usd: add sleep option, sleep flag, body sleep, and body gravcomp attributes to mjcPhysics schema (#3457) - #3462
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Summary
This PR adds missing OpenUSD schema attributes for MJCF sleep options, sleep flags, body sleep policy, and body gravity compensation attributes to
mjcPhysicsand themujoco_to_usdconverter.Resolves #3457.
Missing Attributes Added
<option sleep_tolerance="...">mjc:option:sleep_toleranceMjcSceneAPI0.001<option><flag sleep="enable"/></option>mjc:flag:sleepMjcSceneAPIFalse<body sleep="...">mjc:sleepMjcBodyAPI(New)"auto"("auto","never","allowed","init")<body gravcomp="...">mjc:gravcompMjcBodyAPI(New)0.0Key Changes
USD Schemas:
schema.usda&generatedSchema.usdawithmjc:option:sleep_toleranceandmjc:flag:sleeponMjcSceneAPI.MjcBodyAPIsingle-apply API schema class for rigid bodies withmjc:sleepandmjc:gravcomp.MjcPhysicsBodyAPIinplugInfo.json.C++ API & Tokens:
MjcPhysicsTokens(mjcOptionSleep_tolerance,mjcFlagSleep,mjcSleep,mjcGravcomp,MjcBodyAPI,allowed,init,never).MjcPhysicsBodyAPIclass (bodyAPI.h/bodyAPI.cpp) and updatedMjcPhysicsSceneAPI.MJCF Converter (
mujoco_to_usd.cc):WritePhysicsSceneto writemjcOptionSleep_toleranceandmjcFlagSleep.WriteBodyto applyMjcBodyAPIschema and writemjcSleepandmjcGravcomp.Documentation & Unit Tests:
MjcBodyAPItodoc/OpenUSD/mjcPhysics.rst.mjc_physics_scene_test.cc.mjc_body_api_test.cc.mjcf_file_format_test.cc.Verification
mjModeldefault options.mjc_body_api_test.TestSleepAndGravcompinmjcf_file_format_test.