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
This commit is contained in:
Sam Haves
committed by
Copybara-Service
Copybara-Service
parent
76e0a78b32
commit
9e150fe82c
@@ -18,7 +18,7 @@ set(MJCF_PLUGIN_TARGET_NAME usdMjcf)
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set(MJC_PHYSICS_PLUGIN_TARGET_NAME mjcPhysics)
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# Installation directory for USD plugins
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set(MJ_USD_INSTALL_DIR_LIB ${CMAKE_INSTALL_LIBDIR}/mujocoUsd)
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set(MJ_USD_INSTALL_DIR_LIB ${CMAKE_INSTALL_LIBDIR}/mujoco-usd-resources)
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# Common OpenUSD libraries
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set(OPENUSD_CORE_LIBS
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@@ -41,7 +41,7 @@ function(configure_and_install_usd_plugin_info plugin_name source_subpath instal
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endif()
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set(PLUG_INFO_LIBRARY_PATH "../../${LIB_PREFIX}${plugin_name}${CMAKE_SHARED_LIBRARY_SUFFIX}")
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set(OUTPUT_DIR "${CMAKE_BINARY_DIR}/${install_base_dir}/resources/${plugin_name}")
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set(OUTPUT_DIR "${CMAKE_BINARY_DIR}/${install_base_dir}/${plugin_name}")
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set(OUTPUT_FILE "${OUTPUT_DIR}/plugInfo.json")
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# Create the output directory if it doesn't exist
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@@ -55,7 +55,7 @@ function(configure_and_install_usd_plugin_info plugin_name source_subpath instal
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)
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install(FILES "${OUTPUT_FILE}"
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DESTINATION "${install_base_dir}/resources/${plugin_name}"
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DESTINATION "${install_base_dir}/${plugin_name}"
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)
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endfunction()
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@@ -82,6 +82,7 @@ function(configure_houdini_target target_name link_scope include_scope)
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${PXR_LIB_PREFIX}usdShade
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${PXR_LIB_PREFIX}usdLux
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${PXR_LIB_PREFIX}usdGeom
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${PXR_LIB_PREFIX}usdImaging
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${PXR_LIB_PREFIX}usdPhysics
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tbb
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hboost_${USD_MJCF_PYTHON_LIB_NUMBER}
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@@ -101,56 +102,9 @@ function(configure_houdini_target target_name link_scope include_scope)
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endfunction()
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## usdMjcf
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set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
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# The list of RPATHs:
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# 1. $ORIGIN: For libmjcPhysics.so (since it's in the same install dir)
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# 2. Path to OpenUSD libraries: Typically ${USD_DIR}/lib
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# 3. Path to MuJoCo library: Assuming it's in ${MUJOCO_INSTALL_DIR}/lib
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if(APPLE)
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set(RPATH_LIST "@loader_path")
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# Add OpenUSD lib to RPATH for macOS
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if(DEFINED USD_DIR AND EXISTS "${USD_DIR}/lib")
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list(APPEND RPATH_LIST "${USD_DIR}/lib")
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endif()
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# Add MuJoCo lib to RPATH for macOS
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if(DEFINED MUJOCO_INSTALL_DIR AND EXISTS "${MUJOCO_INSTALL_DIR}/lib")
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list(APPEND RPATH_LIST "${MUJOCO_INSTALL_DIR}/lib")
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endif()
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string(JOIN ":" CMAKE_INSTALL_RPATH "${RPATH_LIST}") # macOS uses colon for RPATH separator
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message(STATUS "Final CMAKE_INSTALL_RPATH: ${CMAKE_INSTALL_RPATH}")
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elseif(UNIX)
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# For adjacent libs.
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set(RPATH_LIST "\$ORIGIN")
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# Add OpenUSD library directory
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if(DEFINED USD_DIR AND EXISTS "${USD_DIR}/lib")
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list(APPEND RPATH_LIST "${USD_DIR}/lib")
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message(STATUS "Adding OpenUSD lib to RPATH: ${USD_DIR}/lib")
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else()
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message(WARNING "USD_DIR is not defined or ${USD_DIR}/lib does not exist. OpenUSD libraries might not be found via RPATH.")
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endif()
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# Add MuJoCo library directory
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if(DEFINED MUJOCO_INSTALL_DIR AND EXISTS "${MUJOCO_INSTALL_DIR}/lib")
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list(APPEND RPATH_LIST "${MUJOCO_INSTALL_DIR}/lib")
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message(STATUS "Adding MuJoCo lib to RPATH: ${MUJOCO_INSTALL_DIR}/lib")
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elseif(DEFINED MUJOCO_INSTALL_DIR AND EXISTS "${MUJOCO_INSTALL_DIR}/bin")
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list(APPEND RPATH_LIST "${MUJOCO_INSTALL_DIR}/bin")
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message(STATUS "Adding MuJoCo bin to RPATH: ${MUJOCO_INSTALL_DIR}/bin")
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endif()
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# Set the final RPATH for installation
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string(JOIN ";" CMAKE_INSTALL_RPATH "${RPATH_LIST}")
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message(STATUS "Final CMAKE_INSTALL_RPATH: ${CMAKE_INSTALL_RPATH}")
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endif()
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set(CMAKE_BUILD_WITH_INSTALL_RPATH TRUE)
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add_library(${MJCF_PLUGIN_TARGET_NAME} SHARED)
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add_library(mujoco::usd::mjcf ALIAS ${MJCF_PLUGIN_TARGET_NAME})
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target_sources(${MJCF_PLUGIN_TARGET_NAME} PRIVATE
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plugins/mjcf/mjcf_file_format.cc
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plugins/mjcf/mjcf_file_format.h
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@@ -167,7 +121,7 @@ target_include_directories(${MJCF_PLUGIN_TARGET_NAME} PRIVATE
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"${CMAKE_CURRENT_SOURCE_DIR}/plugins"
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)
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## mjcPhysics
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## ----- mjcPhysics -----
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add_library(${MJC_PHYSICS_PLUGIN_TARGET_NAME} SHARED)
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target_sources(${MJC_PHYSICS_PLUGIN_TARGET_NAME} PRIVATE
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@@ -191,7 +145,7 @@ target_include_directories(${MJC_PHYSICS_PLUGIN_TARGET_NAME} PUBLIC
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$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/../../../include>
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)
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## mj_usd
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## ----- mujoco USD utils -----
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target_sources(mujoco PRIVATE
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kinematic_tree.cc
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@@ -211,42 +165,61 @@ target_compile_options(
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PRIVATE -Wno-deprecated
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)
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if (USD_DIR)
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find_package(pxr REQUIRED)
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# Configure RPATH for macOS and UNIX.
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if(APPLE)
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set(RPATH_LIST "@loader_path")
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# Add OpenUSD lib to RPATH for macOS
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if(DEFINED pxr_DIR AND EXISTS "${pxr_DIR}/lib")
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list(APPEND RPATH_LIST "${pxr_DIR}/lib")
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endif()
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# Add MuJoCo lib to RPATH for macOS
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if(DEFINED MUJOCO_INSTALL_DIR AND EXISTS "${MUJOCO_INSTALL_DIR}/lib")
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list(APPEND RPATH_LIST "${MUJOCO_INSTALL_DIR}/lib")
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endif()
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target_link_libraries(${MJC_PHYSICS_PLUGIN_TARGET_NAME} PRIVATE
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${OPENUSD_CORE_LIBS}
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)
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string(JOIN ":" CMAKE_INSTALL_RPATH "${RPATH_LIST}") # macOS uses colon for RPATH separator
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message(STATUS "Final CMAKE_INSTALL_RPATH: ${CMAKE_INSTALL_RPATH}")
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elseif(UNIX)
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target_link_libraries(${MJCF_PLUGIN_TARGET_NAME} PRIVATE
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${OPENUSD_CORE_LIBS}
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mujoco
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tinyxml2
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${MJC_PHYSICS_PLUGIN_TARGET_NAME}
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)
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# For adjacent libs.
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set(RPATH_LIST "\$ORIGIN")
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target_link_libraries(mujoco PUBLIC
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${OPENUSD_CORE_LIBS}
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${MJC_PHYSICS_PLUGIN_TARGET_NAME}
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)
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elseif (HOUDINI_HFS_DIR)
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message(STATUS "Configuring for Houdini target...")
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# Add OpenUSD library directory
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if(DEFINED pxr_DIR AND EXISTS "${pxr_DIR}/lib")
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list(APPEND RPATH_LIST "${pxr_DIR}/lib")
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message(STATUS "Adding OpenUSD lib to RPATH: ${pxr_DIR}/lib")
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else()
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message(WARNING "pxr_DIR is not defined or ${pxr_DIR}/lib does not exist. OpenUSD libraries might not be found via RPATH.")
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endif()
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# In Houdini, the Houdini package we would typically use via find_package
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# does not have all the USD dependencies that we need (namely UsdPhysics)
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# so we need to manually link all the required libraries.
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configure_houdini_target(${MJC_PHYSICS_PLUGIN_TARGET_NAME} PRIVATE PRIVATE)
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configure_houdini_target(${MJCF_PLUGIN_TARGET_NAME} PRIVATE PRIVATE)
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# Re-add inter-plugin dependencies after Houdini-specific linking
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target_link_libraries(${MJCF_PLUGIN_TARGET_NAME} PRIVATE ${MJC_PHYSICS_PLUGIN_TARGET_NAME})
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# Add MuJoCo library directory
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if(DEFINED MUJOCO_INSTALL_DIR AND EXISTS "${MUJOCO_INSTALL_DIR}/lib")
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list(APPEND RPATH_LIST "${MUJOCO_INSTALL_DIR}/lib")
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elseif(DEFINED MUJOCO_INSTALL_DIR AND EXISTS "${MUJOCO_INSTALL_DIR}/bin")
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list(APPEND RPATH_LIST "${MUJOCO_INSTALL_DIR}/bin")
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endif()
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# Set the final RPATH for installation
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string(JOIN ";" CMAKE_INSTALL_RPATH "${RPATH_LIST}")
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endif()
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## Installation
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target_link_libraries(${MJC_PHYSICS_PLUGIN_TARGET_NAME} PRIVATE
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${OPENUSD_CORE_LIBS}
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)
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message(STATUS "Mujoco USD plugins will be installed to: ${CMAKE_INSTALL_PREFIX}/${MJ_USD_INSTALL_DIR_LIB}")
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message(STATUS "Make sure PXR_PLUGINPATH_NAME includes: ${CMAKE_INSTALL_PREFIX}/${MJ_USD_INSTALL_DIR_LIB}/*/resources")
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target_link_libraries(${MJCF_PLUGIN_TARGET_NAME} PRIVATE
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${OPENUSD_CORE_LIBS}
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mujoco
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tinyxml2
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${MJC_PHYSICS_PLUGIN_TARGET_NAME}
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)
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target_link_libraries(mujoco PUBLIC
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${OPENUSD_CORE_LIBS}
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${MJC_PHYSICS_PLUGIN_TARGET_NAME}
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)
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## Installation
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# Generate and install plugInfo.json for each plugin
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configure_and_install_usd_plugin_info(
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@@ -263,7 +236,7 @@ configure_and_install_usd_plugin_info(
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# Install specific resources that are not plugInfo.json (like generatedSchema.usda)
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install(FILES
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mjcPhysics/generatedSchema.usda
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DESTINATION ${MJ_USD_INSTALL_DIR_LIB}/resources/mjcPhysics
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DESTINATION ${MJ_USD_INSTALL_DIR_LIB}/mjcPhysics
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)
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# Install shared libraries
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@@ -271,5 +244,5 @@ install(TARGETS
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${MJCF_PLUGIN_TARGET_NAME}
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${MJC_PHYSICS_PLUGIN_TARGET_NAME}
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EXPORT ${PROJECT_NAME}
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LIBRARY DESTINATION ${MJ_USD_INSTALL_DIR_LIB}
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LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
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)
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