Sam Haves
3d537c85ef
PiperOrigin-RevId: 789385654 Change-Id: Ib15450e81258e3d202d8123c0c43f8421ebefed6
58 lines
2.2 KiB
ReStructuredText
58 lines
2.2 KiB
ReStructuredText
Building
|
|
========
|
|
|
|
.. WARNING:: OpenUSD support is currently experimental and subject to frequent change.
|
|
|
|
Advanced users can start testing out USD support by building against their own USD libraries or USD built from source.
|
|
|
|
This assumes that you have built MuJoCo in ``~/mujoco`` and have a build directory at ``~/mujoco/build``
|
|
|
|
Building USD
|
|
------------
|
|
|
|
USD has a pretty streamlined installation via their ``build_usd.py`` script. It's recommended to use a separate
|
|
installation directory that exists outside of the cloned repository directory.
|
|
|
|
.. code-block:: bash
|
|
|
|
git clone https://github.com/PixarAnimationStudios/OpenUSD
|
|
python OpenUSD/build_scripts/build_usd.py /path/to/my_usd_install_dir
|
|
|
|
Enabling USD
|
|
------------
|
|
|
|
USD is comprised of many plugins. When USD enabled application starts up it looks for an environment variable called
|
|
``PXR_PLUGINPATH_NAME``. Below is an example where we build MuJoCo with USD enabled and set this variable.
|
|
|
|
.. code-block:: bash
|
|
|
|
cd ~/mujoco/build
|
|
cmake .. -DCMAKE_BUILD_TYPE=Release -DUSD_DIR=/path/to/my_usd_install_dir
|
|
cmake --build . -j 30; sudo cmake --install .
|
|
export PXR_PLUGINPATH_NAME=/usr/local/lib/mujocoUsd/resources/*/plugInfo.json
|
|
|
|
If we now run :ref:`simulate.cc <saSimulate>`, we will be able to drag and drop USD files.
|
|
|
|
.. code-block:: bash
|
|
|
|
simulate
|
|
|
|
Enabling plugins in Houdini
|
|
---------------------------
|
|
|
|
Houdini is a procedural content authoring tool with extensive support for USD workflows via their Solaris context. It's
|
|
highly popular in the VFX industry, and it's easy to imagine procedural generation tools for simulation ready assets and
|
|
scenes.
|
|
|
|
To allow support for loading MJCF files in Solaris, and usage of the mjcPhysics schemas you can build against Houdini's
|
|
USD libraries. To do so, simply run `source ./houdini_setup` as descrived in the `SideFX documentation
|
|
<https://www.sidefx.com/faq/question/how-do-i-set-up-the-houdini-environment-for-command-line-tools>`__.
|
|
|
|
.. code-block:: bash
|
|
|
|
cd ~/mujoco/build
|
|
cmake .. -DCMAKE_BUILD_TYPE=Release -DHOUDINI_HFS_DIR=$HFS
|
|
cmake --build . -j 30; sudo cmake --install .
|
|
export PXR_PLUGINPATH_NAME=/usr/local/lib/mujocoUsd/resources/*/plugInfo.json
|
|
houdini
|