| # Setup script for MuJoCo export with USD support. | |
| # | |
| # Creates a separate virtual environment without bpy (Blender) to avoid | |
| # the pxr (OpenUSD) library conflict between bpy and mujoco-usd-converter. | |
| # | |
| # Usage: | |
| # ./scripts/setup_mujoco_export.sh | |
| # source .mujoco_venv/bin/activate | |
| # python scripts/export_scene_to_mujoco.py <scene_dir> -o <output_dir> --usd | |
| set -e | |
| SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)" | |
| PROJECT_DIR="$(dirname "$SCRIPT_DIR")" | |
| VENV_DIR="$PROJECT_DIR/.mujoco_venv" | |
| echo "Creating virtual environment at $VENV_DIR..." | |
| uv venv --python 3.11 "$VENV_DIR" | |
| echo "Installing dependencies..." | |
| source "$VENV_DIR/bin/activate" | |
| uv pip install --prerelease=allow -r "$SCRIPT_DIR/requirements-mujoco-export.txt" | |
| echo "Installing scenesmith (without bpy)..." | |
| uv pip install --no-deps -e "$PROJECT_DIR" | |
| echo "" | |
| echo "Setup complete!" | |
| echo "" | |
| echo "To use the MuJoCo export with USD support:" | |
| echo " source $VENV_DIR/bin/activate" | |
| echo "" | |
| echo "Export a generated scene:" | |
| echo " python scripts/export_scene_to_mujoco.py outputs/.../scene_000 -o mujoco_export --usd" | |
| echo "" | |
| echo "Export a standalone SDF model:" | |
| echo " python scripts/export_scene_to_mujoco.py --sdf /path/to/robot.sdf -o mujoco_export --usd" | |