Add support for mjcPhysics keyframes to USD interop.

PiperOrigin-RevId: 778552679 Change-Id: I04026599f7a2836e3fe1cf0d553bcc86a5795f98
2025-07-02 10:16:42 -07:00
parent 072b327430
commit 1d613b9b9a
7 changed files with 236 additions and 10 deletions
@@ -30,6 +30,7 @@
 #include <pxr/usd/usd/common.h>
 #include <pxr/usd/usd/modelAPI.h>
 #include <pxr/usd/usd/stage.h>
+#include <pxr/usd/usd/timeCode.h>
 #include <pxr/usd/usdGeom/mesh.h>
 #include <pxr/usd/usdGeom/primvarsAPI.h>
 namespace mujoco {
@@ -59,7 +60,8 @@ pxr::UsdStageRefPtr OpenStageWithPhysics(const std::string& xml) {
 template <>
 void ExpectAttributeEqual<pxr::SdfAssetPath>(pxr::UsdStageRefPtr stage,
                                             pxr::SdfPath path,
-                                             const pxr::SdfAssetPath& value) {
+                                             const pxr::SdfAssetPath& value,
+                                             const pxr::UsdTimeCode time) {
  auto attr = stage->GetAttributeAtPath(path);
  EXPECT_TRUE(attr.IsValid());
  pxr::SdfAssetPath attr_value;