From c597434fc9a9e9b4e0f5a8680388e37ff3f71d40 Mon Sep 17 00:00:00 2001
From: Sam Haves <shaves@google.com>
Date: Thu, 17 Jul 2025 09:58:49 -0700
Subject: [PATCH] When UsdCollisionAPI is applied but collisionEnabled is
 false, treat it as a visual gprim.

PiperOrigin-RevId: 784219782
Change-Id: If87e1cd7e1cc10b27a3d432585466e3aece71d26
---
 src/experimental/usd/kinematic_tree.cc | 18 ++++++++++++++----
 1 file changed, 14 insertions(+), 4 deletions(-)

diff --git a/src/experimental/usd/kinematic_tree.cc b/src/experimental/usd/kinematic_tree.cc
index 73982586..d417e530 100644
--- a/src/experimental/usd/kinematic_tree.cc
+++ b/src/experimental/usd/kinematic_tree.cc
@@ -135,10 +135,20 @@ ExtractedPrims ExtractPrims(pxr::UsdStageRefPtr stage) {
       root->physics_scene = prim_path;
     }
 
-    if (prim.HasAPI<pxr::UsdPhysicsCollisionAPI>()) {
-      current_node->colliders.push_back(prim_path);
-    } else if (prim.IsA<pxr::UsdGeomGprim>()) {
-      current_node->visual_gprims.push_back(prim_path);
+    if (prim.IsA<pxr::UsdGeomGprim>()) {
+      bool has_collision_api = prim.HasAPI<pxr::UsdPhysicsCollisionAPI>();
+      if (has_collision_api) {
+        bool collision_enabled = false;
+        pxr::UsdPhysicsCollisionAPI(prim).GetCollisionEnabledAttr().Get(
+            &collision_enabled);
+        if (collision_enabled) {
+          current_node->colliders.push_back(prim_path);
+        } else {
+          current_node->visual_gprims.push_back(prim_path);
+        }
+      } else {
+        current_node->visual_gprims.push_back(prim_path);
+      }
     }
 
     if (prim.HasAPI<pxr::MjcPhysicsSiteAPI>()) {