Sam Haves
9e150fe82c
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
39 lines
1.6 KiB
CMake
39 lines
1.6 KiB
CMake
# Copyright 2025 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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# Find OpenUSD package. The user can either provide pxr_DIR to use their own
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# OpenUSD installation or they can build external_dependencies.
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#
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# We use QUIET here to provide a better error message when pxr is not found.
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find_package(pxr
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QUIET
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HINTS "${CMAKE_BINARY_DIR}/_deps/openusd-build"
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)
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if(NOT pxr_FOUND)
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message(FATAL_ERROR
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"-----------------------------------------------------------\n"
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"USD Configuration Error:\n${pxr_NOT_FOUND_MESSAGE}\n"
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"If you have built USD yourself, provide -Dpxr_DIR=your_pxr_install_dir' \n"
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"Otherwise you can build cmake/third_party_deps/openusd:\n"
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"cd ~/mujoco\n"
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"cmake -Bcmake/third_party_deps/openusd/build cmake/third_party_deps/openusd -DBUILD_USD=True\n"
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"cmake --build cmake/third_party_deps/openusd/build\n"
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"cmake -Bbuild -S. -DMUJOCO_WITH_USD=True\n"
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"cmake --build build\n"
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"cmake --install build"
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"-----------------------------------------------------------"
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)
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endif()
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