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Mujoco_WASM/include/mujoco/experimental/usd/mjcPhysics/actuator.h
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Yuval Tassa ab0e0091d5 Standardize "DO NOT EDIT" comments in generated files. 
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// Copyright 2025 DeepMind Technologies Limited
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
// DO NOT EDIT. THIS FILE IS AUTOMATICALLY GENERATED.
#ifndef MJCPHYSICS_GENERATED_ACTUATOR_H
#define MJCPHYSICS_GENERATED_ACTUATOR_H
/// \file mjcPhysics/actuator.h
#include <mujoco/experimental/usd/mjcPhysics/api.h>
#include <mujoco/experimental/usd/mjcPhysics/tokens.h>
#include <pxr/base/gf/matrix4d.h>
#include <pxr/base/gf/vec3d.h>
#include <pxr/base/gf/vec3f.h>
#include <pxr/base/tf/token.h>
#include <pxr/base/tf/type.h>
#include <pxr/base/vt/value.h>
#include <pxr/pxr.h>
#include <pxr/usd/usd/prim.h>
#include <pxr/usd/usd/stage.h>
#include <pxr/usd/usd/typed.h>
PXR_NAMESPACE_OPEN_SCOPE
class SdfAssetPath;
// -------------------------------------------------------------------------- //
// MJCACTUATOR //
// -------------------------------------------------------------------------- //
/// \class MjcPhysicsActuator
///
/// Known as actuator in MuJoCo, this prim represents force transmission to
/// joints, bodies, or sites.
///
/// For any described attribute \em Fallback \em Value or \em Allowed \em Values
/// below that are text/tokens, the actual token is published and defined in
/// \ref MjcPhysicsTokens. So to set an attribute to the value "rightHanded",
/// use MjcPhysicsTokens->rightHanded as the value.
///
class MjcPhysicsActuator : public UsdTyped {
public:
/// Compile time constant representing what kind of schema this class is.
///
/// \sa UsdSchemaKind
static const UsdSchemaKind schemaKind = UsdSchemaKind::ConcreteTyped;
/// Construct a MjcPhysicsActuator on UsdPrim \p prim .
/// Equivalent to MjcPhysicsActuator::Get(prim.GetStage(), prim.GetPath())
/// for a \em valid \p prim, but will not immediately throw an error for
/// an invalid \p prim
explicit MjcPhysicsActuator(const UsdPrim& prim = UsdPrim())
: UsdTyped(prim) {}
/// Construct a MjcPhysicsActuator on the prim held by \p schemaObj .
/// Should be preferred over MjcPhysicsActuator(schemaObj.GetPrim()),
/// as it preserves SchemaBase state.
explicit MjcPhysicsActuator(const UsdSchemaBase& schemaObj)
: UsdTyped(schemaObj) {}
/// Destructor.
MJCPHYSICS_API
virtual ~MjcPhysicsActuator();
/// Return a vector of names of all pre-declared attributes for this schema
/// class and all its ancestor classes. Does not include attributes that
/// may be authored by custom/extended methods of the schemas involved.
MJCPHYSICS_API
static const TfTokenVector& GetSchemaAttributeNames(
bool includeInherited = true);
/// Return a MjcPhysicsActuator holding the prim adhering to this
/// schema at \p path on \p stage. If no prim exists at \p path on
/// \p stage, or if the prim at that path does not adhere to this schema,
/// return an invalid schema object. This is shorthand for the following:
///
/// \code
/// MjcPhysicsActuator(stage->GetPrimAtPath(path));
/// \endcode
///
MJCPHYSICS_API
static MjcPhysicsActuator Get(const UsdStagePtr& stage, const SdfPath& path);
/// Attempt to ensure a \a UsdPrim adhering to this schema at \p path
/// is defined (according to UsdPrim::IsDefined()) on this stage.
///
/// If a prim adhering to this schema at \p path is already defined on this
/// stage, return that prim. Otherwise author an \a SdfPrimSpec with
/// \a specifier == \a SdfSpecifierDef and this schema's prim type name for
/// the prim at \p path at the current EditTarget. Author \a SdfPrimSpec s
/// with \p specifier == \a SdfSpecifierDef and empty typeName at the
/// current EditTarget for any nonexistent, or existing but not \a Defined
/// ancestors.
///
/// The given \a path must be an absolute prim path that does not contain
/// any variant selections.
///
/// If it is impossible to author any of the necessary PrimSpecs, (for
/// example, in case \a path cannot map to the current UsdEditTarget's
/// namespace) issue an error and return an invalid \a UsdPrim.
///
/// Note that this method may return a defined prim whose typeName does not
/// specify this schema class, in case a stronger typeName opinion overrides
/// the opinion at the current EditTarget.
///
MJCPHYSICS_API
static MjcPhysicsActuator Define(const UsdStagePtr& stage,
const SdfPath& path);
protected:
/// Returns the kind of schema this class belongs to.
///
/// \sa UsdSchemaKind
MJCPHYSICS_API
UsdSchemaKind _GetSchemaKind() const override;
private:
// needs to invoke _GetStaticTfType.
friend class UsdSchemaRegistry;
MJCPHYSICS_API
static const TfType& _GetStaticTfType();
static bool _IsTypedSchema();
// override SchemaBase virtuals.
MJCPHYSICS_API
const TfType& _GetTfType() const override;
public:
// --------------------------------------------------------------------- //
// GROUP
// --------------------------------------------------------------------- //
/// Integer MuJoCo group to which the transmission belongs.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform int mjc:group = 0` |
/// | C++ Type | int |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetGroupAttr() const;
/// See GetGroupAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateGroupAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// MJCCTRLLIMITED
// --------------------------------------------------------------------- //
/// If true, the control input to this actuator is automatically clamped to
/// ctrlrange at runtime. If false, control input clamping is disabled. If
/// 'auto' and autolimits is set in compiler, control clamping will
/// automatically be set to true if ctrlrange is defined without explicitly
/// setting this attribute to 'true'. Note that control input clamping can
/// also be globally disabled with the clampctrl attribute of option/flag.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform token mjc:ctrlLimited = "auto"` |
/// | C++ Type | TfToken |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Token |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
/// | \ref MjcPhysicsTokens "Allowed Values" | false, true, auto |
MJCPHYSICS_API
UsdAttribute GetMjcCtrlLimitedAttr() const;
/// See GetMjcCtrlLimitedAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateMjcCtrlLimitedAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// MJCFORCELIMITED
// --------------------------------------------------------------------- //
/// If true, the force output of this actuator is automatically clamped to
/// forcerange at runtime. If false, force clamping is disabled. If 'auto' and
/// autolimits is set in compiler, force clamping will automatically be set to
/// true if forcerange is defined without explicitly setting this attribute to
/// 'true'.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform token mjc:forceLimited = "auto"` |
/// | C++ Type | TfToken |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Token |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
/// | \ref MjcPhysicsTokens "Allowed Values" | false, true, auto |
MJCPHYSICS_API
UsdAttribute GetMjcForceLimitedAttr() const;
/// See GetMjcForceLimitedAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateMjcForceLimitedAttr(
VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// MJCACTLIMITED
// --------------------------------------------------------------------- //
/// If true, the internal state (activation) associated with this actuator is
/// automatically clamped to actrange at runtime. If false, activation
/// clamping is disabled. If 'auto' and autolimits is set in compiler,
/// activation clamping will automatically be set to true if actrange is
/// defined without explicitly setting this attribute to 'true'. See the
/// Activation clamping section for more details.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform token mjc:actLimited = "auto"` |
/// | C++ Type | TfToken |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Token |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
/// | \ref MjcPhysicsTokens "Allowed Values" | false, true, auto |
MJCPHYSICS_API
UsdAttribute GetMjcActLimitedAttr() const;
/// See GetMjcActLimitedAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateMjcActLimitedAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// MJCCTRLRANGEMIN
// --------------------------------------------------------------------- //
/// Minimum range for clamping the control input. The first value must be
/// smaller than the second value. Setting this attribute without specifying
/// ctrllimited is an error if autolimits is 'false' in compiler.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double mjc:ctrlRange:min = 0` |
/// | C++ Type | double |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetMjcCtrlRangeMinAttr() const;
/// See GetMjcCtrlRangeMinAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateMjcCtrlRangeMinAttr(
VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// MJCCTRLRANGEMAX
// --------------------------------------------------------------------- //
/// Maximum range for clamping the control input. The first value must be
/// smaller than the second value. Setting this attribute without specifying
/// ctrllimited is an error if autolimits is 'false' in compiler.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double mjc:ctrlRange:max = 0` |
/// | C++ Type | double |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetMjcCtrlRangeMaxAttr() const;
/// See GetMjcCtrlRangeMaxAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateMjcCtrlRangeMaxAttr(
VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// MJCFORCERANGEMIN
// --------------------------------------------------------------------- //
/// Minimum range for clamping the force output. The first value must be no
/// greater than the second value. Setting this attribute without specifying
/// forcelimited is an error if autolimits is 'false' in compiler.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double mjc:forceRange:min = 0` |
/// | C++ Type | double |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetMjcForceRangeMinAttr() const;
/// See GetMjcForceRangeMinAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateMjcForceRangeMinAttr(
VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// MJCFORCERANGEMAX
// --------------------------------------------------------------------- //
/// Maximum range for clamping the force output. The first value must be no
/// greater than the second value. Setting this attribute without specifying
/// forcelimited is an error if autolimits is 'false' in compiler.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double mjc:forceRange:max = 0` |
/// | C++ Type | double |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetMjcForceRangeMaxAttr() const;
/// See GetMjcForceRangeMaxAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateMjcForceRangeMaxAttr(
VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// MJCACTRANGEMIN
// --------------------------------------------------------------------- //
/// Minimum range for clamping the activation state. The first value must be
/// no greater than the second value. See the Activation clamping section for
/// more details. Setting this attribute without specifying actlimited is an
/// error if autolimits is 'false' in compiler.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double mjc:actRange:min = 0` |
/// | C++ Type | double |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetMjcActRangeMinAttr() const;
/// See GetMjcActRangeMinAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateMjcActRangeMinAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// MJCACTRANGEMAX
// --------------------------------------------------------------------- //
/// Maximum range for clamping the activation state. The first value must be
/// no greater than the second value. See the Activation clamping section for
/// more details. Setting this attribute without specifying actlimited is an
/// error if autolimits is 'false' in compiler.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double mjc:actRange:max = 0` |
/// | C++ Type | double |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetMjcActRangeMaxAttr() const;
/// See GetMjcActRangeMaxAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateMjcActRangeMaxAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// MJCLENGTHRANGEMIN
// --------------------------------------------------------------------- //
/// Minimum range of feasible lengths of the actuator's transmission.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double mjc:lengthRange:min = 0` |
/// | C++ Type | double |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetMjcLengthRangeMinAttr() const;
/// See GetMjcLengthRangeMinAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateMjcLengthRangeMinAttr(
VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// MJCLENGTHRANGEMAX
// --------------------------------------------------------------------- //
/// Maximum range of feasible lengths of the actuator's transmission.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double mjc:lengthRange:max = 0` |
/// | C++ Type | double |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetMjcLengthRangeMaxAttr() const;
/// See GetMjcLengthRangeMaxAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateMjcLengthRangeMaxAttr(
VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// MJCGEAR
// --------------------------------------------------------------------- //
/// This attribute scales the length (and consequently moment arms, velocity
/// and force) of the actuator, for all transmission types. It is different
/// from the gain in the force generation mechanism, because the gain only
/// scales the force output and does not affect the length, moment arms and
/// velocity. For actuators with scalar transmission, only the first element
/// of this vector is used. The remaining elements are needed for joint,
/// jointinparent and site transmissions where this attribute is used to
/// specify 3D force and torque axes.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double[] mjc:gear = [1, 0, 0, 0, 0, 0]` |
/// | C++ Type | VtArray<double> |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->DoubleArray |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetMjcGearAttr() const;
/// See GetMjcGearAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateMjcGearAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// MJCCRANKLENGTH
// --------------------------------------------------------------------- //
/// Used only for the slider-crank transmission type. Specifies the length of
/// the connecting rod. The compiler expects this value to be positive when a
/// slider-crank transmission is present.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double mjc:crankLength = 0` |
/// | C++ Type | double |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetMjcCrankLengthAttr() const;
/// See GetMjcCrankLengthAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateMjcCrankLengthAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// MJCJOINTINPARENT
// --------------------------------------------------------------------- //
/// If true and applied to ball and free joints, the 3d rotation axis given by
/// gear is defined in the parent frame (which is the world frame for free
/// joints) rather than the child frame.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform bool mjc:jointInParent = 0` |
/// | C++ Type | bool |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetMjcJointInParentAttr() const;
/// See GetMjcJointInParentAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateMjcJointInParentAttr(
VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// MJCACTDIM
// --------------------------------------------------------------------- //
/// Dimension of the activation state. The default value of -1 instructs the
/// compiler to set the dimension according to the dyntype. Values larger than
/// 1 are only allowed for user-defined activation dynamics, as native types
/// require dimensions of only 0 or 1. For activation dimensions bigger than
/// 1, the last element is used to generate force.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform int mjc:actDim = -1` |
/// | C++ Type | int |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetMjcActDimAttr() const;
/// See GetMjcActDimAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateMjcActDimAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// MJCDYNTYPE
// --------------------------------------------------------------------- //
/// Activation dynamics type for the actuator. The available dynamics types
/// were already described in the Actuation model section.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform token mjc:dynType = "none"` |
/// | C++ Type | TfToken |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Token |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
/// | \ref MjcPhysicsTokens "Allowed Values" | none, integrator, filter,
/// filterexact, muscle, user |
MJCPHYSICS_API
UsdAttribute GetMjcDynTypeAttr() const;
/// See GetMjcDynTypeAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateMjcDynTypeAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// MJCGAINTYPE
// --------------------------------------------------------------------- //
/// The gain and bias together determine the output of the force generation
/// mechanism, which is currently assumed to be affine.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform token mjc:gainType = "fixed"` |
/// | C++ Type | TfToken |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Token |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
/// | \ref MjcPhysicsTokens "Allowed Values" | fixed, affine, muscle, user |
MJCPHYSICS_API
UsdAttribute GetMjcGainTypeAttr() const;
/// See GetMjcGainTypeAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateMjcGainTypeAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// MJCBIASTYPE
// --------------------------------------------------------------------- //
/// The gain and bias together determine the output of the force generation
/// mechanism, which is currently assumed to be affine.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform token mjc:biasType = "none"` |
/// | C++ Type | TfToken |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Token |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
/// | \ref MjcPhysicsTokens "Allowed Values" | none, affine, muscle, user |
MJCPHYSICS_API
UsdAttribute GetMjcBiasTypeAttr() const;
/// See GetMjcBiasTypeAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateMjcBiasTypeAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// MJCDYNPRM
// --------------------------------------------------------------------- //
/// Activation dynamics parameters. The built-in activation types (except for
/// muscle) use only the first parameter, but we provide additional parameters
/// in case user callbacks implement a more elaborate model. The length of
/// this array is not enforced by the parser, so the user can enter as many
/// parameters as needed. These defaults are not compatible with muscle
/// actuators.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double[] mjc:dynPrm = [1, 0, 0, 0, 0, 0, 0, 0, 0,
/// 0]` | | C++ Type | VtArray<double> | | \ref Usd_Datatypes "Usd Type" |
/// SdfValueTypeNames->DoubleArray | | \ref SdfVariability "Variability" |
/// SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetMjcDynPrmAttr() const;
/// See GetMjcDynPrmAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateMjcDynPrmAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// MJCGAINPRM
// --------------------------------------------------------------------- //
/// Gain parameters. The built-in gain types (except for muscle) use only the
/// first parameter, but we provide additional parameters in case user
/// callbacks implement a more elaborate model. The length of this array is
/// not enforced by the parser, so the user can enter as many parameters as
/// needed. These defaults are not compatible with muscle actuators.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double[] mjc:gainPrm = [1, 0, 0, 0, 0, 0, 0, 0,
/// 0, 0]` | | C++ Type | VtArray<double> | | \ref Usd_Datatypes "Usd Type" |
/// SdfValueTypeNames->DoubleArray | | \ref SdfVariability "Variability" |
/// SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetMjcGainPrmAttr() const;
/// See GetMjcGainPrmAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateMjcGainPrmAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// MJCBIASPRM
// --------------------------------------------------------------------- //
/// Bias parameters. The affine bias type uses three parameters. The length of
/// this array is not enforced by the parser, so the user can enter as many
/// parameters as needed. These defaults are not compatible with muscle
/// actuators.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double[] mjc:biasPrm = [0, 0, 0, 0, 0, 0, 0, 0,
/// 0, 0]` | | C++ Type | VtArray<double> | | \ref Usd_Datatypes "Usd Type" |
/// SdfValueTypeNames->DoubleArray | | \ref SdfVariability "Variability" |
/// SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetMjcBiasPrmAttr() const;
/// See GetMjcBiasPrmAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateMjcBiasPrmAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// MJCACTEARLY
// --------------------------------------------------------------------- //
/// If true, force computation will use the next value of the activation
/// variable rather than the current one. Setting this flag reduces the delay
/// between the control and accelerations by one time-step.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform bool mjc:actEarly = 0` |
/// | C++ Type | bool |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Bool |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetMjcActEarlyAttr() const;
/// See GetMjcActEarlyAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateMjcActEarlyAttr(VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// MJCINHERITRANGE
// --------------------------------------------------------------------- //
/// Automatically set the actuator’s ctrlrange to match the transmission
/// target’s range. The default value means disabled. A positive value X sets
/// the ctrlrange around the midpoint of the target range, scaled by X. For
/// example if the target joint has range of [0, 1], then a value of 1.0 will
/// set ctrlrange to [0, 1]; values of 0.8 and 1.2 will set the ctrlrange to
/// [0.1, 0.9] and [-0.1, 1.1], respectively. Values smaller than 1 are useful
/// for not hitting the limits; values larger than 1 are useful for
/// maintaining control authority at the limits (being able to push on them).
/// This attribute is exclusive with ctrlrange and available only for joint
/// and tendon transmissions which have range defined.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform double mjc:inheritRange = 0` |
/// | C++ Type | double |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Double |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetMjcInheritRangeAttr() const;
/// See GetMjcInheritRangeAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateMjcInheritRangeAttr(
VtValue const& defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// MJCTARGET
// --------------------------------------------------------------------- //
/// Actuator transmission target.
///
MJCPHYSICS_API
UsdRelationship GetMjcTargetRel() const;
/// See GetMjcTargetRel(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create
MJCPHYSICS_API
UsdRelationship CreateMjcTargetRel() const;
public:
// --------------------------------------------------------------------- //
// MJCREFSITE
// --------------------------------------------------------------------- //
/// When applied to a site, measure the translation and rotation w.r.t the
/// frame of the refsite. In this case the actuator does have length and
/// position actuators can be used to directly control an end effector, see
/// refsite.xml example model. As above, the length is the dot product of the
/// gear vector and the frame difference. So gear='0 1 0 0 0 0' means
/// 'Y-offset of site in the refsite frame', while gear='0 0 0 0 0 1' means
/// rotation 'Z- rotation of site in the refsite frame'. It is recommended to
/// use a normalized gear vector with nonzeros in only the first 3 or the last
/// 3 elements of gear, so the actuator length will be in either length units
/// or radians, respectively. As with ball joints (see joint above), for
/// rotations which exceed a total angle of pi will wrap around, so tighter
/// limits are recommended.
///
MJCPHYSICS_API
UsdRelationship GetMjcRefSiteRel() const;
/// See GetMjcRefSiteRel(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create
MJCPHYSICS_API
UsdRelationship CreateMjcRefSiteRel() const;
public:
// --------------------------------------------------------------------- //
// MJCSLIDERSITE
// --------------------------------------------------------------------- //
/// Used only for the slider-crank transmission type. The target site is the
/// pin joining the slider and the connecting rod. The slider moves along the
/// z-axis of the slidersite frame. Therefore the site should be oriented as
/// needed when it is defined in the kinematic tree; its orientation cannot be
/// changed in the actuator definition.
///
MJCPHYSICS_API
UsdRelationship GetMjcSliderSiteRel() const;
/// See GetMjcSliderSiteRel(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create
MJCPHYSICS_API
UsdRelationship CreateMjcSliderSiteRel() const;
public:
// ===================================================================== //
// Feel free to add custom code below this line, it will be preserved by
// the code generator.
//
// Just remember to:
// - Close the class declaration with };
// - Close the namespace with PXR_NAMESPACE_CLOSE_SCOPE
// - Close the include guard with #endif
// ===================================================================== //
// --(BEGIN CUSTOM CODE)--
};
PXR_NAMESPACE_CLOSE_SCOPE
#endif
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