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havesscopybara-github
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Spurious formatting errors for gravity attr authoring in Mjcf SdfFileFormat plugin.
PiperOrigin-RevId: 781175798 Change-Id: Ic3b3a14280c051859db7c38af0e271a1878acdb8
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src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc

Lines changed: 7 additions & 4 deletions
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@@ -555,14 +555,17 @@ class ModelWriter {
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}
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pxr::GfVec3f gravity(spec_->option.gravity[0], spec_->option.gravity[1],
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spec_->option.gravity[2]);
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// Normalize will normalize gravity in place and return the magnitude before normalization.
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spec_->option.gravity[2]);
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// Normalize will normalize gravity in place and return the magnitude before
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// normalization.
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float gravity_magnitude = gravity.Normalize();
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WriteUniformAttribute(physics_scene_path, pxr::SdfValueTypeNames->Float,
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pxr::UsdPhysicsTokens->physicsGravityMagnitude, gravity_magnitude);
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pxr::UsdPhysicsTokens->physicsGravityMagnitude,
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gravity_magnitude);
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WriteUniformAttribute(physics_scene_path, pxr::SdfValueTypeNames->Vector3f,
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pxr::UsdPhysicsTokens->physicsGravityDirection, gravity);
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pxr::UsdPhysicsTokens->physicsGravityDirection,
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gravity);
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pxr::GfVec3d wind(spec_->option.wind[0], spec_->option.wind[1],
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spec_->option.wind[2]);

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