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c08e1d9e6e10372e2ecc9e890c6fa78b0868cbf1
Mujoco_WASM/plugin/usd_decoder
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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
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CMakeLists.txt
Add MjcEqualityAPI as a base class for MuJoCo constraints and MjcEqualityWeldAPI for representing weld constraints.
2026-01-15 10:44:27 -08:00
kinematic_tree.cc
Add MjcEqualityAPI as a base class for MuJoCo constraints and MjcEqualityWeldAPI for representing weld constraints.
2026-01-15 10:44:27 -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
Move OpenUSD parsing to usd_decoder
2026-01-09 14:48:29 -08:00
material_parsing.h
Move OpenUSD parsing to usd_decoder
2026-01-09 14:48:29 -08:00
usd_decoder.cc
Add MjcEqualityAPI as a base class for MuJoCo constraints and MjcEqualityWeldAPI for representing weld constraints.
2026-01-15 10:44:27 -08:00