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Apply articulation API to the correct body when converting to USD.

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PiperOrigin-RevId: 776206773
Change-Id: I84b5687a9900b42fd208124414ac98feaaa9f8c4
This commit is contained in:
Sam Haves
2025-06-26 11:06:07 -07:00
committed by Copybara-Service
parent 1e319aebed
commit 24789f8fe5
2 changed files with 29 additions and 14 deletions
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test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
+18 -7
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@@ -1139,6 +1139,9 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsRigidBody) {
<geom name="test_geom_2" type="sphere" size="1"/>
</body>
</body>
<body name="test_body_3" pos="0 0 0">
<geom name="test_geom_3" type="sphere" size="1"/>
</body>
</worldbody>
</mujoco>
)";
@@ -1153,18 +1156,26 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsRigidBody) {
EXPECT_PRIM_VALID(stage, "/physics_test/test_body");
EXPECT_PRIM_VALID(stage, "/physics_test/test_body/test_body_2");
// Articulation root is applied to the root of the physics scene (worldbody).
EXPECT_PRIM_API_APPLIED(stage, "/physics_test",
pxr::UsdPhysicsArticulationRootAPI);
EXPECT_PRIM_API_APPLIED(stage, "/physics_test/test_body",
pxr::UsdPhysicsRigidBodyAPI);
EXPECT_PRIM_API_NOT_APPLIED(stage, "/physics_test/test_body",
pxr::UsdPhysicsArticulationRootAPI);
EXPECT_PRIM_API_APPLIED(stage, "/physics_test/test_body/test_body_2",
pxr::UsdPhysicsRigidBodyAPI);
EXPECT_PRIM_API_APPLIED(stage, "/physics_test/test_body_3",
pxr::UsdPhysicsRigidBodyAPI);
// Articulation root is applied to the children of the world body.
EXPECT_PRIM_API_APPLIED(stage, "/physics_test/test_body",
pxr::UsdPhysicsArticulationRootAPI);
// test_body_3 is a child of the world but has no children so should not be
// an articulation root.
EXPECT_PRIM_API_NOT_APPLIED(stage, "/physics_test/test_body_3",
pxr::UsdPhysicsArticulationRootAPI);
// Articulation root is not applied to other bodies or world body.
EXPECT_PRIM_API_NOT_APPLIED(stage, "/physics_test",
pxr::UsdPhysicsArticulationRootAPI);
EXPECT_PRIM_API_NOT_APPLIED(stage, "/physics_test/test_body/test_body_2",
pxr::UsdPhysicsArticulationRootAPI);
pxr::UsdPhysicsArticulationRootAPI);
// Geoms should not have RigidBodyAPI applied either.
EXPECT_PRIM_API_NOT_APPLIED(stage, "/physics_test/test_body/test_geom",