How to complile [usd plugin] correctly on Windows

[lyd405121]

Intro

Background

• I am now editing my virtual scene in isaac
• I noticed mujoco 3.3.4 has a new contact sensor can provide bitmap result
• So I started to import usd file for mujoco
• But the release version hase no usd feature support
• So I decide to compile it from source!

My setup

Successfully Complied On Unbuntu22.04

• Here‘s my setup for compiling
• ① Install vcpkg on ubuntu, and cmake using apt-get
• ② using vcpkg to install openusd with full feature, because it's really difficult to compile openusd from source

./vcpkg install --recurse usd[imaging,materialx,openimageio]:x64-linux

• ③ git clone mujoco and using cmake to configure, be careful about your vcpkg path

cmake .. -DMUJOCO_WITH_USD=ON -DUSD_DIR=~/vcpkg/installed/x64-linux/ -DBUILD_TESTING=OFF

• ④ make and install

make -j$(nproc)
make install

• ⑤ start simulate app with a usd file in the bin

 ./simulate ./model.usd

• I only add "add_compile_options(-Wno-deprecated)" to the CmakeList.txt in simulate

My struggle for Windows

• I found serveral questions for Windows compile
• My IDE is vs2022 latest version 17.14.7

Fix command line

• C++ command line with a gcc option "-Wno-deprecated”， and not all project has this, Maybe A Bug
• But without it, it won't be able to compile on ubuntu

Fix post build

• Post build step failed, I don't know why

• Just delete them will be OK

Fix usdMjcf project

• On windows there is no "strcasecmp", use _stricmp instead

• I am not a skilled cpp programer, so I just delete the code for TF_REGISTRY_FUNCTION
• Which I really don't know it truely means

• The last one is the classical minmax error

The last straw

• I finnally realize the complexity for usd configure

• On ubuntu I just make install, all setup is ready
• On Windows，I tried hours for environment setting，plugins setting，all wasted

My question

Is usd available in windows？

• How to complile usd plugin correctly on Windows
• How to configure all the plugins stuff

Another question

• Will there be a usd exporter in future for mjcf， because the mjcf importer in isaac crash most of the time

Minimal model and/or code that explain my question

No response

Confirmations

• I searched the latest documentation thoroughly before posting.
• I searched previous Issues and Discussions, I am certain this has not been raised before.