Add missing attributes to MjcCollisionAPI USD schema.
PiperOrigin-RevId: 783006362 Change-Id: I02d51190d62bb9460863025cd16360427afc70c4
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Sam Haves
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Copybara-Service
Copybara-Service
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ef013a0633
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@@ -191,6 +191,185 @@ class MjcPhysicsCollisionAPI : public UsdAPISchemaBase {
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UsdAttribute CreateShellInertiaAttr(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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// PRIORITY
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// --------------------------------------------------------------------- //
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/// Priority determining how the properties of two colliders are combined to
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/// form the properties of the contact.
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///
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/// | ||
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/// | -- | -- |
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/// | Declaration | `uniform int mjc:priority = 0` |
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/// | C++ Type | int |
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/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
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/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
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MJCPHYSICS_API
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UsdAttribute GetPriorityAttr() const;
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/// See GetPriorityAttr(), 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 CreatePriorityAttr(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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// CONDIM
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// --------------------------------------------------------------------- //
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/// The dimensionality of the contact space for a dynamically generated
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/// contact pair is set to the maximum of the condim values of the two
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/// participating geoms.
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///
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/// | ||
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/// | -- | -- |
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/// | Declaration | `uniform int mjc:condim = 3` |
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/// | C++ Type | int |
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/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
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/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
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MJCPHYSICS_API
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UsdAttribute GetConDimAttr() const;
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/// See GetConDimAttr(), 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 CreateConDimAttr(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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// SOLMIX
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// --------------------------------------------------------------------- //
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/// Specifies the weight used for averaging of contact parameters, and
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/// interacts with the priority attribute.
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///
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/// | ||
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/// | -- | -- |
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/// | Declaration | `uniform double mjc:solmix = 1` |
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/// | C++ Type | double |
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/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
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/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
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MJCPHYSICS_API
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UsdAttribute GetSolMixAttr() const;
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/// See GetSolMixAttr(), 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 CreateSolMixAttr(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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// SOLREF
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// --------------------------------------------------------------------- //
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/// Specifies the weight used for averaging of contact parameters, and
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/// interacts with the priority attribute.
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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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/// Specifies the weight used for averaging of contact parameters, and
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/// interacts with the priority attribute.
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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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// MARGIN
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// --------------------------------------------------------------------- //
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/// Distance threshold below which contacts are detected and included in the
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/// global array mjData.contact.
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///
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/// | ||
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/// | -- | -- |
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/// | Declaration | `uniform double mjc:margin = 0` |
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/// | C++ Type | double |
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/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
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/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
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MJCPHYSICS_API
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UsdAttribute GetMarginAttr() const;
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/// See GetMarginAttr(), 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 CreateMarginAttr(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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// GAP
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// --------------------------------------------------------------------- //
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/// This attribute is used to enable the generation of inactive contacts,
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/// i.e., contacts that are ignored by the constraint solver but are included
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/// in mjData.contact for the purpose of custom computations. When this value
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/// is positive, geom distances between margin and margin-gap correspond to
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/// such inactive contacts.
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///
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/// | ||
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/// | -- | -- |
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/// | Declaration | `uniform double mjc:gap = 0` |
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/// | C++ Type | double |
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/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
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/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
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MJCPHYSICS_API
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UsdAttribute GetGapAttr() const;
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/// See GetGapAttr(), 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 CreateGapAttr(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
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@@ -184,6 +184,10 @@ struct MjcPhysicsTokensType {
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///
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/// MjcPhysicsActuator
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const TfToken mjcBiasType;
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/// \brief "mjc:condim"
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///
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/// MjcPhysicsCollisionAPI
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const TfToken mjcCondim;
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/// \brief "mjc:crankLength"
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///
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/// MjcPhysicsActuator
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@@ -332,6 +336,10 @@ struct MjcPhysicsTokensType {
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///
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/// MjcPhysicsActuator
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const TfToken mjcGainType;
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/// \brief "mjc:gap"
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///
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/// MjcPhysicsCollisionAPI
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const TfToken mjcGap;
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/// \brief "mjc:gear"
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///
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/// MjcPhysicsActuator
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@@ -359,7 +367,7 @@ struct MjcPhysicsTokensType {
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const TfToken mjcLengthRangeMin;
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/// \brief "mjc:margin"
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///
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/// MjcPhysicsJointAPI
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/// MjcPhysicsCollisionAPI, MjcPhysicsJointAPI
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const TfToken mjcMargin;
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/// \brief "mjc:maxhullvert"
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///
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@@ -477,6 +485,10 @@ struct MjcPhysicsTokensType {
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcOptionWind;
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/// \brief "mjc:priority"
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///
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/// MjcPhysicsCollisionAPI
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const TfToken mjcPriority;
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/// \brief "mjc:qpos"
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///
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/// MjcPhysicsKeyframe
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@@ -505,6 +517,10 @@ struct MjcPhysicsTokensType {
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///
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/// MjcPhysicsActuator
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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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const TfToken mjcSolimp;
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/// \brief "mjc:solimpfriction"
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///
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/// MjcPhysicsJointAPI
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@@ -513,6 +529,14 @@ struct MjcPhysicsTokensType {
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///
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/// MjcPhysicsJointAPI
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const TfToken mjcSolimplimit;
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/// \brief "mjc:solmix"
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///
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/// MjcPhysicsCollisionAPI
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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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const TfToken mjcSolref;
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/// \brief "mjc:solreffriction"
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///
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/// MjcPhysicsJointAPI
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