Fix wrong extent authoring for Cube.

PiperOrigin-RevId: 779230125
Change-Id: I96c3d5daa7a760cd87a714a14ea74a15faf3d7db

src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc

@@ -337,8 +337,8 @@ class ModelWriter {
   }
 
   void WriteMesh(const mjsMesh *mesh, const pxr::SdfPath &parent_path) {
-    auto name = GetAvailablePrimName(*mjs_getName(mesh->element), pxr::UsdGeomTokens->Mesh,
+    auto name = GetAvailablePrimName(*mjs_getName(mesh->element),
-                                     parent_path);
+                                     pxr::UsdGeomTokens->Mesh, parent_path);
     pxr::SdfPath subcomponent_path =
         CreatePrimSpec(data_, parent_path, name, pxr::UsdGeomTokens->Xform);
     pxr::SdfPath mesh_path =
@@ -967,44 +967,50 @@ class ModelWriter {
       pxr::SdfPath qpos_attr_path =
           CreateAttributeSpec(data_, keyframe_path, MjcPhysicsTokens->mjcQpos,
                               pxr::SdfValueTypeNames->DoubleArray);
-      set_attribute_data(qpos_attr_path,
+      set_attribute_data(
-                         pxr::VtDoubleArray(keyframe->qpos->begin(),
+          qpos_attr_path,
-                                            keyframe->qpos->end()), keyframe);
+          pxr::VtDoubleArray(keyframe->qpos->begin(), keyframe->qpos->end()),
+          keyframe);
 
       pxr::SdfPath qvel_attr_path =
           CreateAttributeSpec(data_, keyframe_path, MjcPhysicsTokens->mjcQvel,
                               pxr::SdfValueTypeNames->DoubleArray);
-      set_attribute_data(qvel_attr_path,
+      set_attribute_data(
-                         pxr::VtDoubleArray(keyframe->qvel->begin(),
+          qvel_attr_path,
-                                            keyframe->qvel->end()), keyframe);
+          pxr::VtDoubleArray(keyframe->qvel->begin(), keyframe->qvel->end()),
+          keyframe);
 
       pxr::SdfPath act_attr_path =
           CreateAttributeSpec(data_, keyframe_path, MjcPhysicsTokens->mjcAct,
                               pxr::SdfValueTypeNames->DoubleArray);
-      set_attribute_data(act_attr_path,
+      set_attribute_data(
-                         pxr::VtDoubleArray(keyframe->act->begin(),
+          act_attr_path,
-                                            keyframe->act->end()), keyframe);
+          pxr::VtDoubleArray(keyframe->act->begin(), keyframe->act->end()),
+          keyframe);
 
       pxr::SdfPath ctrl_attr_path =
           CreateAttributeSpec(data_, keyframe_path, MjcPhysicsTokens->mjcCtrl,
                               pxr::SdfValueTypeNames->DoubleArray);
-      set_attribute_data(ctrl_attr_path,
+      set_attribute_data(
-                         pxr::VtDoubleArray(keyframe->ctrl->begin(),
+          ctrl_attr_path,
-                                            keyframe->ctrl->end()), keyframe);
+          pxr::VtDoubleArray(keyframe->ctrl->begin(), keyframe->ctrl->end()),
+          keyframe);
 
       pxr::SdfPath mpos_attr_path =
           CreateAttributeSpec(data_, keyframe_path, MjcPhysicsTokens->mjcMpos,
                               pxr::SdfValueTypeNames->DoubleArray);
-      set_attribute_data(mpos_attr_path,
+      set_attribute_data(
-                         pxr::VtDoubleArray(keyframe->mpos->begin(),
+          mpos_attr_path,
-                                            keyframe->mpos->end()), keyframe);
+          pxr::VtDoubleArray(keyframe->mpos->begin(), keyframe->mpos->end()),
+          keyframe);
 
       pxr::SdfPath mquat_attr_path =
           CreateAttributeSpec(data_, keyframe_path, MjcPhysicsTokens->mjcMquat,
                               pxr::SdfValueTypeNames->DoubleArray);
-      set_attribute_data(mquat_attr_path,
+      set_attribute_data(
-                         pxr::VtDoubleArray(keyframe->mquat->begin(),
+          mquat_attr_path,
-                                            keyframe->mquat->end()), keyframe);
+          pxr::VtDoubleArray(keyframe->mquat->begin(), keyframe->mquat->end()),
+          keyframe);
     }
   }
 
@@ -1235,23 +1241,22 @@ class ModelWriter {
                         const pxr::SdfPath &body_path) {
     pxr::SdfPath box_path =
         CreatePrimSpec(data_, body_path, name, pxr::UsdGeomTokens->Cube);
-    // MuJoCo uses half sizes.
+    // MuJoCo uses half sizes. Always set size to 2 (and correspondingly extent
+    // from -1 to 1), and let scale determine the actual size.
     pxr::SdfPath size_attr_path =
         CreateAttributeSpec(data_, box_path, pxr::UsdGeomTokens->size,
                             pxr::SdfValueTypeNames->Double);
-    pxr::GfVec3f scale(static_cast<float>(size[0]), static_cast<float>(size[1]),
-                       static_cast<float>(size[2]));
     SetAttributeDefault(data_, size_attr_path, 2.0);
 
     pxr::SdfPath extent_attr_path =
         CreateAttributeSpec(data_, box_path, pxr::UsdGeomTokens->extent,
                             pxr::SdfValueTypeNames->Float3Array);
     SetAttributeDefault(data_, extent_attr_path,
-                        pxr::VtArray<pxr::GfVec3f>({
+                        pxr::VtArray<pxr::GfVec3f>(
-                            pxr::GfVec3f(-size[0], -size[1], -size[2]),
+                            {pxr::GfVec3f(-1, -1, -1), pxr::GfVec3f(1, 1, 1)}));
-                            pxr::GfVec3f(size[0], size[1], size[2]),
-                        }));
 
+    pxr::GfVec3f scale(static_cast<float>(size[0]), static_cast<float>(size[1]),
+                       static_cast<float>(size[2]));
     WriteScaleXformOp(box_path, scale);
     WriteXformOpOrder(box_path,
                       pxr::VtArray<pxr::TfToken>{kTokens->xformOpScale});

test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc

@@ -619,8 +619,10 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestGeomsPrims) {
   EXPECT_PRIM_VALID(stage, "/test/box_geom");
   EXPECT_PRIM_IS_A(stage, "/test/box_geom", pxr::UsdGeomCube);
   // Box is a special case, it uses a UsdGeomCube and scales it with
-  // xformOp:scale. The radius is always set to 2.
+  // xformOp:scale. The radius is always set to 2 and the extent from -1 to 1.
   ExpectAttributeEqual(stage, "/test/box_geom.size", 2.0);
+  ExpectAttributeEqual(stage, "/test/box_geom.extent",
+                       pxr::VtArray<pxr::GfVec3f>({{-1, -1, -1}, {1, 1, 1}}));
   ExpectAttributeEqual(stage, "/test/box_geom.xformOp:scale",
                        pxr::GfVec3f(10.0, 20.0, 30.0));
   // Sphere