Sam Haves
a04e0385e4
PiperOrigin-RevId: 788075561 Change-Id: If37cc254cab0411454de7663e0b3ff9f2b263281
45 lines
1.7 KiB
C
45 lines
1.7 KiB
C
// 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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// http://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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#ifndef MUJOCO_EXPERIMENTAL_SRC_USD_USD_TO_MJSPEC_H_
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#define MUJOCO_EXPERIMENTAL_SRC_USD_USD_TO_MJSPEC_H_
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#include <mujoco/mujoco.h>
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#include <pxr/usd/usd/common.h>
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// Given a USD file parse to a spec, then compile and return the low-level
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// model.
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//
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// Particular care is taken for physics data to be lossless but visual
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// data such as materials may be lossy.
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MJAPI mjModel* mj_loadUSD(const char* filename, const mjVFS* vfs, char* error,
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int error_sz);
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// Given a USD layer identifier, this function will do a best effort conversion
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// from the composed stage to mjSpec.
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//
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// Particular care is taken for physics data to be lossless but visual
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// data such as materials may be lossy.
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MJAPI mjSpec* mj_parseUSD(const char* identifier, const mjVFS* vfs, char* error,
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int error_sz);
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// Given a USD stage, this function will do a best effort conversion to
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// mjSpec.
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//
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// Particular care is taken for physics data to be lossless but visual
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// data such as materials may be lossy.
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MJAPI mjSpec* mj_parseUSDStage(pxr::UsdStageRefPtr stage);
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#endif // MUJOCO_EXPERIMENTAL_SRC_USD_USD_TO_MJSPEC_H_
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