Call ParseMjcPhysicsMeshCollisionAPI() on visual prims that have an inertia attribute

2026-03-03 15:13:23 -06:00
parent 91d3565cd5
commit b1908c475c
1 changed files with 5 additions and 1 deletions
@@ -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 =