Fix the USD build

- cmake syntax errors
- mjUSEUSD definition in main and cmake file
- change BUILD_WITH_USD to MUJOCO_WITH_USD

Author: LouRohanNV

CMakeLists.txt

@@ -226,6 +226,8 @@ endif()
 if(MUJOCO_WITH_USD)
   include(third_party_deps/openusd)
 
+  target_compile_definitions(mujoco PUBLIC mjUSEUSD)
+
   get_filename_component(USD_INSTALL_ROOT "${pxr_DIR}/lib" ABSOLUTE)
   install(
     DIRECTORY ${USD_INSTALL_ROOT}/

simulate/CMakeLists.txt

@@ -185,18 +185,14 @@ if(SIMULATE_BUILD_EXECUTABLE)
     target_link_libraries(simulate "-framework CoreVideo")
   endif()
 
-  if (BUILD_WITH_USD)
+  if (MUJOCO_WITH_USD)
     # pxr/usd/tf/hashset.h might include deprecated headers so disable this check
     # when compiling with USD enabled.
     target_compile_options(
          simulate
          PRIVATE -Wno-deprecated
     )
 
-    target_link_libraries(
-      simulate
-      mujoco::usd::mjcf
-    )
   endif()
 
   target_link_options(simulate PRIVATE ${MUJOCO_SIMULATE_LINK_OPTIONS})
@@ -265,7 +261,7 @@ if(SIMULATE_BUILD_EXECUTABLE)
       MUJOCO_ENABLE_RPATH
     )
 
-    if (BUILD_WITH_USD)
+    if (MUJOCO_WITH_USD)
       # pxr/usd/tf/hashset.h might include deprecated headers so disable this check
       # when compiling with USD enabled.
       target_compile_options(

src/experimental/usd/CMakeLists.txt

@@ -170,15 +170,15 @@ if(APPLE)
     BUILD_RPATH "${USD_INSTALL_ROOT}"
     INSTALL_RPATH "@loader_path")
 
-  set_target_properties($(MJC_PHYSICS_PLUGIN_TARGET_NAME) PROPERTIES
+  set_target_properties(${MJC_PHYSICS_PLUGIN_TARGET_NAME} PROPERTIES
     BUILD_RPATH "${USD_INSTALL_ROOT}"
     INSTALL_RPATH "@loader_path")
 elseif(UNIX)
-  set_target_properties($(MJCF_PLUGIN_TARGET_NAME) PROPERTIES
+  set_target_properties(${MJCF_PLUGIN_TARGET_NAME} PROPERTIES
     BUILD_RPATH "${USD_INSTALL_ROOT}"
     INSTALL_RPATH "$ORIGIN")
 
-  set_target_properties($(MJC_PHYSICS_PLUGIN_TARGET_NAME) PROPERTIES
+  set_target_properties(${MJC_PHYSICS_PLUGIN_TARGET_NAME} PROPERTIES
     BUILD_RPATH "${USD_INSTALL_ROOT}"
     INSTALL_RPATH "$ORIGIN")
 endif()

usd-exchange

@@ -0,0 +1 @@
+Subproject commit f1c484f4095e99e5fab2e2a26746be52e81b3474