From 18e60369f3eae336ca7a2c45a57a81b4ee9ce313 Mon Sep 17 00:00:00 2001
From: Sam Haves <shaves@google.com>
Date: Wed, 22 Oct 2025 17:55:35 -0700
Subject: [PATCH] If building simulate with USD support remove the
 no-deprecated warning due to deprecated header usage in USD.

PiperOrigin-RevId: 822807399
Change-Id: I2765f4a7260b5ac8b3ef5894c1c5ce7a3a745baf
---
 simulate/CMakeLists.txt | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/simulate/CMakeLists.txt b/simulate/CMakeLists.txt
index 97b10f3b..48be3d09 100644
--- a/simulate/CMakeLists.txt
+++ b/simulate/CMakeLists.txt
@@ -186,6 +186,13 @@ if(SIMULATE_BUILD_EXECUTABLE)
   endif()
 
   if (MUJOCO_WITH_USD)
+    # pxr/usd/tf/hashset.h might include deprecated headers so disable this check
+    # when compiling with USD enabled.
+    target_compile_options(
+         simulate
+         PRIVATE -Wno-deprecated
+    )
+
     target_link_libraries(
       simulate
       mujoco::usd::mjcf