Add USD content type support in MJCF.

PiperOrigin-RevId: 788075561 Change-Id: If37cc254cab0411454de7663e0b3ff9f2b263281
2025-07-28 10:52:41 -07:00
parent 3434f5d9c7
commit a04e0385e4
3 changed files with 26 additions and 2 deletions
@@ -1744,3 +1744,10 @@ mjSpec* mj_parseUSDStage(const pxr::UsdStageRefPtr stage) {

  return spec;
 }
+
+MJAPI mjSpec* mj_parseUSD(const char* identifier, const mjVFS* vfs, char* error,
+                          int error_sz) {
+  auto stage = pxr::UsdStage::Open(identifier);
+  return mj_parseUSDStage(stage);
+}
+