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Refactor MjcPhysics EqualityJointAPI polynomial coefficients.

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The single array attribute `mjc:polycoef` has been replaced by five individual double attributes: `mjc:coef0`, `mjc:coef1`, `mjc:coef2`, `mjc:coef3`, and `mjc:coef4`.

PiperOrigin-RevId: 865947359
Change-Id: If9d14a77b0a06e5dc712eeadd6e9402411570706
This commit is contained in:
Sam Haves
2026-02-05 07:55:19 -08:00
committed by Copybara-Service
parent 7b0b3cf8e3
commit c63ba211e5
7 changed files with 250 additions and 66 deletions
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plugin/usd_decoder/usd_decoder.cc
+6 -17
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@@ -1854,23 +1854,12 @@ void ParseConstraint(mjSpec* spec, const pxr::UsdPrim& prim, mjsBody* body,
}
// If no target, name2 remains empty, meaning joint1 is fixed to a constant.
// Parse polycoef attribute for the quartic polynomial coefficients.
auto polycoef_attr = eq_joint_api.GetPolycoefAttr();
if (polycoef_attr.HasAuthoredValue()) {
pxr::VtDoubleArray polycoef;
polycoef_attr.Get(&polycoef);
size_t num_coefs = std::min(polycoef.size(), static_cast<size_t>(5));
for (size_t i = 0; i < num_coefs; ++i) {
eq->data[i] = polycoef[i];
}
} else {
// Default polycoef [0, 1, 0, 0, 0] for 1:1 mimic.
eq->data[0] = 0;
eq->data[1] = 1;
eq->data[2] = 0;
eq->data[3] = 0;
eq->data[4] = 0;
}
// Parse individual coefficient attributes for the quartic polynomial.
eq_joint_api.GetCoef0Attr().Get(&eq->data[0]);
eq_joint_api.GetCoef1Attr().Get(&eq->data[1]);
eq_joint_api.GetCoef2Attr().Get(&eq->data[2]);
eq_joint_api.GetCoef3Attr().Get(&eq->data[3]);
eq_joint_api.GetCoef4Attr().Get(&eq->data[4]);
// Parse solver parameters from MjcEqualityAPI.
auto solref_attr = equality_api.GetSolRefAttr();