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Add inheritrange attribute to mjcPhysics MjcActuator

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PiperOrigin-RevId: 783363012
Change-Id: I7d0476aae70c3acc3ed4808a8741b7eb12948dba
This commit is contained in:
Sam Haves
2025-07-15 09:29:28 -07:00
committed by Copybara-Service
parent 5e666635f6
commit cdf5bcb693
9 changed files with 98 additions and 1 deletions
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test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
+29
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@@ -1675,6 +1675,35 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsActuator) {
pxr::VtDoubleArray{{0, 1, 2, 3, 4, 5, 6, 7, 8, 9}});
}
TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsPositionActuator) {
static constexpr char xml[] = R"(
<mujoco model="test">
<worldbody>
<body name="body">
<geom name="box" type="box" size=".05 .05 .05" density="1234"/>
<joint name="hinge" range="12 34"/>
</body>
</worldbody>
<actuator>
<position
name="position"
joint="hinge"
inheritrange="1"
/>
</actuator>
</mujoco>
)";
auto stage = OpenStageWithPhysics(xml);
EXPECT_PRIM_VALID(stage, "/test/Actuators/position");
EXPECT_PRIM_IS_A(stage, "/test/Actuators/position",
pxr::MjcPhysicsActuator);
EXPECT_REL_HAS_TARGET(stage, "/test/Actuators/position.mjc:target",
"/test/body/hinge");
ExpectAttributeEqual(stage, "/test/Actuators/position.mjc:inheritRange",
1.0);
}
TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsJointActuator) {
static constexpr char xml[] = R"(
<mujoco model="test">