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

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PiperOrigin-RevId: 781945497
Change-Id: I5c409f05e6bae33c181a51c273f260daea6004fc
This commit is contained in:
Sam Haves
2025-07-11 05:36:35 -07:00
committed by Copybara-Service
parent bbb265da4a
commit 3473e4e451
14 changed files with 234 additions and 24 deletions
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include/mujoco/experimental/usd/mjcPhysics/tokens.h
+6 -1
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@@ -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