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Add missing gravity attribute authoring to Mjcf SdfFileFormat plugin.

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PiperOrigin-RevId: 779239797
Change-Id: I039b1089e5b436498d14df384c1aee830fd4b48a
This commit is contained in:
Sam Haves
2025-07-04 11:24:58 -07:00
committed by Copybara-Service
parent 45d4cacc45
commit be3c3ef8a9
2 changed files with 42 additions and 0 deletions
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test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
+32
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@@ -976,6 +976,38 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimSDFIterations) {
60);
}
TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimGravity) {
auto stage = pxr::UsdStage::Open(LoadLayer(R"(
<mujoco model="test">
<option gravity="-123 0 0"> </option>
</mujoco>
)"));
ExpectAttributeEqual(stage,
kPhysicsScenePrimPath.AppendProperty(
pxr::UsdPhysicsTokens->physicsGravityMagnitude),
123.0f);
ExpectAttributeEqual(stage,
kPhysicsScenePrimPath.AppendProperty(
pxr::UsdPhysicsTokens->physicsGravityDirection),
pxr::GfVec3f(-1.0f, 0.0f, 0.0f));
stage = pxr::UsdStage::Open(LoadLayer(R"(
<mujoco model="test">
<option gravity="2 3 6"> </option>
</mujoco>
)"));
ExpectAttributeEqual(stage,
kPhysicsScenePrimPath.AppendProperty(
pxr::UsdPhysicsTokens->physicsGravityMagnitude),
7.0f);
ExpectAttributeEqual(stage,
kPhysicsScenePrimPath.AppendProperty(
pxr::UsdPhysicsTokens->physicsGravityDirection),
pxr::GfVec3f(0.2857143f, 0.42857143f, 0.85714287f));
}
TEST_F(MjcfSdfFileFormatPluginTest, TestPhysicsScenePrimDisableFlags) {
auto stage = pxr::UsdStage::Open(LoadLayer(R"(
<mujoco model="test">