Add support for UsdPhysicsMaterialAPI and create MjcMaterialAPI for missing attributes.

PiperOrigin-RevId: 782942169 Change-Id: I344b5e47d1d63c9d4e50173cb6a96d0af177ec9e
2025-07-14 09:52:00 -07:00
parent 7d5b360dea
commit 92bcbeb5d3
11 changed files with 594 additions and 15 deletions
@@ -433,3 +433,17 @@ class "MjcJointAPI" (
    )
 }

+class "MjcMaterialAPI" (
+    doc = "API providing extension attributes to represent physicsl MuJoCo materials."
+)
+{
+    uniform double mjc:rollingfriction = 0.0001 (
+        displayName = "Rolling Friction"
+        doc = "Friction value acting around both axes on the contact tangent plane."
+    )
+    uniform double mjc:torsionalfriction = 0.005 (
+        displayName = "Torsional Friction"
+        doc = "Friction value acting around contact normal."
+    )
+}
+