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Add group support to mjcPhysics equivalents for sites, geoms, actuators, and joints.

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PiperOrigin-RevId: 781945497
Change-Id: I5c409f05e6bae33c181a51c273f260daea6004fc
This commit is contained in:
Sam Haves
2025-07-11 05:36:35 -07:00
committed by Copybara-Service
parent bbb265da4a
commit 3473e4e451
14 changed files with 234 additions and 24 deletions
Download Patch File Download Diff File Expand all files Collapse all files
include/mujoco/experimental/usd/mjcPhysics/collisionAPI.h
+25 -1
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@@ -40,7 +40,7 @@ class SdfAssetPath;
/// \class MjcPhysicsCollisionAPI
///
/// API describing a Mujoco collider.
/// API describing a MuJoCo collider.
///
class MjcPhysicsCollisionAPI : public UsdAPISchemaBase {
public:
@@ -142,6 +142,30 @@ class MjcPhysicsCollisionAPI : public UsdAPISchemaBase {
MJCPHYSICS_API
const TfType &_GetTfType() const override;
public:
// --------------------------------------------------------------------- //
// GROUP
// --------------------------------------------------------------------- //
/// Integer MuJoCo group to which the collider belongs.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform int mjc:group = 0` |
/// | C++ Type | int |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetGroupAttr() const;
/// See GetGroupAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateGroupAttr(VtValue const &defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// SHELLINERTIA
include/mujoco/experimental/usd/mjcPhysics/jointAPI.h
+25 -1
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@@ -40,7 +40,7 @@ class SdfAssetPath;
/// \class MjcPhysicsJointAPI
///
/// API describing a Mujoco joint.
/// API describing a MuJoCo joint.
///
/// For any described attribute \em Fallback \em Value or \em Allowed \em Values
/// below that are text/tokens, the actual token is published and defined in
@@ -146,6 +146,30 @@ class MjcPhysicsJointAPI : public UsdAPISchemaBase {
MJCPHYSICS_API
const TfType &_GetTfType() const override;
public:
// --------------------------------------------------------------------- //
// GROUP
// --------------------------------------------------------------------- //
/// Integer MuJoCo group to which the joint belongs.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform int mjc:group = 0` |
/// | C++ Type | int |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetGroupAttr() const;
/// See GetGroupAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateGroupAttr(VtValue const &defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// --------------------------------------------------------------------- //
// MJCSPRINGDAMPER
include/mujoco/experimental/usd/mjcPhysics/sceneAPI.h
+1 -1
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@@ -40,7 +40,7 @@ class SdfAssetPath;
/// \class MjcPhysicsSceneAPI
///
/// API providing global simulation options for Mujoco.
/// API providing global simulation options for MuJoCo.
///
/// For any described attribute \em Fallback \em Value or \em Allowed \em Values
/// below that are text/tokens, the actual token is published and defined in
include/mujoco/experimental/usd/mjcPhysics/siteAPI.h
+26 -1
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@@ -18,6 +18,7 @@
/// \file mjcPhysics/siteAPI.h
#include <mujoco/experimental/usd/mjcPhysics/api.h>
#include <mujoco/experimental/usd/mjcPhysics/tokens.h>
#include <pxr/base/gf/matrix4d.h>
#include <pxr/base/gf/vec3d.h>
#include <pxr/base/gf/vec3f.h>
@@ -39,7 +40,7 @@ class SdfAssetPath;
/// \class MjcPhysicsSiteAPI
///
/// API describing a Mujoco site.
/// API describing a MuJoCo site.
///
class MjcPhysicsSiteAPI : public UsdAPISchemaBase {
public:
@@ -140,6 +141,30 @@ class MjcPhysicsSiteAPI : public UsdAPISchemaBase {
MJCPHYSICS_API
const TfType &_GetTfType() const override;
public:
// --------------------------------------------------------------------- //
// GROUP
// --------------------------------------------------------------------- //
/// Integer MuJoCo group to which the collider belongs.
///
/// | ||
/// | -- | -- |
/// | Declaration | `uniform int mjc:group = 0` |
/// | C++ Type | int |
/// | \ref Usd_Datatypes "Usd Type" | SdfValueTypeNames->Int |
/// | \ref SdfVariability "Variability" | SdfVariabilityUniform |
MJCPHYSICS_API
UsdAttribute GetGroupAttr() const;
/// See GetGroupAttr(), and also
/// \ref Usd_Create_Or_Get_Property for when to use Get vs Create.
/// If specified, author \p defaultValue as the attribute's default,
/// sparsely (when it makes sense to do so) if \p writeSparsely is \c true -
/// the default for \p writeSparsely is \c false.
MJCPHYSICS_API
UsdAttribute CreateGroupAttr(VtValue const &defaultValue = VtValue(),
bool writeSparsely = false) const;
public:
// ===================================================================== //
// Feel free to add custom code below this line, it will be preserved by
include/mujoco/experimental/usd/mjcPhysics/tokens.h
+6 -1
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@@ -338,7 +338,8 @@ struct MjcPhysicsTokensType {
const TfToken mjcGear;
/// \brief "mjc:group"
///
/// MjcPhysicsTransmission
/// MjcPhysicsSiteAPI, MjcPhysicsImageableAPI, MjcPhysicsCollisionAPI,
/// MjcPhysicsTransmission, MjcPhysicsJointAPI
const TfToken mjcGroup;
/// \brief "mjc:inertia"
///
@@ -589,6 +590,10 @@ struct MjcPhysicsTokensType {
///
/// Schema identifier and family for MjcPhysicsCollisionAPI
const TfToken MjcCollisionAPI;
/// \brief "MjcImageableAPI"
///
/// Schema identifier and family for MjcPhysicsImageableAPI
const TfToken MjcImageableAPI;
/// \brief "MjcJointAPI"
///
/// Schema identifier and family for MjcPhysicsJointAPI
src/experimental/usd/mjcPhysics/collisionAPI.cpp
+12
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@@ -75,6 +75,17 @@ const TfType &MjcPhysicsCollisionAPI::_GetTfType() const {
return _GetStaticTfType();
}
UsdAttribute MjcPhysicsCollisionAPI::GetGroupAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcGroup);
}
UsdAttribute MjcPhysicsCollisionAPI::CreateGroupAttr(
VtValue const &defaultValue, bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcGroup, SdfValueTypeNames->Int,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsCollisionAPI::GetShellInertiaAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcShellinertia);
}
@@ -101,6 +112,7 @@ static inline TfTokenVector _ConcatenateAttributeNames(
const TfTokenVector &MjcPhysicsCollisionAPI::GetSchemaAttributeNames(
bool includeInherited) {
static TfTokenVector localNames = {
MjcPhysicsTokens->mjcGroup,
MjcPhysicsTokens->mjcShellinertia,
};
static TfTokenVector allNames = _ConcatenateAttributeNames(
src/experimental/usd/mjcPhysics/generatedSchema.usda
+21 -5
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@@ -4,7 +4,7 @@
)
class "MjcSceneAPI" (
doc = "API providing global simulation options for Mujoco."
doc = "API providing global simulation options for MuJoCo."
)
{
uniform bool mjc:flag:actuation = 1 (
@@ -221,15 +221,23 @@ class "MjcSceneAPI" (
}
class "MjcSiteAPI" (
doc = "API describing a Mujoco site."
doc = "API describing a MuJoCo site."
)
{
uniform int mjc:group = 0 (
displayName = "Group"
doc = "Integer MuJoCo group to which the collider belongs."
)
}
class "MjcCollisionAPI" (
doc = "API describing a Mujoco collider."
doc = "API describing a MuJoCo collider."
)
{
uniform int mjc:group = 0 (
displayName = "Group"
doc = "Integer MuJoCo group to which the collider belongs."
)
uniform bool mjc:shellinertia = 0 (
displayName = "Shell Inertia"
doc = "Enables handling of the inertia assuming mass is concentrated on the surface."
@@ -237,7 +245,7 @@ class "MjcCollisionAPI" (
}
class "MjcMeshCollisionAPI" (
doc = "API describing a Mujoco mesh collider."
doc = "API describing a MuJoCo mesh collider."
)
{
uniform token mjc:inertia = "legacy" (
@@ -318,6 +326,10 @@ class MjcTransmission "MjcTransmission" (
uniform double[] mjc:gear = [1, 0, 0, 0, 0, 0] (
doc = "This attribute scales the length (and consequently moment arms, velocity and force) of the actuator, for all transmission types. It is different from the gain in the force generation mechanism, because the gain only scales the force output and does not affect the length, moment arms and velocity. For actuators with scalar transmission, only the first element of this vector is used. The remaining elements are needed for joint, jointinparent and site transmissions where this attribute is used to specify 3D force and torque axes."
)
uniform int mjc:group = 0 (
displayName = "Group"
doc = "Integer MuJoCo group to which the transmission belongs."
)
uniform bool mjc:jointInParent = 0 (
doc = "If true and applied to ball and free joints, the 3d rotation axis given by gear is defined in the parent frame (which is the world frame for free joints) rather than the child frame."
)
@@ -363,7 +375,7 @@ class MjcKeyframe "MjcKeyframe" (
}
class "MjcJointAPI" (
doc = "API describing a Mujoco joint."
doc = "API describing a MuJoCo joint."
)
{
uniform token mjc:actuatorfrclimited = "auto" (
@@ -388,6 +400,10 @@ class "MjcJointAPI" (
uniform double mjc:frictionloss = 0 (
doc = "Friction loss due to dry friction. This value is the same for all degrees of freedom created by this joint. Semantically friction loss does not make sense for free joints, but the compiler allows it. To enable friction loss, set this attribute to a positive value."
)
uniform int mjc:group = 0 (
displayName = "Group"
doc = "Integer MuJoCo group to which the joint belongs."
)
uniform double mjc:margin = 0 (
doc = "The distance threshold below which limits become active. Recall that the Constraint solver normally generates forces as soon as a constraint becomes active, even if the margin parameter makes that happen at a distance. This attribute together with solreflimit and solimplimit can be used to model a soft joint limit."
)
src/experimental/usd/mjcPhysics/jointAPI.cpp
+12
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@@ -74,6 +74,17 @@ const TfType &MjcPhysicsJointAPI::_GetTfType() const {
return _GetStaticTfType();
}
UsdAttribute MjcPhysicsJointAPI::GetGroupAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcGroup);
}
UsdAttribute MjcPhysicsJointAPI::CreateGroupAttr(VtValue const &defaultValue,
bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcGroup, SdfValueTypeNames->Int,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
}
UsdAttribute MjcPhysicsJointAPI::GetMjcSpringdamperAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcSpringdamper);
}
@@ -265,6 +276,7 @@ static inline TfTokenVector _ConcatenateAttributeNames(
const TfTokenVector &MjcPhysicsJointAPI::GetSchemaAttributeNames(
bool includeInherited) {
static TfTokenVector localNames = {
MjcPhysicsTokens->mjcGroup,
MjcPhysicsTokens->mjcSpringdamper,
MjcPhysicsTokens->mjcSolreflimit,
MjcPhysicsTokens->mjcSolimplimit,
src/experimental/usd/mjcPhysics/schema.usda
+37 -6
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@@ -98,7 +98,7 @@ class "MjcSceneAPI"
customData = {
string className = "SceneAPI"
}
doc = """API providing global simulation options for Mujoco."""
doc = """API providing global simulation options for MuJoCo."""
inherits = </APISchemaBase>
)
@@ -516,22 +516,37 @@ class "MjcSiteAPI"
customData = {
string className = "SiteAPI"
}
doc = """API describing a Mujoco site."""
doc = """API describing a MuJoCo site."""
inherits = </APISchemaBase>
)
{}
{
uniform int mjc:group = 0 (
customData = {
string apiName = "Group"
}
displayName = "Group"
doc = """Integer MuJoCo group to which the collider belongs."""
)
}
class "MjcCollisionAPI"
(
customData = {
string className = "CollisionAPI"
}
doc = """API describing a Mujoco collider."""
doc = """API describing a MuJoCo collider."""
inherits = </APISchemaBase>
)
{
uniform int mjc:group = 0 (
customData = {
string apiName = "Group"
}
displayName = "Group"
doc = """Integer MuJoCo group to which the collider belongs."""
)
uniform bool mjc:shellinertia = False (
customData = {
string apiName = "ShellInertia"
@@ -546,7 +561,7 @@ class "MjcMeshCollisionAPI"
customData = {
string className = "MeshCollisionAPI"
}
doc = """API describing a Mujoco mesh collider."""
doc = """API describing a MuJoCo mesh collider."""
inherits = </APISchemaBase>
)
@@ -579,6 +594,14 @@ class MjcTransmission "MjcTransmission"
inherits = </Typed>
)
{
uniform int mjc:group = 0 (
customData = {
string apiName = "Group"
}
displayName = "Group"
doc = """Integer MuJoCo group to which the transmission belongs."""
)
rel mjc:target (
doc = "Actuator transmission target."
)
@@ -728,11 +751,19 @@ class "MjcJointAPI"
customData = {
string className = "JointAPI"
}
doc = """API describing a Mujoco joint."""
doc = """API describing a MuJoCo joint."""
inherits = </APISchemaBase>
)
{
uniform int mjc:group = 0 (
customData = {
string apiName = "Group"
}
displayName = "Group"
doc = """Integer MuJoCo group to which the joint belongs."""
)
uniform double[] mjc:springdamper = [0, 0] (
doc = "When both numbers are positive, the compiler will override any stiffness and damping values specified with the attributes below, and will instead set them automatically so that the resulting mass-spring-damper for this joint has the desired time constant (first value) and damping ratio (second value). This is done by taking into account the joint inertia in the model reference configuration. Note that the format is the same as the solref parameter of the constraint solver."
)
src/experimental/usd/mjcPhysics/siteAPI.cpp
+27 -3
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@@ -74,12 +74,36 @@ const TfType &MjcPhysicsSiteAPI::_GetTfType() const {
return _GetStaticTfType();
}
UsdAttribute MjcPhysicsSiteAPI::GetGroupAttr() const {
return GetPrim().GetAttribute(MjcPhysicsTokens->mjcGroup);
}
UsdAttribute MjcPhysicsSiteAPI::CreateGroupAttr(VtValue const &defaultValue,
bool writeSparsely) const {
return UsdSchemaBase::_CreateAttr(
MjcPhysicsTokens->mjcGroup, SdfValueTypeNames->Int,
/* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
}
namespace {
static inline TfTokenVector _ConcatenateAttributeNames(
const TfTokenVector &left, const TfTokenVector &right) {
TfTokenVector result;
result.reserve(left.size() + right.size());
result.insert(result.end(), left.begin(), left.end());
result.insert(result.end(), right.begin(), right.end());
return result;
}
} // namespace
/*static*/
const TfTokenVector &MjcPhysicsSiteAPI::GetSchemaAttributeNames(
bool includeInherited) {
static TfTokenVector localNames;
static TfTokenVector allNames =
UsdAPISchemaBase::GetSchemaAttributeNames(true);
static TfTokenVector localNames = {
MjcPhysicsTokens->mjcGroup,
};
static TfTokenVector allNames = _ConcatenateAttributeNames(
UsdAPISchemaBase::GetSchemaAttributeNames(true), localNames);
if (includeInherited)
return allNames;
src/experimental/usd/mjcPhysics/tokens.cpp
+4
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@@ -84,6 +84,7 @@ MjcPhysicsTokensType::MjcPhysicsTokensType()
mjcGainPrm("mjc:gainPrm", TfToken::Immortal),
mjcGainType("mjc:gainType", TfToken::Immortal),
mjcGear("mjc:gear", TfToken::Immortal),
mjcGroup("mjc:group", TfToken::Immortal),
mjcInertia("mjc:inertia", TfToken::Immortal),
mjcJointInParent("mjc:jointInParent", TfToken::Immortal),
mjcLengthRangeMax("mjc:lengthRange:max", TfToken::Immortal),
@@ -146,6 +147,7 @@ MjcPhysicsTokensType::MjcPhysicsTokensType()
true_("true", TfToken::Immortal),
user("user", TfToken::Immortal),
MjcCollisionAPI("MjcCollisionAPI", TfToken::Immortal),
MjcImageableAPI("MjcImageableAPI", TfToken::Immortal),
MjcJointAPI("MjcJointAPI", TfToken::Immortal),
MjcKeyframe("MjcKeyframe", TfToken::Immortal),
MjcMeshCollisionAPI("MjcMeshCollisionAPI", TfToken::Immortal),
@@ -219,6 +221,7 @@ MjcPhysicsTokensType::MjcPhysicsTokensType()
mjcGainPrm,
mjcGainType,
mjcGear,
mjcGroup,
mjcInertia,
mjcJointInParent,
mjcLengthRangeMax,
@@ -278,6 +281,7 @@ MjcPhysicsTokensType::MjcPhysicsTokensType()
true_,
user,
MjcCollisionAPI,
MjcImageableAPI,
MjcJointAPI,
MjcKeyframe,
MjcMeshCollisionAPI,
src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
+9
View File
@@ -1463,6 +1463,9 @@ class ModelWriter {
ApplyApiSchema(data_, site_path, MjcPhysicsTokens->MjcSiteAPI);
WriteUniformAttribute(site_path, pxr::SdfValueTypeNames->Int,
MjcPhysicsTokens->mjcGroup, site->group);
int site_id = mjs_getId(site->element);
auto transform = MujocoPosQuatToTransform(&model_->site_pos[3 * site_id],
&model_->site_quat[4 * site_id]);
@@ -1508,6 +1511,9 @@ class ModelWriter {
return;
}
WriteUniformAttribute(geom_path, pxr::SdfValueTypeNames->Int,
MjcPhysicsTokens->mjcGroup, geom->group);
// Apply the physics schemas if we are writing physics and the
// geom participates in collisions.
if (write_physics_ && (model_->geom_contype[geom_id] != 0 ||
@@ -1855,6 +1861,9 @@ class ModelWriter {
// Finally write the mjcPhysicsJointAPI attributes.
ApplyApiSchema(data_, joint_path, MjcPhysicsTokens->MjcJointAPI);
WriteUniformAttribute(joint_path, pxr::SdfValueTypeNames->Int,
MjcPhysicsTokens->mjcGroup, joint->group);
WriteUniformAttribute(
joint_path, pxr::SdfValueTypeNames->DoubleArray,
MjcPhysicsTokens->mjcSpringdamper,
src/experimental/usd/usd_to_mjspec.cc
+15
View File
@@ -570,6 +570,11 @@ void ParseMjcPhysicsCollisionAPI(
geom->typeinertia = shell_inertia ? mjtGeomInertia::mjINERTIA_SHELL
: mjtGeomInertia::mjINERTIA_VOLUME;
}
auto group_attr = collision_api.GetGroupAttr();
if (group_attr.HasAuthoredValue()) {
group_attr.Get(&geom->group);
}
}
void ParseMjcPhysicsMeshCollisionAPI(
@@ -793,6 +798,11 @@ void ParseMjcPhysicsTransmission(mjSpec* spec,
void ParseMjcPhysicsJointAPI(mjsJoint* mj_joint,
const pxr::MjcPhysicsJointAPI& joint_api) {
auto group_attr = joint_api.GetGroupAttr();
if (group_attr.HasAuthoredValue()) {
group_attr.Get(&mj_joint->group);
}
auto springdamper_attr = joint_api.GetMjcSpringdamperAttr();
if (springdamper_attr.HasAuthoredValue()) {
pxr::VtDoubleArray springdamper;
@@ -1178,6 +1188,11 @@ void ParseMjcPhysicsSite(mjSpec* spec, const pxr::MjcPhysicsSiteAPI& site_api,
site_api.GetPrim().GetPath().GetAsString().c_str());
SetLocalPoseFromPrim(site_api.GetPrim(), parent_prim, site, xform_cache);
auto group_attr = site_api.GetGroupAttr();
if (group_attr.HasAuthoredValue()) {
group_attr.Get(&site->group);
}
// Convert USD type to MuJoCo type.
if (!MaybeParseGeomPrimitive(prim, site, xform_cache)) {
mju_error("Prim with SiteAPI has unsupported typej %s",
test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
+14 -5
View File
@@ -1097,10 +1097,10 @@ static constexpr char kSiteXml[] = R"(
<worldbody>
<site type="box" name="box_site"/>
<body name="ball">
<site type="sphere" name="sphere_site"/>
<site type="capsule" name="capsule_site"/>
<site type="cylinder" name="cylinder_site"/>
<site type="ellipsoid" name="ellipsoid_site"/>
<site type="sphere" name="sphere_site" group="1"/>
<site type="capsule" name="capsule_site" group="2"/>
<site type="cylinder" name="cylinder_site" group="3"/>
<site type="ellipsoid" name="ellipsoid_site" group="4"/>
<geom type="sphere" size="1 1 1"/>
</body>
</worldbody>
@@ -1130,6 +1130,12 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestSitePrimsAuthored) {
EXPECT_PRIM_IS_A(stage, "/test/ball/ellipsoid_site", pxr::UsdGeomSphere);
EXPECT_PRIM_API_APPLIED(stage, "/test/ball/ellipsoid_site",
pxr::MjcPhysicsSiteAPI);
ExpectAttributeEqual(stage, "/test/box_site.mjc:group", 0);
ExpectAttributeEqual(stage, "/test/ball/sphere_site.mjc:group", 1);
ExpectAttributeEqual(stage, "/test/ball/capsule_site.mjc:group", 2);
ExpectAttributeEqual(stage, "/test/ball/cylinder_site.mjc:group", 3);
ExpectAttributeEqual(stage, "/test/ball/ellipsoid_site.mjc:group", 4);
}
TEST_F(MjcfSdfFileFormatPluginTest, TestSitePrimsPurpose) {
@@ -1538,6 +1544,7 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsTransmission) {
<actuator>
<general
name="general"
group="123"
site="site"
refsite="ref"
ctrllimited="true"
@@ -1569,6 +1576,7 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsTransmission) {
"/test/body/site");
EXPECT_REL_HAS_TARGET(stage, "/test/Transmissions/general.mjc:refSite",
"/test/body/ref");
ExpectAttributeEqual(stage, "/test/Transmissions/general.mjc:group", 123);
ExpectAttributeEqual(stage, "/test/Transmissions/general.mjc:ctrlLimited",
pxr::MjcPhysicsTokens->true_);
ExpectAttributeEqual(stage, "/test/Transmissions/general.mjc:ctrlRange:min",
@@ -1702,6 +1710,7 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsJointAPI) {
<body name="parent">
<body name="child">
<joint name="my_joint" type="hinge"
group="4"
springdamper="1 2"
solreflimit="0.1 0.2"
solimplimit="0.3 0.4 0.5 0.6 0.7"
@@ -1729,6 +1738,7 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsJointAPI) {
const SdfPath joint_path("/test/parent/child/my_joint");
EXPECT_PRIM_API_APPLIED(stage, joint_path, pxr::MjcPhysicsJointAPI);
ExpectAttributeEqual(stage, "/test/parent/child/my_joint.mjc:group", 4);
ExpectAttributeEqual(stage, "/test/parent/child/my_joint.mjc:springdamper",
pxr::VtArray<double>({1, 2}));
ExpectAttributeEqual(stage, "/test/parent/child/my_joint.mjc:solreflimit",
@@ -2129,7 +2139,6 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsKeyframe) {
ExpectAttributeEqual(stage, "/test/Keyframes/Keyframe.mjc:qpos",
pxr::VtDoubleArray({3}), pxr::UsdTimeCode(2.0));
}
} // namespace
} // namespace usd
} // namespace mujoco