Sam Haves
cdf5bcb693
PiperOrigin-RevId: 783363012 Change-Id: I7d0476aae70c3acc3ed4808a8741b7eb12948dba
420 lines
16 KiB
C++
420 lines
16 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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#include <mujoco/experimental/usd/mjcPhysics/actuator.h>
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#include <pxr/usd/sdf/assetPath.h>
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#include <pxr/usd/sdf/types.h>
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#include <pxr/usd/usd/schemaRegistry.h>
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#include <pxr/usd/usd/typed.h>
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PXR_NAMESPACE_OPEN_SCOPE
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// Register the schema with the TfType system.
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TF_REGISTRY_FUNCTION(TfType) {
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TfType::Define<MjcPhysicsActuator, TfType::Bases<UsdTyped> >();
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// Register the usd prim typename as an alias under UsdSchemaBase. This
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// enables one to call
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// TfType::Find<UsdSchemaBase>().FindDerivedByName("MjcActuator")
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// to find TfType<MjcPhysicsActuator>, which is how IsA queries are
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// answered.
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TfType::AddAlias<UsdSchemaBase, MjcPhysicsActuator>("MjcActuator");
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}
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/* virtual */
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MjcPhysicsActuator::~MjcPhysicsActuator() {}
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/* static */
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MjcPhysicsActuator MjcPhysicsActuator::Get(const UsdStagePtr &stage,
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const SdfPath &path) {
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if (!stage) {
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TF_CODING_ERROR("Invalid stage");
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return MjcPhysicsActuator();
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}
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return MjcPhysicsActuator(stage->GetPrimAtPath(path));
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}
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/* static */
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MjcPhysicsActuator MjcPhysicsActuator::Define(const UsdStagePtr &stage,
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const SdfPath &path) {
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static TfToken usdPrimTypeName("MjcActuator");
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if (!stage) {
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TF_CODING_ERROR("Invalid stage");
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return MjcPhysicsActuator();
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}
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return MjcPhysicsActuator(stage->DefinePrim(path, usdPrimTypeName));
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}
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/* virtual */
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UsdSchemaKind MjcPhysicsActuator::_GetSchemaKind() const {
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return MjcPhysicsActuator::schemaKind;
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}
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/* static */
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const TfType &MjcPhysicsActuator::_GetStaticTfType() {
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static TfType tfType = TfType::Find<MjcPhysicsActuator>();
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return tfType;
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}
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/* static */
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bool MjcPhysicsActuator::_IsTypedSchema() {
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static bool isTyped = _GetStaticTfType().IsA<UsdTyped>();
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return isTyped;
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}
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/* virtual */
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const TfType &MjcPhysicsActuator::_GetTfType() const {
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return _GetStaticTfType();
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}
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UsdAttribute MjcPhysicsActuator::GetGroupAttr() const {
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return GetPrim().GetAttribute(MjcPhysicsTokens->mjcGroup);
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}
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UsdAttribute MjcPhysicsActuator::CreateGroupAttr(VtValue const &defaultValue,
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bool writeSparsely) const {
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return UsdSchemaBase::_CreateAttr(
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MjcPhysicsTokens->mjcGroup, SdfValueTypeNames->Int,
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/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
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}
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UsdAttribute MjcPhysicsActuator::GetMjcCtrlLimitedAttr() const {
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return GetPrim().GetAttribute(MjcPhysicsTokens->mjcCtrlLimited);
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}
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UsdAttribute MjcPhysicsActuator::CreateMjcCtrlLimitedAttr(
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VtValue const &defaultValue, bool writeSparsely) const {
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return UsdSchemaBase::_CreateAttr(
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MjcPhysicsTokens->mjcCtrlLimited, SdfValueTypeNames->Token,
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/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
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}
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UsdAttribute MjcPhysicsActuator::GetMjcForceLimitedAttr() const {
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return GetPrim().GetAttribute(MjcPhysicsTokens->mjcForceLimited);
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}
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UsdAttribute MjcPhysicsActuator::CreateMjcForceLimitedAttr(
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VtValue const &defaultValue, bool writeSparsely) const {
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return UsdSchemaBase::_CreateAttr(
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MjcPhysicsTokens->mjcForceLimited, SdfValueTypeNames->Token,
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/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
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}
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UsdAttribute MjcPhysicsActuator::GetMjcActLimitedAttr() const {
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return GetPrim().GetAttribute(MjcPhysicsTokens->mjcActLimited);
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}
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UsdAttribute MjcPhysicsActuator::CreateMjcActLimitedAttr(
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VtValue const &defaultValue, bool writeSparsely) const {
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return UsdSchemaBase::_CreateAttr(
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MjcPhysicsTokens->mjcActLimited, SdfValueTypeNames->Token,
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/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
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}
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UsdAttribute MjcPhysicsActuator::GetMjcCtrlRangeMinAttr() const {
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return GetPrim().GetAttribute(MjcPhysicsTokens->mjcCtrlRangeMin);
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}
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UsdAttribute MjcPhysicsActuator::CreateMjcCtrlRangeMinAttr(
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VtValue const &defaultValue, bool writeSparsely) const {
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return UsdSchemaBase::_CreateAttr(
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MjcPhysicsTokens->mjcCtrlRangeMin, SdfValueTypeNames->Double,
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/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
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}
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UsdAttribute MjcPhysicsActuator::GetMjcCtrlRangeMaxAttr() const {
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return GetPrim().GetAttribute(MjcPhysicsTokens->mjcCtrlRangeMax);
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}
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UsdAttribute MjcPhysicsActuator::CreateMjcCtrlRangeMaxAttr(
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VtValue const &defaultValue, bool writeSparsely) const {
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return UsdSchemaBase::_CreateAttr(
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MjcPhysicsTokens->mjcCtrlRangeMax, SdfValueTypeNames->Double,
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/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
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}
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UsdAttribute MjcPhysicsActuator::GetMjcForceRangeMinAttr() const {
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return GetPrim().GetAttribute(MjcPhysicsTokens->mjcForceRangeMin);
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}
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UsdAttribute MjcPhysicsActuator::CreateMjcForceRangeMinAttr(
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VtValue const &defaultValue, bool writeSparsely) const {
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return UsdSchemaBase::_CreateAttr(
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MjcPhysicsTokens->mjcForceRangeMin, SdfValueTypeNames->Double,
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/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
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}
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UsdAttribute MjcPhysicsActuator::GetMjcForceRangeMaxAttr() const {
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return GetPrim().GetAttribute(MjcPhysicsTokens->mjcForceRangeMax);
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}
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UsdAttribute MjcPhysicsActuator::CreateMjcForceRangeMaxAttr(
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VtValue const &defaultValue, bool writeSparsely) const {
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return UsdSchemaBase::_CreateAttr(
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MjcPhysicsTokens->mjcForceRangeMax, SdfValueTypeNames->Double,
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/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
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}
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UsdAttribute MjcPhysicsActuator::GetMjcActRangeMinAttr() const {
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return GetPrim().GetAttribute(MjcPhysicsTokens->mjcActRangeMin);
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}
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UsdAttribute MjcPhysicsActuator::CreateMjcActRangeMinAttr(
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VtValue const &defaultValue, bool writeSparsely) const {
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return UsdSchemaBase::_CreateAttr(
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MjcPhysicsTokens->mjcActRangeMin, SdfValueTypeNames->Double,
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/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
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}
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UsdAttribute MjcPhysicsActuator::GetMjcActRangeMaxAttr() const {
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return GetPrim().GetAttribute(MjcPhysicsTokens->mjcActRangeMax);
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}
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UsdAttribute MjcPhysicsActuator::CreateMjcActRangeMaxAttr(
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VtValue const &defaultValue, bool writeSparsely) const {
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return UsdSchemaBase::_CreateAttr(
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MjcPhysicsTokens->mjcActRangeMax, SdfValueTypeNames->Double,
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/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
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}
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UsdAttribute MjcPhysicsActuator::GetMjcLengthRangeMinAttr() const {
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return GetPrim().GetAttribute(MjcPhysicsTokens->mjcLengthRangeMin);
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}
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UsdAttribute MjcPhysicsActuator::CreateMjcLengthRangeMinAttr(
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VtValue const &defaultValue, bool writeSparsely) const {
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return UsdSchemaBase::_CreateAttr(
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MjcPhysicsTokens->mjcLengthRangeMin, SdfValueTypeNames->Double,
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/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
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}
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UsdAttribute MjcPhysicsActuator::GetMjcLengthRangeMaxAttr() const {
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return GetPrim().GetAttribute(MjcPhysicsTokens->mjcLengthRangeMax);
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}
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UsdAttribute MjcPhysicsActuator::CreateMjcLengthRangeMaxAttr(
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VtValue const &defaultValue, bool writeSparsely) const {
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return UsdSchemaBase::_CreateAttr(
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MjcPhysicsTokens->mjcLengthRangeMax, SdfValueTypeNames->Double,
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/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
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}
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UsdAttribute MjcPhysicsActuator::GetMjcGearAttr() const {
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return GetPrim().GetAttribute(MjcPhysicsTokens->mjcGear);
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}
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UsdAttribute MjcPhysicsActuator::CreateMjcGearAttr(VtValue const &defaultValue,
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bool writeSparsely) const {
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return UsdSchemaBase::_CreateAttr(
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MjcPhysicsTokens->mjcGear, SdfValueTypeNames->DoubleArray,
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/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
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}
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UsdAttribute MjcPhysicsActuator::GetMjcCrankLengthAttr() const {
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return GetPrim().GetAttribute(MjcPhysicsTokens->mjcCrankLength);
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}
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UsdAttribute MjcPhysicsActuator::CreateMjcCrankLengthAttr(
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VtValue const &defaultValue, bool writeSparsely) const {
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return UsdSchemaBase::_CreateAttr(
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MjcPhysicsTokens->mjcCrankLength, SdfValueTypeNames->Double,
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/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
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}
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UsdAttribute MjcPhysicsActuator::GetMjcJointInParentAttr() const {
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return GetPrim().GetAttribute(MjcPhysicsTokens->mjcJointInParent);
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}
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UsdAttribute MjcPhysicsActuator::CreateMjcJointInParentAttr(
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VtValue const &defaultValue, bool writeSparsely) const {
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return UsdSchemaBase::_CreateAttr(
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MjcPhysicsTokens->mjcJointInParent, SdfValueTypeNames->Bool,
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/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
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}
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UsdAttribute MjcPhysicsActuator::GetMjcActDimAttr() const {
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return GetPrim().GetAttribute(MjcPhysicsTokens->mjcActDim);
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}
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UsdAttribute MjcPhysicsActuator::CreateMjcActDimAttr(
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VtValue const &defaultValue, bool writeSparsely) const {
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return UsdSchemaBase::_CreateAttr(
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MjcPhysicsTokens->mjcActDim, SdfValueTypeNames->Int,
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/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
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}
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UsdAttribute MjcPhysicsActuator::GetMjcDynTypeAttr() const {
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return GetPrim().GetAttribute(MjcPhysicsTokens->mjcDynType);
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}
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UsdAttribute MjcPhysicsActuator::CreateMjcDynTypeAttr(
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VtValue const &defaultValue, bool writeSparsely) const {
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return UsdSchemaBase::_CreateAttr(
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MjcPhysicsTokens->mjcDynType, SdfValueTypeNames->Token,
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/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
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}
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UsdAttribute MjcPhysicsActuator::GetMjcGainTypeAttr() const {
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return GetPrim().GetAttribute(MjcPhysicsTokens->mjcGainType);
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}
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UsdAttribute MjcPhysicsActuator::CreateMjcGainTypeAttr(
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VtValue const &defaultValue, bool writeSparsely) const {
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return UsdSchemaBase::_CreateAttr(
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MjcPhysicsTokens->mjcGainType, SdfValueTypeNames->Token,
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/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
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}
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UsdAttribute MjcPhysicsActuator::GetMjcBiasTypeAttr() const {
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return GetPrim().GetAttribute(MjcPhysicsTokens->mjcBiasType);
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}
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UsdAttribute MjcPhysicsActuator::CreateMjcBiasTypeAttr(
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VtValue const &defaultValue, bool writeSparsely) const {
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return UsdSchemaBase::_CreateAttr(
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MjcPhysicsTokens->mjcBiasType, SdfValueTypeNames->Token,
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/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
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}
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UsdAttribute MjcPhysicsActuator::GetMjcDynPrmAttr() const {
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return GetPrim().GetAttribute(MjcPhysicsTokens->mjcDynPrm);
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}
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UsdAttribute MjcPhysicsActuator::CreateMjcDynPrmAttr(
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VtValue const &defaultValue, bool writeSparsely) const {
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return UsdSchemaBase::_CreateAttr(
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MjcPhysicsTokens->mjcDynPrm, SdfValueTypeNames->DoubleArray,
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/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
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}
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UsdAttribute MjcPhysicsActuator::GetMjcGainPrmAttr() const {
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return GetPrim().GetAttribute(MjcPhysicsTokens->mjcGainPrm);
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}
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UsdAttribute MjcPhysicsActuator::CreateMjcGainPrmAttr(
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VtValue const &defaultValue, bool writeSparsely) const {
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return UsdSchemaBase::_CreateAttr(
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MjcPhysicsTokens->mjcGainPrm, SdfValueTypeNames->DoubleArray,
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/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
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}
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UsdAttribute MjcPhysicsActuator::GetMjcBiasPrmAttr() const {
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return GetPrim().GetAttribute(MjcPhysicsTokens->mjcBiasPrm);
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}
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UsdAttribute MjcPhysicsActuator::CreateMjcBiasPrmAttr(
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VtValue const &defaultValue, bool writeSparsely) const {
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return UsdSchemaBase::_CreateAttr(
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MjcPhysicsTokens->mjcBiasPrm, SdfValueTypeNames->DoubleArray,
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/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
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}
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UsdAttribute MjcPhysicsActuator::GetMjcActEarlyAttr() const {
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return GetPrim().GetAttribute(MjcPhysicsTokens->mjcActEarly);
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}
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UsdAttribute MjcPhysicsActuator::CreateMjcActEarlyAttr(
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VtValue const &defaultValue, bool writeSparsely) const {
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return UsdSchemaBase::_CreateAttr(
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MjcPhysicsTokens->mjcActEarly, SdfValueTypeNames->Bool,
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/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
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}
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UsdAttribute MjcPhysicsActuator::GetMjcInheritRangeAttr() const {
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return GetPrim().GetAttribute(MjcPhysicsTokens->mjcInheritRange);
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}
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UsdAttribute MjcPhysicsActuator::CreateMjcInheritRangeAttr(
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VtValue const &defaultValue, bool writeSparsely) const {
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return UsdSchemaBase::_CreateAttr(
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MjcPhysicsTokens->mjcInheritRange, SdfValueTypeNames->Double,
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/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
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}
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UsdRelationship MjcPhysicsActuator::GetMjcTargetRel() const {
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return GetPrim().GetRelationship(MjcPhysicsTokens->mjcTarget);
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}
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UsdRelationship MjcPhysicsActuator::CreateMjcTargetRel() const {
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return GetPrim().CreateRelationship(MjcPhysicsTokens->mjcTarget,
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/* custom = */ false);
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}
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UsdRelationship MjcPhysicsActuator::GetMjcRefSiteRel() const {
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return GetPrim().GetRelationship(MjcPhysicsTokens->mjcRefSite);
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}
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UsdRelationship MjcPhysicsActuator::CreateMjcRefSiteRel() const {
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return GetPrim().CreateRelationship(MjcPhysicsTokens->mjcRefSite,
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/* custom = */ false);
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}
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UsdRelationship MjcPhysicsActuator::GetMjcSliderSiteRel() const {
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return GetPrim().GetRelationship(MjcPhysicsTokens->mjcSliderSite);
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}
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UsdRelationship MjcPhysicsActuator::CreateMjcSliderSiteRel() const {
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return GetPrim().CreateRelationship(MjcPhysicsTokens->mjcSliderSite,
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/* custom = */ false);
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}
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namespace {
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static inline TfTokenVector _ConcatenateAttributeNames(
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const TfTokenVector &left, const TfTokenVector &right) {
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TfTokenVector result;
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result.reserve(left.size() + right.size());
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result.insert(result.end(), left.begin(), left.end());
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result.insert(result.end(), right.begin(), right.end());
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return result;
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}
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} // namespace
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/*static*/
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const TfTokenVector &MjcPhysicsActuator::GetSchemaAttributeNames(
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bool includeInherited) {
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static TfTokenVector localNames = {
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MjcPhysicsTokens->mjcGroup, MjcPhysicsTokens->mjcCtrlLimited,
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MjcPhysicsTokens->mjcForceLimited, MjcPhysicsTokens->mjcActLimited,
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MjcPhysicsTokens->mjcCtrlRangeMin, MjcPhysicsTokens->mjcCtrlRangeMax,
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MjcPhysicsTokens->mjcForceRangeMin, MjcPhysicsTokens->mjcForceRangeMax,
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MjcPhysicsTokens->mjcActRangeMin, MjcPhysicsTokens->mjcActRangeMax,
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MjcPhysicsTokens->mjcLengthRangeMin, MjcPhysicsTokens->mjcLengthRangeMax,
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MjcPhysicsTokens->mjcGear, MjcPhysicsTokens->mjcCrankLength,
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MjcPhysicsTokens->mjcJointInParent, MjcPhysicsTokens->mjcActDim,
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MjcPhysicsTokens->mjcDynType, MjcPhysicsTokens->mjcGainType,
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MjcPhysicsTokens->mjcBiasType, MjcPhysicsTokens->mjcDynPrm,
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MjcPhysicsTokens->mjcGainPrm, MjcPhysicsTokens->mjcBiasPrm,
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MjcPhysicsTokens->mjcActEarly, MjcPhysicsTokens->mjcInheritRange,
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};
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static TfTokenVector allNames = _ConcatenateAttributeNames(
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UsdTyped::GetSchemaAttributeNames(true), localNames);
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if (includeInherited)
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return allNames;
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else
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return localNames;
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}
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PXR_NAMESPACE_CLOSE_SCOPE
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// ===================================================================== //
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// Feel free to add custom code below this line. It will be preserved by
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// the code generator.
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//
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// Just remember to wrap code in the appropriate delimiters:
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// 'PXR_NAMESPACE_OPEN_SCOPE', 'PXR_NAMESPACE_CLOSE_SCOPE'.
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// ===================================================================== //
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// --(BEGIN CUSTOM CODE)--
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