This way we fix a previously uncaught casting error due to using different types.
PiperOrigin-RevId: 765177079
Change-Id: I4f817f12c92fe578b25e8c53a94b3c91e22a3db0
This way we don't have to worry about passing the write_physics param everywhere.
PiperOrigin-RevId: 764394280
Change-Id: I2c879ae57bdc30f50189960864097c932f967330
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
Still missing compiler settings but will follow up in a future CL. Tried to add full coverage for testing setting of attributes to non-default values.
PiperOrigin-RevId: 761636862
Change-Id: Id4b9486645b2600931556cdcb8dc71f28ec309cd
This adds an option MUJOCO_BUILD_USD_PLUGINS to the top level CMakeLists which allows us to build the usdMjcf file format plugin with the rest of mujoco.
In this first version, we allow building against either standalone USD or against Houdini (DCC) since it has it's own fork of USD. When building against standalone USD we also build the file format tests.
PiperOrigin-RevId: 753969974
Change-Id: If691eecbddf45d18b7c4ff76f7650999d42e99c5
Because we introduce an additional parent scope when referencing a `Mesh` prim (required for instancing), we need to create an `over` prim that allows to actually operate on the to-be-referenced Mesh.
PiperOrigin-RevId: 753941355
Change-Id: I829be9e82fe650802afcbc46f4b2f4c81eb53bd1
Adds primvar:displayColor/primvar:displayOpacity to the geom prim if its rgba attribute differs from the default (0.5, 0.5, 0.5, 1.0). This sets the color and opacity directly on the prim with no need for an external material, making it consistent with how rgba is used in mujoco.
PiperOrigin-RevId: 751013128
Change-Id: I059943ec5b266e62c3696d9a0ac4f2033db9e07f
The SDF_FORMAT_ARGS `usdMjcfToggleUsdPhysics` is introduced to toggle writing UsdPhysics or not when converting. Off by default
PiperOrigin-RevId: 746467942
Change-Id: I26cb9a4c4ae2eef96163dab967a74f14940a2a6d
We will still need to tag these with a custom API schema to ease round-tripping but that will follow creation of such a schema.
PiperOrigin-RevId: 746421793
Change-Id: I2df2209b4bc90d763718fb4bea8158b8598755c6
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