Allow loading USD files into simulate.

PiperOrigin-RevId: 776584803
Change-Id: I66a5277b3752d69ba5d44ed419204951edb18d41

simulate/CMakeLists.txt

@@ -174,6 +174,14 @@ if(SIMULATE_BUILD_EXECUTABLE)
     lodepng
   )
 
+  if (MUJOCO_WITH_USD)
+    target_link_libraries(
+      simulate
+      mujoco::usd
+      mujoco::usd::mjcf
+    )
+  endif()
+
   target_link_options(simulate PRIVATE ${MUJOCO_SIMULATE_LINK_OPTIONS})
 
   if(APPLE AND MUJOCO_BUILD_MACOS_FRAMEWORKS)
@@ -240,6 +248,22 @@ if(SIMULATE_BUILD_EXECUTABLE)
       MUJOCO_ENABLE_RPATH
     )
 
+    if (MUJOCO_WITH_USD)
+      target_compile_definitions(simulate PUBLIC SIMULATE_WITH_USD)
+
+      # Add support to RPATH for the samples.
+      target_add_rpath(
+        TARGETS
+        simulate
+        INSTALL_DIRECTORY
+        "${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_BINDIR}"
+        LIB_DIRS
+        ${CMAKE_INSTALL_PREFIX}/${CMAKE_INSTALL_LIBDIR}/mujocoUsd ${USD_DIR}/lib
+        DEPENDS
+        MUJOCO_ENABLE_RPATH
+      )
+    endif()
+
     install(
       TARGETS simulate
       EXPORT ${PROJECT_NAME}