chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Move OpenUSD parsing to usd_decoder

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
doc/changelog.rst
+7
View File
@@ -39,6 +39,13 @@ General
a silent implicit cast, now negativity will trigger an error.
- Added a :ref:`depth<mjtRndFlag>` rendering flag.
- :doc:`OpenUSD <OpenUSD/index>`:
- Parsing has been moved out of experimental into a mjpDecoder plugin. (documentation pending)
- 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.
- ``USD_DIR`` is no longer used by the MuJoCo CMake project, instead use ``pxr_DIR`` if you have a pre-built USD library.
- Users no longer have to set ``PXR_PLUGINPATH_NAME`` environment variable, MuJoCo should load USD plugins automatically.
MJX
^^^
- Added ``actuator_length``, ``cdof`` and ``cdof_dof`` fields to ``mjx.Data``.