chenlin/Mujoco_WASM
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8aa111fe0f4cf448b4fe57f5e79110c93967c133
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2 Commits

Author SHA1 Message Date
Yuval Tassa ab0e0091d5 Standardize "DO NOT EDIT" comments in generated files. 
PiperOrigin-RevId: 919718422
Change-Id: I2cba07d75d37d45f3f30b23d049c944b080248ad
 2026-05-22 09:34:45 -07:00
Sam Haves c08e1d9e6e Add MjcEqualityAPI as a base class for MuJoCo constraints and MjcEqualityWeldAPI for representing weld constraints. 
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
 2026-01-15 10:44:27 -08:00