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Add separate build step for OpenUSD to third_party_deps.

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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
2025-12-19 07:59:17 -08:00
committed by Copybara-Service
parent 76e0a78b32
commit 9e150fe82c
6 changed files with 178 additions and 109 deletions
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test/experimental/CMakeLists.txt
+1 -3
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@@ -13,9 +13,7 @@
# limitations under the License.
# Only support testing when building against a standalone version of USD.
if(MUJOCO_WITH_USD AND USD_DIR)
find_package(pxr REQUIRED)
if(MUJOCO_WITH_USD)
add_library(usd_test_utils STATIC usd/test_utils.h usd/test_utils.cc)
target_include_directories(usd_test_utils PUBLIC ${MUJOCO_TEST_INCLUDE})
target_compile_definitions(usd_test_utils PUBLIC MJSTATIC)