Sam Haves
700da7c5bd
PiperOrigin-RevId: 789365870 Change-Id: I19cce03ec2ffc28cdf4252bfd02c8b5163bb5ba2
58 lines
2.2 KiB
ReStructuredText
58 lines
2.2 KiB
ReStructuredText
Building
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========
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.. WARNING:: OpenUSD support is currently experimental and subject to frequent change.
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Advanced users can start testing out USD support by building against their own USD libraries or USD built from source.
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This assumes that you have built MuJoCo in ``~/mujoco`` and have a build directory at ``~/mujoco/build``
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Building USD
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------------
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USD has a pretty streamlined installation via their ``build_usd.py`` script. It's recommended to use a separate
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installation directory that exists outside of the cloned repository directory.
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.. code-block:: bash
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git clone https://github.com/PixarAnimationStudios/OpenUSD
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python OpenUSD/build_scripts/build_usd.py /path/to/my_usd_install_dir
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Enabling USD
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------------
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USD is comprised of many plugins. When USD enabled application starts up it looks for an environment variable called
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``PXR_PLUGINPATH_NAME``. Below is an example where we build MuJoCo with USD enabled and set this variable.
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.. code-block:: bash
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cd ~/mujoco/build
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cmake .. -DCMAKE_BUILD_TYPE=Release -DUSD_DIR=/path/to/my_usd_install_dir
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cmake --build . -j 30; sudo cmake --install .
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export PXR_PLUGINPATH_NAME=/usr/local/lib/mujocoUsd/resources/*/plugInfo.json
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If we now run :ref:`simulate.cc <saSimulate>`, we will be able to drag and drop USD files.
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.. code-block:: bash
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simulate
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Enabling plugins in Houdini
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---------------------------
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Houdini is a procedural content authoring tool with extensive support for USD workflows via their Solaris context. It's
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highly popular in the VFX industry, and it's easy to imagine procedural generation tools for simulation ready assets and
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scenes.
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To allow support for loading MJCF files in Solaris, and usage of the mjhcPhysics schemas you can build against Houdini's
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USD libraries. To do so, simply run `source ./houdini_setup` as descrived in the `SideFX documentation
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<https://www.sidefx.com/faq/question/how-do-i-set-up-the-houdini-environment-for-command-line-tools>`__.
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.. code-block:: bash
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cd ~/mujoco/build
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cmake .. -DCMAKE_BUILD_TYPE=Release -DHOUDINI_HFS_DIR=$HFS
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cmake --build . -j 30; sudo cmake --install .
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export PXR_PLUGINPATH_NAME=/usr/local/lib/mujocoUsd/resources/*/plugInfo.json
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houdini
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