Sam Haves
d816b38f4c
Since relationships in USD can only contain a single instance of a path, it was previously impossible to have a tendon path that visits the same wrap target more than once. This is a fairly common occurence when dealing with tendons that have pulleys. With this change, if mjc:path:indices is not defined then the behaviour is as it was and the mjc:path is considered to be ordered. If it is authored then the parser will use the indices into mjc:path as the order. This mirrors other similar concepts in USD such as face vertex indices. PiperOrigin-RevId: 856339887 Change-Id: I6b9503973de377acdb0689be168c16e4aa19b70b
383 lines
17 KiB
C++
383 lines
17 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/tokens.h>
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PXR_NAMESPACE_OPEN_SCOPE
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MjcPhysicsTokensType::MjcPhysicsTokensType()
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: affine("affine", TfToken::Immortal),
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auto_("auto", TfToken::Immortal),
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cg("cg", TfToken::Immortal),
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convex("convex", TfToken::Immortal),
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degree("degree", TfToken::Immortal),
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dense("dense", TfToken::Immortal),
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elliptic("elliptic", TfToken::Immortal),
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euler("euler", TfToken::Immortal),
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exact("exact", TfToken::Immortal),
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false_("false", TfToken::Immortal),
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filter("filter", TfToken::Immortal),
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filterexact("filterexact", TfToken::Immortal),
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fixed("fixed", TfToken::Immortal),
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implicit("implicit", TfToken::Immortal),
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implicitfast("implicitfast", TfToken::Immortal),
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integrator("integrator", TfToken::Immortal),
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legacy("legacy", TfToken::Immortal),
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mjcAct("mjc:act", TfToken::Immortal),
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mjcActDim("mjc:actDim", TfToken::Immortal),
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mjcActEarly("mjc:actEarly", TfToken::Immortal),
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mjcActLimited("mjc:actLimited", TfToken::Immortal),
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mjcActRangeMax("mjc:actRange:max", TfToken::Immortal),
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mjcActRangeMin("mjc:actRange:min", TfToken::Immortal),
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mjcActuatorfrclimited("mjc:actuatorfrclimited", TfToken::Immortal),
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mjcActuatorfrcrangeMax("mjc:actuatorfrcrange:max", TfToken::Immortal),
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mjcActuatorfrcrangeMin("mjc:actuatorfrcrange:min", TfToken::Immortal),
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mjcActuatorgravcomp("mjc:actuatorgravcomp", TfToken::Immortal),
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mjcArmature("mjc:armature", TfToken::Immortal),
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mjcBiasPrm("mjc:biasPrm", TfToken::Immortal),
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mjcBiasType("mjc:biasType", TfToken::Immortal),
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mjcCompilerAlignFree("mjc:compiler:alignFree", TfToken::Immortal),
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mjcCompilerAngle("mjc:compiler:angle", TfToken::Immortal),
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mjcCompilerAutoLimits("mjc:compiler:autoLimits", TfToken::Immortal),
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mjcCompilerBalanceInertia("mjc:compiler:balanceInertia",
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TfToken::Immortal),
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mjcCompilerBoundInertia("mjc:compiler:boundInertia", TfToken::Immortal),
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mjcCompilerBoundMass("mjc:compiler:boundMass", TfToken::Immortal),
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mjcCompilerFitAABB("mjc:compiler:fitAABB", TfToken::Immortal),
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mjcCompilerFuseStatic("mjc:compiler:fuseStatic", TfToken::Immortal),
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mjcCompilerInertiaFromGeom("mjc:compiler:inertiaFromGeom",
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TfToken::Immortal),
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mjcCompilerInertiaGroupRangeMax("mjc:compiler:inertiaGroupRange:max",
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TfToken::Immortal),
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mjcCompilerInertiaGroupRangeMin("mjc:compiler:inertiaGroupRange:min",
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TfToken::Immortal),
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mjcCompilerSaveInertial("mjc:compiler:saveInertial", TfToken::Immortal),
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mjcCompilerSetTotalMass("mjc:compiler:setTotalMass", TfToken::Immortal),
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mjcCompilerUseThread("mjc:compiler:useThread", TfToken::Immortal),
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mjcCondim("mjc:condim", TfToken::Immortal),
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mjcCrankLength("mjc:crankLength", TfToken::Immortal),
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mjcCtrl("mjc:ctrl", TfToken::Immortal),
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mjcCtrlLimited("mjc:ctrlLimited", TfToken::Immortal),
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mjcCtrlRangeMax("mjc:ctrlRange:max", TfToken::Immortal),
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mjcCtrlRangeMin("mjc:ctrlRange:min", TfToken::Immortal),
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mjcDamping("mjc:damping", TfToken::Immortal),
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mjcDynPrm("mjc:dynPrm", TfToken::Immortal),
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mjcDynType("mjc:dynType", TfToken::Immortal),
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mjcFlagActuation("mjc:flag:actuation", TfToken::Immortal),
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mjcFlagAutoreset("mjc:flag:autoreset", TfToken::Immortal),
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mjcFlagClampctrl("mjc:flag:clampctrl", TfToken::Immortal),
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mjcFlagConstraint("mjc:flag:constraint", TfToken::Immortal),
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mjcFlagContact("mjc:flag:contact", TfToken::Immortal),
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mjcFlagDamper("mjc:flag:damper", TfToken::Immortal),
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mjcFlagEnergy("mjc:flag:energy", TfToken::Immortal),
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mjcFlagEquality("mjc:flag:equality", TfToken::Immortal),
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mjcFlagEulerdamp("mjc:flag:eulerdamp", TfToken::Immortal),
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mjcFlagFilterparent("mjc:flag:filterparent", TfToken::Immortal),
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mjcFlagFrictionloss("mjc:flag:frictionloss", TfToken::Immortal),
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mjcFlagFwdinv("mjc:flag:fwdinv", TfToken::Immortal),
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mjcFlagGravity("mjc:flag:gravity", TfToken::Immortal),
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mjcFlagInvdiscrete("mjc:flag:invdiscrete", TfToken::Immortal),
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mjcFlagIsland("mjc:flag:island", TfToken::Immortal),
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mjcFlagLimit("mjc:flag:limit", TfToken::Immortal),
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mjcFlagMidphase("mjc:flag:midphase", TfToken::Immortal),
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mjcFlagMulticcd("mjc:flag:multiccd", TfToken::Immortal),
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mjcFlagNativeccd("mjc:flag:nativeccd", TfToken::Immortal),
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mjcFlagOverride("mjc:flag:override", TfToken::Immortal),
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mjcFlagRefsafe("mjc:flag:refsafe", TfToken::Immortal),
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mjcFlagSensor("mjc:flag:sensor", TfToken::Immortal),
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mjcFlagSpring("mjc:flag:spring", TfToken::Immortal),
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mjcFlagWarmstart("mjc:flag:warmstart", TfToken::Immortal),
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mjcForceLimited("mjc:forceLimited", TfToken::Immortal),
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mjcForceRangeMax("mjc:forceRange:max", TfToken::Immortal),
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mjcForceRangeMin("mjc:forceRange:min", TfToken::Immortal),
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mjcFrictionloss("mjc:frictionloss", TfToken::Immortal),
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mjcGainPrm("mjc:gainPrm", TfToken::Immortal),
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mjcGainType("mjc:gainType", TfToken::Immortal),
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mjcGap("mjc:gap", TfToken::Immortal),
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mjcGear("mjc:gear", TfToken::Immortal),
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mjcGroup("mjc:group", TfToken::Immortal),
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mjcInertia("mjc:inertia", TfToken::Immortal),
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mjcInheritRange("mjc:inheritRange", TfToken::Immortal),
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mjcJointInParent("mjc:jointInParent", TfToken::Immortal),
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mjcLengthRangeMax("mjc:lengthRange:max", TfToken::Immortal),
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mjcLengthRangeMin("mjc:lengthRange:min", TfToken::Immortal),
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mjcLimited("mjc:limited", TfToken::Immortal),
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mjcMargin("mjc:margin", TfToken::Immortal),
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mjcMaxhullvert("mjc:maxhullvert", TfToken::Immortal),
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mjcMpos("mjc:mpos", TfToken::Immortal),
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mjcMquat("mjc:mquat", TfToken::Immortal),
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mjcOptionActuatorgroupdisable("mjc:option:actuatorgroupdisable",
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TfToken::Immortal),
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mjcOptionCcd_iterations("mjc:option:ccd_iterations", TfToken::Immortal),
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mjcOptionCcd_tolerance("mjc:option:ccd_tolerance", TfToken::Immortal),
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mjcOptionCone("mjc:option:cone", TfToken::Immortal),
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mjcOptionDensity("mjc:option:density", TfToken::Immortal),
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mjcOptionImpratio("mjc:option:impratio", TfToken::Immortal),
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mjcOptionIntegrator("mjc:option:integrator", TfToken::Immortal),
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mjcOptionIterations("mjc:option:iterations", TfToken::Immortal),
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mjcOptionJacobian("mjc:option:jacobian", TfToken::Immortal),
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mjcOptionLs_iterations("mjc:option:ls_iterations", TfToken::Immortal),
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mjcOptionLs_tolerance("mjc:option:ls_tolerance", TfToken::Immortal),
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mjcOptionMagnetic("mjc:option:magnetic", TfToken::Immortal),
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mjcOptionNoslip_iterations("mjc:option:noslip_iterations",
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TfToken::Immortal),
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mjcOptionNoslip_tolerance("mjc:option:noslip_tolerance",
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TfToken::Immortal),
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mjcOptionO_friction("mjc:option:o_friction", TfToken::Immortal),
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mjcOptionO_margin("mjc:option:o_margin", TfToken::Immortal),
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mjcOptionO_solimp("mjc:option:o_solimp", TfToken::Immortal),
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mjcOptionO_solref("mjc:option:o_solref", TfToken::Immortal),
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mjcOptionSdf_initpoints("mjc:option:sdf_initpoints", TfToken::Immortal),
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mjcOptionSdf_iterations("mjc:option:sdf_iterations", TfToken::Immortal),
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mjcOptionSolver("mjc:option:solver", TfToken::Immortal),
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mjcOptionTimestep("mjc:option:timestep", TfToken::Immortal),
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mjcOptionTolerance("mjc:option:tolerance", TfToken::Immortal),
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mjcOptionViscosity("mjc:option:viscosity", TfToken::Immortal),
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mjcOptionWind("mjc:option:wind", TfToken::Immortal),
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mjcPath("mjc:path", TfToken::Immortal),
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mjcPathCoef("mjc:path:coef", TfToken::Immortal),
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mjcPathDivisors("mjc:path:divisors", TfToken::Immortal),
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mjcPathIndices("mjc:path:indices", TfToken::Immortal),
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mjcPathSegments("mjc:path:segments", TfToken::Immortal),
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mjcPriority("mjc:priority", TfToken::Immortal),
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mjcQpos("mjc:qpos", TfToken::Immortal),
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mjcQvel("mjc:qvel", TfToken::Immortal),
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mjcRangeMax("mjc:range:max", TfToken::Immortal),
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mjcRangeMin("mjc:range:min", TfToken::Immortal),
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mjcRef("mjc:ref", TfToken::Immortal),
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mjcRefSite("mjc:refSite", TfToken::Immortal),
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mjcRgba("mjc:rgba", TfToken::Immortal),
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mjcRollingfriction("mjc:rollingfriction", TfToken::Immortal),
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mjcShellinertia("mjc:shellinertia", TfToken::Immortal),
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mjcSideSites("mjc:sideSites", TfToken::Immortal),
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mjcSideSitesIndices("mjc:sideSites:indices", TfToken::Immortal),
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mjcSliderSite("mjc:sliderSite", TfToken::Immortal),
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mjcSolimp("mjc:solimp", TfToken::Immortal),
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mjcSolimpfriction("mjc:solimpfriction", TfToken::Immortal),
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mjcSolimplimit("mjc:solimplimit", TfToken::Immortal),
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mjcSolmix("mjc:solmix", TfToken::Immortal),
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mjcSolref("mjc:solref", TfToken::Immortal),
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mjcSolreffriction("mjc:solreffriction", TfToken::Immortal),
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mjcSolreflimit("mjc:solreflimit", TfToken::Immortal),
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mjcSpringdamper("mjc:springdamper", TfToken::Immortal),
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mjcSpringlength("mjc:springlength", TfToken::Immortal),
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mjcSpringref("mjc:springref", TfToken::Immortal),
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mjcStiffness("mjc:stiffness", TfToken::Immortal),
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mjcTarget("mjc:target", TfToken::Immortal),
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mjcTorsionalfriction("mjc:torsionalfriction", TfToken::Immortal),
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mjcType("mjc:type", TfToken::Immortal),
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mjcWidth("mjc:width", TfToken::Immortal),
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muscle("muscle", TfToken::Immortal),
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newton("newton", TfToken::Immortal),
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none("none", TfToken::Immortal),
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pgs("pgs", TfToken::Immortal),
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pyramidal("pyramidal", TfToken::Immortal),
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radian("radian", TfToken::Immortal),
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rk4("rk4", TfToken::Immortal),
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shell("shell", TfToken::Immortal),
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sparse("sparse", TfToken::Immortal),
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spatial("spatial", TfToken::Immortal),
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true_("true", TfToken::Immortal),
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user("user", TfToken::Immortal),
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MjcActuator("MjcActuator", TfToken::Immortal),
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MjcCollisionAPI("MjcCollisionAPI", TfToken::Immortal),
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MjcImageableAPI("MjcImageableAPI", TfToken::Immortal),
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MjcJointAPI("MjcJointAPI", TfToken::Immortal),
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MjcKeyframe("MjcKeyframe", TfToken::Immortal),
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MjcMaterialAPI("MjcMaterialAPI", TfToken::Immortal),
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MjcMeshCollisionAPI("MjcMeshCollisionAPI", TfToken::Immortal),
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MjcSceneAPI("MjcSceneAPI", TfToken::Immortal),
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MjcSiteAPI("MjcSiteAPI", TfToken::Immortal),
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MjcTendon("MjcTendon", TfToken::Immortal),
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allTokens({affine,
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auto_,
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cg,
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convex,
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degree,
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dense,
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elliptic,
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euler,
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exact,
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false_,
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filter,
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filterexact,
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fixed,
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implicit,
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implicitfast,
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integrator,
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legacy,
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mjcAct,
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mjcActDim,
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mjcActEarly,
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mjcActLimited,
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mjcActRangeMax,
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mjcActRangeMin,
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mjcActuatorfrclimited,
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mjcActuatorfrcrangeMax,
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mjcActuatorfrcrangeMin,
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mjcActuatorgravcomp,
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mjcArmature,
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mjcBiasPrm,
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mjcBiasType,
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mjcCompilerAlignFree,
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mjcCompilerAngle,
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mjcCompilerAutoLimits,
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mjcCompilerBalanceInertia,
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mjcCompilerBoundInertia,
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mjcCompilerBoundMass,
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mjcCompilerFitAABB,
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mjcCompilerFuseStatic,
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mjcCompilerInertiaFromGeom,
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mjcCompilerInertiaGroupRangeMax,
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mjcCompilerInertiaGroupRangeMin,
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mjcCompilerSaveInertial,
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mjcCompilerSetTotalMass,
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mjcCompilerUseThread,
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mjcCondim,
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mjcCrankLength,
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mjcCtrl,
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mjcCtrlLimited,
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mjcCtrlRangeMax,
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mjcCtrlRangeMin,
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mjcDamping,
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mjcDynPrm,
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mjcDynType,
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mjcFlagActuation,
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mjcFlagAutoreset,
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mjcFlagClampctrl,
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mjcFlagConstraint,
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mjcFlagContact,
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mjcFlagDamper,
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mjcFlagEnergy,
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mjcFlagEquality,
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mjcFlagEulerdamp,
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mjcFlagFilterparent,
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mjcFlagFrictionloss,
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mjcFlagFwdinv,
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mjcFlagGravity,
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mjcFlagInvdiscrete,
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mjcFlagIsland,
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mjcFlagLimit,
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mjcFlagMidphase,
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mjcFlagMulticcd,
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mjcFlagNativeccd,
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mjcFlagOverride,
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mjcFlagRefsafe,
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mjcFlagSensor,
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mjcFlagSpring,
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mjcFlagWarmstart,
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mjcForceLimited,
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mjcForceRangeMax,
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mjcForceRangeMin,
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mjcFrictionloss,
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mjcGainPrm,
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mjcGainType,
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mjcGap,
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mjcGear,
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mjcGroup,
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mjcInertia,
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mjcInheritRange,
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mjcJointInParent,
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mjcLengthRangeMax,
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mjcLengthRangeMin,
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mjcLimited,
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mjcMargin,
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mjcMaxhullvert,
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mjcMpos,
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mjcMquat,
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mjcOptionActuatorgroupdisable,
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mjcOptionCcd_iterations,
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mjcOptionCcd_tolerance,
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mjcOptionCone,
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mjcOptionDensity,
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mjcOptionImpratio,
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mjcOptionIntegrator,
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mjcOptionIterations,
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mjcOptionJacobian,
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mjcOptionLs_iterations,
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mjcOptionLs_tolerance,
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mjcOptionMagnetic,
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mjcOptionNoslip_iterations,
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mjcOptionNoslip_tolerance,
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mjcOptionO_friction,
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mjcOptionO_margin,
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mjcOptionO_solimp,
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mjcOptionO_solref,
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mjcOptionSdf_initpoints,
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mjcOptionSdf_iterations,
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mjcOptionSolver,
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mjcOptionTimestep,
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mjcOptionTolerance,
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mjcOptionViscosity,
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mjcOptionWind,
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mjcPath,
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mjcPathCoef,
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mjcPathDivisors,
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mjcPathIndices,
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mjcPathSegments,
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mjcPriority,
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mjcQpos,
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mjcQvel,
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mjcRangeMax,
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mjcRangeMin,
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mjcRef,
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mjcRefSite,
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mjcRgba,
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mjcRollingfriction,
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mjcShellinertia,
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mjcSideSites,
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mjcSideSitesIndices,
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mjcSliderSite,
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mjcSolimp,
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mjcSolimpfriction,
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mjcSolimplimit,
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mjcSolmix,
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mjcSolref,
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mjcSolreffriction,
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mjcSolreflimit,
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mjcSpringdamper,
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mjcSpringlength,
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mjcSpringref,
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mjcStiffness,
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mjcTarget,
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mjcTorsionalfriction,
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mjcType,
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mjcWidth,
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muscle,
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newton,
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none,
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pgs,
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pyramidal,
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radian,
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rk4,
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shell,
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sparse,
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spatial,
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true_,
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user,
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MjcActuator,
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MjcCollisionAPI,
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MjcImageableAPI,
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MjcJointAPI,
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MjcKeyframe,
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MjcMaterialAPI,
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MjcMeshCollisionAPI,
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MjcSceneAPI,
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MjcSiteAPI,
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MjcTendon}) {}
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TfStaticData<MjcPhysicsTokensType> MjcPhysicsTokens;
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PXR_NAMESPACE_CLOSE_SCOPE
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