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

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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
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plugin/usd_decoder/kinematic_tree.h
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@@ -28,6 +28,7 @@ struct Node {
pxr::SdfPath body_path;
pxr::SdfPath physics_scene;
std::vector<pxr::SdfPath> actuators;
std::vector<pxr::SdfPath> constraints;
std::vector<pxr::SdfPath> joints;
std::vector<pxr::SdfPath> visual_gprims;
std::vector<pxr::SdfPath> colliders;