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Update USD support in MuJoCo to Newton USD schemas v0.4.0.

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See changelog for more info.

PiperOrigin-RevId: 960284190
Change-Id: I89a84b1efbc22c89ee99db7436851ef27a325176
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Sam Haves
2026-08-06 07:17:01 -07:00
committed by Copybara-Service
parent 63b779042c
commit 39e4458806
13 changed files with 421 additions and 93 deletions
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doc/changelog.rst
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@@ -107,6 +107,24 @@ Bug fixes
stretch force itself is unchanged. This affects the implicit integrators and the implicit effective metric, so
flexes using ``elastic2d="stretch"`` integrate slightly differently. Bending-only flexes are unaffected.
OpenUSD
^^^^^^^
- Upgraded Newton USD schemas support to version 0.4.0:
- ``NewtonJointAPI`` (``newton:armature``, ``newton:damping``, ``newton:friction``) deprecates the ``MjcJointAPI``
equivalent ``mjc:armature``, ``mjc:damping``, and ``mjc:frictionloss`` attributes.
- ``NewtonMassAPI`` (``newton:massModel``, ``newton:inertia``) deprecates the ``MjcCollisionAPI``
equivalent ``mjc:shellinertia`` and ``MjcMeshCollisionAPI`` ``mjc:inertia`` attributes. This completes the
deprecation of all ``MjcMeshCollisionAPI`` attributes, slating it for removal in a future release.
- Added support for ``NewtonSiteAPI`` to declare sites, ``MjcSiteAPI`` auto applies this schema, but remains
as an extension for the ``mjc:group`` attribute.
- Added support for ``NewtonMaterialAPI`` (``newton:contactAdhesion``, ``newton:torsionalFriction``,
``newton:rollingFriction``). This deprecates ``MjcMaterialAPI`` which will be removed in a future release.
- Added support for ``NewtonMimicAPI`` (``newton:mimicJoint``, ``newton:mimicCoef0``, ``newton:mimicCoef1``) as a
base for ``MjcEqualityJointAPI``, this deprecates the ``mjc:coef0`` and ``mjc:coef1`` attributes and the
``mjc:target`` relationship.
- Added support for ``NewtonArticulationRootAPI`` (``newton:jointsAddMobility``).
Version 3.11.0 (July 27, 2026)
------------------------------