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
@@ -73,6 +73,8 @@ pxr::SdfLayerRefPtr LoadLayer(
    const std::string& xml,
    const pxr::SdfFileFormat::FileFormatArguments& args = {});

+pxr::UsdStageRefPtr OpenStageWithPhysics(const std::string& xml);
+
 template <typename T>
 void ExpectAttributeEqual(pxr::UsdStageRefPtr stage, pxr::SdfPath path,
                          const T& value) {