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/two_cubes/FirstCube.usda

@@ -0,0 +1,27 @@
+#usda 1.0
+(
+    defaultPrim = "root"
+    upAxis = "Z"
+)
+
+def Xform "root"(
+    assetInfo = {
+        asset identifier = @./FirstCube.usda@
+        string name = "FirstCube"
+    }
+    kind = "component"
+    prepend apiSchemas = ["PhysicsRigidBodyAPI"]
+)
+{
+    def "FirstCube_geometry" (
+        prepend references = [@./FirstCube_geo.usda@]
+    )
+    {
+    }
+    def "FirstCube_collision" (
+        prepend references = [@./FirstCube_physics.usda@]
+    )
+    {
+    }
+}
+