Add MjcPhysicsEqualityConnectAPI to MjcPhysics for equality/connect parsing.

PiperOrigin-RevId: 867736241
Change-Id: I2d4e9abcb14280dcfbbf63ff5f888fb57350cfb6

src/experimental/usd/CMakeLists.txt

@@ -128,6 +128,7 @@ target_sources(${MJC_PHYSICS_PLUGIN_TARGET_NAME} PRIVATE
   mjcPhysics/actuator.cpp
   mjcPhysics/collisionAPI.cpp
   mjcPhysics/equalityAPI.cpp
+  mjcPhysics/equalityConnectAPI.cpp
   mjcPhysics/equalityJointAPI.cpp
   mjcPhysics/equalityWeldAPI.cpp
   mjcPhysics/imageableAPI.cpp

src/experimental/usd/mjcPhysics/equalityConnectAPI.cpp

@@ -0,0 +1,102 @@
+// 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.
+
+#include <mujoco/experimental/usd/mjcPhysics/equalityConnectAPI.h>
+
+#include <pxr/usd/sdf/assetPath.h>
+#include <pxr/usd/sdf/types.h>
+#include <pxr/usd/usd/schemaRegistry.h>
+#include <pxr/usd/usd/typed.h>
+
+PXR_NAMESPACE_OPEN_SCOPE
+
+// Register the schema with the TfType system.
+TF_REGISTRY_FUNCTION(TfType) {
+  TfType::Define<MjcPhysicsEqualityConnectAPI,
+                 TfType::Bases<UsdAPISchemaBase> >();
+}
+
+/* virtual */
+MjcPhysicsEqualityConnectAPI::~MjcPhysicsEqualityConnectAPI() {}
+
+/* static */
+MjcPhysicsEqualityConnectAPI MjcPhysicsEqualityConnectAPI::Get(
+    const UsdStagePtr& stage, const SdfPath& path) {
+  if (!stage) {
+    TF_CODING_ERROR("Invalid stage");
+    return MjcPhysicsEqualityConnectAPI();
+  }
+  return MjcPhysicsEqualityConnectAPI(stage->GetPrimAtPath(path));
+}
+
+/* virtual */
+UsdSchemaKind MjcPhysicsEqualityConnectAPI::_GetSchemaKind() const {
+  return MjcPhysicsEqualityConnectAPI::schemaKind;
+}
+
+/* static */
+bool MjcPhysicsEqualityConnectAPI::CanApply(const UsdPrim& prim,
+                                            std::string* whyNot) {
+  return prim.CanApplyAPI<MjcPhysicsEqualityConnectAPI>(whyNot);
+}
+
+/* static */
+MjcPhysicsEqualityConnectAPI MjcPhysicsEqualityConnectAPI::Apply(
+    const UsdPrim& prim) {
+  if (prim.ApplyAPI<MjcPhysicsEqualityConnectAPI>()) {
+    return MjcPhysicsEqualityConnectAPI(prim);
+  }
+  return MjcPhysicsEqualityConnectAPI();
+}
+
+/* static */
+const TfType& MjcPhysicsEqualityConnectAPI::_GetStaticTfType() {
+  static TfType tfType = TfType::Find<MjcPhysicsEqualityConnectAPI>();
+  return tfType;
+}
+
+/* static */
+bool MjcPhysicsEqualityConnectAPI::_IsTypedSchema() {
+  static bool isTyped = _GetStaticTfType().IsA<UsdTyped>();
+  return isTyped;
+}
+
+/* virtual */
+const TfType& MjcPhysicsEqualityConnectAPI::_GetTfType() const {
+  return _GetStaticTfType();
+}
+
+/*static*/
+const TfTokenVector& MjcPhysicsEqualityConnectAPI::GetSchemaAttributeNames(
+    bool includeInherited) {
+  static TfTokenVector localNames;
+  static TfTokenVector allNames =
+      UsdAPISchemaBase::GetSchemaAttributeNames(true);
+
+  if (includeInherited)
+    return allNames;
+  else
+    return localNames;
+}
+
+PXR_NAMESPACE_CLOSE_SCOPE
+
+// ===================================================================== //
+// Feel free to add custom code below this line. It will be preserved by
+// the code generator.
+//
+// Just remember to wrap code in the appropriate delimiters:
+// 'PXR_NAMESPACE_OPEN_SCOPE', 'PXR_NAMESPACE_CLOSE_SCOPE'.
+// ===================================================================== //
+// --(BEGIN CUSTOM CODE)--

src/experimental/usd/mjcPhysics/generatedSchema.usda

@@ -567,6 +567,13 @@ class "MjcEqualityAPI" (
     )
 }
 
+class "MjcEqualityConnectAPI" (
+    apiSchemas = ["MjcEqualityAPI"]
+    doc = "API providing extension attributes to represent equality/connect constraints."
+)
+{
+}
+
 class "MjcEqualityWeldAPI" (
     apiSchemas = ["MjcEqualityAPI"]
     doc = "API providing extension attributes to represent equality/weld constraints."

src/experimental/usd/mjcPhysics/plugInfo.json

@@ -33,6 +33,16 @@
             ],
             "schemaKind": "singleApplyAPI"
           },
+          "MjcPhysicsEqualityConnectAPI": {
+            "alias": {
+              "UsdSchemaBase": "MjcEqualityConnectAPI"
+            },
+            "autoGenerated": true,
+            "bases": [
+              "UsdAPISchemaBase"
+            ],
+            "schemaKind": "singleApplyAPI"
+          },
           "MjcPhysicsEqualityJointAPI": {
             "alias": {
               "UsdSchemaBase": "MjcEqualityJointAPI"

src/experimental/usd/mjcPhysics/schema.usda

@@ -1087,6 +1087,16 @@ class "MjcEqualityAPI" (
     )
 }
 
+class "MjcEqualityConnectAPI" (
+    customData = {
+        string className = "EqualityConnectAPI"
+    }
+    doc = """API providing extension attributes to represent equality/connect constraints."""
+
+    prepend apiSchemas = ["MjcEqualityAPI"]
+    inherits = </APISchemaBase>
+){}
+
 class "MjcEqualityWeldAPI" (
     customData = {
         string className = "EqualityWeldAPI"

src/experimental/usd/mjcPhysics/tokens.cpp

@@ -199,6 +199,7 @@ MjcPhysicsTokensType::MjcPhysicsTokensType()
       MjcActuator("MjcActuator", TfToken::Immortal),
       MjcCollisionAPI("MjcCollisionAPI", TfToken::Immortal),
       MjcEqualityAPI("MjcEqualityAPI", TfToken::Immortal),
+      MjcEqualityConnectAPI("MjcEqualityConnectAPI", TfToken::Immortal),
       MjcEqualityJointAPI("MjcEqualityJointAPI", TfToken::Immortal),
       MjcEqualityWeldAPI("MjcEqualityWeldAPI", TfToken::Immortal),
       MjcImageableAPI("MjcImageableAPI", TfToken::Immortal),
@@ -384,6 +385,7 @@ MjcPhysicsTokensType::MjcPhysicsTokensType()
                  MjcActuator,
                  MjcCollisionAPI,
                  MjcEqualityAPI,
+                 MjcEqualityConnectAPI,
                  MjcEqualityJointAPI,
                  MjcEqualityWeldAPI,
                  MjcImageableAPI,