Add support for inertia and mass to Mujoco USD interop.

PiperOrigin-RevId: 763737956 Change-Id: I6cdf267d76536a26aeb6327ce90165842e32bd8a
2025-05-27 04:57:00 -07:00
parent de3dc7c234
commit 441ca838a1
4 changed files with 223 additions and 5 deletions
@@ -42,6 +42,15 @@ pxr::SdfLayerRefPtr LoadLayer(
  return layer;
 }

+pxr::UsdStageRefPtr OpenStageWithPhysics(const std::string& xml) {
+  pxr::SdfFileFormat::FileFormatArguments args;
+  args["usdMjcfToggleUsdPhysics"] = "true";
+  pxr::SdfLayerRefPtr layer = LoadLayer(xml, args);
+  auto stage = pxr::UsdStage::Open(layer);
+  EXPECT_THAT(stage, testing::NotNull());
+  return stage;
+}
+
 template <>
 void ExpectAttributeEqual<pxr::SdfAssetPath>(pxr::UsdStageRefPtr stage,
                                             pxr::SdfPath path,