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Add support for UsdPhysicsMaterialAPI and create MjcMaterialAPI for missing attributes.

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PiperOrigin-RevId: 782942169
Change-Id: I344b5e47d1d63c9d4e50173cb6a96d0af177ec9e
This commit is contained in:
Sam Haves
2025-07-14 09:52:00 -07:00
committed by Copybara-Service
parent 7d5b360dea
commit 92bcbeb5d3
11 changed files with 594 additions and 15 deletions
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test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
+35
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@@ -139,6 +139,41 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestBasicMeshSources) {
EXPECT_PRIM_VALID(stage, "/mesh_test/test_body/tetrahedron/Mesh");
}
TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsMaterials) {
static constexpr char kXml[] = R"(
<mujoco model="physics materials test">
<worldbody>
<body name="test_body">
<geom name="geom_with_friction" type="sphere" size="1" friction="4 5 6"/>
</body>
</worldbody>
</mujoco>
)";
auto stage = OpenStageWithPhysics(kXml);
EXPECT_PRIM_VALID(
stage, "/physics_materials_test/PhysicsMaterials/geom_with_friction");
EXPECT_REL_HAS_TARGET(
stage,
"/physics_materials_test/test_body/geom_with_friction.material:binding",
"/physics_materials_test/PhysicsMaterials/geom_with_friction");
ExpectAttributeEqual(stage,
"/physics_materials_test/PhysicsMaterials/"
"geom_with_friction.physics:staticFriction",
4.0f);
ExpectAttributeEqual(stage,
"/physics_materials_test/PhysicsMaterials/"
"geom_with_friction.physics:dynamicFriction",
4.0f);
ExpectAttributeEqual(stage,
"/physics_materials_test/PhysicsMaterials/"
"geom_with_friction.mjc:torsionalfriction",
5.0);
ExpectAttributeEqual(stage,
"/physics_materials_test/PhysicsMaterials/"
"geom_with_friction.mjc:rollingfriction",
6.0);
}
TEST_F(MjcfSdfFileFormatPluginTest, TestMaterials) {
const std::string xml_path = GetTestDataFilePath(kMaterialsPath);