Add group support to mjcPhysics equivalents for sites, geoms, actuators, and joints.

PiperOrigin-RevId: 781945497
Change-Id: I5c409f05e6bae33c181a51c273f260daea6004fc

Author: havess

include/mujoco/experimental/usd/mjcPhysics/collisionAPI.h

@@ -40,7 +40,7 @@ class SdfAssetPath;
 
 /// \class MjcPhysicsCollisionAPI
 ///
-/// API describing a Mujoco collider.
+/// API describing a MuJoCo collider.
 ///
 class MjcPhysicsCollisionAPI : public UsdAPISchemaBase {
  public:
@@ -142,6 +142,30 @@ class MjcPhysicsCollisionAPI : public UsdAPISchemaBase {
   MJCPHYSICS_API
   const TfType &_GetTfType() const override;
 
+ public:
+  // --------------------------------------------------------------------- //
+  // GROUP
+  // --------------------------------------------------------------------- //
+  /// Integer MuJoCo group to which the collider 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:
   // --------------------------------------------------------------------- //
   // SHELLINERTIA

include/mujoco/experimental/usd/mjcPhysics/jointAPI.h

@@ -40,7 +40,7 @@ class SdfAssetPath;
 
 /// \class MjcPhysicsJointAPI
 ///
-/// API describing a Mujoco joint.
+/// API describing a MuJoCo joint.
 ///
 /// 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
@@ -146,6 +146,30 @@ class MjcPhysicsJointAPI : public UsdAPISchemaBase {
   MJCPHYSICS_API
   const TfType &_GetTfType() const override;
 
+ public:
+  // --------------------------------------------------------------------- //
+  // GROUP
+  // --------------------------------------------------------------------- //
+  /// Integer MuJoCo group to which the joint 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:
   // --------------------------------------------------------------------- //
   // MJCSPRINGDAMPER

include/mujoco/experimental/usd/mjcPhysics/sceneAPI.h

@@ -40,7 +40,7 @@ class SdfAssetPath;
 
 /// \class MjcPhysicsSceneAPI
 ///
-/// API providing global simulation options for Mujoco.
+/// API providing global simulation options for MuJoCo.
 ///
 /// 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

include/mujoco/experimental/usd/mjcPhysics/siteAPI.h

@@ -18,6 +18,7 @@
 /// \file mjcPhysics/siteAPI.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>
@@ -39,7 +40,7 @@ class SdfAssetPath;
 
 /// \class MjcPhysicsSiteAPI
 ///
-/// API describing a Mujoco site.
+/// API describing a MuJoCo site.
 ///
 class MjcPhysicsSiteAPI : public UsdAPISchemaBase {
  public:
@@ -140,6 +141,30 @@ class MjcPhysicsSiteAPI : public UsdAPISchemaBase {
   MJCPHYSICS_API
   const TfType &_GetTfType() const override;
 
+ public:
+  // --------------------------------------------------------------------- //
+  // GROUP
+  // --------------------------------------------------------------------- //
+  /// Integer MuJoCo group to which the collider 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:
   // ===================================================================== //
   // Feel free to add custom code below this line, it will be preserved by

include/mujoco/experimental/usd/mjcPhysics/tokens.h

@@ -338,7 +338,8 @@ struct MjcPhysicsTokensType {
   const TfToken mjcGear;
   /// \brief "mjc:group"
   ///
-  /// MjcPhysicsTransmission
+  /// MjcPhysicsSiteAPI, MjcPhysicsImageableAPI, MjcPhysicsCollisionAPI,
+  /// MjcPhysicsTransmission, MjcPhysicsJointAPI
   const TfToken mjcGroup;
   /// \brief "mjc:inertia"
   ///
@@ -589,6 +590,10 @@ struct MjcPhysicsTokensType {
   ///
   /// Schema identifier and family for MjcPhysicsCollisionAPI
   const TfToken MjcCollisionAPI;
+  /// \brief "MjcImageableAPI"
+  ///
+  /// Schema identifier and family for MjcPhysicsImageableAPI
+  const TfToken MjcImageableAPI;
   /// \brief "MjcJointAPI"
   ///
   /// Schema identifier and family for MjcPhysicsJointAPI

src/experimental/usd/mjcPhysics/collisionAPI.cpp

@@ -75,6 +75,17 @@ const TfType &MjcPhysicsCollisionAPI::_GetTfType() const {
   return _GetStaticTfType();
 }
 
+UsdAttribute MjcPhysicsCollisionAPI::GetGroupAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcGroup);
+}
+
+UsdAttribute MjcPhysicsCollisionAPI::CreateGroupAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcGroup, SdfValueTypeNames->Int,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
 UsdAttribute MjcPhysicsCollisionAPI::GetShellInertiaAttr() const {
   return GetPrim().GetAttribute(MjcPhysicsTokens->mjcShellinertia);
 }
@@ -101,6 +112,7 @@ static inline TfTokenVector _ConcatenateAttributeNames(
 const TfTokenVector &MjcPhysicsCollisionAPI::GetSchemaAttributeNames(
     bool includeInherited) {
   static TfTokenVector localNames = {
+      MjcPhysicsTokens->mjcGroup,
       MjcPhysicsTokens->mjcShellinertia,
   };
   static TfTokenVector allNames = _ConcatenateAttributeNames(

src/experimental/usd/mjcPhysics/generatedSchema.usda

@@ -4,7 +4,7 @@
 )
 
 class "MjcSceneAPI" (
-    doc = "API providing global simulation options for Mujoco."
+    doc = "API providing global simulation options for MuJoCo."
 )
 {
     uniform bool mjc:flag:actuation = 1 (
@@ -221,23 +221,31 @@ class "MjcSceneAPI" (
 }
 
 class "MjcSiteAPI" (
-    doc = "API describing a Mujoco site."
+    doc = "API describing a MuJoCo site."
 )
 {
+    uniform int mjc:group = 0 (
+        displayName = "Group"
+        doc = "Integer MuJoCo group to which the collider belongs."
+    )
 }
 
 class "MjcCollisionAPI" (
-    doc = "API describing a Mujoco collider."
+    doc = "API describing a MuJoCo collider."
 )
 {
+    uniform int mjc:group = 0 (
+        displayName = "Group"
+        doc = "Integer MuJoCo group to which the collider belongs."
+    )
     uniform bool mjc:shellinertia = 0 (
         displayName = "Shell Inertia"
         doc = "Enables handling of the inertia assuming mass is concentrated on the surface."
     )
 }
 
 class "MjcMeshCollisionAPI" (
-    doc = "API describing a Mujoco mesh collider."
+    doc = "API describing a MuJoCo mesh collider."
 )
 {
     uniform token mjc:inertia = "legacy" (
@@ -318,6 +326,10 @@ class MjcTransmission "MjcTransmission" (
     uniform double[] mjc:gear = [1, 0, 0, 0, 0, 0] (
         doc = "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."
     )
+    uniform int mjc:group = 0 (
+        displayName = "Group"
+        doc = "Integer MuJoCo group to which the transmission belongs."
+    )
     uniform bool mjc:jointInParent = 0 (
         doc = "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."
     )
@@ -363,7 +375,7 @@ class MjcKeyframe "MjcKeyframe" (
 }
 
 class "MjcJointAPI" (
-    doc = "API describing a Mujoco joint."
+    doc = "API describing a MuJoCo joint."
 )
 {
     uniform token mjc:actuatorfrclimited = "auto" (
@@ -388,6 +400,10 @@ class "MjcJointAPI" (
     uniform double mjc:frictionloss = 0 (
         doc = "Friction loss due to dry friction. This value is the same for all degrees of freedom created by this joint. Semantically friction loss does not make sense for free joints, but the compiler allows it. To enable friction loss, set this attribute to a positive value."
     )
+    uniform int mjc:group = 0 (
+        displayName = "Group"
+        doc = "Integer MuJoCo group to which the joint belongs."
+    )
     uniform double mjc:margin = 0 (
         doc = "The distance threshold below which limits become active. Recall that the Constraint solver normally generates forces as soon as a constraint becomes active, even if the margin parameter makes that happen at a distance. This attribute together with solreflimit and solimplimit can be used to model a soft joint limit."
     )

src/experimental/usd/mjcPhysics/jointAPI.cpp

@@ -74,6 +74,17 @@ const TfType &MjcPhysicsJointAPI::_GetTfType() const {
   return _GetStaticTfType();
 }
 
+UsdAttribute MjcPhysicsJointAPI::GetGroupAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcGroup);
+}
+
+UsdAttribute MjcPhysicsJointAPI::CreateGroupAttr(VtValue const &defaultValue,
+                                                 bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcGroup, SdfValueTypeNames->Int,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
 UsdAttribute MjcPhysicsJointAPI::GetMjcSpringdamperAttr() const {
   return GetPrim().GetAttribute(MjcPhysicsTokens->mjcSpringdamper);
 }
@@ -265,6 +276,7 @@ static inline TfTokenVector _ConcatenateAttributeNames(
 const TfTokenVector &MjcPhysicsJointAPI::GetSchemaAttributeNames(
     bool includeInherited) {
   static TfTokenVector localNames = {
+      MjcPhysicsTokens->mjcGroup,
       MjcPhysicsTokens->mjcSpringdamper,
       MjcPhysicsTokens->mjcSolreflimit,
       MjcPhysicsTokens->mjcSolimplimit,

src/experimental/usd/mjcPhysics/schema.usda

@@ -98,7 +98,7 @@ class "MjcSceneAPI"
     customData = {
         string className = "SceneAPI"
     }
-    doc = """API providing global simulation options for Mujoco."""
+    doc = """API providing global simulation options for MuJoCo."""
 
     inherits = </APISchemaBase>
 )
@@ -516,22 +516,37 @@ class "MjcSiteAPI"
     customData = {
         string className = "SiteAPI"
     }
-    doc = """API describing a Mujoco site."""
+    doc = """API describing a MuJoCo site."""
 
     inherits = </APISchemaBase>
 )
-{}
+{
+    uniform int mjc:group = 0 (
+      customData = {
+          string apiName = "Group"
+      }
+      displayName = "Group"
+      doc = """Integer MuJoCo group to which the collider belongs."""
+    )
+}
 
 class "MjcCollisionAPI"
 (
     customData = {
         string className = "CollisionAPI"
     }
-    doc = """API describing a Mujoco collider."""
+    doc = """API describing a MuJoCo collider."""
 
     inherits = </APISchemaBase>
 )
 {
+    uniform int mjc:group = 0 (
+      customData = {
+          string apiName = "Group"
+      }
+      displayName = "Group"
+      doc = """Integer MuJoCo group to which the collider belongs."""
+    )
     uniform bool mjc:shellinertia = False (
         customData = {
             string apiName = "ShellInertia"
@@ -546,7 +561,7 @@ class "MjcMeshCollisionAPI"
     customData = {
         string className = "MeshCollisionAPI"
     }
-    doc = """API describing a Mujoco mesh collider."""
+    doc = """API describing a MuJoCo mesh collider."""
 
     inherits = </APISchemaBase>
 )
@@ -579,6 +594,14 @@ class MjcTransmission "MjcTransmission"
     inherits = </Typed>
 )
 {
+    uniform int mjc:group = 0 (
+      customData = {
+          string apiName = "Group"
+      }
+      displayName = "Group"
+      doc = """Integer MuJoCo group to which the transmission belongs."""
+    )
+
     rel mjc:target (
         doc = "Actuator transmission target."
     )
@@ -728,11 +751,19 @@ class "MjcJointAPI"
     customData = {
         string className = "JointAPI"
     }
-    doc = """API describing a Mujoco joint."""
+    doc = """API describing a MuJoCo joint."""
 
     inherits = </APISchemaBase>
 )
 {
+    uniform int mjc:group = 0 (
+      customData = {
+          string apiName = "Group"
+      }
+      displayName = "Group"
+      doc = """Integer MuJoCo group to which the joint belongs."""
+    )
+
     uniform double[] mjc:springdamper = [0, 0] (
         doc = "When both numbers are positive, the compiler will override any stiffness and damping values specified with the attributes below, and will instead set them automatically so that the resulting mass-spring-damper for this joint has the desired time constant (first value) and damping ratio (second value). This is done by taking into account the joint inertia in the model reference configuration. Note that the format is the same as the solref parameter of the constraint solver."
     )