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.
+
+#ifndef MUJOCO_TEST_EXPERIMENTAL_USD_PLUGINS_MJCF_FIXTURE_H_
+#define MUJOCO_TEST_EXPERIMENTAL_USD_PLUGINS_MJCF_FIXTURE_H_
+
+#include <string>
+
+#include <gtest/gtest.h>
+#include "test/fixture.h"
+#include <pxr/usd/sdf/assetPath.h>
+#include <pxr/usd/sdf/declareHandles.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>
+
+#define EXPECT_PRIM_VALID(stage, path) \
+  EXPECT_TRUE((stage)->GetPrimAtPath(SdfPath(path)).IsValid());
+
+#define EXPECT_PRIM_KIND(stage, path, kind)                          \
+  {                                                                  \
+    pxr::TfToken prim_kind;                                          \
+    pxr::UsdModelAPI::Get(stage, SdfPath(path)).GetKind(&prim_kind); \
+    EXPECT_EQ(kind, prim_kind);                                      \
+  }
+namespace mujoco {
+
+pxr::SdfLayerRefPtr LoadLayer(const std::string& xml);
+
+template <typename T>
+void ExpectAttributeEqual(pxr::UsdStageRefPtr stage, const char* path,
+                          const T& value) {
+  auto attr = stage->GetAttributeAtPath(pxr::SdfPath(path));
+  EXPECT_TRUE(attr.IsValid());
+  T attr_value;
+  attr.Get(&attr_value);
+  EXPECT_EQ(attr_value, value);
+}
+
+// Specialization for SdfAssetPath, so that we can compare only the asset path
+// and not care about whatever the resolved path is.
+// Otherwise the default operator== would fail because it tests for equality of
+// the asset path AND the resolved path.
+template <>
+void ExpectAttributeEqual<pxr::SdfAssetPath>(pxr::UsdStageRefPtr stage,
+                                             const char* path,
+                                             const pxr::SdfAssetPath& value);
+
+void ExpectAttributeHasConnection(pxr::UsdStageRefPtr stage, const char* path,
+                                  const char* connection_path);
+
+using MjcfSdfFileFormatPluginTest = MujocoTest;
+
+}  // namespace mujoco
+#endif  // MUJOCO_TEST_EXPERIMENTAL_USD_PLUGINS_MJCF_FIXTURE_H_