Fix authoring type mismatch for geoms sizes attributes.

Fixes wrong sizes being displayed in usdview.
Also introduce a new test to ensure we catch as many of those kinds of errors as possible in the future.

PiperOrigin-RevId: 764388588
Change-Id: Id3c878edd054fe5272c42c9f960c65c850655559

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

@@ -37,9 +37,11 @@
 #include <pxr/usd/sdf/declareHandles.h>
 #include <pxr/usd/sdf/fileFormat.h>
 #include <pxr/usd/sdf/path.h>
+#include <pxr/usd/sdf/schema.h>
 #include <pxr/usd/usd/common.h>
 #include <pxr/usd/usd/modelAPI.h>
 #include <pxr/usd/usd/prim.h>
+#include <pxr/usd/usd/primRange.h>  // IWYU pragma: keep, used for TraverseAll
 #include <pxr/usd/usd/stage.h>
 #include <pxr/usd/usdGeom/capsule.h>
 #include <pxr/usd/usdGeom/cube.h>
@@ -450,6 +452,30 @@ TEST_F(MjcfSdfFileFormatPluginTest, TestKindAuthoring) {
                    pxr::KindTokens->subcomponent);
 }
 
+TEST_F(MjcfSdfFileFormatPluginTest, TestAttributesMatchSchemaTypes) {
+  // TODO(robinalazard): Make the scene much more comprehensive. We ideally want
+  // to test all the prims that the plugin can generate.
+  static constexpr char kXml[] = R"(
+    <mujoco model="test">
+      <worldbody>
+        <geom type="plane" name="plane_geom" size="10 20 0.1"/>
+        <geom type="box" name="box_geom" size="10 20 30"/>
+        <geom type="sphere" name="sphere_geom" size="10 20 30"/>
+        <geom type="capsule" name="capsule_geom" size="10 20 30"/>
+        <geom type="cylinder" name="cylinder_geom" size="10 20 30"/>
+        <geom type="ellipsoid" name="ellipsoid_geom" size="10 20 30"/>
+      </worldbody>
+    </mujoco>
+  )";
+
+  pxr::SdfLayerRefPtr layer = LoadLayer(kXml);
+  auto stage = pxr::UsdStage::Open(layer);
+
+  for (const auto& prim : stage->TraverseAll()) {
+    ExpectAllAuthoredAttributesMatchSchemaTypes(prim);
+  }
+}
+
 TEST_F(MjcfSdfFileFormatPluginTest, TestGeomsPrims) {
   static constexpr char kXml[] = R"(
     <mujoco model="test">

test/experimental/usd/test_utils.cc

@@ -18,10 +18,13 @@
 
 #include <gmock/gmock.h>
 #include <gtest/gtest.h>
+#include <pxr/base/tf/token.h>
 #include <pxr/usd/sdf/assetPath.h>
+#include <pxr/usd/sdf/childrenPolicies.h>
 #include <pxr/usd/sdf/declareHandles.h>
 #include <pxr/usd/sdf/fileFormat.h>
 #include <pxr/usd/sdf/path.h>
+#include <pxr/usd/sdf/schema.h>
 #include <pxr/usd/usd/common.h>
 #include <pxr/usd/usd/modelAPI.h>
 #include <pxr/usd/usd/stage.h>
@@ -71,5 +74,50 @@ void ExpectAttributeHasConnection(pxr::UsdStageRefPtr stage, const char* path,
   EXPECT_EQ(sources.size(), 1);
   EXPECT_EQ(sources[0], SdfPath(connection_path));
 }
+
+void ExpectAllAuthoredAttributesMatchSchemaTypes(const pxr::UsdPrim& prim) {
+  // Get all properties on the prim that have authored opinions.
+  for (const pxr::UsdProperty& prop : prim.GetAuthoredProperties()) {
+    // We only care about attributes, as they are the ones with a typeName.
+    if (pxr::UsdAttribute attr = prop.As<pxr::UsdAttribute>()) {
+      // 1. Get the official, composed schema type name for the attribute.
+      const pxr::TfToken schemaTypeName = attr.GetTypeName().GetAsToken();
+
+      // An empty schema type name means the attribute is not defined by
+      // a schema, or is of a dynamically-determined type. We can't
+      // check for a mismatch in this case.
+      if (schemaTypeName.IsEmpty()) {
+        continue;
+      }
+
+      // 2. Get the property stack to check for authored opinions.
+      // The stack is ordered from strongest to weakest.
+      const pxr::SdfPropertySpecHandleVector propStack =
+          attr.GetPropertyStack();
+
+      for (const pxr::SdfPropertySpecHandle& spec : propStack) {
+        // We only care about attribute specs.
+        if (auto attrSpec = TfDynamic_cast<pxr::SdfAttributeSpecHandle>(spec)) {
+          // 3. Check if this spec has an authored `typeName`.
+          if (attrSpec->HasField(pxr::SdfFieldKeys->TypeName)) {
+            const pxr::TfToken authoredTypeName =
+                attrSpec->GetTypeName().GetAsToken();
+
+            EXPECT_EQ(authoredTypeName, schemaTypeName)
+                << "Type mismatch for attribute <" << attr.GetPath()
+                << ">: expected schema-defined type '"
+                << schemaTypeName.GetString() << "', got authored type '"
+                << authoredTypeName.GetString() << "' in layer @"
+                << attrSpec->GetLayer()->GetIdentifier() << "@";
+
+            // We've found the strongest authored opinion for `typeName`,
+            // so we can stop checking the stack for this attribute.
+            break;
+          }
+        }
+      }
+    }
+  }
+}
 }  // namespace usd
 }  // namespace mujoco

test/experimental/usd/test_utils.h

@@ -103,6 +103,10 @@ void ExpectAttributeEqual<pxr::SdfAssetPath>(pxr::UsdStageRefPtr stage,
 
 void ExpectAttributeHasConnection(pxr::UsdStageRefPtr stage, const char* path,
                                   const char* connection_path);
+
+// Checks that all authored attributes on the given prim have types that match
+// the schema types.
+void ExpectAllAuthoredAttributesMatchSchemaTypes(const pxr::UsdPrim& prim);
 }  // namespace usd
 }  // namespace mujoco
 #endif  // MUJOCO_TEST_EXPERIMENTAL_USD_PLUGINS_MJCF_FIXTURE_H_