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Update USD support in MuJoCo to Newton USD schemas v0.4.0.

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See changelog for more info.

PiperOrigin-RevId: 960284190
Change-Id: I89a84b1efbc22c89ee99db7436851ef27a325176
This commit is contained in:
Sam Haves
2026-08-06 07:17:01 -07:00
committed by Copybara-Service
parent 63b779042c
commit 39e4458806
13 changed files with 421 additions and 93 deletions
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test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
+17 -5
View File
@@ -1501,7 +1501,10 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsCollisionAPI) {
EXPECT_ATTRIBUTE_HAS_NO_AUTHORED_VALUE(stage, "/test/body/box.mjc:gap");
ExpectAttributeEqual(stage, "/test/body/box.newton:contactMargin", 0.8f);
ExpectAttributeEqual(stage, "/test/body/box.newton:contactGap", 0.9f);
ExpectAttributeEqual(stage, "/test/body/box.mjc:shellinertia", true);
EXPECT_ATTRIBUTE_HAS_NO_AUTHORED_VALUE(stage,
"/test/body/box.mjc:shellinertia");
ExpectAttributeEqual(stage, "/test/body/box.newton:massModel",
pxr::TfToken("shell"));
}
TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsMeshCollisionAPI) {
@@ -1849,10 +1852,19 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsJointAPI) {
ExpectAttributeEqual(stage, "/test/parent/child/my_joint.mjc:margin", 1.8);
ExpectAttributeEqual(stage, "/test/parent/child/my_joint.mjc:ref", 1.9);
ExpectAttributeEqual(stage, "/test/parent/child/my_joint.mjc:springref", 2.0);
ExpectAttributeEqual(stage, "/test/parent/child/my_joint.mjc:armature", 2.1);
ExpectAttributeEqual(stage, "/test/parent/child/my_joint.mjc:damping", 2.2);
ExpectAttributeEqual(stage, "/test/parent/child/my_joint.mjc:frictionloss",
2.3);
EXPECT_ATTRIBUTE_HAS_NO_AUTHORED_VALUE(
stage, "/test/parent/child/my_joint.mjc:armature");
EXPECT_ATTRIBUTE_HAS_NO_AUTHORED_VALUE(
stage, "/test/parent/child/my_joint.mjc:damping");
EXPECT_ATTRIBUTE_HAS_NO_AUTHORED_VALUE(
stage, "/test/parent/child/my_joint.mjc:frictionloss");
ExpectAttributeEqual(stage, "/test/parent/child/my_joint.newton:armature",
2.1f);
ExpectAttributeEqual(stage, "/test/parent/child/my_joint.newton:damping",
2.2f);
ExpectAttributeEqual(stage, "/test/parent/child/my_joint.newton:friction",
2.3f);
}
TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsFloatingAndFixedBaseBody) {