Sam Haves
700da7c5bd
PiperOrigin-RevId: 789365870 Change-Id: I19cce03ec2ffc28cdf4252bfd02c8b5163bb5ba2
64 lines
2.9 KiB
ReStructuredText
64 lines
2.9 KiB
ReStructuredText
OpenUSD
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===========
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.. toctree::
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:hidden:
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building
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mjcPhysics
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mjcf_file_format_plugin
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importing
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exporting
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.. WARNING:: OpenUSD support is currently experimental and subject to frequent change.
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Introduction
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------------
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This chapter describes MuJoCo's support for `OpenUSD <https://openusd.org/release/intro.html>`__. USD (Universal Scene
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Description) is an open-source framework developed by Pixar for describing 3D scenes. MuJoCo's integration allows users
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to leverage USD's rich ecosystem and tooling.
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What is OpenUSD?
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----------------
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USD is a high-performance, extensible system for describing, composing, simulating, and collaborating on 3D data.
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Originally developed by Pixar Animation Studios, USD is now used across various industries, including visual effects,
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animation, gaming, and robotics, to streamline complex 3D workflows. It provides a common language for different
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software applications to exchange 3D scene information.
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Why do we care about OpenUSD?
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-----------------------------
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Integrating USD with MuJoCo offers several advantages:
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* **Interoperability:** USD is supported by a wide range of 3D content creation tools (e.g., Houdini, Maya, Blender).
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This allows MuJoCo users to easily import scenes and assets created in these tools.
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* **Rich Scene Description:** USD provides a powerful and flexible way to represent complex scenes, including
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geometry, materials, lighting, and hierarchies.
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* **Collaboration:** USD's layering and composition features enable powerful and efficient
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non-destructive authoring pipelines.
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USD support overview
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------------------------------------------------------
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* **Import:** You can load USD assets (specifically ``.usd``, ``.usda``, ``.usdc``, ``.usdz`` files) into MuJoCo via
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MJCF or dragging and dropping into :ref:`simulate.cc <saSimulate>`.
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* **Schemas:** MuJoCo primarily uses the standard `UsdPhysics
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<https://openusd.org/dev/api/usd_physics_page_front.html>`__ schemas for representing physics properties.
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* **Extensions:** Custom :doc:`mjcPhysics` schemas are provided to cover MuJoCo-specific features not available in
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``UsdPhysics``.
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* **MJCF File Format Plugin:** A :doc:`mjcf_file_format_plugin` allows treating MJCF files as USD layers in any native USD
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application.
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* **Export:** MuJoCo scenes can be exported to USD.
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Where do I learn more about USD?
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------------------------------------------
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* `Remedy's Book of USD <https://remedy-entertainment.github.io/USDBook>`__: Friendly introduction to USD.
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* `Official OpenUSD Documentation <https://openusd.org/release/intro.html>`__: Official documentation for API and
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implementation details.
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* `Pixar's USD Introduction <https://graphics.pixar.com/usd/release/index.html>`__: Simple example usage of USD.
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* `NVIDIA's USD Resources <https://developer.nvidia.com/usd>`__: Set of USD resources primarily concerned with asset
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structure.
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