Add CMakeLists for usdMjcf file format plugin.
This adds an option MUJOCO_BUILD_USD_PLUGINS to the top level CMakeLists which allows us to build the usdMjcf file format plugin with the rest of mujoco. In this first version, we allow building against either standalone USD or against Houdini (DCC) since it has it's own fork of USD. When building against standalone USD we also build the file format tests. PiperOrigin-RevId: 753969974 Change-Id: If691eecbddf45d18b7c4ff76f7650999d42e99c5
This commit is contained in:
Sam Haves
committed by
Copybara-Service
Copybara-Service
parent
02656532c2
commit
ab63a7e824
@@ -0,0 +1,137 @@
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# Copyright 2025 DeepMind Technologies Limited
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# https://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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# Plugin target name (used for library and plugInfo.json)
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set(MJCF_PLUGIN_TARGET_NAME usdMjcf)
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add_library(${MJCF_PLUGIN_TARGET_NAME} SHARED
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mjcf/mjcf_file_format.cc
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mjcf/mjcf_file_format.h
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mjcf/mujoco_to_usd.cc
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mjcf/mujoco_to_usd.h
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mjcf/utils.cc
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mjcf/utils.h
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)
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# We need to set the visibility to default until core type symbol visibility
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# is resolved in OpenUSD https://github.com/PixarAnimationStudios/OpenUSD/issues/1475
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# Otherwise we will run into issues during composition on MacOS due to std::type_info
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# comparisons failing for pxr::TfTokenVector and the like that we place in SdfAbstractData.
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set_target_properties(${MJCF_PLUGIN_TARGET_NAME} PROPERTIES
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OUTPUT_NAME ${MJCF_PLUGIN_TARGET_NAME}
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CXX_VISIBILITY_PRESET default
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)
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target_include_directories(${MJCF_PLUGIN_TARGET_NAME} PRIVATE
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"${CMAKE_CURRENT_SOURCE_DIR}"
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)
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if (MUJOCO_USD_TARGET STREQUAL "USD")
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find_package(pxr REQUIRED)
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# --- Link Dependencies ---
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# Link against the necessary OpenUSD components
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target_link_libraries(${MJCF_PLUGIN_TARGET_NAME} PRIVATE
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usd
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ar
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kind
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tf
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gf
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vt
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usdShade
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usdLux
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usdGeom
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usdImaging
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usdPhysics
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mujoco
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tinyxml2
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)
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elseif (MUJOCO_USD_TARGET STREQUAL "Houdini")
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if (NOT DEFINED ENV{HFS})
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message(FATAL_ERROR "Environment variable 'HFS' is not defined: $ENV{HFS}. Please run houdini_setup.")
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endif()
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# In Houdini, the Houdini package we would typically use via find_package
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# does not have all the USD dependencies that we need (namely UsdPhysics)
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# so we need to manually link all the required libraries.
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set(HFS_ENV "$ENV{HFS}")
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set(HOUDINI_LIBS "${HFS_ENV}/../Libraries")
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get_filename_component(HOUDINI_LIBS "${HOUDINI_LIBS}" ABSOLUTE) # Normalize the path
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target_link_directories(${MJCF_PLUGIN_TARGET_NAME} PRIVATE ${HOUDINI_LIBS})
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target_include_directories(${MJCF_PLUGIN_TARGET_NAME} PRIVATE
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"${HFS_ENV}/toolkit/include"
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"${HFS_ENV}/toolkit/include/python3.11"
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)
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# Assume everyone using Houdini on 3.11 for now.
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set(USD_MJCF_PYTHON_LIB python3.11)
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set(USD_MJCF_PYTHON_LIB_NUMBER python311)
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set(PYTHON_LIB "${HFS_ENV}/Frameworks/Python.framework/Versions/3.11/Python")
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set(PXR_LIB_PREFIX "pxr_")
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# --- Link Dependencies ---
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# Link against the necessary OpenUSD components
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target_link_libraries(${MJCF_PLUGIN_TARGET_NAME} PRIVATE
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${PXR_LIB_PREFIX}usd
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${PXR_LIB_PREFIX}ar
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${PXR_LIB_PREFIX}kind
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${PXR_LIB_PREFIX}tf
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${PXR_LIB_PREFIX}gf
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${PXR_LIB_PREFIX}vt
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${PXR_LIB_PREFIX}sdf
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${PXR_LIB_PREFIX}usdShade
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${PXR_LIB_PREFIX}usdLux
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${PXR_LIB_PREFIX}usdGeom
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${PXR_LIB_PREFIX}usdImaging
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${PXR_LIB_PREFIX}usdPhysics
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tbb
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hboost_${USD_MJCF_PYTHON_LIB_NUMBER}
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${PYTHON_LIB}
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mujoco
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tinyxml2
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)
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endif()
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# --- Generate plugInfo.json ---
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if(CMAKE_SHARED_LIBRARY_PREFIX)
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set(LIB_PREFIX ${CMAKE_SHARED_LIBRARY_PREFIX}) # Usually "lib" on Unix
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else()
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set(LIB_PREFIX "")
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endif()
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set(PLUG_INFO_LIBRARY_PATH "${LIB_PREFIX}${MJCF_PLUGIN_TARGET_NAME}${CMAKE_SHARED_LIBRARY_SUFFIX}")
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# --- Installation ---
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set(USD_PLUGIN_INSTALL_DIR_LIB ${CMAKE_INSTALL_LIBDIR}/usdMjcf)
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message(STATUS "Copying plugInfo.json to ${CMAKE_BINARY_DIR}/${USD_PLUGIN_INSTALL_DIR_LIB}/plugInfo.json")
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configure_file(
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mjcf/plugInfo.json
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${CMAKE_BINARY_DIR}/${USD_PLUGIN_INSTALL_DIR_LIB}/plugInfo.json
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)
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install(FILES ${CMAKE_BINARY_DIR}/${USD_PLUGIN_INSTALL_DIR_LIB}/plugInfo.json DESTINATION ${USD_PLUGIN_INSTALL_DIR_LIB})
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# Install shared lib and plugInfo to same location for simplicity.
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install(TARGETS ${MJCF_PLUGIN_TARGET_NAME}
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LIBRARY DESTINATION ${USD_PLUGIN_INSTALL_DIR_LIB}
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)
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message(STATUS "USD MJCF Plugin will be installed to: ${CMAKE_INSTALL_PREFIX}/${USD_PLUGIN_INSTALL_DIR_LIB}")
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message(STATUS "Make sure PXR_PLUGINPATH_NAME includes: ${CMAKE_INSTALL_PREFIX}/${USD_PLUGIN_INSTALL_DIR_LIB}")
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@@ -15,7 +15,7 @@
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}
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}
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},
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"LibraryPath": "",
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"LibraryPath": "@PLUG_INFO_LIBRARY_PATH@",
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"Name": "usdMjcf",
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"ResourcePath": "",
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"Root": ".",
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