Sam Haves
a5dc57c0c3
Add usd_decoder to mujoco/plugin. - Previously was src/experimental/usd/usd_to_mjspec.cc, now that same spec is returned by the plugin. PiperOrigin-RevId: 854350962 Change-Id: Ia980190a557c50ce8197980922a2594b613859b4
64 lines
1.8 KiB
ReStructuredText
64 lines
1.8 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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MuJoCo must be built against a pre-built USD library, we provide a utility to do so but you may also bring your own USD
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libraries.
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The following instructions assume that you have cloned MuJoCo into ``~/mujoco`` and have a build directory at
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``~/mujoco/build``.
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.. _usdBuildingUSD:
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Building USD
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------------
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If you have a pre-built USD library, you can skip this section.
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MuJoCo provides a CMake project that simplifies the process of building USD. It will download and build USD with only
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the necessary features enabled.
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.. code-block:: bash
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cd ~/mujoco
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cmake -Bcmake/third_party_deps/openusd/build cmake/third_party_deps/openusd
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cmake --build cmake/third_party_deps/openusd/build
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If you want to customize the build process, you can use USD's ``build_usd.py`` script. It's recommended to use a
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separate 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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.. _usdEnablingUSD:
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Enabling USD
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------------
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If USD was built with the third_party_deps/openusd CMake project, you can enable USD support with the MUJOCO_WITH_USD
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flag.
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.. code-block:: bash
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cd ~/mujoco
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cmake -Bbuild -S. -DMUJOCO_WITH_USD=True
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cmake --build build -j 64
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Otherwise, if you have a pre-built USD library, you must also pass the pxr_DIR flag.
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.. code-block:: bash
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cd ~/mujoco
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cmake -Bbuild -S. -DMUJOCO_WITH_USD=True -Dpxr_DIR=/path/to/my_usd_install_dir
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cmake --build build -j 64
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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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