newton.usd.SchemaResolverMjc#

class newton.usd.SchemaResolverMjc[source]#

Bases: SchemaResolver

Schema resolver for MuJoCo USD attributes.

validate_custom_attributes(builder)#

Validate that MuJoCo custom attributes have been registered on the builder.

Users must call newton.solvers.SolverMuJoCo.register_custom_attributes() before parsing USD files with this resolver.

Raises:: RuntimeError – If required MuJoCo custom attributes are not registered.

mapping: ClassVar[dict[PrimType, dict[str, SchemaAttribute]]] = {PrimType.SCENE: {'gravity_enabled': SchemaResolver.SchemaAttribute(name='mjc:flag:gravity', default=True, usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'max_solver_iterations': SchemaResolver.SchemaAttribute(name='mjc:option:iterations', default=100, usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'time_steps_per_second': SchemaResolver.SchemaAttribute(name='mjc:option:timestep', default=0.002, usd_value_transformer=<function SchemaResolverMjc.<lambda>>, usd_value_getter=None, attribute_names=())}, PrimType.JOINT: {'armature': SchemaResolver.SchemaAttribute(name='mjc:armature', default=0.0, usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'friction': SchemaResolver.SchemaAttribute(name='mjc:frictionloss', default=0.0, usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'limit_angular_kd': SchemaResolver.SchemaAttribute(name='mjc:solref', default=[0.02, 1.0], usd_value_transformer=<function solref_to_damping>, usd_value_getter=None, attribute_names=()), 'limit_angular_ke': SchemaResolver.SchemaAttribute(name='mjc:solref', default=[0.02, 1.0], usd_value_transformer=<function solref_to_stiffness>, usd_value_getter=None, attribute_names=()), 'limit_linear_kd': SchemaResolver.SchemaAttribute(name='mjc:solref', default=[0.02, 1.0], usd_value_transformer=<function solref_to_damping>, usd_value_getter=None, attribute_names=()), 'limit_linear_ke': SchemaResolver.SchemaAttribute(name='mjc:solref', default=[0.02, 1.0], usd_value_transformer=<function solref_to_stiffness>, usd_value_getter=None, attribute_names=()), 'limit_rotX_kd': SchemaResolver.SchemaAttribute(name='mjc:solref', default=[0.02, 1.0], usd_value_transformer=<function solref_to_damping>, usd_value_getter=None, attribute_names=()), 'limit_rotX_ke': SchemaResolver.SchemaAttribute(name='mjc:solref', default=[0.02, 1.0], usd_value_transformer=<function solref_to_stiffness>, usd_value_getter=None, attribute_names=()), 'limit_rotY_kd': SchemaResolver.SchemaAttribute(name='mjc:solref', default=[0.02, 1.0], usd_value_transformer=<function solref_to_damping>, usd_value_getter=None, attribute_names=()), 'limit_rotY_ke': SchemaResolver.SchemaAttribute(name='mjc:solref', default=[0.02, 1.0], usd_value_transformer=<function solref_to_stiffness>, usd_value_getter=None, attribute_names=()), 'limit_rotZ_kd': SchemaResolver.SchemaAttribute(name='mjc:solref', default=[0.02, 1.0], usd_value_transformer=<function solref_to_damping>, usd_value_getter=None, attribute_names=()), 'limit_rotZ_ke': SchemaResolver.SchemaAttribute(name='mjc:solref', default=[0.02, 1.0], usd_value_transformer=<function solref_to_stiffness>, usd_value_getter=None, attribute_names=()), 'limit_transX_kd': SchemaResolver.SchemaAttribute(name='mjc:solref', default=[0.02, 1.0], usd_value_transformer=<function solref_to_damping>, usd_value_getter=None, attribute_names=()), 'limit_transX_ke': SchemaResolver.SchemaAttribute(name='mjc:solref', default=[0.02, 1.0], usd_value_transformer=<function solref_to_stiffness>, usd_value_getter=None, attribute_names=()), 'limit_transY_kd': SchemaResolver.SchemaAttribute(name='mjc:solref', default=[0.02, 1.0], usd_value_transformer=<function solref_to_damping>, usd_value_getter=None, attribute_names=()), 'limit_transY_ke': SchemaResolver.SchemaAttribute(name='mjc:solref', default=[0.02, 1.0], usd_value_transformer=<function solref_to_stiffness>, usd_value_getter=None, attribute_names=()), 'limit_transZ_kd': SchemaResolver.SchemaAttribute(name='mjc:solref', default=[0.02, 1.0], usd_value_transformer=<function solref_to_damping>, usd_value_getter=None, attribute_names=()), 'limit_transZ_ke': SchemaResolver.SchemaAttribute(name='mjc:solref', default=[0.02, 1.0], usd_value_transformer=<function solref_to_stiffness>, usd_value_getter=None, attribute_names=())}, PrimType.SHAPE: {'gap': SchemaResolver.SchemaAttribute(name='mjc:gap', default=0.0, usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'kd': SchemaResolver.SchemaAttribute(name='mjc:solref', default=[0.02, 1.0], usd_value_transformer=<function solref_to_damping>, usd_value_getter=None, attribute_names=()), 'ke': SchemaResolver.SchemaAttribute(name='mjc:solref', default=[0.02, 1.0], usd_value_transformer=<function solref_to_stiffness>, usd_value_getter=None, attribute_names=()), 'margin': SchemaResolver.SchemaAttribute(name='mjc:margin', default=0.0, usd_value_transformer=None, usd_value_getter=<function _mjc_margin_from_prim>, attribute_names=('mjc:margin', 'mjc:gap')), 'max_hull_vertices': SchemaResolver.SchemaAttribute(name='mjc:maxhullvert', default=-1, usd_value_transformer=None, usd_value_getter=None, attribute_names=())}, PrimType.BODY: {'rigid_body_linear_damping': SchemaResolver.SchemaAttribute(name='mjc:damping', default=0.0, usd_value_transformer=None, usd_value_getter=None, attribute_names=())}, PrimType.MATERIAL: {'damping': SchemaResolver.SchemaAttribute(name='mjc:solref', default=[0.02, 1.0], usd_value_transformer=<function solref_to_damping>, usd_value_getter=None, attribute_names=()), 'mu_rolling': SchemaResolver.SchemaAttribute(name='mjc:rollingfriction', default=0.0001, usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'mu_torsional': SchemaResolver.SchemaAttribute(name='mjc:torsionalfriction', default=0.005, usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'priority': SchemaResolver.SchemaAttribute(name='mjc:priority', default=0, usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'stiffness': SchemaResolver.SchemaAttribute(name='mjc:solref', default=[0.02, 1.0], usd_value_transformer=<function solref_to_stiffness>, usd_value_getter=None, attribute_names=()), 'weight': SchemaResolver.SchemaAttribute(name='mjc:solmix', default=1.0, usd_value_transformer=None, usd_value_getter=None, attribute_names=())}, PrimType.ACTUATOR: {'act_high': SchemaResolver.SchemaAttribute(name='mjc:actRange:max', default=0.0, usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'act_low': SchemaResolver.SchemaAttribute(name='mjc:actRange:min', default=0.0, usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'biasPrm': SchemaResolver.SchemaAttribute(name='mjc:biasPrm', default=[0, 0, 0, 0, 0, 0, 0, 0, 0, 0], usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'biasType': SchemaResolver.SchemaAttribute(name='mjc:biasType', default='none', usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'ctrl_high': SchemaResolver.SchemaAttribute(name='mjc:ctrlRange:max', default=0.0, usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'ctrl_low': SchemaResolver.SchemaAttribute(name='mjc:ctrlRange:min', default=0.0, usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'dynPrm': SchemaResolver.SchemaAttribute(name='mjc:dynPrm', default=[1, 0, 0, 0, 0, 0, 0, 0, 0, 0], usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'dynType': SchemaResolver.SchemaAttribute(name='mjc:dynType', default='none', usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'force_high': SchemaResolver.SchemaAttribute(name='mjc:forceRange:max', default=0.0, usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'force_low': SchemaResolver.SchemaAttribute(name='mjc:forceRange:min', default=0.0, usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'gainPrm': SchemaResolver.SchemaAttribute(name='mjc:gainPrm', default=[1, 0, 0, 0, 0, 0, 0, 0, 0, 0], usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'gainType': SchemaResolver.SchemaAttribute(name='mjc:gainType', default='fixed', usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'gear': SchemaResolver.SchemaAttribute(name='mjc:gear', default=[1, 0, 0, 0, 0, 0], usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'length_high': SchemaResolver.SchemaAttribute(name='mjc:lengthRange:max', default=0.0, usd_value_transformer=None, usd_value_getter=None, attribute_names=()), 'length_low': SchemaResolver.SchemaAttribute(name='mjc:lengthRange:min', default=0.0, usd_value_transformer=None, usd_value_getter=None, attribute_names=())}}#

name: ClassVar[str] = 'mjc'#