From b1908c475c7495c3fae27c9396077c4501be6bd8 Mon Sep 17 00:00:00 2001
From: Lou Rohan <lrohan@nvidia.com>
Date: Tue, 3 Mar 2026 15:13:23 -0600
Subject: [PATCH] Call ParseMjcPhysicsMeshCollisionAPI() on visual prims that
 have an inertia attribute

---
 plugin/usd_decoder/usd_decoder.cc | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/plugin/usd_decoder/usd_decoder.cc b/plugin/usd_decoder/usd_decoder.cc
index ebf2bb5d..ca0e5bf8 100644
--- a/plugin/usd_decoder/usd_decoder.cc
+++ b/plugin/usd_decoder/usd_decoder.cc
@@ -1722,7 +1722,11 @@ void ParseUsdGeomGprim(mjSpec* spec, const pxr::UsdPrim& gprim,
   ParseDisplayColorAndOpacity(gprim, geom);
   SetLocalPoseFromPrim(gprim, body_prim, geom, caches.xform_cache);
   if (!MaybeParseGeomPrimitive(gprim, geom, caches.xform_cache)) {
-    ParseUsdMesh(spec, gprim, geom, caches.xform_cache);
+    mjsMesh* mesh = ParseUsdMesh(spec, gprim, geom, caches.xform_cache);
+    if (mesh != nullptr && gprim.HasAPI<pxr::MjcPhysicsMeshCollisionAPI>()) {
+    ParseMjcPhysicsMeshCollisionAPI(mesh,
+                                    pxr::MjcPhysicsMeshCollisionAPI(gprim));
+    }
   }
 
   pxr::UsdShadeMaterial bound_material =