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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
This commit is contained in:
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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include/mujoco/experimental/usd/mjcPhysics/collisionAPI.h
+2
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@@ -172,6 +172,8 @@ class MjcPhysicsCollisionAPI : public UsdAPISchemaBase {
// --------------------------------------------------------------------- //
// SHELLINERTIA
// --------------------------------------------------------------------- //
/// DEPRECATED: Use NewtonMassAPI's newton:massModel = "shell" instead.
///
/// Enables handling of the inertia assuming mass is concentrated on the
/// surface.
///
include/mujoco/experimental/usd/mjcPhysics/jointAPI.h
+6
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@@ -546,6 +546,8 @@ class MjcPhysicsJointAPI : public UsdAPISchemaBase {
// --------------------------------------------------------------------- //
// MJCARMATURE
// --------------------------------------------------------------------- //
/// DEPRECATED: Use newton:armature instead.
///
/// Additional inertia associated with movement of the joint that is not due
/// to body mass. This added inertia is usually due to a rotor (a.k.a
/// armature) spinning faster than the joint itself due to a geared
@@ -577,6 +579,8 @@ class MjcPhysicsJointAPI : public UsdAPISchemaBase {
// --------------------------------------------------------------------- //
// MJCDAMPING
// --------------------------------------------------------------------- //
/// DEPRECATED: Use newton:damping instead.
///
/// Damping applied to all degrees of freedom created by this joint. Unlike
/// friction loss which is computed by the constraint solver, damping is
/// simply a force linear in velocity. It is included in the passive forces.
@@ -606,6 +610,8 @@ class MjcPhysicsJointAPI : public UsdAPISchemaBase {
// --------------------------------------------------------------------- //
// MJCFRICTIONLOSS
// --------------------------------------------------------------------- //
/// DEPRECATED: Use newton:friction instead.
///
/// Friction loss due to dry friction. This value is the same for all degrees
/// of freedom created by this joint. Semantically friction loss does not make
/// sense for free joints, but the compiler allows it. To enable friction
include/mujoco/experimental/usd/mjcPhysics/meshCollisionAPI.h
+3
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@@ -153,6 +153,9 @@ class MjcPhysicsMeshCollisionAPI : public UsdAPISchemaBase {
// --------------------------------------------------------------------- //
// INERTIA
// --------------------------------------------------------------------- //
/// DEPRECATED: Use NewtonMassAPI's newton:massModel or UsdPhysics's
/// physics:approximation instead.
///
/// Controls how a mesh is used when mass and inertia are inferred from
/// geometry.
///