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Add USD content type support in MJCF.

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PiperOrigin-RevId: 788075561
Change-Id: If37cc254cab0411454de7663e0b3ff9f2b263281
This commit is contained in:
Sam Haves
2025-07-28 10:52:41 -07:00
committed by Copybara-Service
parent 3434f5d9c7
commit a04e0385e4
3 changed files with 26 additions and 2 deletions
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include/mujoco/experimental/usd/usd.h
+12 -2
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@@ -18,11 +18,21 @@
#include <mujoco/mujoco.h>
#include <pxr/usd/usd/common.h>
// Given a USD file parse to a spec, then compile and return the low-level model.
// Given a USD file parse to a spec, then compile and return the low-level
// model.
//
// Particular care is taken for physics data to be lossless but visual
// data such as materials may be lossy.
MJAPI mjModel* mj_loadUSD(const char* filename, const mjVFS* vfs, char* error, int error_sz);
MJAPI mjModel* mj_loadUSD(const char* filename, const mjVFS* vfs, char* error,
int error_sz);
// Given a USD layer identifier, this function will do a best effort conversion
// from the composed stage to mjSpec.
//
// Particular care is taken for physics data to be lossless but visual
// data such as materials may be lossy.
MJAPI mjSpec* mj_parseUSD(const char* identifier, const mjVFS* vfs, char* error,
int error_sz);
// Given a USD stage, this function will do a best effort conversion to
// mjSpec.