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

See changelog for more info. PiperOrigin-RevId: 960284190 Change-Id: I89a84b1efbc22c89ee99db7436851ef27a325176
2026-08-06 07:17:01 -07:00
parent 63b779042c
commit 39e4458806
13 changed files with 421 additions and 93 deletions
@@ -0,0 +1,66 @@
+// Copyright 2025 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+// Shared static tokens for Newton USD Schemas.
+
+#ifndef MUJOCO_PLUGIN_USD_DECODER_NEWTON_TOKENS_H_
+#define MUJOCO_PLUGIN_USD_DECODER_NEWTON_TOKENS_H_
+
+#include <pxr/base/tf/staticTokens.h>
+#include <pxr/pxr.h>
+
+PXR_NAMESPACE_OPEN_SCOPE
+
+// clang-format off
+#define NEWTON_TOKENS \
+  ((NewtonMaterialAPI, "NewtonMaterialAPI")) \
+  ((NewtonMeshCollisionAPI, "NewtonMeshCollisionAPI")) \
+  ((NewtonJointAPI, "NewtonJointAPI")) \
+  ((NewtonMassAPI, "NewtonMassAPI")) \
+  ((NewtonSiteAPI, "NewtonSiteAPI")) \
+  ((NewtonMimicAPI, "NewtonMimicAPI")) \
+  ((NewtonCollisionAPI, "NewtonCollisionAPI")) \
+  ((NewtonArticulationRootAPI, "NewtonArticulationRootAPI")) \
+  ((newtonMassModel, "newton:massModel")) \
+  ((newtonMaxSolverIterations, "newton:maxSolverIterations")) \
+  ((newtonTimeStepsPerSecond, "newton:timeStepsPerSecond")) \
+  ((newtonGravityEnabled, "newton:gravityEnabled")) \
+  ((newtonContactMargin, "newton:contactMargin")) \
+  ((newtonContactGap, "newton:contactGap")) \
+  ((newtonMaxHullVertices, "newton:maxHullVertices")) \
+  ((newtonTorsionalFriction, "newton:torsionalFriction")) \
+  ((newtonRollingFriction, "newton:rollingFriction")) \
+  ((newtonArmature, "newton:armature")) \
+  ((newtonDamping, "newton:damping")) \
+  ((newtonFriction, "newton:friction")) \
+  ((newtonMimicJoint, "newton:mimicJoint")) \
+  ((newtonMimicCoef0, "newton:mimicCoef0")) \
+  ((newtonMimicCoef1, "newton:mimicCoef1")) \
+  ((newtonInertia, "newton:inertia")) \
+  ((newtonContactAdhesion, "newton:contactAdhesion")) \
+  ((newtonJointsAddMobility, "newton:jointsAddMobility")) \
+  ((newtonSelfCollisionEnabled, "newton:selfCollisionEnabled"))
+// clang-format on
+
+TF_DECLARE_PUBLIC_TOKENS(NewtonTokens, NEWTON_TOKENS);
+
+PXR_NAMESPACE_CLOSE_SCOPE
+
+namespace mujoco {
+
+using pxr::NewtonTokens;
+
+}  // namespace mujoco
+
+#endif  // MUJOCO_PLUGIN_USD_DECODER_NEWTON_TOKENS_H_