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Add equalityJointAPI to mjcPhysics.

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PiperOrigin-RevId: 860081702
Change-Id: Ifd961dcb2a8e0f5d885e9e9dadc0153b03cb5f4d
This commit is contained in:
Sam Haves
2026-01-23 06:27:41 -08:00
committed by Copybara-Service
parent e1992e62d7
commit 2582a83ac3
10 changed files with 547 additions and 75 deletions
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include/mujoco/experimental/usd/mjcPhysics/tokens.h
+8
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@@ -580,6 +580,10 @@ struct MjcPhysicsTokensType {
///
/// MjcPhysicsTendon
const TfToken mjcPathSegments;
/// \brief "mjc:polycoef"
///
/// MjcPhysicsEqualityJointAPI
const TfToken mjcPolycoef;
/// \brief "mjc:priority"
///
/// MjcPhysicsCollisionAPI
@@ -772,6 +776,10 @@ struct MjcPhysicsTokensType {
///
/// Schema identifier and family for MjcPhysicsEqualityAPI
const TfToken MjcEqualityAPI;
/// \brief "MjcEqualityJointAPI"
///
/// Schema identifier and family for MjcPhysicsEqualityJointAPI
const TfToken MjcEqualityJointAPI;
/// \brief "MjcEqualityWeldAPI"
///
/// Schema identifier and family for MjcPhysicsEqualityWeldAPI