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Move OpenUSD parsing to usd_decoder

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Add usd_decoder to mujoco/plugin.
  - Previously was src/experimental/usd/usd_to_mjspec.cc, now that same spec is returned by the plugin.

PiperOrigin-RevId: 854350962
Change-Id: Ia980190a557c50ce8197980922a2594b613859b4
This commit is contained in:
Sam Haves
2026-01-09 14:47:37 -08:00
committed by Copybara-Service
parent 64a2345c07
commit a5dc57c0c3
17 changed files with 270 additions and 317 deletions
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CMakeLists.txt
+1
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@@ -243,6 +243,7 @@ if(MUJOCO_WITH_USD)
endif()
add_subdirectory(src/experimental/usd)
add_subdirectory(plugin/usd_decoder)
endif()
if(BUILD_TESTING AND MUJOCO_BUILD_TESTS)