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Support joint actuator authoring in Mjcf SdfFileFormat plugin.

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PiperOrigin-RevId: 776202325
Change-Id: I8503dd98c1b64502550b879e70039ae568517508
This commit is contained in:
Sam Haves
2025-06-26 10:54:39 -07:00
committed by Copybara-Service
parent 21bae3a388
commit 1e319aebed
2 changed files with 34 additions and 0 deletions
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test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
+25
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@@ -1503,6 +1503,31 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsActuatorGeneral) {
pxr::VtDoubleArray{{0, 1, 2, 3, 4, 5, 6, 7, 8, 9}});
}
TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsJointActuator) {
static constexpr char xml[] = R"(
<mujoco model="test">
<worldbody>
<body name="axle">
<body name="rod">
<joint name="rod_hinge" type="hinge"/>
<geom name="box" type="box" size=".05 .05 .05" density="1234"/>
</body>
</body>
</worldbody>
<actuator>
<general
name="general"
joint="rod_hinge"
/>
</actuator>
</mujoco>
)";
auto stage = OpenStageWithPhysics(xml);
EXPECT_PRIM_API_APPLIED(stage, "/test/axle/rod/rod_hinge",
pxr::MjcPhysicsActuatorAPI);
}
TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsBodyActuator) {
static constexpr char xml[] = R"(
<mujoco model="test">