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

..

CMakeLists.txt

Set CMAKE_INSTALL_RPATH for USD decoder plugin.

2026-02-05 06:37:18 -08:00

kinematic_tree.cc

Add equalityJointAPI to mjcPhysics.

2026-01-23 06:28:29 -08:00

kinematic_tree.h

Add MjcEqualityAPI as a base class for MuJoCo constraints and MjcEqualityWeldAPI for representing weld constraints.

2026-01-15 10:44:27 -08:00

material_parsing.cc

Merge pull request #3061 from LouRohanNV:fixUsdMaterialInterfaces

2026-02-10 09:12:10 -08:00

material_parsing.h

Move OpenUSD parsing to usd_decoder

2026-01-09 14:48:29 -08:00

usd_decoder.cc

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

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