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Create mjcPhysics ImageableAPI for visual, non physical visual entities.

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PiperOrigin-RevId: 786366034
Change-Id: Ifb72d2daf8f5963bb7007dda1685da94b456ff41
This commit is contained in:
Sam Haves
2025-07-23 11:47:10 -07:00
committed by Copybara-Service
parent 7da32d186f
commit 541c56b46f
11 changed files with 414 additions and 9 deletions
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test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
+27
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@@ -20,6 +20,7 @@
#include <gtest/gtest.h>
#include <mujoco/experimental/usd/mjcPhysics/actuator.h>
#include <mujoco/experimental/usd/mjcPhysics/collisionAPI.h>
#include <mujoco/experimental/usd/mjcPhysics/imageableAPI.h>
#include <mujoco/experimental/usd/mjcPhysics/jointAPI.h>
#include <mujoco/experimental/usd/mjcPhysics/meshCollisionAPI.h>
#include <mujoco/experimental/usd/mjcPhysics/sceneAPI.h>
@@ -1453,6 +1454,32 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsColliders) {
pxr::UsdPhysicsTokens->convexHull);
}
TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsImageableAPI) {
static constexpr char xml[] = R"(
<mujoco model="test">
<asset>
<mesh name="tetrahedron" vertex="0 0 0 1 0 0 0 1 0 0 0 1"/>
</asset>
<worldbody>
<body name="body">
<geom
name="mesh"
type="mesh"
mesh="tetrahedron"
group="4"
contype="0"
conaffinity="0"/>
</body>
</worldbody>
</mujoco>
)";
auto stage = OpenStageWithPhysics(xml);
EXPECT_PRIM_API_APPLIED(stage, "/test/body/mesh/Mesh",
pxr::MjcPhysicsImageableAPI);
ExpectAttributeEqual(stage, "/test/body/mesh/Mesh.mjc:group", 4);
}
TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsCollisionAPI) {
static constexpr char xml[] = R"(
<mujoco model="test">