chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Add MjcEqualityAPI as a base class for MuJoCo constraints and MjcEqualityWeldAPI for representing weld constraints.

Browse Source 
This change introduces two new USD API schema:
* MjcEqualityAPI - base API for representing MuJoCo equality constraints in USD, this will typically be applied to joints such as UsdPhysicsFixedJoint.
* MjcEqualityWeldAPI - extends MjcEqualityAPI for MuJoCo's weld equality constraints with an attribute for torqueScale.

The usd_decoder is updated to parse UsdPhysicsFixedJoints and convert the new schema attributes into the appropriate mjsEquality data fields.

PiperOrigin-RevId: 856723634
Change-Id: I0982fd3168b643f8e91d87bb5ae5933e526b63a1
This commit is contained in:
Sam Haves
2026-01-15 10:43:29 -08:00
committed by Copybara-Service
parent d86acd7e12
commit c08e1d9e6e
14 changed files with 1004 additions and 12 deletions
Download Patch File Download Diff File Expand all files Collapse all files
plugin/usd_decoder/CMakeLists.txt
-3
View File
@@ -11,8 +11,6 @@
# 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.
find_package(pxr REQUIRED)
set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
set(USD_DECODER_SRCS
usd_decoder.cc
@@ -20,7 +18,6 @@ set(USD_DECODER_SRCS
kinematic_tree.h
material_parsing.cc
material_parsing.h
utils.h
)
add_library(usd_decoder_plugin SHARED ${USD_DECODER_SRCS})