Sam Haves
c08e1d9e6e
This change introduces two new USD API schema: * MjcEqualityAPI - base API for representing MuJoCo equality constraints in USD, this will typically be applied to joints such as UsdPhysicsFixedJoint. * MjcEqualityWeldAPI - extends MjcEqualityAPI for MuJoCo's weld equality constraints with an attribute for torqueScale. The usd_decoder is updated to parse UsdPhysicsFixedJoints and convert the new schema attributes into the appropriate mjsEquality data fields. PiperOrigin-RevId: 856723634 Change-Id: I0982fd3168b643f8e91d87bb5ae5933e526b63a1
51 lines
1.6 KiB
CMake
51 lines
1.6 KiB
CMake
# Copyright 2026 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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set(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
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set(USD_DECODER_SRCS
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usd_decoder.cc
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kinematic_tree.cc
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kinematic_tree.h
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material_parsing.cc
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material_parsing.h
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)
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add_library(usd_decoder_plugin SHARED ${USD_DECODER_SRCS})
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target_include_directories(usd_decoder_plugin PRIVATE
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${CMAKE_CURRENT_SOURCE_DIR}/../..
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)
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target_link_libraries(usd_decoder_plugin PRIVATE
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mujoco
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mjcPhysics
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)
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target_compile_options(usd_decoder_plugin PRIVATE
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${AVX_COMPILE_OPTIONS}
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${MUJOCO_MACOS_COMPILE_OPTIONS}
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${EXTRA_COMPILE_OPTIONS}
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${MUJOCO_CXX_FLAGS}
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-Wno-deprecated # pxr Tf lib uses deprecated header
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)
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target_link_options(usd_decoder_plugin PRIVATE
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${MUJOCO_MACOS_LINK_OPTIONS}
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${EXTRA_LINK_OPTIONS}
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)
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# Install to mujoco_plugin directory in bin location so that it is picked up by simulate
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# on startup.
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install(
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TARGETS usd_decoder_plugin
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LIBRARY DESTINATION "${CMAKE_INSTALL_BINDIR}/mujoco_plugin"
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)
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target_link_libraries(usd_decoder_plugin PRIVATE usd usdGeom usdPhysics usdShade gf tf ar vt kind)
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