Add mujoco/experimental and move USD work there.

PiperOrigin-RevId: 740730698 Change-Id: If9c68798cda502d6d7632906a034437e2557802e
2025-03-26 05:35:54 -07:00
parent 5c955b8fe2
commit 644b42bee3
14 changed files with 2228 additions and 0 deletions
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+// Copyright 2025 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "test/experimental/usd/plugins/mjcf/fixture.h"
+
+#include <string>
+
+#include <gmock/gmock.h>
+#include <gtest/gtest.h>
+#include <absl/log/check.h>
+#include <pxr/usd/sdf/assetPath.h>
+#include <pxr/usd/sdf/declareHandles.h>
+#include <pxr/usd/sdf/fileFormat.h>
+#include <pxr/usd/sdf/path.h>
+#include <pxr/usd/usd/common.h>
+#include <pxr/usd/usd/modelAPI.h>
+#include <pxr/usd/usd/stage.h>
+#include <pxr/usd/usdGeom/mesh.h>
+#include <pxr/usd/usdGeom/primvarsAPI.h>
+namespace mujoco {
+
+using pxr::SdfPath;
+
+pxr::SdfLayerRefPtr LoadLayer(const std::string& xml) {
+  auto layer = pxr::SdfLayer::CreateAnonymous(
+      "test_layer", pxr::SdfFileFormat::FindByExtension("xml"));
+  layer->ImportFromString(xml);
+  EXPECT_THAT(layer, testing::NotNull());
+  return layer;
+}
+
+template <>
+void ExpectAttributeEqual<pxr::SdfAssetPath>(pxr::UsdStageRefPtr stage,
+                                             const char* path,
+                                             const pxr::SdfAssetPath& value) {
+  auto attr = stage->GetAttributeAtPath(pxr::SdfPath(path));
+  EXPECT_TRUE(attr.IsValid());
+  pxr::SdfAssetPath attr_value;
+  attr.Get(&attr_value);
+  EXPECT_EQ(attr_value.GetAssetPath(), value.GetAssetPath());
+}
+
+void ExpectAttributeHasConnection(pxr::UsdStageRefPtr stage, const char* path,
+                                  const char* connection_path) {
+  auto attr = stage->GetAttributeAtPath(SdfPath(path));
+  EXPECT_TRUE(attr.IsValid());
+  pxr::SdfPathVector sources;
+  attr.GetConnections(&sources);
+  EXPECT_EQ(sources.size(), 1);
+  EXPECT_EQ(sources[0], SdfPath(connection_path));
+}
+//
+}  // namespace mujoco