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/TwoCubes.usda

@@ -0,0 +1,40 @@
+#usda 1.0
+# Two Cubes linked together with a single hinge joint at the top of the two
+# cubes.
+# USD Quaternions are WXYZ
+# X=Right, Y=Forward, Z=Up
+(
+    defaultPrim = "root"
+    upAxis = "Z"
+    metersPerUnit = 1.0
+    kilogramsPerUnit = 1.0
+    subLayers = [
+        @./TwoCubes_physics.usda@,
+    ]
+)
+
+def Xform "root"(
+    assetInfo = {
+        asset identifier = @./TwoCubes.usda@
+        string name = "TwoCubes"
+    }
+    kind = "component"
+)
+{
+    def "first_cube" (
+        prepend references = [@./FirstCube.usda@]
+    )
+    {
+    }
+
+    def "second_cube" (
+        prepend references = [@./SecondCube.usda@]
+    )
+    {
+        quatf xformOp:orient = (1, 0, 0, 0)
+        float3 xformOp:scale = (1.0, 1.0, 1.0)
+        double3 xformOp:translate = (1.0, 0, 0)
+        uniform token[] xformOpOrder = ["xformOp:translate", "xformOp:orient", "xformOp:scale"]
+    }
+}
+