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Add missing attributes to MjcCollisionAPI USD schema.

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PiperOrigin-RevId: 783006362
Change-Id: I02d51190d62bb9460863025cd16360427afc70c4
This commit is contained in:
Sam Haves
2025-07-14 12:44:54 -07:00
committed by Copybara-Service
parent ef013a0633
commit e441868dad
9 changed files with 502 additions and 18 deletions
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test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
+24 -1
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@@ -1463,13 +1463,36 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsCollisionAPI) {
<mujoco model="test">
<worldbody>
<body name="body">
<geom name="box" type="box" size=".05 .05 .05" mass="0.1" shellinertia="true"/>
<geom
name="box"
type="box"
size=".05 .05 .05"
mass="0.1"
group="4"
priority="2"
condim="4"
solmix="0.5"
solref="0.1 0.2"
solimp="0.3 0.4 0.5 0.6 0.7"
margin="0.8"
gap="0.9"
shellinertia="true"/>
</body>
</worldbody>
</mujoco>
)";
auto stage = OpenStageWithPhysics(xml);
ExpectAttributeEqual(stage, "/test/body/box.mjc:group", 4);
ExpectAttributeEqual(stage, "/test/body/box.mjc:priority", 2);
ExpectAttributeEqual(stage, "/test/body/box.mjc:condim", 4);
ExpectAttributeEqual(stage, "/test/body/box.mjc:solmix", 0.5);
ExpectAttributeEqual(stage, "/test/body/box.mjc:solref",
pxr::VtArray<double>({0.1, 0.2}));
ExpectAttributeEqual(stage, "/test/body/box.mjc:solimp",
pxr::VtArray<double>({0.3, 0.4, 0.5, 0.6, 0.7}));
ExpectAttributeEqual(stage, "/test/body/box.mjc:margin", 0.8);
ExpectAttributeEqual(stage, "/test/body/box.mjc:gap", 0.9);
ExpectAttributeEqual(stage, "/test/body/box.mjc:shellinertia", true);
}