Sam Haves b25f8433fe Refactor USD connect and weld equality decoding to align with MuJoCo's relpose semantics. ...

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

2026-03-04 08:34:09 -08:00

..

actuator

Fix typos in MuJoCo documentation.

2024-07-25 13:31:13 -07:00

elasticity

Remove the Shell plugin and integrate it into the engine.

2025-05-19 10:51:25 -07:00

obj_decoder

Move OBJ handling to a mjpDecoder.

2026-03-03 11:22:02 -08:00

sdf

Remove sdflib plugin and move interpolation to engine_collision_sdf.

2025-07-09 09:29:47 -07:00

sensor

Move tactile sensor to the engine.

2025-07-30 05:27:44 -07:00

usd_decoder

Refactor USD connect and weld equality decoding to align with MuJoCo's relpose semantics.

2026-03-04 08:34:09 -08:00