Canonical USD example for MuJoCo Physics. This contains three items:

floor - a static floor centered at origin of sides 100m x 100m

two_cubes - a standard example where 2 cubes have a hinge joint between them.

two_cubes_scene - a scene made up of the floor at (0, 0, 0) and two_cubes at (0, 0, 30).

PiperOrigin-RevId: 607809323
Change-Id: I9931d89441653ce7aaf5145ee42c71c0c8f9ffcb

test/usd/testdata/floor/Floor.usda

@@ -0,0 +1,19 @@
+#usda 1.0
+(
+  defaultPrim = "root"
+  upAxis = "Z"
+)
+
+def Xform "root" () {
+  def "floor_geo" (
+    prepend references = [@./Floor_geo.usda@]
+  )
+  {
+
+  }
+  def "floor_collision" (
+    prepend references = [@./Floor_physics.usda@]
+  )
+  {
+  }
+}

test/usd/testdata/floor/Floor_geo.usda

@@ -0,0 +1,16 @@
+#usda 1.0
+(
+    defaultPrim = "root"
+    metersPerUnit = 1.0
+    upAxis = "Z"
+)
+
+def Cube "root" ()
+{
+  color3f[] primvars:displayColor = [(0.5, 0.5, 0.5)]
+  double size = 100
+  quatf xformOp:orient = (1, 0, 0, 0)
+  float3 xformOp:scale = (1, 1, 0.01)
+  double3 xformOp:translate = (0, 0, -0.5)
+  uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+}

test/usd/testdata/floor/Floor_physics.usda

@@ -0,0 +1,20 @@
+#usda 1.0
+(
+    defaultPrim = "root"
+    metersPerUnit = 1.0
+    upAxis = "Z"
+)
+
+def Cube "root" (
+    prepend apiSchemas = ["PhysicsCollisionAPI"]
+)
+{
+    double size = 100
+    bool physics:collisionEnabled = 1
+    double size = 1.0
+    quatf xformOp:orient = (1, 0, 0, 0)
+    float3 xformOp:scale = (1, 1, 0.01)
+    double3 xformOp:translate = (0, 0, -0.5)
+    uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+    token visibility = "invisible"
+}