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
|
||||
|
||||
Reference in New Issue
Block a user