Copybara-Service
15cbc8fb55
PiperOrigin-RevId: 925328794 Change-Id: If45b8659ea9b88785660331bca5ee837ac172f67
854 lines
24 KiB
C++
854 lines
24 KiB
C++
// 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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// DO NOT EDIT. THIS FILE IS AUTOMATICALLY GENERATED.
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#ifndef MJCPHYSICS_TOKENS_H
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#define MJCPHYSICS_TOKENS_H
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/// \file mjcPhysics/tokens.h
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// XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX
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//
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// This is an automatically generated file (by usdGenSchema.py).
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// Do not hand-edit!
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//
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// XXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXXX
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#include <vector>
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#include <mujoco/experimental/usd/mjcPhysics/api.h>
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#include <pxr/base/tf/staticData.h>
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#include <pxr/base/tf/token.h>
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#include <pxr/pxr.h>
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PXR_NAMESPACE_OPEN_SCOPE
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/// \class MjcPhysicsTokensType
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///
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/// \link MjcPhysicsTokens \endlink provides static, efficient
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/// \link TfToken TfTokens\endlink for use in all public USD API.
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///
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/// These tokens are auto-generated from the module's schema, representing
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/// property names, for when you need to fetch an attribute or relationship
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/// directly by name, e.g. UsdPrim::GetAttribute(), in the most efficient
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/// manner, and allow the compiler to verify that you spelled the name
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/// correctly.
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///
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/// MjcPhysicsTokens also contains all of the \em allowedTokens values
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/// declared for schema builtin attributes of 'token' scene description type.
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/// Use MjcPhysicsTokens like so:
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///
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/// \code
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/// gprim.GetMyTokenValuedAttr().Set(MjcPhysicsTokens->affine);
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/// \endcode
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struct MjcPhysicsTokensType {
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MJCPHYSICS_API MjcPhysicsTokensType();
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/// \brief "affine"
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///
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/// Possible value for MjcPhysicsActuator::GetMjcBiasTypeAttr(), Possible
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/// value for MjcPhysicsActuator::GetMjcGainTypeAttr()
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const TfToken affine;
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/// \brief "auto"
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///
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/// Fallback value for MjcPhysicsSceneAPI::GetInertiaFromGeomAttr(), Fallback
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/// value for MjcPhysicsSceneAPI::GetJacobianAttr(), Fallback value for
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/// MjcPhysicsActuator::GetMjcActLimitedAttr(), Fallback value for
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/// MjcPhysicsActuator::GetMjcCtrlLimitedAttr(), Fallback value for
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/// MjcPhysicsActuator::GetMjcForceLimitedAttr(), Fallback value for
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/// MjcPhysicsJointAPI::GetMjcActuatorfrclimitedAttr(), Fallback value for
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/// MjcPhysicsTendon::GetActuatorFrcLimitedAttr(), Fallback value for
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/// MjcPhysicsTendon::GetLimitedAttr(), This token represents the auto
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/// constraint Jacobian and matrices computed from it.
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const TfToken auto_;
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/// \brief "cg"
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///
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/// Possible value for MjcPhysicsSceneAPI::GetSolverAttr(), This token
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/// represents the CG constraint solver algorithm.
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const TfToken cg;
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/// \brief "convex"
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///
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/// Possible value for MjcPhysicsMeshCollisionAPI::GetInertiaAttr()
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const TfToken convex;
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/// \brief "degree"
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///
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/// Fallback value for MjcPhysicsSceneAPI::GetAngleAttr()
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const TfToken degree;
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/// \brief "dense"
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///
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/// Possible value for MjcPhysicsSceneAPI::GetJacobianAttr(), This token
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/// represents the dense constraint Jacobian and matrices computed from it.
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const TfToken dense;
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/// \brief "elliptic"
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///
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/// Possible value for MjcPhysicsSceneAPI::GetConeAttr(), This token
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/// represents the elliptic contact friction cone type.
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const TfToken elliptic;
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/// \brief "euler"
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///
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/// Fallback value for MjcPhysicsSceneAPI::GetIntegratorAttr(), This token
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/// represents the Euler numerical integrator.
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const TfToken euler;
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/// \brief "exact"
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///
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/// Possible value for MjcPhysicsMeshCollisionAPI::GetInertiaAttr()
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const TfToken exact;
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/// \brief "false"
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///
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/// Possible value for MjcPhysicsSceneAPI::GetInertiaFromGeomAttr(), Possible
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/// value for MjcPhysicsActuator::GetMjcActLimitedAttr(), Possible value for
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/// MjcPhysicsActuator::GetMjcCtrlLimitedAttr(), Possible value for
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/// MjcPhysicsActuator::GetMjcForceLimitedAttr(), Possible value for
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/// MjcPhysicsJointAPI::GetMjcActuatorfrclimitedAttr(), Possible value for
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/// MjcPhysicsTendon::GetActuatorFrcLimitedAttr(), Possible value for
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/// MjcPhysicsTendon::GetLimitedAttr()
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const TfToken false_;
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/// \brief "filter"
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///
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/// Possible value for MjcPhysicsActuator::GetMjcDynTypeAttr()
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const TfToken filter;
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/// \brief "filterexact"
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///
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/// Possible value for MjcPhysicsActuator::GetMjcDynTypeAttr()
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const TfToken filterexact;
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/// \brief "fixed"
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///
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/// Fallback value for MjcPhysicsActuator::GetMjcGainTypeAttr(), Possible
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/// value for MjcPhysicsTendon::GetTypeAttr()
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const TfToken fixed;
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/// \brief "implicit"
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///
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/// Possible value for MjcPhysicsSceneAPI::GetIntegratorAttr(), This token
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/// represents the implicit numerical integrator.
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const TfToken implicit;
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/// \brief "implicitfast"
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///
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/// Possible value for MjcPhysicsSceneAPI::GetIntegratorAttr(), This token
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/// represents the implicitfast numerical integrator.
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const TfToken implicitfast;
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/// \brief "integrator"
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///
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/// Possible value for MjcPhysicsActuator::GetMjcDynTypeAttr()
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const TfToken integrator;
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/// \brief "legacy"
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///
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/// Fallback value for MjcPhysicsMeshCollisionAPI::GetInertiaAttr()
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const TfToken legacy;
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/// \brief "mjc:act"
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///
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/// MjcPhysicsKeyframe
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const TfToken mjcAct;
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/// \brief "mjc:actDim"
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///
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/// MjcPhysicsActuator
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const TfToken mjcActDim;
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/// \brief "mjc:actEarly"
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///
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/// MjcPhysicsActuator
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const TfToken mjcActEarly;
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/// \brief "mjc:actLimited"
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///
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/// MjcPhysicsActuator
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const TfToken mjcActLimited;
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/// \brief "mjc:actRange:max"
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///
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/// MjcPhysicsActuator
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const TfToken mjcActRangeMax;
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/// \brief "mjc:actRange:min"
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///
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/// MjcPhysicsActuator
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const TfToken mjcActRangeMin;
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/// \brief "mjc:actuatorfrclimited"
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///
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/// MjcPhysicsJointAPI, MjcPhysicsTendon
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const TfToken mjcActuatorfrclimited;
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/// \brief "mjc:actuatorfrcrange:max"
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///
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/// MjcPhysicsJointAPI, MjcPhysicsTendon
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const TfToken mjcActuatorfrcrangeMax;
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/// \brief "mjc:actuatorfrcrange:min"
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///
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/// MjcPhysicsJointAPI, MjcPhysicsTendon
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const TfToken mjcActuatorfrcrangeMin;
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/// \brief "mjc:actuatorgravcomp"
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///
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/// MjcPhysicsJointAPI
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const TfToken mjcActuatorgravcomp;
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/// \brief "mjc:armature"
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///
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/// MjcPhysicsJointAPI, MjcPhysicsTendon
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const TfToken mjcArmature;
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/// \brief "mjc:biasPrm"
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///
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/// MjcPhysicsActuator
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const TfToken mjcBiasPrm;
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/// \brief "mjc:biasType"
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///
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/// MjcPhysicsActuator
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const TfToken mjcBiasType;
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/// \brief "mjc:coef0"
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///
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/// MjcPhysicsEqualityJointAPI
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const TfToken mjcCoef0;
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/// \brief "mjc:coef1"
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///
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/// MjcPhysicsEqualityJointAPI
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const TfToken mjcCoef1;
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/// \brief "mjc:coef2"
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///
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/// MjcPhysicsEqualityJointAPI
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const TfToken mjcCoef2;
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/// \brief "mjc:coef3"
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///
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/// MjcPhysicsEqualityJointAPI
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const TfToken mjcCoef3;
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/// \brief "mjc:coef4"
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///
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/// MjcPhysicsEqualityJointAPI
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const TfToken mjcCoef4;
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/// \brief "mjc:compiler:alignFree"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcCompilerAlignFree;
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/// \brief "mjc:compiler:angle"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcCompilerAngle;
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/// \brief "mjc:compiler:autoLimits"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcCompilerAutoLimits;
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/// \brief "mjc:compiler:balanceInertia"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcCompilerBalanceInertia;
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/// \brief "mjc:compiler:boundInertia"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcCompilerBoundInertia;
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/// \brief "mjc:compiler:boundMass"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcCompilerBoundMass;
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/// \brief "mjc:compiler:fitAABB"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcCompilerFitAABB;
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/// \brief "mjc:compiler:fuseStatic"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcCompilerFuseStatic;
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/// \brief "mjc:compiler:inertiaFromGeom"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcCompilerInertiaFromGeom;
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/// \brief "mjc:compiler:inertiaGroupRange:max"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcCompilerInertiaGroupRangeMax;
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/// \brief "mjc:compiler:inertiaGroupRange:min"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcCompilerInertiaGroupRangeMin;
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/// \brief "mjc:compiler:saveInertial"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcCompilerSaveInertial;
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/// \brief "mjc:compiler:setTotalMass"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcCompilerSetTotalMass;
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/// \brief "mjc:compiler:useThread"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcCompilerUseThread;
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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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const TfToken mjcCrankLength;
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/// \brief "mjc:ctrl"
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///
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/// MjcPhysicsKeyframe
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const TfToken mjcCtrl;
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/// \brief "mjc:ctrlLimited"
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///
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/// MjcPhysicsActuator
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const TfToken mjcCtrlLimited;
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/// \brief "mjc:ctrlRange:max"
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///
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/// MjcPhysicsActuator
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const TfToken mjcCtrlRangeMax;
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/// \brief "mjc:ctrlRange:min"
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///
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/// MjcPhysicsActuator
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const TfToken mjcCtrlRangeMin;
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/// \brief "mjc:damping"
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///
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/// MjcPhysicsJointAPI, MjcPhysicsTendon
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const TfToken mjcDamping;
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/// \brief "mjc:dynPrm"
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///
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/// MjcPhysicsActuator
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const TfToken mjcDynPrm;
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/// \brief "mjc:dynType"
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///
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/// MjcPhysicsActuator
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const TfToken mjcDynType;
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/// \brief "mjc:flag:actuation"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcFlagActuation;
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/// \brief "mjc:flag:autoreset"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcFlagAutoreset;
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/// \brief "mjc:flag:clampctrl"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcFlagClampctrl;
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/// \brief "mjc:flag:constraint"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcFlagConstraint;
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/// \brief "mjc:flag:contact"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcFlagContact;
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/// \brief "mjc:flag:damper"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcFlagDamper;
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/// \brief "mjc:flag:energy"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcFlagEnergy;
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/// \brief "mjc:flag:equality"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcFlagEquality;
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/// \brief "mjc:flag:eulerdamp"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcFlagEulerdamp;
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/// \brief "mjc:flag:filterparent"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcFlagFilterparent;
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/// \brief "mjc:flag:frictionloss"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcFlagFrictionloss;
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/// \brief "mjc:flag:fwdinv"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcFlagFwdinv;
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/// \brief "mjc:flag:gravity"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcFlagGravity;
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/// \brief "mjc:flag:invdiscrete"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcFlagInvdiscrete;
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/// \brief "mjc:flag:island"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcFlagIsland;
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/// \brief "mjc:flag:limit"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcFlagLimit;
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/// \brief "mjc:flag:midphase"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcFlagMidphase;
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/// \brief "mjc:flag:multiccd"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcFlagMulticcd;
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/// \brief "mjc:flag:nativeccd"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcFlagNativeccd;
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/// \brief "mjc:flag:override"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcFlagOverride;
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/// \brief "mjc:flag:refsafe"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcFlagRefsafe;
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/// \brief "mjc:flag:sensor"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcFlagSensor;
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/// \brief "mjc:flag:spring"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcFlagSpring;
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/// \brief "mjc:flag:warmstart"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcFlagWarmstart;
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/// \brief "mjc:forceLimited"
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///
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/// MjcPhysicsActuator
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const TfToken mjcForceLimited;
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/// \brief "mjc:forceRange:max"
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///
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/// MjcPhysicsActuator
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const TfToken mjcForceRangeMax;
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/// \brief "mjc:forceRange:min"
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///
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/// MjcPhysicsActuator
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const TfToken mjcForceRangeMin;
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/// \brief "mjc:frictionloss"
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///
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/// MjcPhysicsJointAPI, MjcPhysicsTendon
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const TfToken mjcFrictionloss;
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/// \brief "mjc:gainPrm"
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///
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/// MjcPhysicsActuator
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const TfToken mjcGainPrm;
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/// \brief "mjc:gainType"
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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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const TfToken mjcGear;
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/// \brief "mjc:group"
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///
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/// MjcPhysicsSiteAPI, MjcPhysicsImageableAPI, MjcPhysicsCollisionAPI,
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/// MjcPhysicsActuator, MjcPhysicsJointAPI, MjcPhysicsTendon
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const TfToken mjcGroup;
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/// \brief "mjc:inertia"
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///
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/// MjcPhysicsMeshCollisionAPI
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const TfToken mjcInertia;
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/// \brief "mjc:inheritRange"
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///
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/// MjcPhysicsActuator
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const TfToken mjcInheritRange;
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/// \brief "mjc:jointInParent"
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///
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/// MjcPhysicsActuator
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const TfToken mjcJointInParent;
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/// \brief "mjc:lengthRange:max"
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///
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/// MjcPhysicsActuator
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const TfToken mjcLengthRangeMax;
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/// \brief "mjc:lengthRange:min"
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///
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/// MjcPhysicsActuator
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const TfToken mjcLengthRangeMin;
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/// \brief "mjc:limited"
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///
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/// MjcPhysicsTendon
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const TfToken mjcLimited;
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/// \brief "mjc:margin"
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///
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/// MjcPhysicsCollisionAPI, MjcPhysicsJointAPI, MjcPhysicsTendon
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const TfToken mjcMargin;
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/// \brief "mjc:maxhullvert"
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///
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/// MjcPhysicsMeshCollisionAPI
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const TfToken mjcMaxhullvert;
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/// \brief "mjc:mpos"
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///
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/// MjcPhysicsKeyframe
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const TfToken mjcMpos;
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/// \brief "mjc:mquat"
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///
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/// MjcPhysicsKeyframe
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const TfToken mjcMquat;
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/// \brief "mjc:option:actuatorgroupdisable"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcOptionActuatorgroupdisable;
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/// \brief "mjc:option:ccd_iterations"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcOptionCcd_iterations;
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/// \brief "mjc:option:ccd_tolerance"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcOptionCcd_tolerance;
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/// \brief "mjc:option:cone"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcOptionCone;
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/// \brief "mjc:option:density"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcOptionDensity;
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/// \brief "mjc:option:impratio"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcOptionImpratio;
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/// \brief "mjc:option:integrator"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcOptionIntegrator;
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/// \brief "mjc:option:iterations"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcOptionIterations;
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/// \brief "mjc:option:jacobian"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcOptionJacobian;
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/// \brief "mjc:option:ls_iterations"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcOptionLs_iterations;
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/// \brief "mjc:option:ls_tolerance"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcOptionLs_tolerance;
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/// \brief "mjc:option:magnetic"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcOptionMagnetic;
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/// \brief "mjc:option:noslip_iterations"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcOptionNoslip_iterations;
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/// \brief "mjc:option:noslip_tolerance"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcOptionNoslip_tolerance;
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/// \brief "mjc:option:o_friction"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcOptionO_friction;
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/// \brief "mjc:option:o_margin"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcOptionO_margin;
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/// \brief "mjc:option:o_solimp"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcOptionO_solimp;
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/// \brief "mjc:option:o_solref"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcOptionO_solref;
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/// \brief "mjc:option:sdf_initpoints"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcOptionSdf_initpoints;
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/// \brief "mjc:option:sdf_iterations"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcOptionSdf_iterations;
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/// \brief "mjc:option:solver"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcOptionSolver;
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/// \brief "mjc:option:timestep"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcOptionTimestep;
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/// \brief "mjc:option:tolerance"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcOptionTolerance;
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/// \brief "mjc:option:viscosity"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcOptionViscosity;
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/// \brief "mjc:option:wind"
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///
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/// MjcPhysicsSceneAPI
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const TfToken mjcOptionWind;
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/// \brief "mjc:path"
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///
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/// MjcPhysicsTendon
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const TfToken mjcPath;
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/// \brief "mjc:path:coef"
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///
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/// MjcPhysicsTendon
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const TfToken mjcPathCoef;
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/// \brief "mjc:path:divisors"
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///
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/// MjcPhysicsTendon
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const TfToken mjcPathDivisors;
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/// \brief "mjc:path:indices"
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///
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/// MjcPhysicsTendon
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const TfToken mjcPathIndices;
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/// \brief "mjc:path:segments"
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///
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/// MjcPhysicsTendon
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const TfToken mjcPathSegments;
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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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const TfToken mjcQpos;
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/// \brief "mjc:qvel"
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///
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/// MjcPhysicsKeyframe
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const TfToken mjcQvel;
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/// \brief "mjc:range:max"
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///
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/// MjcPhysicsTendon
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const TfToken mjcRangeMax;
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/// \brief "mjc:range:min"
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///
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/// MjcPhysicsTendon
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const TfToken mjcRangeMin;
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/// \brief "mjc:ref"
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///
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/// MjcPhysicsJointAPI
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const TfToken mjcRef;
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/// \brief "mjc:refSite"
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///
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/// MjcPhysicsActuator
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const TfToken mjcRefSite;
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/// \brief "mjc:rgba"
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///
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/// MjcPhysicsTendon
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const TfToken mjcRgba;
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/// \brief "mjc:rollingfriction"
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///
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/// MjcPhysicsMaterialAPI
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const TfToken mjcRollingfriction;
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/// \brief "mjc:shellinertia"
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///
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/// MjcPhysicsCollisionAPI
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const TfToken mjcShellinertia;
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/// \brief "mjc:sideSites"
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///
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/// MjcPhysicsTendon
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const TfToken mjcSideSites;
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/// \brief "mjc:sideSites:indices"
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///
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/// MjcPhysicsTendon
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const TfToken mjcSideSitesIndices;
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/// \brief "mjc:sliderSite"
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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, MjcPhysicsEqualityAPI, MjcPhysicsEqualityJointAPI
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const TfToken mjcSolimp;
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/// \brief "mjc:solimpfriction"
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///
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/// MjcPhysicsJointAPI, MjcPhysicsTendon
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const TfToken mjcSolimpfriction;
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/// \brief "mjc:solimplimit"
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///
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/// MjcPhysicsJointAPI, MjcPhysicsTendon
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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, MjcPhysicsEqualityAPI, MjcPhysicsEqualityJointAPI
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const TfToken mjcSolref;
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/// \brief "mjc:solreffriction"
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///
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/// MjcPhysicsJointAPI, MjcPhysicsTendon
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const TfToken mjcSolreffriction;
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/// \brief "mjc:solreflimit"
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///
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/// MjcPhysicsJointAPI, MjcPhysicsTendon
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const TfToken mjcSolreflimit;
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/// \brief "mjc:springdamper"
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///
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/// MjcPhysicsJointAPI
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const TfToken mjcSpringdamper;
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/// \brief "mjc:springlength"
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///
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/// MjcPhysicsTendon
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const TfToken mjcSpringlength;
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/// \brief "mjc:springref"
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///
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/// MjcPhysicsJointAPI
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const TfToken mjcSpringref;
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/// \brief "mjc:stiffness"
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///
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/// MjcPhysicsJointAPI, MjcPhysicsTendon
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const TfToken mjcStiffness;
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/// \brief "mjc:target"
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///
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/// MjcPhysicsActuator, MjcPhysicsEqualityAPI, MjcPhysicsEqualityJointAPI
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const TfToken mjcTarget;
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/// \brief "mjc:torqueScale"
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///
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/// MjcPhysicsEqualityWeldAPI
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const TfToken mjcTorqueScale;
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/// \brief "mjc:torsionalfriction"
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///
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/// MjcPhysicsMaterialAPI
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const TfToken mjcTorsionalfriction;
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/// \brief "mjc:type"
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///
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/// MjcPhysicsTendon
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const TfToken mjcType;
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/// \brief "mjc:width"
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///
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/// MjcPhysicsTendon
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const TfToken mjcWidth;
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/// \brief "muscle"
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///
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/// Possible value for MjcPhysicsActuator::GetMjcBiasTypeAttr(), Possible
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/// value for MjcPhysicsActuator::GetMjcDynTypeAttr(), Possible value for
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/// MjcPhysicsActuator::GetMjcGainTypeAttr()
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const TfToken muscle;
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/// \brief "newton"
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///
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/// Fallback value for MjcPhysicsSceneAPI::GetSolverAttr(), This token
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/// represents the Newton constraint solver algorithm.
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const TfToken newton;
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/// \brief "none"
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///
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/// Fallback value for MjcPhysicsActuator::GetMjcBiasTypeAttr(), Fallback
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/// value for MjcPhysicsActuator::GetMjcDynTypeAttr()
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const TfToken none;
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/// \brief "pgs"
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///
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/// Possible value for MjcPhysicsSceneAPI::GetSolverAttr(), This token
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/// represents the PGS constraint solver algorithm.
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const TfToken pgs;
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/// \brief "pyramidal"
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///
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/// Fallback value for MjcPhysicsSceneAPI::GetConeAttr(), This token
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/// represents the pyramidal contact friction cone type.
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const TfToken pyramidal;
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/// \brief "radian"
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///
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/// Possible value for MjcPhysicsSceneAPI::GetAngleAttr()
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const TfToken radian;
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/// \brief "rk4"
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///
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/// Possible value for MjcPhysicsSceneAPI::GetIntegratorAttr(), This token
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/// represents the RK4 numerical integrator.
|
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const TfToken rk4;
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/// \brief "shell"
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|
///
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/// Possible value for MjcPhysicsMeshCollisionAPI::GetInertiaAttr()
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const TfToken shell;
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/// \brief "sparse"
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///
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/// Possible value for MjcPhysicsSceneAPI::GetJacobianAttr(), This token
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/// represents the sparse constraint Jacobian and matrices computed from it.
|
|
const TfToken sparse;
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/// \brief "spatial"
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|
///
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/// Fallback value for MjcPhysicsTendon::GetTypeAttr()
|
|
const TfToken spatial;
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/// \brief "true"
|
|
///
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/// Possible value for MjcPhysicsSceneAPI::GetInertiaFromGeomAttr(), Possible
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|
/// value for MjcPhysicsActuator::GetMjcActLimitedAttr(), Possible value for
|
|
/// MjcPhysicsActuator::GetMjcCtrlLimitedAttr(), Possible value for
|
|
/// MjcPhysicsActuator::GetMjcForceLimitedAttr(), Possible value for
|
|
/// MjcPhysicsJointAPI::GetMjcActuatorfrclimitedAttr(), Possible value for
|
|
/// MjcPhysicsTendon::GetActuatorFrcLimitedAttr(), Possible value for
|
|
/// MjcPhysicsTendon::GetLimitedAttr()
|
|
const TfToken true_;
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|
/// \brief "user"
|
|
///
|
|
/// Possible value for MjcPhysicsActuator::GetMjcBiasTypeAttr(), Possible
|
|
/// value for MjcPhysicsActuator::GetMjcDynTypeAttr(), Possible value for
|
|
/// MjcPhysicsActuator::GetMjcGainTypeAttr()
|
|
const TfToken user;
|
|
/// \brief "MjcActuator"
|
|
///
|
|
/// Schema identifier and family for MjcPhysicsActuator
|
|
const TfToken MjcActuator;
|
|
/// \brief "MjcCollisionAPI"
|
|
///
|
|
/// Schema identifier and family for MjcPhysicsCollisionAPI
|
|
const TfToken MjcCollisionAPI;
|
|
/// \brief "MjcEqualityAPI"
|
|
///
|
|
/// Schema identifier and family for MjcPhysicsEqualityAPI
|
|
const TfToken MjcEqualityAPI;
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|
/// \brief "MjcEqualityConnectAPI"
|
|
///
|
|
/// Schema identifier and family for MjcPhysicsEqualityConnectAPI
|
|
const TfToken MjcEqualityConnectAPI;
|
|
/// \brief "MjcEqualityJointAPI"
|
|
///
|
|
/// Schema identifier and family for MjcPhysicsEqualityJointAPI
|
|
const TfToken MjcEqualityJointAPI;
|
|
/// \brief "MjcEqualityWeldAPI"
|
|
///
|
|
/// Schema identifier and family for MjcPhysicsEqualityWeldAPI
|
|
const TfToken MjcEqualityWeldAPI;
|
|
/// \brief "MjcImageableAPI"
|
|
///
|
|
/// Schema identifier and family for MjcPhysicsImageableAPI
|
|
const TfToken MjcImageableAPI;
|
|
/// \brief "MjcJointAPI"
|
|
///
|
|
/// Schema identifier and family for MjcPhysicsJointAPI
|
|
const TfToken MjcJointAPI;
|
|
/// \brief "MjcKeyframe"
|
|
///
|
|
/// Schema identifier and family for MjcPhysicsKeyframe
|
|
const TfToken MjcKeyframe;
|
|
/// \brief "MjcMaterialAPI"
|
|
///
|
|
/// Schema identifier and family for MjcPhysicsMaterialAPI
|
|
const TfToken MjcMaterialAPI;
|
|
/// \brief "MjcMeshCollisionAPI"
|
|
///
|
|
/// Schema identifier and family for MjcPhysicsMeshCollisionAPI
|
|
const TfToken MjcMeshCollisionAPI;
|
|
/// \brief "MjcSceneAPI"
|
|
///
|
|
/// Schema identifier and family for MjcPhysicsSceneAPI
|
|
const TfToken MjcSceneAPI;
|
|
/// \brief "MjcSiteAPI"
|
|
///
|
|
/// Schema identifier and family for MjcPhysicsSiteAPI
|
|
const TfToken MjcSiteAPI;
|
|
/// \brief "MjcTendon"
|
|
///
|
|
/// Schema identifier and family for MjcPhysicsTendon
|
|
const TfToken MjcTendon;
|
|
/// A vector of all of the tokens listed above.
|
|
const std::vector<TfToken> allTokens;
|
|
};
|
|
|
|
/// \var MjcPhysicsTokens
|
|
///
|
|
/// A global variable with static, efficient \link TfToken TfTokens\endlink
|
|
/// for use in all public USD API. \sa MjcPhysicsTokensType
|
|
extern MJCPHYSICS_API TfStaticData<MjcPhysicsTokensType> MjcPhysicsTokens;
|
|
|
|
PXR_NAMESPACE_CLOSE_SCOPE
|
|
|
|
#endif
|