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

Expose ability to go from USD stage to MjSpec.

Browse Source 
PiperOrigin-RevId: 776184388
Change-Id: I0325b347c9896183d148a196897e1e5d0c4bbde2
This commit is contained in:
Sam Haves
2025-06-26 10:08:45 -07:00
committed by Copybara-Service
parent 672746f509
commit afc35451a0
9 changed files with 1995 additions and 163 deletions
Download Patch File Download Diff File Expand all files Collapse all files
CMakeLists.txt
+21 -9
View File
@@ -42,14 +42,26 @@ option(MUJOCO_BUILD_EXAMPLES "Build samples for MuJoCo" ON)
option(MUJOCO_BUILD_SIMULATE "Build simulate library for MuJoCo" ON)
option(MUJOCO_BUILD_TESTS "Build tests for MuJoCo" ON)
option(MUJOCO_TEST_PYTHON_UTIL "Build and test utility libraries for Python bindings" ON)
option(MUJOCO_BUILD_USD_PLUGINS "Build OpenUSD plugins" OFF)
option(MUJOCO_WITH_USD "Build with OpenUSD" OFF)
# USD libs to compile against.
set(MUJOCO_USD_ALLOWED_TARGET_VALUES "USD" "Houdini")
set(MUJOCO_USD_TARGET "USD" CACHE STRING "Select the USD target for the project.")
set_property(CACHE MUJOCO_USD_TARGET
PROPERTY STRINGS ${MUJOCO_USD_ALLOWED_TARGET_VALUES}
)
# Option to provide a path to an existing USD build directory or to Houdini HFS directory.
set(USD_DIR "" CACHE PATH "Path to an existing USD build directory.")
set(HOUDINI_HFS_DIR "" CACHE PATH "Path to Houdini HFS directory to build USD plugins against.")
if(USD_DIR)
if(EXISTS "${USD_DIR}")
# If the path is provided, set MUJOCO_WITH_USD to ON and add the path to CMAKE_PREFIX_PATH.
set(MUJOCO_WITH_USD ON CACHE BOOL "Build with OpenUSD" FORCE)
list(PREPEND CMAKE_PREFIX_PATH "${USD_DIR}")
message(STATUS "Using custom USD build directory: ${USD_DIR}")
else()
message(WARNING "Invalid path provided for USD_DIR: ${USD_DIR}")
endif()
elseif(HOUDINI_HFS_DIR)
if(EXISTS "${HOUDINI_HFS_DIR}")
set(MUJOCO_WITH_USD ON CACHE BOOL "Build with OpenUSD" FORCE)
message(STATUS "Building Mujoco USD against Houdini HFS: ${HOUDINI_HFS_DIR}")
endif()
endif()
if(APPLE AND (MUJOCO_BUILD_EXAMPLES OR MUJOCO_BUILD_SIMULATE))
enable_language(OBJC)
@@ -189,8 +201,8 @@ if(MUJOCO_BUILD_EXAMPLES)
add_subdirectory(sample)
endif()
if(MUJOCO_BUILD_USD_PLUGINS)
add_subdirectory(src/experimental/usd/plugins)
if(MUJOCO_WITH_USD)
add_subdirectory(src/experimental/usd)
endif()
if(BUILD_TESTING AND MUJOCO_BUILD_TESTS)