Update UsdWriter to write any parts of MjSpec that are not from USD to the EditTarget.

This enables two workflows: 1) Users that parsed some other format into MjSpec, or built it programmatically can export animated USD easily with as minimal as possible interaction with USD. 2) Creating a spec from USD, then modifying the spec, should not cause a duplication of data when writing to USD. PiperOrigin-RevId: 827627520 Change-Id: I02c8c14a18569547710e54f3704d52ac0bf70ce6
2025-11-03 13:28:36 -08:00
parent abc02b736e
commit 7d7648f7ed
5 changed files with 96 additions and 29 deletions
@@ -38,6 +38,7 @@ class Writer {
  void AddSink(PoseSinkFn sink_fn);

 private:
+  void WriteSpecsWithoutUSDOriginToLayer();
  void BuildMjUsdMapping();

  pxr::UsdStageRefPtr stage_;