Sam Haves
700da7c5bd
PiperOrigin-RevId: 789365870 Change-Id: I19cce03ec2ffc28cdf4252bfd02c8b5163bb5ba2
30 lines
817 B
ReStructuredText
30 lines
817 B
ReStructuredText
Importing
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=========
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.. WARNING:: OpenUSD support is currently experimental and subject to frequent change.
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MuJoCo can load assets from OpenUSD files (``.usd``, ``.usda``, ``.usdc``, ``.usdz``). This allows you to incorporate
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assets and scenes defined in USD into your MuJoCo simulations.
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USD in MJCF
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-----------------------------
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If you have built mujoco with USD enabled, you can reference USD assets from MJCF via the ``<model`` tag with content
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type ``text/usd``.
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.. code-block:: xml
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:caption: example.xml
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<mujoco>
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<asset>
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<model file="chair.usdz" name="chair" content_type="text/usd"/>
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</asset>
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<worldbody>
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...
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</worldbody>
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</mujoco>
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In this example the ``<model file="chair.usdz"/>`` line in ``<asset>`` tells MuJoCo to load and process the USD file.
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