From eef71832db4fe5c83c2132dad726601ce0bb4be6 Mon Sep 17 00:00:00 2001
From: Sam Haves <shaves@google.com>
Date: Mon, 15 Dec 2025 07:43:27 -0800
Subject: [PATCH] Remove usage of usdImaging tokens to avoid needing to build
 imaging.

PiperOrigin-RevId: 844768270
Change-Id: Iba0a03646e56d9be5accf754f97ec37db8055425
---
 src/experimental/usd/CMakeLists.txt                |  3 +--
 src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc | 10 ++++++----
 src/experimental/usd/plugins/mjcf/utils.h          |  1 -
 test/experimental/usd/plugins/mjcf/CMakeLists.txt  |  1 -
 4 files changed, 7 insertions(+), 8 deletions(-)

diff --git a/src/experimental/usd/CMakeLists.txt b/src/experimental/usd/CMakeLists.txt
index 7728faf0..72b8eab6 100644
--- a/src/experimental/usd/CMakeLists.txt
+++ b/src/experimental/usd/CMakeLists.txt
@@ -22,7 +22,7 @@ set(MJ_USD_INSTALL_DIR_LIB ${CMAKE_INSTALL_LIBDIR}/mujocoUsd)
 
 # Common OpenUSD libraries
 set(OPENUSD_CORE_LIBS
-  usd ar kind tf gf vt usdShade usdLux usdGeom usdImaging usdPhysics
+  usd ar kind tf gf vt usdShade usdLux usdGeom usdPhysics
 )
 
 # We need to set the visibility to default until core type symbol visibility
@@ -82,7 +82,6 @@ function(configure_houdini_target target_name link_scope include_scope)
     ${PXR_LIB_PREFIX}usdShade
     ${PXR_LIB_PREFIX}usdLux
     ${PXR_LIB_PREFIX}usdGeom
-    ${PXR_LIB_PREFIX}usdImaging
     ${PXR_LIB_PREFIX}usdPhysics
     tbb
     hboost_${USD_MJCF_PYTHON_LIB_NUMBER}
diff --git a/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc b/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
index 143bb1b7..ccacda24 100644
--- a/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
+++ b/src/experimental/usd/plugins/mjcf/mujoco_to_usd.cc
@@ -66,7 +66,6 @@
 #include <pxr/usd/usdPhysics/sphericalJoint.h>
 #include <pxr/usd/usdPhysics/tokens.h>
 #include <pxr/usd/usdShade/tokens.h>
-#include <pxr/usdImaging/usdImaging/tokens.h>
 
 namespace {
 
@@ -117,6 +116,9 @@ TF_DEFINE_PRIVATE_TOKENS(kTokens,
                          ((sourceMesh, pxr::UsdGeomTokens->Mesh))
                          ((inputsNormal, "inputs:normal"))
                          ((joint, "Joint"))
+                         (UsdPrimvarReader_float2)
+                         (UsdUVTexture)
+                         (UsdPreviewSurface)
                         );
 
 // Using to satisfy TF_REGISTRY_FUNCTION macro below and avoid operating in PXR_NS.
@@ -775,7 +777,7 @@ class ModelWriter {
         layer_, uvmap_shader_spec, pxr::UsdShadeTokens->infoId,
         pxr::SdfValueTypeNames->Token, pxr::SdfVariabilityUniform);
     SetAttributeDefault(layer_, uvmap_info_id_attr,
-                        pxr::UsdImagingTokens->UsdPrimvarReader_float2);
+                        kTokens->UsdPrimvarReader_float2);
 
     auto uvmap_varname_attr =
         CreateAttributeSpec(layer_, uvmap_shader_spec, kTokens->inputsVarname,
@@ -800,7 +802,7 @@ class ModelWriter {
         layer_, texture_shader_spec, pxr::UsdShadeTokens->infoId,
         pxr::SdfValueTypeNames->Token, pxr::SdfVariabilityUniform);
     SetAttributeDefault(layer_, texture_info_id_attr,
-                        pxr::UsdImagingTokens->UsdUVTexture);
+                        kTokens->UsdUVTexture);
 
     auto texture_file_attr =
         CreateAttributeSpec(layer_, texture_shader_spec, kTokens->inputsFile,
@@ -899,7 +901,7 @@ class ModelWriter {
         layer_, preview_surface_shader_spec, pxr::UsdShadeTokens->infoId,
         pxr::SdfValueTypeNames->Token, pxr::SdfVariabilityUniform);
     SetAttributeDefault(layer_, info_id_attr,
-                        pxr::UsdImagingTokens->UsdPreviewSurface);
+                        kTokens->UsdPreviewSurface);
 
     // Connect material's surface output to the preview surface's surface
     // output.
diff --git a/src/experimental/usd/plugins/mjcf/utils.h b/src/experimental/usd/plugins/mjcf/utils.h
index 671963fb..7579b8a3 100644
--- a/src/experimental/usd/plugins/mjcf/utils.h
+++ b/src/experimental/usd/plugins/mjcf/utils.h
@@ -16,7 +16,6 @@
 #define MUJOCO_SRC_EXPERIMENTAL_USD_PLUGINS_MJCF_UTILS_H_
 
 #include <pxr/base/tf/token.h>
-#include <pxr/imaging/hd/primTypeIndex.h>
 #include <pxr/usd/sdf/attributeSpec.h>
 #include <pxr/usd/sdf/declareHandles.h>
 #include <pxr/usd/sdf/layer.h>
diff --git a/test/experimental/usd/plugins/mjcf/CMakeLists.txt b/test/experimental/usd/plugins/mjcf/CMakeLists.txt
index d4c35f02..b5e07840 100644
--- a/test/experimental/usd/plugins/mjcf/CMakeLists.txt
+++ b/test/experimental/usd/plugins/mjcf/CMakeLists.txt
@@ -16,7 +16,6 @@ mujoco_test(mjcf_file_format_test ADDITIONAL_LINK_LIBRARIES
   usd
   tf
   usdGeom
-  usdImaging
   usdPhysics
   usdShade
   usd_test_utils