Add inheritrange attribute to mjcPhysics MjcActuator

PiperOrigin-RevId: 783363012
Change-Id: I7d0476aae70c3acc3ed4808a8741b7eb12948dba

src/experimental/usd/mjcPhysics/actuator.cpp

@@ -332,6 +332,17 @@ UsdAttribute MjcPhysicsActuator::CreateMjcActEarlyAttr(
       /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
 }
 
+UsdAttribute MjcPhysicsActuator::GetMjcInheritRangeAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcInheritRange);
+}
+
+UsdAttribute MjcPhysicsActuator::CreateMjcInheritRangeAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcInheritRange, SdfValueTypeNames->Double,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
 UsdRelationship MjcPhysicsActuator::GetMjcTargetRel() const {
   return GetPrim().GetRelationship(MjcPhysicsTokens->mjcTarget);
 }
@@ -385,7 +396,7 @@ const TfTokenVector &MjcPhysicsActuator::GetSchemaAttributeNames(
       MjcPhysicsTokens->mjcDynType,        MjcPhysicsTokens->mjcGainType,
       MjcPhysicsTokens->mjcBiasType,       MjcPhysicsTokens->mjcDynPrm,
       MjcPhysicsTokens->mjcGainPrm,        MjcPhysicsTokens->mjcBiasPrm,
-      MjcPhysicsTokens->mjcActEarly,
+      MjcPhysicsTokens->mjcActEarly,       MjcPhysicsTokens->mjcInheritRange,
   };
   static TfTokenVector allNames = _ConcatenateAttributeNames(
       UsdTyped::GetSchemaAttributeNames(true), localNames);

src/experimental/usd/mjcPhysics/generatedSchema.usda

@@ -358,6 +358,9 @@ class MjcActuator "MjcActuator" (
         displayName = "Group"
         doc = "Integer MuJoCo group to which the transmission belongs."
     )
+    uniform double mjc:inheritRange = 0 (
+        doc = "Automatically set the actuator’s ctrlrange to match the transmission target’s range. The default value means disabled. A positive value X sets the ctrlrange around the midpoint of the target range, scaled by X. For example if the target joint has range of [0, 1], then a value of 1.0 will set ctrlrange to [0, 1]; values of 0.8 and 1.2 will set the ctrlrange to [0.1, 0.9] and [-0.1, 1.1], respectively. Values smaller than 1 are useful for not hitting the limits; values larger than 1 are useful for maintaining control authority at the limits (being able to push on them). This attribute is exclusive with ctrlrange and available only for joint and tendon transmissions which have range defined."
+    )
     uniform bool mjc:jointInParent = 0 (
         doc = "If true and applied to ball and free joints, the 3d rotation axis given by gear is defined in the parent frame (which is the world frame for free joints) rather than the child frame."
     )

src/experimental/usd/mjcPhysics/schema.usda

@@ -668,10 +668,12 @@ class MjcActuator "MjcActuator"
         doc = "If true, the control input to this actuator is automatically clamped to ctrlrange at runtime. If false, control input clamping is disabled. If 'auto' and autolimits is set in compiler, control clamping will automatically be set to true if ctrlrange is defined without explicitly setting this attribute to 'true'. Note that control input clamping can also be globally disabled with the clampctrl attribute of option/flag."
         allowedTokens = ["false", "true", "auto"]
     )
+
     uniform token mjc:forceLimited = "auto" (
         doc = "If true, the force output of this actuator is automatically clamped to forcerange at runtime. If false, force clamping is disabled. If 'auto' and autolimits is set in compiler, force clamping will automatically be set to true if forcerange is defined without explicitly setting this attribute to 'true'."
         allowedTokens = ["false", "true", "auto"]
     )
+
     uniform token mjc:actLimited = "auto" (
         doc = "If true, the internal state (activation) associated with this actuator is automatically clamped to actrange at runtime. If false, activation clamping is disabled. If 'auto' and autolimits is set in compiler, activation clamping will automatically be set to true if actrange is defined without explicitly setting this attribute to 'true'. See the Activation clamping section for more details."
         allowedTokens = ["false", "true", "auto"]
@@ -765,6 +767,10 @@ class MjcActuator "MjcActuator"
     uniform bool mjc:actEarly = False (
         doc = "If true, force computation will use the next value of the activation variable rather than the current one. Setting this flag reduces the delay between the control and accelerations by one time-step."
     )
+
+    uniform double mjc:inheritRange = 0 (
+        doc = "Automatically set the actuator’s ctrlrange to match the transmission target’s range. The default value means disabled. A positive value X sets the ctrlrange around the midpoint of the target range, scaled by X. For example if the target joint has range of [0, 1], then a value of 1.0 will set ctrlrange to [0, 1]; values of 0.8 and 1.2 will set the ctrlrange to [0.1, 0.9] and [-0.1, 1.1], respectively. Values smaller than 1 are useful for not hitting the limits; values larger than 1 are useful for maintaining control authority at the limits (being able to push on them). This attribute is exclusive with ctrlrange and available only for joint and tendon transmissions which have range defined."
+    )
 }
 
 

src/experimental/usd/mjcPhysics/tokens.cpp

@@ -88,6 +88,7 @@ MjcPhysicsTokensType::MjcPhysicsTokensType()
       mjcGear("mjc:gear", TfToken::Immortal),
       mjcGroup("mjc:group", TfToken::Immortal),
       mjcInertia("mjc:inertia", TfToken::Immortal),
+      mjcInheritRange("mjc:inheritRange", TfToken::Immortal),
       mjcJointInParent("mjc:jointInParent", TfToken::Immortal),
       mjcLengthRangeMax("mjc:lengthRange:max", TfToken::Immortal),
       mjcLengthRangeMin("mjc:lengthRange:min", TfToken::Immortal),
@@ -233,6 +234,7 @@ MjcPhysicsTokensType::MjcPhysicsTokensType()
                  mjcGear,
                  mjcGroup,
                  mjcInertia,
+                 mjcInheritRange,
                  mjcJointInParent,
                  mjcLengthRangeMax,
                  mjcLengthRangeMin,

src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc

@@ -1180,6 +1180,9 @@ class ModelWriter {
     WriteUniformAttribute(actuator_path, pxr::SdfValueTypeNames->Bool,
                           MjcPhysicsTokens->mjcActEarly,
                           (bool)actuator->actearly);
+    WriteUniformAttribute(actuator_path, pxr::SdfValueTypeNames->Double,
+                          MjcPhysicsTokens->mjcInheritRange,
+                          actuator->inheritrange);
 
     WriteUniformAttribute(
         actuator_path, pxr::SdfValueTypeNames->DoubleArray,

src/experimental/usd/usd_to_mjspec.cc

@@ -853,6 +853,11 @@ void ParseMjcPhysicsActuator(mjSpec* spec,
     mj_act->actearly = (int)act_early;
   }
 
+  auto inherit_range_attr = tran.GetMjcInheritRangeAttr();
+  if (act_early_attr.HasAuthoredValue()) {
+    act_early_attr.Get(&mj_act->inheritrange);
+  }
+
   auto ref_site_rel = tran.GetMjcRefSiteRel();
   if (ref_site_rel.HasAuthoredTargets()) {
     pxr::SdfPathVector targets;