Yuval Tassa
643dc5bf4f
PiperOrigin-RevId: 800018484 Change-Id: I7677cd099415af1271c7475d80a660653199b984
293 lines
11 KiB
C++
293 lines
11 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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#ifndef MJCPHYSICS_GENERATED_KEYFRAME_H
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#define MJCPHYSICS_GENERATED_KEYFRAME_H
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/// \file mjcPhysics/keyframe.h
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#include <mujoco/experimental/usd/mjcPhysics/api.h>
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#include <mujoco/experimental/usd/mjcPhysics/tokens.h>
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#include <pxr/base/gf/matrix4d.h>
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#include <pxr/base/gf/vec3d.h>
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#include <pxr/base/gf/vec3f.h>
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#include <pxr/base/tf/token.h>
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#include <pxr/base/tf/type.h>
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#include <pxr/base/vt/value.h>
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#include <pxr/pxr.h>
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#include <pxr/usd/usd/prim.h>
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#include <pxr/usd/usd/stage.h>
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#include <pxr/usd/usd/typed.h>
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PXR_NAMESPACE_OPEN_SCOPE
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class SdfAssetPath;
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// -------------------------------------------------------------------------- //
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// MJCKEYFRAME //
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// -------------------------------------------------------------------------- //
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/// \class MjcPhysicsKeyframe
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///
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/// Represents time independent keyframe values.
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///
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class MjcPhysicsKeyframe : public UsdTyped {
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public:
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/// Compile time constant representing what kind of schema this class is.
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///
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/// \sa UsdSchemaKind
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static const UsdSchemaKind schemaKind = UsdSchemaKind::ConcreteTyped;
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/// Construct a MjcPhysicsKeyframe on UsdPrim \p prim .
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/// Equivalent to MjcPhysicsKeyframe::Get(prim.GetStage(), prim.GetPath())
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/// for a \em valid \p prim, but will not immediately throw an error for
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/// an invalid \p prim
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explicit MjcPhysicsKeyframe(const UsdPrim& prim = UsdPrim())
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: UsdTyped(prim) {}
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/// Construct a MjcPhysicsKeyframe on the prim held by \p schemaObj .
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/// Should be preferred over MjcPhysicsKeyframe(schemaObj.GetPrim()),
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/// as it preserves SchemaBase state.
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explicit MjcPhysicsKeyframe(const UsdSchemaBase& schemaObj)
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: UsdTyped(schemaObj) {}
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/// Destructor.
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MJCPHYSICS_API
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virtual ~MjcPhysicsKeyframe();
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/// Return a vector of names of all pre-declared attributes for this schema
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/// class and all its ancestor classes. Does not include attributes that
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/// may be authored by custom/extended methods of the schemas involved.
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MJCPHYSICS_API
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static const TfTokenVector& GetSchemaAttributeNames(
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bool includeInherited = true);
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/// Return a MjcPhysicsKeyframe holding the prim adhering to this
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/// schema at \p path on \p stage. If no prim exists at \p path on
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/// \p stage, or if the prim at that path does not adhere to this schema,
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/// return an invalid schema object. This is shorthand for the following:
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///
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/// \code
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/// MjcPhysicsKeyframe(stage->GetPrimAtPath(path));
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/// \endcode
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///
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MJCPHYSICS_API
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static MjcPhysicsKeyframe Get(const UsdStagePtr& stage, const SdfPath& path);
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/// Attempt to ensure a \a UsdPrim adhering to this schema at \p path
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/// is defined (according to UsdPrim::IsDefined()) on this stage.
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///
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/// If a prim adhering to this schema at \p path is already defined on this
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/// stage, return that prim. Otherwise author an \a SdfPrimSpec with
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/// \a specifier == \a SdfSpecifierDef and this schema's prim type name for
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/// the prim at \p path at the current EditTarget. Author \a SdfPrimSpec s
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/// with \p specifier == \a SdfSpecifierDef and empty typeName at the
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/// current EditTarget for any nonexistent, or existing but not \a Defined
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/// ancestors.
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///
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/// The given \a path must be an absolute prim path that does not contain
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/// any variant selections.
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///
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/// If it is impossible to author any of the necessary PrimSpecs, (for
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/// example, in case \a path cannot map to the current UsdEditTarget's
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/// namespace) issue an error and return an invalid \a UsdPrim.
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///
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/// Note that this method may return a defined prim whose typeName does not
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/// specify this schema class, in case a stronger typeName opinion overrides
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/// the opinion at the current EditTarget.
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///
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MJCPHYSICS_API
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static MjcPhysicsKeyframe Define(const UsdStagePtr& stage,
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const SdfPath& path);
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protected:
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/// Returns the kind of schema this class belongs to.
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///
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/// \sa UsdSchemaKind
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MJCPHYSICS_API
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UsdSchemaKind _GetSchemaKind() const override;
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private:
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// needs to invoke _GetStaticTfType.
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friend class UsdSchemaRegistry;
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MJCPHYSICS_API
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static const TfType& _GetStaticTfType();
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static bool _IsTypedSchema();
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// override SchemaBase virtuals.
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MJCPHYSICS_API
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const TfType& _GetTfType() const override;
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public:
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// --------------------------------------------------------------------- //
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// MJCQPOS
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// --------------------------------------------------------------------- //
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/// Vector of joint positions, copied into mjData.qpos when the simulation
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/// state is set to this keyframe.
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///
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/// | ||
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/// | -- | -- |
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/// | Declaration | `double[] mjc:qpos` |
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/// | C++ Type | VtArray<double> |
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/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->DoubleArray |
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MJCPHYSICS_API
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UsdAttribute GetMjcQposAttr() const;
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/// See GetMjcQposAttr(), and also
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/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
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/// If specified, author \p defaultValue as the attribute's default,
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/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
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/// the default for \p writeSparsely is \c false.
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MJCPHYSICS_API
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UsdAttribute CreateMjcQposAttr(VtValue const& defaultValue = VtValue(),
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bool writeSparsely = false) const;
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public:
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// --------------------------------------------------------------------- //
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// MJCQVEL
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// --------------------------------------------------------------------- //
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/// Vector of joint velocities, copied into mjData.qvel when the simulation
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/// state is set to this keyframe.
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///
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/// | ||
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/// | -- | -- |
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/// | Declaration | `double[] mjc:qvel` |
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/// | C++ Type | VtArray<double> |
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/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->DoubleArray |
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MJCPHYSICS_API
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UsdAttribute GetMjcQvelAttr() const;
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/// See GetMjcQvelAttr(), and also
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/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
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/// If specified, author \p defaultValue as the attribute's default,
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/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
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/// the default for \p writeSparsely is \c false.
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MJCPHYSICS_API
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UsdAttribute CreateMjcQvelAttr(VtValue const& defaultValue = VtValue(),
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bool writeSparsely = false) const;
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public:
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// --------------------------------------------------------------------- //
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// MJCACT
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// --------------------------------------------------------------------- //
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/// Vector of actuator activations, copied into mjData.act when the simulation
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/// state is set to this keyframe.
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///
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/// | ||
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/// | -- | -- |
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/// | Declaration | `double[] mjc:act` |
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/// | C++ Type | VtArray<double> |
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/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->DoubleArray |
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MJCPHYSICS_API
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UsdAttribute GetMjcActAttr() const;
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/// See GetMjcActAttr(), and also
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/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
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/// If specified, author \p defaultValue as the attribute's default,
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/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
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/// the default for \p writeSparsely is \c false.
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MJCPHYSICS_API
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UsdAttribute CreateMjcActAttr(VtValue const& defaultValue = VtValue(),
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bool writeSparsely = false) const;
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public:
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// --------------------------------------------------------------------- //
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// MJCCTRL
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// --------------------------------------------------------------------- //
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/// Vector of controls, copied into mjData.ctrl when the simulation state is
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/// set to this keyframe.
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///
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/// | ||
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/// | -- | -- |
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/// | Declaration | `double[] mjc:ctrl` |
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/// | C++ Type | VtArray<double> |
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/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->DoubleArray |
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MJCPHYSICS_API
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UsdAttribute GetMjcCtrlAttr() const;
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/// See GetMjcCtrlAttr(), and also
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/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
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/// If specified, author \p defaultValue as the attribute's default,
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/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
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/// the default for \p writeSparsely is \c false.
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MJCPHYSICS_API
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UsdAttribute CreateMjcCtrlAttr(VtValue const& defaultValue = VtValue(),
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bool writeSparsely = false) const;
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public:
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// --------------------------------------------------------------------- //
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// MJCMPOS
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// --------------------------------------------------------------------- //
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/// Vector of mocap body positions, copied into mjData.mocap_pos when the
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/// simulation state is set to this keyframe.
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///
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/// | ||
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/// | -- | -- |
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/// | Declaration | `double[] mjc:mpos` |
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/// | C++ Type | VtArray<double> |
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/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->DoubleArray |
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MJCPHYSICS_API
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UsdAttribute GetMjcMposAttr() const;
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/// See GetMjcMposAttr(), and also
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/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
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/// If specified, author \p defaultValue as the attribute's default,
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/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
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/// the default for \p writeSparsely is \c false.
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MJCPHYSICS_API
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UsdAttribute CreateMjcMposAttr(VtValue const& defaultValue = VtValue(),
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bool writeSparsely = false) const;
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public:
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// --------------------------------------------------------------------- //
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// MJCMQUAT
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// --------------------------------------------------------------------- //
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/// Vector of mocap body quaternions, copied into mjData.mocap_quat when the
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/// simulation state is set to this keyframe.
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///
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/// | ||
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/// | -- | -- |
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/// | Declaration | `double[] mjc:mquat` |
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/// | C++ Type | VtArray<double> |
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/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->DoubleArray |
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MJCPHYSICS_API
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UsdAttribute GetMjcMquatAttr() const;
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/// See GetMjcMquatAttr(), and also
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/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
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/// If specified, author \p defaultValue as the attribute's default,
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/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
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/// the default for \p writeSparsely is \c false.
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MJCPHYSICS_API
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UsdAttribute CreateMjcMquatAttr(VtValue const& defaultValue = VtValue(),
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bool writeSparsely = false) const;
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public:
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// ===================================================================== //
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// Feel free to add custom code below this line, it will be preserved by
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// the code generator.
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//
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// Just remember to:
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// - Close the class declaration with };
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// - Close the namespace with PXR_NAMESPACE_CLOSE_SCOPE
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// - Close the include guard with #endif
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// ===================================================================== //
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// --(BEGIN CUSTOM CODE)--
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};
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PXR_NAMESPACE_CLOSE_SCOPE
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#endif
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