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Merge pull request #3156 from andrewkaufman:newton-schemas

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PiperOrigin-RevId: 925328794
Change-Id: If45b8659ea9b88785660331bca5ee837ac172f67
This commit is contained in:
Copybara-Service
2026-06-02 07:06:59 -07:00
parent 4cf4a5665d fc2237dad8
commit 15cbc8fb55
13 changed files with 635 additions and 116 deletions
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include/mujoco/experimental/usd/mjcPhysics/materialAPI.h
+7
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@@ -42,6 +42,9 @@ class SdfAssetPath;
/// \class MjcPhysicsMaterialAPI
///
/// DEPRECATED: Use NewtonMaterialAPI instead. All attributes on this API have
/// been superseded by Newton equivalents.
///
/// API providing extension attributes to represent physical MuJoCo materials.
///
class MjcPhysicsMaterialAPI : public UsdAPISchemaBase {
@@ -148,6 +151,8 @@ class MjcPhysicsMaterialAPI : public UsdAPISchemaBase {
// --------------------------------------------------------------------- //
// TORSIONALFRICTION
// --------------------------------------------------------------------- //
/// DEPRECATED: Use newton:torsionalFriction instead.
///
/// Friction value acting around contact normal.
///
/// | ||
@@ -173,6 +178,8 @@ class MjcPhysicsMaterialAPI : public UsdAPISchemaBase {
// --------------------------------------------------------------------- //
// ROLLINGFRICTION
// --------------------------------------------------------------------- //
/// DEPRECATED: Use newton:rollingFriction instead.
///
/// Friction value acting around both axes on the contact tangent plane.
///
/// | ||