Add maxhullvert attribute to mjcPhysics MeshCollisionAPI.

PiperOrigin-RevId: 781482346
Change-Id: I0d53f9ad99ac842629243b0375907b2f91bd3b61

src/experimental/usd/mjcPhysics/generatedSchema.usda

@@ -245,6 +245,10 @@ class "MjcMeshCollisionAPI" (
         displayName = "Inertia"
         doc = "Controls how a mesh is used when mass and inertia are inferred from geometry."
     )
+    uniform int mjc:maxhullvert = -1 (
+        displayName = "Maximum Hull Vertices"
+        doc = "Sets an upper limit on the number of vertices in the meshes convex hull. The default value of -1 means unlimited."
+    )
 }
 
 class "MjcActuatorAPI" (

src/experimental/usd/mjcPhysics/meshCollisionAPI.cpp

@@ -88,6 +88,17 @@ UsdAttribute MjcPhysicsMeshCollisionAPI::CreateInertiaAttr(
       /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
 }
 
+UsdAttribute MjcPhysicsMeshCollisionAPI::GetMaxHullVertAttr() const {
+  return GetPrim().GetAttribute(MjcPhysicsTokens->mjcMaxhullvert);
+}
+
+UsdAttribute MjcPhysicsMeshCollisionAPI::CreateMaxHullVertAttr(
+    VtValue const &defaultValue, bool writeSparsely) const {
+  return UsdSchemaBase::_CreateAttr(
+      MjcPhysicsTokens->mjcMaxhullvert, SdfValueTypeNames->Int,
+      /* custom = */ false, SdfVariabilityUniform, defaultValue, writeSparsely);
+}
+
 namespace {
 static inline TfTokenVector _ConcatenateAttributeNames(
     const TfTokenVector &left, const TfTokenVector &right) {
@@ -104,6 +115,7 @@ const TfTokenVector &MjcPhysicsMeshCollisionAPI::GetSchemaAttributeNames(
     bool includeInherited) {
   static TfTokenVector localNames = {
       MjcPhysicsTokens->mjcInertia,
+      MjcPhysicsTokens->mjcMaxhullvert,
   };
   static TfTokenVector allNames = _ConcatenateAttributeNames(
       UsdAPISchemaBase::GetSchemaAttributeNames(true), localNames);

src/experimental/usd/mjcPhysics/schema.usda

@@ -559,6 +559,14 @@ class "MjcMeshCollisionAPI"
         displayName = "Inertia"
         doc = """Controls how a mesh is used when mass and inertia are inferred from geometry."""
     )
+
+    uniform int mjc:maxhullvert = -1 (
+        customData = {
+            string apiName = "MaxHullVert"
+        }
+        displayName = "Maximum Hull Vertices"
+        doc = """Sets an upper limit on the number of vertices in the meshes convex hull. The default value of -1 means unlimited."""
+    )
 }
 
 class "MjcActuatorAPI"

src/experimental/usd/mjcPhysics/tokens.cpp

@@ -89,6 +89,7 @@ MjcPhysicsTokensType::MjcPhysicsTokensType()
       mjcLengthRangeMax("mjc:lengthRange:max", TfToken::Immortal),
       mjcLengthRangeMin("mjc:lengthRange:min", TfToken::Immortal),
       mjcMargin("mjc:margin", TfToken::Immortal),
+      mjcMaxhullvert("mjc:maxhullvert", TfToken::Immortal),
       mjcMpos("mjc:mpos", TfToken::Immortal),
       mjcMquat("mjc:mquat", TfToken::Immortal),
       mjcOptionActuatorgroupdisable("mjc:option:actuatorgroupdisable",
@@ -222,6 +223,7 @@ MjcPhysicsTokensType::MjcPhysicsTokensType()
                  mjcLengthRangeMax,
                  mjcLengthRangeMin,
                  mjcMargin,
+                 mjcMaxhullvert,
                  mjcMpos,
                  mjcMquat,
                  mjcOptionActuatorgroupdisable,

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

@@ -360,6 +360,10 @@ class ModelWriter {
 
       WriteUniformAttribute(mesh_path, pxr::SdfValueTypeNames->Token,
                             MjcPhysicsTokens->mjcInertia, inertia);
+
+      WriteUniformAttribute(mesh_path, pxr::SdfValueTypeNames->Int,
+                            MjcPhysicsTokens->mjcMaxhullvert,
+                            mesh->maxhullvert);
     }
 
     // NOTE: The geometry data taken from the spec is the post-compilation

src/experimental/usd/usd_to_mjspec.cc

@@ -546,6 +546,11 @@ void ParseMjcPhysicsMeshCollisionAPI(
       mesh->inertia = mjtMeshInertia::mjMESH_INERTIA_LEGACY;
     }
   }
+
+  auto maxhullvert_attr = mesh_collision_api.GetMaxHullVertAttr();
+  if (maxhullvert_attr.HasAuthoredValue()) {
+    maxhullvert_attr.Get(&mesh->maxhullvert);
+  }
 }
 
 void ParseMjcPhysicsGeneralActuatorAPI(mjSpec* spec,