chenlin/Mujoco_WASM
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8aa111fe0f4cf448b4fe57f5e79110c93967c133
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3 Commits

Author SHA1 Message Date
Sam Haves 9e150fe82c Add separate build step for OpenUSD to third_party_deps. 
This will fetch and call the build_usd.py build helper for OpenUSD and build within the MuJoCo _deps folder. Simplifying the build process for MuJoCo with USD. Users can still provide their own USD build, but must now do so via pxr_DIR.

PiperOrigin-RevId: 846735578
Change-Id: I0da7eb2da6465e2d518084340e762bf370adb6d5
 2025-12-19 08:00:15 -08:00
Sam Haves afc35451a0 Expose ability to go from USD stage to MjSpec. 
PiperOrigin-RevId: 776184388
Change-Id: I0325b347c9896183d148a196897e1e5d0c4bbde2
 2025-06-26 10:09:55 -07:00
Sam Haves ab63a7e824 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
 2025-05-02 05:48:33 -07:00