Add mj_loadUSD function. Change simulate to use that instead of manual spec compilation.

PiperOrigin-RevId: 780608874 Change-Id: I333238c756fe76b371518a7cdf9452b93da3540a
2025-07-08 10:03:02 -07:00
parent e507e31922
commit 14972d2490
8 changed files with 121 additions and 48 deletions
@@ -177,7 +177,6 @@ if(SIMULATE_BUILD_EXECUTABLE)
  if (MUJOCO_WITH_USD)
    target_link_libraries(
      simulate
-      mujoco::usd
      mujoco::usd::mjcf
    )
  endif()
@@ -249,7 +248,7 @@ if(SIMULATE_BUILD_EXECUTABLE)
    )

    if (MUJOCO_WITH_USD)
-      target_compile_definitions(simulate PUBLIC SIMULATE_WITH_USD)
+      target_compile_definitions(simulate PUBLIC mjUSEUSD)

      # Add support to RPATH for the samples.
      target_add_rpath(