Add equality joint constaints

[andrewkaufman]

Is this a new feature, an improvement, or a change to existing functionality?

New Feature

Feature Description

equality/joint proivides essential "mimic" behaviour that needs to be reflected in USD via an MjcPhysics schema.

Additional context or alternatives

No response

Code of Conduct

• I agree to follow mujoco-usd-converter Code of Conduct
• I have searched the open issues and have found no duplicates

[jeferal]

Hi, is there any update on supporting equalities? At the moment a warning is shown when converting a mj xml model to usd:

[Warning] [mujoco_usd_converter._impl.convert.warn] equalities are not supported

[andrewkaufman]

mujoco just added support for joint equalities in USD on Friday via MjcEqualityJointAPI, so we will probably address this task relatively soon.

However, I wouldn't anticipate a release until after that schema lands in a mujoco release, as we aim to avoid releasing with dependencies on nightly dev builds of mujoco.