
|
||||
|
||||
if (prim.HasAPI<pxr::MjcPhysicsEqualityWeldAPI>()) {
|
||||
// MjcPhysicsEqualityAPI is always automatically applied
|
||||
// by MjcPhysicsEqualityWeldAPI.
|
||||
pxr::MjcPhysicsEqualityAPI equality_api(prim);
|
||||
auto solref_attr = equality_api.GetSolRefAttr();
|
||||
if (solref_attr.HasAuthoredValue()) {
|
||||
pxr::VtDoubleArray solref;
|
||||
solref_attr.Get(&solref);
|
||||
if (solref.size() == mjNREF) {
|
||||
for (int i = 0; i < mjNREF; ++i) {
|
||||
eq->solref[i] = solref[i];
|
||||
}
|
||||
} else {
|
||||
mju_warning(
|
||||
"solref attribute for weld equality %s has incorrect size "
|
||||
"%zu, expected %d.",
|
||||
prim.GetPath().GetAsString().c_str(), solref.size(), mjNREF);
|
||||
}
|
||||
}
|
||||
|
||||
auto solimp_attr = equality_api.GetSolImpAttr();
|
||||
if (solimp_attr.HasAuthoredValue()) {
|
||||
pxr::VtDoubleArray solimp;
|
||||
solimp_attr.Get(&solimp);
|
||||
if (solimp.size() == mjNIMP) {
|
||||
for (int i = 0; i < mjNIMP; ++i) {
|
||||
eq->solimp[i] = solimp[i];
|
||||
}
|
||||
} else {
|
||||
mju_warning(
|
||||
"solimp attribute for weld equality %s has incorrect size "
|
||||
"%zu, expected %d.",
|
||||
prim.GetPath().GetAsString().c_str(), solimp.size(), mjNIMP);
|
||||
}
|
||||
}
|
||||
|
||||
pxr::MjcPhysicsEqualityWeldAPI weld_api(prim);
|
||||
auto torque_scale_attr = weld_api.GetTorqueScaleAttr();
|
||||
if (torque_scale_attr.HasAuthoredValue()) {
|
||||
float torque_scale;
|
||||
torque_scale_attr.Get(&torque_scale);
|
||||
eq->data[10] = torque_scale;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
void ParseUsdPhysicsJoint(mjSpec* spec, const pxr::UsdPrim& prim, mjsBody* body,
|
||||
pxr::UsdGeomXformCache& xform_cache) {
|
||||
pxr::UsdPhysicsJoint joint(prim);
|
||||
|
||||
// A fixed joint means the bodies are welded.
|
||||
if (prim.IsA<pxr::UsdPhysicsFixedJoint>()) {
|
||||
// No joint needed for welded bodies.
|
||||
return;
|
||||
}
|
||||
|
||||
pxr::UsdPhysicsJoint joint(prim);
|
||||
|
||||
mjtJoint type;
|
||||
if (prim.IsA<pxr::UsdPhysicsRevoluteJoint>()) {
|
||||
type = mjJNT_HINGE;
|
||||
@@ -2093,6 +2277,11 @@ void PopulateSpecFromTree(pxr::UsdStageRefPtr stage, mjSpec* spec,
|
||||
free_joint->type = mjJNT_FREE;
|
||||
}
|
||||
|
||||
for (const auto& constraint_path : current_node->constraints) {
|
||||
ParseConstraint(spec, stage->GetPrimAtPath(constraint_path),
|
||||
current_mj_body, caches.xform_cache);
|
||||
}
|
||||
|
||||
pxr::UsdPrim body_prim_for_xform =
|
||||
current_node->body_path.IsEmpty()
|
||||
? stage->GetPseudoRoot()
|
||||
|
||||
@@ -127,6 +127,8 @@ add_library(${MJC_PHYSICS_PLUGIN_TARGET_NAME} SHARED)
|
||||
target_sources(${MJC_PHYSICS_PLUGIN_TARGET_NAME} PRIVATE
|
||||
mjcPhysics/actuator.cpp
|
||||
mjcPhysics/collisionAPI.cpp
|
||||
mjcPhysics/equalityAPI.cpp
|
||||
mjcPhysics/equalityWeldAPI.cpp
|
||||
mjcPhysics/imageableAPI.cpp
|
||||
mjcPhysics/jointAPI.cpp
|
||||
mjcPhysics/keyframe.cpp
|
||||
@@ -162,19 +164,19 @@ target_compile_options(
|
||||
|
||||
# Configure RPATH for macOS and UNIX.
|
||||
if(APPLE)
|
||||
set_target_properties($(MJCF_PLUGIN_TARGET_NAME) PROPERTIES
|
||||
set_target_properties(${MJCF_PLUGIN_TARGET_NAME} PROPERTIES
|
||||
BUILD_RPATH "${USD_INSTALL_ROOT}"
|
||||
INSTALL_RPATH "@loader_path")
|
||||
|
||||
set_target_properties($(MJC_PHYSICS_PLUGIN_TARGET_NAME) PROPERTIES
|
||||
set_target_properties(${MJC_PHYSICS_PLUGIN_TARGET_NAME} PROPERTIES
|
||||
BUILD_RPATH "${USD_INSTALL_ROOT}"
|
||||
INSTALL_RPATH "@loader_path")
|
||||
elseif(UNIX)
|
||||
set_target_properties($(MJCF_PLUGIN_TARGET_NAME) PROPERTIES
|
||||
set_target_properties(${MJCF_PLUGIN_TARGET_NAME} PROPERTIES
|
||||
BUILD_RPATH "${USD_INSTALL_ROOT}"
|
||||
INSTALL_RPATH "$ORIGIN")
|
||||
|
||||
set_target_properties($(MJC_PHYSICS_PLUGIN_TARGET_NAME) PROPERTIES
|
||||
set_target_properties(${MJC_PHYSICS_PLUGIN_TARGET_NAME} PROPERTIES
|
||||
BUILD_RPATH "${USD_INSTALL_ROOT}"
|
||||
INSTALL_RPATH "$ORIGIN")
|
||||
endif()
|
||||
|
||||
@@ -0,0 +1,144 @@
|
||||
// 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.
|
||||
|
||||
#include <mujoco/experimental/usd/mjcPhysics/equalityAPI.h>
|
||||
|
||||
#include <pxr/usd/sdf/assetPath.h>
|
||||
#include <pxr/usd/sdf/types.h>
|
||||
#include <pxr/usd/usd/schemaRegistry.h>
|
||||
#include <pxr/usd/usd/typed.h>
|
||||
|
||||
PXR_NAMESPACE_OPEN_SCOPE
|
||||
|
||||
// Register the schema with the TfType system.
|
||||
TF_REGISTRY_FUNCTION(TfType) {
|
||||
TfType::Define<MjcPhysicsEqualityAPI, TfType::Bases<UsdAPISchemaBase> >();
|
||||
}
|
||||
|
||||
/* virtual */
|
||||
MjcPhysicsEqualityAPI::~MjcPhysicsEqualityAPI() {}
|
||||
|
||||
/* static */
|
||||
MjcPhysicsEqualityAPI MjcPhysicsEqualityAPI::Get(const UsdStagePtr& stage,
|
||||
const SdfPath& path) {
|
||||
if (!stage) {
|
||||
TF_CODING_ERROR("Invalid stage");
|
||||
return MjcPhysicsEqualityAPI();
|
||||
}
|
||||
return MjcPhysicsEqualityAPI(stage->GetPrimAtPath(path));
|
||||
}
|
||||
|
||||
/* virtual */
|
||||
UsdSchemaKind MjcPhysicsEqualityAPI::_GetSchemaKind() const {
|
||||
return MjcPhysicsEqualityAPI::schemaKind;
|
||||
}
|
||||
|
||||
/* static */
|
||||
bool MjcPhysicsEqualityAPI::CanApply(const UsdPrim& prim, std::string* whyNot) {
|
||||
return prim.CanApplyAPI<MjcPhysicsEqualityAPI>(whyNot);
|
||||
}
|
||||
|
||||
/* static */
|
||||
MjcPhysicsEqualityAPI MjcPhysicsEqualityAPI::Apply(const UsdPrim& prim) {
|
||||
if (prim.ApplyAPI<MjcPhysicsEqualityAPI>()) {
|
||||
return MjcPhysicsEqualityAPI(prim);
|
||||
}
|
||||
return MjcPhysicsEqualityAPI();
|
||||
}
|
||||
|
||||
/* static */
|
||||
const TfType& MjcPhysicsEqualityAPI::_GetStaticTfType() {
|
||||
static TfType tfType = TfType::Find<MjcPhysicsEqualityAPI>();
|
||||
return tfType;
|
||||
}
|
||||
|
||||
/* static */
|
||||
bool MjcPhysicsEqualityAPI::_IsTypedSchema() {
|
||||
static bool isTyped = _GetStaticTfType().IsA<UsdTyped>();
|
||||
return isTyped;
|
||||
}
|
||||
|
||||
/* virtual */
|
||||
const TfType& MjcPhysicsEqualityAPI::_GetTfType() const {
|
||||
return _GetStaticTfType();
|
||||
}
|
||||
|
||||
UsdAttribute MjcPhysicsEqualityAPI::GetSolRefAttr() const {
|
||||
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcSolref);
|
||||
}
|
||||
|
||||
UsdAttribute MjcPhysicsEqualityAPI::CreateSolRefAttr(
|
||||
VtValue const& defaultValue, bool writeSparsely) const {
|
||||
return UsdSchemaBase::_CreateAttr(
|
||||
MjcPhysicsTokens->mjcSolref, SdfValueTypeNames->DoubleArray,
|
||||
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
|
||||
}
|
||||
|
||||
UsdAttribute MjcPhysicsEqualityAPI::GetSolImpAttr() const {
|
||||
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcSolimp);
|
||||
}
|
||||
|
||||
UsdAttribute MjcPhysicsEqualityAPI::CreateSolImpAttr(
|
||||
VtValue const& defaultValue, bool writeSparsely) const {
|
||||
return UsdSchemaBase::_CreateAttr(
|
||||
MjcPhysicsTokens->mjcSolimp, SdfValueTypeNames->DoubleArray,
|
||||
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
|
||||
}
|
||||
|
||||
UsdRelationship MjcPhysicsEqualityAPI::GetMjcTargetRel() const {
|
||||
return GetPrim().GetRelationship(MjcPhysicsTokens->mjcTarget);
|
||||
}
|
||||
|
||||
UsdRelationship MjcPhysicsEqualityAPI::CreateMjcTargetRel() const {
|
||||
return GetPrim().CreateRelationship(MjcPhysicsTokens->mjcTarget,
|
||||
/* custom = */ false);
|
||||
}
|
||||
|
||||
namespace {
|
||||
static inline TfTokenVector _ConcatenateAttributeNames(
|
||||
const TfTokenVector& left, const TfTokenVector& right) {
|
||||
TfTokenVector result;
|
||||
result.reserve(left.size() + right.size());
|
||||
result.insert(result.end(), left.begin(), left.end());
|
||||
result.insert(result.end(), right.begin(), right.end());
|
||||
return result;
|
||||
}
|
||||
} // namespace
|
||||
|
||||
/*static*/
|
||||
const TfTokenVector& MjcPhysicsEqualityAPI::GetSchemaAttributeNames(
|
||||
bool includeInherited) {
|
||||
static TfTokenVector localNames = {
|
||||
MjcPhysicsTokens->mjcSolref,
|
||||
MjcPhysicsTokens->mjcSolimp,
|
||||
};
|
||||
static TfTokenVector allNames = _ConcatenateAttributeNames(
|
||||
UsdAPISchemaBase::GetSchemaAttributeNames(true), localNames);
|
||||
|
||||
if (includeInherited)
|
||||
return allNames;
|
||||
else
|
||||
return localNames;
|
||||
}
|
||||
|
||||
PXR_NAMESPACE_CLOSE_SCOPE
|
||||
|
||||
// ===================================================================== //
|
||||
// Feel free to add custom code below this line. It will be preserved by
|
||||
// the code generator.
|
||||
//
|
||||
// Just remember to wrap code in the appropriate delimiters:
|
||||
// 'PXR_NAMESPACE_OPEN_SCOPE', 'PXR_NAMESPACE_CLOSE_SCOPE'.
|
||||
// ===================================================================== //
|
||||
// --(BEGIN CUSTOM CODE)--
|
||||
@@ -0,0 +1,125 @@
|
||||
// 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.
|
||||
|
||||
#include <mujoco/experimental/usd/mjcPhysics/equalityWeldAPI.h>
|
||||
|
||||
#include <pxr/usd/sdf/assetPath.h>
|
||||
#include <pxr/usd/sdf/types.h>
|
||||
#include <pxr/usd/usd/schemaRegistry.h>
|
||||
#include <pxr/usd/usd/typed.h>
|
||||
|
||||
PXR_NAMESPACE_OPEN_SCOPE
|
||||
|
||||
// Register the schema with the TfType system.
|
||||
TF_REGISTRY_FUNCTION(TfType) {
|
||||
TfType::Define<MjcPhysicsEqualityWeldAPI, TfType::Bases<UsdAPISchemaBase> >();
|
||||
}
|
||||
|
||||
/* virtual */
|
||||
MjcPhysicsEqualityWeldAPI::~MjcPhysicsEqualityWeldAPI() {}
|
||||
|
||||
/* static */
|
||||
MjcPhysicsEqualityWeldAPI MjcPhysicsEqualityWeldAPI::Get(
|
||||
const UsdStagePtr& stage, const SdfPath& path) {
|
||||
if (!stage) {
|
||||
TF_CODING_ERROR("Invalid stage");
|
||||
return MjcPhysicsEqualityWeldAPI();
|
||||
}
|
||||
return MjcPhysicsEqualityWeldAPI(stage->GetPrimAtPath(path));
|
||||
}
|
||||
|
||||
/* virtual */
|
||||
UsdSchemaKind MjcPhysicsEqualityWeldAPI::_GetSchemaKind() const {
|
||||
return MjcPhysicsEqualityWeldAPI::schemaKind;
|
||||
}
|
||||
|
||||
/* static */
|
||||
bool MjcPhysicsEqualityWeldAPI::CanApply(const UsdPrim& prim,
|
||||
std::string* whyNot) {
|
||||
return prim.CanApplyAPI<MjcPhysicsEqualityWeldAPI>(whyNot);
|
||||
}
|
||||
|
||||
/* static */
|
||||
MjcPhysicsEqualityWeldAPI MjcPhysicsEqualityWeldAPI::Apply(
|
||||
const UsdPrim& prim) {
|
||||
if (prim.ApplyAPI<MjcPhysicsEqualityWeldAPI>()) {
|
||||
return MjcPhysicsEqualityWeldAPI(prim);
|
||||
}
|
||||
return MjcPhysicsEqualityWeldAPI();
|
||||
}
|
||||
|
||||
/* static */
|
||||
const TfType& MjcPhysicsEqualityWeldAPI::_GetStaticTfType() {
|
||||
static TfType tfType = TfType::Find<MjcPhysicsEqualityWeldAPI>();
|
||||
return tfType;
|
||||
}
|
||||
|
||||
/* static */
|
||||
bool MjcPhysicsEqualityWeldAPI::_IsTypedSchema() {
|
||||
static bool isTyped = _GetStaticTfType().IsA<UsdTyped>();
|
||||
return isTyped;
|
||||
}
|
||||
|
||||
/* virtual */
|
||||
const TfType& MjcPhysicsEqualityWeldAPI::_GetTfType() const {
|
||||
return _GetStaticTfType();
|
||||
}
|
||||
|
||||
UsdAttribute MjcPhysicsEqualityWeldAPI::GetTorqueScaleAttr() const {
|
||||
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcTorqueScale);
|
||||
}
|
||||
|
||||
UsdAttribute MjcPhysicsEqualityWeldAPI::CreateTorqueScaleAttr(
|
||||
VtValue const& defaultValue, bool writeSparsely) const {
|
||||
return UsdSchemaBase::_CreateAttr(
|
||||
MjcPhysicsTokens->mjcTorqueScale, SdfValueTypeNames->Float,
|
||||
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
|
||||
}
|
||||
|
||||
namespace {
|
||||
static inline TfTokenVector _ConcatenateAttributeNames(
|
||||
const TfTokenVector& left, const TfTokenVector& right) {
|
||||
TfTokenVector result;
|
||||
result.reserve(left.size() + right.size());
|
||||
result.insert(result.end(), left.begin(), left.end());
|
||||
result.insert(result.end(), right.begin(), right.end());
|
||||
return result;
|
||||
}
|
||||
} // namespace
|
||||
|
||||
/*static*/
|
||||
const TfTokenVector& MjcPhysicsEqualityWeldAPI::GetSchemaAttributeNames(
|
||||
bool includeInherited) {
|
||||
static TfTokenVector localNames = {
|
||||
MjcPhysicsTokens->mjcTorqueScale,
|
||||
};
|
||||
static TfTokenVector allNames = _ConcatenateAttributeNames(
|
||||
UsdAPISchemaBase::GetSchemaAttributeNames(true), localNames);
|
||||
|
||||
if (includeInherited)
|
||||
return allNames;
|
||||
else
|
||||
return localNames;
|
||||
}
|
||||
|
||||
PXR_NAMESPACE_CLOSE_SCOPE
|
||||
|
||||
// ===================================================================== //
|
||||
// Feel free to add custom code below this line. It will be preserved by
|
||||
// the code generator.
|
||||
//
|
||||
// Just remember to wrap code in the appropriate delimiters:
|
||||
// 'PXR_NAMESPACE_OPEN_SCOPE', 'PXR_NAMESPACE_CLOSE_SCOPE'.
|
||||
// ===================================================================== //
|
||||
// --(BEGIN CUSTOM CODE)--
|
||||
@@ -550,6 +550,34 @@ class "MjcMaterialAPI" (
|
||||
)
|
||||
}
|
||||
|
||||
class "MjcEqualityAPI" (
|
||||
doc = "Base API for equality constraints."
|
||||
)
|
||||
{
|
||||
uniform double[] mjc:solimp = [0.9, 0.95, 0.001, 0.5, 2] (
|
||||
displayName = "SolImp"
|
||||
doc = "Constraint solver parameter for equality constraint simulation."
|
||||
)
|
||||
uniform double[] mjc:solref = [0.02, 1] (
|
||||
displayName = "SolRef"
|
||||
doc = "Constraint solver parameter for equality constraint simulation."
|
||||
)
|
||||
rel mjc:target (
|
||||
doc = "Secondary target of the equality constraint."
|
||||
)
|
||||
}
|
||||
|
||||
class "MjcEqualityWeldAPI" (
|
||||
apiSchemas = ["MjcEqualityAPI"]
|
||||
doc = "API providing extension attributes to represent equality/weld constraints."
|
||||
)
|
||||
{
|
||||
uniform float mjc:torqueScale = 1 (
|
||||
displayName = "Torque Scale"
|
||||
doc = "A constant that scales the angular residual (angular constraint violation). Notionally in units of torque/force = length. Intuitively this coefficient defines how much the weld “cares” about rotational displacements vs. translational displacements."
|
||||
)
|
||||
}
|
||||
|
||||
class MjcTendon "MjcTendon" (
|
||||
doc = "Type describing fixed and spatial tendons."
|
||||
)
|
||||
|
||||
@@ -23,6 +23,26 @@
|
||||
],
|
||||
"schemaKind": "singleApplyAPI"
|
||||
},
|
||||
"MjcPhysicsEqualityAPI": {
|
||||
"alias": {
|
||||
"UsdSchemaBase": "MjcEqualityAPI"
|
||||
},
|
||||
"autoGenerated": true,
|
||||
"bases": [
|
||||
"UsdAPISchemaBase"
|
||||
],
|
||||
"schemaKind": "singleApplyAPI"
|
||||
},
|
||||
"MjcPhysicsEqualityWeldAPI": {
|
||||
"alias": {
|
||||
"UsdSchemaBase": "MjcEqualityWeldAPI"
|
||||
},
|
||||
"autoGenerated": true,
|
||||
"bases": [
|
||||
"UsdAPISchemaBase"
|
||||
],
|
||||
"schemaKind": "singleApplyAPI"
|
||||
},
|
||||
"MjcPhysicsImageableAPI": {
|
||||
"alias": {
|
||||
"UsdSchemaBase": "MjcImageableAPI"
|
||||
|
||||
@@ -1057,6 +1057,55 @@ class "MjcMaterialAPI"
|
||||
)
|
||||
}
|
||||
|
||||
class "MjcEqualityAPI" (
|
||||
customData = {
|
||||
string className = "EqualityAPI"
|
||||
}
|
||||
doc = """Base API for equality constraints."""
|
||||
|
||||
inherits = </APISchemaBase>
|
||||
)
|
||||
{
|
||||
rel mjc:target (
|
||||
doc = "Secondary target of the equality constraint."
|
||||
)
|
||||
|
||||
uniform double[] mjc:solref = [0.02, 1.0] (
|
||||
customData = {
|
||||
string apiName = "SolRef"
|
||||
}
|
||||
displayName = "SolRef"
|
||||
doc = """Constraint solver parameter for equality constraint simulation."""
|
||||
)
|
||||
|
||||
uniform double[] mjc:solimp = [0.9, 0.95, 0.001, 0.5, 2.0] (
|
||||
customData = {
|
||||
string apiName = "SolImp"
|
||||
}
|
||||
displayName = "SolImp"
|
||||
doc = """Constraint solver parameter for equality constraint simulation."""
|
||||
)
|
||||
}
|
||||
|
||||
class "MjcEqualityWeldAPI" (
|
||||
customData = {
|
||||
string className = "EqualityWeldAPI"
|
||||
}
|
||||
doc = """API providing extension attributes to represent equality/weld constraints."""
|
||||
|
||||
prepend apiSchemas = ["MjcEqualityAPI"]
|
||||
inherits = </APISchemaBase>
|
||||
)
|
||||
{
|
||||
uniform float mjc:torqueScale = 1.0 (
|
||||
customData = {
|
||||
string apiName = "TorqueScale"
|
||||
}
|
||||
displayName = "Torque Scale"
|
||||
doc = """A constant that scales the angular residual (angular constraint violation). Notionally in units of torque/force = length. Intuitively this coefficient defines how much the weld “cares” about rotational displacements vs. translational displacements."""
|
||||
)
|
||||
}
|
||||
|
||||
class MjcTendon "MjcTendon"
|
||||
(
|
||||
customData = {
|
||||
|
||||
@@ -175,6 +175,7 @@ MjcPhysicsTokensType::MjcPhysicsTokensType()
|
||||
mjcSpringref("mjc:springref", TfToken::Immortal),
|
||||
mjcStiffness("mjc:stiffness", TfToken::Immortal),
|
||||
mjcTarget("mjc:target", TfToken::Immortal),
|
||||
mjcTorqueScale("mjc:torqueScale", TfToken::Immortal),
|
||||
mjcTorsionalfriction("mjc:torsionalfriction", TfToken::Immortal),
|
||||
mjcType("mjc:type", TfToken::Immortal),
|
||||
mjcWidth("mjc:width", TfToken::Immortal),
|
||||
@@ -192,6 +193,8 @@ MjcPhysicsTokensType::MjcPhysicsTokensType()
|
||||
user("user", TfToken::Immortal),
|
||||
MjcActuator("MjcActuator", TfToken::Immortal),
|
||||
MjcCollisionAPI("MjcCollisionAPI", TfToken::Immortal),
|
||||
MjcEqualityAPI("MjcEqualityAPI", TfToken::Immortal),
|
||||
MjcEqualityWeldAPI("MjcEqualityWeldAPI", TfToken::Immortal),
|
||||
MjcImageableAPI("MjcImageableAPI", TfToken::Immortal),
|
||||
MjcJointAPI("MjcJointAPI", TfToken::Immortal),
|
||||
MjcKeyframe("MjcKeyframe", TfToken::Immortal),
|
||||
@@ -351,6 +354,7 @@ MjcPhysicsTokensType::MjcPhysicsTokensType()
|
||||
mjcSpringref,
|
||||
mjcStiffness,
|
||||
mjcTarget,
|
||||
mjcTorqueScale,
|
||||
mjcTorsionalfriction,
|
||||
mjcType,
|
||||
mjcWidth,
|
||||
@@ -368,6 +372,8 @@ MjcPhysicsTokensType::MjcPhysicsTokensType()
|
||||
user,
|
||||
MjcActuator,
|
||||
MjcCollisionAPI,
|
||||
MjcEqualityAPI,
|
||||
MjcEqualityWeldAPI,
|
||||
MjcImageableAPI,
|
||||
MjcJointAPI,
|
||||
MjcKeyframe,
|
||||
|
||||
Reference in New Issue
Block a user