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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.
///