- handle when body0 or body1 are the default prim/world
- add site-based equalities to the constrainst list so they aren't skipped
- support connect constraints by checking for spherical joints
The relpose in mujoco represents the anchor in body1 space and the relative orientation of body2 in body1 space. Previously we were computing it as the relative position of body2 from body1 space.
Further, we now properly account for the setting of strictly the anchor and not the relpos by setting localPos0 *only*.
PiperOrigin-RevId: 878506356
Change-Id: I83fc7e97cd1a891e17f0bb091f8950b581be0e01
- Contact excludes use the UsdPhysicsFilteredPairsAPI schema. Body1 is the body with the schema, body2 is contained in the list of filtered targets within the schema.
The single array attribute `mjc:polycoef` has been replaced by five individual double attributes: `mjc:coef0`, `mjc:coef1`, `mjc:coef2`, `mjc:coef3`, and `mjc:coef4`.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
Adds support for mjTRN_TENDON actuators in the USD decoder. Modifies the tendon path parsing to correctly handle side site indices, allowing -1 to signify no side site for a given path element.
PiperOrigin-RevId: 862755621
Change-Id: I18b13b160e3d1c27945d0972a69012d6307131e9
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
Since relationships in USD can only contain a single instance of a path, it was previously impossible to have a tendon path that visits the same wrap target more than once. This is a fairly common occurence when dealing with tendons that have pulleys.
With this change, if mjc:path:indices is not defined then the behaviour is as it was and the mjc:path is considered to be ordered. If it is authored then the parser will use the indices into mjc:path as the order. This mirrors other similar concepts in USD such as face vertex indices.
PiperOrigin-RevId: 856339887
Change-Id: I6b9503973de377acdb0689be168c16e4aa19b70b
Add usd_decoder to mujoco/plugin.
- Previously was src/experimental/usd/usd_to_mjspec.cc, now that same spec is returned by the plugin.
PiperOrigin-RevId: 854350962
Change-Id: Ia980190a557c50ce8197980922a2594b613859b4
Yuval Tassa