Move OpenUSD parsing to usd_decoder
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
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Copybara-Service
Copybara-Service
parent
64a2345c07
commit
a5dc57c0c3
+35
-29
@@ -3,55 +3,61 @@ Building
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.. WARNING:: OpenUSD support is currently experimental and subject to frequent change.
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Advanced users can start testing out USD support by building against their own USD libraries or USD built from source.
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MuJoCo must be built against a pre-built USD library, we provide a utility to do so but you may also bring your own USD
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libraries.
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This assumes that you have built MuJoCo in ``~/mujoco`` and have a build directory at ``~/mujoco/build``
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The following instructions assume that you have cloned MuJoCo into ``~/mujoco`` and have a build directory at
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``~/mujoco/build``.
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.. _usdBuildingUSD:
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Building USD
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------------
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USD has a pretty streamlined installation via their ``build_usd.py`` script. It's recommended to use a separate
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installation directory that exists outside of the cloned repository directory.
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If you have a pre-built USD library, you can skip this section.
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MuJoCo provides a CMake project that simplifies the process of building USD. It will download and build USD with only
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the necessary features enabled.
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.. code-block:: bash
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cd ~/mujoco
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cmake -Bcmake/third_party_deps/openusd/build cmake/third_party_deps/openusd
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cmake --build cmake/third_party_deps/openusd/build
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If you want to customize the build process, you can use USD's ``build_usd.py`` script. It's recommended to use a
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separate installation directory that exists outside of the cloned repository directory.
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.. code-block:: bash
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git clone https://github.com/PixarAnimationStudios/OpenUSD
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python OpenUSD/build_scripts/build_usd.py /path/to/my_usd_install_dir
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.. _usdEnablingUSD:
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Enabling USD
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------------
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USD is comprised of many plugins. When USD enabled application starts up it looks for an environment variable called
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``PXR_PLUGINPATH_NAME``. Below is an example where we build MuJoCo with USD enabled and set this variable.
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If USD was built with the third_party_deps/openusd CMake project, you can enable USD support with the MUJOCO_WITH_USD
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flag.
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.. code-block:: bash
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cd ~/mujoco/build
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cmake .. -DCMAKE_BUILD_TYPE=Release -DUSD_DIR=/path/to/my_usd_install_dir
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cmake --build . -j 30; sudo cmake --install .
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export PXR_PLUGINPATH_NAME=/usr/local/lib/mujocoUsd/resources/*/plugInfo.json
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cd ~/mujoco
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cmake -Bbuild -S. -DMUJOCO_WITH_USD=True
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cmake --build build -j 64
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Otherwise, if you have a pre-built USD library, you must also pass the pxr_DIR flag.
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.. code-block:: bash
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cd ~/mujoco
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cmake -Bbuild -S. -DMUJOCO_WITH_USD=True -Dpxr_DIR=/path/to/my_usd_install_dir
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cmake --build build -j 64
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If we now run :ref:`simulate.cc <saSimulate>`, we will be able to drag and drop USD files.
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.. code-block:: bash
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simulate
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Enabling plugins in Houdini
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---------------------------
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Houdini is a procedural content authoring tool with extensive support for USD workflows via their Solaris context. It's
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highly popular in the VFX industry, and it's easy to imagine procedural generation tools for simulation ready assets and
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scenes.
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To allow support for loading MJCF files in Solaris, and usage of the mjcPhysics schemas you can build against Houdini's
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USD libraries. To do so, simply run `source ./houdini_setup` as descrived in the `SideFX documentation
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<https://www.sidefx.com/faq/question/how-do-i-set-up-the-houdini-environment-for-command-line-tools>`__.
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.. code-block:: bash
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cd ~/mujoco/build
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cmake .. -DCMAKE_BUILD_TYPE=Release -DHOUDINI_HFS_DIR=$HFS
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cmake --build . -j 30; sudo cmake --install .
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export PXR_PLUGINPATH_NAME=/usr/local/lib/mujocoUsd/resources/*/plugInfo.json
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houdini
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@@ -39,6 +39,13 @@ General
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a silent implicit cast, now negativity will trigger an error.
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- Added a :ref:`depth<mjtRndFlag>` rendering flag.
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- :doc:`OpenUSD <OpenUSD/index>`:
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- Parsing has been moved out of experimental into a mjpDecoder plugin. (documentation pending)
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- OpenUSD can now be built with the `third_party_deps/openusd` <https://github.com/google-deepmind/mujoco/tree/main/cmake/third_party_deps/openusd> CMake utility project.
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- ``USD_DIR`` is no longer used by the MuJoCo CMake project, instead use ``pxr_DIR`` if you have a pre-built USD library.
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- Users no longer have to set ``PXR_PLUGINPATH_NAME`` environment variable, MuJoCo should load USD plugins automatically.
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MJX
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^^^
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- Added ``actuator_length``, ``cdof`` and ``cdof_dof`` fields to ``mjx.Data``.
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