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Add inheritrange attribute to mjcPhysics MjcActuator

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PiperOrigin-RevId: 783363012
Change-Id: I7d0476aae70c3acc3ed4808a8741b7eb12948dba
This commit is contained in:
Sam Haves
2025-07-15 09:29:28 -07:00
committed by Copybara-Service
parent 5e666635f6
commit cdf5bcb693
9 changed files with 98 additions and 1 deletions
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src/experimental/usd/mjcPhysics/actuator.cpp
+12 -1
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@@ -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);