Add initial documentation for experimental OpenUSD support in MuJoCo.

PiperOrigin-RevId: 789365870 Change-Id: I19cce03ec2ffc28cdf4252bfd02c8b5163bb5ba2
2025-07-31 09:29:38 -07:00
parent 32c7d3f085
commit 700da7c5bd
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+Importing
+=========
+
+.. WARNING:: OpenUSD support is currently experimental and subject to frequent change.
+
+MuJoCo can load assets from OpenUSD files (``.usd``, ``.usda``, ``.usdc``, ``.usdz``). This allows you to incorporate
+assets and scenes defined in USD into your MuJoCo simulations.
+
+USD in MJCF
+-----------------------------
+
+If you have built mujoco with USD enabled, you can reference USD assets from MJCF via the ``<model`` tag with content
+type ``text/usd``.
+
+.. code-block:: xml
+    :caption: example.xml
+
+    <mujoco>
+      <asset>
+        <model file="chair.usdz" name="chair" content_type="text/usd"/>
+      </asset>
+
+      <worldbody>
+        ...
+      </worldbody>
+    </mujoco>
+
+In this example the ``<model file="chair.usdz"/>`` line in ``<asset>`` tells MuJoCo to load and process the USD file.
+