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Add maxhullvert attribute to mjcPhysics MeshCollisionAPI.

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PiperOrigin-RevId: 781482346
Change-Id: I0d53f9ad99ac842629243b0375907b2f91bd3b61
This commit is contained in:
Sam Haves
2025-07-10 04:58:20 -07:00
committed by Copybara-Service
parent 243c011ea0
commit e7212d86bc
9 changed files with 69 additions and 1 deletions
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test/experimental/usd/plugins/mjcf/mjcf_file_format_test.cc
+4
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@@ -1440,6 +1440,7 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsMeshCollisionAPI) {
<mesh name="tet_exact" inertia="exact" vertex="0 0 0 1 0 0 0 1 0 0 0 1"/>
<mesh name="tet_convex" inertia="convex" vertex="0 0 0 1 0 0 0 1 0 0 0 1"/>
<mesh name="tet_shell" inertia="shell" vertex="0 0 0 1 0 0 0 1 0 0 0 1"/>
<mesh name="tet_max_vert" inertia="shell" maxhullvert="12" vertex="0 0 0 1 0 0 0 1 0 0 0 1"/>
</asset>
<worldbody>
<body name="body">
@@ -1447,6 +1448,7 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsMeshCollisionAPI) {
<geom name="tet_exact" type="mesh" mesh="tet_exact"/>
<geom name="tet_convex" type="mesh" mesh="tet_convex"/>
<geom name="tet_shell" type="mesh" mesh="tet_shell"/>
<geom name="tet_max_vert" type="mesh" mesh="tet_max_vert"/>
</body>
</worldbody>
</mujoco>
@@ -1461,6 +1463,8 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestMjcPhysicsMeshCollisionAPI) {
MjcPhysicsTokens->convex);
ExpectAttributeEqual(stage, "/test/body/tet_shell/Mesh.mjc:inertia",
MjcPhysicsTokens->shell);
ExpectAttributeEqual(stage, "/test/body/tet_max_vert/Mesh.mjc:maxhullvert",
12);
}
TEST_F(MjcfSdfFileFormatPluginTest, TestMassAPIApplied) {