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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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include/mujoco/experimental/usd/usd.h
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// Copyright 2025 DeepMind Technologies Limited
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef MUJOCO_EXPERIMENTAL_SRC_USD_USD_TO_MJSPEC_H_
#define MUJOCO_EXPERIMENTAL_SRC_USD_USD_TO_MJSPEC_H_
#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.
//
// 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);
// 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.
//
// Particular care is taken for physics data to be lossless but visual
// data such as materials may be lossy.
MJAPI mjSpec* mj_parseUSDStage(pxr::UsdStageRefPtr stage);
#endif // MUJOCO_EXPERIMENTAL_SRC_USD_USD_TO_MJSPEC_H_