Add separate build step for OpenUSD to third_party_deps.

This will fetch and call the build_usd.py build helper for OpenUSD and build within the MuJoCo _deps folder. Simplifying the build process for MuJoCo with USD. Users can still provide their own USD build, but must now do so via pxr_DIR. PiperOrigin-RevId: 846735578 Change-Id: I0da7eb2da6465e2d518084340e762bf370adb6d5
2025-12-19 07:59:17 -08:00
parent 76e0a78b32
commit 9e150fe82c
6 changed files with 178 additions and 109 deletions
@@ -0,0 +1,38 @@
+# Copyright 2025 DeepMind Technologies Limited
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     https://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+# Find OpenUSD package. The user can either provide pxr_DIR to use their own
+# OpenUSD installation or they can build external_dependencies.
+#
+# We use QUIET here to provide a better error message when pxr is not found.
+find_package(pxr
+  QUIET
+  HINTS "${CMAKE_BINARY_DIR}/_deps/openusd-build"
+)
+
+if(NOT pxr_FOUND)
+    message(FATAL_ERROR
+        "-----------------------------------------------------------\n"
+        "USD Configuration Error:\n${pxr_NOT_FOUND_MESSAGE}\n"
+        "If you have built USD yourself, provide -Dpxr_DIR=your_pxr_install_dir' \n"
+        "Otherwise you can build cmake/third_party_deps/openusd:\n"
+        "cd ~/mujoco\n"
+        "cmake -Bcmake/third_party_deps/openusd/build cmake/third_party_deps/openusd -DBUILD_USD=True\n"
+        "cmake --build cmake/third_party_deps/openusd/build\n"
+        "cmake -Bbuild -S. -DMUJOCO_WITH_USD=True\n"
+        "cmake --build build\n"
+        "cmake --install build"
+        "-----------------------------------------------------------"
+    )
+endif()
@@ -0,0 +1,54 @@
+# Copyright 2025 DeepMind Technologies Limited
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     https://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+cmake_minimum_required(VERSION "3.16")
+
+option(BUILD_USD OFF "Build OpenUSD")
+project(openusd-dependency)
+
+if (BUILD_USD)
+  include(ExternalProject)
+
+  set(DEPS_DIR ${CMAKE_BINARY_DIR}/../../../../build/_deps)
+
+  ExternalProject_Add(openusd
+    GIT_REPOSITORY https://github.com/PixarAnimationStudios/USD.git
+    GIT_TAG v25.11
+    PREFIX openusd
+    BUILD_IN_SOURCE 0
+    UPDATE_COMMAND ""
+    CONFIGURE_COMMAND ""
+    INSTALL_COMMAND ""
+    SOURCE_DIR ${DEPS_DIR}/openusd-src
+    BINARY_DIR ${DEPS_DIR}/openusd-build
+    INSTALL_DIR ${DEPS_DIR}/openusd-build
+    BUILD_COMMAND python3 ${DEPS_DIR}/openusd-src/build_scripts/build_usd.py
+        --build-shared
+        --no-examples
+        --no-tools
+        --no-ptex
+        --no-prman
+        --no-openimageio
+        --no-opencolorio
+        --no-alembic
+        --no-draco
+        --no-materialx
+        --no-tutorials
+        --no-tests
+        --no-docs
+        --no-imaging
+        --no-python
+        --no-usdValidation
+        <INSTALL_DIR>
+  )
+endif()