Mujoco_WASM

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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

experimental/usd

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

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

mjdata.h

Reduce flexedge_J size from nflexedge x nv to the effective sparse size.

2026-01-14 11:18:41 -08:00

mjexport.h

Initial open sourcing of MuJoCo.

2022-05-23 01:08:49 -07:00

mjmacro.h

Move sanitizer instrumentation to a separate header file. Fixes #2049 .