Add MjcPhysicsEqualityConnectAPI to MjcPhysics for equality/connect parsing.
PiperOrigin-RevId: 867736241 Change-Id: I2d4e9abcb14280dcfbbf63ff5f888fb57350cfb6
This commit is contained in:
Sam Haves
committed by
Copybara-Service
Copybara-Service
parent
0041fdcbb0
commit
e93a69ea01
@@ -0,0 +1,161 @@
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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_EQUALITYCONNECTAPI_H
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#define MJCPHYSICS_GENERATED_EQUALITYCONNECTAPI_H
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/// \file mjcPhysics/equalityConnectAPI.h
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#include <mujoco/experimental/usd/mjcPhysics/api.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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// MJCEQUALITYCONNECTAPI //
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// -------------------------------------------------------------------------- //
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/// \class MjcPhysicsEqualityConnectAPI
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///
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/// API providing extension attributes to represent equality/connect
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/// constraints.
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///
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class MjcPhysicsEqualityConnectAPI : 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 MjcPhysicsEqualityConnectAPI on UsdPrim \p prim .
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/// Equivalent to MjcPhysicsEqualityConnectAPI::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 MjcPhysicsEqualityConnectAPI(const UsdPrim& prim = UsdPrim())
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: UsdAPISchemaBase(prim) {}
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/// Construct a MjcPhysicsEqualityConnectAPI on the prim held by \p schemaObj
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/// . Should be preferred over
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/// MjcPhysicsEqualityConnectAPI(schemaObj.GetPrim()), as it preserves
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/// SchemaBase state.
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explicit MjcPhysicsEqualityConnectAPI(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 ~MjcPhysicsEqualityConnectAPI();
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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 MjcPhysicsEqualityConnectAPI 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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/// MjcPhysicsEqualityConnectAPI(stage->GetPrimAtPath(path));
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/// \endcode
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///
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MJCPHYSICS_API
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static MjcPhysicsEqualityConnectAPI 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 "MjcEqualityConnectAPI" 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 MjcPhysicsEqualityConnectAPI object is returned upon
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/// success. An invalid (or empty) MjcPhysicsEqualityConnectAPI object is
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/// returned upon 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 MjcPhysicsEqualityConnectAPI 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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// 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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@@ -792,6 +792,10 @@ struct MjcPhysicsTokensType {
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///
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/// Schema identifier and family for MjcPhysicsEqualityAPI
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const TfToken MjcEqualityAPI;
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/// \brief "MjcEqualityConnectAPI"
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///
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/// Schema identifier and family for MjcPhysicsEqualityConnectAPI
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const TfToken MjcEqualityConnectAPI;
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/// \brief "MjcEqualityJointAPI"
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///
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/// Schema identifier and family for MjcPhysicsEqualityJointAPI
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@@ -26,6 +26,7 @@
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#include <mujoco/experimental/usd/mjcPhysics/actuator.h>
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#include <mujoco/experimental/usd/mjcPhysics/collisionAPI.h>
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#include <mujoco/experimental/usd/mjcPhysics/equalityAPI.h>
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#include <mujoco/experimental/usd/mjcPhysics/equalityConnectAPI.h>
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#include <mujoco/experimental/usd/mjcPhysics/equalityJointAPI.h>
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#include <mujoco/experimental/usd/mjcPhysics/equalityWeldAPI.h>
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#include <mujoco/experimental/usd/mjcPhysics/imageableAPI.h>
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@@ -1829,6 +1830,42 @@ void ParseUsdPhysicsCollider(mjSpec* spec,
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}
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}
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void ParseMjcEqualityAPISolverParams(
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mjsEquality* eq, const pxr::MjcPhysicsEqualityAPI& equality_api,
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const pxr::UsdPrim& prim) {
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auto solref_attr = equality_api.GetSolRefAttr();
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if (solref_attr.HasAuthoredValue()) {
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pxr::VtDoubleArray solref;
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solref_attr.Get(&solref);
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if (solref.size() == mjNREF) {
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for (int i = 0; i < mjNREF; ++i) {
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eq->solref[i] = solref[i];
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}
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} else {
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mju_warning(
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"solref attribute for equality %s has incorrect size "
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"%zu, expected %d.",
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prim.GetPath().GetAsString().c_str(), solref.size(), mjNREF);
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}
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}
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auto solimp_attr = equality_api.GetSolImpAttr();
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if (solimp_attr.HasAuthoredValue()) {
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pxr::VtDoubleArray solimp;
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solimp_attr.Get(&solimp);
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if (solimp.size() == mjNIMP) {
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for (int i = 0; i < mjNIMP; ++i) {
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eq->solimp[i] = solimp[i];
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}
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} else {
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mju_warning(
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"solimp attribute for equality %s has incorrect size "
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"%zu, expected %d.",
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prim.GetPath().GetAsString().c_str(), solimp.size(), mjNIMP);
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}
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}
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}
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void ParseConstraint(mjSpec* spec, const pxr::UsdPrim& prim, mjsBody* body,
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pxr::UsdGeomXformCache& xform_cache) {
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if (prim.HasAPI<pxr::MjcPhysicsEqualityJointAPI>()) {
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@@ -1861,28 +1898,7 @@ void ParseConstraint(mjSpec* spec, const pxr::UsdPrim& prim, mjsBody* body,
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eq_joint_api.GetCoef3Attr().Get(&eq->data[3]);
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eq_joint_api.GetCoef4Attr().Get(&eq->data[4]);
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// Parse solver parameters from MjcEqualityAPI.
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auto solref_attr = equality_api.GetSolRefAttr();
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if (solref_attr.HasAuthoredValue()) {
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pxr::VtDoubleArray solref;
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solref_attr.Get(&solref);
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if (solref.size() == mjNREF) {
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for (int i = 0; i < mjNREF; ++i) {
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eq->solref[i] = solref[i];
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}
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}
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}
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auto solimp_attr = equality_api.GetSolImpAttr();
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if (solimp_attr.HasAuthoredValue()) {
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pxr::VtDoubleArray solimp;
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solimp_attr.Get(&solimp);
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if (solimp.size() == mjNIMP) {
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for (int i = 0; i < mjNIMP; ++i) {
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eq->solimp[i] = solimp[i];
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}
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}
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}
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ParseMjcEqualityAPISolverParams(eq, equality_api, prim);
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} else if (prim.IsA<pxr::UsdPhysicsFixedJoint>()) {
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// Handle fixed joints as weld constraints.
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pxr::UsdPhysicsJoint joint(prim);
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@@ -2013,41 +2029,13 @@ void ParseConstraint(mjSpec* spec, const pxr::UsdPrim& prim, mjsBody* body,
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eq->data[8] = relpose_quat.GetImaginary()[1];
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eq->data[9] = relpose_quat.GetImaginary()[2];
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if (prim.HasAPI<pxr::MjcPhysicsEqualityWeldAPI>()) {
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// MjcPhysicsEqualityAPI is always automatically applied
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// by MjcPhysicsEqualityWeldAPI.
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if (prim.HasAPI<pxr::MjcPhysicsEqualityConnectAPI>()) {
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eq->type = mjEQ_CONNECT;
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pxr::MjcPhysicsEqualityAPI equality_api(prim);
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auto solref_attr = equality_api.GetSolRefAttr();
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if (solref_attr.HasAuthoredValue()) {
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pxr::VtDoubleArray solref;
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solref_attr.Get(&solref);
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if (solref.size() == mjNREF) {
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for (int i = 0; i < mjNREF; ++i) {
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eq->solref[i] = solref[i];
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}
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} else {
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mju_warning(
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"solref attribute for weld equality %s has incorrect size "
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"%zu, expected %d.",
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prim.GetPath().GetAsString().c_str(), solref.size(), mjNREF);
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}
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}
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auto solimp_attr = equality_api.GetSolImpAttr();
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if (solimp_attr.HasAuthoredValue()) {
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pxr::VtDoubleArray solimp;
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solimp_attr.Get(&solimp);
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if (solimp.size() == mjNIMP) {
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for (int i = 0; i < mjNIMP; ++i) {
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eq->solimp[i] = solimp[i];
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}
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} else {
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mju_warning(
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"solimp attribute for weld equality %s has incorrect size "
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"%zu, expected %d.",
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prim.GetPath().GetAsString().c_str(), solimp.size(), mjNIMP);
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}
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}
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ParseMjcEqualityAPISolverParams(eq, equality_api, prim);
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} else if (prim.HasAPI<pxr::MjcPhysicsEqualityWeldAPI>()) {
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pxr::MjcPhysicsEqualityAPI equality_api(prim);
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ParseMjcEqualityAPISolverParams(eq, equality_api, prim);
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pxr::MjcPhysicsEqualityWeldAPI weld_api(prim);
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auto torque_scale_attr = weld_api.GetTorqueScaleAttr();
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@@ -128,6 +128,7 @@ target_sources(${MJC_PHYSICS_PLUGIN_TARGET_NAME} PRIVATE
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mjcPhysics/actuator.cpp
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mjcPhysics/collisionAPI.cpp
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mjcPhysics/equalityAPI.cpp
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mjcPhysics/equalityConnectAPI.cpp
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mjcPhysics/equalityJointAPI.cpp
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mjcPhysics/equalityWeldAPI.cpp
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mjcPhysics/imageableAPI.cpp
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@@ -0,0 +1,102 @@
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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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#include <mujoco/experimental/usd/mjcPhysics/equalityConnectAPI.h>
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#include <pxr/usd/sdf/assetPath.h>
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#include <pxr/usd/sdf/types.h>
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#include <pxr/usd/usd/schemaRegistry.h>
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#include <pxr/usd/usd/typed.h>
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PXR_NAMESPACE_OPEN_SCOPE
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// Register the schema with the TfType system.
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TF_REGISTRY_FUNCTION(TfType) {
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TfType::Define<MjcPhysicsEqualityConnectAPI,
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TfType::Bases<UsdAPISchemaBase> >();
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}
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/* virtual */
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MjcPhysicsEqualityConnectAPI::~MjcPhysicsEqualityConnectAPI() {}
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/* static */
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MjcPhysicsEqualityConnectAPI MjcPhysicsEqualityConnectAPI::Get(
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const UsdStagePtr& stage, const SdfPath& path) {
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if (!stage) {
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TF_CODING_ERROR("Invalid stage");
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return MjcPhysicsEqualityConnectAPI();
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}
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return MjcPhysicsEqualityConnectAPI(stage->GetPrimAtPath(path));
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}
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/* virtual */
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UsdSchemaKind MjcPhysicsEqualityConnectAPI::_GetSchemaKind() const {
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return MjcPhysicsEqualityConnectAPI::schemaKind;
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}
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/* static */
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bool MjcPhysicsEqualityConnectAPI::CanApply(const UsdPrim& prim,
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std::string* whyNot) {
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return prim.CanApplyAPI<MjcPhysicsEqualityConnectAPI>(whyNot);
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}
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/* static */
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MjcPhysicsEqualityConnectAPI MjcPhysicsEqualityConnectAPI::Apply(
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const UsdPrim& prim) {
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if (prim.ApplyAPI<MjcPhysicsEqualityConnectAPI>()) {
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return MjcPhysicsEqualityConnectAPI(prim);
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}
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return MjcPhysicsEqualityConnectAPI();
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}
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/* static */
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const TfType& MjcPhysicsEqualityConnectAPI::_GetStaticTfType() {
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static TfType tfType = TfType::Find<MjcPhysicsEqualityConnectAPI>();
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return tfType;
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}
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/* static */
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bool MjcPhysicsEqualityConnectAPI::_IsTypedSchema() {
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static bool isTyped = _GetStaticTfType().IsA<UsdTyped>();
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return isTyped;
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}
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/* virtual */
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const TfType& MjcPhysicsEqualityConnectAPI::_GetTfType() const {
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return _GetStaticTfType();
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}
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/*static*/
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const TfTokenVector& MjcPhysicsEqualityConnectAPI::GetSchemaAttributeNames(
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bool includeInherited) {
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static TfTokenVector localNames;
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static TfTokenVector allNames =
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UsdAPISchemaBase::GetSchemaAttributeNames(true);
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if (includeInherited)
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return allNames;
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else
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return localNames;
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}
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PXR_NAMESPACE_CLOSE_SCOPE
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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 wrap code in the appropriate delimiters:
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// 'PXR_NAMESPACE_OPEN_SCOPE', 'PXR_NAMESPACE_CLOSE_SCOPE'.
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// ===================================================================== //
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// --(BEGIN CUSTOM CODE)--
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@@ -567,6 +567,13 @@ class "MjcEqualityAPI" (
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)
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}
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class "MjcEqualityConnectAPI" (
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apiSchemas = ["MjcEqualityAPI"]
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doc = "API providing extension attributes to represent equality/connect constraints."
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)
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{
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}
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class "MjcEqualityWeldAPI" (
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apiSchemas = ["MjcEqualityAPI"]
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doc = "API providing extension attributes to represent equality/weld constraints."
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@@ -33,6 +33,16 @@
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],
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"schemaKind": "singleApplyAPI"
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},
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"MjcPhysicsEqualityConnectAPI": {
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"alias": {
|
||||
"UsdSchemaBase": "MjcEqualityConnectAPI"
|
||||
},
|
||||
"autoGenerated": true,
|
||||
"bases": [
|
||||
"UsdAPISchemaBase"
|
||||
],
|
||||
"schemaKind": "singleApplyAPI"
|
||||
},
|
||||
"MjcPhysicsEqualityJointAPI": {
|
||||
"alias": {
|
||||
"UsdSchemaBase": "MjcEqualityJointAPI"
|
||||
|
||||
@@ -1087,6 +1087,16 @@ class "MjcEqualityAPI" (
|
||||
)
|
||||
}
|
||||
|
||||
class "MjcEqualityConnectAPI" (
|
||||
customData = {
|
||||
string className = "EqualityConnectAPI"
|
||||
}
|
||||
doc = """API providing extension attributes to represent equality/connect constraints."""
|
||||
|
||||
prepend apiSchemas = ["MjcEqualityAPI"]
|
||||
inherits = </APISchemaBase>
|
||||
){}
|
||||
|
||||
class "MjcEqualityWeldAPI" (
|
||||
customData = {
|
||||
string className = "EqualityWeldAPI"
|
||||
|
||||
@@ -199,6 +199,7 @@ MjcPhysicsTokensType::MjcPhysicsTokensType()
|
||||
MjcActuator("MjcActuator", TfToken::Immortal),
|
||||
MjcCollisionAPI("MjcCollisionAPI", TfToken::Immortal),
|
||||
MjcEqualityAPI("MjcEqualityAPI", TfToken::Immortal),
|
||||
MjcEqualityConnectAPI("MjcEqualityConnectAPI", TfToken::Immortal),
|
||||
MjcEqualityJointAPI("MjcEqualityJointAPI", TfToken::Immortal),
|
||||
MjcEqualityWeldAPI("MjcEqualityWeldAPI", TfToken::Immortal),
|
||||
MjcImageableAPI("MjcImageableAPI", TfToken::Immortal),
|
||||
@@ -384,6 +385,7 @@ MjcPhysicsTokensType::MjcPhysicsTokensType()
|
||||
MjcActuator,
|
||||
MjcCollisionAPI,
|
||||
MjcEqualityAPI,
|
||||
MjcEqualityConnectAPI,
|
||||
MjcEqualityJointAPI,
|
||||
MjcEqualityWeldAPI,
|
||||
MjcImageableAPI,
|
||||
|
||||
Reference in New Issue
Block a user