From c2820941aa5ae2b83ca4e9103425d7fed3d1b250 Mon Sep 17 00:00:00 2001
From: Sam Haves <shaves@google.com>
Date: Fri, 18 Jul 2025 07:17:25 -0700
Subject: [PATCH] Convert UsdPhysicsRevoluteJoint from degres to radians if
 compiler option is set.

PiperOrigin-RevId: 784574716
Change-Id: I58f65816edb782fcb41bbc721f7bed5a27741639
---
 src/experimental/usd/usd_to_mjspec.cc | 11 +++++++----
 1 file changed, 7 insertions(+), 4 deletions(-)

diff --git a/src/experimental/usd/usd_to_mjspec.cc b/src/experimental/usd/usd_to_mjspec.cc
index 4ba2c529..8cf47da9 100644
--- a/src/experimental/usd/usd_to_mjspec.cc
+++ b/src/experimental/usd/usd_to_mjspec.cc
@@ -1380,10 +1380,13 @@ void ParseUsdPhysicsJoint(mjSpec* spec, const pxr::UsdPrim& prim, mjsBody* body,
     if (revolute.GetLowerLimitAttr().Get(&lower) &&
         revolute.GetUpperLimitAttr().Get(&upper)) {
       mj_joint->limited = mjLIMITED_TRUE;
-      // As per the XML Reference, the default unit for mjSpec is degrees, so we
-      // don't need to convert from USD (which is degrees).
-      mj_joint->range[0] = lower;
-      mj_joint->range[1] = upper;
+      if (spec->compiler.degree) {
+        mj_joint->range[0] = lower;
+        mj_joint->range[1] = upper;
+      } else {
+        mj_joint->range[0] = lower * M_PI / 180.0;
+        mj_joint->range[1] = upper * M_PI / 180.0;
+      }
     }
   } else if (prim.IsA<pxr::UsdPhysicsPrismaticJoint>()) {
     pxr::UsdPhysicsPrismaticJoint prismatic(prim);